version: 66.06
glider: 146
mission: 5
dive: 192
start: 9 12 110 9 44 57
data:
$ID,146
$MISSION,5
$DIVE,192
$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,-251103.47
$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,49
$R_STBD_OVSHOOT,30
$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
$GPS1,093806,2256.702,-15742.277,10,1.3,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-67.6
$GPS2,094402,2256.721,-15742.299,10,1.6,10,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.044,0.214
$KALMAN_X,-205055.2,-15.6,-148.5,253940.6,-534.7
$KALMAN_Y,-77086.7,-9.3,500.7,217606.5,-2614.8
$MHEAD_RNG_PITCHd_Wd,1.5,2423,-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,-86.03,0.000,6,0.000,0.000,477,1742,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.4,-5.9,11,126,11.60,2.58,0.00,0.000,4,0.143,0.025,2742,3377,3481,0,0,0,0,0,0
$GC,260,-1.06,-116.8,37.6,-14.3,29,265,0.12,2.55,0.00,0.000,6,0.107,0.031,2769,1793,3482,0,0,0,0,0,0
$GC,528,-0.99,-116.8,76.5,-13.4,53,532,0.00,2.75,0.00,0.000,4,0.000,0.061,2769,189,3482,0,0,0,0,0,0
$GC,608,-0.95,-116.8,87.7,-13.5,59,614,0.10,2.45,0.00,0.000,6,0.116,0.022,2791,1807,3481,0,0,0,0,0,0
$GC,876,-0.95,-116.8,113.6,-8.7,83,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1808,3483,0,0,0,0,0,0
$GC,1137,-0.99,-116.8,137.0,-9.0,108,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1808,3483,0,0,0,0,0,0
$GC,1395,-1.04,-116.8,156.9,-7.5,132,1400,0.00,2.75,0.00,0.000,4,0.000,0.067,2791,195,3483,0,0,0,0,0,0
$GC,1425,-1.09,-116.8,159.7,-8.3,134,1430,0.12,2.33,0.00,0.000,6,0.071,0.022,2749,1767,3483,0,0,0,0,0,0
$GC,1686,-1.09,-116.8,184.8,-10.2,158,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1767,3483,0,0,0,0,0,0
$GC,1958,-1.09,-116.8,214.0,-10.7,175,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1767,3483,0,0,0,0,0,0
$GC,2200,-1.09,-116.8,237.2,-9.2,181,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1769,3483,0,0,0,0,0,0
$GC,2444,-1.09,-116.8,259.2,-8.9,187,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1769,3483,0,0,0,0,0,0
$GC,2688,-1.09,-116.8,280.6,-8.6,193,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1768,3483,0,0,0,0,0,0
$GC,2932,-1.09,-116.8,302.5,-9.0,199,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1769,3482,0,0,0,0,0,0
$GC,3175,-1.09,-116.8,319.5,-6.6,205,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1769,3481,0,0,0,0,0,0
$GC,3419,-1.09,-116.8,332.6,-5.1,211,3423,0.00,2.75,0.00,0.000,4,0.000,0.082,2749,196,3481,0,0,0,0,0,0
$GC,3442,-1.09,-116.8,333.9,-5.6,211,3446,0.00,2.33,0.00,0.000,6,0.000,0.021,2749,1707,3481,0,0,0,0,0,0
$GC,3697,-1.09,-116.8,351.7,-7.4,218,3701,0.00,2.58,0.00,0.000,4,0.000,0.042,2749,3298,3480,0,0,0,0,0,0
$GC,3758,-1.15,-116.8,356.8,-8.2,219,3762,0.00,2.58,0.00,0.000,6,0.000,0.045,2749,1751,3480,0,0,0,0,0,0
$GC,4019,-1.15,-116.8,379.2,-8.8,226,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1751,3478,0,0,0,0,0,0
$GC,4262,-1.19,-116.8,399.8,-8.5,232,4266,0.00,2.53,0.00,0.000,4,0.000,0.041,2749,3299,3476,0,0,0,0,0,0
$GC,4319,-1.27,-116.8,404.6,-8.6,233,4324,0.12,2.60,0.00,0.000,6,0.072,0.059,2707,1756,3477,0,0,0,0,0,0
$GC,4587,-1.27,-116.8,429.7,-9.3,240,4591,0.00,2.90,0.00,0.000,4,0.000,0.103,2707,178,3476,0,0,0,0,0,0
$GC,4619,-1.21,-116.8,433.1,-10.3,240,4625,0.12,2.40,0.00,0.000,6,0.110,0.030,2733,1694,3475,0,0,0,0,0,0
$GC,4869,-1.21,-116.8,451.6,-7.4,247,4874,0.00,2.65,0.00,0.000,4,0.000,0.058,2733,3288,3473,0,0,0,0,0,0
$GC,4904,-1.25,-116.8,454.2,-7.4,247,4910,0.00,2.60,0.00,0.000,6,0.000,0.058,2733,1757,3473,0,0,0,0,0,0
$GC,5154,-1.25,-116.8,472.1,-7.2,254,5159,0.00,2.92,0.00,0.000,4,0.000,0.110,2733,182,3472,0,0,0,0,0,0
$GC,5186,-1.25,-116.8,474.7,-8.0,254,5192,0.00,2.40,0.00,0.000,6,0.000,0.032,2733,1689,3471,0,0,0,0,0,0
$GC,5438,-1.25,-116.8,492.4,-7.0,261,5443,0.00,2.72,0.00,0.000,4,0.000,0.068,2733,3285,3470,0,0,0,0,0,0
$GC,5523,-1.31,-116.8,498.7,-7.5,263,5527,0.00,2.58,0.00,0.000,6,0.000,0.066,2733,1767,3469,0,0,0,0,0,0
$STATE,5542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5542,begin apogee
$GC,5547,-0.31,0.0,500.2,6.8,263,5646,0.85,0.00,95.57,0.918,6,0.075,0.000,2928,1767,3001,0,0,0,0,0,0
$STATE,5647,end apogee,CONTROL_FINISHED_OK
$STATE,5647,begin climb
$GC,5651,1.15,116.8,501.5,0.0,266,5762,1.33,2.78,100.05,0.894,4,0.047,0.054,3250,3342,2522,0,0,0,0,0,0
$GC,5775,1.07,159.3,497.8,6.0,269,5819,0.00,2.62,37.15,0.864,6,0.000,0.058,3251,1815,2351,0,0,0,0,0,0
$GC,6106,0.96,159.3,467.1,9.7,277,6111,0.20,2.55,0.00,0.000,4,0.142,0.041,3210,3343,2341,0,0,0,0,0,0
$GC,6242,0.96,159.3,455.4,8.1,280,6247,0.00,2.55,0.00,0.000,6,0.000,0.057,3210,1841,2340,0,0,0,0,0,0
$GC,6520,0.99,187.1,435.9,6.7,287,6549,0.00,2.58,23.60,0.848,4,0.000,0.044,3211,3350,2237,0,0,0,0,0,0
$GC,6573,1.00,197.4,432.2,7.5,288,6588,0.00,2.58,10.40,0.770,6,0.000,0.054,3210,1835,2196,0,0,0,0,0,0
$GC,6846,1.01,205.1,411.1,7.7,295,6855,0.00,0.00,7.82,0.737,6,0.000,0.000,3210,1835,2164,0,0,0,0,0,0
$GC,7088,1.02,210.6,392.3,7.8,301,7101,0.00,2.92,6.03,0.682,4,0.000,0.093,3210,233,2141,0,0,0,0,0,0
$GC,7107,1.02,210.6,390.7,8.2,301,7111,0.00,2.47,0.00,0.000,6,0.000,0.021,3210,1789,2141,0,0,0,0,0,0
$GC,7369,1.02,210.6,369.2,8.2,308,7373,0.00,2.62,0.00,0.000,4,0.000,0.043,3210,3397,2139,0,0,0,0,0,0
$GC,7463,1.06,210.6,361.0,8.8,310,7468,0.00,2.60,0.00,0.000,6,0.000,0.047,3210,1843,2137,0,0,0,0,0,0
$GC,7736,1.07,221.5,339.7,7.5,317,7753,0.10,2.58,10.57,0.755,4,0.097,0.038,3237,3403,2096,0,0,0,0,0,0
$GC,7758,1.10,241.9,338.0,7.1,317,7784,0.00,2.60,19.90,0.787,6,0.000,0.043,3237,1850,2014,0,0,0,0,0,0
$GC,8058,1.10,241.9,313.7,8.2,325,8062,0.00,2.53,0.00,0.000,4,0.000,0.038,3237,3404,2008,0,0,0,0,0,0
$GC,8157,1.10,241.9,303.9,10.0,327,8162,0.00,2.53,0.00,0.000,6,0.000,0.040,3237,1868,2006,0,0,0,0,0,0
$GC,8424,1.10,241.9,278.3,9.4,334,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1867,2005,0,0,0,0,0,0
$GC,8669,1.10,241.9,257.4,8.4,340,8673,0.00,2.47,0.00,0.000,4,0.000,0.031,3237,3402,2005,0,0,0,0,0,0
$GC,8747,1.10,244.6,250.9,7.9,341,8752,0.00,2.53,0.00,0.000,6,0.000,0.035,3237,1860,2004,0,0,0,0,0,0
$GC,8997,1.12,257.1,232.3,7.4,348,9016,0.00,2.55,13.18,0.690,4,0.000,0.031,3237,3397,1952,0,0,0,0,0,0
$GC,9034,1.12,257.1,229.2,8.5,348,9039,0.00,2.50,0.00,0.000,6,0.000,0.033,3237,1874,1951,0,0,0,0,0,0
$GC,9284,1.12,257.1,205.9,9.6,355,9288,0.00,2.83,0.00,0.000,4,0.000,0.066,3237,241,1950,0,0,0,0,0,0
$GC,9299,1.12,257.1,204.2,9.8,355,9303,0.00,2.55,0.00,0.000,6,0.000,0.019,3237,1891,1949,0,0,0,0,0,0
$GC,9564,1.12,257.1,179.6,8.9,376,9568,0.00,2.40,0.00,0.000,4,0.000,0.031,3237,3402,1949,0,0,0,0,0,0
$GC,9598,1.16,257.1,176.1,9.1,378,9607,0.00,2.50,0.00,0.000,6,0.000,0.032,3237,1878,1949,0,0,0,0,0,0
$GC,9864,1.17,262.4,155.5,7.8,403,9871,0.00,0.00,5.82,0.530,6,0.000,0.000,3237,1878,1931,0,0,0,0,0,0
$GC,10128,1.18,272.3,135.4,7.6,428,10145,0.00,2.88,10.45,0.586,4,0.000,0.062,3237,246,1889,0,0,0,0,0,0
$GC,10168,1.18,272.3,132.5,8.1,431,10173,0.00,2.58,0.00,0.000,6,0.000,0.025,3237,1899,1888,0,0,0,0,0,0
$GC,10436,1.27,294.2,113.4,7.0,455,10462,0.17,0.00,20.05,0.595,6,0.067,0.000,3286,1902,1801,0,0,0,0,0,0
$GC,10719,1.28,303.1,88.9,7.6,482,10733,0.00,2.85,8.85,0.525,4,0.000,0.059,3287,242,1764,0,0,0,0,0,0
$GC,10773,1.24,303.1,84.3,8.5,486,10783,0.00,2.58,0.00,0.000,6,0.000,0.024,3286,1886,1763,0,0,0,0,0,0
$GC,11040,1.24,303.1,62.9,8.6,511,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1887,1763,0,0,0,0,0,0
$GC,11306,1.24,303.1,38.6,9.6,536,11314,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1887,1763,0,0,0,0,0,0
$GC,11624,1.24,303.1,6.3,9.5,578,11632,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1888,1763,0,0,0,0,0,0
$STATE,11653,end climb,SURFACE_DEPTH_REACHED
$STATE,11654,begin surface coast
$FINISH,0.4,1.023373
$STATE,11718,end surface coast,CONTROL_FINISHED_OK
$STATE,11718,begin surface
$SM_CCo,11739,107.00,0.461,1,0,1287,420.20
$SM_GC,0.86,0.00,0.00,107.00,0.000,0.000,0.461,473,1735,1287,-11.62,-0.99,420.20
$IRIDIUM_FIX,2246.36,-15743.68,071299,060633
$TT8_MAMPS,0.026078
$HUMID,44.44
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.90
$XPDR_PINGS,48
$24V_AH,23.5,27.981
$10V_AH,10.3,28.474
$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,26.150,119.825,369.450,107.000,0.000,30.280,27.691,161.394,12.000,0.000,11.653,1159.555,7785.905,546.221,2190.553,528.957,33.376,1346.401,0.000,2199.131,0.000,0.536,0.000
$DEVICE_MAMPS,142.662,110.448,918.099,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,399.411,339.468,453.339,840.386,1269.997,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,47849,591
$CAP_FILE_SIZE,114907,0
$CFSIZE,260165632,171180032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120910,130337,2256.896,-15742.129,26,1.1,26,10.1