version: 66.06
glider: 146
mission: 5
dive: 179
start: 9 10 110 12 45 53
data:
$ID,146
$MISSION,5
$DIVE,179
$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,-250900.92
$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,50
$R_STBD_OVSHOOT,22
$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
$GPS1,123854,2254.896,-15742.115,22,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.0
$GPS2,124456,2254.836,-15742.146,13,1.8,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.084,0.201
$KALMAN_X,-192870.8,-250.2,324.0,241780.7,-1065.0
$KALMAN_Y,-47064.4,-500.4,185.2,184908.3,-2821.4
$MHEAD_RNG_PITCHd_Wd,12.7,5864,-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,-116.3,0.0,0.0,0,103,0.00,0.00,-85.95,0.000,6,0.000,0.000,474,1735,3477,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.2,-5.9,11,124,11.62,2.60,0.00,0.000,4,0.143,0.023,2739,3375,3479,0,0,0,0,0,0
$GC,136,0.27,-116.8,17.9,-30.7,14,146,1.38,2.60,0.00,0.000,6,0.075,0.036,3052,1794,3480,0,0,0,0,0,0
$GC,435,-0.29,-116.8,42.7,-9.0,49,441,0.47,2.50,0.00,0.000,4,0.061,0.025,2930,3378,3480,0,0,0,0,0,0
$GC,583,-0.78,-116.8,54.5,-7.3,60,592,0.40,2.55,0.00,0.000,6,0.044,0.027,2822,1799,3481,0,0,0,0,0,0
$GC,850,-0.78,-116.8,78.1,-10.0,85,854,0.00,2.72,0.00,0.000,4,0.000,0.063,2822,195,3481,0,0,0,0,0,0
$GC,929,-0.85,-116.8,85.7,-8.3,91,934,0.00,2.50,0.00,0.000,6,0.000,0.016,2822,1859,3481,0,0,0,0,0,0
$GC,1197,-0.92,-116.8,107.0,-8.5,115,1203,0.10,0.00,0.00,0.000,6,0.082,0.000,2782,1860,3481,0,0,0,0,0,0
$GC,1458,-0.92,-116.8,132.5,-9.0,140,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1860,3482,0,0,0,0,0,0
$GC,1714,-0.92,-116.8,156.1,-8.8,164,1719,0.00,2.85,0.00,0.000,4,0.000,0.069,2781,196,3482,0,0,0,0,0,0
$GC,1747,-0.92,-116.8,158.8,-9.7,166,1751,0.00,2.47,0.00,0.000,6,0.000,0.019,2781,1846,3482,0,0,0,0,0,0
$GC,2014,-0.96,-116.8,181.4,-8.4,190,2018,0.00,2.85,0.00,0.000,4,0.000,0.063,2781,192,3482,0,0,0,0,0,0
$GC,2058,-0.96,-116.8,185.2,-9.0,193,2063,0.00,2.45,0.00,0.000,6,0.000,0.018,2781,1833,3482,0,0,0,0,0,0
$GC,2326,-1.00,-116.8,207.3,-8.2,212,2331,0.00,2.80,0.00,0.000,4,0.000,0.064,2781,197,3482,0,0,0,0,0,0
$GC,2379,-1.06,-116.8,211.8,-8.7,213,2383,0.00,2.42,0.00,0.000,6,0.000,0.015,2781,1817,3482,0,0,0,0,0,0
$GC,2651,-1.11,-116.8,233.3,-7.7,220,2653,0.10,0.00,0.00,0.000,6,0.087,0.000,2745,1820,3482,0,0,0,0,0,0
$GC,2894,-1.11,-116.8,257.1,-10.0,226,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1820,3482,0,0,0,0,0,0
$GC,3138,-1.11,-116.8,280.1,-9.4,232,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1819,3482,0,0,0,0,0,0
$GC,3383,-1.11,-116.8,302.0,-8.6,238,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1819,3481,0,0,0,0,0,0
$GC,3626,-1.11,-116.8,321.1,-7.7,244,3630,0.00,2.42,0.00,0.000,4,0.000,0.042,2746,3318,3481,0,0,0,0,0,0
$GC,3667,-1.16,-116.8,324.2,-7.6,245,3672,0.00,2.55,0.00,0.000,6,0.000,0.042,2746,1769,3481,0,0,0,0,0,0
$GC,3952,-1.16,-116.8,343.0,-6.2,252,3956,0.00,2.83,0.00,0.000,4,0.000,0.091,2745,186,3479,0,0,0,0,0,0
$GC,3995,-1.16,-116.8,346.5,-8.2,253,3999,0.00,2.38,0.00,0.000,6,0.000,0.024,2745,1727,3479,0,0,0,0,0,0
$GC,4279,-1.16,-116.8,368.2,-8.1,260,4283,0.00,2.60,0.00,0.000,4,0.000,0.041,2745,3347,3478,0,0,0,0,0,0
$GC,4309,-1.21,-116.8,370.6,-8.3,260,4313,0.00,2.65,0.00,0.000,6,0.000,0.047,2745,1764,3478,0,0,0,0,0,0
$GC,4558,-1.21,-116.8,393.7,-9.3,266,4563,0.00,2.88,0.00,0.000,4,0.000,0.100,2745,185,3476,0,0,0,0,0,0
$GC,4585,-1.21,-116.8,396.4,-10.0,266,4589,0.00,2.47,0.00,0.000,6,0.000,0.026,2745,1756,3476,0,0,0,0,0,0
$GC,4837,-1.25,-116.8,417.2,-8.1,272,4841,0.00,2.60,0.00,0.000,4,0.000,0.050,2745,3346,3475,0,0,0,0,0,0
$GC,4887,-1.33,-116.8,421.2,-8.0,273,4892,0.15,2.65,0.00,0.000,6,0.067,0.053,2700,1768,3474,0,0,0,0,0,0
$GC,5159,-1.29,-116.8,445.9,-9.1,280,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1768,3472,0,0,0,0,0,0
$GC,5404,-1.25,-116.8,469.0,-9.6,286,5409,0.12,2.62,0.00,0.000,4,0.111,0.050,2725,3346,3471,0,0,0,0,0,0
$GC,5465,-1.30,-116.8,474.9,-9.3,287,5470,0.00,2.67,0.00,0.000,6,0.000,0.066,2725,1786,3471,0,0,0,0,0,0
$GC,5726,-1.30,-116.8,496.9,-8.4,294,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1786,3469,0,0,0,0,0,0
$STATE,5766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5766,begin apogee
$GC,5772,-0.31,0.0,500.5,8.4,295,5871,0.90,0.00,95.62,0.913,6,0.087,0.000,2930,1786,3001,0,0,0,0,0,0
$STATE,5872,end apogee,CONTROL_FINISHED_OK
$STATE,5872,begin climb
$GC,5875,1.15,116.8,503.0,0.0,297,5979,1.38,0.00,100.78,0.890,6,0.045,0.000,3259,1786,2524,0,0,0,0,0,0
$GC,6211,1.04,151.8,489.4,6.4,306,6247,0.15,2.75,29.88,0.861,4,0.177,0.054,3229,3389,2381,0,0,0,0,0,0
$GC,6349,1.00,163.0,479.4,7.5,308,6365,0.00,2.67,10.75,0.783,6,0.000,0.061,3229,1833,2336,0,0,0,0,0,0
$GC,6622,0.95,175.1,459.5,7.5,315,6642,0.12,2.70,11.40,0.797,4,0.140,0.043,3206,3397,2286,0,0,0,0,0,0
$GC,6675,0.96,189.1,455.4,7.4,316,6695,0.00,2.67,13.90,0.807,6,0.000,0.058,3206,1834,2229,0,0,0,0,0,0
$GC,6953,0.99,206.4,435.1,7.2,323,6974,0.00,2.62,15.95,0.825,4,0.000,0.044,3206,3401,2159,0,0,0,0,0,0
$GC,6996,1.00,214.6,431.6,7.6,324,7011,0.00,2.65,8.77,0.750,6,0.000,0.051,3206,1848,2126,0,0,0,0,0,0
$GC,7279,1.00,218.8,409.6,7.8,331,7289,0.00,2.55,4.65,0.611,4,0.000,0.037,3205,3400,2108,0,0,0,0,0,0
$GC,7329,1.05,218.8,405.1,8.8,332,7334,0.00,2.62,0.00,0.000,6,0.000,0.051,3206,1851,2107,0,0,0,0,0,0
$GC,7602,1.05,218.8,380.9,8.8,339,7607,0.00,2.92,0.00,0.000,4,0.000,0.092,3205,231,2104,0,0,0,0,0,0
$GC,7617,1.05,218.8,379.5,8.4,339,7622,0.00,2.58,0.00,0.000,6,0.000,0.025,3205,1873,2103,0,0,0,0,0,0
$GC,7880,1.06,230.6,359.5,7.5,346,7899,0.10,2.58,11.38,0.773,4,0.102,0.041,3232,3408,2059,0,0,0,0,0,0
$GC,7910,1.06,230.6,356.8,8.7,346,7914,0.00,2.58,0.00,0.000,6,0.000,0.040,3233,1855,2058,0,0,0,0,0,0
$GC,8160,1.06,230.6,334.9,8.9,352,8165,0.00,2.85,0.00,0.000,4,0.000,0.081,3233,232,2056,0,0,0,0,0,0
$GC,8211,0.98,230.6,329.8,10.1,353,8215,0.00,2.58,0.00,0.000,6,0.000,0.021,3233,1870,2055,0,0,0,0,0,0
$GC,8482,0.98,230.6,305.8,8.9,360,8486,0.00,2.45,0.00,0.000,4,0.000,0.034,3232,3396,2054,0,0,0,0,0,0
$GC,8509,0.98,230.6,303.0,10.2,360,8513,0.00,2.55,0.00,0.000,6,0.000,0.035,3233,1840,2054,0,0,0,0,0,0
$GC,8760,0.98,230.6,279.3,9.4,366,8764,0.00,2.47,0.00,0.000,4,0.000,0.031,3232,3386,2054,0,0,0,0,0,0
$GC,8860,0.98,230.6,270.1,8.3,368,8864,0.00,2.45,0.00,0.000,6,0.000,0.039,3233,1864,2053,0,0,0,0,0,0
$GC,9128,0.99,239.9,249.4,7.6,375,9142,0.00,2.50,8.43,0.663,4,0.000,0.030,3233,3383,2023,0,0,0,0,0,0
$GC,9171,1.00,244.1,246.0,7.8,376,9182,0.00,2.45,5.47,0.578,6,0.000,0.038,3233,1871,2006,0,0,0,0,0,0
$GC,9454,1.00,244.1,223.3,8.2,383,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1870,2003,0,0,0,0,0,0
$GC,9699,1.00,244.1,202.8,8.2,389,9704,0.00,2.80,0.00,0.000,4,0.000,0.071,3232,243,2003,0,0,0,0,0,0
$GC,9720,1.00,244.1,200.8,9.0,389,9724,0.00,2.53,0.00,0.000,6,0.000,0.018,3232,1879,2002,0,0,0,0,0,0
$GC,9988,1.00,244.1,178.6,8.3,414,9993,0.00,2.83,0.00,0.000,4,0.000,0.068,3233,240,2002,0,0,0,0,0,0
$GC,10011,1.00,244.1,177.0,8.6,415,10016,0.00,2.55,0.00,0.000,6,0.000,0.025,3233,1885,2001,0,0,0,0,0,0
$GC,10278,1.02,257.2,155.9,7.4,439,10293,0.00,0.00,12.93,0.616,6,0.000,0.000,3232,1886,1952,0,0,0,0,0,0
$GC,10556,1.09,279.1,136.4,7.0,465,10581,0.00,2.45,20.10,0.614,4,0.000,0.028,3232,3397,1862,0,0,0,0,0,0
$GC,10598,1.17,285.3,132.5,7.7,468,10611,0.00,2.53,6.68,0.515,6,0.000,0.036,3233,1875,1838,0,0,0,0,0,0
$GC,10873,1.25,291.0,111.0,7.7,494,10887,0.17,2.42,6.57,0.505,4,0.063,0.026,3281,3392,1813,0,0,0,0,0,0
$GC,10914,1.25,291.0,107.4,9.5,497,10918,0.00,2.47,0.00,0.000,6,0.000,0.036,3282,1877,1812,0,0,0,0,0,0
$GC,11181,1.25,291.0,82.8,9.1,521,11186,0.00,2.40,0.00,0.000,4,0.000,0.035,3282,3393,1811,0,0,0,0,0,0
$GC,11251,1.31,291.0,76.0,9.3,526,11256,0.00,2.45,0.00,0.000,6,0.000,0.038,3282,1889,1811,0,0,0,0,0,0
$GC,11519,1.32,296.1,54.9,7.8,550,11534,0.00,2.85,5.85,0.449,4,0.000,0.064,3282,240,1792,0,0,0,0,0,0
$GC,11551,1.32,296.1,52.0,8.6,552,11555,0.00,2.55,0.00,0.000,6,0.000,0.018,3282,1910,1792,0,0,0,0,0,0
$GC,11817,1.32,296.1,30.9,8.1,576,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1912,1792,0,0,0,0,0,0
$STATE,12116,end climb,SURFACE_DEPTH_REACHED
$STATE,12117,begin surface coast
$FINISH,0.3,1.023210
$STATE,12173,end surface coast,CONTROL_FINISHED_OK
$STATE,12173,begin surface
$SM_CCo,12194,112.47,0.463,1,0,1288,420.20
$SM_GC,0.91,0.00,0.00,112.47,0.000,0.000,0.463,477,1704,1288,-11.61,-1.87,420.20
$IRIDIUM_FIX,2248.70,-15742.79,051299,090906
$TT8_MAMPS,0.026078
$HUMID,43.93
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.90
$XPDR_PINGS,58
$24V_AH,23.6,26.465
$10V_AH,10.3,26.786
$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,28.525,145.900,369.100,112.475,0.000,28.666,28.652,167.175,14.500,0.000,15.371,1260.152,7905.607,581.963,2385.015,544.507,33.361,1398.554,0.000,2391.529,0.000,0.536,0.000
$DEVICE_MAMPS,177.177,100.477,912.730,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,424.957,367.076,494.020,957.116,1448.604,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,47770,627
$CAP_FILE_SIZE,124312,0
$CFSIZE,260165632,171966464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100910,161225,2254.644,-15742.604,37,1.2,37,10.1