version: 66.06
glider: 146
mission: 5
dive: 201
start: 9 13 110 16 31 52
data:
$ID,146
$MISSION,5
$DIVE,201
$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,-251256.22
$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,41
$R_STBD_OVSHOOT,26
$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
$GPS1,162437,2255.974,-15743.069,35,1.0,35,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.4
$GPS2,163055,2255.890,-15743.077,8,1.1,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.108,0.190
$KALMAN_X,-213964.5,-157.8,191.0,261311.4,-1529.5
$KALMAN_Y,-100956.6,136.0,-392.1,240684.1,-2758.0
$MHEAD_RNG_PITCHd_Wd,19.5,4318,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-86.03,0.000,6,0.000,0.000,476,1742,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.4,-5.8,11,124,11.60,2.58,0.00,0.000,4,0.143,0.028,2741,3372,3481,0,0,0,0,0,0
$GC,195,-1.06,-116.8,28.2,-15.7,23,205,0.08,2.62,0.00,0.000,6,0.084,0.032,2763,1782,3481,0,0,0,0,0,0
$GC,473,-0.94,-116.8,66.7,-14.0,49,478,0.15,2.75,0.00,0.000,4,0.110,0.067,2794,189,3482,0,0,0,0,0,0
$GC,507,-0.85,-116.8,72.0,-13.7,51,513,0.10,2.45,0.00,0.000,6,0.118,0.015,2816,1808,3482,0,0,0,0,0,0
$GC,776,-0.90,-116.8,96.4,-7.4,75,780,0.00,2.75,0.00,0.000,4,0.000,0.058,2816,188,3482,0,0,0,0,0,0
$GC,809,-0.96,-116.8,98.9,-6.9,77,814,0.10,2.35,0.00,0.000,6,0.087,0.015,2778,1775,3482,0,0,0,0,0,0
$GC,1076,-0.96,-116.8,120.8,-7.9,101,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1776,3482,0,0,0,0,0,0
$GC,1338,-0.96,-116.8,143.2,-9.3,126,1342,0.00,2.70,0.00,0.000,4,0.000,0.061,2777,190,3483,0,0,0,0,0,0
$GC,1371,-0.96,-116.8,146.9,-10.2,128,1380,0.00,2.35,0.00,0.000,6,0.000,0.022,2777,1749,3483,0,0,0,0,0,0
$GC,1635,-0.96,-116.8,171.6,-9.9,153,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1751,3483,0,0,0,0,0,0
$GC,1900,-0.96,-116.8,196.5,-9.2,178,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1751,3483,0,0,0,0,0,0
$GC,2182,-0.96,-116.8,221.8,-8.8,188,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1751,3483,0,0,0,0,0,0
$GC,2428,-1.00,-116.8,240.0,-7.2,194,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1751,3483,0,0,0,0,0,0
$GC,2670,-1.05,-116.8,256.7,-7.1,200,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1752,3483,0,0,0,0,0,0
$GC,2914,-1.10,-116.8,275.6,-7.7,206,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1752,3482,0,0,0,0,0,0
$GC,3159,-1.16,-116.8,293.1,-7.1,212,3164,0.12,2.72,0.00,0.000,4,0.073,0.071,2733,188,3482,0,0,0,0,0,0
$GC,3186,-1.16,-116.8,295.7,-8.9,212,3190,0.00,2.35,0.00,0.000,6,0.000,0.024,2733,1718,3481,0,0,0,0,0,0
$GC,3442,-1.16,-116.8,317.1,-8.2,219,3446,0.00,2.53,0.00,0.000,4,0.000,0.040,2732,3303,3481,0,0,0,0,0,0
$GC,3509,-1.16,-116.8,322.8,-8.1,220,3513,0.00,2.50,0.00,0.000,6,0.000,0.045,2733,1768,3481,0,0,0,0,0,0
$GC,3764,-1.16,-116.8,346.3,-9.5,227,3768,0.00,2.80,0.00,0.000,4,0.000,0.091,2732,185,3480,0,0,0,0,0,0
$GC,3813,-1.16,-116.8,351.9,-11.2,228,3817,0.00,2.40,0.00,0.000,6,0.000,0.022,2733,1717,3480,0,0,0,0,0,0
$GC,4093,-1.16,-116.8,379.6,-9.7,235,4097,0.00,2.55,0.00,0.000,4,0.000,0.044,2733,3295,3479,0,0,0,0,0,0
$GC,4166,-1.20,-116.8,386.3,-8.5,236,4171,0.00,2.55,0.00,0.000,6,0.000,0.054,2732,1765,3478,0,0,0,0,0,0
$GC,4416,-1.20,-116.8,406.5,-7.8,242,4421,0.00,2.85,0.00,0.000,4,0.000,0.097,2732,181,3477,0,0,0,0,0,0
$GC,4444,-1.20,-116.8,408.9,-9.1,242,4448,0.00,2.42,0.00,0.000,6,0.000,0.032,2732,1706,3477,0,0,0,0,0,0
$GC,4694,-1.20,-116.8,428.7,-8.0,248,4698,0.00,2.65,0.00,0.000,4,0.000,0.058,2732,3299,3476,0,0,0,0,0,0
$GC,4778,-1.25,-116.8,435.7,-8.7,250,4783,0.00,2.58,0.00,0.000,6,0.000,0.059,2733,1776,3476,0,0,0,0,0,0
$GC,5063,-1.25,-116.8,460.7,-9.1,257,5067,0.00,2.50,0.00,0.000,4,0.000,0.048,2732,3298,3473,0,0,0,0,0,0
$GC,5090,-1.29,-116.8,463.5,-9.9,257,5094,0.00,2.62,0.00,0.000,6,0.000,0.067,2732,1772,3473,0,0,0,0,0,0
$GC,5339,-1.29,-116.8,486.2,-9.0,263,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1772,3472,0,0,0,0,0,0
$STATE,5499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5499,begin apogee
$GC,5506,-0.31,0.0,500.0,8.5,267,5605,0.88,0.00,95.80,0.909,6,0.074,0.000,2932,1772,3000,0,0,0,0,0,0
$STATE,5606,end apogee,CONTROL_FINISHED_OK
$STATE,5606,begin climb
$GC,5609,1.15,116.8,502.5,0.0,269,5713,1.35,0.00,100.30,0.885,6,0.043,0.000,3261,1772,2523,0,0,0,0,0,0
$GC,5946,1.00,116.8,484.8,8.2,278,5948,0.20,0.00,0.00,0.000,6,0.175,0.000,3220,1772,2514,0,0,0,0,0,0
$GC,6191,0.95,130.2,466.6,7.4,284,6207,0.00,2.65,10.68,0.788,4,0.000,0.049,3220,3342,2469,0,0,0,0,0,0
$GC,6231,0.92,148.7,463.7,7.2,285,6255,0.00,2.62,17.73,0.829,6,0.000,0.060,3220,1824,2394,0,0,0,0,0,0
$GC,6519,0.92,186.5,444.9,6.3,292,6560,0.00,2.60,33.65,0.856,4,0.000,0.041,3220,3342,2239,0,0,0,0,0,0
$GC,6588,0.93,199.3,440.2,7.4,293,6608,0.00,2.60,12.57,0.788,6,0.000,0.052,3220,1831,2187,0,0,0,0,0,0
$GC,6894,0.97,227.9,419.4,6.7,301,6924,0.00,2.53,25.40,0.836,4,0.000,0.036,3220,3354,2071,0,0,0,0,0,0
$GC,6963,0.97,227.9,413.9,8.8,302,6967,0.00,2.60,0.00,0.000,6,0.000,0.054,3220,1830,2068,0,0,0,0,0,0
$GC,7213,0.97,230.9,394.4,7.9,308,7218,0.00,2.47,0.00,0.000,4,0.000,0.039,3220,3349,2065,0,0,0,0,0,0
$GC,7256,0.97,230.9,391.2,8.2,309,7260,0.00,2.55,0.00,0.000,6,0.000,0.048,3220,1841,2064,0,0,0,0,0,0
$GC,7539,1.00,253.6,370.7,7.0,316,7568,0.00,2.53,22.88,0.813,4,0.000,0.037,3220,3346,1966,0,0,0,0,0,0
$GC,7603,1.04,253.6,365.7,8.4,317,7607,0.00,2.53,0.00,0.000,6,0.000,0.050,3220,1850,1964,0,0,0,0,0,0
$GC,7864,1.04,253.6,345.1,8.1,324,7869,0.00,2.40,0.00,0.000,4,0.000,0.038,3220,3350,1962,0,0,0,0,0,0
$GC,7904,1.09,253.6,341.6,9.4,325,7909,0.00,2.47,0.00,0.000,6,0.000,0.040,3220,1860,1960,0,0,0,0,0,0
$GC,8189,1.09,253.6,315.4,9.1,332,8194,0.00,2.85,0.00,0.000,4,0.000,0.078,3220,239,1960,0,0,0,0,0,0
$GC,8210,1.09,253.6,313.2,10.1,332,8214,0.00,2.47,0.00,0.000,6,0.000,0.025,3220,1831,1958,0,0,0,0,0,0
$GC,8466,1.10,263.4,293.0,7.6,339,8476,0.00,0.00,8.82,0.693,6,0.000,0.000,3220,1832,1926,0,0,0,0,0,0
$GC,8710,1.16,277.9,275.1,7.3,345,8730,0.12,2.55,14.57,0.724,4,0.180,0.036,3254,3391,1866,0,0,0,0,0,0
$GC,8771,1.16,277.9,269.7,9.8,346,8775,0.00,2.53,0.00,0.000,6,0.000,0.038,3254,1857,1864,0,0,0,0,0,0
$GC,9031,1.16,277.9,245.5,9.4,353,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1857,1862,0,0,0,0,0,0
$GC,9274,1.16,277.9,221.3,10.0,359,9279,0.00,2.47,0.00,0.000,4,0.000,0.035,3254,3403,1862,0,0,0,0,0,0
$GC,9309,1.16,277.9,217.9,10.6,359,9314,0.00,2.50,0.00,0.000,6,0.000,0.039,3254,1867,1862,0,0,0,0,0,0
$GC,9560,1.16,277.9,191.7,10.9,369,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1867,1861,0,0,0,0,0,0
$GC,9816,1.16,277.9,165.2,10.3,393,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1867,1861,0,0,0,0,0,0
$GC,10074,1.16,277.9,139.6,9.7,417,10078,0.00,2.42,0.00,0.000,4,0.000,0.035,3254,3405,1861,0,0,0,0,0,0
$GC,10113,1.16,277.9,135.4,9.4,420,10118,0.00,2.47,0.00,0.000,6,0.000,0.034,3254,1869,1861,0,0,0,0,0,0
$GC,10378,1.18,298.5,115.2,7.1,444,10398,0.00,0.00,18.33,0.599,6,0.000,0.000,3254,1869,1784,0,0,0,0,0,0
$GC,10650,1.19,307.3,95.1,7.6,470,10665,0.00,2.45,8.98,0.534,4,0.000,0.032,3254,3398,1747,0,0,0,0,0,0
$GC,10684,1.24,309.7,92.4,7.9,472,10694,0.00,2.50,3.65,0.367,6,0.000,0.031,3254,1876,1738,0,0,0,0,0,0
$GC,10950,1.28,309.7,68.2,9.9,497,10955,0.10,2.78,0.00,0.000,4,0.086,0.062,3287,242,1737,0,0,0,0,0,0
$GC,10999,1.21,309.7,62.2,12.1,500,11008,0.08,2.55,0.00,0.000,6,0.092,0.018,3267,1875,1736,0,0,0,0,0,0
$GC,11265,1.27,309.7,38.5,8.4,525,11273,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1877,1736,0,0,0,0,0,0
$GC,11566,1.32,323.6,15.4,7.4,564,11592,0.10,2.45,13.75,0.499,4,0.091,0.031,3298,3389,1680,0,0,0,0,0,0
$GC,11604,1.34,336.2,12.7,7.4,568,11622,0.00,2.53,11.88,0.482,6,0.000,0.033,3298,1858,1630,0,0,0,0,0,0
$STATE,11690,end climb,SURFACE_DEPTH_REACHED
$STATE,11690,begin surface coast
$FINISH,0.3,1.012827
$STATE,11744,end surface coast,CONTROL_FINISHED_OK
$STATE,11744,begin surface
$SM_CCo,11765,74.38,0.443,1,0,1287,420.20
$SM_GC,0.97,0.00,0.00,74.38,0.000,0.000,0.443,476,1730,1287,-11.61,-1.13,420.20
$IRIDIUM_FIX,2246.36,-15743.68,081299,131317
$TT8_MAMPS,0.025311
$HUMID,44.92
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.30
$XPDR_PINGS,50
$24V_AH,23.6,29.015
$10V_AH,10.3,29.624
$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,26.400,122.800,398.975,74.375,0.000,29.482,28.495,181.825,12.500,0.000,14.726,1158.941,7862.848,554.480,2106.946,542.373,33.402,1329.024,0.000,2114.435,0.000,0.536,0.000
$DEVICE_MAMPS,180.245,96.642,908.895,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.679,336.888,450.039,848.361,1278.302,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,47655,587
$CAP_FILE_SIZE,114893,0
$CFSIZE,260165632,170627072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130910,195101,2255.899,-15742.946,62,1.0,62,10.1