version: 66.06
glider: 146
mission: 5
dive: 131
start: 9 3 110 13 12 39
data:
$ID,146
$MISSION,5
$DIVE,131
$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,-249952.09
$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,41
$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
$GPS1,130501,2250.770,-15753.171,40,1.3,40,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.1
$GPS2,131144,2250.767,-15753.219,10,2.0,10,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.149,-0.159
$KALMAN_X,-123937.5,-50.2,-37.0,153945.8,-1100.9
$KALMAN_Y,-3248.8,-67.6,108.2,133187.6,-273.1
$MHEAD_RNG_PITCHd_Wd,213.0,3841,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-86.68,0.000,6,0.000,0.000,474,1742,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.1,-5.8,11,125,11.55,2.58,0.00,0.000,4,0.140,0.055,2741,214,3481,0,0,0,0,0,0
$GC,292,-0.98,-116.8,44.8,-15.8,32,297,0.20,2.42,0.00,0.000,6,0.097,0.015,2784,1800,3481,0,0,0,0,0,0
$GC,560,-0.94,-116.8,78.6,-11.6,56,564,0.00,2.72,0.00,0.000,4,0.000,0.062,2784,211,3481,0,0,0,0,0,0
$GC,590,-0.86,-116.8,82.8,-12.1,58,595,0.12,2.35,0.00,0.000,6,0.107,0.016,2812,1771,3482,0,0,0,0,0,0
$GC,854,-0.86,-116.8,105.8,-9.0,82,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1773,3483,0,0,0,0,0,0
$GC,1108,-0.93,-116.8,127.8,-7.2,106,1112,0.00,2.42,0.00,0.000,4,0.000,0.025,2812,3317,3483,0,0,0,0,0,0
$GC,1130,-1.00,-116.8,129.1,-7.0,107,1135,0.12,2.42,0.00,0.000,6,0.069,0.035,2768,1787,3483,0,0,0,0,0,0
$GC,1391,-1.00,-116.8,155.7,-10.4,131,1396,0.00,2.72,0.00,0.000,4,0.000,0.067,2768,196,3483,0,0,0,0,0,0
$GC,1425,-1.00,-116.8,158.7,-10.9,133,1430,0.00,2.38,0.00,0.000,6,0.000,0.015,2768,1780,3483,0,0,0,0,0,0
$GC,1692,-1.00,-116.8,182.0,-8.5,157,1696,0.00,2.40,0.00,0.000,4,0.000,0.025,2768,3318,3483,0,0,0,0,0,0
$GC,1737,-1.04,-116.8,185.9,-8.3,160,1741,0.00,2.42,0.00,0.000,6,0.000,0.036,2768,1786,3483,0,0,0,0,0,0
$GC,2015,-1.04,-116.8,213.5,-10.4,177,2019,0.00,2.70,0.00,0.000,4,0.000,0.068,2768,197,3483,0,0,0,0,0,0
$GC,2058,-1.04,-116.8,218.1,-10.0,178,2062,0.00,2.35,0.00,0.000,6,0.000,0.016,2767,1770,3483,0,0,0,0,0,0
$GC,2343,-1.04,-116.8,242.1,-8.3,185,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1773,3483,0,0,0,0,0,0
$GC,2585,-1.04,-116.8,263.8,-9.0,191,2590,0.00,2.75,0.00,0.000,4,0.000,0.067,2767,190,3483,0,0,0,0,0,0
$GC,2606,-1.04,-116.8,265.9,-9.4,191,2610,0.00,2.42,0.00,0.000,6,0.000,0.017,2768,1785,3483,0,0,0,0,0,0
$GC,2868,-1.04,-116.8,288.6,-8.6,198,2871,0.00,2.42,0.00,0.000,4,0.000,0.036,2768,3324,3482,0,0,0,0,0,0
$GC,2885,-1.04,-116.8,290.0,-8.6,198,2889,0.00,2.47,0.00,0.000,6,0.000,0.031,2767,1787,3482,0,0,0,0,0,0
$GC,3151,-1.09,-116.8,313.4,-9.0,205,3155,0.00,2.80,0.00,0.000,4,0.000,0.081,2767,196,3482,0,0,0,0,0,0
$GC,3200,-1.14,-116.8,317.7,-8.5,206,3205,0.00,2.45,0.00,0.000,6,0.000,0.021,2768,1764,3482,0,0,0,0,0,0
$GC,3475,-1.20,-116.8,334.1,-5.4,213,3477,0.12,0.00,0.00,0.000,6,0.069,0.000,2721,1764,3481,0,0,0,0,0,0
$GC,3716,-1.20,-116.8,353.7,-8.5,219,3720,0.00,2.60,0.00,0.000,4,0.000,0.047,2721,3354,3480,0,0,0,0,0,0
$GC,3737,-1.20,-116.8,355.9,-10.0,219,3742,0.00,2.58,0.00,0.000,6,0.000,0.048,2721,1797,3480,0,0,0,0,0,0
$GC,3994,-1.20,-116.8,380.7,-9.8,226,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1797,3479,0,0,0,0,0,0
$GC,4236,-1.20,-116.8,402.1,-8.7,232,4240,0.00,2.92,0.00,0.000,4,0.000,0.104,2721,186,3478,0,0,0,0,0,0
$GC,4279,-1.20,-116.8,406.1,-9.5,233,4284,0.00,2.58,0.00,0.000,6,0.000,0.031,2721,1794,3478,0,0,0,0,0,0
$GC,4559,-1.20,-116.8,430.1,-8.7,240,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1794,3476,0,0,0,0,0,0
$GC,4801,-1.20,-116.8,451.0,-8.5,246,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1794,3475,0,0,0,0,0,0
$GC,5045,-1.20,-116.8,472.9,-9.0,252,5049,0.00,2.65,0.00,0.000,4,0.000,0.066,2721,3353,3473,0,0,0,0,0,0
$GC,5060,-1.20,-116.8,474.3,-8.8,252,5064,0.00,2.60,0.00,0.000,6,0.000,0.058,2721,1807,3473,0,0,0,0,0,0
$GC,5323,-1.20,-116.8,493.8,-7.1,259,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1808,3471,0,0,0,0,0,0
$STATE,5441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5441,begin apogee
$GC,5446,-0.31,0.0,501.9,6.8,262,5546,0.93,0.00,96.35,0.919,6,0.077,0.000,2930,1808,3001,0,0,0,0,0,0
$STATE,5547,end apogee,CONTROL_FINISHED_OK
$STATE,5547,begin climb
$GC,5549,1.15,116.8,503.3,0.0,264,5655,1.33,0.00,101.28,0.896,6,0.043,0.000,3252,1808,2524,0,0,0,0,0,0
$GC,5878,1.08,174.3,491.7,5.3,272,5933,0.00,2.78,49.88,0.881,4,0.000,0.048,3252,3410,2289,0,0,0,0,0,0
$GC,5969,1.01,194.4,485.7,7.1,274,5994,0.15,2.75,18.77,0.832,6,0.116,0.059,3222,1827,2208,0,0,0,0,0,0
$GC,6247,0.97,204.8,465.2,7.5,281,6262,0.00,2.67,9.68,0.775,4,0.000,0.044,3222,3408,2164,0,0,0,0,0,0
$GC,6290,0.97,204.8,461.1,8.4,282,6294,0.00,2.72,0.00,0.000,6,0.000,0.055,3222,1831,2163,0,0,0,0,0,0
$GC,6570,0.93,204.8,435.0,9.8,289,6574,0.00,2.58,0.00,0.000,4,0.000,0.044,3222,3408,2159,0,0,0,0,0,0
$GC,6619,0.93,204.8,429.9,10.1,290,6623,0.00,2.67,0.00,0.000,6,0.000,0.054,3222,1839,2159,0,0,0,0,0,0
$GC,6892,0.90,204.8,403.5,9.5,297,6894,0.12,0.00,0.00,0.000,6,0.122,0.000,3198,1838,2158,0,0,0,0,0,0
$GC,7137,0.90,204.8,383.7,8.0,303,7141,0.00,2.90,0.00,0.000,4,0.000,0.093,3198,229,2156,0,0,0,0,0,0
$GC,7182,0.90,204.8,379.9,8.4,304,7186,0.00,2.55,0.00,0.000,6,0.000,0.025,3198,1854,2155,0,0,0,0,0,0
$GC,7460,0.94,240.9,362.2,6.3,311,7494,0.00,0.00,31.65,0.834,6,0.000,0.000,3198,1854,2019,0,0,0,0,0,0
$GC,7705,0.99,243.7,343.3,7.9,317,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1854,2014,0,0,0,0,0,0
$GC,7947,1.06,261.9,325.1,7.2,323,7973,0.12,2.55,19.20,0.788,4,0.080,0.040,3233,3407,1932,0,0,0,0,0,0
$GC,7985,1.06,263.2,322.1,8.0,324,7989,0.00,2.65,0.00,0.000,6,0.000,0.039,3233,1815,1931,0,0,0,0,0,0
$GC,8269,1.06,263.2,298.1,8.4,331,8273,0.00,2.55,0.00,0.000,4,0.000,0.029,3233,3397,1928,0,0,0,0,0,0
$GC,8291,1.06,263.2,295.7,10.5,331,8296,0.00,2.58,0.00,0.000,6,0.000,0.040,3233,1832,1927,0,0,0,0,0,0
$GC,8546,1.06,263.2,271.6,9.2,338,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1832,1927,0,0,0,0,0,0
$GC,8791,1.06,263.2,251.3,8.5,344,8796,0.00,2.78,0.00,0.000,4,0.000,0.073,3233,236,1926,0,0,0,0,0,0
$GC,8818,1.02,263.2,248.2,11.1,344,8822,0.00,2.55,0.00,0.000,6,0.000,0.021,3233,1865,1925,0,0,0,0,0,0
$GC,9068,1.02,263.2,224.9,9.4,350,9072,0.00,2.42,0.00,0.000,4,0.000,0.032,3233,3393,1925,0,0,0,0,0,0
$GC,9118,1.08,263.2,220.4,8.5,351,9123,0.00,2.50,0.00,0.000,6,0.000,0.040,3233,1856,1924,0,0,0,0,0,0
$GC,9390,1.10,282.2,201.0,7.1,358,9415,0.00,2.88,18.08,0.671,4,0.000,0.067,3233,240,1849,0,0,0,0,0,0
$GC,9444,1.06,282.2,196.1,10.2,360,9448,0.00,2.53,0.00,0.000,6,0.000,0.024,3233,1868,1848,0,0,0,0,0,0
$GC,9708,1.06,282.2,170.8,9.3,384,9712,0.00,2.42,0.00,0.000,4,0.000,0.031,3233,3397,1846,0,0,0,0,0,0
$GC,9776,1.13,282.2,164.6,8.2,389,9782,0.00,2.47,0.00,0.000,6,0.000,0.037,3233,1871,1845,0,0,0,0,0,0
$GC,10040,1.17,282.2,143.1,8.3,414,10045,0.00,2.80,0.00,0.000,4,0.000,0.067,3233,237,1845,0,0,0,0,0,0
$GC,10062,1.17,282.2,140.5,9.9,415,10068,0.00,2.53,0.00,0.000,6,0.000,0.024,3233,1872,1845,0,0,0,0,0,0
$GC,10327,1.22,282.2,118.1,8.1,440,10332,0.15,2.42,0.00,0.000,4,0.077,0.028,3276,3398,1845,0,0,0,0,0,0
$GC,10349,1.22,282.2,115.7,9.0,441,10355,0.00,2.50,0.00,0.000,6,0.000,0.034,3276,1854,1845,0,0,0,0,0,0
$GC,10613,1.22,282.2,90.5,8.2,466,10617,0.00,2.75,0.00,0.000,4,0.000,0.066,3276,243,1845,0,0,0,0,0,0
$GC,10635,1.22,282.2,88.7,8.9,467,10639,0.00,2.47,0.00,0.000,6,0.000,0.018,3275,1871,1845,0,0,0,0,0,0
$GC,10901,1.22,282.2,66.8,8.1,491,10905,0.00,2.78,0.00,0.000,4,0.000,0.058,3276,239,1845,0,0,0,0,0,0
$GC,10960,1.22,282.2,60.6,10.1,495,10969,0.00,2.50,0.00,0.000,6,0.000,0.018,3276,1853,1845,0,0,0,0,0,0
$GC,11226,1.22,282.2,39.5,8.4,520,11235,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1855,1846,0,0,0,0,0,0
$GC,11528,1.24,297.8,17.4,7.3,559,11545,0.00,0.00,14.82,0.499,6,0.000,0.000,3276,1855,1786,0,0,0,0,0,0
$STATE,11671,end climb,SURFACE_DEPTH_REACHED
$STATE,11671,begin surface coast
$FINISH,0.2,1.023370
$STATE,11729,end surface coast,CONTROL_FINISHED_OK
$STATE,11729,begin surface
$SM_CCo,11751,105.25,0.461,1,0,1288,420.20
$SM_GC,0.91,0.00,0.00,105.25,0.000,0.000,0.461,481,1755,1288,-11.59,-0.42,420.20
$IRIDIUM_FIX,2241.69,-15754.11,281199,090936
$TT8_MAMPS,0.025311
$HUMID,42.63
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.80
$XPDR_PINGS,53
$24V_AH,23.6,20.860
$10V_AH,10.4,20.457
$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,26.250,134.550,359.700,105.250,0.000,23.580,30.622,212.044,13.250,0.000,11.711,1179.421,7813.853,557.077,2124.699,589.167,33.368,1306.015,0.000,2140.185,0.000,0.536,0.000
$DEVICE_MAMPS,140.361,104.312,918.866,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.768,348.019,450.390,862.718,1295.283,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,44788,588
$CAP_FILE_SIZE,117108,0
$CFSIZE,260165632,174927872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030910,163137,2249.769,-15754.988,34,1.2,34,10.1