version: 66.06
glider: 146
mission: 5
dive: 213
start: 9 15 110 9 52 9
data:
$ID,146
$MISSION,5
$DIVE,213
$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,-251490.34
$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,51
$R_STBD_OVSHOOT,21
$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
$GPS1,094507,2253.519,-15744.137,29,1.4,29,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.4
$GPS2,095114,2253.452,-15744.183,12,1.4,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.090,0.199
$KALMAN_X,-228909.4,-91.1,-203.3,274680.2,-998.2
$KALMAN_Y,-134681.4,-432.9,-146.8,270220.5,-2201.7
$MHEAD_RNG_PITCHd_Wd,14.3,9208,-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,15,begin dive
$GC,17,-1.15,-116.8,0.0,0.0,0,105,0.00,0.00,-85.45,0.000,6,0.000,0.000,475,1738,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.6,-6.8,11,125,11.52,2.58,0.00,0.000,4,0.140,0.026,2741,3377,3481,0,0,0,0,0,0
$GC,220,-1.04,-116.8,32.9,-16.6,26,226,0.15,2.55,0.00,0.000,6,0.097,0.030,2774,1790,3482,0,0,0,0,0,0
$GC,489,-0.96,-116.8,65.3,-12.1,50,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1789,3482,0,0,0,0,0,0
$GC,753,-0.96,-116.8,95.5,-11.9,75,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1789,3482,0,0,0,0,0,0
$GC,1014,-0.96,-116.8,126.1,-10.9,100,1018,0.00,2.72,0.00,0.000,4,0.000,0.067,2774,187,3483,0,0,0,0,0,0
$GC,1044,-0.96,-116.8,129.2,-11.3,102,1048,0.00,2.50,0.00,0.000,6,0.000,0.023,2774,1849,3484,0,0,0,0,0,0
$GC,1306,-0.96,-116.8,154.8,-9.0,126,1311,0.00,2.83,0.00,0.000,4,0.000,0.061,2774,193,3484,0,0,0,0,0,0
$GC,1335,-0.96,-116.8,157.7,-9.7,128,1339,0.00,2.45,0.00,0.000,6,0.000,0.022,2774,1830,3484,0,0,0,0,0,0
$GC,1599,-0.96,-116.8,177.3,-7.1,152,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1830,3484,0,0,0,0,0,0
$GC,1860,-0.96,-116.8,196.9,-8.1,177,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1830,3484,0,0,0,0,0,0
$GC,2106,-0.96,-116.8,218.1,-8.8,186,2111,0.00,2.83,0.00,0.000,4,0.000,0.071,2774,192,3483,0,0,0,0,0,0
$GC,2173,-1.00,-116.8,224.4,-9.1,187,2177,0.00,2.47,0.00,0.000,6,0.000,0.015,2774,1824,3484,0,0,0,0,0,0
$GC,2428,-1.00,-116.8,244.4,-7.7,194,2432,0.00,2.40,0.00,0.000,4,0.000,0.031,2774,3372,3483,0,0,0,0,0,0
$GC,2456,-1.05,-116.8,246.6,-8.0,194,2461,0.00,2.58,0.00,0.000,6,0.000,0.037,2774,1759,3483,0,0,0,0,0,0
$GC,2707,-1.09,-116.8,267.0,-8.3,200,2711,0.00,2.70,0.00,0.000,4,0.000,0.077,2774,189,3483,0,0,0,0,0,0
$GC,2763,-1.15,-116.8,271.9,-8.5,201,2768,0.12,2.45,0.00,0.000,6,0.071,0.017,2732,1804,3483,0,0,0,0,0,0
$GC,3030,-1.10,-116.8,297.9,-9.6,208,3032,0.12,0.00,0.00,0.000,6,0.104,0.000,2760,1805,3483,0,0,0,0,0,0
$GC,3273,-1.10,-116.8,315.3,-6.8,214,3278,0.00,2.42,0.00,0.000,4,0.000,0.040,2759,3339,3482,0,0,0,0,0,0
$GC,3303,-1.16,-116.8,317.2,-6.4,214,3307,0.00,2.58,0.00,0.000,6,0.000,0.038,2760,1755,3483,0,0,0,0,0,0
$GC,3553,-1.16,-116.8,334.8,-7.1,220,3557,0.00,2.78,0.00,0.000,4,0.000,0.090,2760,188,3482,0,0,0,0,0,0
$GC,3592,-1.16,-116.8,337.8,-7.7,221,3596,0.00,2.38,0.00,0.000,6,0.000,0.027,2759,1728,3481,0,0,0,0,0,0
$GC,3877,-1.20,-116.8,358.0,-7.0,228,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1728,3481,0,0,0,0,0,0
$GC,4119,-1.25,-116.8,375.1,-6.8,234,4124,0.15,2.67,0.00,0.000,4,0.063,0.044,2706,3360,3480,0,0,0,0,0,0
$GC,4204,-1.25,-116.8,381.9,-8.2,236,4209,0.10,2.70,0.00,0.000,6,0.107,0.050,2728,1751,3479,0,0,0,0,0,0
$GC,4489,-1.25,-116.8,402.3,-7.4,243,4494,0.00,2.83,0.00,0.000,4,0.000,0.100,2728,185,3478,0,0,0,0,0,0
$GC,4544,-1.25,-116.8,407.5,-9.1,244,4548,0.00,2.45,0.00,0.000,6,0.000,0.029,2728,1746,3477,0,0,0,0,0,0
$GC,4811,-1.25,-116.8,429.4,-8.1,251,4816,0.00,2.65,0.00,0.000,4,0.000,0.058,2729,3354,3477,0,0,0,0,0,0
$GC,4867,-1.29,-116.8,434.0,-7.8,252,4871,0.00,2.70,0.00,0.000,6,0.000,0.059,2728,1752,3476,0,0,0,0,0,0
$GC,5133,-1.29,-116.8,455.2,-8.0,259,5138,0.00,2.88,0.00,0.000,4,0.000,0.110,2728,186,3475,0,0,0,0,0,0
$GC,5178,-1.29,-116.8,459.2,-9.2,260,5182,0.00,2.50,0.00,0.000,6,0.000,0.034,2728,1745,3474,0,0,0,0,0,0
$GC,5455,-1.29,-116.8,482.4,-8.4,267,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1745,3472,0,0,0,0,0,0
$STATE,5697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5697,begin apogee
$GC,5703,-0.31,0.0,500.2,7.2,273,5803,0.90,0.00,96.65,0.917,6,0.077,0.000,2932,1828,3001,0,0,0,0,0,0
$STATE,5804,end apogee,CONTROL_FINISHED_OK
$STATE,5804,begin climb
$GC,5807,1.15,116.8,502.0,0.0,275,5919,1.30,3.03,100.60,0.894,4,0.049,0.096,3253,237,2522,0,0,0,0,0,0
$GC,5932,1.00,160.5,500.9,6.0,278,5978,0.17,2.62,38.62,0.866,6,0.120,0.040,3219,1814,2345,0,0,0,0,0,0
$GC,6263,0.97,184.3,477.2,6.9,286,6291,0.00,2.80,21.12,0.842,4,0.000,0.067,3219,3406,2248,0,0,0,0,0,0
$GC,6437,0.97,184.3,462.5,8.5,290,6442,0.00,2.67,0.00,0.000,6,0.000,0.053,3219,1844,2242,0,0,0,0,0,0
$GC,6721,0.93,184.3,437.7,8.9,297,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1844,2240,0,0,0,0,0,0
$GC,6964,0.89,184.3,416.0,8.7,303,6969,0.12,2.58,0.00,0.000,4,0.123,0.041,3196,3415,2238,0,0,0,0,0,0
$GC,7044,0.97,217.2,410.7,6.5,304,7079,0.00,2.67,28.65,0.845,6,0.000,0.045,3195,1831,2114,0,0,0,0,0,0
$GC,7335,1.02,254.9,392.2,6.3,312,7377,0.12,2.97,33.92,0.837,4,0.087,0.091,3227,234,1960,0,0,0,0,0,0
$GC,7402,0.94,254.9,386.3,10.5,313,7408,0.12,2.58,0.00,0.000,6,0.122,0.021,3204,1853,1958,0,0,0,0,0,0
$GC,7663,0.94,254.9,362.4,9.0,320,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1853,1954,0,0,0,0,0,0
$GC,7909,0.98,254.9,340.7,8.9,326,7913,0.00,2.50,0.00,0.000,4,0.000,0.040,3204,3400,1953,0,0,0,0,0,0
$GC,7987,1.07,254.9,332.8,9.9,327,7993,0.12,2.60,0.00,0.000,6,0.082,0.040,3236,1833,1951,0,0,0,0,0,0
$GC,8236,1.07,254.9,307.4,9.9,334,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,1833,1950,0,0,0,0,0,0
$GC,8481,1.07,254.9,286.5,8.1,340,8486,0.00,2.53,0.00,0.000,4,0.000,0.033,3237,3401,1949,0,0,0,0,0,0
$GC,8526,1.12,262.3,283.1,7.7,341,8537,0.00,2.55,5.88,0.622,6,0.000,0.035,3237,1840,1931,0,0,0,0,0,0
$GC,8804,1.12,266.3,262.1,7.8,348,8811,0.00,0.00,5.10,0.575,6,0.000,0.000,3236,1840,1915,0,0,0,0,0,0
$GC,9049,1.12,266.3,239.8,9.4,354,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1840,1914,0,0,0,0,0,0
$GC,9292,1.14,277.8,220.7,7.5,360,9310,0.00,2.55,11.80,0.669,4,0.000,0.033,3237,3406,1867,0,0,0,0,0,0
$GC,9380,1.20,290.1,214.3,7.4,362,9399,0.10,2.55,11.98,0.658,6,0.091,0.035,3265,1851,1818,0,0,0,0,0,0
$GC,9658,1.15,290.1,189.4,10.0,376,9662,0.00,2.78,0.00,0.000,4,0.000,0.070,3266,234,1815,0,0,0,0,0,0
$GC,9686,1.06,290.1,185.4,12.9,378,9691,0.17,2.55,0.00,0.000,6,0.107,0.025,3229,1870,1814,0,0,0,0,0,0
$GC,9947,1.06,290.1,161.6,9.0,402,9951,0.00,2.40,0.00,0.000,4,0.000,0.031,3230,3393,1813,0,0,0,0,0,0
$GC,9980,1.13,290.1,158.7,8.6,404,9986,0.00,2.53,0.00,0.000,6,0.000,0.039,3229,1842,1812,0,0,0,0,0,0
$GC,10248,1.13,290.1,135.5,9.0,429,10252,0.00,2.72,0.00,0.000,4,0.000,0.064,3229,240,1812,0,0,0,0,0,0
$GC,10264,1.13,290.1,133.2,9.7,430,10269,0.00,2.50,0.00,0.000,6,0.000,0.019,3229,1869,1812,0,0,0,0,0,0
$GC,10529,1.18,290.1,110.8,8.3,454,10533,0.12,2.40,0.00,0.000,4,0.080,0.035,3264,3376,1812,0,0,0,0,0,0
$GC,10557,1.18,290.1,107.9,10.0,456,10562,0.00,2.47,0.00,0.000,6,0.000,0.038,3264,1847,1812,0,0,0,0,0,0
$GC,10820,1.18,290.1,83.1,8.5,480,10824,0.00,2.42,0.00,0.000,4,0.000,0.028,3264,3373,1812,0,0,0,0,0,0
$GC,10915,1.24,304.1,75.9,7.4,487,10934,0.00,2.40,13.18,0.551,6,0.000,0.037,3264,1872,1760,0,0,0,0,0,0
$GC,11197,1.37,372.7,55.4,4.8,512,11270,0.15,2.80,58.65,0.560,4,0.084,0.060,3307,244,1479,0,0,0,0,0,0
$GC,11289,1.33,372.7,48.1,10.4,519,11293,0.00,2.55,0.00,0.000,6,0.000,0.018,3307,1880,1478,0,0,0,0,0,0
$GC,11578,1.33,372.7,17.7,12.9,550,11588,0.00,2.38,0.00,0.000,4,0.000,0.025,3306,3375,1476,0,0,0,0,0,0
$GC,11598,1.33,372.7,15.2,13.0,552,11607,0.00,2.45,0.00,0.000,6,0.000,0.031,3307,1878,1475,0,0,0,0,0,0
$STATE,11689,end climb,SURFACE_DEPTH_REACHED
$STATE,11689,begin surface coast
$FINISH,0.4,1.023338
$STATE,11735,end surface coast,CONTROL_FINISHED_OK
$STATE,11735,begin surface
$SM_CCo,11757,44.83,0.397,1,0,1287,420.20
$SM_GC,1.03,0.00,0.00,44.83,0.000,0.000,0.397,474,1747,1287,-11.62,-0.65,420.20
$IRIDIUM_FIX,2246.36,-15745.85,101299,060638
$TT8_MAMPS,0.025311
$HUMID,46.41
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.90
$XPDR_PINGS,53
$24V_AH,23.6,30.453
$10V_AH,10.3,31.159
$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,27.025,135.425,426.150,44.825,0.000,23.869,31.173,171.679,13.250,0.000,13.676,1160.830,7763.414,516.679,2180.071,553.195,33.377,1355.435,0.000,2187.283,0.000,0.535,0.000
$DEVICE_MAMPS,139.594,235.469,916.565,396.539,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,386.140,327.594,434.031,802.001,1211.599,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,44726,571
$CAP_FILE_SIZE,120834,0
$CFSIZE,260165632,169893888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150910,131024,2253.553,-15744.135,47,1.1,47,10.1