version: 66.06
glider: 146
mission: 5
dive: 218
start: 9 16 110 3 20 56
data:
$ID,146
$MISSION,5
$DIVE,218
$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,-251602.39
$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,39
$R_STBD_OVSHOOT,21
$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
$GPS1,031406,2253.233,-15743.729,33,1.4,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-67.9
$GPS2,032002,2253.214,-15743.725,14,1.5,20,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.078,0.204
$KALMAN_X,-233988.4,473.0,295.9,279479.2,-1394.2
$KALMAN_Y,-148999.8,240.0,358.6,282916.3,-3808.6
$MHEAD_RNG_PITCHd_Wd,10.8,9339,-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,-116.8,0.0,0.0,0,98,0.00,0.00,-78.88,0.000,2,0.000,0.000,476,1755,3236,0,0,0,0,0,0
$GC,101,-1.15,-116.8,3.1,-3.7,10,127,11.45,2.60,-4.72,0.000,4,0.137,0.038,2742,3370,3480,0,0,0,0,0,0
$GC,204,-1.06,-116.8,24.0,-12.8,24,214,0.10,2.60,0.00,0.000,6,0.075,0.032,2770,1789,3481,0,0,0,0,0,0
$GC,487,-0.94,-116.8,60.6,-12.3,52,492,0.12,2.75,0.00,0.000,4,0.110,0.062,2796,186,3481,0,0,0,0,0,0
$GC,521,-0.85,-116.8,64.9,-11.8,54,525,0.00,2.45,0.00,0.000,6,0.000,0.015,2797,1827,3482,0,0,0,0,0,0
$GC,784,-0.85,-116.8,88.2,-7.7,78,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1828,3482,0,0,0,0,0,0
$GC,1038,-0.85,-116.8,108.3,-8.6,102,1042,0.00,2.78,0.00,0.000,4,0.000,0.064,2796,192,3482,0,0,0,0,0,0
$GC,1094,-0.90,-116.8,113.4,-8.7,106,1104,0.00,2.47,0.00,0.000,6,0.000,0.017,2796,1827,3483,0,0,0,0,0,0
$GC,1363,-0.94,-116.8,133.9,-8.0,131,1367,0.00,2.80,0.00,0.000,4,0.000,0.059,2797,186,3483,0,0,0,0,0,0
$GC,1396,-0.98,-116.8,136.6,-7.8,133,1401,0.00,2.45,0.00,0.000,6,0.000,0.015,2797,1820,3483,0,0,0,0,0,0
$GC,1665,-1.04,-116.8,156.4,-7.5,157,1670,0.10,2.33,0.00,0.000,4,0.085,0.026,2759,3311,3483,0,0,0,0,0,0
$GC,1693,-1.04,-116.8,159.3,-8.8,159,1697,0.00,2.50,0.00,0.000,6,0.000,0.031,2759,1736,3483,0,0,0,0,0,0
$GC,1956,-1.04,-116.8,182.3,-9.1,183,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1734,3484,0,0,0,0,0,0
$GC,2235,-1.04,-116.8,208.2,-9.2,204,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1733,3484,0,0,0,0,0,0
$GC,2479,-1.04,-116.8,232.2,-9.9,210,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1733,3483,0,0,0,0,0,0
$GC,2722,-1.04,-116.8,255.7,-9.6,216,2727,0.00,2.50,0.00,0.000,4,0.000,0.028,2759,3316,3483,0,0,0,0,0,0
$GC,2764,-1.08,-116.8,259.1,-8.1,217,2768,0.00,2.47,0.00,0.000,6,0.000,0.034,2759,1762,3483,0,0,0,0,0,0
$GC,3047,-1.08,-116.8,280.4,-7.6,224,3051,0.00,2.70,0.00,0.000,4,0.000,0.071,2759,187,3483,0,0,0,0,0,0
$GC,3085,-1.08,-116.8,283.4,-8.2,225,3090,0.00,2.35,0.00,0.000,6,0.000,0.020,2759,1743,3483,0,0,0,0,0,0
$GC,3370,-1.08,-116.8,307.5,-8.6,232,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1745,3482,0,0,0,0,0,0
$GC,3613,-1.12,-116.8,329.3,-9.0,238,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1744,3482,0,0,0,0,0,0
$GC,3857,-1.16,-116.8,347.9,-7.3,244,3861,0.00,2.55,0.00,0.000,4,0.000,0.046,2759,3336,3481,0,0,0,0,0,0
$GC,3874,-1.22,-116.8,348.9,-6.4,244,3880,0.10,2.60,0.00,0.000,6,0.080,0.047,2715,1754,3480,0,0,0,0,0,0
$GC,4136,-1.18,-116.8,368.7,-8.0,251,4141,0.12,2.83,0.00,0.000,4,0.103,0.098,2742,186,3480,0,0,0,0,0,0
$GC,4163,-1.18,-116.8,371.3,-8.9,251,4168,0.00,2.42,0.00,0.000,6,0.000,0.029,2742,1748,3479,0,0,0,0,0,0
$GC,4415,-1.18,-116.8,392.9,-9.0,257,4419,0.00,2.58,0.00,0.000,4,0.000,0.048,2742,3349,3478,0,0,0,0,0,0
$GC,4481,-1.24,-116.8,399.6,-9.5,258,4486,0.00,2.65,0.00,0.000,6,0.000,0.052,2742,1776,3478,0,0,0,0,0,0
$GC,4736,-1.24,-116.8,424.2,-9.7,265,4740,0.00,2.90,0.00,0.000,4,0.000,0.108,2742,186,3477,0,0,0,0,0,0
$GC,4769,-1.24,-116.8,427.5,-9.9,265,4775,0.00,2.53,0.00,0.000,6,0.000,0.030,2742,1764,3476,0,0,0,0,0,0
$GC,5019,-1.27,-116.8,448.3,-8.1,272,5024,0.00,2.65,0.00,0.000,4,0.000,0.053,2742,3358,3474,0,0,0,0,0,0
$GC,5053,-1.35,-116.8,451.2,-8.6,272,5059,0.15,2.67,0.00,0.000,6,0.063,0.054,2693,1782,3474,0,0,0,0,0,0
$GC,5304,-1.28,-116.8,476.7,-10.5,279,5309,0.12,2.62,0.00,0.000,4,0.110,0.053,2719,3356,3473,0,0,0,0,0,0
$GC,5348,-1.28,-116.8,481.3,-9.1,280,5353,0.00,2.65,0.00,0.000,6,0.000,0.061,2719,1798,3472,0,0,0,0,0,0
$STATE,5583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5583,begin apogee
$GC,5590,-0.31,0.0,502.3,8.9,286,5690,0.93,0.00,96.25,0.917,6,0.074,0.000,2930,1798,3001,0,0,0,0,0,0
$STATE,5691,end apogee,CONTROL_FINISHED_OK
$STATE,5691,begin climb
$GC,5693,1.15,116.8,504.9,0.0,288,5798,1.35,0.00,100.28,0.895,6,0.041,0.000,3254,1798,2523,0,0,0,0,0,0
$GC,6032,1.03,140.3,490.7,6.9,297,6058,0.15,2.78,20.33,0.847,4,0.141,0.054,3225,3405,2426,0,0,0,0,0,0
$GC,6083,0.99,160.2,487.3,7.1,298,6107,0.00,2.72,18.17,0.832,6,0.000,0.061,3225,1829,2349,0,0,0,0,0,0
$GC,6359,0.93,163.2,465.6,7.9,305,6364,0.10,2.62,0.00,0.000,4,0.132,0.043,3204,3404,2342,0,0,0,0,0,0
$GC,6421,0.95,185.6,461.1,7.0,306,6450,0.00,2.67,22.85,0.845,6,0.000,0.053,3204,1845,2243,0,0,0,0,0,0
$GC,6732,0.99,212.6,439.6,6.8,314,6761,0.00,2.65,24.25,0.844,4,0.000,0.044,3204,3416,2134,0,0,0,0,0,0
$GC,6820,1.02,212.6,433.1,8.4,316,6825,0.00,2.67,0.00,0.000,6,0.000,0.055,3204,1857,2130,0,0,0,0,0,0
$GC,7098,1.04,225.7,412.4,7.4,323,7114,0.10,0.00,12.68,0.796,6,0.098,0.000,3232,1857,2079,0,0,0,0,0,0
$GC,7344,1.00,225.7,390.3,9.2,329,7348,0.00,2.55,0.00,0.000,4,0.000,0.039,3232,3418,2075,0,0,0,0,0,0
$GC,7379,1.00,225.7,386.9,9.8,329,7384,0.00,2.60,0.00,0.000,6,0.000,0.042,3232,1860,2073,0,0,0,0,0,0
$GC,7628,1.00,225.7,364.3,9.0,336,7633,0.00,2.53,0.00,0.000,4,0.000,0.033,3232,3416,2073,0,0,0,0,0,0
$GC,7696,1.00,225.7,358.0,9.6,337,7700,0.00,2.58,0.00,0.000,6,0.000,0.044,3232,1866,2072,0,0,0,0,0,0
$GC,7951,1.00,225.7,336.7,8.1,344,7955,0.00,2.90,0.00,0.000,4,0.000,0.084,3232,229,2070,0,0,0,0,0,0
$GC,8000,0.93,225.7,332.3,8.9,345,8005,0.15,2.60,0.00,0.000,6,0.116,0.026,3202,1878,2069,0,0,0,0,0,0
$GC,8274,1.01,258.6,314.4,6.5,352,8305,0.00,0.00,29.08,0.788,6,0.000,0.000,3202,1879,1946,0,0,0,0,0,0
$GC,8516,1.06,258.6,294.6,8.4,358,8518,0.12,0.00,0.00,0.000,6,0.080,0.000,3235,1880,1942,0,0,0,0,0,0
$GC,8760,1.06,258.6,272.3,9.1,364,8764,0.00,2.88,0.00,0.000,4,0.000,0.068,3234,231,1941,0,0,0,0,0,0
$GC,8775,1.06,258.6,270.7,9.4,364,8780,0.00,2.60,0.00,0.000,6,0.000,0.019,3234,1890,1940,0,0,0,0,0,0
$GC,9038,1.06,258.6,248.2,8.6,371,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1893,1940,0,0,0,0,0,0
$GC,9280,1.06,258.6,227.0,8.5,377,9285,0.00,2.85,0.00,0.000,4,0.000,0.064,3234,230,1939,0,0,0,0,0,0
$GC,9295,1.06,258.6,225.4,8.9,377,9299,0.00,2.58,0.00,0.000,6,0.000,0.021,3234,1893,1937,0,0,0,0,0,0
$GC,9558,1.06,258.6,201.9,9.0,384,9562,0.00,2.40,0.00,0.000,4,0.000,0.031,3234,3423,1937,0,0,0,0,0,0
$GC,9591,1.10,258.6,198.8,8.8,384,9597,0.00,2.55,0.00,0.000,6,0.000,0.034,3234,1851,1937,0,0,0,0,0,0
$GC,9857,1.10,258.6,176.1,9.0,409,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1851,1937,0,0,0,0,0,0
$GC,10119,1.10,258.6,152.1,9.1,434,10124,0.00,2.50,0.00,0.000,4,0.000,0.030,3234,3415,1937,0,0,0,0,0,0
$GC,10176,1.17,258.6,146.9,8.9,438,10186,0.00,2.55,0.00,0.000,6,0.000,0.039,3235,1859,1937,0,0,0,0,0,0
$GC,10444,1.17,258.6,125.5,8.2,463,10449,0.00,2.75,0.00,0.000,4,0.000,0.068,3234,237,1937,0,0,0,0,0,0
$GC,10461,1.18,265.3,123.6,7.7,464,10476,0.00,2.55,6.00,0.509,6,0.000,0.018,3235,1902,1919,0,0,0,0,0,0
$GC,10730,1.25,287.5,104.2,7.0,489,10756,0.15,0.00,21.27,0.591,6,0.067,0.000,3279,1902,1826,0,0,0,0,0,0
$GC,11015,1.25,287.5,75.9,9.7,516,11019,0.00,2.40,0.00,0.000,4,0.000,0.027,3279,3416,1824,0,0,0,0,0,0
$GC,11037,1.25,287.5,73.9,9.2,517,11041,0.00,2.58,0.00,0.000,6,0.000,0.039,3279,1834,1823,0,0,0,0,0,0
$GC,11303,1.27,298.0,52.7,7.5,541,11323,0.00,0.00,9.68,0.509,6,0.000,0.000,3279,1834,1785,0,0,0,0,0,0
$GC,11583,1.27,302.8,31.3,7.8,567,11598,0.00,2.58,5.45,0.426,4,0.000,0.028,3278,3412,1767,0,0,0,0,0,0
$GC,11622,1.31,302.8,27.8,8.4,571,11632,0.00,2.58,0.00,0.000,6,0.000,0.033,3279,1851,1767,0,0,0,0,0,0
$STATE,11916,end climb,SURFACE_DEPTH_REACHED
$STATE,11916,begin surface coast
$FINISH,0.4,1.011432
$STATE,11999,end surface coast,CONTROL_FINISHED_OK
$STATE,12000,begin surface
$SM_CCo,12021,101.90,0.462,1,0,1287,420.20
$SM_GC,1.01,0.00,0.00,101.90,0.000,0.000,0.462,473,1741,1287,-11.62,-0.82,420.20
$IRIDIUM_FIX,2246.36,-15745.85,101299,232319
$TT8_MAMPS,0.025311
$HUMID,45.66
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.50
$XPDR_PINGS,52
$24V_AH,23.5,31.050
$10V_AH,10.3,31.819
$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,26.625,135.725,366.275,101.900,0.000,25.424,23.615,162.344,13.000,0.000,21.880,1220.512,7850.085,575.222,2297.807,540.653,33.375,1365.929,0.000,2308.571,0.000,0.536,0.000
$DEVICE_MAMPS,141.128,108.147,916.565,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,422.828,370.001,490.352,942.572,1425.681,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,47860,625
$CAP_FILE_SIZE,118947,0
$CFSIZE,260165632,169578496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160910,064436,2252.539,-15743.579,36,1.3,48,10.1