version: 66.06
glider: 146
mission: 5
dive: 210
start: 9 14 110 23 30 53
data:
$ID,146
$MISSION,5
$DIVE,210
$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,-251447.84
$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,42
$R_STBD_OVSHOOT,29
$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
$GPS1,232325,2254.770,-15743.753,6,1.9,6,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-65.3
$GPS2,232958,2254.744,-15743.791,13,2.1,32,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.071,0.206
$KALMAN_X,-225471.8,240.4,97.3,271283.3,-1140.7
$KALMAN_Y,-126192.5,364.3,351.2,262829.5,-3074.4
$MHEAD_RNG_PITCHd_Wd,8.9,6760,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.15,-116.8,0.0,0.0,0,97,0.00,0.00,-79.12,0.000,2,0.000,0.000,474,1741,3260,0,0,0,0,0,0
$GC,100,-1.15,-116.8,3.3,-4.2,10,126,11.40,2.62,-4.28,0.000,4,0.135,0.041,2742,3364,3481,0,0,0,0,0,0
$GC,231,-1.04,-116.8,28.1,-13.7,28,241,0.10,2.58,0.00,0.000,6,0.076,0.031,2769,1792,3481,0,0,0,0,0,0
$GC,509,-0.94,-116.8,63.5,-12.1,54,514,0.10,2.75,0.00,0.000,4,0.117,0.062,2792,189,3482,0,0,0,0,0,0
$GC,579,-0.94,-116.8,72.1,-11.5,59,584,0.00,2.45,0.00,0.000,6,0.000,0.015,2792,1823,3482,0,0,0,0,0,0
$GC,846,-0.94,-116.8,96.8,-8.8,83,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1824,3482,0,0,0,0,0,0
$GC,1106,-0.94,-116.8,119.6,-9.2,108,1111,0.00,2.78,0.00,0.000,4,0.000,0.060,2792,193,3483,0,0,0,0,0,0
$GC,1151,-0.94,-116.8,123.4,-9.6,111,1156,0.00,2.42,0.00,0.000,6,0.000,0.015,2792,1813,3483,0,0,0,0,0,0
$GC,1419,-0.99,-116.8,145.7,-8.2,135,1423,0.00,2.33,0.00,0.000,4,0.000,0.031,2792,3315,3483,0,0,0,0,0,0
$GC,1454,-1.06,-116.8,149.1,-8.2,137,1460,0.10,2.50,0.00,0.000,6,0.081,0.028,2752,1744,3483,0,0,0,0,0,0
$GC,1718,-1.01,-116.8,174.2,-9.7,162,1727,0.12,0.00,0.00,0.000,6,0.103,0.000,2780,1743,3484,0,0,0,0,0,0
$GC,1984,-1.01,-116.8,196.2,-8.1,187,1988,0.00,2.62,0.00,0.000,4,0.000,0.065,2780,197,3483,0,0,0,0,0,0
$GC,2013,-1.01,-116.8,199.0,-8.8,189,2017,0.00,2.35,0.00,0.000,6,0.000,0.023,2780,1770,3483,0,0,0,0,0,0
$GC,2273,-1.01,-116.8,219.2,-7.6,196,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1771,3484,0,0,0,0,0,0
$GC,2517,-1.01,-116.8,236.9,-7.2,202,2522,0.00,2.70,0.00,0.000,4,0.000,0.072,2780,196,3483,0,0,0,0,0,0
$GC,2568,-1.06,-116.8,240.8,-8.0,203,2573,0.00,2.33,0.00,0.000,6,0.000,0.023,2780,1737,3483,0,0,0,0,0,0
$GC,2841,-1.11,-116.8,258.6,-6.5,210,2845,0.00,2.47,0.00,0.000,4,0.000,0.031,2780,3319,3483,0,0,0,0,0,0
$GC,2869,-1.18,-116.8,260.6,-6.7,210,2874,0.17,2.50,0.00,0.000,6,0.058,0.035,2724,1749,3483,0,0,0,0,0,0
$GC,3121,-1.12,-116.8,285.6,-10.6,216,3126,0.15,2.47,0.00,0.000,4,0.096,0.032,2758,3323,3482,0,0,0,0,0,0
$GC,3142,-1.12,-116.8,287.9,-9.0,216,3146,0.00,2.47,0.00,0.000,6,0.000,0.030,2758,1761,3482,0,0,0,0,0,0
$GC,3398,-1.12,-116.8,309.6,-8.7,223,3402,0.00,2.47,0.00,0.000,4,0.000,0.031,2758,3325,3482,0,0,0,0,0,0
$GC,3426,-1.16,-116.8,312.0,-9.2,223,3430,0.00,2.50,0.00,0.000,6,0.000,0.033,2758,1769,3482,0,0,0,0,0,0
$GC,3676,-1.16,-116.8,333.2,-8.6,229,3680,0.00,2.80,0.00,0.000,4,0.000,0.082,2757,188,3482,0,0,0,0,0,0
$GC,3747,-1.16,-116.8,340.4,-10.0,230,3751,0.00,2.38,0.00,0.000,6,0.000,0.027,2758,1726,3481,0,0,0,0,0,0
$GC,4005,-1.20,-116.8,363.4,-8.8,237,4009,0.00,2.62,0.00,0.000,4,0.000,0.048,2757,3357,3480,0,0,0,0,0,0
$GC,4032,-1.26,-116.8,365.8,-8.5,237,4037,0.15,2.62,0.00,0.000,6,0.064,0.044,2707,1756,3480,0,0,0,0,0,0
$GC,4282,-1.20,-116.8,387.6,-8.5,243,4287,0.12,2.58,0.00,0.000,4,0.107,0.036,2735,3348,3479,0,0,0,0,0,0
$GC,4316,-1.20,-116.8,390.0,-6.6,243,4322,0.00,2.65,0.00,0.000,6,0.000,0.050,2736,1757,3479,0,0,0,0,0,0
$GC,4566,-1.20,-116.8,404.3,-5.6,250,4570,0.00,2.55,0.00,0.000,4,0.000,0.044,2736,3346,3477,0,0,0,0,0,0
$GC,4587,-1.20,-116.8,405.5,-5.6,250,4592,0.00,2.62,0.00,0.000,6,0.000,0.055,2735,1768,3478,0,0,0,0,0,0
$GC,4844,-1.20,-116.8,421.0,-6.4,257,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1768,3476,0,0,0,0,0,0
$GC,5087,-1.20,-116.8,439.2,-7.7,263,5091,0.00,2.90,0.00,0.000,4,0.000,0.104,2735,185,3475,0,0,0,0,0,0
$GC,5119,-1.20,-116.8,442.4,-9.3,263,5125,0.00,2.50,0.00,0.000,6,0.000,0.031,2736,1755,3475,0,0,0,0,0,0
$GC,5370,-1.20,-116.8,463.5,-8.3,270,5375,0.00,2.70,0.00,0.000,4,0.000,0.058,2735,3365,3473,0,0,0,0,0,0
$GC,5414,-1.27,-116.8,467.4,-8.8,271,5419,0.00,2.70,0.00,0.000,6,0.000,0.062,2735,1775,3473,0,0,0,0,0,0
$GC,5692,-1.27,-116.8,488.6,-7.3,278,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1775,3470,0,0,0,0,0,0
$STATE,5893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5893,begin apogee
$GC,5900,-0.31,0.0,502.0,6.4,283,6000,0.85,0.00,96.00,0.922,6,0.076,0.000,2930,1840,3001,0,0,0,0,0,0
$STATE,6000,end apogee,CONTROL_FINISHED_OK
$STATE,6001,begin climb
$GC,6003,1.15,116.8,503.3,0.0,285,6115,1.33,2.72,100.12,0.898,4,0.045,0.055,3251,3381,2523,0,0,0,0,0,0
$GC,6161,1.05,137.2,500.0,7.1,288,6186,0.12,2.72,18.15,0.836,6,0.123,0.058,3227,1812,2440,0,0,0,0,0,0
$GC,6461,1.02,180.4,480.4,6.0,296,6501,0.00,0.00,38.20,0.874,6,0.000,0.000,3227,1812,2265,0,0,0,0,0,0
$GC,6744,0.96,180.4,457.5,8.8,303,6748,0.00,2.62,0.00,0.000,4,0.000,0.042,3227,3390,2257,0,0,0,0,0,0
$GC,6879,0.92,180.4,443.6,10.9,306,6885,0.12,2.67,0.00,0.000,6,0.123,0.054,3203,1815,2255,0,0,0,0,0,0
$GC,7158,0.92,180.4,418.0,9.0,313,7163,0.00,2.60,0.00,0.000,4,0.000,0.041,3203,3396,2254,0,0,0,0,0,0
$GC,7214,0.92,180.4,413.1,8.2,314,7219,0.00,2.67,0.00,0.000,6,0.000,0.049,3203,1815,2253,0,0,0,0,0,0
$GC,7481,0.97,217.3,395.2,6.3,321,7522,0.00,2.67,31.50,0.844,4,0.000,0.038,3203,3390,2114,0,0,0,0,0,0
$GC,7581,1.07,267.5,389.5,5.7,323,7633,0.12,2.62,45.12,0.837,6,0.083,0.048,3235,1832,1910,0,0,0,0,0,0
$GC,7894,1.07,267.6,365.0,8.0,331,7899,0.00,2.55,0.00,0.000,4,0.000,0.031,3235,3400,1901,0,0,0,0,0,0
$GC,7962,1.07,267.6,359.0,9.6,332,7967,0.00,2.60,0.00,0.000,6,0.000,0.041,3236,1836,1900,0,0,0,0,0,0
$GC,8217,1.07,267.6,334.5,9.8,339,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1836,1898,0,0,0,0,0,0
$GC,8460,1.07,267.6,310.2,10.0,345,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1836,1897,0,0,0,0,0,0
$GC,8706,1.07,267.6,287.3,9.1,351,8710,0.00,2.50,0.00,0.000,4,0.000,0.028,3235,3399,1897,0,0,0,0,0,0
$GC,8772,1.11,267.6,281.2,9.0,352,8776,0.00,2.58,0.00,0.000,6,0.000,0.039,3235,1828,1896,0,0,0,0,0,0
$GC,9026,1.11,267.6,258.4,9.3,359,9031,0.00,2.53,0.00,0.000,4,0.000,0.030,3235,3400,1895,0,0,0,0,0,0
$GC,9054,1.11,267.6,255.8,9.3,359,9059,0.00,2.53,0.00,0.000,6,0.000,0.033,3235,1839,1894,0,0,0,0,0,0
$GC,9304,1.11,267.6,233.1,9.0,365,9309,0.00,2.75,0.00,0.000,4,0.000,0.067,3235,241,1894,0,0,0,0,0,0
$GC,9319,1.11,267.6,231.5,9.3,365,9323,0.00,2.50,0.00,0.000,6,0.000,0.019,3236,1854,1894,0,0,0,0,0,0
$GC,9588,1.11,267.6,206.0,9.5,372,9589,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1857,1894,0,0,0,0,0,0
$GC,9838,1.13,280.7,185.0,7.4,390,9854,0.00,2.85,10.02,0.616,4,0.000,0.067,3235,236,1856,0,0,0,0,0,0
$GC,9861,1.13,280.7,183.0,8.2,392,9865,0.00,2.50,0.00,0.000,6,0.000,0.025,3236,1858,1855,0,0,0,0,0,0
$GC,10125,1.14,288.9,163.0,7.6,416,10139,0.00,2.45,8.57,0.581,4,0.000,0.028,3236,3372,1823,0,0,0,0,0,0
$GC,10170,1.21,293.9,159.4,7.8,420,10185,0.12,2.47,6.22,0.529,6,0.075,0.033,3272,1839,1801,0,0,0,0,0,0
$GC,10440,1.16,293.9,135.4,9.7,445,10444,0.00,2.45,0.00,0.000,4,0.000,0.027,3272,3383,1800,0,0,0,0,0,0
$GC,10480,1.16,293.9,130.9,10.0,448,10484,0.00,2.50,0.00,0.000,6,0.000,0.039,3272,1841,1799,0,0,0,0,0,0
$GC,10744,1.16,293.9,105.0,10.0,472,10752,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1841,1799,0,0,0,0,0,0
$GC,11008,1.16,293.9,80.5,8.6,497,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1841,1799,0,0,0,0,0,0
$GC,11275,1.16,293.9,58.1,8.2,522,11279,0.00,2.70,0.00,0.000,4,0.000,0.058,3271,241,1799,0,0,0,0,0,0
$GC,11295,1.17,295.3,56.3,7.9,523,11299,0.00,2.45,0.00,0.000,6,0.000,0.018,3271,1859,1799,0,0,0,0,0,0
$GC,11562,1.17,295.3,34.9,8.3,547,11567,0.00,2.38,0.00,0.000,4,0.000,0.025,3272,3381,1799,0,0,0,0,0,0
$GC,11585,1.21,295.3,32.9,8.4,548,11589,0.00,2.47,0.00,0.000,6,0.000,0.031,3272,1847,1799,0,0,0,0,0,0
$GC,11917,1.22,299.1,5.4,7.8,593,11935,0.00,2.50,5.93,0.420,4,0.000,0.031,3272,3379,1780,0,0,0,0,0,0
$STATE,11945,end climb,SURFACE_DEPTH_REACHED
$STATE,11945,begin surface coast
$FINISH,1.2,1.023305
$STATE,11961,end surface coast,CONTROL_FINISHED_OK
$STATE,11961,begin surface
$SM_CCo,11984,104.18,0.461,1,0,1287,420.20
$SM_GC,0.96,0.00,0.00,104.18,0.000,0.000,0.461,473,1767,1287,-11.62,-0.08,420.20
$IRIDIUM_FIX,2246.36,-15745.85,091299,202035
$TT8_MAMPS,0.026078
$HUMID,44.52
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.50
$XPDR_PINGS,54
$24V_AH,23.5,30.105
$10V_AH,10.4,30.778
$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,26.375,149.200,359.850,104.175,0.000,30.207,27.211,176.213,13.500,0.000,35.203,1198.672,7909.913,563.296,2258.621,556.563,33.400,1373.588,0.000,2246.738,0.000,0.537,0.000
$DEVICE_MAMPS,134.992,117.351,921.934,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,404.566,348.672,461.419,872.346,1319.461,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,47840,598
$CAP_FILE_SIZE,122815,0
$CFSIZE,260165632,170065920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150910,025338,2254.572,-15743.748,29,1.6,29,10.1