version: 66.06
glider: 146
mission: 5
dive: 185
start: 9 11 110 9 46 56
data:
$ID,146
$MISSION,5
$DIVE,185
$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,-251007.88
$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,45
$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
$GPS1,093943,2256.193,-15742.722,11,1.8,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.8
$GPS2,094602,2256.195,-15742.718,33,1.9,33,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.071,0.206
$KALMAN_X,-199578.2,84.7,159.0,247331.8,-892.8
$KALMAN_Y,-60486.1,-223.8,682.2,200064.6,-2604.9
$MHEAD_RNG_PITCHd_Wd,8.8,3561,-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,-85.72,0.000,6,0.000,0.000,478,1708,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.6,-6.3,11,125,11.48,2.60,0.00,0.000,4,0.140,0.025,2740,3354,3481,0,0,0,0,0,0
$GC,283,-1.06,-116.8,40.0,-13.5,32,289,0.12,2.55,0.00,0.000,6,0.110,0.031,2767,1766,3482,0,0,0,0,0,0
$GC,551,-0.96,-116.8,75.6,-13.4,56,557,0.10,2.67,0.00,0.000,4,0.126,0.066,2790,196,3482,0,0,0,0,0,0
$GC,588,-0.90,-116.8,81.4,-13.7,58,597,0.00,2.45,0.00,0.000,6,0.000,0.020,2790,1799,3482,0,0,0,0,0,0
$GC,853,-0.90,-116.8,111.7,-11.5,83,857,0.00,2.72,0.00,0.000,4,0.000,0.064,2790,196,3483,0,0,0,0,0,0
$GC,910,-0.90,-116.8,117.9,-11.3,87,914,0.00,2.35,0.00,0.000,6,0.000,0.015,2790,1785,3483,0,0,0,0,0,0
$GC,1176,-0.90,-116.8,143.9,-8.6,111,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1786,3483,0,0,0,0,0,0
$GC,1445,-0.94,-116.8,165.4,-8.0,136,1449,0.00,2.70,0.00,0.000,4,0.000,0.061,2790,189,3483,0,0,0,0,0,0
$GC,1472,-0.94,-116.8,168.5,-9.5,138,1477,0.00,2.33,0.00,0.000,6,0.000,0.018,2790,1769,3483,0,0,0,0,0,0
$GC,1736,-1.00,-116.8,192.1,-9.4,162,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1770,3483,0,0,0,0,0,0
$GC,1990,-1.06,-116.8,213.7,-8.1,175,1995,0.00,2.67,0.00,0.000,4,0.000,0.064,2789,196,3483,0,0,0,0,0,0
$GC,2017,-1.11,-116.8,216.0,-8.2,175,2022,0.15,2.35,0.00,0.000,6,0.065,0.018,2742,1770,3483,0,0,0,0,0,0
$GC,2268,-1.07,-116.8,238.6,-9.2,181,2270,0.10,0.00,0.00,0.000,6,0.117,0.000,2764,1773,3484,0,0,0,0,0,0
$GC,2510,-1.07,-116.8,259.8,-8.7,187,2515,0.00,2.40,0.00,0.000,4,0.000,0.033,2763,3315,3483,0,0,0,0,0,0
$GC,2544,-1.13,-116.8,262.9,-8.7,187,2549,0.00,2.47,0.00,0.000,6,0.000,0.031,2763,1775,3483,0,0,0,0,0,0
$GC,2795,-1.13,-116.8,285.4,-9.1,194,2799,0.00,2.78,0.00,0.000,4,0.000,0.075,2763,190,3483,0,0,0,0,0,0
$GC,2821,-1.13,-116.8,288.0,-9.1,194,2825,0.00,2.38,0.00,0.000,6,0.000,0.021,2763,1746,3482,0,0,0,0,0,0
$GC,3078,-1.18,-116.8,307.2,-7.4,201,3082,0.00,2.53,0.00,0.000,4,0.000,0.038,2764,3339,3482,0,0,0,0,0,0
$GC,3101,-1.24,-116.8,308.8,-7.0,201,3106,0.15,2.55,0.00,0.000,6,0.064,0.042,2714,1772,3482,0,0,0,0,0,0
$GC,3356,-1.20,-116.8,330.4,-8.2,208,3361,0.12,2.50,0.00,0.000,4,0.104,0.038,2741,3338,3481,0,0,0,0,0,0
$GC,3384,-1.20,-116.8,332.6,-7.7,208,3388,0.00,2.53,0.00,0.000,6,0.000,0.048,2741,1793,3481,0,0,0,0,0,0
$GC,3635,-1.20,-116.8,351.1,-7.5,214,3640,0.00,2.88,0.00,0.000,4,0.000,0.092,2741,183,3480,0,0,0,0,0,0
$GC,3662,-1.20,-116.8,353.6,-8.8,214,3666,0.00,2.47,0.00,0.000,6,0.000,0.023,2741,1774,3480,0,0,0,0,0,0
$GC,3912,-1.20,-116.8,373.7,-8.1,220,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1774,3479,0,0,0,0,0,0
$GC,4155,-1.20,-116.8,395.1,-8.9,226,4160,0.00,2.55,0.00,0.000,4,0.000,0.046,2741,3348,3477,0,0,0,0,0,0
$GC,4184,-1.24,-116.8,397.5,-8.7,226,4188,0.00,2.65,0.00,0.000,6,0.000,0.051,2741,1778,3477,0,0,0,0,0,0
$GC,4434,-1.24,-116.8,417.3,-7.7,232,4439,0.00,2.92,0.00,0.000,4,0.000,0.104,2741,182,3476,0,0,0,0,0,0
$GC,4478,-1.28,-116.8,420.7,-7.7,233,4483,0.00,2.50,0.00,0.000,6,0.000,0.035,2741,1761,3475,0,0,0,0,0,0
$GC,4757,-1.32,-116.8,438.4,-6.3,240,4763,0.12,2.65,0.00,0.000,4,0.074,0.058,2701,3358,3474,0,0,0,0,0,0
$GC,4785,-1.32,-116.8,440.6,-7.9,240,4789,0.00,2.70,0.00,0.000,6,0.000,0.061,2700,1764,3474,0,0,0,0,0,0
$GC,5037,-1.27,-116.8,461.8,-8.8,246,5042,0.10,2.62,0.00,0.000,4,0.123,0.051,2721,3350,3472,0,0,0,0,0,0
$GC,5076,-1.27,-116.8,465.4,-8.8,247,5081,0.00,2.70,0.00,0.000,6,0.000,0.059,2721,1772,3472,0,0,0,0,0,0
$GC,5359,-1.27,-116.8,489.3,-8.6,254,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1772,3470,0,0,0,0,0,0
$STATE,5519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5519,begin apogee
$GC,5526,-0.31,0.0,502.8,8.3,258,5625,0.95,0.00,95.72,0.922,6,0.082,0.000,2933,1835,3001,0,0,0,0,0,0
$STATE,5626,end apogee,CONTROL_FINISHED_OK
$STATE,5626,begin climb
$GC,5629,1.15,116.8,504.7,0.0,260,5742,1.30,3.15,100.12,0.894,4,0.054,0.110,3250,233,2522,0,0,0,0,0,0
$GC,5755,1.02,169.3,503.3,5.6,263,5807,0.12,2.58,45.75,0.869,6,0.130,0.035,3226,1803,2310,0,0,0,0,0,0
$GC,6080,0.95,169.3,476.8,8.3,271,6084,0.00,2.75,0.00,0.000,4,0.000,0.066,3226,3403,2300,0,0,0,0,0,0
$GC,6159,0.95,169.3,470.2,8.5,272,6164,0.00,2.70,0.00,0.000,6,0.000,0.051,3226,1825,2297,0,0,0,0,0,0
$GC,6409,0.92,188.2,451.8,7.1,279,6431,0.12,2.67,15.98,0.827,4,0.121,0.041,3201,3419,2231,0,0,0,0,0,0
$GC,6466,0.95,218.9,448.1,6.6,280,6500,0.00,2.70,28.15,0.849,6,0.000,0.054,3201,1832,2108,0,0,0,0,0,0
$GC,6780,0.95,218.9,422.9,8.4,288,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1832,2100,0,0,0,0,0,0
$GC,7022,0.95,218.9,401.4,8.9,294,7027,0.00,2.58,0.00,0.000,4,0.000,0.040,3201,3418,2098,0,0,0,0,0,0
$GC,7064,1.00,218.9,397.7,9.4,295,7069,0.00,2.67,0.00,0.000,6,0.000,0.047,3201,1822,2098,0,0,0,0,0,0
$GC,7347,1.00,218.9,373.5,8.4,302,7351,0.00,2.58,0.00,0.000,4,0.000,0.038,3201,3416,2097,0,0,0,0,0,0
$GC,7396,1.06,218.9,369.0,9.1,303,7402,0.12,2.62,0.00,0.000,6,0.084,0.044,3233,1840,2096,0,0,0,0,0,0
$GC,7670,1.02,218.9,341.9,9.9,310,7675,0.00,2.80,0.00,0.000,4,0.000,0.081,3233,237,2094,0,0,0,0,0,0
$GC,7688,0.96,218.9,340.0,9.9,310,7693,0.12,2.58,0.00,0.000,6,0.123,0.025,3209,1868,2094,0,0,0,0,0,0
$GC,7950,0.96,219.8,318.4,8.0,317,7955,0.00,2.47,0.00,0.000,4,0.000,0.037,3209,3402,2094,0,0,0,0,0,0
$GC,8039,1.04,233.4,311.4,7.4,319,8058,0.00,2.55,11.65,0.747,6,0.000,0.036,3209,1846,2049,0,0,0,0,0,0
$GC,8322,1.11,257.4,291.9,6.9,326,8352,0.15,2.60,22.60,0.767,4,0.094,0.032,3248,3397,1950,0,0,0,0,0,0
$GC,8385,1.11,257.4,286.0,9.7,327,8389,0.00,2.50,0.00,0.000,6,0.000,0.035,3248,1867,1948,0,0,0,0,0,0
$GC,8646,1.11,257.4,263.2,8.5,334,8651,0.00,2.45,0.00,0.000,4,0.000,0.030,3249,3398,1945,0,0,0,0,0,0
$GC,8687,1.11,257.4,259.6,9.5,335,8691,0.00,2.47,0.00,0.000,6,0.000,0.034,3249,1872,1945,0,0,0,0,0,0
$GC,8970,1.11,257.4,232.5,9.7,342,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,1872,1944,0,0,0,0,0,0
$GC,9214,1.11,257.4,210.3,8.9,348,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1872,1944,0,0,0,0,0,0
$GC,9465,1.12,260.8,189.5,7.9,363,9469,0.00,2.80,0.00,0.000,4,0.000,0.067,3248,241,1943,0,0,0,0,0,0
$GC,9487,1.08,260.8,187.9,8.6,364,9491,0.00,2.53,0.00,0.000,6,0.000,0.020,3248,1888,1943,0,0,0,0,0,0
$GC,9753,1.08,260.8,164.3,8.9,388,9758,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1890,1943,0,0,0,0,0,0
$GC,10019,1.09,266.2,141.1,7.8,413,10034,0.00,2.45,8.07,0.564,4,0.000,0.030,3248,3398,1914,0,0,0,0,0,0
$GC,10068,1.14,266.2,137.1,8.9,417,10073,0.00,2.50,0.00,0.000,6,0.000,0.032,3248,1861,1914,0,0,0,0,0,0
$GC,10337,1.22,296.5,117.7,6.6,441,10371,0.00,2.83,27.35,0.605,4,0.000,0.063,3249,245,1790,0,0,0,0,0,0
$GC,10444,1.22,296.5,109.1,8.2,450,10448,0.00,2.55,0.00,0.000,6,0.000,0.024,3249,1891,1788,0,0,0,0,0,0
$GC,10709,1.31,311.0,90.4,7.3,474,10728,0.15,2.85,13.45,0.551,4,0.072,0.060,3290,238,1732,0,0,0,0,0,0
$GC,10756,1.26,311.0,86.1,10.7,477,10760,0.00,2.53,0.00,0.000,6,0.000,0.025,3290,1874,1730,0,0,0,0,0,0
$GC,11023,1.27,315.8,63.4,7.8,501,11032,0.00,0.00,5.47,0.439,6,0.000,0.000,3290,1876,1713,0,0,0,0,0,0
$GC,11290,1.27,315.8,40.5,8.3,526,11295,0.00,2.78,0.00,0.000,4,0.000,0.055,3290,235,1712,0,0,0,0,0,0
$GC,11311,1.27,315.8,38.3,8.9,527,11316,0.00,2.53,0.00,0.000,6,0.000,0.018,3290,1876,1711,0,0,0,0,0,0
$GC,11620,1.27,315.8,10.4,9.5,568,11629,0.00,2.42,0.00,0.000,4,0.000,0.026,3290,3400,1711,0,0,0,0,0,0
$GC,11648,1.27,315.8,7.6,10.0,571,11657,0.00,2.55,0.00,0.000,6,0.000,0.040,3290,1856,1711,0,0,0,0,0,0
$STATE,11685,end climb,SURFACE_DEPTH_REACHED
$STATE,11685,begin surface coast
$FINISH,0.3,1.010166
$STATE,11742,end surface coast,CONTROL_FINISHED_OK
$STATE,11742,begin surface
$SM_CCo,11763,91.40,0.452,1,0,1287,420.20
$SM_GC,0.80,0.00,0.00,91.40,0.000,0.000,0.452,475,1714,1287,-11.62,-1.58,420.20
$IRIDIUM_FIX,2246.36,-15745.85,061299,060605
$TT8_MAMPS,0.026078
$HUMID,44.21
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.10
$XPDR_PINGS,59
$24V_AH,23.6,27.168
$10V_AH,10.4,27.567
$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,26.750,151.125,374.325,91.400,0.000,30.992,33.980,153.587,14.750,0.000,35.328,1182.821,7777.480,543.431,2182.166,553.286,33.364,1357.956,0.000,2173.067,0.000,0.536,0.000
$DEVICE_MAMPS,139.594,121.186,921.934,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,395.079,356.342,452.700,843.566,1274.447,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,44670,584
$CAP_FILE_SIZE,123420,0
$CFSIZE,260165632,171601920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110910,130600,2256.180,-15742.594,36,0.9,41,10.1