version: 66.06
glider: 146
mission: 5
dive: 203
start: 9 13 110 23 14 21
data:
$ID,146
$MISSION,5
$DIVE,203
$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,-251285.17
$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,46
$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
$GPS1,230737,2256.258,-15742.864,39,1.3,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-68.6
$GPS2,231326,2256.237,-15742.882,16,1.6,16,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.047,0.213
$KALMAN_X,-216195.2,248.0,-72.7,263736.0,-965.0
$KALMAN_Y,-106196.0,167.5,595.9,245545.9,-3460.4
$MHEAD_RNG_PITCHd_Wd,2.5,3595,-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,-85.65,0.000,6,0.000,0.000,471,1743,3478,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.6,-6.7,11,126,11.60,2.55,0.00,0.000,4,0.143,0.029,2740,3370,3480,0,0,0,0,0,0
$GC,223,-1.06,-116.8,31.3,-13.9,27,228,0.12,2.55,0.00,0.000,6,0.108,0.032,2768,1789,3481,0,0,0,0,0,0
$GC,491,-0.97,-116.8,67.3,-13.0,51,495,0.00,2.72,0.00,0.000,4,0.000,0.059,2768,193,3482,0,0,0,0,0,0
$GC,548,-0.97,-116.8,75.5,-13.6,55,552,0.00,2.42,0.00,0.000,6,0.000,0.021,2768,1812,3482,0,0,0,0,0,0
$GC,813,-0.97,-116.8,107.5,-10.8,79,818,0.10,0.00,0.00,0.000,6,0.117,0.000,2790,1813,3482,0,0,0,0,0,0
$GC,1077,-0.97,-116.8,130.6,-7.3,104,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1813,3483,0,0,0,0,0,0
$GC,1338,-1.01,-116.8,151.2,-8.4,129,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1813,3483,0,0,0,0,0,0
$GC,1595,-1.06,-116.8,172.0,-8.1,153,1599,0.00,2.78,0.00,0.000,4,0.000,0.069,2790,192,3483,0,0,0,0,0,0
$GC,1641,-1.11,-116.8,176.2,-9.0,156,1650,0.10,2.40,0.00,0.000,6,0.040,0.015,2746,1781,3483,0,0,0,0,0,0
$GC,1905,-1.07,-116.8,200.4,-9.2,181,1911,0.10,2.72,0.00,0.000,4,0.117,0.064,2767,196,3483,0,0,0,0,0,0
$GC,1938,-1.07,-116.8,203.9,-9.0,181,1944,0.00,2.33,0.00,0.000,6,0.000,0.015,2767,1773,3483,0,0,0,0,0,0
$GC,2188,-1.07,-116.8,225.4,-8.8,188,2192,0.00,2.38,0.00,0.000,4,0.000,0.031,2767,3299,3483,0,0,0,0,0,0
$GC,2228,-1.14,-116.8,229.0,-9.3,188,2234,0.00,2.47,0.00,0.000,6,0.000,0.029,2767,1759,3483,0,0,0,0,0,0
$GC,2478,-1.14,-116.8,253.2,-10.0,195,2483,0.00,2.67,0.00,0.000,4,0.000,0.074,2767,189,3483,0,0,0,0,0,0
$GC,2499,-1.14,-116.8,255.5,-10.0,195,2503,0.00,2.33,0.00,0.000,6,0.000,0.018,2767,1749,3483,0,0,0,0,0,0
$GC,2762,-1.14,-116.8,277.9,-8.4,202,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1751,3483,0,0,0,0,0,0
$GC,3005,-1.18,-116.8,297.5,-8.0,208,3010,0.10,2.47,0.00,0.000,4,0.085,0.037,2730,3317,3482,0,0,0,0,0,0
$GC,3048,-1.18,-116.8,301.6,-9.0,209,3053,0.00,2.50,0.00,0.000,6,0.000,0.035,2730,1764,3482,0,0,0,0,0,0
$GC,3327,-1.18,-116.8,326.8,-9.2,216,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1764,3482,0,0,0,0,0,0
$GC,3570,-1.18,-116.8,349.6,-9.6,222,3574,0.00,2.50,0.00,0.000,4,0.000,0.036,2729,3318,3481,0,0,0,0,0,0
$GC,3613,-1.18,-116.8,354.0,-9.4,223,3617,0.00,2.55,0.00,0.000,6,0.000,0.046,2729,1770,3481,0,0,0,0,0,0
$GC,3892,-1.18,-116.8,378.4,-8.5,230,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1770,3480,0,0,0,0,0,0
$GC,4137,-1.18,-116.8,396.9,-7.5,236,4141,0.00,2.55,0.00,0.000,4,0.000,0.041,2729,3320,3479,0,0,0,0,0,0
$GC,4181,-1.18,-116.8,400.5,-7.8,237,4185,0.00,2.58,0.00,0.000,6,0.000,0.057,2729,1779,3479,0,0,0,0,0,0
$GC,4459,-1.18,-116.8,423.5,-8.5,244,4464,0.00,2.47,0.00,0.000,4,0.000,0.043,2729,3308,3477,0,0,0,0,0,0
$GC,4486,-1.18,-116.8,426.1,-8.5,244,4491,0.00,2.60,0.00,0.000,6,0.000,0.061,2729,1768,3477,0,0,0,0,0,0
$GC,4737,-1.18,-116.8,446.2,-7.9,250,4742,0.00,2.97,0.00,0.000,4,0.000,0.117,2729,178,3476,0,0,0,0,0,0
$GC,4797,-1.18,-116.8,451.3,-8.8,251,4801,0.00,2.45,0.00,0.000,6,0.000,0.038,2729,1718,3475,0,0,0,0,0,0
$GC,5060,-1.18,-116.8,470.0,-7.1,258,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1718,3473,0,0,0,0,0,0
$GC,5303,-1.18,-116.8,488.3,-7.5,264,5307,0.00,2.70,0.00,0.000,4,0.000,0.068,2729,3310,3472,0,0,0,0,0,0
$GC,5369,-1.22,-116.8,493.4,-7.2,265,5374,0.00,2.60,0.00,0.000,6,0.000,0.060,2729,1781,3471,0,0,0,0,0,0
$STATE,5460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5460,begin apogee
$GC,5467,-0.31,0.0,500.0,7.2,268,5567,0.90,0.00,96.78,0.917,6,0.076,0.000,2933,1781,3001,0,0,0,0,0,0
$STATE,5567,end apogee,CONTROL_FINISHED_OK
$STATE,5568,begin climb
$GC,5570,1.15,116.8,501.6,0.0,270,5675,1.33,0.00,101.25,0.894,6,0.052,0.000,3254,1781,2523,0,0,0,0,0,0
$GC,5908,1.04,143.9,486.7,6.8,279,5938,0.12,2.72,23.00,0.854,4,0.126,0.050,3230,3350,2413,0,0,0,0,0,0
$GC,6063,0.98,147.7,475.2,7.8,282,6073,0.00,2.62,4.35,0.584,6,0.000,0.061,3229,1829,2399,0,0,0,0,0,0
$GC,6325,0.91,147.7,451.7,9.3,289,6330,0.15,2.55,0.00,0.000,4,0.133,0.041,3200,3362,2395,0,0,0,0,0,0
$GC,6374,0.91,147.7,447.1,8.8,290,6379,0.00,2.62,0.00,0.000,6,0.000,0.054,3200,1829,2394,0,0,0,0,0,0
$GC,6647,0.94,173.8,427.8,6.8,297,6676,0.00,3.03,23.80,0.856,4,0.000,0.104,3199,230,2291,0,0,0,0,0,0
$GC,6724,0.88,177.8,422.3,7.8,298,6735,0.00,2.53,4.70,0.608,6,0.000,0.029,3199,1792,2276,0,0,0,0,0,0
$GC,6979,0.92,204.4,404.7,6.8,305,7009,0.00,2.75,24.50,0.841,4,0.000,0.051,3199,3408,2167,0,0,0,0,0,0
$GC,7085,0.97,204.4,396.9,8.4,307,7089,0.00,2.62,0.00,0.000,6,0.000,0.052,3199,1848,2164,0,0,0,0,0,0
$GC,7345,0.97,204.4,374.6,8.7,314,7350,0.00,2.55,0.00,0.000,4,0.000,0.035,3199,3412,2161,0,0,0,0,0,0
$GC,7425,1.02,204.4,367.5,8.7,315,7431,0.10,2.60,0.00,0.000,6,0.093,0.047,3227,1858,2160,0,0,0,0,0,0
$GC,7675,1.02,204.4,346.5,8.1,322,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1857,2159,0,0,0,0,0,0
$GC,7919,1.07,240.7,330.8,6.3,328,7960,0.00,2.62,31.90,0.804,4,0.000,0.034,3226,3408,2018,0,0,0,0,0,0
$GC,8032,1.10,240.7,322.8,8.4,330,8036,0.00,2.58,0.00,0.000,6,0.000,0.042,3226,1856,2015,0,0,0,0,0,0
$GC,8292,1.10,240.7,300.4,8.9,337,8296,0.00,2.53,0.00,0.000,4,0.000,0.038,3226,3414,2013,0,0,0,0,0,0
$GC,8318,1.10,240.7,297.7,9.8,337,8323,0.00,2.55,0.00,0.000,6,0.000,0.041,3226,1863,2012,0,0,0,0,0,0
$GC,8570,1.11,244.5,277.4,7.8,343,8574,0.00,2.50,0.00,0.000,4,0.000,0.033,3226,3411,2011,0,0,0,0,0,0
$GC,8603,1.16,244.5,274.4,8.6,343,8610,0.10,2.53,0.00,0.000,6,0.088,0.035,3255,1869,2010,0,0,0,0,0,0
$GC,8853,1.16,251.3,254.6,7.7,350,8868,0.00,2.53,9.45,0.673,4,0.000,0.038,3254,3411,1975,0,0,0,0,0,0
$GC,8914,1.16,251.3,249.7,8.7,351,8918,0.00,2.47,0.00,0.000,6,0.000,0.040,3254,1891,1974,0,0,0,0,0,0
$GC,9181,1.16,251.3,226.0,9.2,358,9186,0.00,2.85,0.00,0.000,4,0.000,0.067,3255,236,1973,0,0,0,0,0,0
$GC,9197,1.11,251.3,224.3,9.3,358,9201,0.00,2.60,0.00,0.000,6,0.000,0.023,3254,1915,1972,0,0,0,0,0,0
$GC,9459,1.11,251.3,201.7,8.5,365,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1917,1972,0,0,0,0,0,0
$GC,9711,1.12,261.1,182.9,7.6,386,9726,0.00,2.92,9.70,0.614,4,0.000,0.062,3255,237,1935,0,0,0,0,0,0
$GC,9745,1.07,261.1,180.7,8.4,388,9750,0.10,2.62,0.00,0.000,6,0.129,0.021,3234,1912,1934,0,0,0,0,0,0
$GC,10011,1.07,261.1,157.2,9.7,412,10015,0.00,2.35,0.00,0.000,4,0.000,0.033,3234,3413,1934,0,0,0,0,0,0
$GC,10032,1.10,261.1,154.3,10.2,413,10038,0.00,2.45,0.00,0.000,6,0.000,0.032,3234,1881,1934,0,0,0,0,0,0
$GC,10296,1.10,261.1,126.3,10.9,438,10300,0.00,2.42,0.00,0.000,4,0.000,0.035,3234,3422,1934,0,0,0,0,0,0
$GC,10330,1.18,261.1,122.4,10.1,440,10339,0.00,2.47,0.00,0.000,6,0.000,0.038,3234,1904,1934,0,0,0,0,0,0
$GC,10599,1.26,274.5,101.4,7.4,465,10624,0.17,2.90,13.23,0.568,4,0.063,0.061,3284,247,1881,0,0,0,0,0,0
$GC,10653,1.16,274.5,96.2,9.2,469,10661,0.12,2.60,0.00,0.000,6,0.087,0.018,3252,1929,1880,0,0,0,0,0,0
$GC,10918,1.30,341.3,81.6,4.9,494,10982,0.12,2.92,57.30,0.579,4,0.074,0.058,3290,242,1609,0,0,0,0,0,0
$GC,11014,1.25,341.3,74.7,9.6,502,11018,0.00,2.65,0.00,0.000,6,0.000,0.022,3290,1938,1607,0,0,0,0,0,0
$GC,11281,1.25,341.3,47.7,10.7,526,11286,0.00,2.90,0.00,0.000,4,0.000,0.059,3290,234,1605,0,0,0,0,0,0
$GC,11301,1.25,341.3,45.0,11.1,527,11306,0.00,2.62,0.00,0.000,6,0.000,0.019,3290,1938,1603,0,0,0,0,0,0
$GC,11597,1.25,341.3,14.3,10.5,562,11606,0.00,2.92,0.00,0.000,4,0.000,0.058,3290,247,1603,0,0,0,0,0,0
$GC,11616,1.25,341.3,11.9,10.6,564,11626,0.00,2.62,0.00,0.000,6,0.000,0.025,3290,1924,1603,0,0,0,0,0,0
$STATE,11701,end climb,SURFACE_DEPTH_REACHED
$STATE,11701,begin surface coast
$FINISH,0.3,1.023286
$STATE,11761,end surface coast,CONTROL_FINISHED_OK
$STATE,11761,begin surface
$SM_CCo,11782,75.75,0.443,1,0,1288,420.20
$SM_GC,0.89,0.00,0.00,75.75,0.000,0.000,0.443,476,1731,1288,-11.61,-1.13,420.20
$IRIDIUM_FIX,2248.70,-15740.63,081299,202000
$TT8_MAMPS,0.025311
$HUMID,44.56
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.40
$XPDR_PINGS,57
$24V_AH,23.5,29.248
$10V_AH,10.3,29.866
$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,26.700,151.300,399.950,75.750,0.000,27.965,28.021,153.175,14.250,0.000,17.857,1176.648,7776.602,574.331,2152.752,533.550,33.370,1385.047,0.000,2161.428,0.000,0.536,0.000
$DEVICE_MAMPS,142.662,116.584,917.332,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,394.158,340.918,447.051,817.089,1236.034,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,44789,584
$CAP_FILE_SIZE,121273,0
$CFSIZE,260165632,170500096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140910,023325,2255.967,-15743.119,39,1.1,39,10.1