version: 66.06
glider: 146
mission: 5
dive: 221
start: 9 16 110 13 48 41
data:
$ID,146
$MISSION,5
$DIVE,221
$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,-251648.95
$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,24
$R_STBD_OVSHOOT,44
$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
$GPS1,134130,2252.062,-15743.337,29,1.5,34,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-65.3
$GPS2,134744,2251.996,-15743.379,10,1.5,10,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.039,0.214
$KALMAN_X,-235446.7,-247.1,54.1,282498.2,-526.8
$KALMAN_Y,-158034.1,-462.7,274.6,290488.2,-2856.0
$MHEAD_RNG_PITCHd_Wd,0.2,11365,-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,-85.80,0.000,6,0.000,0.000,470,1700,3478,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.5,-6.1,11,123,11.55,2.60,0.00,0.000,4,0.140,0.024,2743,3357,3481,0,0,0,0,0,0
$GC,231,-1.07,-116.8,34.5,-13.0,27,241,0.08,2.60,0.00,0.000,6,0.080,0.031,2764,1770,3481,0,0,0,0,0,0
$GC,499,-0.96,-116.8,70.1,-14.2,52,504,0.12,2.70,0.00,0.000,4,0.110,0.062,2792,187,3482,0,0,0,0,0,0
$GC,547,-0.96,-116.8,77.8,-12.9,55,556,0.00,2.42,0.00,0.000,6,0.000,0.015,2791,1792,3481,0,0,0,0,0,0
$GC,807,-0.96,-116.8,105.2,-10.5,80,812,0.00,2.35,0.00,0.000,4,0.000,0.024,2791,3316,3483,0,0,0,0,0,0
$GC,843,-1.01,-116.8,108.7,-9.4,82,852,0.00,2.53,0.00,0.000,6,0.000,0.029,2792,1753,3482,0,0,0,0,0,0
$GC,1109,-1.04,-116.8,130.6,-8.2,107,1113,0.00,2.62,0.00,0.000,4,0.000,0.063,2791,197,3483,0,0,0,0,0,0
$GC,1143,-1.04,-116.8,133.6,-8.9,109,1147,0.00,2.33,0.00,0.000,6,0.000,0.016,2791,1783,3483,0,0,0,0,0,0
$GC,1411,-1.09,-116.8,153.2,-7.2,133,1416,0.12,2.35,0.00,0.000,4,0.072,0.031,2750,3291,3483,0,0,0,0,0,0
$GC,1458,-1.09,-116.8,158.1,-9.7,136,1463,0.00,2.47,0.00,0.000,6,0.000,0.035,2750,1749,3483,0,0,0,0,0,0
$GC,1720,-1.05,-116.8,185.9,-10.7,161,1722,0.10,0.00,0.00,0.000,6,0.118,0.000,2772,1746,3483,0,0,0,0,0,0
$GC,1988,-1.05,-116.8,211.8,-9.5,178,1993,0.00,2.40,0.00,0.000,4,0.000,0.031,2772,3291,3483,0,0,0,0,0,0
$GC,2017,-1.09,-116.8,214.3,-9.1,178,2022,0.00,2.45,0.00,0.000,6,0.000,0.031,2772,1762,3483,0,0,0,0,0,0
$GC,2267,-1.09,-116.8,233.7,-7.4,184,2272,0.00,2.67,0.00,0.000,4,0.000,0.072,2772,194,3483,0,0,0,0,0,0
$GC,2324,-1.14,-116.8,237.9,-7.5,185,2329,0.00,2.28,0.00,0.000,6,0.000,0.023,2772,1719,3483,0,0,0,0,0,0
$GC,2591,-1.14,-116.8,255.9,-6.9,192,2596,0.00,2.47,0.00,0.000,4,0.000,0.026,2772,3296,3483,0,0,0,0,0,0
$GC,2647,-1.23,-116.8,259.9,-7.4,193,2652,0.17,2.47,0.00,0.000,6,0.058,0.038,2715,1754,3483,0,0,0,0,0,0
$GC,2915,-1.14,-116.8,286.6,-10.4,200,2920,0.15,2.45,0.00,0.000,4,0.097,0.028,2750,3291,3483,0,0,0,0,0,0
$GC,2942,-1.14,-116.8,289.5,-9.6,200,2947,0.00,2.45,0.00,0.000,6,0.000,0.038,2750,1764,3483,0,0,0,0,0,0
$GC,3193,-1.14,-116.8,309.5,-7.9,206,3197,0.00,2.75,0.00,0.000,4,0.000,0.077,2750,192,3482,0,0,0,0,0,0
$GC,3221,-1.14,-116.8,312.0,-8.8,206,3225,0.00,2.33,0.00,0.000,6,0.000,0.024,2750,1713,3482,0,0,0,0,0,0
$GC,3471,-1.14,-116.8,331.5,-7.5,212,3475,0.00,2.50,0.00,0.000,4,0.000,0.041,2750,3286,3481,0,0,0,0,0,0
$GC,3512,-1.22,-116.8,334.4,-7.1,213,3517,0.00,2.50,0.00,0.000,6,0.000,0.039,2750,1765,3481,0,0,0,0,0,0
$GC,3797,-1.22,-116.8,356.0,-7.8,220,3801,0.00,2.80,0.00,0.000,4,0.000,0.093,2749,184,3481,0,0,0,0,0,0
$GC,3825,-1.22,-116.8,358.3,-7.8,220,3829,0.00,2.35,0.00,0.000,6,0.000,0.025,2750,1711,3481,0,0,0,0,0,0
$GC,4075,-1.22,-116.8,376.8,-7.3,226,4079,0.00,2.55,0.00,0.000,4,0.000,0.044,2750,3282,3479,0,0,0,0,0,0
$GC,4144,-1.30,-116.8,381.8,-7.7,227,4149,0.15,2.50,0.00,0.000,6,0.062,0.050,2699,1782,3479,0,0,0,0,0,0
$GC,4400,-1.24,-116.8,406.5,-9.8,234,4405,0.12,2.90,0.00,0.000,4,0.107,0.100,2726,185,3477,0,0,0,0,0,0
$GC,4456,-1.24,-116.8,412.4,-10.8,235,4461,0.00,2.38,0.00,0.000,6,0.000,0.027,2726,1695,3477,0,0,0,0,0,0
$GC,4723,-1.24,-116.8,438.1,-9.7,242,4727,0.00,2.60,0.00,0.000,4,0.000,0.056,2726,3279,3476,0,0,0,0,0,0
$GC,4795,-1.28,-116.8,445.1,-9.4,243,4799,0.00,2.55,0.00,0.000,6,0.000,0.061,2726,1767,3476,0,0,0,0,0,0
$GC,5046,-1.28,-116.8,468.2,-9.2,249,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1767,3474,0,0,0,0,0,0
$GC,5288,-1.28,-116.8,487.6,-7.7,255,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1767,3473,0,0,0,0,0,0
$STATE,5530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5530,begin apogee
$GC,5535,-0.31,0.0,501.0,5.1,261,5635,0.90,0.00,95.97,0.912,6,0.073,0.000,2932,1767,3000,0,0,0,0,0,0
$STATE,5635,end apogee,CONTROL_FINISHED_OK
$STATE,5635,begin climb
$GC,5639,1.15,116.8,500.4,0.0,263,5744,1.33,0.00,100.18,0.890,6,0.044,0.000,3254,1766,2524,0,0,0,0,0,0
$GC,5965,1.01,116.8,478.8,8.1,271,5970,0.17,2.65,0.00,0.000,4,0.114,0.048,3219,3335,2514,0,0,0,0,0,0
$GC,6011,1.01,159.9,476.0,6.0,272,6055,0.00,2.62,36.75,0.863,6,0.000,0.059,3219,1815,2348,0,0,0,0,0,0
$GC,6336,1.04,222.7,458.3,5.1,280,6397,0.00,2.58,55.28,0.868,4,0.000,0.041,3219,3334,2091,0,0,0,0,0,0
$GC,6436,1.05,230.8,452.0,7.6,282,6450,0.00,2.60,8.23,0.733,6,0.000,0.058,3219,1830,2058,0,0,0,0,0,0
$GC,6700,1.05,230.8,430.5,8.4,289,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1830,2053,0,0,0,0,0,0
$GC,6944,1.05,230.8,407.7,9.6,295,6948,0.00,2.45,0.00,0.000,4,0.000,0.035,3219,3333,2051,0,0,0,0,0,0
$GC,6990,1.05,230.8,402.9,10.7,296,6994,0.00,2.50,0.00,0.000,6,0.000,0.049,3219,1841,2050,0,0,0,0,0,0
$GC,7268,1.05,230.8,374.6,9.9,303,7273,0.00,2.88,0.00,0.000,4,0.000,0.088,3219,232,2048,0,0,0,0,0,0
$GC,7295,0.99,230.8,371.8,10.1,303,7299,0.00,2.45,0.00,0.000,6,0.000,0.023,3219,1788,2047,0,0,0,0,0,0
$GC,7546,1.00,234.4,351.8,7.8,309,7551,0.00,2.60,0.00,0.000,4,0.000,0.038,3219,3393,2047,0,0,0,0,0,0
$GC,7647,1.02,253.7,344.0,7.1,311,7673,0.00,2.53,19.48,0.795,6,0.000,0.040,3219,1865,1966,0,0,0,0,0,0
$GC,7918,1.05,275.2,325.0,7.0,318,7944,0.00,2.95,20.00,0.782,4,0.000,0.077,3219,238,1878,0,0,0,0,0,0
$GC,8010,1.05,275.2,317.5,8.1,320,8015,0.00,2.58,0.00,0.000,6,0.000,0.019,3219,1861,1875,0,0,0,0,0,0
$GC,8283,1.05,275.2,296.5,8.0,327,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1862,1873,0,0,0,0,0,0
$GC,8528,1.08,275.2,275.2,8.8,333,8532,0.00,2.45,0.00,0.000,4,0.000,0.035,3219,3392,1873,0,0,0,0,0,0
$GC,8544,1.13,275.2,273.4,9.1,333,8550,0.10,2.53,0.00,0.000,6,0.094,0.038,3248,1844,1872,0,0,0,0,0,0
$GC,8805,1.13,275.2,245.5,10.8,340,8810,0.00,2.50,0.00,0.000,4,0.000,0.034,3248,3400,1871,0,0,0,0,0,0
$GC,8851,1.13,275.2,240.7,11.4,341,8855,0.00,2.53,0.00,0.000,6,0.000,0.038,3248,1857,1871,0,0,0,0,0,0
$GC,9128,1.13,275.2,212.2,10.4,348,9132,0.00,2.78,0.00,0.000,4,0.000,0.072,3248,241,1870,0,0,0,0,0,0
$GC,9167,1.06,275.2,207.6,11.9,349,9172,0.00,2.50,0.00,0.000,6,0.000,0.020,3248,1859,1869,0,0,0,0,0,0
$GC,9431,1.06,275.2,178.6,11.3,368,9435,0.00,2.40,0.00,0.000,4,0.000,0.037,3248,3386,1869,0,0,0,0,0,0
$GC,9465,1.06,275.2,174.2,12.1,370,9471,0.00,2.47,0.00,0.000,6,0.000,0.032,3248,1856,1869,0,0,0,0,0,0
$GC,9733,1.06,275.2,148.1,8.7,395,9738,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1856,1869,0,0,0,0,0,0
$GC,9994,1.07,283.9,128.4,7.6,420,10009,0.00,2.80,7.57,0.551,4,0.000,0.064,3248,229,1843,0,0,0,0,0,0
$GC,10026,1.07,283.9,125.8,8.2,422,10036,0.00,2.55,0.00,0.000,6,0.000,0.025,3248,1854,1843,0,0,0,0,0,0
$GC,10293,1.13,291.2,105.8,7.7,447,10308,0.00,2.47,7.93,0.537,4,0.000,0.029,3248,3379,1813,0,0,0,0,0,0
$GC,10368,1.23,292.9,100.0,7.9,453,10372,0.00,2.47,0.00,0.000,6,0.000,0.032,3248,1852,1813,0,0,0,0,0,0
$GC,10635,1.34,315.7,80.6,7.0,477,10663,0.17,2.78,22.65,0.571,4,0.066,0.060,3298,243,1712,0,0,0,0,0,0
$GC,10683,1.30,315.7,75.9,9.9,480,10692,0.00,2.53,0.00,0.000,6,0.000,0.018,3298,1864,1711,0,0,0,0,0,0
$GC,10948,1.30,315.7,52.9,10.4,505,10953,0.00,2.35,0.00,0.000,4,0.000,0.032,3298,3367,1710,0,0,0,0,0,0
$GC,10969,1.30,315.7,50.5,10.9,506,10973,0.00,2.45,0.00,0.000,6,0.000,0.032,3298,1846,1709,0,0,0,0,0,0
$GC,11248,1.34,346.3,25.8,6.6,534,11280,0.00,0.00,26.50,0.522,6,0.000,0.000,3298,1846,1588,0,0,0,0,0,0
$STATE,11449,end climb,SURFACE_DEPTH_REACHED
$STATE,11449,begin surface coast
$FINISH,0.4,1.013790
$STATE,11498,end surface coast,CONTROL_FINISHED_OK
$STATE,11498,begin surface
$SM_CCo,11520,65.78,0.433,1,0,1288,420.20
$SM_GC,0.99,0.00,0.00,65.78,0.000,0.000,0.433,476,1750,1288,-11.61,-0.57,420.20
$IRIDIUM_FIX,2244.02,-15743.68,111299,101034
$TT8_MAMPS,0.026078
$HUMID,44.92
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.50
$XPDR_PINGS,55
$24V_AH,23.5,31.397
$10V_AH,10.3,32.204
$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,26.700,147.375,400.525,65.775,0.000,27.892,31.440,179.516,13.750,0.000,11.710,1163.561,7557.359,531.842,2161.754,552.356,33.378,1359.196,0.000,2162.749,0.000,0.535,0.000
$DEVICE_MAMPS,139.594,100.477,911.963,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.142,339.676,440.051,824.028,1241.855,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,44866,570
$CAP_FILE_SIZE,122083,0
$CFSIZE,260165632,169398272
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160910,170337,2251.726,-15743.432,63,0.9,63,10.1