version: 66.06
glider: 146
mission: 5
dive: 166
start: 9 8 110 14 12 17
data:
$ID,146
$MISSION,5
$DIVE,166
$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,-250666.78
$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,30
$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
$GPS1,140524,2250.417,-15742.596,63,1.6,63,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-66.9
$GPS2,141120,2250.376,-15742.635,12,1.6,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.123,0.180
$KALMAN_X,-181858.5,60.4,-60.8,229994.0,-1437.8
$KALMAN_Y,-20884.4,15.7,-489.2,150616.5,-961.7
$MHEAD_RNG_PITCHd_Wd,24.3,14162,-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,13,begin dive
$GC,15,-1.15,-116.6,0.0,0.0,0,103,0.00,0.00,-85.80,0.000,6,0.000,0.000,471,1747,3477,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.3,-5.8,11,123,11.52,2.58,0.00,0.000,4,0.140,0.028,2737,3377,3479,0,0,0,0,0,0
$GC,167,-0.79,-116.8,24.7,-26.1,19,177,0.35,2.60,0.00,0.000,6,0.068,0.031,2821,1792,3480,0,0,0,0,0,0
$GC,450,-0.79,-116.8,52.8,-10.1,47,454,0.00,2.75,0.00,0.000,4,0.000,0.061,2821,192,3480,0,0,0,0,0,0
$GC,486,-0.79,-116.8,57.2,-10.4,49,495,0.00,2.47,0.00,0.000,6,0.000,0.015,2822,1809,3480,0,0,0,0,0,0
$GC,746,-0.79,-116.8,82.9,-10.5,74,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1810,3480,0,0,0,0,0,0
$GC,1003,-0.85,-116.8,106.3,-8.3,98,1008,0.00,2.75,0.00,0.000,4,0.000,0.065,2821,192,3481,0,0,0,0,0,0
$GC,1036,-0.91,-116.8,109.3,-8.9,100,1046,0.00,2.40,0.00,0.000,6,0.000,0.018,2821,1783,3481,0,0,0,0,0,0
$GC,1305,-1.00,-116.8,129.0,-7.1,125,1310,0.17,0.00,0.00,0.000,6,0.055,0.000,2764,1784,3481,0,0,0,0,0,0
$GC,1566,-1.00,-116.8,155.0,-9.4,150,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1785,3482,0,0,0,0,0,0
$GC,1822,-1.00,-116.8,178.1,-8.9,174,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1786,3482,0,0,0,0,0,0
$GC,2095,-1.00,-116.8,205.0,-10.0,197,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1785,3482,0,0,0,0,0,0
$GC,2339,-1.00,-116.8,229.4,-9.8,203,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1786,3481,0,0,0,0,0,0
$GC,2582,-1.00,-116.8,252.0,-9.2,209,2587,0.00,2.75,0.00,0.000,4,0.000,0.070,2763,192,3482,0,0,0,0,0,0
$GC,2638,-1.00,-116.8,256.8,-9.0,210,2643,0.00,2.33,0.00,0.000,6,0.000,0.018,2764,1746,3481,0,0,0,0,0,0
$GC,2905,-1.00,-116.8,277.6,-7.8,217,2909,0.00,2.45,0.00,0.000,4,0.000,0.035,2763,3321,3481,0,0,0,0,0,0
$GC,2927,-1.04,-116.8,279.3,-7.4,217,2931,0.00,2.47,0.00,0.000,6,0.000,0.034,2763,1762,3481,0,0,0,0,0,0
$GC,3183,-1.04,-116.8,298.1,-7.7,224,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1763,3481,0,0,0,0,0,0
$GC,3426,-1.09,-116.8,317.0,-7.6,230,3430,0.00,2.75,0.00,0.000,4,0.000,0.087,2763,193,3480,0,0,0,0,0,0
$GC,3447,-1.12,-116.8,318.7,-7.4,230,3452,0.00,2.40,0.00,0.000,6,0.000,0.021,2763,1749,3480,0,0,0,0,0,0
$GC,3704,-1.18,-116.8,335.6,-6.5,237,3708,0.00,2.55,0.00,0.000,4,0.000,0.039,2763,3343,3479,0,0,0,0,0,0
$GC,3725,-1.24,-116.8,337.1,-6.5,237,3731,0.15,2.55,0.00,0.000,6,0.064,0.040,2715,1780,3479,0,0,0,0,0,0
$GC,3982,-1.21,-116.8,359.1,-8.9,244,3988,0.10,2.90,0.00,0.000,4,0.117,0.096,2736,179,3478,0,0,0,0,0,0
$GC,4004,-1.21,-116.8,361.3,-8.7,244,4008,0.00,2.47,0.00,0.000,6,0.000,0.021,2736,1772,3478,0,0,0,0,0,0
$GC,4260,-1.21,-116.8,380.6,-7.4,251,4264,0.00,2.55,0.00,0.000,4,0.000,0.051,2736,3347,3476,0,0,0,0,0,0
$GC,4283,-1.21,-116.8,382.3,-7.5,251,4287,0.00,2.65,0.00,0.000,6,0.000,0.056,2736,1771,3477,0,0,0,0,0,0
$GC,4539,-1.21,-116.8,401.2,-7.5,258,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1771,3475,0,0,0,0,0,0
$GC,4782,-1.21,-116.8,420.5,-7.9,264,4786,0.00,2.58,0.00,0.000,4,0.000,0.048,2736,3346,3473,0,0,0,0,0,0
$GC,4809,-1.25,-116.8,422.9,-8.6,264,4813,0.00,2.67,0.00,0.000,6,0.000,0.057,2737,1780,3473,0,0,0,0,0,0
$GC,5060,-1.25,-116.8,443.0,-7.9,270,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1780,3472,0,0,0,0,0,0
$GC,5302,-1.25,-116.8,462.6,-8.1,276,5306,0.00,2.60,0.00,0.000,4,0.000,0.054,2736,3344,3470,0,0,0,0,0,0
$GC,5317,-1.25,-116.8,464.0,-8.6,276,5322,0.00,2.65,0.00,0.000,6,0.000,0.064,2736,1783,3470,0,0,0,0,0,0
$GC,5580,-1.25,-116.8,487.9,-9.2,283,5584,0.00,2.60,0.00,0.000,4,0.000,0.052,2736,3349,3468,0,0,0,0,0,0
$GC,5612,-1.30,-116.8,491.1,-9.8,283,5618,0.00,2.65,0.00,0.000,6,0.000,0.064,2736,1792,3468,0,0,0,0,0,0
$STATE,5738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5738,begin apogee
$GC,5743,-0.31,0.0,502.0,8.6,287,5842,0.85,0.00,95.47,0.914,6,0.073,0.000,2930,1792,3001,0,0,0,0,0,0
$STATE,5843,end apogee,CONTROL_FINISHED_OK
$STATE,5843,begin climb
$GC,5847,1.15,116.8,504.3,0.0,289,5952,1.35,0.00,100.95,0.890,6,0.058,0.000,3254,1791,2524,0,0,0,0,0,0
$GC,6185,1.05,149.7,489.9,6.5,298,6220,0.12,2.80,28.08,0.854,4,0.125,0.049,3229,3393,2389,0,0,0,0,0,0
$GC,6274,1.01,162.8,483.8,7.4,300,6294,0.00,2.72,12.80,0.799,6,0.000,0.059,3229,1823,2336,0,0,0,0,0,0
$GC,6563,0.95,167.7,461.2,7.8,307,6574,0.10,2.62,4.80,0.619,4,0.133,0.047,3209,3397,2317,0,0,0,0,0,0
$GC,6626,0.95,168.3,456.4,8.0,308,6630,0.00,2.67,0.00,0.000,6,0.000,0.054,3209,1838,2315,0,0,0,0,0,0
$GC,6886,0.98,193.5,438.2,6.8,315,6916,0.00,2.65,23.80,0.845,4,0.000,0.044,3209,3400,2211,0,0,0,0,0,0
$GC,6967,0.99,200.0,432.3,7.7,316,6981,0.00,2.65,7.30,0.718,6,0.000,0.052,3209,1849,2184,0,0,0,0,0,0
$GC,7262,1.01,218.7,411.6,7.1,324,7286,0.00,2.65,17.25,0.819,4,0.000,0.038,3209,3404,2108,0,0,0,0,0,0
$GC,7310,1.03,232.7,407.9,7.4,325,7330,0.00,2.62,14.10,0.793,6,0.000,0.047,3209,1856,2051,0,0,0,0,0,0
$GC,7593,1.04,240.3,386.5,7.7,332,7607,0.00,2.60,7.38,0.714,4,0.000,0.039,3209,3398,2020,0,0,0,0,0,0
$GC,7624,1.04,240.3,383.6,8.2,332,7628,0.00,2.60,0.00,0.000,6,0.000,0.044,3209,1853,2020,0,0,0,0,0,0
$GC,7874,1.04,240.3,362.1,8.7,338,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1853,2017,0,0,0,0,0,0
$GC,8119,1.04,240.3,341.5,8.4,344,8123,0.00,2.50,0.00,0.000,4,0.000,0.037,3209,3408,2017,0,0,0,0,0,0
$GC,8146,1.08,240.3,338.9,9.3,344,8151,0.12,2.58,0.00,0.000,6,0.080,0.038,3242,1856,2016,0,0,0,0,0,0
$GC,8396,1.05,240.3,315.7,9.1,350,8400,0.00,2.50,0.00,0.000,4,0.000,0.038,3242,3401,2016,0,0,0,0,0,0
$GC,8441,1.05,240.3,311.7,8.8,351,8445,0.00,2.50,0.00,0.000,6,0.000,0.037,3242,1870,2015,0,0,0,0,0,0
$GC,8718,1.07,257.9,291.1,7.2,358,8736,0.00,0.00,16.33,0.746,6,0.000,0.000,3242,1870,1949,0,0,0,0,0,0
$GC,8962,1.07,257.9,272.3,8.1,364,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1870,1945,0,0,0,0,0,0
$GC,9205,1.07,257.9,250.5,9.1,370,9209,0.00,2.47,0.00,0.000,4,0.000,0.035,3242,3410,1945,0,0,0,0,0,0
$GC,9228,1.07,257.9,248.3,10.0,370,9233,0.00,2.50,0.00,0.000,6,0.000,0.035,3242,1870,1943,0,0,0,0,0,0
$GC,9483,1.07,257.9,225.1,9.0,377,9487,0.00,2.80,0.00,0.000,4,0.000,0.067,3242,241,1943,0,0,0,0,0,0
$GC,9510,1.02,257.9,222.3,10.8,377,9514,0.00,2.58,0.00,0.000,6,0.000,0.021,3242,1891,1942,0,0,0,0,0,0
$GC,9761,1.02,257.9,199.6,9.0,383,9765,0.00,2.40,0.00,0.000,4,0.000,0.038,3242,3405,1943,0,0,0,0,0,0
$GC,9782,1.02,257.9,197.3,9.6,384,9791,0.08,2.47,0.00,0.000,6,0.089,0.031,3222,1884,1942,0,0,0,0,0,0
$GC,10050,1.06,257.9,174.3,8.5,409,10055,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1883,1942,0,0,0,0,0,0
$GC,10311,1.11,257.9,152.4,8.1,434,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1883,1942,0,0,0,0,0,0
$GC,10570,1.16,263.4,131.8,7.8,458,10585,0.12,2.85,5.25,0.485,4,0.083,0.061,3259,240,1928,0,0,0,0,0,0
$GC,10591,1.17,266.0,129.7,7.9,459,10600,0.00,2.60,4.40,0.440,6,0.000,0.025,3259,1918,1916,0,0,0,0,0,0
$GC,10856,1.17,266.0,106.4,8.5,484,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1920,1916,0,0,0,0,0,0
$GC,11113,1.18,278.8,88.1,7.4,508,11131,0.00,2.38,13.02,0.552,4,0.000,0.028,3259,3414,1862,0,0,0,0,0,0
$GC,11159,1.24,285.0,84.7,7.7,511,11172,0.00,2.50,6.72,0.486,6,0.000,0.031,3259,1878,1839,0,0,0,0,0,0
$GC,11429,1.35,325.6,63.9,6.1,536,11469,0.15,0.00,35.80,0.557,6,0.071,0.000,3302,1878,1672,0,0,0,0,0,0
$GC,11724,1.35,325.6,37.6,10.2,564,11733,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,1878,1670,0,0,0,0,0,0
$STATE,12024,end climb,SURFACE_DEPTH_REACHED
$STATE,12024,begin surface coast
$FINISH,0.3,1.001516
$STATE,12080,end surface coast,CONTROL_FINISHED_OK
$STATE,12080,begin surface
$SM_CCo,12103,82.38,0.446,1,0,1287,420.20
$SM_GC,0.94,0.00,0.00,82.38,0.000,0.000,0.446,475,1694,1287,-11.62,-2.15,420.20
$IRIDIUM_FIX,2241.69,-15741.52,031299,101031
$TT8_MAMPS,0.025311
$HUMID,44.76
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.30
$XPDR_PINGS,47
$24V_AH,23.6,24.907
$10V_AH,10.3,25.031
$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,26.650,124.525,393.450,82.375,0.000,24.429,26.247,167.766,11.750,0.000,13.716,1189.345,8109.813,560.281,2161.211,526.578,33.383,1327.758,0.000,2176.486,0.000,0.536,0.000
$DEVICE_MAMPS,139.594,95.875,914.264,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,413.999,358.547,472.800,890.286,1345.813,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,47990,612
$CAP_FILE_SIZE,116582,0
$CFSIZE,260165632,172797952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080910,173636,2251.142,-15742.146,26,1.5,26,10.1