version: 66.06
glider: 146
mission: 5
dive: 191
start: 9 12 110 6 32 27
data:
$ID,146
$MISSION,5
$DIVE,191
$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,-251091.19
$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,63
$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
$GPS1,062536,2256.041,-15742.055,31,1.2,31,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-68.1
$GPS2,063132,2256.022,-15742.055,10,1.5,10,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.038,0.209
$KALMAN_X,-203981.6,52.6,-394.5,253462.8,-443.4
$KALMAN_Y,-74736.3,-8.3,-543.2,215001.2,-1315.7
$MHEAD_RNG_PITCHd_Wd,0.3,3665,-16.6,-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,-1.18,-109.9,0.0,0.0,0,105,0.00,0.00,-85.62,0.000,6,0.000,0.000,473,1723,3450,0,0,0,0,0,0
$GC,109,-1.18,-116.8,4.2,-5.6,11,126,11.55,2.58,-0.47,0.000,4,0.142,0.041,2732,3354,3479,0,0,0,0,0,0
$GC,248,-1.09,-116.8,34.5,-13.5,29,254,0.12,2.50,0.00,0.000,6,0.107,0.031,2759,1804,3480,0,0,0,0,0,0
$GC,516,-0.98,-116.8,71.2,-14.2,53,522,0.12,2.78,0.00,0.000,4,0.112,0.060,2786,195,3481,0,0,0,0,0,0
$GC,551,-0.93,-116.8,76.0,-12.0,55,555,0.00,2.42,0.00,0.000,6,0.000,0.015,2786,1816,3480,0,0,0,0,0,0
$GC,819,-0.93,-116.8,102.8,-9.8,79,823,0.00,2.30,0.00,0.000,4,0.000,0.031,2786,3303,3481,0,0,0,0,0,0
$GC,841,-0.96,-116.8,105.5,-9.1,80,849,0.00,2.47,0.00,0.000,6,0.000,0.029,2786,1776,3481,0,0,0,0,0,0
$GC,1105,-0.96,-116.8,130.1,-10.7,105,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1776,3481,0,0,0,0,0,0
$GC,1372,-1.01,-116.8,156.1,-9.6,130,1376,0.00,2.70,0.00,0.000,4,0.000,0.070,2786,196,3482,0,0,0,0,0,0
$GC,1428,-1.09,-116.8,161.9,-9.5,134,1434,0.10,2.33,0.00,0.000,6,0.081,0.015,2749,1771,3482,0,0,0,0,0,0
$GC,1692,-1.09,-116.8,185.8,-8.9,159,1696,0.00,2.38,0.00,0.000,4,0.000,0.031,2749,3306,3482,0,0,0,0,0,0
$GC,1714,-1.09,-116.8,187.7,-9.3,160,1718,0.00,2.45,0.00,0.000,6,0.000,0.031,2749,1763,3482,0,0,0,0,0,0
$GC,1969,-1.09,-116.8,211.9,-9.7,175,1973,0.00,2.67,0.00,0.000,4,0.000,0.067,2749,194,3482,0,0,0,0,0,0
$GC,2002,-1.09,-116.8,215.5,-10.7,175,2008,0.00,2.35,0.00,0.000,6,0.000,0.016,2749,1770,3482,0,0,0,0,0,0
$GC,2252,-1.09,-116.8,242.0,-10.9,182,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1773,3482,0,0,0,0,0,0
$GC,2495,-1.09,-116.8,266.0,-9.6,188,2500,0.00,2.40,0.00,0.000,4,0.000,0.035,2749,3316,3482,0,0,0,0,0,0
$GC,2517,-1.09,-116.8,267.9,-8.3,188,2521,0.00,2.45,0.00,0.000,6,0.000,0.037,2749,1771,3481,0,0,0,0,0,0
$GC,2774,-1.09,-116.8,288.4,-8.1,195,2778,0.00,2.42,0.00,0.000,4,0.000,0.031,2749,3318,3481,0,0,0,0,0,0
$GC,2807,-1.13,-116.8,291.5,-9.0,195,2812,0.00,2.47,0.00,0.000,6,0.000,0.035,2749,1778,3481,0,0,0,0,0,0
$GC,3056,-1.13,-116.8,313.3,-9.0,202,3061,0.00,2.78,0.00,0.000,4,0.000,0.081,2749,188,3481,0,0,0,0,0,0
$GC,3107,-1.13,-116.8,318.4,-10.9,203,3111,0.00,2.42,0.00,0.000,6,0.000,0.022,2749,1747,3481,0,0,0,0,0,0
$GC,3378,-1.17,-116.8,344.3,-9.4,210,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1747,3480,0,0,0,0,0,0
$GC,3622,-1.21,-116.8,364.9,-8.2,216,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1747,3478,0,0,0,0,0,0
$GC,3868,-1.27,-116.8,382.0,-6.9,222,3870,0.12,0.00,0.00,0.000,6,0.074,0.000,2709,1747,3478,0,0,0,0,0,0
$GC,4109,-1.27,-116.8,404.0,-9.2,228,4114,0.00,2.62,0.00,0.000,4,0.000,0.051,2709,3349,3477,0,0,0,0,0,0
$GC,4142,-1.27,-116.8,407.1,-9.5,228,4148,0.00,2.65,0.00,0.000,6,0.000,0.056,2709,1787,3476,0,0,0,0,0,0
$GC,4393,-1.27,-116.8,430.1,-9.3,235,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1788,3474,0,0,0,0,0,0
$GC,4636,-1.27,-116.8,452.2,-8.9,241,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1787,3473,0,0,0,0,0,0
$GC,4879,-1.27,-116.8,474.8,-9.4,247,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1787,3472,0,0,0,0,0,0
$GC,5123,-1.27,-116.8,497.8,-9.4,253,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1788,3469,0,0,0,0,0,0
$STATE,5161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5162,begin apogee
$GC,5168,-0.31,0.0,501.5,9.3,254,5267,0.98,0.00,95.62,0.918,6,0.093,0.000,2930,1788,3001,0,0,0,0,0,0
$STATE,5268,end apogee,CONTROL_FINISHED_OK
$STATE,5268,begin climb
$GC,5271,1.18,116.8,504.1,0.0,256,5379,1.40,2.78,100.18,0.890,4,0.054,0.062,3264,3383,2522,0,0,0,0,0,0
$GC,5392,1.11,168.4,503.4,5.5,259,5444,0.10,2.72,44.95,0.867,6,0.140,0.059,3244,1818,2314,0,0,0,0,0,0
$GC,5690,1.03,168.4,475.0,10.5,267,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1818,2305,0,0,0,0,0,0
$GC,5931,0.95,168.4,449.8,10.2,273,5936,0.17,2.62,0.00,0.000,4,0.202,0.043,3209,3394,2302,0,0,0,0,0,0
$GC,5982,0.95,168.4,445.2,9.1,274,5986,0.00,2.65,0.00,0.000,6,0.000,0.054,3209,1829,2300,0,0,0,0,0,0
$GC,6254,0.96,178.9,424.1,7.5,281,6268,0.00,3.03,8.38,0.744,4,0.000,0.100,3208,235,2271,0,0,0,0,0,0
$GC,6280,0.95,197.3,422.1,7.1,281,6304,0.00,2.53,17.80,0.811,6,0.000,0.029,3209,1814,2195,0,0,0,0,0,0
$GC,6586,0.97,215.8,400.6,7.1,289,6610,0.00,2.72,16.90,0.811,4,0.000,0.044,3209,3404,2121,0,0,0,0,0,0
$GC,6639,1.02,218.7,396.4,7.9,290,6648,0.00,2.70,3.97,0.535,6,0.000,0.051,3209,1818,2109,0,0,0,0,0,0
$GC,6917,1.04,239.5,376.6,7.0,297,6941,0.00,2.65,19.50,0.810,4,0.000,0.037,3208,3405,2024,0,0,0,0,0,0
$GC,7016,1.12,241.9,368.9,7.9,299,7022,0.15,2.60,0.00,0.000,6,0.071,0.041,3250,1840,2021,0,0,0,0,0,0
$GC,7284,1.08,241.9,344.0,9.4,306,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,1840,2019,0,0,0,0,0,0
$GC,7526,1.08,241.9,320.1,10.0,312,7531,0.00,2.55,0.00,0.000,4,0.000,0.032,3250,3414,2018,0,0,0,0,0,0
$GC,7632,1.08,241.9,309.5,9.4,314,7636,0.00,2.55,0.00,0.000,6,0.000,0.040,3250,1853,2017,0,0,0,0,0,0
$GC,7894,1.08,241.9,285.2,9.1,321,7898,0.00,2.83,0.00,0.000,4,0.000,0.071,3250,235,2016,0,0,0,0,0,0
$GC,7909,1.03,241.9,283.6,8.9,321,7914,0.12,2.58,0.00,0.000,6,0.119,0.021,3225,1886,2015,0,0,0,0,0,0
$GC,8172,1.09,261.2,264.5,7.1,328,8196,0.00,2.53,18.90,0.732,4,0.000,0.039,3225,3405,1936,0,0,0,0,0,0
$GC,8272,1.19,278.4,257.2,7.2,330,8297,0.15,2.50,16.52,0.713,6,0.071,0.036,3266,1870,1865,0,0,0,0,0,0
$GC,8548,1.19,278.4,230.4,10.2,337,8553,0.00,2.50,0.00,0.000,4,0.000,0.033,3266,3416,1861,0,0,0,0,0,0
$GC,8564,1.19,278.4,228.4,10.2,337,8568,0.00,2.50,0.00,0.000,6,0.000,0.038,3266,1883,1860,0,0,0,0,0,0
$GC,8831,1.19,278.4,200.5,10.7,344,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1883,1860,0,0,0,0,0,0
$GC,9085,1.19,278.4,171.4,11.3,365,9090,0.00,2.83,0.00,0.000,4,0.000,0.064,3266,239,1860,0,0,0,0,0,0
$GC,9104,1.14,278.4,169.1,12.2,366,9108,0.00,2.60,0.00,0.000,6,0.000,0.024,3266,1921,1858,0,0,0,0,0,0
$GC,9366,1.14,278.4,140.1,9.7,390,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1922,1858,0,0,0,0,0,0
$GC,9621,1.14,278.4,116.2,9.3,414,9625,0.00,2.35,0.00,0.000,4,0.000,0.028,3266,3423,1858,0,0,0,0,0,0
$GC,9654,1.14,278.4,113.1,8.6,416,9663,0.00,2.50,0.00,0.000,6,0.000,0.032,3266,1887,1858,0,0,0,0,0,0
$GC,9920,1.14,278.4,88.5,9.9,441,9925,0.00,2.80,0.00,0.000,4,0.000,0.065,3266,241,1858,0,0,0,0,0,0
$GC,9937,1.14,278.4,86.3,10.2,442,9941,0.00,2.58,0.00,0.000,6,0.000,0.020,3266,1920,1858,0,0,0,0,0,0
$GC,10204,1.21,290.3,62.0,7.4,466,10220,0.00,0.00,10.82,0.526,6,0.000,0.000,3266,1922,1816,0,0,0,0,0,0
$GC,10479,1.29,303.4,41.6,7.4,491,10497,0.00,2.90,12.62,0.515,4,0.000,0.058,3266,235,1763,0,0,0,0,0,0
$GC,10514,1.29,303.4,38.5,8.5,493,10518,0.00,2.60,0.00,0.000,6,0.000,0.018,3266,1923,1762,0,0,0,0,0,0
$GC,10828,1.35,303.4,11.9,8.2,532,10838,0.10,2.92,0.00,0.000,4,0.092,0.063,3299,237,1762,0,0,0,0,0,0
$GC,10855,1.35,303.4,9.2,8.7,535,10864,0.00,2.62,0.00,0.000,6,0.000,0.020,3299,1919,1762,0,0,0,0,0,0
$STATE,10899,end climb,SURFACE_DEPTH_REACHED
$STATE,10899,begin surface coast
$FINISH,0.3,1.015019
$STATE,10942,end surface coast,CONTROL_FINISHED_OK
$STATE,10942,begin surface
$SM_CCo,10964,101.78,0.462,1,0,1287,420.20
$SM_GC,0.93,0.00,0.00,101.78,0.000,0.000,0.462,477,1742,1287,-11.61,-0.79,420.20
$IRIDIUM_FIX,2248.70,-15748.01,071299,030307
$TT8_MAMPS,0.025311
$HUMID,44.13
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.30
$XPDR_PINGS,49
$24V_AH,23.6,27.867
$10V_AH,10.3,28.347
$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,26.600,124.625,366.175,101.775,0.000,27.406,27.576,165.913,12.250,0.000,12.142,1089.325,7264.330,548.830,2014.290,510.175,33.382,1273.948,0.000,2021.680,0.000,0.536,0.000
$DEVICE_MAMPS,201.721,100.477,918.099,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.971,317.912,417.287,808.388,1221.781,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,41623,547
$CAP_FILE_SIZE,109898,0
$CFSIZE,260165632,171249664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120910,093806,2256.702,-15742.277,10,1.3,26,10.1