version: 66.06
glider: 146
mission: 5
dive: 220
start: 9 16 110 10 14 28
data:
$ID,146
$MISSION,5
$DIVE,220
$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,-251636.62
$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,52
$R_STBD_OVSHOOT,53
$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
$GPS1,100736,2252.150,-15743.511,97,0.9,97,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-66.5
$GPS2,101333,2252.088,-15743.549,14,1.3,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.069,0.207
$KALMAN_X,-234942.0,31.8,-167.4,281642.5,-756.7
$KALMAN_Y,-154731.9,-464.4,-275.9,287904.4,-2178.1
$MHEAD_RNG_PITCHd_Wd,8.2,11263,-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,-116.8,0.0,0.0,0,98,0.00,0.00,-78.50,0.000,2,0.000,0.000,474,1734,3241,0,0,0,0,0,0
$GC,101,-1.15,-116.8,3.3,-4.1,10,127,11.45,2.60,-4.60,0.000,4,0.137,0.041,2743,3346,3479,0,0,0,0,0,0
$GC,191,-1.04,-116.8,23.4,-15.0,22,199,0.10,2.53,0.00,0.000,6,0.074,0.031,2770,1799,3480,0,0,0,0,0,0
$GC,468,-0.93,-116.8,58.4,-12.6,50,473,0.12,2.75,0.00,0.000,4,0.108,0.065,2797,193,3480,0,0,0,0,0,0
$GC,526,-0.93,-116.8,65.9,-10.4,54,531,0.00,2.40,0.00,0.000,6,0.000,0.015,2797,1797,3479,0,0,0,0,0,0
$GC,789,-0.93,-116.8,89.4,-7.9,78,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1798,3481,0,0,0,0,0,0
$GC,1044,-0.97,-116.8,108.6,-6.9,102,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1798,3481,0,0,0,0,0,0
$GC,1298,-1.00,-116.8,125.7,-6.4,126,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1798,3482,0,0,0,0,0,0
$GC,1554,-1.06,-116.8,140.9,-6.2,150,1556,0.12,0.00,0.00,0.000,6,0.074,0.000,2753,1798,3482,0,0,0,0,0,0
$GC,1808,-1.01,-116.8,163.8,-9.4,174,1810,0.12,0.00,0.00,0.000,6,0.104,0.000,2781,1799,3482,0,0,0,0,0,0
$GC,2062,-1.01,-116.8,184.8,-8.1,198,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1799,3482,0,0,0,0,0,0
$GC,2314,-1.01,-116.8,203.6,-7.3,219,2319,0.00,2.75,0.00,0.000,4,0.000,0.071,2781,191,3482,0,0,0,0,0,0
$GC,2343,-1.01,-116.8,205.7,-7.6,219,2347,0.00,2.33,0.00,0.000,6,0.000,0.021,2781,1756,3482,0,0,0,0,0,0
$GC,2592,-1.01,-116.8,225.8,-8.1,225,2596,0.00,2.42,0.00,0.000,4,0.000,0.033,2781,3310,3482,0,0,0,0,0,0
$GC,2625,-1.09,-116.8,228.8,-8.6,225,2631,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,1761,3482,0,0,0,0,0,0
$GC,2876,-1.09,-116.8,249.8,-8.5,232,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1761,3481,0,0,0,0,0,0
$GC,3119,-1.13,-116.8,268.4,-7.3,238,3121,0.12,0.00,0.00,0.000,6,0.075,0.000,2739,1758,3482,0,0,0,0,0,0
$GC,3363,-1.10,-116.8,288.7,-8.2,244,3365,0.10,0.00,0.00,0.000,6,0.118,0.000,2761,1758,3481,0,0,0,0,0,0
$GC,3608,-1.10,-116.8,303.7,-5.8,250,3612,0.00,2.72,0.00,0.000,4,0.000,0.077,2760,190,3481,0,0,0,0,0,0
$GC,3635,-1.10,-116.8,305.7,-6.4,250,3639,0.00,2.35,0.00,0.000,6,0.000,0.022,2761,1736,3481,0,0,0,0,0,0
$GC,3885,-1.13,-116.8,323.1,-7.0,256,3890,0.00,2.55,0.00,0.000,4,0.000,0.034,2761,3346,3480,0,0,0,0,0,0
$GC,3948,-1.21,-116.8,327.8,-7.6,257,3954,0.10,2.53,0.00,0.000,6,0.082,0.035,2721,1782,3480,0,0,0,0,0,0
$GC,4210,-1.18,-116.8,351.3,-9.1,264,4215,0.10,2.88,0.00,0.000,4,0.121,0.088,2742,185,3479,0,0,0,0,0,0
$GC,4287,-1.18,-116.8,358.2,-8.3,265,4293,0.00,2.45,0.00,0.000,6,0.000,0.030,2742,1745,3478,0,0,0,0,0,0
$GC,4539,-1.18,-116.8,375.7,-7.1,272,4544,0.00,2.62,0.00,0.000,4,0.000,0.051,2742,3356,3478,0,0,0,0,0,0
$GC,4567,-1.21,-116.8,378.0,-7.3,272,4572,0.00,2.62,0.00,0.000,6,0.000,0.051,2743,1767,3478,0,0,0,0,0,0
$GC,4817,-1.21,-116.8,398.2,-8.2,278,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1767,3477,0,0,0,0,0,0
$GC,5062,-1.21,-116.8,420.6,-9.4,284,5067,0.00,2.90,0.00,0.000,4,0.000,0.101,2742,181,3475,0,0,0,0,0,0
$GC,5077,-1.21,-116.8,422.2,-9.2,284,5082,0.00,2.50,0.00,0.000,6,0.000,0.026,2742,1772,3475,0,0,0,0,0,0
$GC,5344,-1.21,-116.8,444.4,-8.0,291,5349,0.00,2.62,0.00,0.000,4,0.000,0.052,2742,3356,3474,0,0,0,0,0,0
$GC,5379,-1.28,-116.8,446.8,-7.8,291,5384,0.00,2.67,0.00,0.000,6,0.000,0.054,2742,1776,3473,0,0,0,0,0,0
$GC,5629,-1.32,-116.8,463.7,-6.6,298,5631,0.12,0.00,0.00,0.000,6,0.077,0.000,2704,1776,3472,0,0,0,0,0,0
$GC,5872,-1.32,-116.8,485.0,-9.0,304,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1776,3471,0,0,0,0,0,0
$STATE,6032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6032,begin apogee
$GC,6040,-0.31,0.0,500.4,9.4,308,6139,1.00,0.00,95.60,0.913,6,0.074,0.000,2931,1839,3001,0,0,0,0,0,0
$STATE,6140,end apogee,CONTROL_FINISHED_OK
$STATE,6140,begin climb
$GC,6142,1.15,116.8,503.4,0.0,310,6247,1.33,0.00,100.68,0.893,6,0.042,0.000,3253,1839,2523,0,0,0,0,0,0
$GC,6469,1.08,181.1,494.8,5.0,318,6530,0.00,2.65,55.45,0.876,4,0.000,0.052,3253,3379,2261,0,0,0,0,0,0
$GC,6562,1.00,192.4,488.9,7.5,320,6579,0.17,2.70,10.55,0.775,6,0.114,0.059,3219,1818,2216,0,0,0,0,0,0
$GC,6838,0.96,193.5,467.7,8.0,327,6842,0.00,2.62,0.00,0.000,4,0.000,0.044,3219,3387,2210,0,0,0,0,0,0
$GC,6864,0.96,193.5,464.9,9.0,327,6869,0.00,2.67,0.00,0.000,6,0.000,0.059,3218,1824,2209,0,0,0,0,0,0
$GC,7115,0.96,193.5,441.0,9.9,333,7119,0.00,2.58,0.00,0.000,4,0.000,0.042,3219,3387,2207,0,0,0,0,0,0
$GC,7169,0.96,193.5,435.1,11.1,334,7174,0.00,2.62,0.00,0.000,6,0.000,0.055,3219,1837,2206,0,0,0,0,0,0
$GC,7437,0.96,193.5,408.8,9.6,341,7442,0.00,2.53,0.00,0.000,4,0.000,0.035,3219,3394,2205,0,0,0,0,0,0
$GC,7453,0.96,193.5,407.3,8.7,341,7458,0.00,2.62,0.00,0.000,6,0.000,0.048,3218,1832,2204,0,0,0,0,0,0
$GC,7715,0.99,217.1,388.2,6.9,348,7741,0.00,2.60,21.17,0.827,4,0.000,0.035,3219,3398,2114,0,0,0,0,0,0
$GC,7759,1.00,230.8,385.0,7.4,349,7779,0.00,2.62,13.30,0.779,6,0.000,0.043,3219,1846,2059,0,0,0,0,0,0
$GC,8041,1.00,231.7,363.5,8.0,356,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1845,2055,0,0,0,0,0,0
$GC,8286,1.00,231.7,343.2,8.3,362,8290,0.00,2.50,0.00,0.000,4,0.000,0.032,3219,3400,2053,0,0,0,0,0,0
$GC,8342,1.05,231.7,338.6,8.5,363,8347,0.00,2.58,0.00,0.000,6,0.000,0.044,3219,1845,2051,0,0,0,0,0,0
$GC,8609,1.06,243.6,318.8,7.5,370,8627,0.00,2.92,11.55,0.741,4,0.000,0.079,3219,240,2007,0,0,0,0,0,0
$GC,8653,1.06,243.6,315.1,8.7,371,8658,0.00,2.55,0.00,0.000,6,0.000,0.025,3219,1850,2005,0,0,0,0,0,0
$GC,8936,1.07,250.8,293.6,7.7,378,8951,0.00,2.55,7.68,0.673,4,0.000,0.038,3219,3398,1978,0,0,0,0,0,0
$GC,9008,1.16,250.8,286.8,9.4,379,9013,0.15,2.55,0.00,0.000,6,0.074,0.036,3260,1846,1977,0,0,0,0,0,0
$GC,9265,1.11,250.8,260.1,10.6,386,9269,0.00,2.47,0.00,0.000,4,0.000,0.032,3260,3395,1975,0,0,0,0,0,0
$GC,9308,1.11,250.8,255.2,11.0,387,9313,0.00,2.50,0.00,0.000,6,0.000,0.038,3260,1850,1974,0,0,0,0,0,0
$GC,9588,1.06,250.8,229.9,8.8,394,9593,0.12,2.50,0.00,0.000,4,0.116,0.031,3234,3397,1974,0,0,0,0,0,0
$GC,9632,1.11,250.8,225.8,8.8,395,9637,0.00,2.47,0.00,0.000,6,0.000,0.039,3233,1865,1974,0,0,0,0,0,0
$GC,9910,1.11,250.8,203.0,8.4,402,9915,0.00,2.80,0.00,0.000,4,0.000,0.066,3232,239,1973,0,0,0,0,0,0
$GC,9933,1.11,250.8,200.9,9.7,402,9937,0.00,2.55,0.00,0.000,6,0.000,0.023,3233,1875,1973,0,0,0,0,0,0
$GC,10204,1.11,250.8,177.3,8.5,427,10208,0.00,2.40,0.00,0.000,4,0.000,0.033,3232,3401,1973,0,0,0,0,0,0
$GC,10225,1.11,250.8,175.0,8.7,428,10231,0.00,2.47,0.00,0.000,6,0.000,0.031,3233,1852,1972,0,0,0,0,0,0
$GC,10489,1.15,283.8,155.9,6.5,453,10528,0.00,0.00,29.70,0.647,6,0.000,0.000,3233,1852,1841,0,0,0,0,0,0
$GC,10786,1.21,331.1,138.3,5.8,481,10833,0.12,2.50,40.85,0.627,4,0.078,0.028,3270,3398,1651,0,0,0,0,0,0
$GC,10861,1.21,331.1,132.6,8.5,487,10866,0.00,2.50,0.00,0.000,6,0.000,0.040,3269,1865,1649,0,0,0,0,0,0
$GC,11128,1.21,331.1,107.3,9.9,511,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1865,1647,0,0,0,0,0,0
$GC,11389,1.21,331.1,78.9,11.5,536,11393,0.00,2.45,0.00,0.000,4,0.000,0.027,3270,3398,1647,0,0,0,0,0,0
$GC,11435,1.26,331.1,74.1,11.9,539,11439,0.00,2.47,0.00,0.000,6,0.000,0.033,3269,1866,1646,0,0,0,0,0,0
$GC,11704,1.31,331.1,47.5,9.2,563,11709,0.00,2.75,0.00,0.000,4,0.000,0.064,3269,240,1646,0,0,0,0,0,0
$GC,11736,1.31,331.1,44.0,9.7,565,11740,0.00,2.55,0.00,0.000,6,0.000,0.018,3269,1893,1645,0,0,0,0,0,0
$GC,12033,1.36,331.1,16.5,9.0,600,12043,0.10,0.00,0.00,0.000,6,0.085,0.000,3302,1895,1644,0,0,0,0,0,0
$STATE,12179,end climb,SURFACE_DEPTH_REACHED
$STATE,12179,begin surface coast
$FINISH,0.2,1.023350
$STATE,12239,end surface coast,CONTROL_FINISHED_OK
$STATE,12239,begin surface
$SM_CCo,12262,78.55,0.450,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,78.55,0.000,0.000,0.450,470,1700,1288,-11.64,-1.98,420.20
$IRIDIUM_FIX,2244.02,-15746.73,111299,060636
$TT8_MAMPS,0.026078
$HUMID,45.82
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.90
$XPDR_PINGS,49
$24V_AH,23.5,31.281
$10V_AH,10.3,32.078
$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,26.925,129.200,386.525,78.550,0.000,28.318,27.308,161.056,12.250,0.000,16.423,1235.268,8136.054,550.729,2245.286,534.859,33.374,1339.244,0.000,2250.814,0.000,0.536,0.000
$DEVICE_MAMPS,136.526,266.149,912.730,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,425.873,385.795,492.023,903.469,1364.897,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,50865,629
$CAP_FILE_SIZE,121188,0
$CFSIZE,260165632,169447424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160910,134130,2252.062,-15743.337,29,1.5,34,10.1