version: 66.06
glider: 146
mission: 5
dive: 197
start: 9 13 110 2 46 44
data:
$ID,146
$MISSION,5
$DIVE,197
$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,-251195.84
$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,55
$R_STBD_OVSHOOT,37
$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
$GPS1,024007,2256.744,-15742.135,34,1.0,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-69.4
$GPS2,024549,2256.690,-15742.147,8,1.3,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.101,0.193
$KALMAN_X,-208887.6,93.3,301.0,257471.9,-1342.5
$KALMAN_Y,-89547.9,-46.1,-62.4,230607.3,-3198.6
$MHEAD_RNG_PITCHd_Wd,17.5,2439,-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,15,begin dive
$GC,17,-1.15,-116.8,0.0,0.0,0,106,0.00,0.00,-86.20,0.000,2,0.000,0.000,475,1731,3476,0,0,0,0,0,0
$GC,109,-1.15,-116.8,4.1,-5.4,11,127,11.48,2.58,0.00,0.000,4,0.138,0.030,2741,3358,3479,0,0,0,0,0,0
$GC,261,-1.05,-116.8,35.3,-13.7,30,266,0.12,2.50,0.00,0.000,6,0.176,0.031,2769,1798,3479,0,0,0,0,0,0
$GC,529,-0.94,-116.8,72.9,-14.1,54,534,0.12,2.75,0.00,0.000,4,0.108,0.061,2796,193,3479,0,0,0,0,0,0
$GC,575,-0.94,-116.8,79.4,-12.6,57,579,0.00,2.42,0.00,0.000,6,0.000,0.017,2797,1824,3479,0,0,0,0,0,0
$GC,840,-0.94,-116.8,106.0,-9.3,81,845,0.00,2.78,0.00,0.000,4,0.000,0.060,2796,192,3480,0,0,0,0,0,0
$GC,898,-0.94,-116.8,111.7,-9.8,85,902,0.00,2.38,0.00,0.000,6,0.000,0.017,2796,1788,3480,0,0,0,0,0,0
$GC,1164,-0.98,-116.8,135.1,-7.9,109,1168,0.00,2.40,0.00,0.000,4,0.000,0.024,2796,3319,3480,0,0,0,0,0,0
$GC,1188,-1.04,-116.8,137.5,-8.1,110,1197,0.08,2.58,0.00,0.000,6,0.041,0.034,2753,1734,3480,0,0,0,0,0,0
$GC,1450,-0.99,-116.8,163.6,-10.6,135,1455,0.12,2.65,0.00,0.000,4,0.104,0.064,2783,191,3481,0,0,0,0,0,0
$GC,1485,-0.99,-116.8,167.3,-10.6,137,1490,0.00,2.30,0.00,0.000,6,0.000,0.015,2783,1742,3481,0,0,0,0,0,0
$GC,1747,-0.99,-116.8,189.2,-8.1,162,1752,0.00,2.45,0.00,0.000,4,0.000,0.025,2783,3314,3481,0,0,0,0,0,0
$GC,1770,-1.04,-116.8,190.8,-8.5,163,1774,0.00,2.50,0.00,0.000,6,0.000,0.031,2783,1740,3481,0,0,0,0,0,0
$GC,2046,-1.07,-116.8,213.9,-8.5,177,2051,0.00,2.65,0.00,0.000,4,0.000,0.071,2783,192,3481,0,0,0,0,0,0
$GC,2090,-1.13,-116.8,218.1,-8.9,178,2095,0.12,2.30,0.00,0.000,6,0.071,0.021,2741,1742,3481,0,0,0,0,0,0
$GC,2370,-1.08,-116.8,245.1,-9.8,185,2375,0.10,2.47,0.00,0.000,4,0.117,0.031,2763,3313,3481,0,0,0,0,0,0
$GC,2409,-1.14,-116.8,248.8,-8.6,186,2414,0.00,2.50,0.00,0.000,6,0.000,0.030,2763,1742,3481,0,0,0,0,0,0
$GC,2693,-1.14,-116.8,274.0,-9.0,193,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1742,3480,0,0,0,0,0,0
$GC,2938,-1.14,-116.8,294.2,-7.9,199,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1742,3480,0,0,0,0,0,0
$GC,3181,-1.18,-116.8,310.8,-6.6,205,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1742,3479,0,0,0,0,0,0
$GC,3425,-1.23,-116.8,328.2,-7.2,211,3430,0.15,2.55,0.00,0.000,4,0.067,0.035,2715,3315,3479,0,0,0,0,0,0
$GC,3487,-1.23,-116.8,333.7,-9.4,212,3491,0.00,2.58,0.00,0.000,6,0.000,0.044,2715,1754,3479,0,0,0,0,0,0
$GC,3747,-1.19,-116.8,358.4,-9.6,219,3752,0.10,2.53,0.00,0.000,4,0.116,0.042,2737,3307,3477,0,0,0,0,0,0
$GC,3787,-1.23,-116.8,362.1,-9.1,220,3792,0.00,2.58,0.00,0.000,6,0.000,0.050,2737,1758,3477,0,0,0,0,0,0
$GC,4071,-1.23,-116.8,385.7,-8.4,227,4076,0.00,2.88,0.00,0.000,4,0.000,0.100,2737,181,3475,0,0,0,0,0,0
$GC,4126,-1.23,-116.8,390.8,-8.7,228,4130,0.00,2.40,0.00,0.000,6,0.000,0.029,2737,1712,3475,0,0,0,0,0,0
$GC,4400,-1.23,-116.8,412.7,-8.2,235,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1712,3474,0,0,0,0,0,0
$GC,4644,-1.23,-116.8,432.9,-8.2,241,4648,0.00,2.65,0.00,0.000,4,0.000,0.059,2737,3303,3472,0,0,0,0,0,0
$GC,4710,-1.29,-116.8,438.8,-8.6,242,4715,0.00,2.60,0.00,0.000,6,0.000,0.064,2738,1770,3472,0,0,0,0,0,0
$GC,4965,-1.29,-116.8,461.7,-9.1,249,4969,0.00,2.55,0.00,0.000,4,0.000,0.051,2738,3296,3470,0,0,0,0,0,0
$GC,4987,-1.33,-116.8,463.8,-9.3,249,4993,0.12,2.60,0.00,0.000,6,0.073,0.068,2698,1774,3470,0,0,0,0,0,0
$GC,5243,-1.28,-116.8,490.3,-10.3,256,5245,0.10,0.00,0.00,0.000,6,0.120,0.000,2718,1774,3468,0,0,0,0,0,0
$STATE,5362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5362,begin apogee
$GC,5368,-0.31,0.0,501.8,9.5,259,5466,0.93,0.00,95.03,0.915,6,0.077,0.000,2930,1773,3001,0,0,0,0,0,0
$STATE,5467,end apogee,CONTROL_FINISHED_OK
$STATE,5467,begin climb
$GC,5471,1.15,116.8,504.5,0.0,261,5579,1.35,3.03,100.05,0.894,4,0.057,0.118,3253,230,2523,0,0,0,0,0,0
$GC,5592,1.03,170.5,503.2,5.5,264,5648,0.15,2.53,46.62,0.867,6,0.123,0.035,3225,1760,2304,0,0,0,0,0,0
$GC,5895,0.96,170.5,476.8,9.4,272,5899,0.00,2.72,0.00,0.000,4,0.000,0.066,3224,3344,2295,0,0,0,0,0,0
$GC,5994,0.96,170.5,466.7,9.8,274,5999,0.00,2.60,0.00,0.000,6,0.000,0.058,3225,1822,2293,0,0,0,0,0,0
$GC,6263,0.91,170.5,444.1,8.4,281,6268,0.12,2.50,0.00,0.000,4,0.162,0.040,3200,3351,2291,0,0,0,0,0,0
$GC,6290,0.93,184.9,441.9,7.3,281,6309,0.00,2.58,11.57,0.802,6,0.000,0.050,3200,1832,2247,0,0,0,0,0,0
$GC,6588,0.95,208.2,420.8,6.9,289,6617,0.00,2.53,21.30,0.841,4,0.000,0.038,3200,3353,2152,0,0,0,0,0,0
$GC,6730,1.02,224.1,410.7,7.3,292,6750,0.00,2.55,15.30,0.811,6,0.000,0.053,3200,1852,2087,0,0,0,0,0,0
$GC,7002,1.04,240.0,391.0,7.3,299,7023,0.10,3.00,15.18,0.805,4,0.114,0.091,3228,228,2021,0,0,0,0,0,0
$GC,7063,0.96,240.0,385.6,9.8,300,7067,0.00,2.47,0.00,0.000,6,0.000,0.023,3228,1794,2018,0,0,0,0,0,0
$GC,7324,0.96,240.0,363.6,8.5,307,7329,0.00,2.60,0.00,0.000,4,0.000,0.041,3228,3405,2017,0,0,0,0,0,0
$GC,7347,0.96,240.0,361.6,8.7,307,7352,0.00,2.62,0.00,0.000,6,0.000,0.048,3228,1832,2015,0,0,0,0,0,0
$GC,7602,0.96,240.0,340.3,8.1,314,7606,0.00,2.55,0.00,0.000,4,0.000,0.035,3228,3407,2015,0,0,0,0,0,0
$GC,7657,0.97,247.4,335.9,7.7,315,7671,0.00,2.58,6.50,0.673,6,0.000,0.039,3228,1848,1992,0,0,0,0,0,0
$GC,7928,0.98,254.3,315.1,7.7,322,7943,0.00,2.58,7.85,0.695,4,0.000,0.034,3228,3399,1963,0,0,0,0,0,0
$GC,7976,1.02,254.3,310.4,9.5,323,7981,0.00,2.55,0.00,0.000,6,0.000,0.037,3228,1854,1962,0,0,0,0,0,0
$GC,8256,1.02,254.3,283.6,9.6,330,8260,0.00,2.80,0.00,0.000,4,0.000,0.077,3228,240,1961,0,0,0,0,0,0
$GC,8295,0.98,254.3,279.4,10.6,331,8299,0.00,2.53,0.00,0.000,6,0.000,0.022,3228,1867,1960,0,0,0,0,0,0
$GC,8578,0.98,254.3,254.9,8.5,338,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1869,1960,0,0,0,0,0,0
$GC,8822,0.99,267.9,236.4,7.4,344,8837,0.00,0.00,13.12,0.690,6,0.000,0.000,3228,1869,1908,0,0,0,0,0,0
$GC,9066,0.99,267.9,217.1,8.1,350,9068,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1870,1905,0,0,0,0,0,0
$GC,9311,0.99,267.9,195.9,8.9,359,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,1869,1905,0,0,0,0,0,0
$GC,9566,0.99,267.9,171.3,9.9,383,9570,0.00,2.80,0.00,0.000,4,0.000,0.061,3228,233,1905,0,0,0,0,0,0
$GC,9583,0.99,267.9,169.6,10.1,384,9588,0.00,2.55,0.00,0.000,6,0.000,0.025,3228,1873,1904,0,0,0,0,0,0
$GC,9846,1.05,276.4,146.9,7.6,408,9861,0.00,2.88,8.68,0.578,4,0.000,0.065,3228,236,1873,0,0,0,0,0,0
$GC,9873,1.05,276.8,144.6,8.0,410,9883,0.00,2.55,0.00,0.000,6,0.000,0.021,3228,1859,1872,0,0,0,0,0,0
$GC,10140,1.12,301.5,126.0,6.9,435,10169,0.00,2.83,23.25,0.613,4,0.000,0.058,3228,239,1769,0,0,0,0,0,0
$GC,10183,1.17,341.8,123.0,6.1,438,10224,0.12,2.47,35.00,0.610,6,0.078,0.018,3262,1846,1607,0,0,0,0,0,0
$GC,10485,1.17,341.8,93.7,10.7,466,10490,0.00,2.75,0.00,0.000,4,0.000,0.060,3262,236,1602,0,0,0,0,0,0
$GC,10515,1.17,341.8,90.2,12.3,468,10519,0.00,2.47,0.00,0.000,6,0.000,0.018,3262,1835,1601,0,0,0,0,0,0
$GC,10782,1.23,341.8,63.5,9.7,492,10786,0.00,2.45,0.00,0.000,4,0.000,0.027,3262,3387,1601,0,0,0,0,0,0
$GC,10864,1.36,341.8,55.4,10.1,498,10869,0.15,2.50,0.00,0.000,6,0.067,0.033,3308,1838,1600,0,0,0,0,0,0
$GC,11142,1.32,341.8,23.9,11.1,526,11151,0.00,2.72,0.00,0.000,4,0.000,0.061,3308,248,1600,0,0,0,0,0,0
$GC,11163,1.27,341.8,21.5,11.2,528,11173,0.12,2.47,0.00,0.000,6,0.086,0.018,3277,1841,1600,0,0,0,0,0,0
$STATE,11345,end climb,SURFACE_DEPTH_REACHED
$STATE,11345,begin surface coast
$FINISH,0.4,0.999097
$STATE,11408,end surface coast,CONTROL_FINISHED_OK
$STATE,11409,begin surface
$SM_CCo,11430,69.43,0.440,1,0,1288,420.20
$SM_GC,0.84,0.00,0.00,69.43,0.000,0.000,0.440,474,1735,1288,-11.62,-0.99,420.20
$IRIDIUM_FIX,2246.36,-15740.63,071299,232333
$TT8_MAMPS,0.025311
$HUMID,44.92
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.00
$XPDR_PINGS,57
$24V_AH,23.5,28.550
$10V_AH,10.3,29.106
$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,26.975,144.975,399.450,69.425,0.000,24.707,27.325,149.968,14.250,0.000,15.063,1150.055,7538.904,542.873,2094.812,522.187,33.369,1339.478,0.000,2103.439,0.000,0.536,0.000
$DEVICE_MAMPS,175.643,118.118,915.031,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.952,326.463,428.116,782.874,1184.139,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,44790,563
$CAP_FILE_SIZE,120062,0
$CFSIZE,260165632,170872832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130910,055937,2256.100,-15742.391,26,1.3,26,10.1