version: 66.06
glider: 146
mission: 5
dive: 184
start: 9 11 110 6 19 35
data:
$ID,146
$MISSION,5
$DIVE,184
$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,-250971.92
$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,27
$R_STBD_OVSHOOT,62
$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
$GPS1,061106,2255.497,-15743.046,35,1.3,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-68.4
$GPS2,061838,2255.486,-15743.046,9,1.7,9,10.1
$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,-198603.5,108.7,-358.5,246281.4,-530.8
$KALMAN_Y,-58381.9,-21.4,-433.1,197554.9,-1167.0
$MHEAD_RNG_PITCHd_Wd,12.6,4986,-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,12,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-85.40,0.000,6,0.000,0.000,473,1695,3478,0,0,0,0,0,0
$GC,106,-1.15,-116.8,4.6,-6.6,11,124,11.52,2.60,0.00,0.000,4,0.140,0.024,2740,3340,3481,0,0,0,0,0,0
$GC,247,-1.05,-116.8,34.8,-13.0,29,257,0.10,2.58,0.00,0.000,6,0.080,0.033,2767,1772,3481,0,0,0,0,0,0
$GC,514,-0.94,-116.8,69.8,-13.3,54,519,0.12,2.72,0.00,0.000,4,0.112,0.063,2795,193,3482,0,0,0,0,0,0
$GC,549,-0.87,-116.8,74.6,-12.7,56,553,0.00,2.40,0.00,0.000,6,0.000,0.021,2795,1806,3482,0,0,0,0,0,0
$GC,811,-0.87,-116.8,100.7,-8.7,80,816,0.00,2.72,0.00,0.000,4,0.000,0.064,2795,191,3483,0,0,0,0,0,0
$GC,840,-0.87,-116.8,103.3,-8.1,82,845,0.00,2.33,0.00,0.000,6,0.000,0.022,2795,1766,3482,0,0,0,0,0,0
$GC,1104,-0.87,-116.8,123.9,-8.1,106,1108,0.00,2.42,0.00,0.000,4,0.000,0.029,2795,3303,3483,0,0,0,0,0,0
$GC,1134,-0.94,-116.8,126.5,-7.8,108,1139,0.00,2.47,0.00,0.000,6,0.000,0.035,2795,1759,3483,0,0,0,0,0,0
$GC,1397,-0.99,-116.8,147.2,-8.4,132,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1757,3483,0,0,0,0,0,0
$GC,1650,-1.04,-116.8,168.7,-8.6,156,1654,0.00,2.67,0.00,0.000,4,0.000,0.072,2795,193,3483,0,0,0,0,0,0
$GC,1705,-1.14,-116.8,173.3,-8.8,160,1710,0.17,2.33,0.00,0.000,6,0.056,0.020,2736,1753,3483,0,0,0,0,0,0
$GC,1988,-1.09,-116.8,204.7,-10.7,183,1993,0.12,2.45,0.00,0.000,4,0.106,0.028,2763,3322,3483,0,0,0,0,0,0
$GC,2044,-1.14,-116.8,210.3,-9.2,184,2048,0.00,2.47,0.00,0.000,6,0.000,0.030,2763,1765,3483,0,0,0,0,0,0
$GC,2311,-1.14,-116.8,235.3,-9.7,191,2316,0.00,2.70,0.00,0.000,4,0.000,0.071,2763,190,3483,0,0,0,0,0,0
$GC,2355,-1.14,-116.8,240.1,-10.1,192,2360,0.00,2.38,0.00,0.000,6,0.000,0.018,2764,1756,3483,0,0,0,0,0,0
$GC,2639,-1.14,-116.8,264.5,-8.3,199,2643,0.00,2.45,0.00,0.000,4,0.000,0.035,2763,3332,3483,0,0,0,0,0,0
$GC,2684,-1.21,-116.8,268.0,-8.2,200,2689,0.12,2.53,0.00,0.000,6,0.073,0.038,2718,1764,3483,0,0,0,0,0,0
$GC,2962,-1.15,-116.8,295.9,-10.1,207,2968,0.15,2.78,0.00,0.000,4,0.102,0.077,2751,188,3482,0,0,0,0,0,0
$GC,2990,-1.15,-116.8,298.9,-10.3,207,2994,0.00,2.40,0.00,0.000,6,0.000,0.021,2751,1742,3482,0,0,0,0,0,0
$GC,3247,-1.15,-116.8,320.7,-8.6,214,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1743,3481,0,0,0,0,0,0
$GC,3489,-1.15,-116.8,342.9,-9.2,220,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1742,3481,0,0,0,0,0,0
$GC,3733,-1.15,-116.8,364.2,-8.6,226,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1742,3480,0,0,0,0,0,0
$GC,3977,-1.19,-116.8,383.0,-7.5,232,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1743,3479,0,0,0,0,0,0
$GC,4221,-1.24,-116.8,398.4,-6.3,238,4225,0.00,2.65,0.00,0.000,4,0.000,0.051,2751,3342,3477,0,0,0,0,0,0
$GC,4248,-1.30,-116.8,400.1,-6.4,238,4254,0.15,2.65,0.00,0.000,6,0.066,0.060,2705,1765,3477,0,0,0,0,0,0
$GC,4498,-1.26,-116.8,421.7,-8.9,244,4503,0.00,2.58,0.00,0.000,4,0.000,0.045,2705,3342,3476,0,0,0,0,0,0
$GC,4527,-1.26,-116.8,424.2,-9.0,244,4531,0.00,2.72,0.00,0.000,6,0.000,0.064,2705,1748,3476,0,0,0,0,0,0
$GC,4776,-1.26,-116.8,446.1,-9.0,250,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1748,3474,0,0,0,0,0,0
$GC,5020,-1.26,-116.8,470.5,-10.2,256,5024,0.00,2.65,0.00,0.000,4,0.000,0.048,2705,3342,3472,0,0,0,0,0,0
$GC,5070,-1.26,-116.8,475.7,-10.8,257,5075,0.00,2.72,0.00,0.000,6,0.000,0.063,2705,1763,3472,0,0,0,0,0,0
$STATE,5340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5340,begin apogee
$GC,5346,-0.31,0.0,503.8,10.1,264,5445,1.00,0.00,95.93,0.912,6,0.075,0.000,2932,1820,3000,0,0,0,0,0,0
$STATE,5446,end apogee,CONTROL_FINISHED_OK
$STATE,5446,begin climb
$GC,5449,1.15,116.8,506.6,0.0,266,5553,1.33,0.00,100.47,0.893,6,0.053,0.000,3255,1820,2524,0,0,0,0,0,0
$GC,5777,1.04,149.6,493.3,6.5,274,5812,0.12,2.72,27.88,0.861,4,0.124,0.051,3229,3385,2390,0,0,0,0,0,0
$GC,5901,1.01,173.2,485.0,6.9,276,5930,0.00,2.72,21.67,0.844,6,0.000,0.061,3229,1816,2295,0,0,0,0,0,0
$GC,6195,0.96,182.2,463.3,7.6,284,6209,0.00,2.70,8.70,0.760,4,0.000,0.048,3229,3389,2257,0,0,0,0,0,0
$GC,6261,0.96,182.2,457.6,8.8,285,6265,0.00,2.70,0.00,0.000,6,0.000,0.056,3229,1829,2255,0,0,0,0,0,0
$GC,6522,0.90,182.2,433.9,9.3,292,6527,0.15,2.60,0.00,0.000,4,0.209,0.039,3198,3396,2252,0,0,0,0,0,0
$GC,6562,0.94,182.2,430.2,8.8,293,6566,0.00,2.65,0.00,0.000,6,0.000,0.057,3198,1829,2252,0,0,0,0,0,0
$GC,6846,0.94,184.3,407.7,7.9,300,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1829,2250,0,0,0,0,0,0
$GC,7088,0.96,197.5,389.1,7.4,306,7107,0.00,2.62,13.70,0.805,4,0.000,0.037,3198,3392,2194,0,0,0,0,0,0
$GC,7148,1.00,197.5,384.6,8.1,307,7152,0.00,2.60,0.00,0.000,6,0.000,0.045,3198,1843,2193,0,0,0,0,0,0
$GC,7415,1.05,240.3,367.8,6.0,314,7457,0.12,0.00,38.42,0.828,6,0.191,0.000,3233,1843,2021,0,0,0,0,0,0
$GC,7700,1.05,240.3,342.8,9.3,321,7705,0.00,2.88,0.00,0.000,4,0.000,0.082,3233,234,2014,0,0,0,0,0,0
$GC,7730,0.99,240.3,339.8,11.4,321,7735,0.00,2.53,0.00,0.000,6,0.000,0.025,3233,1846,2013,0,0,0,0,0,0
$GC,7980,0.99,240.3,315.4,9.6,327,7984,0.00,2.50,0.00,0.000,4,0.000,0.035,3233,3396,2012,0,0,0,0,0,0
$GC,8051,0.99,240.3,308.7,9.4,328,8056,0.00,2.53,0.00,0.000,6,0.000,0.037,3232,1843,2010,0,0,0,0,0,0
$GC,8308,0.99,240.3,285.8,8.8,335,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1843,2010,0,0,0,0,0,0
$GC,8551,0.99,240.3,265.8,8.3,341,8555,0.00,2.47,0.00,0.000,4,0.000,0.036,3233,3398,2009,0,0,0,0,0,0
$GC,8577,0.99,240.3,263.4,8.6,341,8581,0.00,2.53,0.00,0.000,6,0.000,0.041,3233,1845,2009,0,0,0,0,0,0
$GC,8827,0.99,240.3,242.3,8.5,347,8831,0.00,2.47,0.00,0.000,4,0.000,0.034,3233,3394,2009,0,0,0,0,0,0
$GC,8900,1.03,240.3,235.8,8.6,348,8905,0.00,2.53,0.00,0.000,6,0.000,0.035,3232,1849,2008,0,0,0,0,0,0
$GC,9150,1.03,240.3,214.9,8.3,354,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1849,2008,0,0,0,0,0,0
$GC,9396,1.03,240.3,193.5,8.5,363,9400,0.00,2.47,0.00,0.000,4,0.000,0.029,3233,3400,2008,0,0,0,0,0,0
$GC,9419,1.03,240.3,191.3,9.8,364,9425,0.00,2.50,0.00,0.000,6,0.000,0.031,3233,1853,2008,0,0,0,0,0,0
$GC,9682,1.03,243.1,169.4,7.9,389,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1853,2008,0,0,0,0,0,0
$GC,9936,1.03,243.3,149.8,8.0,413,9940,0.00,2.75,0.00,0.000,4,0.000,0.064,3232,244,2008,0,0,0,0,0,0
$GC,9976,1.03,243.3,146.2,9.6,416,9980,0.00,2.53,0.00,0.000,6,0.000,0.019,3232,1880,2007,0,0,0,0,0,0
$GC,10239,1.11,268.9,126.9,6.8,440,10276,0.00,2.45,24.20,0.612,4,0.000,0.034,3233,3403,1902,0,0,0,0,0,0
$GC,10354,1.24,298.1,119.5,6.7,449,10388,0.15,2.47,26.00,0.601,6,0.067,0.031,3277,1869,1784,0,0,0,0,0,0
$GC,10642,1.24,298.1,94.6,8.5,476,10647,0.00,2.78,0.00,0.000,4,0.000,0.067,3278,241,1781,0,0,0,0,0,0
$GC,10662,1.24,298.1,93.1,8.7,477,10667,0.00,2.58,0.00,0.000,6,0.000,0.024,3278,1902,1779,0,0,0,0,0,0
$GC,10930,1.24,298.1,71.5,8.1,501,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1904,1779,0,0,0,0,0,0
$GC,11195,1.25,305.3,50.7,7.7,526,11204,0.00,0.00,6.80,0.464,6,0.000,0.000,3277,1904,1755,0,0,0,0,0,0
$GC,11464,1.26,314.1,29.3,7.6,551,11482,0.00,2.88,9.10,0.477,4,0.000,0.056,3278,246,1719,0,0,0,0,0,0
$GC,11506,1.26,314.1,25.5,8.2,556,11515,0.00,2.58,0.00,0.000,6,0.000,0.019,3277,1893,1719,0,0,0,0,0,0
$STATE,11764,end climb,SURFACE_DEPTH_REACHED
$STATE,11764,begin surface coast
$FINISH,0.3,1.011676
$STATE,11820,end surface coast,CONTROL_FINISHED_OK
$STATE,11820,begin surface
$SM_CCo,11842,91.78,0.452,1,0,1288,420.20
$SM_GC,1.00,0.00,0.00,91.78,0.000,0.000,0.452,479,1708,1288,-11.60,-1.75,420.20
$IRIDIUM_FIX,2246.36,-15743.68,061299,020204
$TT8_MAMPS,0.025311
$HUMID,44.21
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.80
$XPDR_PINGS,53
$24V_AH,23.6,27.054
$10V_AH,10.4,27.439
$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,26.725,129.375,372.875,91.775,0.000,30.822,31.099,255.240,13.250,0.000,11.033,1184.409,7813.820,538.340,2231.007,625.920,33.369,1329.113,0.000,2240.738,0.000,0.536,0.000
$DEVICE_MAMPS,208.624,120.419,911.963,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,406.796,356.741,469.500,891.488,1348.379,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,47883,601
$CAP_FILE_SIZE,117532,0
$CFSIZE,260165632,171671552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110910,093943,2256.193,-15742.722,11,1.8,28,10.1