version: 66.06
glider: 146
mission: 5
dive: 212
start: 9 15 110 6 29 27
data:
$ID,146
$MISSION,5
$DIVE,212
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,208
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52407
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-251476.05
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043563824
$SEABIRD_T_H,0.00063101487
$SEABIRD_T_I,2.4083547e-05
$SEABIRD_T_J,2.5612533e-06
$SEABIRD_C_G,-9.9059887
$SEABIRD_C_H,1.1423759
$SEABIRD_C_I,-0.0019893181
$SEABIRD_C_J,0.00023308786
$GPS1,062237,2253.805,-15744.067,25,1.5,25,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.4
$GPS2,062832,2253.718,-15744.113,11,1.5,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.111,0.188
$KALMAN_X,-227744.7,178.8,-132.0,273294.3,-1533.6
$KALMAN_Y,-131793.6,-169.6,-464.8,267879.1,-2663.7
$MHEAD_RNG_PITCHd_Wd,20.5,8711,-16.1,-8.013
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.15,-116.8,0.0,0.0,0,105,0.00,0.00,-85.60,0.000,6,0.000,0.000,475,1744,3480,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.5,-6.4,11,126,11.55,2.55,0.00,0.000,4,0.140,0.026,2740,3364,3482,0,0,0,0,0,0
$GC,177,-0.97,-116.8,25.0,-17.9,20,187,0.17,2.58,0.00,0.000,6,0.071,0.039,2785,1799,3482,0,0,0,0,0,0
$GC,453,-0.89,-116.8,58.5,-11.6,47,458,0.00,2.75,0.00,0.000,4,0.000,0.061,2785,187,3483,0,0,0,0,0,0
$GC,478,-0.82,-116.8,62.0,-11.7,48,488,0.12,2.47,0.00,0.000,6,0.074,0.015,2819,1809,3483,0,0,0,0,0,0
$GC,744,-0.89,-116.8,81.6,-6.6,73,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1810,3483,0,0,0,0,0,0
$GC,1007,-0.97,-116.8,96.9,-5.4,98,1012,0.12,2.75,0.00,0.000,4,0.071,0.064,2775,189,3483,0,0,0,0,0,0
$GC,1041,-0.97,-116.8,99.7,-8.3,100,1050,0.00,2.40,0.00,0.000,6,0.000,0.015,2775,1775,3483,0,0,0,0,0,0
$GC,1308,-0.97,-116.8,121.2,-8.6,125,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1775,3483,0,0,0,0,0,0
$GC,1569,-0.97,-116.8,145.3,-9.3,150,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1776,3484,0,0,0,0,0,0
$GC,1825,-0.97,-116.8,170.7,-10.5,174,1829,0.00,2.40,0.00,0.000,4,0.000,0.031,2775,3311,3484,0,0,0,0,0,0
$GC,1855,-1.02,-116.8,173.9,-10.2,176,1859,0.00,2.47,0.00,0.000,6,0.000,0.032,2775,1752,3484,0,0,0,0,0,0
$GC,2117,-1.02,-116.8,200.7,-9.6,200,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1752,3484,0,0,0,0,0,0
$GC,2361,-1.02,-116.8,221.2,-8.2,206,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1752,3484,0,0,0,0,0,0
$GC,2603,-1.02,-116.8,239.7,-7.6,212,2608,0.00,2.65,0.00,0.000,4,0.000,0.071,2775,197,3484,0,0,0,0,0,0
$GC,2635,-1.02,-116.8,242.5,-8.9,212,2641,0.00,2.35,0.00,0.000,6,0.000,0.021,2775,1757,3484,0,0,0,0,0,0
$GC,2885,-1.02,-116.8,263.2,-8.5,219,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1761,3483,0,0,0,0,0,0
$GC,3131,-1.06,-116.8,284.7,-8.8,225,3136,0.00,2.67,0.00,0.000,4,0.000,0.076,2775,197,3483,0,0,0,0,0,0
$GC,3152,-1.10,-116.8,286.8,-8.8,225,3157,0.00,2.35,0.00,0.000,6,0.000,0.018,2775,1751,3483,0,0,0,0,0,0
$GC,3408,-1.17,-116.8,306.9,-7.5,232,3410,0.12,0.00,0.00,0.000,6,0.071,0.000,2733,1752,3482,0,0,0,0,0,0
$GC,3653,-1.17,-116.8,328.1,-8.9,238,3657,0.00,2.53,0.00,0.000,4,0.000,0.043,2733,3338,3482,0,0,0,0,0,0
$GC,3685,-1.17,-116.8,331.2,-8.9,238,3691,0.00,2.58,0.00,0.000,6,0.000,0.044,2733,1760,3482,0,0,0,0,0,0
$GC,3935,-1.17,-116.8,352.1,-8.4,245,3939,0.00,2.78,0.00,0.000,4,0.000,0.087,2733,187,3482,0,0,0,0,0,0
$GC,3957,-1.17,-116.8,354.1,-9.0,245,3962,0.00,2.42,0.00,0.000,6,0.000,0.020,2733,1742,3482,0,0,0,0,0,0
$GC,4212,-1.17,-116.8,376.4,-8.6,252,4217,0.00,2.60,0.00,0.000,4,0.000,0.048,2733,3350,3480,0,0,0,0,0,0
$GC,4273,-1.21,-116.8,381.8,-9.1,253,4278,0.00,2.62,0.00,0.000,6,0.000,0.054,2733,1769,3480,0,0,0,0,0,0
$GC,4535,-1.21,-116.8,406.4,-9.8,260,4539,0.00,2.88,0.00,0.000,4,0.000,0.102,2732,178,3478,0,0,0,0,0,0
$GC,4584,-1.21,-116.8,411.3,-9.0,261,4588,0.00,2.50,0.00,0.000,6,0.000,0.027,2733,1765,3478,0,0,0,0,0,0
$GC,4856,-1.21,-116.8,434.8,-8.3,268,4861,0.00,2.62,0.00,0.000,4,0.000,0.055,2733,3356,3477,0,0,0,0,0,0
$GC,4897,-1.25,-116.8,438.1,-8.5,269,4902,0.00,2.67,0.00,0.000,6,0.000,0.055,2732,1770,3477,0,0,0,0,0,0
$GC,5182,-1.25,-116.8,461.0,-8.0,276,5186,0.00,2.92,0.00,0.000,4,0.000,0.112,2733,185,3475,0,0,0,0,0,0
$GC,5203,-1.25,-116.8,463.1,-8.9,276,5207,0.00,2.55,0.00,0.000,6,0.000,0.035,2733,1766,3474,0,0,0,0,0,0
$GC,5460,-1.25,-116.8,483.1,-7.8,283,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1765,3473,0,0,0,0,0,0
$GC,5702,-1.25,-116.8,500.0,-6.8,289,5706,0.00,2.05,0.00,0.000,3,0.000,0.064,2733,2987,3471,0,0,0,0,0,0
$STATE,5706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5706,begin apogee
$GC,5714,-0.31,0.0,500.4,6.7,289,5814,0.82,0.00,95.97,0.915,6,0.070,0.000,2926,1815,3001,0,0,0,0,0,0
$STATE,5815,end apogee,CONTROL_FINISHED_OK
$STATE,5815,begin climb
$GC,5818,1.15,116.8,501.6,0.0,291,5923,1.38,0.00,100.85,0.892,6,0.052,0.000,3257,1815,2524,0,0,0,0,0,0
$GC,6154,1.01,116.8,479.8,8.5,300,6160,0.17,2.92,0.00,0.000,4,0.114,0.100,3221,238,2513,0,0,0,0,0,0
$GC,6165,0.86,116.8,478.9,8.3,300,6171,0.15,2.60,0.00,0.000,6,0.118,0.038,3191,1824,2513,0,0,0,0,0,0
$GC,6434,0.92,163.1,462.4,5.9,307,6478,0.00,2.75,39.08,0.869,4,0.000,0.058,3191,3407,2335,0,0,0,0,0,0
$GC,6512,0.94,177.5,457.2,7.3,308,6531,0.00,2.72,14.02,0.802,6,0.000,0.055,3191,1821,2277,0,0,0,0,0,0
$GC,6806,1.00,225.0,439.3,5.8,316,6856,0.10,2.75,41.88,0.857,4,0.133,0.041,3218,3416,2083,0,0,0,0,0,0
$GC,6862,1.04,260.4,435.8,6.4,317,6901,0.00,2.72,32.40,0.835,6,0.000,0.050,3217,1823,1939,0,0,0,0,0,0
$GC,7178,1.08,287.7,413.8,6.7,325,7207,0.00,2.67,23.92,0.822,4,0.000,0.038,3218,3415,1827,0,0,0,0,0,0
$GC,7266,1.14,287.7,406.7,8.3,327,7271,0.12,2.67,0.00,0.000,6,0.077,0.048,3251,1832,1824,0,0,0,0,0,0
$GC,7551,1.08,287.7,374.8,11.9,334,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1832,1821,0,0,0,0,0,0
$GC,7793,1.04,287.7,342.8,13.6,340,7799,0.12,2.55,0.00,0.000,4,0.117,0.036,3226,3425,1819,0,0,0,0,0,0
$GC,7820,1.04,287.7,339.0,13.0,340,7825,0.00,2.60,0.00,0.000,6,0.000,0.042,3226,1842,1818,0,0,0,0,0,0
$GC,8072,1.04,287.7,310.7,11.0,346,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1841,1817,0,0,0,0,0,0
$GC,8314,1.04,287.7,287.3,9.3,352,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1841,1817,0,0,0,0,0,0
$GC,8559,1.04,287.7,267.3,8.1,358,8560,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1841,1816,0,0,0,0,0,0
$GC,8801,1.04,287.7,246.9,8.3,364,8806,0.00,2.80,0.00,0.000,4,0.000,0.077,3226,236,1816,0,0,0,0,0,0
$GC,8829,1.04,287.7,244.4,9.3,364,8834,0.00,2.55,0.00,0.000,6,0.000,0.024,3226,1884,1815,0,0,0,0,0,0
$GC,9079,1.08,287.7,223.9,8.1,370,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1886,1814,0,0,0,0,0,0
$GC,9323,1.08,287.7,203.3,8.6,376,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1886,1814,0,0,0,0,0,0
$GC,9581,1.12,287.7,179.7,9.4,397,9586,0.00,2.85,0.00,0.000,4,0.000,0.069,3226,235,1814,0,0,0,0,0,0
$GC,9614,1.12,287.7,175.6,11.6,399,9623,0.00,2.58,0.00,0.000,6,0.000,0.023,3226,1880,1813,0,0,0,0,0,0
$GC,9880,1.16,287.7,152.5,8.4,424,9886,0.10,0.00,0.00,0.000,6,0.087,0.000,3258,1881,1813,0,0,0,0,0,0
$GC,10146,1.16,287.7,127.1,9.7,449,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1881,1813,0,0,0,0,0,0
$GC,10407,1.16,287.7,103.7,8.3,474,10411,0.00,2.80,0.00,0.000,4,0.000,0.067,3258,234,1813,0,0,0,0,0,0
$GC,10428,1.16,287.7,102.2,8.9,475,10432,0.00,2.53,0.00,0.000,6,0.000,0.019,3258,1886,1813,0,0,0,0,0,0
$GC,10694,1.16,287.7,79.0,9.2,499,10699,0.00,2.80,0.00,0.000,4,0.000,0.064,3258,233,1814,0,0,0,0,0,0
$GC,10718,1.16,287.7,76.4,9.1,500,10727,0.00,2.55,0.00,0.000,6,0.000,0.018,3258,1879,1814,0,0,0,0,0,0
$GC,10984,1.27,324.0,57.6,6.3,525,11025,0.00,2.50,30.25,0.553,4,0.000,0.027,3258,3414,1679,0,0,0,0,0,0
$GC,11057,1.42,342.7,52.1,7.1,530,11081,0.17,2.60,16.88,0.528,6,0.038,0.032,3315,1837,1603,0,0,0,0,0,0
$GC,11347,1.37,342.7,24.5,10.5,560,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1837,1600,0,0,0,0,0,0
$STATE,11526,end climb,SURFACE_DEPTH_REACHED
$STATE,11526,begin surface coast
$FINISH,0.3,1.019700
$STATE,11573,end surface coast,CONTROL_FINISHED_OK
$STATE,11573,begin surface
$SM_CCo,11595,69.35,0.437,1,0,1287,420.20
$SM_GC,0.88,0.00,0.00,69.35,0.000,0.000,0.437,474,1739,1287,-11.62,-0.88,420.20
$IRIDIUM_FIX,2246.36,-15758.45,101299,030340
$TT8_MAMPS,0.025311
$HUMID,45.58
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.00
$XPDR_PINGS,44
$24V_AH,23.5,30.336
$10V_AH,10.4,31.035
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.775,119.750,395.250,69.350,0.000,29.775,34.622,154.027,11.000,0.000,13.342,1134.797,7729.664,539.905,2106.125,515.219,33.377,1303.925,0.000,2117.711,0.000,0.536,0.000
$DEVICE_MAMPS,140.361,111.982,915.031,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,399.876,345.818,461.393,874.804,1324.189,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,47966,592
$CAP_FILE_SIZE,110323,0
$CFSIZE,260165632,169959424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150910,094507,2253.519,-15744.137,29,1.4,29,10.1