version: 66.06
glider: 146
mission: 5
dive: 148
start: 9 5 110 23 49 57
data:
$ID,146
$MISSION,5
$DIVE,148
$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,-250304.48
$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,47
$R_STBD_OVSHOOT,33
$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
$GPS1,234306,2254.552,-15751.400,27,1.5,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.9
$GPS2,234902,2254.544,-15751.494,13,1.4,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,-0.062
$KALMAN_X,-153633.2,-156.0,-80.9,186766.4,-1699.1
$KALMAN_Y,-4932.7,270.0,-412.4,142052.2,198.6
$MHEAD_RNG_PITCHd_Wd,96.4,19185,-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,-86.20,0.000,6,0.000,0.000,477,1744,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.3,-5.9,11,125,11.57,2.55,0.00,0.000,4,0.143,0.054,2741,213,3482,0,0,0,0,0,0
$GC,143,0.09,-116.8,19.0,-35.3,15,153,1.20,2.45,0.00,0.000,6,0.077,0.015,3014,1818,3482,0,0,0,0,0,0
$GC,453,-0.48,-116.8,42.3,-8.7,52,458,0.47,2.70,0.00,0.000,4,0.091,0.052,2893,207,3483,0,0,0,0,0,0
$GC,561,-0.91,-116.8,49.9,-6.0,60,566,0.38,2.33,0.00,0.000,6,0.045,0.017,2790,1795,3483,0,0,0,0,0,0
$GC,830,-0.91,-116.8,77.8,-11.2,84,834,0.00,2.33,0.00,0.000,4,0.000,0.024,2790,3291,3483,0,0,0,0,0,0
$GC,864,-0.96,-116.8,82.2,-9.7,86,873,0.00,2.45,0.00,0.000,6,0.000,0.028,2789,1772,3483,0,0,0,0,0,0
$GC,1130,-0.96,-116.8,105.6,-8.6,111,1134,0.00,2.65,0.00,0.000,4,0.000,0.064,2789,197,3484,0,0,0,0,0,0
$GC,1164,-0.96,-116.8,109.1,-9.6,113,1170,0.00,2.25,0.00,0.000,6,0.000,0.015,2789,1726,3484,0,0,0,0,0,0
$GC,1427,-1.00,-116.8,131.7,-9.1,138,1431,0.00,2.47,0.00,0.000,4,0.000,0.031,2789,3307,3484,0,0,0,0,0,0
$GC,1463,-1.07,-116.8,135.0,-8.8,140,1471,0.08,2.53,0.00,0.000,6,0.044,0.033,2750,1748,3485,0,0,0,0,0,0
$GC,1725,-1.07,-116.8,159.2,-9.0,165,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1747,3485,0,0,0,0,0,0
$GC,1980,-1.07,-116.8,182.2,-8.7,189,1984,0.00,2.62,0.00,0.000,4,0.000,0.064,2750,194,3485,0,0,0,0,0,0
$GC,2013,-1.03,-116.8,185.8,-10.7,191,2019,0.12,2.30,0.00,0.000,6,0.103,0.021,2778,1763,3485,0,0,0,0,0,0
$GC,2304,-1.07,-116.8,210.0,-8.3,210,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1764,3485,0,0,0,0,0,0
$GC,2546,-1.12,-116.8,230.4,-8.5,216,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1764,3485,0,0,0,0,0,0
$GC,2788,-1.17,-116.8,250.2,-8.0,222,2790,0.15,0.00,0.00,0.000,6,0.065,0.000,2724,1766,3484,0,0,0,0,0,0
$GC,3032,-1.12,-116.8,273.9,-9.9,228,3034,0.15,0.00,0.00,0.000,6,0.097,0.000,2757,1765,3484,0,0,0,0,0,0
$GC,3277,-1.12,-116.8,292.9,-7.6,234,3281,0.00,2.75,0.00,0.000,4,0.000,0.072,2757,193,3484,0,0,0,0,0,0
$GC,3303,-1.12,-116.8,295.5,-9.1,234,3307,0.00,2.30,0.00,0.000,6,0.000,0.024,2757,1719,3484,0,0,0,0,0,0
$GC,3559,-1.12,-116.8,315.3,-7.6,241,3564,0.00,2.50,0.00,0.000,4,0.000,0.035,2757,3295,3484,0,0,0,0,0,0
$GC,3583,-1.17,-116.8,317.1,-7.7,241,3587,0.00,2.47,0.00,0.000,6,0.000,0.039,2756,1762,3483,0,0,0,0,0,0
$GC,3838,-1.21,-116.8,338.8,-8.5,248,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1762,3482,0,0,0,0,0,0
$GC,4082,-1.26,-116.8,356.2,-6.9,254,4087,0.12,2.47,0.00,0.000,4,0.073,0.041,2715,3293,3482,0,0,0,0,0,0
$GC,4105,-1.26,-116.8,358.0,-7.7,254,4110,0.00,2.53,0.00,0.000,6,0.000,0.044,2715,1758,3482,0,0,0,0,0,0
$GC,4360,-1.26,-116.8,380.4,-9.0,261,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1758,3481,0,0,0,0,0,0
$GC,4603,-1.26,-116.8,401.9,-8.7,267,4608,0.00,2.85,0.00,0.000,4,0.000,0.097,2715,181,3479,0,0,0,0,0,0
$GC,4619,-1.21,-116.8,403.4,-8.6,267,4623,0.00,2.38,0.00,0.000,6,0.000,0.025,2715,1695,3479,0,0,0,0,0,0
$GC,4881,-1.21,-116.8,425.7,-8.4,274,4887,0.10,2.67,0.00,0.000,4,0.114,0.054,2736,3290,3478,0,0,0,0,0,0
$GC,4922,-1.27,-116.8,428.9,-7.6,275,4926,0.00,2.58,0.00,0.000,6,0.000,0.060,2736,1767,3478,0,0,0,0,0,0
$GC,5206,-1.27,-116.8,451.0,-7.9,282,5211,0.00,2.50,0.00,0.000,4,0.000,0.048,2736,3288,3476,0,0,0,0,0,0
$GC,5234,-1.31,-116.8,453.5,-8.6,282,5238,0.00,2.58,0.00,0.000,6,0.000,0.060,2736,1767,3476,0,0,0,0,0,0
$GC,5483,-1.31,-116.8,474.6,-8.4,288,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1767,3474,0,0,0,0,0,0
$GC,5728,-1.35,-116.8,494.9,-8.3,294,5729,0.12,0.00,0.00,0.000,6,0.080,0.000,2697,1767,3473,0,0,0,0,0,0
$STATE,5806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5806,begin apogee
$GC,5813,-0.31,0.0,502.7,8.9,296,5913,1.05,0.00,96.20,0.913,6,0.080,0.000,2932,1767,3000,0,0,0,0,0,0
$STATE,5913,end apogee,CONTROL_FINISHED_OK
$STATE,5913,begin climb
$GC,5916,1.15,116.8,505.5,0.0,298,6021,1.35,0.00,100.85,0.890,6,0.054,0.000,3259,1767,2524,0,0,0,0,0,0
$GC,6253,1.02,129.8,488.9,7.4,307,6272,0.17,2.67,11.30,0.796,4,0.170,0.047,3225,3331,2469,0,0,0,0,0,0
$GC,6290,0.99,155.4,486.3,6.8,307,6320,0.00,2.62,23.62,0.851,6,0.000,0.061,3224,1817,2366,0,0,0,0,0,0
$GC,6582,0.93,155.4,460.2,9.5,315,6587,0.10,2.50,0.00,0.000,4,0.143,0.040,3204,3334,2359,0,0,0,0,0,0
$GC,6639,0.93,155.4,455.1,8.9,316,6643,0.00,2.58,0.00,0.000,6,0.000,0.056,3203,1820,2358,0,0,0,0,0,0
$GC,6905,0.93,157.4,433.4,7.9,323,6909,0.00,2.47,0.00,0.000,4,0.000,0.036,3204,3347,2355,0,0,0,0,0,0
$GC,6965,0.93,157.4,428.4,8.6,324,6970,0.00,2.53,0.00,0.000,6,0.000,0.045,3204,1835,2354,0,0,0,0,0,0
$GC,7228,0.95,174.2,409.5,7.2,331,7249,0.00,2.50,16.08,0.818,4,0.000,0.033,3204,3347,2289,0,0,0,0,0,0
$GC,7301,0.97,193.4,404.0,7.1,332,7326,0.00,2.53,18.20,0.814,6,0.000,0.044,3203,1843,2211,0,0,0,0,0,0
$GC,7601,0.98,196.2,380.8,7.9,340,7605,0.00,2.90,0.00,0.000,4,0.000,0.085,3204,233,2206,0,0,0,0,0,0
$GC,7627,0.92,196.2,378.2,9.0,340,7632,0.00,2.45,0.00,0.000,6,0.000,0.021,3204,1801,2205,0,0,0,0,0,0
$GC,7877,0.94,211.4,359.5,7.3,346,7895,0.00,0.00,16.25,0.793,6,0.000,0.000,3204,1801,2139,0,0,0,0,0,0
$GC,8123,0.99,252.2,343.9,6.1,352,8167,0.00,2.70,37.10,0.809,4,0.000,0.041,3204,3396,1971,0,0,0,0,0,0
$GC,8210,1.10,271.0,338.4,7.1,354,8234,0.15,2.58,17.50,0.768,6,0.076,0.038,3242,1850,1895,0,0,0,0,0,0
$GC,8499,1.10,271.0,310.6,10.3,361,8503,0.00,2.47,0.00,0.000,4,0.000,0.031,3242,3392,1890,0,0,0,0,0,0
$GC,8521,1.10,271.0,307.5,11.9,361,8525,0.00,2.53,0.00,0.000,6,0.000,0.039,3242,1858,1889,0,0,0,0,0,0
$GC,8776,1.10,271.0,278.2,11.6,368,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1858,1888,0,0,0,0,0,0
$GC,9021,1.10,271.0,251.7,10.4,374,9025,0.00,2.47,0.00,0.000,4,0.000,0.034,3242,3395,1887,0,0,0,0,0,0
$GC,9053,1.10,271.0,248.2,9.9,374,9059,0.00,2.53,0.00,0.000,6,0.000,0.034,3242,1851,1886,0,0,0,0,0,0
$GC,9303,1.10,271.0,225.9,8.8,381,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1851,1886,0,0,0,0,0,0
$GC,9546,1.10,271.0,205.5,8.4,387,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1851,1885,0,0,0,0,0,0
$GC,9799,1.10,271.0,183.0,9.3,405,9800,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1851,1885,0,0,0,0,0,0
$GC,10053,1.10,271.0,158.4,10.1,429,10057,0.00,2.45,0.00,0.000,4,0.000,0.028,3242,3396,1886,0,0,0,0,0,0
$GC,10083,1.14,271.0,155.6,10.0,431,10087,0.00,2.47,0.00,0.000,6,0.000,0.037,3242,1854,1885,0,0,0,0,0,0
$GC,10349,1.14,271.0,131.2,8.7,455,10354,0.00,2.42,0.00,0.000,4,0.000,0.027,3242,3400,1885,0,0,0,0,0,0
$GC,10382,1.18,271.0,128.2,8.9,457,10386,0.00,2.47,0.00,0.000,6,0.000,0.035,3242,1867,1885,0,0,0,0,0,0
$GC,10650,1.23,271.0,106.1,8.1,481,10655,0.10,2.72,0.00,0.000,4,0.088,0.063,3273,241,1885,0,0,0,0,0,0
$GC,10695,1.17,271.0,100.3,12.0,484,10704,0.00,2.55,0.00,0.000,6,0.000,0.024,3272,1886,1885,0,0,0,0,0,0
$GC,10962,1.17,271.0,74.4,9.6,509,10966,0.00,2.35,0.00,0.000,4,0.000,0.034,3273,3400,1885,0,0,0,0,0,0
$GC,11020,1.24,271.0,68.8,9.1,513,11025,0.00,2.45,0.00,0.000,6,0.000,0.031,3273,1872,1885,0,0,0,0,0,0
$GC,11290,1.24,273.8,47.1,7.9,537,11294,0.00,2.75,0.00,0.000,4,0.000,0.064,3273,234,1885,0,0,0,0,0,0
$GC,11310,1.24,273.8,45.0,8.2,538,11314,0.00,2.53,0.00,0.000,6,0.000,0.018,3273,1899,1886,0,0,0,0,0,0
$GC,11595,1.24,273.8,21.4,8.3,569,11604,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1900,1886,0,0,0,0,0,0
$STATE,11796,end climb,SURFACE_DEPTH_REACHED
$STATE,11796,begin surface coast
$FINISH,0.3,1.022078
$STATE,11854,end surface coast,CONTROL_FINISHED_OK
$STATE,11854,begin surface
$SM_CCo,11877,126.15,0.469,1,0,1288,420.20
$SM_GC,0.90,0.00,0.00,126.15,0.000,0.000,0.469,479,1740,1288,-11.60,-0.85,420.20
$IRIDIUM_FIX,2246.36,-15751.06,301199,202049
$TT8_MAMPS,0.025311
$HUMID,42.99
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,49
$24V_AH,23.6,22.849
$10V_AH,10.4,22.663
$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,28.650,126.625,337.100,126.150,0.000,29.552,35.593,153.676,12.250,0.000,14.741,1195.931,7868.152,576.150,2193.268,530.130,33.378,1311.047,0.000,2206.546,0.000,0.535,0.000
$DEVICE_MAMPS,170.274,96.642,912.730,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,410.740,370.478,470.540,922.661,1394.174,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,47951,606
$CAP_FILE_SIZE,116532,0
$CFSIZE,260165632,173891584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060910,031125,2254.225,-15750.942,38,1.6,38,10.1