version: 66.06
glider: 146
mission: 5
dive: 44
start: 8 21 110 22 7 49
data:
$ID,146
$MISSION,5
$DIVE,44
$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,-248008.91
$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,38
$R_STBD_OVSHOOT,63
$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
$GPS1,215223,2248.781,-15742.645,35,2.7,54,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-67.0
$GPS2,220657,2248.764,-15742.757,39,2.3,58,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.080,0.227
$KALMAN_X,-31872.8,-236.5,158.7,79879.9,-865.0
$KALMAN_Y,32990.5,-45.1,-45.3,93377.4,-1050.4
$MHEAD_RNG_PITCHd_Wd,9.4,17153,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.06,-146.0,0.0,0.0,0,106,0.00,0.00,-86.15,0.000,2,0.000,0.000,477,1752,3463,0,0,0,0,0,0
$GC,109,-1.06,-146.0,4.2,-5.5,11,135,12.00,2.55,-2.35,0.000,4,0.155,0.040,2761,3332,3601,0,0,0,0,0,0
$GC,206,-0.95,-146.0,29.1,-13.9,24,216,0.10,2.55,0.00,0.000,6,0.100,0.034,2786,1786,3601,0,0,0,0,0,0
$GC,473,-0.82,-146.0,66.8,-14.2,49,478,0.15,2.78,0.00,0.000,4,0.116,0.071,2817,191,3602,0,0,0,0,0,0
$GC,543,-0.82,-146.0,76.3,-12.2,54,547,0.00,2.38,0.00,0.000,6,0.000,0.015,2817,1772,3601,0,0,0,0,0,0
$GC,805,-0.82,-146.0,100.4,-8.3,78,810,0.00,2.42,0.00,0.000,4,0.000,0.026,2817,3321,3601,0,0,0,0,0,0
$GC,840,-0.87,-146.0,103.1,-7.4,80,849,0.00,2.55,0.00,0.000,6,0.000,0.031,2817,1752,3601,0,0,0,0,0,0
$GC,1108,-0.87,-146.0,120.8,-6.9,105,1112,0.00,2.65,0.00,0.000,4,0.000,0.071,2817,193,3601,0,0,0,0,0,0
$GC,1153,-0.93,-146.0,124.6,-7.2,108,1162,0.00,2.38,0.00,0.000,6,0.000,0.022,2818,1748,3602,0,0,0,0,0,0
$GC,1420,-0.93,-146.0,143.4,-8.2,133,1424,0.00,2.45,0.00,0.000,4,0.000,0.033,2817,3327,3602,0,0,0,0,0,0
$GC,1441,-0.97,-146.0,145.6,-7.6,134,1451,0.10,2.55,0.00,0.000,6,0.043,0.031,2771,1753,3602,0,0,0,0,0,0
$GC,1705,-0.92,-146.0,171.9,-9.9,159,1710,0.12,2.67,0.00,0.000,4,0.110,0.071,2798,196,3602,0,0,0,0,0,0
$GC,1745,-0.92,-146.0,175.9,-9.6,162,1750,0.00,2.33,0.00,0.000,6,0.000,0.017,2798,1755,3602,0,0,0,0,0,0
$GC,2009,-0.92,-146.0,197.4,-8.0,186,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1756,3602,0,0,0,0,0,0
$GC,2291,-0.92,-146.0,218.8,-7.2,196,2295,0.00,2.42,0.00,0.000,4,0.000,0.028,2798,3316,3602,0,0,0,0,0,0
$GC,2313,-0.96,-146.0,220.3,-6.7,196,2317,0.00,2.53,0.00,0.000,6,0.000,0.037,2798,1746,3602,0,0,0,0,0,0
$GC,2569,-0.96,-146.0,237.4,-6.6,203,2574,0.00,2.67,0.00,0.000,4,0.000,0.076,2798,196,3601,0,0,0,0,0,0
$GC,2602,-0.96,-146.0,240.0,-7.8,203,2607,0.00,2.33,0.00,0.000,6,0.000,0.021,2798,1733,3601,0,0,0,0,0,0
$GC,2852,-0.96,-146.0,258.4,-7.6,210,2856,0.00,2.53,0.00,0.000,4,0.000,0.029,2798,3335,3601,0,0,0,0,0,0
$GC,2879,-1.01,-146.0,260.6,-7.7,210,2883,0.00,2.55,0.00,0.000,6,0.000,0.037,2798,1742,3601,0,0,0,0,0,0
$GC,3130,-1.05,-146.0,279.0,-7.2,216,3132,0.12,0.00,0.00,0.000,6,0.077,0.000,2759,1742,3600,0,0,0,0,0,0
$GC,3372,-1.05,-146.0,299.7,-8.7,222,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1742,3599,0,0,0,0,0,0
$GC,3616,-1.05,-146.0,319.8,-8.0,228,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1743,3598,0,0,0,0,0,0
$GC,3862,-1.05,-146.0,336.3,-6.6,234,3866,0.00,2.58,0.00,0.000,4,0.000,0.047,2759,3319,3598,0,0,0,0,0,0
$GC,3883,-1.05,-146.0,338.1,-7.1,234,3887,0.00,2.60,0.00,0.000,6,0.000,0.050,2759,1754,3598,0,0,0,0,0,0
$GC,4138,-1.05,-146.0,359.3,-8.6,241,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1754,3597,0,0,0,0,0,0
$GC,4381,-1.05,-146.0,380.5,-8.3,247,4385,0.00,2.58,0.00,0.000,4,0.000,0.047,2759,3317,3596,0,0,0,0,0,0
$GC,4404,-1.05,-146.0,382.2,-8.0,247,4408,0.00,2.65,0.00,0.000,6,0.000,0.061,2759,1754,3595,0,0,0,0,0,0
$GC,4659,-1.05,-146.0,399.5,-6.5,254,4663,0.00,2.58,0.00,0.000,4,0.000,0.054,2759,3322,3593,0,0,0,0,0,0
$GC,4680,-1.05,-146.0,401.0,-6.7,254,4684,0.00,2.65,0.00,0.000,6,0.000,0.058,2759,1758,3593,0,0,0,0,0,0
$GC,4936,-1.05,-146.0,419.3,-7.4,261,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1758,3593,0,0,0,0,0,0
$GC,5179,-1.05,-146.0,438.1,-7.7,267,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1758,3590,0,0,0,0,0,0
$GC,5422,-1.05,-146.0,456.5,-7.5,273,5427,0.00,2.60,0.00,0.000,4,0.000,0.057,2759,3318,3588,0,0,0,0,0,0
$GC,5457,-1.09,-146.0,459.0,-7.4,273,5463,0.00,2.67,0.00,0.000,6,0.000,0.062,2759,1765,3588,0,0,0,0,0,0
$GC,5707,-1.09,-146.0,478.3,-7.7,280,5712,0.00,3.03,0.00,0.000,4,0.000,0.123,2758,177,3587,0,0,0,0,0,0
$GC,5729,-1.09,-146.0,480.1,-8.0,280,5733,0.00,2.50,0.00,0.000,6,0.000,0.040,2759,1727,3586,0,0,0,0,0,0
$GC,5985,-1.09,-146.0,499.4,-7.4,287,5990,0.00,2.83,0.00,0.000,4,0.000,0.076,2759,3360,3584,0,0,0,0,0,0
$STATE,5992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5993,begin apogee
$GC,6001,-0.31,0.0,500.3,7.3,287,6123,0.73,0.00,118.25,0.924,6,0.076,0.000,2928,1807,3001,0,0,0,0,0,0
$STATE,6123,end apogee,CONTROL_FINISHED_OK
$STATE,6123,begin climb
$GC,6126,1.06,146.0,503.7,0.0,290,6258,1.30,2.78,124.45,0.897,4,0.045,0.054,3239,3402,2404,0,0,0,0,0,0
$GC,6278,0.96,194.4,500.9,6.2,294,6328,0.15,2.75,42.25,0.872,6,0.123,0.058,3210,1820,2207,0,0,0,0,0,0
$GC,6596,0.87,194.4,473.9,8.7,302,6601,0.00,2.67,0.00,0.000,4,0.000,0.048,3210,3407,2198,0,0,0,0,0,0
$GC,6623,0.79,194.4,471.3,8.8,302,6629,0.17,2.72,0.00,0.000,6,0.117,0.062,3175,1823,2197,0,0,0,0,0,0
$GC,6873,0.82,219.5,453.4,7.1,308,6896,0.00,0.00,21.35,0.852,6,0.000,0.000,3175,1823,2106,0,0,0,0,0,0
$GC,7118,0.83,225.3,434.6,7.8,314,7131,0.00,2.67,6.20,0.696,4,0.000,0.048,3175,3418,2081,0,0,0,0,0,0
$GC,7154,0.84,232.8,431.5,7.7,314,7168,0.00,2.75,8.60,0.754,6,0.000,0.058,3176,1831,2050,0,0,0,0,0,0
$GC,7447,0.84,232.8,407.7,8.1,322,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1831,2046,0,0,0,0,0,0
$GC,7692,0.85,243.7,389.0,7.6,328,7704,0.00,0.00,10.20,0.775,6,0.000,0.000,3175,1831,2007,0,0,0,0,0,0
$GC,7935,0.88,263.7,371.1,7.3,334,7959,0.00,2.67,18.90,0.815,4,0.000,0.038,3176,3408,1925,0,0,0,0,0,0
$GC,7987,0.94,263.7,366.9,8.2,335,7993,0.12,2.70,0.00,0.000,6,0.088,0.051,3206,1827,1924,0,0,0,0,0,0
$GC,8261,0.94,263.7,342.3,9.1,342,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1827,1922,0,0,0,0,0,0
$GC,8503,0.94,263.8,322.2,8.0,348,8508,0.00,2.58,0.00,0.000,4,0.000,0.036,3207,3415,1920,0,0,0,0,0,0
$GC,8531,0.94,265.8,320.1,7.9,348,8535,0.00,2.62,0.00,0.000,6,0.000,0.041,3206,1835,1920,0,0,0,0,0,0
$GC,8782,0.94,265.8,299.8,8.4,354,8786,0.00,2.83,0.00,0.000,4,0.000,0.083,3206,235,1919,0,0,0,0,0,0
$GC,8825,0.89,265.8,295.6,9.6,355,8830,0.00,2.55,0.00,0.000,6,0.000,0.026,3206,1853,1918,0,0,0,0,0,0
$GC,9103,0.89,265.8,272.3,8.2,362,9107,0.00,2.47,0.00,0.000,4,0.000,0.042,3206,3396,1918,0,0,0,0,0,0
$GC,9161,0.94,265.8,267.6,8.4,363,9165,0.00,2.58,0.00,0.000,6,0.000,0.038,3207,1828,1917,0,0,0,0,0,0
$GC,9427,0.95,272.6,246.6,7.8,370,9436,0.00,0.00,7.85,0.650,6,0.000,0.000,3206,1828,1889,0,0,0,0,0,0
$GC,9670,0.98,295.6,228.9,7.2,376,9694,0.00,0.00,21.98,0.706,6,0.000,0.000,3206,1829,1795,0,0,0,0,0,0
$GC,9915,0.98,300.3,210.1,7.8,382,9922,0.00,0.00,5.05,0.527,6,0.000,0.000,3206,1829,1776,0,0,0,0,0,0
$GC,10167,0.98,300.3,188.7,8.9,397,10171,0.00,2.75,0.00,0.000,4,0.000,0.069,3206,242,1775,0,0,0,0,0,0
$GC,10195,0.98,300.3,185.6,10.2,399,10199,0.00,2.50,0.00,0.000,6,0.000,0.020,3206,1858,1774,0,0,0,0,0,0
$GC,10459,1.01,319.8,165.5,7.3,423,10479,0.00,0.00,18.35,0.636,6,0.000,0.000,3206,1860,1697,0,0,0,0,0,0
$GC,10740,1.01,319.8,143.2,8.2,449,10744,0.00,2.78,0.00,0.000,4,0.000,0.068,3206,240,1695,0,0,0,0,0,0
$GC,10774,1.01,319.8,139.9,9.4,451,10780,0.00,2.47,0.00,0.000,6,0.000,0.022,3206,1843,1693,0,0,0,0,0,0
$GC,11037,1.08,342.8,119.3,7.2,476,11065,0.12,2.53,20.60,0.598,4,0.077,0.035,3243,3383,1602,0,0,0,0,0,0
$GC,11078,1.08,342.8,115.6,9.8,479,11084,0.00,2.53,0.00,0.000,6,0.000,0.034,3242,1829,1601,0,0,0,0,0,0
$GC,11341,1.08,342.8,90.7,9.2,504,11345,0.00,2.72,0.00,0.000,4,0.000,0.069,3242,235,1601,0,0,0,0,0,0
$GC,11394,1.08,342.8,85.3,10.7,508,11398,0.00,2.45,0.00,0.000,6,0.000,0.018,3243,1827,1599,0,0,0,0,0,0
$GC,11660,1.08,342.8,61.1,9.2,532,11664,0.00,2.45,0.00,0.000,4,0.000,0.028,3243,3390,1599,0,0,0,0,0,0
$GC,11694,1.14,342.8,57.9,9.5,534,11698,0.00,2.55,0.00,0.000,6,0.000,0.034,3243,1807,1599,0,0,0,0,0,0
$GC,11961,1.14,342.8,35.5,8.2,558,11966,0.00,2.65,0.00,0.000,4,0.000,0.060,3243,243,1599,0,0,0,0,0,0
$GC,11993,1.14,342.8,32.3,9.6,560,11998,0.00,2.42,0.00,0.000,6,0.000,0.018,3243,1822,1598,0,0,0,0,0,0
$STATE,12314,end climb,SURFACE_DEPTH_REACHED
$STATE,12314,begin surface coast
$FINISH,0.2,1.002699
$STATE,12372,end surface coast,CONTROL_FINISHED_OK
$STATE,12372,begin surface
$SM_CCo,12393,69.00,0.441,1,0,1288,420.20
$SM_GC,0.82,0.00,0.00,69.00,0.000,0.000,0.441,475,1701,1288,-11.62,-1.95,420.20
$IRIDIUM_FIX,2241.69,-15741.52,151199,222218
$TT8_MAMPS,0.026078
$HUMID,40.98
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.90
$XPDR_PINGS,51
$24V_AH,23.5,10.150
$10V_AH,10.4,9.179
$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,26.300,145.450,424.025,69.000,0.000,56.632,60.207,508.723,12.750,0.000,60.586,1208.589,8399.879,601.761,2185.271,943.388,33.357,1372.979,0.000,2147.347,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,123.487,924.235,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,415.376,383.826,468.843,865.989,1309.724,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,47813,614
$CAP_FILE_SIZE,128205,0
$CFSIZE,260165632,180240384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220810,013700,2249.991,-15743.050,36,1.2,41,10.1