version: 66.06
glider: 146
mission: 5
dive: 183
start: 9 11 110 2 51 22
data:
$ID,146
$MISSION,5
$DIVE,183
$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,-250960.27
$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,43
$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
$GPS1,024307,2255.377,-15743.174,35,1.0,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-68.7
$GPS2,025025,2255.325,-15743.210,12,1.1,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.116,0.185
$KALMAN_X,-197784.0,40.4,61.3,244835.5,-1635.7
$KALMAN_Y,-56595.3,208.5,-428.5,195243.5,-2765.7
$MHEAD_RNG_PITCHd_Wd,21.9,5367,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-78.45,0.000,2,0.000,0.000,476,1743,3234,0,0,0,0,0,0
$GC,99,-1.15,-116.8,3.0,-3.6,10,125,11.60,2.58,-4.75,0.000,4,0.142,0.034,2743,3348,3479,0,0,0,0,0,0
$GC,230,-1.05,-116.8,27.6,-13.5,28,238,0.08,2.55,0.00,0.000,6,0.083,0.031,2764,1792,3480,0,0,0,0,0,0
$GC,508,-0.92,-116.8,66.6,-14.8,54,513,0.15,2.78,0.00,0.000,4,0.109,0.065,2796,186,3480,0,0,0,0,0,0
$GC,554,-0.86,-116.8,73.9,-14.3,57,559,0.00,2.42,0.00,0.000,6,0.000,0.015,2796,1802,3480,0,0,0,0,0,0
$GC,822,-0.86,-116.8,102.9,-9.7,81,826,0.00,2.38,0.00,0.000,4,0.000,0.023,2796,3328,3481,0,0,0,0,0,0
$GC,838,-0.86,-116.8,105.2,-9.6,82,843,0.00,2.50,0.00,0.000,6,0.000,0.028,2796,1752,3481,0,0,0,0,0,0
$GC,1102,-0.86,-116.8,126.5,-8.0,106,1107,0.00,2.62,0.00,0.000,4,0.000,0.061,2796,197,3481,0,0,0,0,0,0
$GC,1131,-0.86,-116.8,129.1,-8.6,108,1135,0.00,2.35,0.00,0.000,6,0.000,0.016,2796,1783,3481,0,0,0,0,0,0
$GC,1394,-0.92,-116.8,148.8,-7.6,132,1399,0.00,2.70,0.00,0.000,4,0.000,0.067,2796,192,3482,0,0,0,0,0,0
$GC,1451,-0.97,-116.8,153.4,-8.8,136,1455,0.00,2.33,0.00,0.000,6,0.000,0.020,2796,1757,3482,0,0,0,0,0,0
$GC,1718,-1.04,-116.8,173.7,-6.5,160,1722,0.00,2.45,0.00,0.000,4,0.000,0.025,2796,3317,3482,0,0,0,0,0,0
$GC,1749,-1.12,-116.8,176.1,-6.8,162,1754,0.17,2.47,0.00,0.000,6,0.055,0.032,2735,1751,3482,0,0,0,0,0,0
$GC,2012,-1.06,-116.8,199.2,-8.9,186,2017,0.15,2.45,0.00,0.000,4,0.099,0.031,2768,3310,3482,0,0,0,0,0,0
$GC,2036,-1.06,-116.8,200.8,-8.3,187,2040,0.00,2.45,0.00,0.000,6,0.000,0.034,2768,1764,3482,0,0,0,0,0,0
$GC,2296,-1.06,-116.8,221.9,-8.2,194,2300,0.00,2.70,0.00,0.000,4,0.000,0.071,2768,192,3482,0,0,0,0,0,0
$GC,2335,-1.06,-116.8,225.2,-8.7,195,2339,0.00,2.35,0.00,0.000,6,0.000,0.017,2768,1757,3481,0,0,0,0,0,0
$GC,2619,-1.06,-116.8,248.1,-7.9,202,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1759,3481,0,0,0,0,0,0
$GC,2861,-1.06,-116.8,267.1,-8.0,208,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1759,3481,0,0,0,0,0,0
$GC,3106,-1.10,-116.8,286.2,-7.7,214,3110,0.00,2.47,0.00,0.000,4,0.000,0.033,2768,3332,3480,0,0,0,0,0,0
$GC,3139,-1.17,-116.8,288.8,-7.5,214,3144,0.00,2.55,0.00,0.000,6,0.000,0.035,2768,1762,3480,0,0,0,0,0,0
$GC,3391,-1.21,-116.8,307.3,-7.3,221,3396,0.12,2.75,0.00,0.000,4,0.071,0.085,2719,190,3480,0,0,0,0,0,0
$GC,3435,-1.15,-116.8,312.1,-10.5,222,3440,0.15,2.40,0.00,0.000,6,0.102,0.028,2751,1740,3479,0,0,0,0,0,0
$GC,3714,-1.15,-116.8,335.8,-8.2,229,3718,0.00,2.58,0.00,0.000,4,0.000,0.042,2751,3356,3478,0,0,0,0,0,0
$GC,3753,-1.22,-116.8,339.1,-8.1,230,3758,0.00,2.60,0.00,0.000,6,0.000,0.047,2751,1765,3478,0,0,0,0,0,0
$GC,4037,-1.22,-116.8,361.3,-7.8,237,4042,0.00,2.80,0.00,0.000,4,0.000,0.095,2751,186,3477,0,0,0,0,0,0
$GC,4100,-1.27,-116.8,366.1,-7.5,238,4105,0.12,2.45,0.00,0.000,6,0.074,0.024,2708,1751,3477,0,0,0,0,0,0
$GC,4360,-1.27,-116.8,388.5,-8.5,245,4365,0.00,2.62,0.00,0.000,4,0.000,0.050,2708,3355,3475,0,0,0,0,0,0
$GC,4416,-1.27,-116.8,393.1,-8.3,246,4421,0.00,2.67,0.00,0.000,6,0.000,0.051,2708,1758,3475,0,0,0,0,0,0
$GC,4683,-1.24,-116.8,415.3,-8.4,253,4688,0.10,2.60,0.00,0.000,4,0.118,0.048,2729,3347,3473,0,0,0,0,0,0
$GC,4744,-1.24,-116.8,419.9,-6.9,254,4749,0.00,2.67,0.00,0.000,6,0.000,0.059,2729,1771,3473,0,0,0,0,0,0
$GC,5006,-1.24,-116.8,438.4,-7.0,261,5011,0.00,2.92,0.00,0.000,4,0.000,0.113,2729,182,3472,0,0,0,0,0,0
$GC,5038,-1.24,-116.8,441.2,-8.2,261,5044,0.00,2.55,0.00,0.000,6,0.000,0.037,2729,1770,3471,0,0,0,0,0,0
$GC,5288,-1.24,-116.8,461.6,-8.4,268,5293,0.00,2.70,0.00,0.000,4,0.000,0.061,2729,3359,3470,0,0,0,0,0,0
$GC,5329,-1.28,-116.8,465.4,-9.6,269,5334,0.00,2.70,0.00,0.000,6,0.000,0.057,2729,1773,3470,0,0,0,0,0,0
$GC,5612,-1.28,-116.8,493.1,-9.9,276,5616,0.00,2.65,0.00,0.000,4,0.000,0.052,2729,3358,3467,0,0,0,0,0,0
$GC,5627,-1.28,-116.8,494.9,-10.0,276,5632,0.00,2.67,0.00,0.000,6,0.000,0.060,2729,1781,3467,0,0,0,0,0,0
$STATE,5682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5682,begin apogee
$GC,5690,-0.31,0.0,500.7,10.3,278,5789,0.90,0.00,95.18,0.914,6,0.079,0.000,2932,1848,3001,0,0,0,0,0,0
$STATE,5789,end apogee,CONTROL_FINISHED_OK
$STATE,5790,begin climb
$GC,5792,1.15,116.8,504.9,0.0,280,5903,1.33,2.67,99.85,0.894,4,0.051,0.051,3253,3373,2522,0,0,0,0,0,0
$GC,5917,1.13,203.6,506.1,4.0,283,5998,0.00,2.72,74.38,0.878,6,0.000,0.058,3253,1814,2171,0,0,0,0,0,0
$GC,6243,1.02,203.6,474.2,10.9,291,6248,0.15,2.62,0.00,0.000,4,0.168,0.043,3224,3381,2162,0,0,0,0,0,0
$GC,6283,1.02,203.6,470.0,10.5,292,6288,0.00,2.67,0.00,0.000,6,0.000,0.058,3224,1828,2160,0,0,0,0,0,0
$GC,6567,0.98,203.6,441.6,9.8,299,6571,0.00,2.58,0.00,0.000,4,0.000,0.047,3224,3383,2158,0,0,0,0,0,0
$GC,6584,0.94,203.6,440.0,9.7,299,6588,0.00,2.67,0.00,0.000,6,0.000,0.055,3224,1826,2157,0,0,0,0,0,0
$GC,6846,0.90,203.6,416.2,8.9,306,6848,0.12,0.00,0.00,0.000,6,0.118,0.000,3199,1825,2156,0,0,0,0,0,0
$GC,7088,0.94,236.4,399.8,6.5,312,7122,0.00,2.65,27.40,0.834,4,0.000,0.036,3199,3386,2036,0,0,0,0,0,0
$GC,7171,1.03,254.6,394.3,7.2,313,7196,0.10,2.65,17.33,0.798,6,0.091,0.054,3225,1833,1963,0,0,0,0,0,0
$GC,7465,1.03,254.6,369.9,8.1,321,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1833,1958,0,0,0,0,0,0
$GC,7707,1.03,254.6,349.3,8.7,327,7711,0.00,2.50,0.00,0.000,4,0.000,0.031,3225,3387,1956,0,0,0,0,0,0
$GC,7723,1.03,254.6,347.7,9.2,327,7728,0.00,2.55,0.00,0.000,6,0.000,0.038,3225,1835,1956,0,0,0,0,0,0
$GC,7984,1.03,254.6,322.7,9.5,334,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1835,1954,0,0,0,0,0,0
$GC,8227,1.03,254.6,300.5,9.1,340,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1835,1953,0,0,0,0,0,0
$GC,8471,1.03,254.6,278.3,9.0,346,8472,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1835,1953,0,0,0,0,0,0
$GC,8716,1.03,254.6,256.7,8.6,352,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1835,1953,0,0,0,0,0,0
$GC,8959,1.03,255.9,237.2,8.0,358,8963,0.00,2.50,0.00,0.000,4,0.000,0.035,3225,3394,1952,0,0,0,0,0,0
$GC,9014,1.09,255.9,232.6,8.7,359,9018,0.00,2.50,0.00,0.000,6,0.000,0.041,3225,1848,1951,0,0,0,0,0,0
$GC,9281,1.09,258.7,211.6,7.9,366,9286,0.00,2.78,0.00,0.000,4,0.000,0.067,3225,240,1951,0,0,0,0,0,0
$GC,9314,1.09,258.7,208.5,9.4,366,9320,0.00,2.50,0.00,0.000,6,0.000,0.025,3225,1854,1950,0,0,0,0,0,0
$GC,9573,1.11,270.8,188.1,7.5,382,9594,0.00,2.50,13.60,0.644,4,0.000,0.037,3225,3383,1896,0,0,0,0,0,0
$GC,9631,1.19,270.8,183.3,8.1,387,9637,0.15,2.47,0.00,0.000,6,0.070,0.035,3268,1851,1895,0,0,0,0,0,0
$GC,9893,1.14,270.8,160.3,8.6,411,9897,0.00,2.45,0.00,0.000,4,0.000,0.029,3268,3387,1894,0,0,0,0,0,0
$GC,9916,1.10,270.8,158.7,8.7,412,9921,0.12,2.47,0.00,0.000,6,0.116,0.033,3241,1861,1894,0,0,0,0,0,0
$GC,10177,1.10,270.8,137.0,9.0,436,10181,0.00,2.75,0.00,0.000,4,0.000,0.064,3241,237,1894,0,0,0,0,0,0
$GC,10245,1.10,270.8,130.5,10.6,441,10249,0.00,2.50,0.00,0.000,6,0.000,0.023,3241,1863,1893,0,0,0,0,0,0
$GC,10511,1.15,270.8,105.8,9.5,465,10516,0.00,2.40,0.00,0.000,4,0.000,0.028,3241,3385,1893,0,0,0,0,0,0
$GC,10554,1.26,270.8,101.4,9.6,468,10559,0.15,2.47,0.00,0.000,6,0.069,0.033,3286,1855,1893,0,0,0,0,0,0
$GC,10815,1.29,297.3,80.8,6.8,492,10844,0.00,2.45,24.15,0.564,4,0.000,0.026,3286,3383,1786,0,0,0,0,0,0
$GC,10862,1.31,314.4,77.7,7.2,495,10885,0.00,2.50,15.70,0.542,6,0.000,0.032,3286,1870,1719,0,0,0,0,0,0
$GC,11140,1.31,314.4,56.4,8.1,521,11145,0.00,2.78,0.00,0.000,4,0.000,0.061,3286,240,1715,0,0,0,0,0,0
$GC,11161,1.31,314.4,54.5,9.0,522,11165,0.00,2.50,0.00,0.000,6,0.000,0.018,3286,1874,1714,0,0,0,0,0,0
$GC,11428,1.31,314.4,30.2,9.5,546,11437,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1876,1714,0,0,0,0,0,0
$STATE,11719,end climb,SURFACE_DEPTH_REACHED
$STATE,11719,begin surface coast
$FINISH,0.2,1.001030
$STATE,11782,end surface coast,CONTROL_FINISHED_OK
$STATE,11782,begin surface
$SM_CCo,11805,91.88,0.450,1,0,1287,420.20
$SM_GC,0.94,0.00,0.00,91.88,0.000,0.000,0.450,474,1695,1287,-11.62,-2.12,420.20
$IRIDIUM_FIX,2248.70,-15740.63,051299,232340
$TT8_MAMPS,0.026078
$HUMID,44.13
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,57
$24V_AH,23.5,26.935
$10V_AH,10.4,27.306
$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,27.050,154.525,367.575,91.875,0.000,24.637,27.238,244.287,14.250,0.000,13.991,1208.136,7752.569,537.096,2218.892,625.924,33.370,1350.505,0.000,2224.323,0.000,0.536,0.000
$DEVICE_MAMPS,167.973,115.050,914.264,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,404.188,354.673,460.290,865.209,1308.556,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,47674,597
$CAP_FILE_SIZE,125836,0
$CFSIZE,260165632,171720704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110910,061106,2255.497,-15743.046,35,1.3,40,10.1