version: 66.06
glider: 146
mission: 5
dive: 186
start: 9 11 110 13 12 45
data:
$ID,146
$MISSION,5
$DIVE,186
$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,-251021.58
$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,24
$R_STBD_OVSHOOT,40
$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
$GPS1,130600,2256.180,-15742.594,36,0.9,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.9
$GPS2,131150,2256.125,-15742.566,11,1.3,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.115,0.185
$KALMAN_X,-200392.1,69.3,366.1,248212.1,-1621.2
$KALMAN_Y,-62671.0,-218.8,159.4,202639.8,-2954.9
$MHEAD_RNG_PITCHd_Wd,21.8,3604,-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,-116.8,0.0,0.0,0,98,0.00,0.00,-78.57,0.000,2,0.000,0.000,474,1714,3235,0,0,0,0,0,0
$GC,101,-1.15,-116.8,3.1,-3.6,10,127,11.55,2.65,-4.72,0.000,4,0.140,0.035,2743,3361,3479,0,0,0,0,0,0
$GC,197,-1.06,-116.8,24.2,-15.4,23,207,0.08,2.60,0.00,0.000,6,0.085,0.035,2764,1774,3480,0,0,0,0,0,0
$GC,482,-0.93,-116.8,63.2,-14.5,51,487,0.15,2.72,0.00,0.000,4,0.107,0.061,2796,188,3480,0,0,0,0,0,0
$GC,528,-0.87,-116.8,70.4,-14.1,54,533,0.00,2.45,0.00,0.000,6,0.000,0.015,2796,1809,3480,0,0,0,0,0,0
$GC,791,-0.87,-116.8,101.7,-11.0,78,795,0.00,2.75,0.00,0.000,4,0.000,0.061,2796,189,3481,0,0,0,0,0,0
$GC,821,-0.87,-116.8,105.4,-12.5,80,825,0.00,2.35,0.00,0.000,6,0.000,0.015,2797,1757,3481,0,0,0,0,0,0
$GC,1091,-0.87,-116.8,131.7,-9.1,105,1096,0.00,2.65,0.00,0.000,4,0.000,0.064,2796,189,3481,0,0,0,0,0,0
$GC,1161,-0.87,-116.8,139.1,-10.6,110,1170,0.00,2.35,0.00,0.000,6,0.000,0.019,2797,1754,3481,0,0,0,0,0,0
$GC,1423,-0.91,-116.8,163.0,-8.4,135,1427,0.00,2.42,0.00,0.000,4,0.000,0.029,2797,3307,3481,0,0,0,0,0,0
$GC,1479,-1.00,-116.8,167.4,-8.0,139,1484,0.00,2.47,0.00,0.000,6,0.000,0.028,2796,1746,3481,0,0,0,0,0,0
$GC,1747,-1.06,-116.8,185.5,-6.3,163,1753,0.12,0.00,0.00,0.000,6,0.072,0.000,2751,1745,3482,0,0,0,0,0,0
$GC,2004,-1.06,-116.8,207.8,-9.1,182,2009,0.00,2.65,0.00,0.000,4,0.000,0.071,2751,196,3481,0,0,0,0,0,0
$GC,2027,-1.02,-116.8,209.8,-9.2,182,2032,0.12,2.33,0.00,0.000,6,0.101,0.019,2779,1749,3481,0,0,0,0,0,0
$GC,2283,-1.06,-116.8,231.8,-8.7,189,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1752,3482,0,0,0,0,0,0
$GC,2526,-1.10,-116.8,252.2,-8.3,195,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1752,3482,0,0,0,0,0,0
$GC,2772,-1.15,-116.8,270.5,-7.3,201,2777,0.12,2.47,0.00,0.000,4,0.072,0.029,2733,3316,3482,0,0,0,0,0,0
$GC,2793,-1.15,-116.8,272.5,-8.4,201,2798,0.00,2.50,0.00,0.000,6,0.000,0.035,2733,1756,3481,0,0,0,0,0,0
$GC,3049,-1.15,-116.8,297.6,-10.1,208,3053,0.00,2.45,0.00,0.000,4,0.000,0.035,2733,3314,3481,0,0,0,0,0,0
$GC,3071,-1.15,-116.8,299.8,-9.6,208,3076,0.00,2.50,0.00,0.000,6,0.000,0.034,2733,1765,3481,0,0,0,0,0,0
$GC,3327,-1.15,-116.8,323.6,-9.2,215,3331,0.00,2.45,0.00,0.000,4,0.000,0.031,2733,3308,3481,0,0,0,0,0,0
$GC,3347,-1.15,-116.8,325.5,-8.9,215,3352,0.00,2.50,0.00,0.000,6,0.000,0.039,2733,1772,3480,0,0,0,0,0,0
$GC,3610,-1.15,-116.8,348.8,-9.2,222,3614,0.00,2.45,0.00,0.000,4,0.000,0.040,2733,3314,3479,0,0,0,0,0,0
$GC,3637,-1.15,-116.8,351.5,-9.1,222,3642,0.00,2.55,0.00,0.000,6,0.000,0.050,2733,1775,3480,0,0,0,0,0,0
$GC,3887,-1.15,-116.8,372.3,-8.2,228,3892,0.00,2.85,0.00,0.000,4,0.000,0.095,2733,186,3478,0,0,0,0,0,0
$GC,3953,-1.15,-116.8,378.1,-8.8,229,3958,0.00,2.40,0.00,0.000,6,0.000,0.032,2733,1720,3477,0,0,0,0,0,0
$GC,4217,-1.15,-116.8,397.4,-7.4,236,4221,0.00,2.67,0.00,0.000,4,0.000,0.054,2733,3350,3476,0,0,0,0,0,0
$GC,4249,-1.15,-116.8,400.0,-7.3,236,4255,0.00,2.65,0.00,0.000,6,0.000,0.057,2733,1776,3476,0,0,0,0,0,0
$GC,4499,-1.15,-116.8,417.6,-7.2,243,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1776,3474,0,0,0,0,0,0
$GC,4744,-1.15,-116.8,434.9,-7.0,249,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1777,3473,0,0,0,0,0,0
$GC,4987,-1.15,-116.8,452.4,-7.2,255,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1777,3471,0,0,0,0,0,0
$GC,5230,-1.15,-116.8,469.8,-7.2,261,5235,0.00,2.60,0.00,0.000,4,0.000,0.050,2733,3352,3469,0,0,0,0,0,0
$GC,5282,-1.20,-116.8,473.5,-7.6,262,5286,0.00,2.70,0.00,0.000,6,0.000,0.062,2733,1779,3469,0,0,0,0,0,0
$GC,5553,-1.20,-116.8,494.2,-7.6,269,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1779,3467,0,0,0,0,0,0
$STATE,5634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5634,begin apogee
$GC,5639,-0.31,0.0,500.4,7.7,271,5738,0.88,0.00,95.38,0.927,6,0.072,0.000,2933,1779,3001,0,0,0,0,0,0
$STATE,5739,end apogee,CONTROL_FINISHED_OK
$STATE,5739,begin climb
$GC,5742,1.15,116.8,502.7,0.0,273,5853,1.35,2.88,101.12,0.900,4,0.051,0.057,3261,3400,2522,0,0,0,0,0,0
$GC,5870,1.06,173.3,501.6,5.4,276,5926,0.15,2.78,49.22,0.875,6,0.118,0.058,3232,1815,2293,0,0,0,0,0,0
$GC,6205,0.99,173.3,472.2,9.2,285,6209,0.00,2.65,0.00,0.000,4,0.000,0.045,3232,3400,2283,0,0,0,0,0,0
$GC,6220,0.91,173.3,470.6,9.0,285,6225,0.15,2.72,0.00,0.000,6,0.115,0.060,3200,1825,2282,0,0,0,0,0,0
$GC,6481,0.95,206.0,452.5,6.5,292,6516,0.00,2.70,27.60,0.855,4,0.000,0.043,3201,3396,2160,0,0,0,0,0,0
$GC,6551,1.03,235.5,448.1,6.6,293,6586,0.10,2.72,27.52,0.845,6,0.094,0.056,3226,1825,2038,0,0,0,0,0,0
$GC,6855,1.04,246.5,425.3,7.5,301,6870,0.00,2.65,10.15,0.776,4,0.000,0.042,3226,3408,1994,0,0,0,0,0,0
$GC,6895,1.04,246.5,422.0,8.2,302,6900,0.00,2.70,0.00,0.000,6,0.000,0.057,3226,1833,1993,0,0,0,0,0,0
$GC,7179,1.04,246.5,394.8,10.2,309,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1833,1990,0,0,0,0,0,0
$GC,7423,1.04,246.5,367.6,11.3,315,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1833,1989,0,0,0,0,0,0
$GC,7666,1.04,246.5,341.5,10.5,321,7671,0.00,2.55,0.00,0.000,4,0.000,0.035,3226,3407,1987,0,0,0,0,0,0
$GC,7723,1.04,246.5,335.5,11.6,322,7728,0.00,2.65,0.00,0.000,6,0.000,0.040,3226,1813,1986,0,0,0,0,0,0
$GC,7989,1.04,246.5,311.7,8.4,329,7994,0.00,2.58,0.00,0.000,4,0.000,0.037,3227,3405,1986,0,0,0,0,0,0
$GC,8041,1.09,249.5,307.6,7.9,330,8045,0.00,2.58,0.00,0.000,6,0.000,0.035,3226,1831,1985,0,0,0,0,0,0
$GC,8313,1.12,269.7,288.0,7.1,337,8338,0.00,2.58,20.42,0.759,4,0.000,0.030,3226,3405,1899,0,0,0,0,0,0
$GC,8379,1.16,269.7,282.9,8.5,338,8384,0.12,2.58,0.00,0.000,6,0.077,0.034,3260,1833,1897,0,0,0,0,0,0
$GC,8634,1.12,269.7,257.6,10.0,345,8636,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1833,1896,0,0,0,0,0,0
$GC,8878,1.12,269.7,234.7,9.4,351,8882,0.00,2.78,0.00,0.000,4,0.000,0.073,3261,237,1894,0,0,0,0,0,0
$GC,8906,1.03,269.7,231.9,10.3,351,8911,0.17,2.53,0.00,0.000,6,0.106,0.019,3224,1864,1893,0,0,0,0,0,0
$GC,9155,1.03,269.7,210.8,8.5,357,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1865,1893,0,0,0,0,0,0
$GC,9405,1.07,269.7,188.6,8.7,372,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1865,1894,0,0,0,0,0,0
$GC,9663,1.12,273.8,167.3,7.8,396,9678,0.00,2.47,4.10,0.451,4,0.000,0.035,3224,3396,1883,0,0,0,0,0,0
$GC,9684,1.19,279.1,165.3,7.8,397,9700,0.15,2.50,6.22,0.541,6,0.067,0.033,3269,1841,1863,0,0,0,0,0,0
$GC,9958,1.19,279.1,139.9,10.0,423,9962,0.00,2.47,0.00,0.000,4,0.000,0.029,3269,3396,1862,0,0,0,0,0,0
$GC,10014,1.19,279.1,134.3,9.7,427,10019,0.00,2.47,0.00,0.000,6,0.000,0.039,3269,1857,1861,0,0,0,0,0,0
$GC,10282,1.19,279.1,109.4,8.7,451,10286,0.00,2.75,0.00,0.000,4,0.000,0.067,3269,236,1861,0,0,0,0,0,0
$GC,10315,1.13,279.1,105.4,10.0,453,10322,0.10,2.50,0.00,0.000,6,0.123,0.025,3248,1868,1861,0,0,0,0,0,0
$GC,10578,1.22,294.1,84.8,7.3,478,10602,0.00,2.80,14.57,0.558,4,0.000,0.062,3247,243,1801,0,0,0,0,0,0
$GC,10650,1.25,294.1,79.0,8.2,484,10655,0.10,2.45,0.00,0.000,6,0.092,0.018,3279,1847,1799,0,0,0,0,0,0
$GC,10914,1.27,306.7,58.4,7.4,508,10931,0.00,2.50,12.23,0.525,4,0.000,0.028,3279,3401,1750,0,0,0,0,0,0
$GC,10968,1.34,306.7,53.7,8.2,512,10978,0.00,2.58,0.00,0.000,6,0.000,0.033,3278,1844,1749,0,0,0,0,0,0
$GC,11235,1.34,306.7,32.3,8.1,537,11240,0.00,2.72,0.00,0.000,4,0.000,0.061,3278,236,1748,0,0,0,0,0,0
$GC,11257,1.34,306.7,29.8,8.4,538,11266,0.00,2.47,0.00,0.000,6,0.000,0.018,3278,1833,1747,0,0,0,0,0,0
$STATE,11549,end climb,SURFACE_DEPTH_REACHED
$STATE,11549,begin surface coast
$FINISH,0.2,0.999789
$STATE,11624,end surface coast,CONTROL_FINISHED_OK
$STATE,11624,begin surface
$SM_CCo,11647,98.25,0.456,1,0,1288,420.20
$SM_GC,0.98,0.00,0.00,98.25,0.000,0.000,0.456,473,1730,1288,-11.62,-1.13,420.20
$IRIDIUM_FIX,2246.36,-15743.68,061299,090948
$TT8_MAMPS,0.026078
$HUMID,43.14
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.90
$XPDR_PINGS,51
$24V_AH,23.6,27.283
$10V_AH,10.4,27.696
$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,26.650,139.575,368.550,98.250,0.000,25.720,30.006,157.029,12.750,0.000,13.083,1175.773,7695.965,562.732,2141.819,522.959,33.369,1335.335,0.000,2153.005,0.000,0.536,0.000
$DEVICE_MAMPS,140.361,95.108,926.536,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,401.132,341.479,459.255,869.091,1314.462,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,47729,593
$CAP_FILE_SIZE,118122,0
$CFSIZE,260165632,171548672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110910,162955,2255.758,-15742.494,38,1.5,38,10.1