version: 66.06
glider: 146
mission: 5
dive: 45
start: 8 22 110 1 43 55
data:
$ID,146
$MISSION,5
$DIVE,45
$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,-248042.36
$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,26
$R_STBD_OVSHOOT,59
$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
$GPS1,013700,2249.991,-15743.050,36,1.2,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-68.9
$GPS2,014301,2250.013,-15743.095,14,1.2,31,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.036,0.238
$KALMAN_X,-32954.9,-61.6,-495.5,80866.0,-119.2
$KALMAN_Y,32295.7,243.8,-173.1,96218.2,-414.2
$MHEAD_RNG_PITCHd_Wd,358.4,14909,-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,-86.32,0.000,2,0.000,0.000,475,1700,3523,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.8,-6.8,11,126,12.07,2.65,-1.23,0.000,4,0.157,0.035,2761,3342,3600,0,0,0,0,0,0
$GC,247,-0.96,-146.0,36.2,-13.6,28,252,0.12,2.55,0.00,0.000,6,0.128,0.034,2786,1768,3602,0,0,0,0,0,0
$GC,515,-0.84,-146.0,68.7,-11.6,52,520,0.15,2.72,0.00,0.000,4,0.114,0.065,2817,187,3602,0,0,0,0,0,0
$GC,573,-0.84,-146.0,75.6,-10.4,56,577,0.00,2.40,0.00,0.000,6,0.000,0.016,2817,1766,3602,0,0,0,0,0,0
$GC,836,-0.84,-146.0,100.9,-10.1,80,841,0.00,2.45,0.00,0.000,4,0.000,0.031,2817,3327,3603,0,0,0,0,0,0
$GC,870,-0.88,-146.0,104.4,-9.3,82,879,0.00,2.58,0.00,0.000,6,0.000,0.036,2817,1744,3603,0,0,0,0,0,0
$GC,1135,-0.88,-146.0,127.1,-8.4,107,1140,0.00,2.62,0.00,0.000,4,0.000,0.071,2817,194,3603,0,0,0,0,0,0
$GC,1194,-0.93,-146.0,131.5,-8.2,111,1198,0.00,2.33,0.00,0.000,6,0.000,0.020,2817,1749,3603,0,0,0,0,0,0
$GC,1458,-0.97,-146.0,151.4,-7.5,135,1463,0.12,2.50,0.00,0.000,4,0.075,0.034,2777,3330,3603,0,0,0,0,0,0
$GC,1515,-0.97,-146.0,156.2,-9.9,139,1519,0.00,2.53,0.00,0.000,6,0.000,0.032,2777,1739,3603,0,0,0,0,0,0
$GC,1781,-0.93,-146.0,182.9,-10.8,163,1786,0.10,2.65,0.00,0.000,4,0.120,0.071,2798,196,3603,0,0,0,0,0,0
$GC,1835,-0.98,-146.0,188.6,-9.0,167,1839,0.00,2.30,0.00,0.000,6,0.000,0.017,2798,1742,3603,0,0,0,0,0,0
$GC,2090,-0.98,-146.0,209.6,-7.8,182,2095,0.00,2.45,0.00,0.000,4,0.000,0.033,2798,3319,3603,0,0,0,0,0,0
$GC,2124,-1.04,-146.0,212.1,-7.2,182,2130,0.12,2.55,0.00,0.000,6,0.074,0.031,2753,1736,3603,0,0,0,0,0,0
$GC,2375,-0.97,-146.0,235.5,-9.5,189,2380,0.15,2.70,0.00,0.000,4,0.149,0.072,2787,192,3603,0,0,0,0,0,0
$GC,2436,-1.01,-146.0,241.3,-8.5,190,2441,0.00,2.33,0.00,0.000,6,0.000,0.022,2787,1735,3603,0,0,0,0,0,0
$GC,2699,-1.01,-146.0,262.7,-8.3,197,2703,0.00,2.50,0.00,0.000,4,0.000,0.028,2787,3335,3603,0,0,0,0,0,0
$GC,2726,-1.04,-146.0,265.0,-8.6,197,2730,0.00,2.58,0.00,0.000,6,0.000,0.033,2786,1738,3603,0,0,0,0,0,0
$GC,2975,-1.04,-146.0,285.6,-8.3,203,2980,0.00,2.53,0.00,0.000,4,0.000,0.038,2787,3325,3603,0,0,0,0,0,0
$GC,2991,-1.04,-146.0,287.0,-8.5,203,2996,0.00,2.58,0.00,0.000,6,0.000,0.038,2787,1735,3603,0,0,0,0,0,0
$GC,3254,-1.04,-146.0,306.3,-7.3,210,3258,0.00,2.53,0.00,0.000,4,0.000,0.040,2787,3325,3602,0,0,0,0,0,0
$GC,3276,-1.09,-146.0,308.1,-7.3,210,3281,0.10,2.58,0.00,0.000,6,0.087,0.038,2751,1743,3602,0,0,0,0,0,0
$GC,3533,-1.05,-146.0,331.3,-9.2,217,3538,0.10,2.80,0.00,0.000,4,0.118,0.091,2772,186,3602,0,0,0,0,0,0
$GC,3554,-1.05,-146.0,333.6,-9.4,217,3558,0.00,2.40,0.00,0.000,6,0.000,0.027,2772,1725,3601,0,0,0,0,0,0
$GC,3816,-1.05,-146.0,354.9,-7.8,224,3820,0.00,2.62,0.00,0.000,4,0.000,0.048,2772,3349,3601,0,0,0,0,0,0
$GC,3846,-1.08,-146.0,356.9,-7.2,224,3851,0.00,2.67,0.00,0.000,6,0.000,0.055,2772,1750,3601,0,0,0,0,0,0
$GC,4096,-1.08,-146.0,374.4,-6.9,230,4101,0.00,2.85,0.00,0.000,4,0.000,0.100,2772,182,3599,0,0,0,0,0,0
$GC,4128,-1.08,-146.0,376.8,-7.3,230,4134,0.00,2.47,0.00,0.000,6,0.000,0.035,2772,1737,3599,0,0,0,0,0,0
$GC,4378,-1.08,-146.0,396.8,-8.3,237,4383,0.00,2.67,0.00,0.000,4,0.000,0.057,2772,3352,3597,0,0,0,0,0,0
$GC,4419,-1.16,-146.0,400.2,-9.0,238,4424,0.12,2.72,0.00,0.000,6,0.077,0.061,2732,1744,3598,0,0,0,0,0,0
$GC,4703,-1.13,-146.0,427.4,-9.4,245,4708,0.10,2.97,0.00,0.000,4,0.124,0.123,2753,180,3596,0,0,0,0,0,0
$GC,4760,-1.13,-146.0,432.2,-7.8,246,4764,0.00,2.50,0.00,0.000,6,0.000,0.041,2753,1737,3595,0,0,0,0,0,0
$GC,5026,-1.13,-146.0,451.4,-7.1,253,5030,0.00,2.72,0.00,0.000,4,0.000,0.062,2753,3360,3594,0,0,0,0,0,0
$GC,5058,-1.13,-146.0,453.8,-7.5,253,5064,0.00,2.78,0.00,0.000,6,0.000,0.064,2753,1737,3594,0,0,0,0,0,0
$GC,5310,-1.13,-146.0,471.7,-7.1,260,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1738,3592,0,0,0,0,0,0
$GC,5552,-1.13,-146.0,490.0,-7.5,266,5557,0.00,2.72,0.00,0.000,4,0.000,0.058,2753,3354,3590,0,0,0,0,0,0
$GC,5607,-1.18,-146.0,494.7,-8.5,267,5612,0.00,2.80,0.00,0.000,6,0.000,0.065,2753,1740,3590,0,0,0,0,0,0
$STATE,5708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5709,begin apogee
$GC,5716,-0.31,0.0,503.2,8.3,270,5839,0.80,0.00,119.38,0.920,6,0.081,0.000,2933,1849,3000,0,0,0,0,0,0
$STATE,5839,end apogee,CONTROL_FINISHED_OK
$STATE,5840,begin climb
$GC,5842,1.06,146.0,508.2,0.0,273,5977,1.25,2.67,123.40,0.896,4,0.055,0.057,3235,3382,2403,0,0,0,0,0,0
$GC,6038,0.92,146.0,503.3,8.4,277,6044,0.17,2.72,0.00,0.000,6,0.117,0.061,3201,1820,2398,0,0,0,0,0,0
$GC,6289,0.85,158.5,484.7,7.5,283,6305,0.00,2.67,10.77,0.790,4,0.000,0.053,3201,3380,2353,0,0,0,0,0,0
$GC,6345,0.81,169.0,480.3,7.6,284,6362,0.12,2.70,10.50,0.785,6,0.133,0.058,3178,1827,2312,0,0,0,0,0,0
$GC,6614,0.85,204.3,461.6,6.7,291,6655,0.00,2.70,31.90,0.867,4,0.000,0.048,3178,3382,2166,0,0,0,0,0,0
$GC,6702,0.88,225.2,455.8,7.2,293,6726,0.00,2.67,19.17,0.831,6,0.000,0.060,3178,1838,2082,0,0,0,0,0,0
$GC,6982,0.88,230.8,434.7,7.8,300,6994,0.00,3.08,5.60,0.664,4,0.000,0.114,3178,231,2059,0,0,0,0,0,0
$GC,7017,0.83,230.8,431.7,8.8,300,7023,0.00,2.58,0.00,0.000,6,0.000,0.030,3178,1813,2058,0,0,0,0,0,0
$GC,7267,0.83,231.3,411.3,8.0,307,7272,0.00,2.85,0.00,0.000,4,0.000,0.080,3178,225,2056,0,0,0,0,0,0
$GC,7300,0.79,231.3,408.3,9.6,307,7305,0.00,2.58,0.00,0.000,6,0.000,0.027,3178,1828,2054,0,0,0,0,0,0
$GC,7551,0.83,264.8,390.9,6.8,314,7593,0.00,2.90,30.90,0.840,4,0.000,0.083,3178,229,1919,0,0,0,0,0,0
$GC,7604,0.85,280.6,386.9,7.4,315,7624,0.00,2.58,15.23,0.789,6,0.000,0.031,3178,1812,1856,0,0,0,0,0,0
$GC,7876,0.86,291.0,366.3,7.6,322,7888,0.00,0.00,9.95,0.748,6,0.000,0.000,3178,1812,1814,0,0,0,0,0,0
$GC,8118,0.86,291.0,345.0,9.0,328,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1812,1810,0,0,0,0,0,0
$GC,8362,0.90,291.0,322.4,9.3,334,8367,0.00,2.78,0.00,0.000,4,0.000,0.075,3178,230,1808,0,0,0,0,0,0
$GC,8405,0.90,291.0,318.0,9.8,335,8410,0.00,2.53,0.00,0.000,6,0.000,0.028,3178,1815,1808,0,0,0,0,0,0
$GC,8685,0.97,312.6,296.8,7.2,342,8710,0.15,2.62,19.33,0.759,4,0.080,0.043,3216,3400,1725,0,0,0,0,0,0
$GC,8732,0.97,312.6,293.0,8.2,343,8737,0.00,2.65,0.00,0.000,6,0.000,0.042,3215,1793,1724,0,0,0,0,0,0
$GC,9006,0.97,312.6,270.1,8.6,350,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1793,1722,0,0,0,0,0,0
$GC,9248,0.97,312.6,247.6,9.3,356,9252,0.00,2.60,0.00,0.000,4,0.000,0.030,3215,3408,1721,0,0,0,0,0,0
$GC,9292,1.02,312.6,243.2,10.0,357,9296,0.00,2.60,0.00,0.000,6,0.000,0.040,3215,1809,1720,0,0,0,0,0,0
$GC,9570,1.02,312.6,217.6,8.9,364,9575,0.00,2.70,0.00,0.000,4,0.000,0.074,3215,240,1720,0,0,0,0,0,0
$GC,9597,0.97,312.6,214.7,10.7,364,9601,0.00,2.47,0.00,0.000,6,0.000,0.019,3215,1834,1719,0,0,0,0,0,0
$GC,9854,0.97,312.6,192.8,9.0,373,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1835,1719,0,0,0,0,0,0
$GC,10116,0.97,312.6,167.9,9.4,398,10120,0.00,2.75,0.00,0.000,4,0.000,0.066,3215,240,1719,0,0,0,0,0,0
$GC,10137,0.97,312.6,165.5,10.0,399,10146,0.00,2.45,0.00,0.000,6,0.000,0.025,3215,1811,1719,0,0,0,0,0,0
$GC,10400,0.97,312.6,142.3,8.7,424,10401,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1813,1719,0,0,0,0,0,0
$GC,10652,0.97,312.6,118.9,8.9,448,10656,0.00,2.67,0.00,0.000,4,0.000,0.064,3215,234,1719,0,0,0,0,0,0
$GC,10680,0.97,312.6,116.2,10.6,450,10684,0.00,2.42,0.00,0.000,6,0.000,0.020,3215,1814,1719,0,0,0,0,0,0
$GC,10945,1.09,366.4,96.4,6.0,474,10995,0.10,0.00,46.08,0.593,6,0.087,0.000,3245,1817,1506,0,0,0,0,0,0
$GC,11251,1.10,370.1,73.6,7.9,503,11260,0.00,0.00,4.35,0.400,6,0.000,0.000,3245,1817,1491,0,0,0,0,0,0
$GC,11518,1.10,370.1,50.1,9.4,528,11522,0.00,2.72,0.00,0.000,4,0.000,0.066,3245,239,1490,0,0,0,0,0,0
$GC,11552,1.10,370.1,46.1,9.8,530,11561,0.00,2.45,0.00,0.000,6,0.000,0.018,3245,1813,1489,0,0,0,0,0,0
$GC,11834,1.10,370.1,22.7,9.1,561,11842,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,1814,1489,0,0,0,0,0,0
$STATE,12041,end climb,SURFACE_DEPTH_REACHED
$STATE,12042,begin surface coast
$FINISH,0.1,1.010119
$STATE,12102,end surface coast,CONTROL_FINISHED_OK
$STATE,12102,begin surface
$SM_CCo,12125,46.55,0.400,1,0,1288,420.20
$SM_GC,0.93,0.00,0.00,46.55,0.000,0.000,0.400,483,1726,1288,-11.58,-1.24,420.20
$IRIDIUM_FIX,2239.35,-15742.40,151199,222211
$TT8_MAMPS,0.026078
$HUMID,41.53
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.10
$XPDR_PINGS,64
$24V_AH,23.5,10.276
$10V_AH,10.5,9.311
$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,27.100,162.650,446.550,46.550,0.000,23.343,30.442,153.545,16.000,0.000,32.833,1218.772,7963.377,569.766,2265.580,518.095,33.352,1425.564,0.000,2251.812,0.000,0.537,0.000
$DEVICE_MAMPS,157.235,122.720,919.633,400.374,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,406.221,370.925,459.237,872.382,1319.477,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,47701,601
$CAP_FILE_SIZE,129467,0
$CFSIZE,260165632,180178944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220810,050807,2251.579,-15742.931,34,1.1,34,10.1