version: 66.06
glider: 146
mission: 5
dive: 188
start: 9 11 110 20 16 51
data:
$ID,146
$MISSION,5
$DIVE,188
$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,-251049
$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,42
$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
$GPS1,200607,2255.983,-15742.309,37,1.8,37,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-68.4
$GPS2,201556,2255.962,-15742.336,9,1.6,9,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.037,0.215
$KALMAN_X,-201966.2,-7.4,-238.3,250866.2,-276.6
$KALMAN_Y,-67752.5,20.3,-41.9,207384.9,-1501.5
$MHEAD_RNG_PITCHd_Wd,359.6,3818,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-85.90,0.000,6,0.000,0.000,474,1746,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.2,-5.7,11,125,11.60,2.55,0.00,0.000,4,0.143,0.029,2742,3343,3481,0,0,0,0,0,0
$GC,216,-1.06,-116.8,30.3,-13.5,26,226,0.08,2.55,0.00,0.000,6,0.083,0.032,2763,1793,3482,0,0,0,0,0,0
$GC,483,-0.94,-116.8,64.8,-13.4,51,488,0.15,2.78,0.00,0.000,4,0.109,0.067,2795,186,3482,0,0,0,0,0,0
$GC,520,-0.88,-116.8,70.1,-12.1,53,529,0.00,2.42,0.00,0.000,6,0.000,0.015,2795,1776,3481,0,0,0,0,0,0
$GC,781,-0.88,-116.8,95.7,-9.8,78,785,0.00,2.40,0.00,0.000,4,0.000,0.028,2795,3322,3481,0,0,0,0,0,0
$GC,805,-0.88,-116.8,98.1,-9.9,79,810,0.00,2.47,0.00,0.000,6,0.000,0.028,2795,1762,3482,0,0,0,0,0,0
$GC,1069,-0.91,-116.8,120.6,-8.1,104,1074,0.00,2.67,0.00,0.000,4,0.000,0.067,2795,192,3482,0,0,0,0,0,0
$GC,1113,-0.96,-116.8,124.3,-8.2,107,1117,0.00,2.35,0.00,0.000,6,0.000,0.021,2795,1779,3483,0,0,0,0,0,0
$GC,1381,-1.01,-116.8,147.3,-8.9,131,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1780,3483,0,0,0,0,0,0
$GC,1644,-1.06,-116.8,168.9,-7.8,156,1649,0.12,2.40,0.00,0.000,4,0.072,0.025,2751,3309,3482,0,0,0,0,0,0
$GC,1686,-1.06,-116.8,172.9,-9.6,159,1690,0.00,2.47,0.00,0.000,6,0.000,0.033,2751,1766,3482,0,0,0,0,0,0
$GC,1948,-1.06,-116.8,199.0,-10.2,183,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1766,3483,0,0,0,0,0,0
$GC,2202,-1.06,-116.8,224.9,-10.2,190,2207,0.00,2.70,0.00,0.000,4,0.000,0.071,2751,197,3482,0,0,0,0,0,0
$GC,2223,-1.06,-116.8,227.5,-10.8,190,2227,0.00,2.33,0.00,0.000,6,0.000,0.021,2751,1751,3482,0,0,0,0,0,0
$GC,2484,-1.06,-116.8,253.7,-9.9,197,2489,0.00,2.42,0.00,0.000,4,0.000,0.033,2751,3319,3482,0,0,0,0,0,0
$GC,2506,-1.06,-116.8,255.8,-9.3,197,2510,0.00,2.47,0.00,0.000,6,0.000,0.029,2751,1758,3482,0,0,0,0,0,0
$GC,2769,-1.06,-116.8,279.5,-8.9,204,2773,0.00,2.70,0.00,0.000,4,0.000,0.079,2751,193,3482,0,0,0,0,0,0
$GC,2807,-1.06,-116.8,283.0,-8.9,205,2812,0.00,2.35,0.00,0.000,6,0.000,0.018,2751,1744,3481,0,0,0,0,0,0
$GC,3091,-1.06,-116.8,305.3,-7.9,212,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1745,3481,0,0,0,0,0,0
$GC,3336,-1.06,-116.8,323.5,-7.5,218,3340,0.00,2.55,0.00,0.000,4,0.000,0.036,2751,3340,3481,0,0,0,0,0,0
$GC,3376,-1.12,-116.8,326.6,-7.8,219,3380,0.00,2.60,0.00,0.000,6,0.000,0.041,2751,1748,3480,0,0,0,0,0,0
$GC,3659,-1.12,-116.8,350.3,-8.4,226,3663,0.00,2.58,0.00,0.000,4,0.000,0.042,2751,3340,3479,0,0,0,0,0,0
$GC,3704,-1.20,-116.8,354.2,-8.7,227,3708,0.00,2.60,0.00,0.000,6,0.000,0.046,2751,1766,3479,0,0,0,0,0,0
$GC,3982,-1.24,-116.8,376.9,-7.9,234,3986,0.00,2.88,0.00,0.000,4,0.000,0.098,2751,181,3477,0,0,0,0,0,0
$GC,4041,-1.24,-116.8,381.7,-8.2,235,4046,0.00,2.42,0.00,0.000,6,0.000,0.031,2751,1733,3477,0,0,0,0,0,0
$GC,4309,-1.28,-116.8,398.9,-6.2,242,4314,0.12,2.65,0.00,0.000,4,0.073,0.053,2708,3352,3476,0,0,0,0,0,0
$GC,4349,-1.28,-116.8,401.9,-8.0,243,4353,0.00,2.67,0.00,0.000,6,0.000,0.058,2708,1756,3476,0,0,0,0,0,0
$GC,4633,-1.25,-116.8,428.0,-9.6,250,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1756,3473,0,0,0,0,0,0
$GC,4875,-1.25,-116.8,453.0,-10.4,256,4880,0.00,2.62,0.00,0.000,4,0.000,0.050,2708,3348,3472,0,0,0,0,0,0
$GC,4914,-1.25,-116.8,457.2,-10.8,257,4919,0.00,2.70,0.00,0.000,6,0.000,0.065,2708,1764,3472,0,0,0,0,0,0
$GC,5198,-1.25,-116.8,486.8,-10.3,264,5203,0.00,2.62,0.00,0.000,4,0.000,0.049,2708,3353,3470,0,0,0,0,0,0
$GC,5219,-1.25,-116.8,489.3,-10.7,264,5224,0.00,2.70,0.00,0.000,6,0.000,0.062,2708,1769,3470,0,0,0,0,0,0
$STATE,5350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5350,begin apogee
$GC,5356,-0.31,0.0,501.9,9.6,268,5455,1.00,0.00,95.55,0.907,6,0.081,0.000,2932,1831,3001,0,0,0,0,0,0
$STATE,5456,end apogee,CONTROL_FINISHED_OK
$STATE,5456,begin climb
$GC,5460,1.15,116.8,504.1,0.0,270,5565,1.35,0.00,100.78,0.887,6,0.051,0.000,3257,1831,2524,0,0,0,0,0,0
$GC,5797,1.01,116.8,483.7,8.6,279,5802,0.17,2.60,0.00,0.000,4,0.112,0.046,3222,3385,2514,0,0,0,0,0,0
$GC,5830,0.95,116.8,481.0,8.2,279,5836,0.00,2.67,0.00,0.000,6,0.000,0.061,3222,1833,2513,0,0,0,0,0,0
$GC,6082,0.92,149.5,464.1,6.5,286,6111,0.00,0.00,27.83,0.853,6,0.000,0.000,3223,1832,2391,0,0,0,0,0,0
$GC,6324,0.90,175.3,447.8,6.8,292,6354,0.12,2.67,23.27,0.840,4,0.120,0.047,3198,3392,2285,0,0,0,0,0,0
$GC,6420,0.94,203.6,442.0,6.7,294,6455,0.00,2.65,26.02,0.838,6,0.000,0.053,3198,1834,2169,0,0,0,0,0,0
$GC,6699,0.96,217.7,421.7,7.4,301,6719,0.00,2.62,12.68,0.788,4,0.000,0.040,3198,3386,2113,0,0,0,0,0,0
$GC,6737,1.01,230.0,418.8,7.4,301,6756,0.00,2.65,12.27,0.777,6,0.000,0.049,3198,1839,2062,0,0,0,0,0,0
$GC,7031,1.01,230.5,395.5,8.0,309,7035,0.00,2.55,0.00,0.000,4,0.000,0.035,3197,3401,2058,0,0,0,0,0,0
$GC,7087,1.08,230.5,390.7,9.1,310,7092,0.15,2.58,0.00,0.000,6,0.070,0.050,3240,1859,2057,0,0,0,0,0,0
$GC,7355,1.04,230.5,364.4,9.9,317,7360,0.00,2.90,0.00,0.000,4,0.000,0.087,3241,235,2056,0,0,0,0,0,0
$GC,7377,0.96,230.5,361.9,10.7,317,7382,0.15,2.58,0.00,0.000,6,0.115,0.025,3211,1863,2054,0,0,0,0,0,0
$GC,7632,0.96,230.5,340.6,8.2,324,7636,0.00,2.47,0.00,0.000,4,0.000,0.041,3210,3399,2054,0,0,0,0,0,0
$GC,7694,1.02,230.7,335.6,8.0,325,7699,0.00,2.53,0.00,0.000,6,0.000,0.037,3211,1868,2053,0,0,0,0,0,0
$GC,7955,1.05,254.5,317.0,6.9,332,7984,0.00,2.58,21.58,0.776,4,0.000,0.033,3211,3393,1962,0,0,0,0,0,0
$GC,8026,1.14,266.4,311.9,7.5,333,8045,0.17,2.50,12.05,0.729,6,0.069,0.035,3257,1882,1914,0,0,0,0,0,0
$GC,8331,1.11,266.4,286.0,8.5,341,8336,0.00,2.88,0.00,0.000,4,0.000,0.071,3256,239,1909,0,0,0,0,0,0
$GC,8348,1.04,266.4,284.3,8.7,341,8353,0.15,2.58,0.00,0.000,6,0.116,0.021,3226,1886,1908,0,0,0,0,0,0
$GC,8609,1.08,293.8,265.4,6.7,348,8635,0.00,0.00,24.45,0.735,6,0.000,0.000,3226,1888,1803,0,0,0,0,0,0
$GC,8852,1.08,293.8,245.0,8.8,354,8857,0.00,2.85,0.00,0.000,4,0.000,0.069,3226,237,1799,0,0,0,0,0,0
$GC,8879,1.08,293.8,242.1,10.5,354,8883,0.00,2.60,0.00,0.000,6,0.000,0.024,3226,1892,1797,0,0,0,0,0,0
$GC,9136,1.08,293.8,217.4,9.7,361,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1893,1797,0,0,0,0,0,0
$GC,9385,1.08,293.8,193.2,9.6,370,9389,0.00,2.40,0.00,0.000,4,0.000,0.036,3226,3398,1797,0,0,0,0,0,0
$GC,9414,1.14,293.8,189.9,9.9,372,9419,0.10,2.47,0.00,0.000,6,0.085,0.036,3259,1867,1796,0,0,0,0,0,0
$GC,9675,1.14,293.8,162.4,10.0,396,9679,0.00,2.45,0.00,0.000,4,0.000,0.028,3259,3402,1796,0,0,0,0,0,0
$GC,9696,1.14,293.8,160.8,9.8,397,9701,0.00,2.45,0.00,0.000,6,0.000,0.036,3259,1873,1796,0,0,0,0,0,0
$GC,9964,1.14,293.8,137.2,8.7,421,9969,0.00,2.80,0.00,0.000,4,0.000,0.063,3259,239,1796,0,0,0,0,0,0
$GC,9997,1.10,293.8,133.9,10.0,423,10002,0.00,2.53,0.00,0.000,6,0.000,0.025,3259,1889,1795,0,0,0,0,0,0
$GC,10265,1.10,293.8,110.6,9.1,447,10269,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1891,1795,0,0,0,0,0,0
$GC,10526,1.12,310.3,89.7,7.3,472,10545,0.00,0.00,14.68,0.561,6,0.000,0.000,3259,1891,1735,0,0,0,0,0,0
$GC,10808,1.19,321.7,69.8,7.5,498,10827,0.00,0.00,11.50,0.527,6,0.000,0.000,3258,1891,1687,0,0,0,0,0,0
$GC,11086,1.25,328.5,48.9,7.7,524,11099,0.00,2.83,6.88,0.464,4,0.000,0.056,3259,243,1661,0,0,0,0,0,0
$GC,11130,1.25,328.5,44.9,9.6,527,11134,0.00,2.55,0.00,0.000,6,0.000,0.018,3259,1903,1661,0,0,0,0,0,0
$GC,11421,1.31,328.5,20.5,8.3,559,11431,0.10,2.88,0.00,0.000,4,0.272,0.055,3289,244,1661,0,0,0,0,0,0
$GC,11441,1.31,328.5,18.6,8.4,561,11450,0.00,2.58,0.00,0.000,6,0.000,0.018,3289,1901,1661,0,0,0,0,0,0
$STATE,11594,end climb,SURFACE_DEPTH_REACHED
$STATE,11594,begin surface coast
$FINISH,0.3,1.021203
$STATE,11655,end surface coast,CONTROL_FINISHED_OK
$STATE,11655,begin surface
$SM_CCo,11676,80.88,0.446,1,0,1288,420.20
$SM_GC,0.91,0.00,0.00,80.88,0.000,0.000,0.446,476,1745,1288,-11.61,-0.71,420.20
$IRIDIUM_FIX,2248.70,-15742.79,061299,202008
$TT8_MAMPS,0.026078
$HUMID,44.60
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,54
$24V_AH,23.6,27.523
$10V_AH,10.3,27.970
$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,26.950,145.325,389.525,80.875,0.000,58.758,61.555,262.237,13.500,0.000,11.370,1190.342,7687.409,588.009,2178.588,707.644,33.372,1362.963,0.000,2187.150,0.000,0.536,0.000
$DEVICE_MAMPS,271.518,121.186,906.594,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,399.772,344.885,456.201,875.755,1320.635,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,47777,591
$CAP_FILE_SIZE,123384,0
$CFSIZE,260165632,171413504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110910,233406,2256.549,-15742.084,13,1.0,29,10.1