version: 66.06
glider: 146
mission: 5
dive: 193
start: 9 12 110 13 10 21
data:
$ID,146
$MISSION,5
$DIVE,193
$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,-251118.84
$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,52
$R_STBD_OVSHOOT,39
$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
$GPS1,130337,2256.896,-15742.129,26,1.1,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.1
$GPS2,130926,2256.867,-15742.118,13,1.6,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.090,0.198
$KALMAN_X,-205787.6,-67.6,399.2,254483.2,-1229.6
$KALMAN_Y,-79486.2,31.5,464.9,220270.0,-3588.2
$MHEAD_RNG_PITCHd_Wd,14.2,2108,-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,-116.6,0.0,0.0,0,105,0.00,0.00,-86.07,0.000,6,0.000,0.000,473,1736,3478,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.2,-6.0,11,125,11.57,2.58,0.00,0.000,4,0.142,0.028,2739,3367,3480,0,0,0,0,0,0
$GC,215,-1.06,-116.8,30.0,-16.6,26,225,0.10,2.58,0.00,0.000,6,0.138,0.033,2767,1803,3481,0,0,0,0,0,0
$GC,483,-0.94,-116.8,66.1,-13.8,51,488,0.12,2.78,0.00,0.000,4,0.115,0.063,2794,188,3481,0,0,0,0,0,0
$GC,519,-0.85,-116.8,72.1,-13.1,53,528,0.00,2.47,0.00,0.000,6,0.000,0.015,2794,1809,3481,0,0,0,0,0,0
$GC,780,-0.85,-116.8,102.0,-10.2,78,785,0.00,2.78,0.00,0.000,4,0.000,0.063,2794,187,3481,0,0,0,0,0,0
$GC,850,-0.85,-116.8,109.4,-10.9,83,855,0.00,2.33,0.00,0.000,6,0.000,0.015,2794,1761,3481,0,0,0,0,0,0
$GC,1116,-0.85,-116.8,135.6,-9.1,107,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1763,3482,0,0,0,0,0,0
$GC,1379,-0.90,-116.8,158.4,-8.2,132,1383,0.00,2.67,0.00,0.000,4,0.000,0.067,2794,186,3483,0,0,0,0,0,0
$GC,1401,-0.94,-116.8,159.8,-7.8,133,1406,0.00,2.30,0.00,0.000,6,0.000,0.017,2794,1748,3483,0,0,0,0,0,0
$GC,1669,-1.00,-116.8,181.7,-8.3,157,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1749,3483,0,0,0,0,0,0
$GC,1959,-1.07,-116.8,207.3,-8.5,179,1961,0.12,0.00,0.00,0.000,6,0.071,0.000,2751,1749,3483,0,0,0,0,0,0
$GC,2202,-1.07,-116.8,231.3,-9.8,185,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1749,3483,0,0,0,0,0,0
$GC,2447,-1.07,-116.8,252.9,-8.7,191,2451,0.00,2.45,0.00,0.000,4,0.000,0.025,2751,3300,3483,0,0,0,0,0,0
$GC,2487,-1.07,-116.8,256.3,-8.3,192,2491,0.00,2.50,0.00,0.000,6,0.000,0.030,2750,1739,3482,0,0,0,0,0,0
$GC,2769,-1.07,-116.8,281.2,-9.0,199,2774,0.00,2.47,0.00,0.000,4,0.000,0.031,2751,3302,3482,0,0,0,0,0,0
$GC,2815,-1.11,-116.8,285.4,-9.5,200,2819,0.00,2.50,0.00,0.000,6,0.000,0.039,2751,1746,3482,0,0,0,0,0,0
$GC,3093,-1.11,-116.8,308.6,-8.0,207,3097,0.00,2.72,0.00,0.000,4,0.000,0.082,2750,193,3481,0,0,0,0,0,0
$GC,3125,-1.11,-116.8,311.3,-8.2,207,3131,0.00,2.35,0.00,0.000,6,0.000,0.026,2751,1722,3481,0,0,0,0,0,0
$GC,3377,-1.11,-116.8,329.3,-7.3,214,3381,0.00,2.60,0.00,0.000,4,0.000,0.042,2751,3350,3481,0,0,0,0,0,0
$GC,3416,-1.17,-116.8,332.3,-7.4,215,3421,0.00,2.60,0.00,0.000,6,0.000,0.042,2750,1772,3481,0,0,0,0,0,0
$GC,3701,-1.21,-116.8,354.2,-8.0,222,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1772,3479,0,0,0,0,0,0
$GC,3946,-1.25,-116.8,373.4,-8.0,228,3950,0.00,2.55,0.00,0.000,4,0.000,0.038,2751,3342,3478,0,0,0,0,0,0
$GC,3973,-1.30,-116.8,375.8,-8.6,228,3978,0.15,2.62,0.00,0.000,6,0.061,0.048,2699,1776,3478,0,0,0,0,0,0
$GC,4223,-1.25,-116.8,399.5,-9.5,234,4228,0.12,2.58,0.00,0.000,4,0.110,0.046,2726,3346,3476,0,0,0,0,0,0
$GC,4264,-1.29,-116.8,403.1,-8.7,235,4269,0.00,2.62,0.00,0.000,6,0.000,0.053,2725,1780,3476,0,0,0,0,0,0
$GC,4548,-1.29,-116.8,424.7,-7.5,242,4553,0.00,2.92,0.00,0.000,4,0.000,0.103,2726,180,3474,0,0,0,0,0,0
$GC,4580,-1.29,-116.8,427.5,-8.6,242,4586,0.00,2.53,0.00,0.000,6,0.000,0.031,2725,1765,3474,0,0,0,0,0,0
$GC,4832,-1.29,-116.8,448.3,-8.4,249,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1765,3472,0,0,0,0,0,0
$GC,5074,-1.29,-116.8,469.1,-8.5,255,5078,0.00,2.70,0.00,0.000,4,0.000,0.061,2725,3361,3471,0,0,0,0,0,0
$GC,5129,-1.33,-116.8,473.8,-8.2,256,5134,0.00,2.70,0.00,0.000,6,0.000,0.060,2725,1774,3471,0,0,0,0,0,0
$GC,5396,-1.33,-116.8,494.9,-8.0,263,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1774,3469,0,0,0,0,0,0
$STATE,5474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5474,begin apogee
$GC,5480,-0.31,0.0,501.1,7.8,265,5579,0.90,0.00,95.38,0.922,6,0.077,0.000,2930,1839,3001,0,0,0,0,0,0
$STATE,5579,end apogee,CONTROL_FINISHED_OK
$STATE,5579,begin climb
$GC,5582,1.15,116.8,503.0,0.0,267,5690,1.35,2.70,100.82,0.899,4,0.042,0.054,3254,3404,2523,0,0,0,0,0,0
$GC,5709,1.08,173.3,501.1,5.4,270,5764,0.00,2.78,49.25,0.876,6,0.000,0.059,3254,1815,2294,0,0,0,0,0,0
$GC,6042,0.95,173.3,471.8,9.2,279,6047,0.22,2.62,0.00,0.000,4,0.149,0.042,3209,3390,2284,0,0,0,0,0,0
$GC,6083,0.95,173.3,468.5,8.2,280,6088,0.00,2.70,0.00,0.000,6,0.000,0.055,3209,1814,2283,0,0,0,0,0,0
$GC,6367,0.96,181.6,447.4,7.6,287,6381,0.00,2.65,6.68,0.716,4,0.000,0.045,3209,3393,2258,0,0,0,0,0,0
$GC,6467,0.96,181.6,439.2,8.6,289,6471,0.00,2.70,0.00,0.000,6,0.000,0.054,3209,1820,2257,0,0,0,0,0,0
$GC,6739,0.97,185.4,417.6,7.8,296,6745,0.00,0.00,4.18,0.581,6,0.000,0.000,3209,1820,2245,0,0,0,0,0,0
$GC,6982,1.00,212.0,400.4,6.8,302,7013,0.00,2.95,25.33,0.846,4,0.000,0.096,3208,233,2134,0,0,0,0,0,0
$GC,7032,0.98,233.6,397.1,7.0,303,7057,0.00,2.55,20.30,0.820,6,0.000,0.021,3208,1820,2048,0,0,0,0,0,0
$GC,7302,1.01,253.2,377.8,7.1,309,7326,0.00,2.67,18.12,0.808,4,0.000,0.044,3208,3398,1967,0,0,0,0,0,0
$GC,7374,1.07,253.2,372.2,8.4,310,7379,0.10,2.65,0.00,0.000,6,0.091,0.043,3235,1829,1965,0,0,0,0,0,0
$GC,7629,1.07,253.2,349.3,8.8,317,7634,0.00,2.58,0.00,0.000,4,0.000,0.032,3235,3409,1963,0,0,0,0,0,0
$GC,7673,1.07,253.2,345.2,9.2,318,7678,0.00,2.60,0.00,0.000,6,0.000,0.047,3235,1839,1962,0,0,0,0,0,0
$GC,7953,1.07,253.2,320.6,8.9,325,7957,0.00,2.55,0.00,0.000,4,0.000,0.032,3235,3411,1961,0,0,0,0,0,0
$GC,8013,1.07,253.2,315.0,8.6,326,8018,0.00,2.55,0.00,0.000,6,0.000,0.036,3235,1862,1959,0,0,0,0,0,0
$GC,8275,1.07,257.2,294.2,7.8,333,8279,0.00,2.85,0.00,0.000,4,0.000,0.073,3235,240,1959,0,0,0,0,0,0
$GC,8292,1.09,267.9,292.7,7.5,333,8313,0.00,2.58,13.20,0.736,6,0.000,0.025,3235,1875,1907,0,0,0,0,0,0
$GC,8556,1.09,267.9,271.4,8.2,340,8561,0.00,2.47,0.00,0.000,4,0.000,0.033,3235,3411,1904,0,0,0,0,0,0
$GC,8623,1.14,267.9,265.6,8.7,341,8628,0.00,2.55,0.00,0.000,6,0.000,0.036,3235,1855,1903,0,0,0,0,0,0
$GC,8880,1.14,267.9,242.6,9.2,348,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1855,1903,0,0,0,0,0,0
$GC,9122,1.14,267.9,219.7,9.4,354,9123,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1855,1902,0,0,0,0,0,0
$GC,9366,1.14,267.9,196.5,9.6,360,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1855,1903,0,0,0,0,0,0
$GC,9622,1.14,267.9,173.4,8.8,384,9623,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1855,1902,0,0,0,0,0,0
$GC,9876,1.14,267.9,151.0,9.2,408,9880,0.00,2.75,0.00,0.000,4,0.000,0.069,3235,241,1902,0,0,0,0,0,0
$GC,9897,1.14,267.9,149.4,9.4,409,9902,0.00,2.55,0.00,0.000,6,0.000,0.020,3234,1893,1901,0,0,0,0,0,0
$GC,10165,1.19,267.9,124.9,8.9,433,10171,0.10,2.83,0.00,0.000,4,0.086,0.061,3266,236,1901,0,0,0,0,0,0
$GC,10183,1.19,267.9,122.5,9.3,434,10187,0.00,2.55,0.00,0.000,6,0.000,0.021,3266,1887,1901,0,0,0,0,0,0
$GC,10446,1.19,267.9,97.6,8.7,458,10451,0.00,2.40,0.00,0.000,4,0.000,0.028,3266,3408,1901,0,0,0,0,0,0
$GC,10467,1.19,267.9,95.9,8.7,459,10471,0.00,2.50,0.00,0.000,6,0.000,0.032,3266,1862,1901,0,0,0,0,0,0
$GC,10735,1.27,298.9,76.1,6.6,483,10768,0.00,2.80,27.27,0.568,4,0.000,0.064,3266,241,1781,0,0,0,0,0,0
$GC,10797,1.27,298.9,71.6,8.1,487,10802,0.00,2.58,0.00,0.000,6,0.000,0.020,3266,1902,1779,0,0,0,0,0,0
$GC,11066,1.31,302.6,50.1,7.8,511,11075,0.00,0.00,4.45,0.396,6,0.000,0.000,3266,1903,1766,0,0,0,0,0,0
$GC,11336,1.36,304.8,28.0,7.9,537,11346,0.12,2.88,0.00,0.000,4,0.079,0.057,3305,247,1766,0,0,0,0,0,0
$GC,11364,1.36,304.8,24.8,8.7,540,11374,0.00,2.58,0.00,0.000,6,0.000,0.018,3305,1895,1765,0,0,0,0,0,0
$STATE,11573,end climb,SURFACE_DEPTH_REACHED
$STATE,11573,begin surface coast
$FINISH,0.3,1.022934
$STATE,11650,end surface coast,CONTROL_FINISHED_OK
$STATE,11650,begin surface
$SM_CCo,11671,101.78,0.459,1,0,1287,420.20
$SM_GC,0.97,0.00,0.00,101.78,0.000,0.000,0.459,477,1726,1287,-11.61,-1.24,420.20
$IRIDIUM_FIX,2248.70,-15740.63,071299,090903
$TT8_MAMPS,0.025311
$HUMID,44.32
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.90
$XPDR_PINGS,49
$24V_AH,23.5,28.095
$10V_AH,10.4,28.600
$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,26.425,136.300,364.975,101.775,0.000,30.483,27.596,153.858,12.250,0.000,14.755,1160.496,7750.272,564.476,2133.028,521.862,33.377,1328.764,0.000,2150.387,0.000,0.535,0.000
$DEVICE_MAMPS,148.798,342.849,921.934,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.279,339.085,445.439,843.553,1274.538,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,44895,581
$CAP_FILE_SIZE,115997,0
$CFSIZE,260165632,171122688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120910,162806,2256.385,-15742.054,39,1.4,44,10.1