version: 66.06
glider: 146
mission: 5
dive: 43
start: 8 21 110 18 27 37
data:
$ID,146
$MISSION,5
$DIVE,43
$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,-247947.69
$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,35
$R_STBD_OVSHOOT,57
$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
$GPS1,181930,2248.652,-15743.870,67,1.2,67,10.1
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.3
$GPS2,182644,2248.661,-15743.887,10,1.7,10,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,0.115
$KALMAN_X,-31226.4,-315.4,281.2,77247.9,-742.6
$KALMAN_Y,34139.7,-234.8,242.0,91940.7,-1077.5
$MHEAD_RNG_PITCHd_Wd,51.2,3282,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.06,-146.0,0.0,0.0,0,107,0.00,0.00,-86.55,0.000,2,0.000,0.000,475,1749,3526,0,0,0,0,0,0
$GC,110,-1.06,-146.0,4.8,-6.9,11,128,12.07,2.60,-1.17,0.000,4,0.157,0.044,2759,3343,3601,0,0,0,0,0,0
$GC,179,-0.86,-146.0,27.5,-18.8,20,189,0.20,2.58,0.00,0.000,6,0.091,0.041,2806,1786,3602,0,0,0,0,0,0
$GC,457,-0.76,-146.0,60.6,-11.3,46,463,0.12,2.78,0.00,0.000,4,0.117,0.064,2832,192,3602,0,0,0,0,0,0
$GC,505,-0.76,-146.0,66.8,-10.5,49,515,0.00,2.42,0.00,0.000,6,0.000,0.016,2832,1769,3602,0,0,0,0,0,0
$GC,768,-0.76,-146.0,90.3,-8.7,74,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1770,3602,0,0,0,0,0,0
$GC,1022,-0.79,-146.0,111.7,-8.2,98,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1770,3604,0,0,0,0,0,0
$GC,1278,-0.85,-146.0,133.9,-8.4,122,1282,0.00,2.72,0.00,0.000,4,0.000,0.067,2832,190,3604,0,0,0,0,0,0
$GC,1307,-0.92,-146.0,136.4,-8.5,124,1312,0.15,2.38,0.00,0.000,6,0.066,0.023,2780,1767,3603,0,0,0,0,0,0
$GC,1572,-0.88,-146.0,162.9,-9.5,148,1577,0.12,2.42,0.00,0.000,4,0.109,0.027,2806,3321,3604,0,0,0,0,0,0
$GC,1615,-0.94,-146.0,166.5,-8.1,151,1620,0.00,2.50,0.00,0.000,6,0.000,0.030,2806,1750,3604,0,0,0,0,0,0
$GC,1883,-0.94,-146.0,186.6,-7.4,175,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1749,3604,0,0,0,0,0,0
$GC,2170,-0.94,-146.0,210.5,-8.4,194,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1750,3604,0,0,0,0,0,0
$GC,2414,-0.98,-146.0,231.4,-8.6,200,2418,0.00,2.45,0.00,0.000,4,0.000,0.033,2806,3320,3604,0,0,0,0,0,0
$GC,2443,-1.05,-146.0,233.6,-7.8,200,2448,0.15,2.50,0.00,0.000,6,0.064,0.035,2756,1755,3604,0,0,0,0,0,0
$GC,2693,-0.98,-146.0,256.9,-9.2,206,2698,0.12,2.75,0.00,0.000,4,0.112,0.078,2784,189,3603,0,0,0,0,0,0
$GC,2726,-0.98,-146.0,259.7,-7.9,206,2732,0.00,2.38,0.00,0.000,6,0.000,0.025,2784,1751,3603,0,0,0,0,0,0
$GC,2978,-0.98,-146.0,275.3,-6.1,213,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1752,3603,0,0,0,0,0,0
$GC,3220,-0.98,-146.0,291.3,-6.7,219,3224,0.00,2.53,0.00,0.000,4,0.000,0.043,2784,3334,3603,0,0,0,0,0,0
$GC,3247,-1.03,-146.0,293.3,-7.1,219,3252,0.00,2.58,0.00,0.000,6,0.000,0.043,2784,1762,3603,0,0,0,0,0,0
$GC,3498,-1.03,-146.0,311.8,-7.4,225,3503,0.00,2.80,0.00,0.000,4,0.000,0.090,2784,184,3602,0,0,0,0,0,0
$GC,3520,-1.03,-146.0,313.7,-7.9,225,3524,0.00,2.42,0.00,0.000,6,0.000,0.024,2784,1739,3602,0,0,0,0,0,0
$GC,3781,-1.07,-146.0,333.3,-7.4,232,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1739,3601,0,0,0,0,0,0
$GC,4027,-1.11,-146.0,349.0,-6.3,238,4032,0.12,2.65,0.00,0.000,4,0.075,0.049,2745,3346,3600,0,0,0,0,0,0
$GC,4066,-1.11,-146.0,351.9,-7.5,239,4071,0.00,2.65,0.00,0.000,6,0.000,0.054,2745,1751,3600,0,0,0,0,0,0
$GC,4349,-1.11,-146.0,374.2,-8.3,246,4354,0.00,2.60,0.00,0.000,4,0.000,0.043,2745,3353,3598,0,0,0,0,0,0
$GC,4378,-1.11,-146.0,376.8,-9.1,246,4382,0.00,2.70,0.00,0.000,6,0.000,0.058,2745,1757,3598,0,0,0,0,0,0
$GC,4627,-1.11,-146.0,399.9,-9.4,252,4632,0.00,2.90,0.00,0.000,4,0.000,0.108,2745,180,3597,0,0,0,0,0,0
$GC,4648,-1.11,-146.0,402.2,-10.2,252,4652,0.00,2.50,0.00,0.000,6,0.000,0.035,2745,1752,3596,0,0,0,0,0,0
$GC,4905,-1.11,-146.0,426.0,-9.4,259,4909,0.00,2.67,0.00,0.000,4,0.000,0.057,2745,3354,3594,0,0,0,0,0,0
$GC,4954,-1.11,-146.0,430.8,-9.6,260,4958,0.00,2.67,0.00,0.000,6,0.000,0.059,2745,1764,3594,0,0,0,0,0,0
$GC,5227,-1.11,-146.0,453.7,-8.1,267,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1764,3593,0,0,0,0,0,0
$GC,5470,-1.11,-146.0,469.5,-6.2,273,5475,0.00,2.95,0.00,0.000,4,0.000,0.120,2745,185,3591,0,0,0,0,0,0
$GC,5511,-1.11,-146.0,472.1,-6.8,274,5516,0.00,2.55,0.00,0.000,6,0.000,0.037,2745,1761,3591,0,0,0,0,0,0
$GC,5796,-1.11,-146.0,492.4,-7.4,281,5800,0.00,2.75,0.00,0.000,4,0.000,0.077,2745,3354,3588,0,0,0,0,0,0
$GC,5822,-1.11,-146.0,494.9,-8.5,281,5827,0.00,2.72,0.00,0.000,6,0.000,0.067,2745,1761,3589,0,0,0,0,0,0
$STATE,5907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5908,begin apogee
$GC,5915,-0.31,0.0,501.9,8.2,283,6037,0.82,0.00,119.12,0.921,6,0.079,0.000,2931,1856,3001,0,0,0,0,0,0
$STATE,6038,end apogee,CONTROL_FINISHED_OK
$STATE,6038,begin climb
$GC,6041,1.06,146.0,506.1,0.0,286,6175,1.25,2.62,123.62,0.895,4,0.052,0.054,3234,3377,2402,0,0,0,0,0,0
$GC,6278,0.92,146.0,497.9,8.2,291,6284,0.15,2.72,0.00,0.000,6,0.120,0.058,3204,1815,2396,0,0,0,0,0,0
$GC,6535,0.85,161.1,478.8,7.5,298,6555,0.00,2.70,12.55,0.812,4,0.000,0.050,3204,3375,2344,0,0,0,0,0,0
$GC,6566,0.79,181.4,476.3,7.3,298,6592,0.15,2.70,19.62,0.841,6,0.122,0.056,3175,1824,2261,0,0,0,0,0,0
$GC,6862,0.80,191.4,454.5,7.6,306,6877,0.00,3.10,9.27,0.771,4,0.000,0.119,3174,233,2219,0,0,0,0,0,0
$GC,6933,0.74,191.4,448.0,9.2,307,6938,0.00,2.55,0.00,0.000,6,0.000,0.033,3175,1793,2217,0,0,0,0,0,0
$GC,7183,0.76,205.5,429.0,7.5,313,7198,0.00,0.00,13.48,0.813,6,0.000,0.000,3174,1793,2163,0,0,0,0,0,0
$GC,7428,0.81,241.8,412.2,6.7,319,7469,0.00,2.80,32.92,0.851,4,0.000,0.054,3175,3410,2014,0,0,0,0,0,0
$GC,7497,0.86,253.1,407.2,7.6,320,7516,0.00,2.75,11.43,0.772,6,0.000,0.053,3174,1806,1969,0,0,0,0,0,0
$GC,7802,0.89,274.2,384.9,7.2,328,7823,0.00,0.00,19.30,0.817,6,0.000,0.000,3175,1806,1883,0,0,0,0,0,0
$GC,8044,0.89,279.6,366.2,7.8,334,8055,0.00,2.85,5.72,0.653,4,0.000,0.092,3175,236,1861,0,0,0,0,0,0
$GC,8066,0.89,279.6,364.3,8.5,334,8070,0.00,2.55,0.00,0.000,6,0.000,0.027,3174,1831,1860,0,0,0,0,0,0
$GC,8323,0.89,279.6,341.8,8.9,341,8327,0.00,2.60,0.00,0.000,4,0.000,0.041,3174,3404,1858,0,0,0,0,0,0
$GC,8344,0.94,279.6,339.7,9.0,341,8349,0.12,2.67,0.00,0.000,6,0.087,0.048,3207,1812,1857,0,0,0,0,0,0
$GC,8599,0.94,279.6,315.9,9.2,348,8604,0.00,2.80,0.00,0.000,4,0.000,0.085,3206,235,1857,0,0,0,0,0,0
$GC,8633,0.88,279.6,312.7,9.8,348,8638,0.00,2.53,0.00,0.000,6,0.000,0.028,3206,1824,1855,0,0,0,0,0,0
$GC,8883,0.90,301.8,293.8,7.2,355,8905,0.00,0.00,20.48,0.768,6,0.000,0.000,3206,1825,1770,0,0,0,0,0,0
$GC,9126,0.90,301.8,274.7,8.1,361,9131,0.00,2.78,0.00,0.000,4,0.000,0.073,3207,232,1765,0,0,0,0,0,0
$GC,9153,0.86,301.8,272.0,10.1,361,9157,0.00,2.50,0.00,0.000,6,0.000,0.021,3207,1823,1765,0,0,0,0,0,0
$GC,9404,0.86,301.8,247.9,9.8,367,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1824,1764,0,0,0,0,0,0
$GC,9646,0.86,301.8,223.4,9.9,373,9651,0.00,2.80,0.00,0.000,4,0.000,0.068,3206,231,1764,0,0,0,0,0,0
$GC,9662,0.86,301.8,221.6,9.9,373,9666,0.00,2.47,0.00,0.000,6,0.000,0.026,3207,1820,1763,0,0,0,0,0,0
$GC,9931,0.86,301.8,196.9,9.2,380,9935,0.00,2.50,0.00,0.000,4,0.000,0.035,3206,3387,1762,0,0,0,0,0,0
$GC,9971,0.92,301.8,193.2,8.7,383,9976,0.00,2.58,0.00,0.000,6,0.000,0.035,3207,1807,1762,0,0,0,0,0,0
$GC,10234,0.92,301.8,170.6,9.1,407,10238,0.00,2.70,0.00,0.000,4,0.000,0.067,3206,235,1762,0,0,0,0,0,0
$GC,10268,0.92,301.8,167.8,10.0,409,10272,0.00,2.45,0.00,0.000,6,0.000,0.021,3206,1817,1762,0,0,0,0,0,0
$GC,10534,0.92,301.8,143.1,9.3,433,10539,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1819,1761,0,0,0,0,0,0
$GC,10796,0.97,301.8,118.8,8.9,458,10801,0.00,2.50,0.00,0.000,4,0.000,0.031,3207,3394,1762,0,0,0,0,0,0
$GC,10830,1.06,301.8,115.8,8.3,460,10840,0.08,2.60,0.00,0.000,6,0.049,0.039,3237,1811,1762,0,0,0,0,0,0
$GC,11095,1.10,332.8,95.3,6.9,485,11129,0.00,2.80,26.77,0.590,4,0.000,0.066,3237,237,1643,0,0,0,0,0,0
$GC,11146,1.10,332.8,91.4,8.2,489,11150,0.00,2.45,0.00,0.000,6,0.000,0.018,3238,1814,1642,0,0,0,0,0,0
$GC,11414,1.21,419.0,74.7,4.8,513,11496,0.10,2.58,72.97,0.574,4,0.093,0.028,3268,3379,1293,0,0,0,0,0,0
$GC,11526,1.21,419.0,65.8,9.1,521,11531,0.00,2.58,0.00,0.000,6,0.000,0.035,3268,1809,1291,0,0,0,0,0,0
$GC,11794,1.21,419.0,37.4,11.1,545,11798,0.00,2.67,0.00,0.000,4,0.000,0.063,3268,240,1289,0,0,0,0,0,0
$GC,11840,1.15,419.0,30.7,12.6,548,11849,0.00,2.42,0.00,0.000,6,0.000,0.018,3268,1800,1288,0,0,0,0,0,0
$STATE,12069,end climb,SURFACE_DEPTH_REACHED
$STATE,12069,begin surface coast
$FINISH,0.2,1.023342
$STATE,12110,end surface coast,CONTROL_FINISHED_OK
$STATE,12111,begin surface
$SM_CCo,12192,0.00,0.000,0,0,1285,420.93
$SM_GC,1.03,11.35,0.00,0.00,0.030,0.000,0.000,478,1755,1285,-11.52,-0.42,420.93
$IRIDIUM_FIX,2239.35,-15751.94,151199,141416
$TT8_MAMPS,0.025311
$HUMID,42.28
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.50
$XPDR_PINGS,56
$24V_AH,23.5,10.003
$10V_AH,10.4,9.042
$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,27.100,152.625,487.275,0.000,0.000,30.540,28.314,243.430,14.000,0.000,12.046,1174.519,8163.383,538.527,2126.394,618.497,33.349,1370.830,0.000,2137.674,0.000,0.535,0.000
$DEVICE_MAMPS,157.235,166.439,921.167,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,397.059,355.541,446.496,815.680,1230.019,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,44904,588
$CAP_FILE_SIZE,125703,0
$CFSIZE,260165632,180310016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210810,215223,2248.781,-15742.645,35,2.7,54,10.1