version: 66.06
glider: 146
mission: 5
dive: 227
start: 9 17 110 10 36 21
data:
$ID,146
$MISSION,5
$DIVE,227
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,800
$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,-251775.89
$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,60
$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
$GPS1,102937,2250.118,-15744.523,53,1.3,53,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-66.9
$GPS2,103526,2250.038,-15744.577,12,1.3,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.070,0.206
$KALMAN_X,-241031.9,65.2,-176.7,285939.7,-919.9
$KALMAN_Y,-177162.9,-364.2,-182.4,306343.9,-2719.8
$MHEAD_RNG_PITCHd_Wd,8.7,15387,-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,-85.28,0.000,6,0.000,0.000,475,1736,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.7,-6.9,11,126,11.50,2.53,0.00,0.000,4,0.139,0.026,2739,3342,3481,0,0,0,0,0,0
$GC,183,-1.04,-116.8,26.1,-15.7,21,193,0.10,2.55,0.00,0.000,6,0.080,0.032,2767,1792,3482,0,0,0,0,0,0
$GC,457,-0.94,-116.8,60.1,-10.2,47,466,0.12,0.00,0.00,0.000,6,0.111,0.000,2794,1791,3482,0,0,0,0,0,0
$GC,719,-0.94,-116.8,83.2,-9.0,72,724,0.00,2.72,0.00,0.000,4,0.000,0.065,2794,189,3482,0,0,0,0,0,0
$GC,741,-0.94,-116.8,85.8,-10.4,73,747,0.00,2.40,0.00,0.000,6,0.000,0.015,2794,1808,3482,0,0,0,0,0,0
$GC,1003,-0.94,-116.8,111.9,-10.1,98,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1808,3482,0,0,0,0,0,0
$GC,1257,-0.98,-116.8,135.8,-8.8,122,1261,0.00,2.35,0.00,0.000,4,0.000,0.027,2795,3307,3483,0,0,0,0,0,0
$GC,1287,-1.06,-116.8,138.4,-8.3,124,1292,0.10,2.45,0.00,0.000,6,0.079,0.035,2753,1764,3483,0,0,0,0,0,0
$GC,1552,-1.02,-116.8,164.0,-9.7,148,1557,0.12,2.67,0.00,0.000,4,0.102,0.064,2781,198,3483,0,0,0,0,0,0
$GC,1595,-1.02,-116.8,168.0,-8.8,151,1599,0.00,2.33,0.00,0.000,6,0.000,0.018,2781,1775,3483,0,0,0,0,0,0
$GC,1863,-1.02,-116.8,186.7,-6.5,175,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1777,3483,0,0,0,0,0,0
$GC,2122,-1.02,-116.8,202.7,-6.3,197,2126,0.00,2.38,0.00,0.000,4,0.000,0.024,2781,3306,3483,0,0,0,0,0,0
$GC,2157,-1.09,-116.8,204.8,-5.7,197,2163,0.00,2.45,0.00,0.000,6,0.000,0.031,2781,1762,3483,0,0,0,0,0,0
$GC,2407,-1.09,-116.8,222.6,-7.5,204,2412,0.00,2.67,0.00,0.000,4,0.000,0.067,2781,191,3483,0,0,0,0,0,0
$GC,2429,-1.13,-116.8,224.3,-8.1,204,2434,0.12,2.33,0.00,0.000,6,0.074,0.020,2739,1757,3483,0,0,0,0,0,0
$GC,2686,-1.08,-116.8,249.4,-10.0,211,2690,0.12,2.45,0.00,0.000,4,0.106,0.033,2766,3324,3483,0,0,0,0,0,0
$GC,2712,-1.08,-116.8,252.2,-8.5,211,2717,0.00,2.45,0.00,0.000,6,0.000,0.035,2766,1778,3483,0,0,0,0,0,0
$GC,2962,-1.08,-116.8,273.4,-8.5,217,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1775,3483,0,0,0,0,0,0
$GC,3208,-1.08,-116.8,292.4,-7.7,223,3213,0.00,2.75,0.00,0.000,4,0.000,0.081,2766,187,3482,0,0,0,0,0,0
$GC,3230,-1.08,-116.8,294.2,-7.4,223,3234,0.00,2.38,0.00,0.000,6,0.000,0.022,2766,1752,3482,0,0,0,0,0,0
$GC,3485,-1.12,-116.8,312.0,-6.8,230,3489,0.00,2.50,0.00,0.000,4,0.000,0.032,2766,3339,3481,0,0,0,0,0,0
$GC,3514,-1.20,-116.8,314.0,-6.9,230,3519,0.12,2.50,0.00,0.000,6,0.070,0.039,2724,1786,3481,0,0,0,0,0,0
$GC,3764,-1.16,-116.8,334.4,-8.2,236,3769,0.10,2.83,0.00,0.000,4,0.114,0.088,2746,188,3481,0,0,0,0,0,0
$GC,3797,-1.16,-116.8,337.2,-8.4,236,3802,0.00,2.45,0.00,0.000,6,0.000,0.022,2746,1770,3480,0,0,0,0,0,0
$GC,4048,-1.16,-116.8,357.4,-8.3,243,4052,0.00,2.58,0.00,0.000,4,0.000,0.041,2746,3351,3480,0,0,0,0,0,0
$GC,4098,-1.22,-116.8,361.7,-7.9,244,4102,0.00,2.58,0.00,0.000,6,0.000,0.051,2746,1790,3480,0,0,0,0,0,0
$GC,4369,-1.22,-116.8,384.2,-8.2,251,4374,0.00,2.88,0.00,0.000,4,0.000,0.099,2746,184,3478,0,0,0,0,0,0
$GC,4471,-1.22,-116.8,392.7,-7.8,253,4475,0.00,2.47,0.00,0.000,6,0.000,0.025,2746,1766,3477,0,0,0,0,0,0
$GC,4737,-1.22,-116.8,408.5,-5.6,260,4741,0.00,2.58,0.00,0.000,4,0.000,0.046,2746,3355,3476,0,0,0,0,0,0
$GC,4771,-1.28,-116.8,410.3,-6.0,260,4778,0.12,2.62,0.00,0.000,6,0.073,0.048,2706,1773,3476,0,0,0,0,0,0
$GC,5022,-1.23,-116.8,427.7,-7.2,267,5027,0.12,2.58,0.00,0.000,4,0.106,0.043,2733,3352,3475,0,0,0,0,0,0
$GC,5055,-1.23,-116.8,430.2,-7.3,267,5061,0.00,2.65,0.00,0.000,6,0.000,0.058,2733,1785,3475,0,0,0,0,0,0
$GC,5306,-1.23,-116.8,449.2,-8.1,274,5311,0.00,2.97,0.00,0.000,4,0.000,0.109,2733,180,3473,0,0,0,0,0,0
$GC,5350,-1.23,-116.8,453.7,-10.6,275,5354,0.00,2.58,0.00,0.000,6,0.000,0.038,2733,1774,3473,0,0,0,0,0,0
$GC,5627,-1.23,-116.8,481.2,-10.0,282,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1774,3471,0,0,0,0,0,0
$STATE,5828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5828,begin apogee
$GC,5836,-0.31,0.0,500.9,9.6,287,5935,0.88,0.00,96.28,0.915,6,0.069,0.000,2934,1831,3001,0,0,0,0,0,0
$STATE,5936,end apogee,CONTROL_FINISHED_OK
$STATE,5936,begin climb
$GC,5938,1.15,116.8,504.4,0.0,289,6044,1.30,0.00,101.12,0.895,6,0.041,0.000,3253,1831,2524,0,0,0,0,0,0
$GC,6264,1.05,149.3,493.7,6.5,297,6299,0.12,2.78,28.05,0.861,4,0.256,0.063,3230,3391,2392,0,0,0,0,0,0
$GC,6367,1.01,164.6,486.2,7.3,299,6387,0.00,2.72,14.90,0.819,6,0.000,0.058,3230,1811,2329,0,0,0,0,0,0
$GC,6634,0.97,189.0,467.7,6.9,305,6658,0.00,0.00,22.35,0.848,6,0.000,0.000,3230,1811,2230,0,0,0,0,0,0
$GC,6876,0.93,204.9,450.2,7.3,311,6897,0.12,2.67,15.12,0.819,4,0.137,0.040,3206,3405,2164,0,0,0,0,0,0
$GC,6933,0.98,217.2,446.0,7.4,312,6952,0.00,2.70,12.23,0.793,6,0.000,0.057,3206,1824,2115,0,0,0,0,0,0
$GC,7203,0.99,219.0,425.0,7.9,319,7208,0.00,2.60,0.00,0.000,4,0.000,0.044,3206,3403,2110,0,0,0,0,0,0
$GC,7264,1.03,219.0,419.7,8.6,320,7269,0.00,2.65,0.00,0.000,6,0.000,0.048,3206,1841,2108,0,0,0,0,0,0
$GC,7526,1.03,219.0,398.5,8.1,327,7530,0.00,2.55,0.00,0.000,4,0.000,0.035,3206,3405,2107,0,0,0,0,0,0
$GC,7581,1.07,219.0,393.7,8.8,328,7586,0.12,2.60,0.00,0.000,6,0.086,0.046,3240,1846,2106,0,0,0,0,0,0
$GC,7849,1.02,219.0,368.9,9.3,335,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1846,2105,0,0,0,0,0,0
$GC,8091,0.97,219.0,346.2,9.3,341,8093,0.12,0.00,0.00,0.000,6,0.120,0.000,3214,1846,2105,0,0,0,0,0,0
$GC,8335,0.99,230.0,327.6,7.5,347,8351,0.00,2.55,11.05,0.743,4,0.000,0.029,3214,3411,2062,0,0,0,0,0,0
$GC,8368,1.01,246.9,325.1,7.2,347,8392,0.00,2.65,16.58,0.763,6,0.000,0.040,3214,1821,1994,0,0,0,0,0,0
$GC,8661,1.06,290.8,306.2,6.0,355,8706,0.00,2.62,39.78,0.782,4,0.000,0.037,3214,3404,1814,0,0,0,0,0,0
$GC,8748,1.18,310.1,301.1,7.1,357,8773,0.17,2.60,18.10,0.742,6,0.070,0.035,3260,1839,1735,0,0,0,0,0,0
$GC,9031,1.14,310.1,274.2,10.1,364,9035,0.00,2.83,0.00,0.000,4,0.000,0.073,3260,232,1729,0,0,0,0,0,0
$GC,9052,1.07,310.1,271.4,11.5,364,9058,0.12,2.55,0.00,0.000,6,0.117,0.025,3234,1861,1729,0,0,0,0,0,0
$GC,9309,1.07,310.1,244.7,10.6,371,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1863,1728,0,0,0,0,0,0
$GC,9551,1.07,310.1,221.4,9.3,377,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1863,1727,0,0,0,0,0,0
$GC,9795,1.07,310.1,200.3,8.4,383,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1863,1727,0,0,0,0,0,0
$GC,10050,1.07,310.1,178.3,9.2,404,10054,0.00,2.78,0.00,0.000,4,0.000,0.063,3234,238,1727,0,0,0,0,0,0
$GC,10071,1.07,310.1,175.9,10.1,405,10080,0.00,2.50,0.00,0.000,6,0.000,0.020,3234,1841,1725,0,0,0,0,0,0
$GC,10337,1.07,310.1,149.8,10.6,430,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1842,1725,0,0,0,0,0,0
$GC,10603,1.07,310.1,122.8,9.9,455,10607,0.00,2.40,0.00,0.000,4,0.000,0.035,3234,3381,1725,0,0,0,0,0,0
$GC,10624,1.12,310.1,120.2,9.3,456,10633,0.00,2.53,0.00,0.000,6,0.000,0.033,3234,1836,1725,0,0,0,0,0,0
$GC,10893,1.22,339.4,99.7,6.7,481,10920,0.12,0.00,24.80,0.590,6,0.077,0.000,3271,1836,1616,0,0,0,0,0,0
$GC,11177,1.22,339.4,76.5,8.2,508,11182,0.00,2.47,0.00,0.000,4,0.000,0.027,3271,3391,1614,0,0,0,0,0,0
$GC,11263,1.31,361.8,70.6,7.0,514,11291,0.00,2.50,19.90,0.555,6,0.000,0.032,3271,1841,1525,0,0,0,0,0,0
$GC,11547,1.35,361.8,49.7,8.0,540,11556,0.10,0.00,0.00,0.000,6,0.085,0.000,3304,1840,1524,0,0,0,0,0,0
$GC,11836,1.35,361.8,17.3,13.0,572,11845,0.00,2.47,0.00,0.000,4,0.000,0.025,3303,3382,1524,0,0,0,0,0,0
$GC,11855,1.35,361.8,15.2,12.2,574,11864,0.00,2.53,0.00,0.000,6,0.000,0.035,3303,1853,1523,0,0,0,0,0,0
$STATE,11962,end climb,SURFACE_DEPTH_REACHED
$STATE,11962,begin surface coast
$FINISH,0.2,1.010109
$STATE,12014,end surface coast,CONTROL_FINISHED_OK
$STATE,12015,begin surface
$SM_CCo,12036,54.55,0.420,1,0,1288,420.20
$SM_GC,0.88,0.00,0.00,54.55,0.000,0.000,0.420,475,1737,1288,-11.62,-0.90,420.20
$IRIDIUM_FIX,2244.02,-15743.68,121299,070736
$TT8_MAMPS,0.025311
$HUMID,46.61
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.10
$XPDR_PINGS,52
$24V_AH,23.5,32.101
$10V_AH,10.3,32.991
$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,27.225,134.050,420.250,54.550,0.000,31.358,28.124,150.623,13.000,0.000,14.306,1183.562,7991.279,555.372,2182.305,531.807,33.380,1366.385,0.000,2196.771,0.000,0.536,0.000
$DEVICE_MAMPS,256.178,127.322,915.031,419.549,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,402.744,341.576,456.490,856.339,1295.152,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,47780,596
$CAP_FILE_SIZE,122097,0
$CFSIZE,260165632,169021440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170910,135936,2249.925,-15744.273,38,0.9,57,10.1