version: 66.06
glider: 146
mission: 5
dive: 234
start: 9 18 110 11 12 15
data:
$ID,146
$MISSION,5
$DIVE,234
$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,-251893.33
$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,27
$R_STBD_OVSHOOT,47
$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
$GPS1,110236,2246.983,-15743.914,99,1.1,99,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.2
$GPS2,111120,2246.830,-15743.982,11,1.4,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.023,0.217
$KALMAN_X,-244163.2,84.3,-267.0,290165.8,-316.1
$KALMAN_Y,-201352.0,-387.6,-373.8,324813.2,-2915.3
$MHEAD_RNG_PITCHd_Wd,355.8,20961,-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,15,begin dive
$GC,17,-1.15,-116.8,0.0,0.0,0,105,0.00,0.00,-85.12,0.000,2,0.000,0.000,473,1706,3465,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.2,-5.9,11,126,11.57,2.60,-0.20,0.000,4,0.141,0.040,2742,3351,3479,0,0,0,0,0,0
$GC,223,-1.05,-116.8,32.3,-15.1,26,228,0.12,2.55,0.00,0.000,6,0.105,0.031,2769,1772,3479,0,0,0,0,0,0
$GC,490,-0.94,-116.8,69.7,-12.5,50,499,0.12,0.00,0.00,0.000,6,0.111,0.000,2795,1772,3479,0,0,0,0,0,0
$GC,756,-0.94,-116.8,91.0,-7.2,75,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1772,3480,0,0,0,0,0,0
$GC,1018,-0.98,-116.8,111.2,-8.2,100,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1772,3480,0,0,0,0,0,0
$GC,1274,-1.02,-116.8,133.1,-8.5,124,1278,0.00,2.47,0.00,0.000,4,0.000,0.025,2795,3354,3481,0,0,0,0,0,0
$GC,1319,-1.12,-116.8,136.6,-8.5,127,1325,0.17,2.50,0.00,0.000,6,0.054,0.031,2734,1773,3481,0,0,0,0,0,0
$GC,1584,-1.05,-116.8,166.3,-11.6,151,1589,0.17,2.70,0.00,0.000,4,0.110,0.064,2773,196,3481,0,0,0,0,0,0
$GC,1629,-1.05,-116.8,171.1,-10.7,154,1633,0.00,2.40,0.00,0.000,6,0.000,0.022,2773,1813,3481,0,0,0,0,0,0
$GC,1897,-1.05,-116.8,193.3,-7.7,178,1902,0.00,2.78,0.00,0.000,4,0.000,0.069,2773,189,3481,0,0,0,0,0,0
$GC,1940,-1.05,-116.8,197.3,-9.0,181,1944,0.00,2.35,0.00,0.000,6,0.000,0.015,2773,1763,3481,0,0,0,0,0,0
$GC,2222,-1.05,-116.8,217.9,-6.8,190,2226,0.00,2.42,0.00,0.000,4,0.000,0.030,2773,3327,3481,0,0,0,0,0,0
$GC,2296,-1.12,-116.8,222.6,-6.3,191,2300,0.00,2.45,0.00,0.000,6,0.000,0.028,2773,1776,3480,0,0,0,0,0,0
$GC,2546,-1.12,-116.8,238.7,-6.6,197,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1775,3480,0,0,0,0,0,0
$GC,2790,-1.16,-116.8,258.3,-8.3,203,2795,0.12,2.45,0.00,0.000,4,0.073,0.033,2731,3318,3480,0,0,0,0,0,0
$GC,2812,-1.16,-116.8,260.5,-9.9,203,2817,0.00,2.45,0.00,0.000,6,0.000,0.038,2731,1785,3480,0,0,0,0,0,0
$GC,3068,-1.12,-116.8,287.7,-10.4,210,3073,0.12,2.78,0.00,0.000,4,0.105,0.074,2758,193,3479,0,0,0,0,0,0
$GC,3090,-1.12,-116.8,290.1,-10.5,210,3094,0.00,2.38,0.00,0.000,6,0.000,0.021,2759,1761,3479,0,0,0,0,0,0
$GC,3346,-1.12,-116.8,311.4,-8.1,217,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1762,3479,0,0,0,0,0,0
$GC,3589,-1.16,-116.8,332.1,-8.4,223,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1762,3478,0,0,0,0,0,0
$GC,3833,-1.21,-116.8,350.9,-7.5,229,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1762,3476,0,0,0,0,0,0
$GC,4077,-1.26,-116.8,368.9,-7.4,235,4082,0.15,2.60,0.00,0.000,4,0.064,0.040,2707,3339,3475,0,0,0,0,0,0
$GC,4111,-1.26,-116.8,372.1,-10.2,235,4118,0.00,2.55,0.00,0.000,6,0.000,0.043,2707,1780,3475,0,0,0,0,0,0
$GC,4361,-1.20,-116.8,397.5,-10.1,242,4366,0.12,2.90,0.00,0.000,4,0.107,0.096,2735,185,3474,0,0,0,0,0,0
$GC,4405,-1.20,-116.8,402.0,-9.8,243,4409,0.00,2.45,0.00,0.000,6,0.000,0.028,2735,1747,3474,0,0,0,0,0,0
$GC,4685,-1.20,-116.8,426.1,-8.7,250,4689,0.00,2.60,0.00,0.000,4,0.000,0.051,2735,3350,3472,0,0,0,0,0,0
$GC,4717,-1.25,-116.8,429.2,-9.4,250,4723,0.00,2.65,0.00,0.000,6,0.000,0.055,2735,1774,3472,0,0,0,0,0,0
$GC,4967,-1.25,-116.8,451.5,-9.0,257,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1774,3470,0,0,0,0,0,0
$GC,5212,-1.25,-116.8,469.0,-6.7,263,5217,0.00,2.60,0.00,0.000,4,0.000,0.052,2735,3354,3469,0,0,0,0,0,0
$GC,5247,-1.30,-116.8,471.4,-6.5,263,5253,0.00,2.72,0.00,0.000,6,0.000,0.058,2735,1764,3469,0,0,0,0,0,0
$GC,5498,-1.30,-116.8,487.2,-6.5,270,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1764,3467,0,0,0,0,0,0
$STATE,5657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5657,begin apogee
$GC,5665,-0.31,0.0,500.0,7.9,274,5764,0.85,0.00,95.72,0.917,6,0.074,0.000,2930,1831,3001,0,0,0,0,0,0
$STATE,5765,end apogee,CONTROL_FINISHED_OK
$STATE,5765,begin climb
$GC,5767,1.15,116.8,503.2,0.0,276,5872,1.33,0.00,100.50,0.896,6,0.046,0.000,3252,1832,2523,0,0,0,0,0,0
$GC,6096,1.08,172.8,494.5,5.4,284,6146,0.00,0.00,48.62,0.883,6,0.000,0.000,3251,1832,2296,0,0,0,0,0,0
$GC,6376,0.96,172.8,469.2,9.6,291,6381,0.20,2.60,0.00,0.000,4,0.108,0.044,3211,3381,2288,0,0,0,0,0,0
$GC,6416,0.96,172.8,465.6,9.1,292,6420,0.00,2.67,0.00,0.000,6,0.000,0.058,3211,1818,2287,0,0,0,0,0,0
$GC,6700,0.96,172.8,441.1,8.5,299,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1817,2285,0,0,0,0,0,0
$GC,6942,0.96,172.8,421.5,8.0,305,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1817,2284,0,0,0,0,0,0
$GC,7186,1.00,201.8,404.7,6.7,311,7216,0.00,2.65,24.58,0.844,4,0.000,0.036,3211,3394,2177,0,0,0,0,0,0
$GC,7245,1.04,232.6,400.9,6.6,312,7280,0.00,2.67,28.77,0.835,6,0.000,0.049,3211,1810,2052,0,0,0,0,0,0
$GC,7555,1.06,248.9,379.1,7.3,320,7575,0.00,2.88,14.95,0.792,4,0.000,0.087,3211,235,1985,0,0,0,0,0,0
$GC,7605,1.01,248.9,374.7,9.2,321,7609,0.00,2.47,0.00,0.000,6,0.000,0.019,3211,1806,1983,0,0,0,0,0,0
$GC,7878,1.01,248.9,351.6,8.7,328,7882,0.00,2.58,0.00,0.000,4,0.000,0.040,3211,3394,1981,0,0,0,0,0,0
$GC,7950,1.07,248.9,344.8,9.1,329,7955,0.10,2.62,0.00,0.000,6,0.097,0.042,3239,1817,1979,0,0,0,0,0,0
$GC,8201,1.07,248.9,321.1,9.6,335,8205,0.00,2.78,0.00,0.000,4,0.000,0.075,3239,232,1979,0,0,0,0,0,0
$GC,8222,1.00,248.9,318.8,10.5,335,8226,0.00,2.53,0.00,0.000,6,0.000,0.024,3239,1837,1978,0,0,0,0,0,0
$GC,8477,1.00,248.9,295.2,9.3,342,8481,0.00,2.50,0.00,0.000,4,0.000,0.035,3239,3394,1978,0,0,0,0,0,0
$GC,8534,1.00,248.9,290.1,9.5,343,8539,0.00,2.55,0.00,0.000,6,0.000,0.037,3239,1830,1977,0,0,0,0,0,0
$GC,8800,1.00,248.9,267.5,8.2,350,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1830,1977,0,0,0,0,0,0
$GC,9044,1.00,248.9,247.5,8.2,356,9048,0.00,2.50,0.00,0.000,4,0.000,0.035,3239,3390,1976,0,0,0,0,0,0
$GC,9071,1.00,248.9,245.3,8.3,356,9075,0.00,2.50,0.00,0.000,6,0.000,0.035,3239,1846,1975,0,0,0,0,0,0
$GC,9322,1.02,260.0,226.2,7.5,362,9337,0.00,2.50,9.50,0.655,4,0.000,0.036,3239,3396,1940,0,0,0,0,0,0
$GC,9348,1.02,260.0,223.9,8.5,362,9352,0.00,2.53,0.00,0.000,6,0.000,0.032,3239,1853,1940,0,0,0,0,0,0
$GC,9598,1.02,260.0,203.2,8.3,368,9602,0.00,2.75,0.00,0.000,4,0.000,0.071,3238,244,1939,0,0,0,0,0,0
$GC,9621,0.98,260.0,201.1,9.5,368,9626,0.12,2.53,0.00,0.000,6,0.117,0.025,3214,1864,1938,0,0,0,0,0,0
$GC,9887,1.08,295.3,183.0,6.4,390,9925,0.00,2.88,31.90,0.670,4,0.000,0.068,3214,243,1796,0,0,0,0,0,0
$GC,9945,1.14,306.9,179.1,7.5,394,9964,0.15,2.53,11.48,0.612,6,0.075,0.018,3253,1857,1748,0,0,0,0,0,0
$GC,10230,1.14,306.9,154.4,8.9,421,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1857,1745,0,0,0,0,0,0
$GC,10491,1.14,306.9,128.8,9.8,446,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1858,1745,0,0,0,0,0,0
$GC,10746,1.14,306.9,104.0,9.3,470,10750,0.00,2.42,0.00,0.000,4,0.000,0.028,3252,3387,1745,0,0,0,0,0,0
$GC,10799,1.22,306.9,99.1,9.6,474,10804,0.00,2.47,0.00,0.000,6,0.000,0.033,3253,1851,1743,0,0,0,0,0,0
$GC,11066,1.26,306.9,75.6,8.9,498,11070,0.00,2.72,0.00,0.000,4,0.000,0.066,3253,239,1743,0,0,0,0,0,0
$GC,11125,1.26,306.9,70.3,9.0,502,11130,0.00,2.45,0.00,0.000,6,0.000,0.018,3253,1846,1743,0,0,0,0,0,0
$GC,11392,1.38,343.8,50.9,6.3,526,11434,0.20,2.50,32.03,0.551,4,0.081,0.028,3308,3380,1598,0,0,0,0,0,0
$GC,11478,1.38,343.8,43.2,9.7,532,11487,0.00,2.53,0.00,0.000,6,0.000,0.032,3308,1851,1596,0,0,0,0,0,0
$GC,11777,1.34,343.8,13.7,11.1,568,11786,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1851,1595,0,0,0,0,0,0
$STATE,11868,end climb,SURFACE_DEPTH_REACHED
$STATE,11868,begin surface coast
$FINISH,0.2,0.999847
$STATE,11918,end surface coast,CONTROL_FINISHED_OK
$STATE,11918,begin surface
$SM_CCo,11941,68.65,0.439,1,0,1288,420.20
$SM_GC,0.92,0.00,0.00,68.65,0.000,0.000,0.439,475,1743,1288,-11.62,-0.76,420.20
$IRIDIUM_FIX,2239.35,-15742.40,131299,070711
$TT8_MAMPS,0.026078
$HUMID,46.65
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.00
$XPDR_PINGS,49
$24V_AH,23.5,32.965
$10V_AH,10.3,33.911
$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,27.125,123.850,398.050,68.650,0.000,27.959,27.859,331.036,12.250,0.000,13.370,1160.190,8029.169,548.291,2100.251,701.193,33.379,1303.607,0.000,2114.048,0.000,0.536,0.000
$DEVICE_MAMPS,141.128,118.885,917.332,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,397.684,330.435,449.490,833.999,1261.315,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,44864,588
$CAP_FILE_SIZE,118721,0
$CFSIZE,260165632,168595456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180910,143336,2246.242,-15744.146,25,1.2,25,10.1