version: 66.06
glider: 146
mission: 5
dive: 145
start: 9 5 110 13 16 19
data:
$ID,146
$MISSION,5
$DIVE,145
$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,-250240.95
$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,26
$R_STBD_OVSHOOT,66
$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
$GPS1,130931,2255.472,-15752.551,37,1.5,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-65.7
$GPS2,131525,2255.453,-15752.649,17,1.5,34,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,-0.061
$KALMAN_X,-147774.0,-0.4,-60.6,178736.7,-2012.0
$KALMAN_Y,-3591.1,-433.9,-420.8,143114.9,369.2
$MHEAD_RNG_PITCHd_Wd,96.1,21756,-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,-86.35,0.000,6,0.000,0.000,471,1795,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.2,-5.5,11,126,11.60,2.72,0.00,0.000,4,0.143,0.051,2741,189,3481,0,0,0,0,0,0
$GC,157,-0.30,-116.8,22.8,-38.3,17,167,0.82,2.45,0.00,0.000,6,0.077,0.018,2930,1783,3482,0,0,0,0,0,0
$GC,444,-0.56,-116.8,39.0,-4.4,48,453,0.22,0.00,0.00,0.000,6,0.048,0.000,2859,1785,3482,0,0,0,0,0,0
$GC,712,-0.65,-116.8,60.3,-8.2,73,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1785,3483,0,0,0,0,0,0
$GC,973,-0.79,-116.8,83.4,-8.2,98,979,0.12,2.72,0.00,0.000,4,0.069,0.059,2812,194,3483,0,0,0,0,0,0
$GC,1021,-0.86,-116.8,87.6,-11.0,101,1025,0.00,2.40,0.00,0.000,6,0.000,0.016,2813,1788,3483,0,0,0,0,0,0
$GC,1287,-0.91,-116.8,111.7,-8.1,125,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1789,3483,0,0,0,0,0,0
$GC,1551,-0.99,-116.8,131.3,-6.5,150,1557,0.12,2.72,0.00,0.000,4,0.070,0.065,2768,193,3484,0,0,0,0,0,0
$GC,1596,-0.99,-116.8,134.9,-9.2,153,1600,0.00,2.35,0.00,0.000,6,0.000,0.021,2768,1775,3484,0,0,0,0,0,0
$GC,1859,-0.99,-116.8,158.2,-8.1,177,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1777,3485,0,0,0,0,0,0
$GC,2111,-0.99,-116.8,178.2,-7.3,201,2115,0.00,2.40,0.00,0.000,4,0.000,0.031,2768,3310,3485,0,0,0,0,0,0
$GC,2147,-0.99,-116.8,180.7,-7.5,203,2152,0.00,2.45,0.00,0.000,6,0.000,0.034,2768,1769,3485,0,0,0,0,0,0
$GC,2409,-0.99,-116.8,200.2,-8.0,228,2414,0.00,2.72,0.00,0.000,4,0.000,0.071,2768,189,3485,0,0,0,0,0,0
$GC,2430,-0.99,-116.8,202.3,-8.8,228,2434,0.00,2.35,0.00,0.000,6,0.000,0.017,2768,1764,3485,0,0,0,0,0,0
$GC,2693,-0.99,-116.8,224.2,-8.4,235,2697,0.00,2.40,0.00,0.000,4,0.000,0.032,2768,3316,3485,0,0,0,0,0,0
$GC,2721,-1.03,-116.8,226.8,-8.8,235,2725,0.00,2.47,0.00,0.000,6,0.000,0.030,2768,1771,3485,0,0,0,0,0,0
$GC,2971,-1.03,-116.8,246.6,-7.8,241,2975,0.00,2.75,0.00,0.000,4,0.000,0.074,2768,188,3484,0,0,0,0,0,0
$GC,2999,-1.03,-116.8,249.0,-8.9,241,3003,0.00,2.38,0.00,0.000,6,0.000,0.021,2768,1762,3484,0,0,0,0,0,0
$GC,3249,-1.03,-116.8,268.3,-7.7,247,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1763,3484,0,0,0,0,0,0
$GC,3492,-1.03,-116.8,287.1,-7.6,253,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1763,3484,0,0,0,0,0,0
$GC,3738,-1.07,-116.8,305.0,-7.2,259,3742,0.00,2.47,0.00,0.000,4,0.000,0.038,2768,3331,3483,0,0,0,0,0,0
$GC,3765,-1.14,-116.8,307.3,-7.6,259,3770,0.00,2.50,0.00,0.000,6,0.000,0.038,2768,1779,3483,0,0,0,0,0,0
$GC,4015,-1.19,-116.8,327.6,-8.3,265,4017,0.12,0.00,0.00,0.000,6,0.071,0.000,2721,1779,3482,0,0,0,0,0,0
$GC,4260,-1.15,-116.8,354.0,-11.0,271,4262,0.12,0.00,0.00,0.000,6,0.109,0.000,2748,1779,3482,0,0,0,0,0,0
$GC,4502,-1.15,-116.8,375.7,-8.6,277,4506,0.00,2.50,0.00,0.000,4,0.000,0.041,2748,3317,3481,0,0,0,0,0,0
$GC,4523,-1.19,-116.8,377.5,-8.1,277,4528,0.00,2.53,0.00,0.000,6,0.000,0.047,2748,1785,3481,0,0,0,0,0,0
$GC,4779,-1.19,-116.8,396.1,-7.3,284,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1785,3480,0,0,0,0,0,0
$GC,5024,-1.23,-116.8,415.0,-7.9,290,5029,0.00,2.90,0.00,0.000,4,0.000,0.105,2748,185,3478,0,0,0,0,0,0
$GC,5040,-1.23,-116.8,416.5,-8.2,290,5044,0.00,2.45,0.00,0.000,6,0.000,0.032,2748,1743,3478,0,0,0,0,0,0
$GC,5307,-1.27,-116.8,438.3,-8.3,297,5312,0.10,2.70,0.00,0.000,4,0.088,0.062,2715,3362,3477,0,0,0,0,0,0
$GC,5324,-1.27,-116.8,439.8,-8.5,297,5328,0.00,2.62,0.00,0.000,6,0.000,0.058,2714,1791,3477,0,0,0,0,0,0
$GC,5584,-1.27,-116.8,462.8,-8.7,304,5589,0.00,2.97,0.00,0.000,4,0.000,0.107,2714,178,3475,0,0,0,0,0,0
$GC,5611,-1.23,-116.8,465.3,-9.2,304,5616,0.00,2.60,0.00,0.000,6,0.000,0.040,2714,1776,3474,0,0,0,0,0,0
$GC,5862,-1.23,-116.8,485.3,-7.9,310,5867,0.00,2.67,0.00,0.000,4,0.000,0.067,2714,3357,3473,0,0,0,0,0,0
$GC,5901,-1.23,-116.8,488.6,-8.1,311,5906,0.00,2.67,0.00,0.000,6,0.000,0.064,2714,1781,3473,0,0,0,0,0,0
$STATE,6060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6060,begin apogee
$GC,6067,-0.31,0.0,501.3,7.8,315,6167,0.95,0.00,96.55,0.913,6,0.075,0.000,2929,1850,3001,0,0,0,0,0,0
$STATE,6167,end apogee,CONTROL_FINISHED_OK
$STATE,6167,begin climb
$GC,6171,1.15,116.8,503.0,0.0,317,6283,1.38,2.67,100.60,0.890,4,0.055,0.053,3260,3386,2522,0,0,0,0,0,0
$GC,6294,1.05,154.1,499.8,6.3,320,6335,0.15,2.70,32.80,0.857,6,0.119,0.055,3231,1811,2371,0,0,0,0,0,0
$GC,6594,0.97,154.1,475.0,8.4,328,6599,0.00,2.62,0.00,0.000,4,0.000,0.042,3231,3387,2363,0,0,0,0,0,0
$GC,6634,0.92,162.8,471.5,7.6,329,6649,0.15,2.67,7.60,0.729,6,0.117,0.058,3201,1828,2336,0,0,0,0,0,0
$GC,6923,1.00,223.9,455.1,5.2,336,6980,0.00,0.00,54.45,0.868,6,0.000,0.000,3201,1827,2088,0,0,0,0,0,0
$GC,7208,1.02,243.3,436.5,7.1,343,7228,0.00,0.00,17.75,0.821,6,0.000,0.000,3201,1827,2009,0,0,0,0,0,0
$GC,7453,1.02,243.3,414.1,9.6,349,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1828,2003,0,0,0,0,0,0
$GC,7696,1.02,243.3,391.1,9.2,355,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1827,2002,0,0,0,0,0,0
$GC,7939,1.02,243.3,371.1,8.1,361,7944,0.00,2.50,0.00,0.000,4,0.000,0.037,3201,3385,2001,0,0,0,0,0,0
$GC,7967,1.08,243.3,368.7,8.8,361,7972,0.15,2.62,0.00,0.000,6,0.074,0.044,3240,1814,1999,0,0,0,0,0,0
$GC,8218,1.04,243.3,347.1,8.7,367,8223,0.00,2.53,0.00,0.000,4,0.000,0.032,3240,3386,1998,0,0,0,0,0,0
$GC,8262,1.04,243.3,342.8,9.4,368,8267,0.00,2.58,0.00,0.000,6,0.000,0.044,3240,1836,1997,0,0,0,0,0,0
$GC,8540,1.04,243.3,317.8,9.2,375,8545,0.00,2.47,0.00,0.000,4,0.000,0.033,3240,3386,1997,0,0,0,0,0,0
$GC,8626,1.04,243.3,310.2,8.7,377,8631,0.00,2.50,0.00,0.000,6,0.000,0.036,3241,1841,1995,0,0,0,0,0,0
$GC,8909,1.04,243.3,285.8,8.6,384,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1841,1996,0,0,0,0,0,0
$GC,9152,1.04,243.3,264.0,9.1,390,9157,0.00,2.47,0.00,0.000,4,0.000,0.036,3241,3393,1996,0,0,0,0,0,0
$GC,9198,1.04,243.3,259.5,9.7,391,9202,0.00,2.53,0.00,0.000,6,0.000,0.035,3241,1841,1994,0,0,0,0,0,0
$GC,9475,1.04,243.3,235.2,8.4,398,9476,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1841,1995,0,0,0,0,0,0
$GC,9719,1.04,243.3,214.5,8.4,404,9720,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1841,1994,0,0,0,0,0,0
$GC,9965,1.04,243.3,193.5,8.1,413,9970,0.00,2.45,0.00,0.000,4,0.000,0.028,3242,3389,1995,0,0,0,0,0,0
$GC,10006,1.04,243.3,189.8,8.8,416,10010,0.00,2.50,0.00,0.000,6,0.000,0.038,3241,1839,1994,0,0,0,0,0,0
$GC,10271,1.04,243.3,168.4,8.2,440,10276,0.00,2.45,0.00,0.000,4,0.000,0.028,3241,3391,1995,0,0,0,0,0,0
$GC,10338,1.08,243.3,162.6,8.9,445,10343,0.00,2.45,0.00,0.000,6,0.000,0.038,3241,1855,1995,0,0,0,0,0,0
$GC,10604,1.08,243.3,141.0,8.3,469,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1855,1994,0,0,0,0,0,0
$GC,10867,1.10,253.5,119.1,7.5,494,10879,0.00,0.00,8.27,0.538,6,0.000,0.000,3241,1855,1967,0,0,0,0,0,0
$GC,11136,1.14,253.5,98.7,8.5,519,11141,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1855,1966,0,0,0,0,0,0
$GC,11404,1.20,262.3,76.7,7.6,544,11419,0.00,2.78,9.40,0.518,4,0.000,0.065,3241,240,1931,0,0,0,0,0,0
$GC,11425,1.27,283.2,74.6,7.0,545,11451,0.10,2.53,19.48,0.548,6,0.053,0.018,3278,1873,1846,0,0,0,0,0,0
$GC,11711,1.28,295.5,54.3,7.4,571,11729,0.00,2.45,11.52,0.511,4,0.000,0.028,3278,3390,1795,0,0,0,0,0,0
$GC,11777,1.34,295.5,48.6,8.8,576,11782,0.00,2.53,0.00,0.000,6,0.000,0.033,3278,1836,1795,0,0,0,0,0,0
$GC,12060,1.34,295.5,22.0,10.1,605,12069,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1836,1794,0,0,0,0,0,0
$STATE,12271,end climb,SURFACE_DEPTH_REACHED
$STATE,12271,begin surface coast
$FINISH,0.2,1.010202
$STATE,12327,end surface coast,CONTROL_FINISHED_OK
$STATE,12327,begin surface
$SM_CCo,12348,111.18,0.463,1,0,1288,420.20
$SM_GC,0.98,0.00,0.00,111.18,0.000,0.000,0.463,474,1734,1288,-11.62,-1.02,420.20
$IRIDIUM_FIX,2246.36,-15753.23,301199,101045
$TT8_MAMPS,0.025311
$HUMID,43.10
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.90
$XPDR_PINGS,46
$24V_AH,23.6,22.498
$10V_AH,10.4,22.268
$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,27.375,118.075,358.425,111.175,0.000,28.798,27.332,142.286,11.500,0.000,35.493,1237.610,8158.490,543.831,2372.183,506.542,33.371,1338.686,0.000,2359.716,0.000,0.536,0.000
$DEVICE_MAMPS,142.662,114.283,913.497,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,435.372,386.918,509.369,989.769,1496.958,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,51091,643
$CAP_FILE_SIZE,117992,0
$CFSIZE,260165632,174067712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050910,164524,2255.130,-15752.316,38,1.1,38,10.1