version: 66.06
glider: 146
mission: 5
dive: 233
start: 9 18 110 7 45 16
data:
$ID,146
$MISSION,5
$DIVE,233
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,800
$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,-251879.33
$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,66
$R_STBD_OVSHOOT,34
$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
$GPS1,073458,2247.874,-15743.904,10,99.0,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-66.6
$GPS2,074422,2247.723,-15743.907,10,99.0,29,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.061,0.209
$KALMAN_X,-243832.8,153.1,227.2,289400.1,-927.2
$KALMAN_Y,-197564.3,-146.7,-144.9,322203.7,-3548.6
$MHEAD_RNG_PITCHd_Wd,6.2,19308,-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,17,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-85.15,0.000,2,0.000,0.000,474,1720,3413,0,0,0,0,0,0
$GC,107,-1.15,-116.8,3.6,-4.4,11,126,11.48,2.60,-1.17,0.000,4,0.138,0.035,2740,3360,3478,0,0,0,0,0,0
$GC,209,-1.04,-116.8,27.0,-13.8,25,218,0.10,2.53,0.00,0.000,6,0.082,0.030,2767,1815,3479,0,0,0,0,0,0
$GC,483,-0.92,-116.8,62.8,-13.3,51,489,0.15,2.78,0.00,0.000,4,0.106,0.065,2800,194,3480,0,0,0,0,0,0
$GC,518,-0.87,-116.8,68.0,-13.2,53,522,0.00,2.42,0.00,0.000,6,0.000,0.021,2800,1817,3480,0,0,0,0,0,0
$GC,785,-0.87,-116.8,94.2,-9.1,77,790,0.00,2.75,0.00,0.000,4,0.000,0.058,2800,193,3480,0,0,0,0,0,0
$GC,842,-0.87,-116.8,100.3,-9.8,81,848,0.00,2.30,0.00,0.000,6,0.000,0.015,2800,1757,3480,0,0,0,0,0,0
$GC,1107,-0.91,-116.8,121.5,-7.2,106,1111,0.00,2.42,0.00,0.000,4,0.000,0.027,2799,3308,3480,0,0,0,0,0,0
$GC,1136,-0.99,-116.8,123.6,-6.1,108,1141,0.00,2.47,0.00,0.000,6,0.000,0.028,2800,1744,3480,0,0,0,0,0,0
$GC,1401,-1.05,-116.8,138.7,-6.1,132,1410,0.12,0.00,0.00,0.000,6,0.072,0.000,2759,1745,3481,0,0,0,0,0,0
$GC,1666,-1.05,-116.8,161.8,-10.0,157,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1743,3481,0,0,0,0,0,0
$GC,1928,-1.05,-116.8,187.4,-9.5,182,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1743,3481,0,0,0,0,0,0
$GC,2197,-1.05,-116.8,211.2,-8.5,199,2201,0.00,2.42,0.00,0.000,4,0.000,0.025,2759,3295,3481,0,0,0,0,0,0
$GC,2247,-1.05,-116.8,215.4,-9.0,200,2251,0.00,2.45,0.00,0.000,6,0.000,0.030,2758,1758,3481,0,0,0,0,0,0
$GC,2521,-1.05,-116.8,236.8,-7.9,207,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1758,3481,0,0,0,0,0,0
$GC,2763,-1.05,-116.8,258.0,-8.9,213,2767,0.00,2.42,0.00,0.000,4,0.000,0.033,2758,3295,3481,0,0,0,0,0,0
$GC,2790,-1.05,-116.8,260.7,-9.8,213,2794,0.00,2.42,0.00,0.000,6,0.000,0.032,2758,1766,3480,0,0,0,0,0,0
$GC,3046,-1.05,-116.8,285.4,-10.0,220,3051,0.00,2.70,0.00,0.000,4,0.000,0.074,2758,195,3480,0,0,0,0,0,0
$GC,3079,-1.05,-116.8,289.3,-11.0,220,3085,0.00,2.30,0.00,0.000,6,0.000,0.017,2758,1719,3480,0,0,0,0,0,0
$GC,3330,-1.09,-116.8,313.7,-9.5,227,3334,0.00,2.47,0.00,0.000,4,0.000,0.031,2758,3292,3479,0,0,0,0,0,0
$GC,3370,-1.17,-116.8,317.1,-8.5,228,3375,0.00,2.47,0.00,0.000,6,0.000,0.039,2758,1761,3479,0,0,0,0,0,0
$GC,3655,-1.22,-116.8,338.4,-7.0,235,3656,0.10,0.00,0.00,0.000,6,0.086,0.000,2724,1761,3479,0,0,0,0,0,0
$GC,3897,-1.22,-116.8,359.1,-8.8,241,3902,0.00,2.45,0.00,0.000,4,0.000,0.038,2724,3289,3477,0,0,0,0,0,0
$GC,3960,-1.22,-116.8,364.4,-9.1,242,3964,0.00,2.53,0.00,0.000,6,0.000,0.048,2724,1760,3477,0,0,0,0,0,0
$GC,4220,-1.22,-116.8,386.8,-8.3,249,4225,0.00,2.83,0.00,0.000,4,0.000,0.094,2724,186,3475,0,0,0,0,0,0
$GC,4242,-1.18,-116.8,388.6,-8.2,249,4246,0.00,2.38,0.00,0.000,6,0.000,0.022,2724,1705,3476,0,0,0,0,0,0
$GC,4498,-1.18,-116.8,408.9,-8.0,256,4503,0.00,2.70,0.00,0.000,4,0.000,0.080,2725,181,3474,0,0,0,0,0,0
$GC,4514,-1.18,-116.8,410.5,-8.4,256,4518,0.00,2.35,0.00,0.000,6,0.000,0.030,2724,1691,3473,0,0,0,0,0,0
$GC,4774,-1.18,-116.8,434.4,-9.3,263,4779,0.00,2.65,0.00,0.000,4,0.000,0.048,2724,3293,3472,0,0,0,0,0,0
$GC,4835,-1.18,-116.8,440.6,-9.6,264,4839,0.00,2.60,0.00,0.000,6,0.000,0.058,2724,1751,3471,0,0,0,0,0,0
$GC,5102,-1.18,-116.8,468.4,-10.5,271,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1751,3470,0,0,0,0,0,0
$GC,5345,-1.18,-116.8,493.0,-10.0,277,5349,0.00,2.55,0.00,0.000,4,0.000,0.055,2724,3282,3469,0,0,0,0,0,0
$GC,5389,-1.22,-116.8,497.4,-9.7,278,5393,0.00,2.58,0.00,0.000,6,0.000,0.063,2724,1765,3468,0,0,0,0,0,0
$STATE,5420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5420,begin apogee
$GC,5427,-0.31,0.0,500.6,9.8,279,5526,0.90,0.00,96.28,0.912,6,0.071,0.000,2930,1765,3000,0,0,0,0,0,0
$STATE,5527,end apogee,CONTROL_FINISHED_OK
$STATE,5527,begin climb
$GC,5530,1.15,116.8,503.8,0.0,281,5638,1.35,2.70,100.88,0.890,4,0.054,0.053,3254,3336,2524,0,0,0,0,0,0
$GC,5653,1.11,197.8,504.6,4.3,284,5729,0.00,2.62,70.40,0.874,6,0.000,0.059,3254,1819,2194,0,0,0,0,0,0
$GC,5985,1.00,197.8,472.1,10.5,293,5990,0.17,2.53,0.00,0.000,4,0.199,0.041,3219,3339,2186,0,0,0,0,0,0
$GC,6047,1.00,197.8,465.8,9.9,294,6052,0.00,2.58,0.00,0.000,6,0.000,0.059,3219,1834,2184,0,0,0,0,0,0
$GC,6308,0.96,197.8,440.5,9.5,301,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1834,2181,0,0,0,0,0,0
$GC,6551,0.96,197.8,417.5,9.6,307,6555,0.00,2.47,0.00,0.000,4,0.000,0.038,3219,3343,2180,0,0,0,0,0,0
$GC,6579,0.96,197.8,414.9,9.5,307,6583,0.00,2.55,0.00,0.000,6,0.000,0.048,3219,1830,2179,0,0,0,0,0,0
$GC,6828,0.96,197.8,393.2,8.6,313,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1830,2178,0,0,0,0,0,0
$GC,7073,0.97,202.7,373.9,7.8,319,7077,0.00,2.85,0.00,0.000,4,0.000,0.092,3219,233,2177,0,0,0,0,0,0
$GC,7101,0.89,202.7,371.3,8.7,319,7106,0.12,2.42,0.00,0.000,6,0.123,0.024,3195,1792,2175,0,0,0,0,0,0
$GC,7352,0.91,219.3,353.2,7.2,325,7377,0.00,2.70,16.90,0.790,4,0.000,0.041,3195,3396,2106,0,0,0,0,0,0
$GC,7416,0.98,219.3,347.7,8.6,326,7421,0.00,2.58,0.00,0.000,6,0.000,0.045,3195,1838,2105,0,0,0,0,0,0
$GC,7678,1.02,219.3,326.7,8.0,333,7683,0.10,2.53,0.00,0.000,4,0.097,0.031,3223,3390,2103,0,0,0,0,0,0
$GC,7711,1.02,219.3,323.6,8.8,333,7717,0.00,2.55,0.00,0.000,6,0.000,0.038,3223,1845,2102,0,0,0,0,0,0
$GC,7961,1.02,219.3,303.0,8.1,340,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1845,2102,0,0,0,0,0,0
$GC,8206,1.04,238.0,285.1,7.1,346,8226,0.00,0.00,17.23,0.748,6,0.000,0.000,3223,1845,2029,0,0,0,0,0,0
$GC,8488,1.07,265.9,265.3,6.7,353,8520,0.00,2.88,25.85,0.745,4,0.000,0.072,3223,233,1916,0,0,0,0,0,0
$GC,8541,1.07,265.9,261.2,8.6,354,8546,0.00,2.58,0.00,0.000,6,0.000,0.021,3223,1871,1914,0,0,0,0,0,0
$GC,8810,1.10,285.4,242.5,7.1,361,8834,0.00,2.53,18.10,0.709,4,0.000,0.033,3223,3393,1836,0,0,0,0,0,0
$GC,8857,1.19,299.5,238.9,7.4,362,8877,0.15,2.55,13.70,0.683,6,0.071,0.035,3264,1851,1779,0,0,0,0,0,0
$GC,9142,1.14,299.5,211.7,9.7,369,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1851,1771,0,0,0,0,0,0
$GC,9386,1.10,299.5,189.1,10.1,381,9391,0.12,2.45,0.00,0.000,4,0.120,0.028,3238,3397,1770,0,0,0,0,0,0
$GC,9407,1.10,299.5,187.6,9.2,382,9411,0.00,2.50,0.00,0.000,6,0.000,0.039,3238,1868,1770,0,0,0,0,0,0
$GC,9674,1.10,299.5,163.7,9.3,406,9679,0.00,2.80,0.00,0.000,4,0.000,0.070,3238,240,1769,0,0,0,0,0,0
$GC,9696,1.10,299.5,160.9,9.7,407,9701,0.00,2.55,0.00,0.000,6,0.000,0.024,3238,1889,1769,0,0,0,0,0,0
$GC,9958,1.10,299.5,137.8,8.2,432,9963,0.00,2.85,0.00,0.000,4,0.000,0.066,3238,234,1769,0,0,0,0,0,0
$GC,9978,1.10,299.5,136.2,8.8,433,9983,0.00,2.58,0.00,0.000,6,0.000,0.023,3238,1895,1769,0,0,0,0,0,0
$GC,10245,1.10,299.5,114.2,8.8,457,10249,0.00,2.35,0.00,0.000,4,0.000,0.035,3238,3400,1768,0,0,0,0,0,0
$GC,10278,1.18,299.5,111.1,9.3,459,10282,0.00,2.47,0.00,0.000,6,0.000,0.037,3238,1868,1768,0,0,0,0,0,0
$GC,10545,1.24,300.3,87.5,8.0,483,10550,0.12,2.75,0.00,0.000,4,0.081,0.061,3276,244,1769,0,0,0,0,0,0
$GC,10580,1.20,300.3,84.1,10.7,485,10585,0.00,2.53,0.00,0.000,6,0.000,0.018,3276,1895,1769,0,0,0,0,0,0
$GC,10847,1.23,323.8,61.0,6.9,509,10873,0.00,2.40,21.33,0.556,4,0.000,0.026,3276,3402,1679,0,0,0,0,0,0
$GC,10904,1.32,335.7,57.0,7.5,513,10922,0.00,2.47,11.40,0.518,6,0.000,0.031,3276,1883,1630,0,0,0,0,0,0
$GC,11189,1.32,337.3,33.9,7.9,539,11194,0.00,2.80,0.00,0.000,4,0.000,0.058,3276,241,1628,0,0,0,0,0,0
$GC,11213,1.32,337.3,31.3,9.1,540,11222,0.00,2.60,0.00,0.000,6,0.000,0.023,3276,1903,1627,0,0,0,0,0,0
$STATE,11531,end climb,SURFACE_DEPTH_REACHED
$STATE,11531,begin surface coast
$FINISH,0.3,1.012625
$STATE,11595,end surface coast,CONTROL_FINISHED_OK
$STATE,11596,begin surface
$SM_CCo,11618,75.28,0.445,1,0,1287,420.20
$SM_GC,0.86,0.00,0.00,75.28,0.000,0.000,0.445,473,1706,1287,-11.62,-1.81,420.20
$IRIDIUM_FIX,2241.69,-15744.57,131299,040441
$TT8_MAMPS,0.026078
$HUMID,46.18
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.20
$XPDR_PINGS,56
$24V_AH,23.5,32.839
$10V_AH,10.3,33.782
$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,26.325,143.475,392.050,75.275,0.000,30.679,35.141,333.616,14.000,0.000,31.770,1180.651,7606.044,545.428,2204.069,723.341,33.378,1329.793,0.000,2194.081,0.000,0.537,0.000
$DEVICE_MAMPS,198.653,93.574,911.963,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,402.949,355.900,463.603,884.226,1336.169,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,47846,595
$CAP_FILE_SIZE,120733,0
$CFSIZE,260165632,168644608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180910,110236,2246.983,-15743.914,99,1.1,99,10.1