version: 66.06
glider: 146
mission: 5
dive: 89
start: 8 28 110 12 32 40
data:
$ID,146
$MISSION,5
$DIVE,89
$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,-249011.69
$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,49
$R_STBD_OVSHOOT,69
$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
$GPS1,122554,2255.697,-15744.626,22,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-66.7
$GPS2,123143,2255.698,-15744.666,12,1.2,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.182,-0.120
$KALMAN_X,-78380.8,-145.5,305.0,122864.6,-1109.5
$KALMAN_Y,5824.0,-134.2,342.2,133088.5,-690.7
$MHEAD_RNG_PITCHd_Wd,226.6,21046,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-86.20,0.000,6,0.000,0.000,474,1734,3478,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.2,-5.9,11,124,12.07,2.53,0.00,0.000,4,0.160,0.029,2741,3335,3481,0,0,0,0,0,0
$GC,283,-1.06,-116.8,38.1,-12.7,32,288,0.12,2.50,0.00,0.000,6,0.123,0.036,2766,1794,3481,0,0,0,0,0,0
$GC,551,-0.96,-116.8,77.6,-14.0,56,556,0.10,2.80,0.00,0.000,4,0.135,0.072,2787,188,3482,0,0,0,0,0,0
$GC,620,-0.96,-116.8,87.4,-13.0,61,624,0.00,2.38,0.00,0.000,6,0.000,0.015,2787,1767,3482,0,0,0,0,0,0
$GC,887,-0.96,-116.8,113.6,-8.2,85,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1769,3482,0,0,0,0,0,0
$GC,1147,-0.96,-116.8,135.4,-8.7,110,1152,0.00,2.42,0.00,0.000,4,0.000,0.031,2787,3318,3483,0,0,0,0,0,0
$GC,1177,-1.01,-116.8,138.0,-9.0,112,1181,0.00,2.53,0.00,0.000,6,0.000,0.033,2787,1742,3482,0,0,0,0,0,0
$GC,1445,-1.01,-116.8,162.5,-9.7,136,1449,0.00,2.62,0.00,0.000,4,0.000,0.065,2787,195,3483,0,0,0,0,0,0
$GC,1488,-1.05,-116.8,166.9,-9.7,139,1492,0.00,2.33,0.00,0.000,6,0.000,0.023,2787,1751,3483,0,0,0,0,0,0
$GC,1755,-1.10,-116.8,189.5,-8.3,163,1761,0.12,0.00,0.00,0.000,6,0.074,0.000,2742,1752,3483,0,0,0,0,0,0
$GC,2030,-1.05,-116.8,217.4,-10.0,178,2035,0.12,2.45,0.00,0.000,4,0.107,0.031,2769,3310,3483,0,0,0,0,0,0
$GC,2053,-1.05,-116.8,219.6,-10.0,178,2057,0.00,2.50,0.00,0.000,6,0.000,0.036,2769,1739,3483,0,0,0,0,0,0
$GC,2308,-1.05,-116.8,240.2,-7.8,185,2312,0.00,2.47,0.00,0.000,4,0.000,0.027,2769,3311,3483,0,0,0,0,0,0
$GC,2330,-1.05,-116.8,241.8,-7.4,185,2334,0.00,2.53,0.00,0.000,6,0.000,0.037,2769,1747,3483,0,0,0,0,0,0
$GC,2584,-1.05,-116.8,262.4,-8.3,192,2589,0.00,2.67,0.00,0.000,4,0.000,0.077,2769,194,3482,0,0,0,0,0,0
$GC,2618,-1.05,-116.8,265.6,-9.8,192,2624,0.00,2.33,0.00,0.000,6,0.000,0.022,2768,1719,3482,0,0,0,0,0,0
$GC,2868,-1.05,-116.8,286.1,-7.9,199,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1719,3482,0,0,0,0,0,0
$GC,3112,-1.10,-116.8,305.9,-8.3,205,3116,0.00,2.53,0.00,0.000,4,0.000,0.033,2769,3318,3481,0,0,0,0,0,0
$GC,3174,-1.17,-116.8,311.1,-8.4,206,3179,0.10,2.58,0.00,0.000,6,0.087,0.038,2732,1744,3481,0,0,0,0,0,0
$GC,3435,-1.17,-116.8,334.8,-8.9,213,3439,0.00,2.53,0.00,0.000,4,0.000,0.037,2732,3309,3480,0,0,0,0,0,0
$GC,3450,-1.17,-116.8,336.1,-8.0,213,3455,0.00,2.58,0.00,0.000,6,0.000,0.050,2732,1753,3480,0,0,0,0,0,0
$GC,3712,-1.17,-116.8,357.1,-8.4,220,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1752,3479,0,0,0,0,0,0
$GC,3954,-1.17,-116.8,380.1,-9.4,226,3959,0.00,2.80,0.00,0.000,4,0.000,0.097,2732,186,3478,0,0,0,0,0,0
$GC,3975,-1.17,-116.8,382.3,-10.3,226,3979,0.00,2.40,0.00,0.000,6,0.000,0.029,2732,1716,3478,0,0,0,0,0,0
$GC,4238,-1.17,-116.8,403.7,-7.7,233,4243,0.00,2.62,0.00,0.000,4,0.000,0.058,2733,3303,3477,0,0,0,0,0,0
$GC,4278,-1.17,-116.8,406.4,-6.6,234,4283,0.00,2.58,0.00,0.000,6,0.000,0.053,2732,1774,3477,0,0,0,0,0,0
$GC,4561,-1.17,-116.8,425.7,-7.1,241,4566,0.00,2.92,0.00,0.000,4,0.000,0.106,2732,178,3475,0,0,0,0,0,0
$GC,4578,-1.17,-116.8,427.1,-7.9,241,4582,0.00,2.45,0.00,0.000,6,0.000,0.030,2732,1711,3475,0,0,0,0,0,0
$GC,4838,-1.17,-116.8,449.1,-8.5,248,4843,0.00,2.67,0.00,0.000,4,0.000,0.062,2732,3296,3473,0,0,0,0,0,0
$GC,4865,-1.21,-116.8,451.6,-9.3,248,4870,0.00,2.58,0.00,0.000,6,0.000,0.055,2731,1780,3473,0,0,0,0,0,0
$GC,5116,-1.21,-116.8,473.6,-8.8,254,5121,0.00,2.53,0.00,0.000,4,0.000,0.050,2732,3295,3471,0,0,0,0,0,0
$GC,5144,-1.25,-116.8,476.3,-9.1,254,5148,0.00,2.58,0.00,0.000,6,0.000,0.060,2732,1784,3471,0,0,0,0,0,0
$GC,5394,-1.25,-116.8,496.0,-7.8,260,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1783,3469,0,0,0,0,0,0
$STATE,5474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5474,begin apogee
$GC,5479,-0.31,0.0,502.3,7.6,262,5578,0.90,0.00,95.30,0.923,6,0.082,0.000,2933,1783,3001,0,0,0,0,0,0
$STATE,5579,end apogee,CONTROL_FINISHED_OK
$STATE,5579,begin climb
$GC,5582,1.15,116.8,504.2,0.0,264,5690,1.35,2.70,100.30,0.900,4,0.043,0.051,3260,3350,2523,0,0,0,0,0,0
$GC,5720,1.03,153.9,501.9,6.3,268,5760,0.17,2.67,32.40,0.867,6,0.117,0.064,3226,1820,2372,0,0,0,0,0,0
$GC,6045,0.99,174.2,478.8,7.1,276,6064,0.00,0.00,17.90,0.842,6,0.000,0.000,3225,1820,2290,0,0,0,0,0,0
$GC,6288,0.93,181.5,460.5,7.7,282,6303,0.10,2.62,7.15,0.728,4,0.136,0.044,3207,3350,2260,0,0,0,0,0,0
$GC,6349,0.93,181.5,455.7,8.2,283,6353,0.00,2.62,0.00,0.000,6,0.000,0.052,3207,1821,2258,0,0,0,0,0,0
$GC,6615,0.94,185.8,434.7,7.8,290,6621,0.00,0.00,4.82,0.633,6,0.000,0.000,3207,1821,2243,0,0,0,0,0,0
$GC,6860,0.98,215.2,417.9,6.6,296,6889,0.00,0.00,27.52,0.858,6,0.000,0.000,3207,1821,2122,0,0,0,0,0,0
$GC,7102,1.01,240.6,401.6,6.8,302,7132,0.00,2.60,22.95,0.836,4,0.000,0.037,3207,3351,2019,0,0,0,0,0,0
$GC,7167,1.06,242.8,396.6,7.9,303,7172,0.10,2.62,0.00,0.000,6,0.091,0.049,3233,1809,2017,0,0,0,0,0,0
$GC,7429,1.06,242.8,372.0,9.5,310,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1809,2014,0,0,0,0,0,0
$GC,7671,1.06,242.8,348.7,9.7,316,7672,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1809,2013,0,0,0,0,0,0
$GC,7915,1.06,242.8,324.3,10.2,322,7919,0.00,2.50,0.00,0.000,4,0.000,0.031,3234,3360,2011,0,0,0,0,0,0
$GC,7982,1.06,242.8,317.6,10.1,323,7987,0.00,2.53,0.00,0.000,6,0.000,0.038,3233,1825,2010,0,0,0,0,0,0
$GC,8237,1.06,242.8,294.7,8.7,330,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1825,2010,0,0,0,0,0,0
$GC,8480,1.06,242.8,274.3,8.5,336,8485,0.00,2.45,0.00,0.000,4,0.000,0.037,3233,3355,2009,0,0,0,0,0,0
$GC,8507,1.06,242.8,271.7,9.1,336,8512,0.00,2.47,0.00,0.000,6,0.000,0.038,3233,1837,2008,0,0,0,0,0,0
$GC,8759,1.06,242.8,249.6,8.8,342,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1836,2008,0,0,0,0,0,0
$GC,9001,1.06,246.5,230.2,7.8,348,9010,0.00,0.00,4.55,0.524,6,0.000,0.000,3233,1836,1996,0,0,0,0,0,0
$GC,9289,1.06,246.5,206.3,8.6,355,9290,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1836,1995,0,0,0,0,0,0
$GC,9546,1.06,246.5,183.5,9.1,373,9550,0.00,2.42,0.00,0.000,4,0.000,0.035,3233,3361,1995,0,0,0,0,0,0
$GC,9591,1.12,246.5,178.8,9.4,376,9596,0.00,2.47,0.00,0.000,6,0.000,0.037,3233,1834,1995,0,0,0,0,0,0
$GC,9855,1.14,262.2,157.7,7.3,401,9876,0.00,2.45,15.68,0.626,4,0.000,0.033,3234,3362,1931,0,0,0,0,0,0
$GC,9893,1.19,268.5,154.5,7.7,404,9912,0.10,2.47,6.88,0.538,6,0.087,0.037,3263,1849,1906,0,0,0,0,0,0
$GC,10164,1.19,268.5,127.5,10.0,430,10166,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1848,1904,0,0,0,0,0,0
$GC,10418,1.19,268.5,103.6,8.8,454,10422,0.00,2.38,0.00,0.000,4,0.000,0.028,3263,3358,1904,0,0,0,0,0,0
$GC,10511,1.23,268.5,95.7,9.0,461,10515,0.00,2.42,0.00,0.000,6,0.000,0.035,3263,1856,1904,0,0,0,0,0,0
$GC,10777,1.23,268.5,74.2,8.0,485,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1856,1904,0,0,0,0,0,0
$GC,11044,1.29,291.2,55.7,7.0,510,11072,0.00,2.78,20.88,0.545,4,0.000,0.059,3263,243,1811,0,0,0,0,0,0
$GC,11114,1.29,291.2,50.0,8.8,515,11118,0.00,2.47,0.00,0.000,6,0.000,0.024,3263,1852,1810,0,0,0,0,0,0
$GC,11391,1.34,298.7,26.8,7.7,542,11410,0.12,2.45,7.53,0.459,4,0.098,0.027,3299,3378,1782,0,0,0,0,0,0
$GC,11441,1.36,316.1,23.1,7.2,548,11466,0.00,2.47,15.95,0.505,6,0.000,0.032,3299,1869,1712,0,0,0,0,0,0
$STATE,11602,end climb,SURFACE_DEPTH_REACHED
$STATE,11602,begin surface coast
$FINISH,0.3,1.010046
$STATE,11645,end surface coast,CONTROL_FINISHED_OK
$STATE,11645,begin surface
$SM_CCo,11667,90.10,0.456,1,0,1288,420.20
$SM_GC,0.97,0.00,0.00,90.10,0.000,0.000,0.456,480,1753,1288,-11.59,-0.48,420.20
$IRIDIUM_FIX,2246.36,-15740.63,221199,090936
$TT8_MAMPS,0.026078
$HUMID,42.36
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.80
$XPDR_PINGS,48
$24V_AH,23.6,15.831
$10V_AH,10.4,15.048
$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,26.975,122.125,379.800,90.100,0.000,29.640,29.219,152.439,12.000,0.000,14.059,1141.829,7864.269,551.028,2042.564,513.068,33.368,1299.573,0.000,2054.946,0.000,0.536,0.000
$DEVICE_MAMPS,160.303,105.846,922.701,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.140,349.435,441.114,819.778,1240.924,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,44798,577
$CAP_FILE_SIZE,113771,0
$CFSIZE,260165632,177487872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280810,155024,2254.461,-15746.651,41,99.0,60,10.1