version: 66.06
glider: 146
mission: 5
dive: 41
start: 8 21 110 11 16 37
data:
$ID,146
$MISSION,5
$DIVE,41
$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,150
$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,-247921.77
$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,21
$R_STBD_OVSHOOT,67
$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
$GPS1,110931,2249.190,-15746.396,39,1.4,39,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-66.9
$GPS2,111543,2249.159,-15746.419,8,1.2,13,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.054
$KALMAN_X,-29535.8,70.2,-274.1,71367.3,-641.5
$KALMAN_Y,36478.2,-176.1,-364.4,91075.5,-760.2
$MHEAD_RNG_PITCHd_Wd,67.0,7550,-14.1,-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,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-86.35,0.000,2,0.000,0.000,475,1790,3493,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.5,-6.4,11,133,12.05,2.50,-1.80,0.000,4,0.156,0.040,2759,3331,3600,0,0,0,0,0,0
$GC,177,-0.85,-146.0,26.5,-20.2,20,187,0.22,2.58,0.00,0.000,6,0.089,0.037,2812,1767,3601,0,0,0,0,0,0
$GC,452,-0.78,-146.0,57.6,-10.3,46,456,0.00,2.70,0.00,0.000,4,0.000,0.071,2812,193,3602,0,0,0,0,0,0
$GC,485,-0.71,-146.0,61.9,-11.9,48,490,0.15,2.38,0.00,0.000,6,0.102,0.016,2844,1776,3601,0,0,0,0,0,0
$GC,749,-0.77,-146.0,85.4,-8.2,72,754,0.00,2.70,0.00,0.000,4,0.000,0.061,2844,192,3602,0,0,0,0,0,0
$GC,793,-0.85,-146.0,89.0,-8.4,75,798,0.12,2.35,0.00,0.000,6,0.075,0.015,2802,1764,3602,0,0,0,0,0,0
$GC,1059,-0.85,-146.0,112.0,-8.1,99,1063,0.00,2.42,0.00,0.000,4,0.000,0.028,2802,3314,3603,0,0,0,0,0,0
$GC,1140,-0.91,-146.0,118.2,-6.6,105,1144,0.00,2.45,0.00,0.000,6,0.000,0.033,2802,1769,3603,0,0,0,0,0,0
$GC,1406,-0.91,-146.0,138.1,-7.8,129,1411,0.00,2.70,0.00,0.000,4,0.000,0.067,2802,190,3603,0,0,0,0,0,0
$GC,1440,-0.91,-146.0,140.8,-8.2,131,1444,0.00,2.38,0.00,0.000,6,0.000,0.023,2802,1778,3603,0,0,0,0,0,0
$GC,1702,-0.91,-146.0,162.4,-7.9,155,1707,0.00,2.70,0.00,0.000,4,0.000,0.068,2802,197,3603,0,0,0,0,0,0
$GC,1724,-0.91,-146.0,164.4,-8.3,156,1734,0.00,2.40,0.00,0.000,6,0.000,0.018,2802,1775,3603,0,0,0,0,0,0
$GC,1990,-0.91,-146.0,185.9,-8.3,181,1994,0.00,2.40,0.00,0.000,4,0.000,0.031,2802,3313,3603,0,0,0,0,0,0
$GC,2011,-0.94,-146.0,188.4,-8.9,182,2017,0.00,2.45,0.00,0.000,6,0.000,0.034,2802,1767,3603,0,0,0,0,0,0
$GC,2279,-0.94,-146.0,210.7,-8.3,199,2283,0.00,2.70,0.00,0.000,4,0.000,0.071,2802,193,3603,0,0,0,0,0,0
$GC,2322,-1.00,-146.0,214.6,-8.8,200,2327,0.00,2.33,0.00,0.000,6,0.000,0.016,2802,1757,3603,0,0,0,0,0,0
$GC,2601,-1.04,-146.0,235.6,-7.5,207,2603,0.12,0.00,0.00,0.000,6,0.074,0.000,2762,1758,3603,0,0,0,0,0,0
$GC,2845,-1.00,-146.0,259.5,-10.1,213,2850,0.00,2.47,0.00,0.000,4,0.000,0.032,2762,3321,3603,0,0,0,0,0,0
$GC,2872,-1.00,-146.0,262.5,-10.1,213,2877,0.00,2.50,0.00,0.000,6,0.000,0.032,2762,1761,3603,0,0,0,0,0,0
$GC,3122,-1.00,-146.0,286.7,-9.9,219,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1761,3602,0,0,0,0,0,0
$GC,3368,-1.00,-146.0,307.0,-8.0,225,3372,0.00,2.78,0.00,0.000,4,0.000,0.093,2761,193,3602,0,0,0,0,0,0
$GC,3389,-1.00,-146.0,309.0,-7.9,225,3393,0.00,2.35,0.00,0.000,6,0.000,0.024,2762,1718,3602,0,0,0,0,0,0
$GC,3645,-1.00,-146.0,328.6,-7.9,232,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1718,3601,0,0,0,0,0,0
$GC,3889,-1.00,-146.0,348.4,-7.8,238,3893,0.00,2.60,0.00,0.000,4,0.000,0.051,2762,3310,3600,0,0,0,0,0,0
$GC,3921,-1.00,-146.0,351.1,-8.5,238,3927,0.00,2.58,0.00,0.000,6,0.000,0.049,2762,1763,3600,0,0,0,0,0,0
$GC,4171,-1.00,-146.0,371.0,-7.8,245,4176,0.00,2.88,0.00,0.000,4,0.000,0.099,2762,185,3599,0,0,0,0,0,0
$GC,4215,-1.00,-146.0,374.8,-9.0,246,4219,0.00,2.42,0.00,0.000,6,0.000,0.027,2762,1717,3598,0,0,0,0,0,0
$GC,4500,-1.00,-146.0,397.8,-8.2,253,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1718,3597,0,0,0,0,0,0
$GC,4742,-1.00,-146.0,417.9,-8.2,259,4747,0.00,2.67,0.00,0.000,4,0.000,0.061,2762,3311,3596,0,0,0,0,0,0
$GC,4786,-1.06,-146.0,421.5,-8.1,260,4790,0.00,2.62,0.00,0.000,6,0.000,0.055,2762,1767,3596,0,0,0,0,0,0
$GC,5065,-1.06,-146.0,442.7,-7.8,267,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1768,3594,0,0,0,0,0,0
$GC,5307,-1.06,-146.0,460.8,-7.3,273,5312,0.00,2.97,0.00,0.000,4,0.000,0.113,2762,185,3593,0,0,0,0,0,0
$GC,5352,-1.11,-146.0,464.3,-8.1,274,5356,0.00,2.47,0.00,0.000,6,0.000,0.038,2761,1709,3592,0,0,0,0,0,0
$GC,5631,-1.11,-146.0,482.4,-6.3,281,5635,0.00,2.75,0.00,0.000,4,0.000,0.074,2762,3306,3590,0,0,0,0,0,0
$GC,5703,-1.17,-146.0,487.3,-6.7,282,5708,0.00,2.60,0.00,0.000,6,0.000,0.059,2762,1777,3590,0,0,0,0,0,0
$STATE,5910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5910,begin apogee
$GC,5917,-0.31,0.0,502.2,7.3,287,6040,0.75,0.00,119.75,0.922,6,0.079,0.000,2931,1777,3001,0,0,0,0,0,0
$STATE,6040,end apogee,CONTROL_FINISHED_OK
$STATE,6040,begin climb
$GC,6043,1.06,146.0,506.7,0.0,290,6177,1.25,2.72,124.22,0.900,4,0.046,0.054,3234,3349,2404,0,0,0,0,0,0
$GC,6247,0.91,146.0,501.1,8.4,294,6253,0.17,2.67,0.00,0.000,6,0.118,0.062,3200,1816,2398,0,0,0,0,0,0
$GC,6497,0.84,156.9,482.1,7.6,301,6509,0.00,0.00,9.30,0.777,6,0.000,0.000,3200,1816,2361,0,0,0,0,0,0
$GC,6742,0.76,156.9,461.1,8.8,307,6747,0.17,2.60,0.00,0.000,4,0.146,0.045,3165,3358,2357,0,0,0,0,0,0
$GC,6786,0.76,156.9,457.4,8.4,308,6790,0.00,2.65,0.00,0.000,6,0.000,0.056,3165,1816,2356,0,0,0,0,0,0
$GC,7064,0.82,206.2,439.6,6.2,315,7114,0.00,3.08,43.78,0.875,4,0.000,0.114,3165,228,2159,0,0,0,0,0,0
$GC,7128,0.86,242.4,435.7,6.7,316,7168,0.10,2.50,33.40,0.851,6,0.103,0.033,3189,1762,2011,0,0,0,0,0,0
$GC,7431,0.89,262.4,413.6,7.3,324,7455,0.00,2.75,17.70,0.821,4,0.000,0.048,3189,3357,1931,0,0,0,0,0,0
$GC,7507,0.89,262.4,407.5,8.1,325,7511,0.00,2.62,0.00,0.000,6,0.000,0.055,3189,1813,1928,0,0,0,0,0,0
$GC,7757,0.91,280.2,389.0,7.3,331,7781,0.00,2.97,16.52,0.810,4,0.000,0.089,3189,236,1857,0,0,0,0,0,0
$GC,7810,0.85,280.2,384.8,8.6,332,7815,0.00,2.47,0.00,0.000,6,0.000,0.029,3189,1779,1855,0,0,0,0,0,0
$GC,8082,0.85,280.2,362.6,8.2,339,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1780,1853,0,0,0,0,0,0
$GC,8325,0.85,280.2,341.4,8.5,345,8330,0.00,2.62,0.00,0.000,4,0.000,0.038,3189,3400,1851,0,0,0,0,0,0
$GC,8365,0.91,280.2,338.1,8.1,346,8369,0.00,2.65,0.00,0.000,6,0.000,0.044,3189,1812,1850,0,0,0,0,0,0
$GC,8649,0.91,284.5,315.3,7.9,353,8653,0.00,2.78,0.00,0.000,4,0.000,0.080,3189,232,1849,0,0,0,0,0,0
$GC,8688,0.91,285.0,312.1,8.0,354,8697,0.00,2.53,4.03,0.528,6,0.000,0.027,3189,1835,1839,0,0,0,0,0,0
$GC,8976,0.92,293.4,290.7,7.7,361,8990,0.00,2.55,9.15,0.702,4,0.000,0.041,3189,3392,1804,0,0,0,0,0,0
$GC,9013,0.98,293.4,287.6,8.5,361,9019,0.10,2.60,0.00,0.000,6,0.089,0.043,3216,1819,1803,0,0,0,0,0,0
$GC,9263,0.98,293.4,264.9,9.0,368,9267,0.00,2.78,0.00,0.000,4,0.000,0.073,3216,234,1801,0,0,0,0,0,0
$GC,9303,0.91,293.4,261.0,10.2,369,9308,0.00,2.47,0.00,0.000,6,0.000,0.021,3216,1821,1801,0,0,0,0,0,0
$GC,9587,0.91,293.4,237.4,8.2,376,9591,0.00,2.55,0.00,0.000,4,0.000,0.040,3216,3395,1801,0,0,0,0,0,0
$GC,9607,0.91,293.4,235.6,8.3,376,9612,0.00,2.60,0.00,0.000,6,0.000,0.040,3216,1806,1800,0,0,0,0,0,0
$GC,9864,0.92,300.1,215.8,7.8,383,9878,0.00,2.80,7.07,0.604,4,0.000,0.069,3216,237,1777,0,0,0,0,0,0
$GC,9902,0.86,300.1,212.2,10.1,383,9908,0.15,2.42,0.00,0.000,6,0.112,0.024,3186,1814,1776,0,0,0,0,0,0
$GC,10155,0.93,312.7,194.2,7.5,393,10173,0.00,2.78,12.48,0.644,4,0.000,0.066,3186,238,1725,0,0,0,0,0,0
$GC,10196,0.93,312.7,190.6,9.5,396,10201,0.00,2.42,0.00,0.000,6,0.000,0.025,3186,1805,1724,0,0,0,0,0,0
$GC,10459,0.99,312.7,168.9,8.2,420,10464,0.12,2.53,0.00,0.000,4,0.098,0.030,3219,3382,1724,0,0,0,0,0,0
$GC,10483,1.04,312.7,166.7,8.8,421,10489,0.00,2.58,0.00,0.000,6,0.000,0.041,3219,1793,1722,0,0,0,0,0,0
$GC,10746,1.07,341.2,144.8,7.0,446,10784,0.00,2.78,25.58,0.630,4,0.000,0.071,3219,241,1608,0,0,0,0,0,0
$GC,10801,1.07,341.2,140.6,8.3,450,10811,0.00,2.42,0.00,0.000,6,0.000,0.024,3219,1787,1607,0,0,0,0,0,0
$GC,11068,1.07,341.2,120.1,8.6,475,11072,0.00,2.55,0.00,0.000,4,0.000,0.030,3219,3385,1606,0,0,0,0,0,0
$GC,11090,1.11,341.2,117.9,8.1,476,11100,0.08,2.62,0.00,0.000,6,0.053,0.036,3249,1791,1605,0,0,0,0,0,0
$GC,11356,1.11,341.2,90.0,10.9,501,11360,0.00,2.50,0.00,0.000,4,0.000,0.028,3250,3380,1606,0,0,0,0,0,0
$GC,11414,1.17,341.2,84.1,10.6,505,11418,0.00,2.58,0.00,0.000,6,0.000,0.035,3250,1801,1605,0,0,0,0,0,0
$GC,11680,1.17,341.2,57.4,9.5,529,11684,0.00,2.67,0.00,0.000,4,0.000,0.061,3250,235,1605,0,0,0,0,0,0
$GC,11737,1.17,341.2,51.3,10.7,533,11742,0.00,2.42,0.00,0.000,6,0.000,0.018,3249,1815,1605,0,0,0,0,0,0
$GC,12005,1.17,341.2,29.3,9.1,557,12014,0.00,2.50,0.00,0.000,4,0.000,0.028,3249,3382,1605,0,0,0,0,0,0
$GC,12031,1.17,341.2,26.3,9.9,560,12040,0.00,2.58,0.00,0.000,6,0.000,0.034,3250,1810,1605,0,0,0,0,0,0
$STATE,12269,end climb,SURFACE_DEPTH_REACHED
$STATE,12269,begin surface coast
$FINISH,0.2,1.017024
$STATE,12332,end surface coast,CONTROL_FINISHED_OK
$STATE,12333,begin surface
$SM_CCo,12354,70.47,0.443,1,0,1288,420.20
$SM_GC,1.01,0.00,0.00,70.47,0.000,0.000,0.443,478,1731,1288,-11.60,-1.13,420.20
$IRIDIUM_FIX,2241.69,-15746.73,151199,070731
$TT8_MAMPS,0.025311
$HUMID,40.47
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.80
$XPDR_PINGS,62
$24V_AH,23.5,9.745
$10V_AH,10.4,8.786
$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,26.700,171.200,422.975,70.475,0.000,25.427,32.728,178.472,15.500,0.000,16.707,1221.928,8171.557,582.650,2269.435,555.659,33.346,1454.541,0.000,2271.889,0.000,0.536,0.000
$DEVICE_MAMPS,155.701,119.652,921.934,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.579,368.015,458.481,858.820,1300.017,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,47850,603
$CAP_FILE_SIZE,130925,0
$CFSIZE,260165632,180428800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210810,144506,2248.961,-15745.386,37,1.1,37,10.1