version: 66.06
glider: 146
mission: 5
dive: 219
start: 9 16 110 6 51 27
data:
$ID,146
$MISSION,5
$DIVE,219
$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,-251619.58
$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,26
$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
$GPS1,064436,2252.539,-15743.579,36,1.3,48,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-66.7
$GPS2,065032,2252.461,-15743.601,15,1.6,15,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.096,0.196
$KALMAN_X,-234419.6,352.1,90.8,280450.2,-1352.9
$KALMAN_Y,-151859.3,-183.4,-292.0,285458.0,-3044.9
$MHEAD_RNG_PITCHd_Wd,15.9,10615,-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,-85.82,0.000,6,0.000,0.000,473,1741,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.3,-6.1,11,125,11.50,2.58,0.00,0.000,4,0.140,0.028,2735,3376,3481,0,0,0,0,0,0
$GC,221,-1.04,-116.8,30.4,-15.3,27,227,0.17,2.55,0.00,0.000,6,0.093,0.033,2774,1796,3482,0,0,0,0,0,0
$GC,490,-0.97,-116.8,66.9,-12.8,51,494,0.00,2.72,0.00,0.000,4,0.000,0.061,2774,189,3482,0,0,0,0,0,0
$GC,535,-0.91,-116.8,72.9,-12.5,54,540,0.12,2.45,0.00,0.000,6,0.108,0.015,2801,1833,3482,0,0,0,0,0,0
$GC,798,-0.95,-116.8,97.1,-8.3,78,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1834,3482,0,0,0,0,0,0
$GC,1053,-1.00,-116.8,116.9,-7.3,102,1058,0.00,2.80,0.00,0.000,4,0.000,0.060,2801,187,3483,0,0,0,0,0,0
$GC,1082,-1.07,-116.8,119.3,-8.1,104,1087,0.15,2.47,0.00,0.000,6,0.063,0.021,2751,1841,3483,0,0,0,0,0,0
$GC,1346,-1.02,-116.8,145.6,-10.5,128,1352,0.12,2.83,0.00,0.000,4,0.102,0.063,2779,191,3483,0,0,0,0,0,0
$GC,1369,-1.02,-116.8,147.8,-10.8,129,1373,0.00,2.47,0.00,0.000,6,0.000,0.016,2778,1836,3483,0,0,0,0,0,0
$GC,1631,-1.02,-116.8,172.2,-8.8,153,1635,0.00,2.40,0.00,0.000,4,0.000,0.032,2778,3371,3483,0,0,0,0,0,0
$GC,1660,-1.07,-116.8,174.8,-8.5,155,1665,0.00,2.55,0.00,0.000,6,0.000,0.030,2778,1774,3483,0,0,0,0,0,0
$GC,1922,-1.07,-116.8,198.0,-9.5,179,1927,0.00,2.70,0.00,0.000,4,0.000,0.071,2778,188,3483,0,0,0,0,0,0
$GC,1957,-1.07,-116.8,201.1,-10.6,181,1961,0.00,2.45,0.00,0.000,6,0.000,0.019,2778,1823,3483,0,0,0,0,0,0
$GC,2206,-1.07,-116.8,225.6,-9.4,187,2210,0.00,2.42,0.00,0.000,4,0.000,0.034,2778,3365,3483,0,0,0,0,0,0
$GC,2239,-1.14,-116.8,228.6,-8.5,187,2245,0.12,2.53,0.00,0.000,6,0.072,0.035,2732,1775,3483,0,0,0,0,0,0
$GC,2491,-1.08,-116.8,254.6,-10.4,194,2496,0.15,2.75,0.00,0.000,4,0.096,0.071,2764,189,3483,0,0,0,0,0,0
$GC,2512,-1.08,-116.8,256.9,-9.5,194,2517,0.00,2.47,0.00,0.000,6,0.000,0.023,2765,1827,3483,0,0,0,0,0,0
$GC,2768,-1.08,-116.8,276.6,-7.5,201,2773,0.00,2.80,0.00,0.000,4,0.000,0.067,2765,197,3482,0,0,0,0,0,0
$GC,2791,-1.08,-116.8,278.3,-7.2,201,2795,0.00,2.47,0.00,0.000,6,0.000,0.023,2765,1804,3482,0,0,0,0,0,0
$GC,3046,-1.12,-116.8,296.7,-7.3,208,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1805,3482,0,0,0,0,0,0
$GC,3290,-1.17,-116.8,314.9,-7.7,214,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1805,3481,0,0,0,0,0,0
$GC,3535,-1.23,-116.8,337.0,-9.2,220,3537,0.15,0.00,0.00,0.000,6,0.065,0.000,2717,1805,3481,0,0,0,0,0,0
$GC,3777,-1.19,-116.8,361.2,-9.6,226,3783,0.10,2.85,0.00,0.000,4,0.115,0.081,2739,196,3480,0,0,0,0,0,0
$GC,3827,-1.19,-116.8,365.8,-8.9,227,3831,0.00,2.45,0.00,0.000,6,0.000,0.029,2739,1754,3480,0,0,0,0,0,0
$GC,4102,-1.19,-116.8,387.2,-7.9,234,4106,0.00,2.60,0.00,0.000,4,0.000,0.051,2739,3354,3478,0,0,0,0,0,0
$GC,4151,-1.24,-116.8,391.2,-7.7,235,4156,0.00,2.62,0.00,0.000,6,0.000,0.055,2739,1778,3478,0,0,0,0,0,0
$GC,4423,-1.24,-116.8,413.7,-8.4,242,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1778,3476,0,0,0,0,0,0
$GC,4668,-1.24,-116.8,433.9,-8.1,248,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1778,3475,0,0,0,0,0,0
$GC,4911,-1.24,-116.8,452.7,-7.7,254,4915,0.00,2.62,0.00,0.000,4,0.000,0.052,2739,3360,3473,0,0,0,0,0,0
$GC,4944,-1.30,-116.8,455.2,-7.7,254,4950,0.10,2.72,0.00,0.000,6,0.084,0.059,2706,1770,3474,0,0,0,0,0,0
$GC,5195,-1.30,-116.8,475.5,-8.0,261,5200,0.00,2.65,0.00,0.000,4,0.000,0.048,2705,3352,3472,0,0,0,0,0,0
$GC,5211,-1.30,-116.8,476.9,-7.5,261,5216,0.00,2.70,0.00,0.000,6,0.000,0.061,2705,1783,3472,0,0,0,0,0,0
$GC,5472,-1.30,-116.8,496.4,-7.7,268,5477,0.00,3.05,0.00,0.000,4,0.000,0.122,2705,182,3470,0,0,0,0,0,0
$GC,5501,-1.24,-116.8,498.9,-9.0,268,5506,0.10,2.58,0.00,0.000,6,0.117,0.037,2727,1771,3470,0,0,0,0,0,0
$STATE,5545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5545,begin apogee
$GC,5551,-0.31,0.0,502.7,8.2,269,5651,0.90,0.00,96.28,0.919,6,0.074,0.000,2933,1831,3001,0,0,0,0,0,0
$STATE,5652,end apogee,CONTROL_FINISHED_OK
$STATE,5652,begin climb
$GC,5654,1.15,116.8,504.8,0.0,271,5759,1.35,0.00,100.80,0.897,6,0.053,0.000,3259,1831,2524,0,0,0,0,0,0
$GC,5993,1.05,161.1,491.6,6.0,280,6034,0.15,0.00,38.05,0.873,6,0.118,0.000,3230,1831,2344,0,0,0,0,0,0
$GC,6275,0.98,161.1,470.1,8.1,287,6280,0.00,2.67,0.00,0.000,4,0.000,0.061,3230,3404,2336,0,0,0,0,0,0
$GC,6308,0.92,161.1,467.1,8.9,287,6314,0.15,2.70,0.00,0.000,6,0.116,0.051,3200,1814,2335,0,0,0,0,0,0
$GC,6559,0.93,172.7,448.3,7.5,294,6575,0.00,2.67,10.35,0.789,4,0.000,0.044,3199,3408,2295,0,0,0,0,0,0
$GC,6631,0.95,185.0,442.6,7.4,295,6650,0.00,2.67,12.23,0.801,6,0.000,0.051,3200,1838,2245,0,0,0,0,0,0
$GC,6931,1.01,232.0,423.6,5.8,303,6980,0.00,2.67,41.62,0.859,4,0.000,0.042,3200,3401,2055,0,0,0,0,0,0
$GC,7039,1.11,270.5,417.4,6.2,305,7080,0.17,2.65,35.10,0.843,6,0.067,0.053,3244,1844,1898,0,0,0,0,0,0
$GC,7345,1.06,270.5,389.8,9.8,313,7349,0.00,2.55,0.00,0.000,4,0.000,0.035,3244,3407,1890,0,0,0,0,0,0
$GC,7377,1.06,270.5,385.7,11.6,313,7383,0.00,2.62,0.00,0.000,6,0.000,0.046,3244,1849,1889,0,0,0,0,0,0
$GC,7628,1.01,270.5,355.7,12.3,320,7630,0.12,0.00,0.00,0.000,6,0.120,0.000,3219,1849,1888,0,0,0,0,0,0
$GC,7871,1.01,270.5,330.2,9.9,326,7876,0.00,2.85,0.00,0.000,4,0.000,0.081,3219,234,1886,0,0,0,0,0,0
$GC,7904,0.97,270.5,326.8,10.8,326,7910,0.00,2.55,0.00,0.000,6,0.000,0.022,3219,1869,1884,0,0,0,0,0,0
$GC,8154,0.97,270.5,304.4,8.9,333,8158,0.00,2.45,0.00,0.000,4,0.000,0.031,3219,3398,1884,0,0,0,0,0,0
$GC,8221,1.04,270.5,298.8,9.0,334,8226,0.00,2.55,0.00,0.000,6,0.000,0.035,3219,1849,1883,0,0,0,0,0,0
$GC,8477,1.08,270.5,277.7,8.3,341,8481,0.00,2.83,0.00,0.000,4,0.000,0.077,3219,237,1883,0,0,0,0,0,0
$GC,8521,1.08,270.5,273.5,9.6,342,8526,0.00,2.53,0.00,0.000,6,0.000,0.020,3219,1865,1883,0,0,0,0,0,0
$GC,8799,1.12,270.5,250.2,8.4,349,8801,0.10,0.00,0.00,0.000,6,0.115,0.000,3246,1867,1882,0,0,0,0,0,0
$GC,9042,1.12,270.5,227.2,9.4,355,9047,0.00,2.42,0.00,0.000,4,0.000,0.031,3245,3393,1882,0,0,0,0,0,0
$GC,9064,1.12,270.5,225.0,9.5,355,9068,0.00,2.50,0.00,0.000,6,0.000,0.035,3246,1857,1881,0,0,0,0,0,0
$GC,9321,1.12,270.5,201.4,9.1,362,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1857,1881,0,0,0,0,0,0
$GC,9572,1.12,270.5,178.1,9.6,383,9574,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1857,1881,0,0,0,0,0,0
$GC,9829,1.12,270.5,152.0,11.1,407,9833,0.00,2.45,0.00,0.000,4,0.000,0.028,3246,3398,1881,0,0,0,0,0,0
$GC,9869,1.16,270.5,147.4,11.3,410,9873,0.00,2.47,0.00,0.000,6,0.000,0.037,3245,1869,1881,0,0,0,0,0,0
$GC,10133,1.16,270.5,118.7,10.4,434,10138,0.00,2.75,0.00,0.000,4,0.000,0.069,3245,241,1881,0,0,0,0,0,0
$GC,10161,1.16,270.5,115.2,11.4,436,10166,0.00,2.50,0.00,0.000,6,0.000,0.021,3245,1882,1881,0,0,0,0,0,0
$GC,10424,1.18,287.8,93.4,7.2,460,10443,0.00,2.83,13.70,0.566,4,0.000,0.061,3245,242,1826,0,0,0,0,0,0
$GC,10457,1.19,294.0,90.9,7.7,462,10472,0.00,2.53,6.70,0.493,6,0.000,0.018,3245,1873,1802,0,0,0,0,0,0
$GC,10727,1.29,339.6,74.5,5.9,487,10773,0.15,2.45,40.20,0.574,4,0.071,0.027,3289,3394,1615,0,0,0,0,0,0
$GC,10804,1.29,339.6,69.0,8.7,492,10808,0.00,2.53,0.00,0.000,6,0.000,0.034,3289,1860,1613,0,0,0,0,0,0
$GC,11070,1.29,339.6,45.6,9.1,516,11079,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1860,1611,0,0,0,0,0,0
$GC,11369,1.29,339.6,13.9,11.5,551,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1860,1611,0,0,0,0,0,0
$STATE,11473,end climb,SURFACE_DEPTH_REACHED
$STATE,11473,begin surface coast
$FINISH,0.2,1.011726
$STATE,11531,end surface coast,CONTROL_FINISHED_OK
$STATE,11531,begin surface
$SM_CCo,11553,71.22,0.442,1,0,1287,420.20
$SM_GC,0.89,0.00,0.00,71.22,0.000,0.000,0.442,474,1734,1287,-11.62,-1.05,420.20
$IRIDIUM_FIX,2244.02,-15741.52,111299,030300
$TT8_MAMPS,0.026078
$HUMID,46.69
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.90
$XPDR_PINGS,51
$24V_AH,23.5,31.166
$10V_AH,10.3,31.943
$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,27.175,135.900,395.025,71.225,0.000,23.968,30.476,159.175,12.750,0.000,16.563,1145.582,7683.714,559.136,2069.838,526.276,33.375,1297.685,0.000,2082.011,0.000,0.536,0.000
$DEVICE_MAMPS,139.594,128.856,918.866,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.320,326.135,438.151,824.420,1245.385,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,44626,574
$CAP_FILE_SIZE,116708,0
$CFSIZE,260165632,169525248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160910,100736,2252.150,-15743.511,97,0.9,97,10.1