version: 66.06
glider: 146
mission: 5
dive: 118
start: 9 1 110 17 22 28
data:
$ID,146
$MISSION,5
$DIVE,118
$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,-249690.83
$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,45
$R_STBD_OVSHOOT,59
$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
$GPS1,171500,2248.951,-15741.778,35,1.5,35,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-68.6
$GPS2,172132,2248.939,-15741.812,14,1.3,32,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.076,0.200
$KALMAN_X,-110965.2,-146.5,193.6,160471.5,-995.9
$KALMAN_Y,1198.2,-223.7,-110.7,125735.9,-58.3
$MHEAD_RNG_PITCHd_Wd,10.7,16785,-16.5,-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,-1.17,-112.1,0.0,0.0,0,103,0.00,0.00,-85.32,0.000,6,0.000,0.000,475,1737,3459,0,0,0,0,0,0
$GC,106,-1.17,-116.8,4.4,-6.1,11,124,11.57,2.53,-0.30,0.000,4,0.143,0.037,2735,3339,3479,0,0,0,0,0,0
$GC,181,-1.06,-116.8,26.9,-18.0,21,191,0.12,2.55,0.00,0.000,6,0.077,0.035,2768,1793,3480,0,0,0,0,0,0
$GC,456,-0.97,-116.8,65.1,-14.0,47,461,0.10,2.75,0.00,0.000,4,0.120,0.061,2789,186,3481,0,0,0,0,0,0
$GC,480,-0.89,-116.8,69.3,-13.1,48,489,0.00,2.45,0.00,0.000,6,0.000,0.015,2789,1806,3480,0,0,0,0,0,0
$GC,744,-0.89,-116.8,96.4,-9.9,73,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1808,3480,0,0,0,0,0,0
$GC,1006,-0.89,-116.8,123.3,-9.2,98,1011,0.00,2.78,0.00,0.000,4,0.000,0.064,2789,182,3481,0,0,0,0,0,0
$GC,1052,-0.94,-116.8,127.1,-9.5,101,1056,0.00,2.35,0.00,0.000,6,0.000,0.022,2789,1757,3481,0,0,0,0,0,0
$GC,1320,-0.99,-116.8,150.1,-9.2,125,1324,0.00,2.42,0.00,0.000,4,0.000,0.028,2789,3318,3482,0,0,0,0,0,0
$GC,1360,-1.09,-116.8,154.2,-8.2,128,1365,0.12,2.47,0.00,0.000,6,0.073,0.035,2743,1757,3482,0,0,0,0,0,0
$GC,1621,-1.05,-116.8,182.2,-10.2,152,1626,0.12,2.45,0.00,0.000,4,0.106,0.033,2770,3309,3482,0,0,0,0,0,0
$GC,1661,-1.10,-116.8,186.0,-8.8,155,1665,0.00,2.47,0.00,0.000,6,0.000,0.028,2770,1760,3482,0,0,0,0,0,0
$GC,1949,-1.10,-116.8,211.1,-8.7,173,1954,0.00,2.67,0.00,0.000,4,0.000,0.072,2770,192,3481,0,0,0,0,0,0
$GC,1988,-1.10,-116.8,214.8,-9.4,174,1993,0.00,2.33,0.00,0.000,6,0.000,0.017,2770,1751,3481,0,0,0,0,0,0
$GC,2272,-1.10,-116.8,238.3,-8.4,181,2276,0.00,2.45,0.00,0.000,4,0.000,0.035,2770,3326,3481,0,0,0,0,0,0
$GC,2322,-1.19,-116.8,242.9,-9.5,182,2328,0.12,2.50,0.00,0.000,6,0.071,0.032,2722,1761,3481,0,0,0,0,0,0
$GC,2595,-1.14,-116.8,274.7,-12.1,189,2600,0.12,2.75,0.00,0.000,4,0.109,0.071,2751,186,3481,0,0,0,0,0,0
$GC,2628,-1.14,-116.8,278.3,-10.9,189,2634,0.00,2.38,0.00,0.000,6,0.000,0.021,2751,1750,3481,0,0,0,0,0,0
$GC,2880,-1.14,-116.8,298.2,-7.6,196,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1752,3480,0,0,0,0,0,0
$GC,3122,-1.14,-116.8,317.8,-7.9,202,3126,0.00,2.53,0.00,0.000,4,0.000,0.037,2751,3339,3480,0,0,0,0,0,0
$GC,3177,-1.20,-116.8,322.0,-7.5,203,3182,0.00,2.58,0.00,0.000,6,0.000,0.037,2751,1756,3480,0,0,0,0,0,0
$GC,3446,-1.20,-116.8,341.5,-7.3,210,3450,0.00,2.53,0.00,0.000,4,0.000,0.035,2751,3339,3479,0,0,0,0,0,0
$GC,3485,-1.27,-116.8,344.7,-7.8,211,3490,0.12,2.60,0.00,0.000,6,0.073,0.042,2708,1754,3479,0,0,0,0,0,0
$GC,3770,-1.27,-116.8,373.1,-10.5,218,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1754,3478,0,0,0,0,0,0
$GC,4012,-1.27,-116.8,398.1,-10.1,224,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1754,3477,0,0,0,0,0,0
$GC,4256,-1.27,-116.8,420.0,-8.9,230,4260,0.00,2.60,0.00,0.000,4,0.000,0.047,2708,3330,3475,0,0,0,0,0,0
$GC,4288,-1.27,-116.8,422.8,-8.7,230,4294,0.00,2.65,0.00,0.000,6,0.000,0.060,2708,1768,3475,0,0,0,0,0,0
$GC,4539,-1.27,-116.8,444.3,-8.5,237,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1768,3473,0,0,0,0,0,0
$GC,4782,-1.27,-116.8,464.3,-8.2,243,4786,0.00,2.60,0.00,0.000,4,0.000,0.054,2708,3321,3472,0,0,0,0,0,0
$GC,4825,-1.27,-116.8,468.1,-8.2,244,4829,0.00,2.65,0.00,0.000,6,0.000,0.065,2708,1765,3472,0,0,0,0,0,0
$GC,5103,-1.27,-116.8,491.3,-8.4,251,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1765,3469,0,0,0,0,0,0
$STATE,5222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5223,begin apogee
$GC,5229,-0.31,0.0,501.5,8.3,254,5329,1.00,0.00,95.65,0.926,6,0.079,0.000,2933,1765,3001,0,0,0,0,0,0
$STATE,5329,end apogee,CONTROL_FINISHED_OK
$STATE,5329,begin climb
$GC,5332,1.17,116.8,503.2,0.0,256,5445,1.35,3.03,100.38,0.897,4,0.054,0.119,3261,239,2522,0,0,0,0,0,0
$GC,5457,1.02,152.3,500.8,6.3,259,5499,0.20,2.58,31.30,0.861,6,0.117,0.032,3222,1792,2379,0,0,0,0,0,0
$GC,5744,0.96,152.5,479.1,8.0,266,5748,0.00,2.75,0.00,0.000,4,0.000,0.064,3222,3404,2371,0,0,0,0,0,0
$GC,5784,0.96,152.5,475.6,8.3,267,5789,0.00,2.72,0.00,0.000,6,0.000,0.058,3222,1819,2369,0,0,0,0,0,0
$GC,6067,0.91,152.5,452.2,8.1,274,6073,0.12,2.65,0.00,0.000,4,0.123,0.045,3198,3418,2367,0,0,0,0,0,0
$GC,6083,0.91,152.5,450.7,8.2,274,6088,0.00,2.70,0.00,0.000,6,0.000,0.050,3198,1828,2366,0,0,0,0,0,0
$GC,6352,0.93,167.7,431.4,7.3,281,6371,0.00,2.67,12.55,0.815,4,0.000,0.038,3199,3408,2316,0,0,0,0,0,0
$GC,6422,0.98,205.3,426.9,6.2,282,6461,0.00,2.67,34.42,0.858,6,0.000,0.048,3198,1838,2164,0,0,0,0,0,0
$GC,6726,1.02,241.8,408.6,6.3,290,6763,0.10,0.00,33.10,0.846,6,0.183,0.000,3225,1838,2015,0,0,0,0,0,0
$GC,7007,1.02,241.8,384.6,8.7,297,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1838,2008,0,0,0,0,0,0
$GC,7250,1.02,241.8,362.6,9.1,303,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1838,2006,0,0,0,0,0,0
$GC,7496,1.05,264.3,344.3,6.9,309,7521,0.00,2.62,19.92,0.801,4,0.000,0.039,3224,3415,1922,0,0,0,0,0,0
$GC,7580,1.14,289.5,339.0,6.8,311,7610,0.10,2.62,23.58,0.797,6,0.092,0.044,3252,1834,1819,0,0,0,0,0,0
$GC,7867,1.14,289.5,313.6,9.4,318,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1834,1814,0,0,0,0,0,0
$GC,8109,1.14,289.5,288.4,10.3,324,8113,0.00,2.55,0.00,0.000,4,0.000,0.031,3252,3414,1812,0,0,0,0,0,0
$GC,8124,1.14,289.5,286.8,9.6,324,8129,0.00,2.58,0.00,0.000,6,0.000,0.036,3252,1833,1810,0,0,0,0,0,0
$GC,8386,1.14,289.5,258.5,11.1,331,8390,0.00,2.78,0.00,0.000,4,0.000,0.075,3252,239,1810,0,0,0,0,0,0
$GC,8408,1.08,289.5,255.8,12.6,331,8413,0.00,2.53,0.00,0.000,6,0.000,0.025,3252,1868,1810,0,0,0,0,0,0
$GC,8664,1.08,289.5,227.9,10.6,338,8668,0.00,2.40,0.00,0.000,4,0.000,0.030,3252,3390,1810,0,0,0,0,0,0
$GC,8684,1.08,289.5,225.5,10.9,338,8689,0.00,2.53,0.00,0.000,6,0.000,0.035,3252,1834,1809,0,0,0,0,0,0
$GC,8947,1.08,289.5,196.1,11.3,345,8952,0.00,2.72,0.00,0.000,4,0.000,0.071,3252,242,1809,0,0,0,0,0,0
$GC,8977,1.02,289.5,192.3,12.5,347,8982,0.15,2.47,0.00,0.000,6,0.110,0.018,3221,1839,1808,0,0,0,0,0,0
$GC,9239,1.08,289.5,168.9,8.3,371,9244,0.00,2.45,0.00,0.000,4,0.000,0.028,3221,3390,1808,0,0,0,0,0,0
$GC,9273,1.17,289.5,166.5,8.6,373,9278,0.15,2.53,0.00,0.000,6,0.071,0.033,3262,1830,1808,0,0,0,0,0,0
$GC,9538,1.17,289.5,139.2,10.1,397,9542,0.00,2.47,0.00,0.000,4,0.000,0.032,3262,3388,1808,0,0,0,0,0,0
$GC,9555,1.17,289.5,137.1,10.0,398,9560,0.00,2.53,0.00,0.000,6,0.000,0.037,3262,1830,1809,0,0,0,0,0,0
$GC,9818,1.17,289.5,111.3,9.0,422,9822,0.00,2.72,0.00,0.000,4,0.000,0.064,3262,236,1808,0,0,0,0,0,0
$GC,9838,1.17,289.5,109.6,9.4,423,9842,0.00,2.45,0.00,0.000,6,0.000,0.019,3262,1845,1808,0,0,0,0,0,0
$GC,10105,1.17,289.5,84.6,9.8,447,10110,0.00,2.42,0.00,0.000,4,0.000,0.028,3262,3387,1808,0,0,0,0,0,0
$GC,10139,1.22,289.5,81.3,9.7,449,10143,0.00,2.50,0.00,0.000,6,0.000,0.034,3263,1845,1809,0,0,0,0,0,0
$GC,10407,1.22,292.4,57.8,7.9,473,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1845,1809,0,0,0,0,0,0
$GC,10673,1.29,311.9,38.9,7.1,498,10699,0.00,2.45,19.20,0.527,4,0.000,0.025,3262,3381,1727,0,0,0,0,0,0
$GC,10718,1.36,311.9,35.5,8.1,501,10723,0.12,2.47,0.00,0.000,6,0.073,0.031,3301,1850,1727,0,0,0,0,0,0
$STATE,11019,end climb,SURFACE_DEPTH_REACHED
$STATE,11019,begin surface coast
$FINISH,0.6,1.023357
$STATE,11069,end surface coast,CONTROL_FINISHED_OK
$STATE,11069,begin surface
$SM_CCo,11092,94.15,0.459,1,0,1287,420.20
$SM_GC,1.02,0.00,0.00,94.15,0.000,0.000,0.459,474,1744,1287,-11.62,-0.74,420.20
$IRIDIUM_FIX,2241.69,-15744.57,261199,141444
$TT8_MAMPS,0.026078
$HUMID,43.69
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.30
$XPDR_PINGS,52
$24V_AH,23.5,19.353
$10V_AH,10.4,18.814
$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,27.125,133.725,370.100,94.150,0.000,25.018,31.110,175.633,13.000,0.000,34.034,1102.873,7366.205,543.413,2042.302,528.822,33.374,1282.284,0.000,2024.880,0.000,0.538,0.000
$DEVICE_MAMPS,183.313,118.885,925.769,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.235,319.704,417.511,800.319,1210.974,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,44753,548
$CAP_FILE_SIZE,113398,0
$CFSIZE,260165632,175718400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010910,203006,2250.223,-15741.682,26,1.2,26,10.1