version: 66.06
glider: 146
mission: 5
dive: 46
start: 8 22 110 5 15 17
data:
$ID,146
$MISSION,5
$DIVE,46
$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,-248060.44
$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,66
$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
$GPS1,050807,2251.579,-15742.931,34,1.1,34,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-65.2
$GPS2,051422,2251.594,-15742.926,13,1.9,15,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.032,0.238
$KALMAN_X,-33760.7,163.8,-71.9,81309.1,-140.6
$KALMAN_Y,31697.2,362.5,262.3,99190.8,-1003.5
$MHEAD_RNG_PITCHd_Wd,357.7,11969,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-86.12,0.000,2,0.000,0.000,483,1726,3524,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.8,-6.9,11,126,12.02,2.60,-1.20,0.000,4,0.156,0.035,2761,3346,3600,0,0,0,0,0,0
$GC,268,-0.94,-146.0,39.8,-13.1,29,273,0.15,2.47,0.00,0.000,6,0.117,0.035,2792,1807,3602,0,0,0,0,0,0
$GC,535,-0.83,-146.0,75.3,-12.4,53,541,0.12,2.80,0.00,0.000,4,0.120,0.064,2817,195,3603,0,0,0,0,0,0
$GC,607,-0.83,-146.0,84.5,-11.0,58,616,0.00,2.40,0.00,0.000,6,0.000,0.017,2817,1767,3602,0,0,0,0,0,0
$GC,872,-0.83,-146.0,110.2,-8.8,83,877,0.00,2.40,0.00,0.000,4,0.000,0.028,2817,3322,3602,0,0,0,0,0,0
$GC,904,-0.83,-146.0,112.9,-8.1,85,909,0.00,2.53,0.00,0.000,6,0.000,0.037,2817,1750,3603,0,0,0,0,0,0
$GC,1171,-0.83,-146.0,132.4,-7.5,109,1175,0.00,2.67,0.00,0.000,4,0.000,0.067,2817,188,3603,0,0,0,0,0,0
$GC,1228,-0.87,-146.0,136.7,-7.9,113,1232,0.00,2.35,0.00,0.000,6,0.000,0.024,2818,1762,3604,0,0,0,0,0,0
$GC,1490,-0.91,-146.0,158.9,-9.2,137,1494,0.00,2.42,0.00,0.000,4,0.000,0.027,2818,3326,3604,0,0,0,0,0,0
$GC,1525,-0.98,-146.0,161.6,-8.6,139,1530,0.12,2.50,0.00,0.000,6,0.072,0.031,2770,1751,3603,0,0,0,0,0,0
$GC,1790,-0.94,-146.0,190.5,-10.4,163,1796,0.12,2.67,0.00,0.000,4,0.110,0.074,2797,197,3604,0,0,0,0,0,0
$GC,1835,-0.94,-146.0,194.7,-9.3,166,1839,0.00,2.30,0.00,0.000,6,0.000,0.022,2797,1745,3604,0,0,0,0,0,0
$GC,2108,-0.94,-146.0,218.0,-8.6,177,2112,0.00,2.45,0.00,0.000,4,0.000,0.031,2797,3314,3603,0,0,0,0,0,0
$GC,2135,-0.98,-146.0,220.3,-8.9,177,2139,0.00,2.50,0.00,0.000,6,0.000,0.038,2797,1745,3604,0,0,0,0,0,0
$GC,2386,-0.98,-146.0,239.8,-7.8,183,2390,0.00,2.67,0.00,0.000,4,0.000,0.075,2797,189,3603,0,0,0,0,0,0
$GC,2435,-1.04,-146.0,244.4,-8.9,184,2440,0.10,2.33,0.00,0.000,6,0.087,0.018,2760,1729,3603,0,0,0,0,0,0
$GC,2709,-1.00,-146.0,271.2,-9.8,191,2714,0.10,2.55,0.00,0.000,4,0.119,0.035,2781,3334,3603,0,0,0,0,0,0
$GC,2753,-1.05,-146.0,275.4,-8.4,192,2758,0.00,2.58,0.00,0.000,6,0.000,0.037,2781,1747,3603,0,0,0,0,0,0
$GC,3031,-1.05,-146.0,297.5,-8.0,199,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1748,3602,0,0,0,0,0,0
$GC,3276,-1.05,-146.0,317.5,-8.3,205,3280,0.00,2.53,0.00,0.000,4,0.000,0.036,2781,3329,3602,0,0,0,0,0,0
$GC,3315,-1.11,-146.0,320.8,-8.6,206,3320,0.00,2.60,0.00,0.000,6,0.000,0.049,2781,1744,3602,0,0,0,0,0,0
$GC,3598,-1.11,-146.0,344.0,-8.2,213,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1744,3601,0,0,0,0,0,0
$GC,3843,-1.11,-146.0,362.2,-7.5,219,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1744,3600,0,0,0,0,0,0
$GC,4086,-1.15,-146.0,380.7,-7.5,225,4088,0.15,0.00,0.00,0.000,6,0.069,0.000,2736,1744,3598,0,0,0,0,0,0
$GC,4329,-1.11,-146.0,404.0,-9.7,231,4335,0.10,2.90,0.00,0.000,4,0.124,0.110,2757,186,3597,0,0,0,0,0,0
$GC,4369,-1.11,-146.0,407.4,-8.9,232,4373,0.00,2.42,0.00,0.000,6,0.000,0.029,2756,1712,3597,0,0,0,0,0,0
$GC,4653,-1.11,-146.0,428.2,-7.1,239,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1712,3595,0,0,0,0,0,0
$GC,4896,-1.11,-146.0,444.2,-6.6,245,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1712,3593,0,0,0,0,0,0
$GC,5140,-1.11,-146.0,460.9,-6.9,251,5144,0.00,2.72,0.00,0.000,4,0.000,0.068,2757,3317,3592,0,0,0,0,0,0
$GC,5174,-1.16,-146.0,463.4,-7.6,251,5179,0.00,2.70,0.00,0.000,6,0.000,0.064,2757,1744,3592,0,0,0,0,0,0
$GC,5424,-1.16,-146.0,481.0,-6.9,258,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1744,3590,0,0,0,0,0,0
$GC,5667,-1.16,-146.0,497.0,-6.5,264,5672,0.00,2.65,0.00,0.000,4,0.000,0.058,2757,3314,3588,0,0,0,0,0,0
$GC,5690,-1.16,-146.0,498.6,-6.6,264,5695,0.00,2.70,0.00,0.000,6,0.000,0.069,2757,1748,3588,0,0,0,0,0,0
$STATE,5739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5740,begin apogee
$GC,5746,-0.31,0.0,502.1,6.9,266,5868,0.77,0.00,119.25,0.922,6,0.078,0.000,2932,1812,3000,0,0,0,0,0,0
$STATE,5869,end apogee,CONTROL_FINISHED_OK
$STATE,5869,begin climb
$GC,5872,1.06,146.0,505.3,0.0,269,6006,1.23,2.72,123.35,0.897,4,0.047,0.061,3232,3376,2403,0,0,0,0,0,0
$GC,6075,0.95,166.9,500.0,7.2,273,6100,0.12,2.72,18.38,0.834,6,0.123,0.061,3208,1819,2321,0,0,0,0,0,0
$GC,6371,0.89,192.9,479.5,7.0,281,6400,0.00,2.70,23.30,0.855,4,0.000,0.053,3209,3375,2213,0,0,0,0,0,0
$GC,6440,0.84,192.9,473.6,8.8,282,6445,0.12,2.70,0.00,0.000,6,0.126,0.062,3185,1820,2211,0,0,0,0,0,0
$GC,6696,0.87,216.5,455.3,7.1,289,6720,0.00,0.00,21.40,0.847,6,0.000,0.000,3184,1820,2118,0,0,0,0,0,0
$GC,6939,0.90,242.7,437.7,7.0,295,6965,0.00,0.00,24.10,0.847,6,0.000,0.000,3185,1820,2011,0,0,0,0,0,0
$GC,7183,0.93,261.9,419.9,7.3,301,7207,0.00,3.08,17.83,0.827,4,0.000,0.109,3185,232,1932,0,0,0,0,0,0
$GC,7231,0.86,261.9,416.2,8.5,302,7235,0.00,2.55,0.00,0.000,6,0.000,0.030,3185,1800,1931,0,0,0,0,0,0
$GC,7509,0.89,281.3,395.3,7.3,309,7529,0.00,0.00,18.00,0.818,6,0.000,0.000,3184,1800,1854,0,0,0,0,0,0
$GC,7753,0.89,282.6,376.1,8.0,315,7758,0.00,2.80,0.00,0.000,4,0.000,0.082,3185,230,1850,0,0,0,0,0,0
$GC,7788,0.89,282.6,373.0,9.2,315,7794,0.00,2.55,0.00,0.000,6,0.000,0.029,3185,1814,1849,0,0,0,0,0,0
$GC,8038,0.89,282.6,352.3,8.2,322,8042,0.00,2.80,0.00,0.000,4,0.000,0.074,3185,229,1847,0,0,0,0,0,0
$GC,8053,0.89,282.6,350.7,8.8,322,8057,0.00,2.53,0.00,0.000,6,0.000,0.028,3185,1814,1847,0,0,0,0,0,0
$GC,8316,0.89,282.6,326.6,9.4,329,8320,0.00,2.58,0.00,0.000,4,0.000,0.043,3184,3404,1846,0,0,0,0,0,0
$GC,8359,0.96,282.6,322.8,8.9,330,8365,0.10,2.62,0.00,0.000,6,0.100,0.044,3213,1804,1845,0,0,0,0,0,0
$GC,8637,0.97,290.1,300.3,7.7,337,8652,0.00,2.65,7.82,0.682,4,0.000,0.039,3213,3399,1817,0,0,0,0,0,0
$GC,8670,0.99,304.2,297.9,7.5,337,8689,0.00,2.62,14.07,0.734,6,0.000,0.040,3213,1816,1760,0,0,0,0,0,0
$GC,8968,0.99,304.2,273.7,8.5,345,8972,0.00,2.75,0.00,0.000,4,0.000,0.079,3213,241,1757,0,0,0,0,0,0
$GC,8996,0.93,304.2,271.0,10.0,345,9000,0.00,2.47,0.00,0.000,6,0.000,0.023,3213,1830,1756,0,0,0,0,0,0
$GC,9245,0.93,304.2,247.4,9.3,351,9250,0.00,2.50,0.00,0.000,4,0.000,0.036,3213,3399,1756,0,0,0,0,0,0
$GC,9272,0.93,304.2,244.7,10.3,351,9277,0.00,2.60,0.00,0.000,6,0.000,0.038,3213,1812,1755,0,0,0,0,0,0
$GC,9523,0.93,304.2,221.6,9.3,357,9527,0.00,2.72,0.00,0.000,4,0.000,0.072,3213,236,1755,0,0,0,0,0,0
$GC,9556,0.88,304.2,218.2,10.5,357,9564,0.08,2.42,0.00,0.000,6,0.094,0.024,3193,1805,1754,0,0,0,0,0,0
$GC,9807,0.93,313.2,198.4,7.7,364,9821,0.00,2.58,8.55,0.610,4,0.000,0.036,3193,3386,1724,0,0,0,0,0,0
$GC,9845,1.00,320.5,195.8,7.7,367,9860,0.10,2.60,8.32,0.597,6,0.093,0.040,3223,1799,1693,0,0,0,0,0,0
$GC,10121,1.00,320.5,170.5,9.4,393,10125,0.00,2.70,0.00,0.000,4,0.000,0.068,3223,240,1691,0,0,0,0,0,0
$GC,10162,0.97,320.5,166.3,11.0,396,10167,0.00,2.40,0.00,0.000,6,0.000,0.020,3223,1803,1690,0,0,0,0,0,0
$GC,10425,0.97,320.5,142.2,9.0,420,10426,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1805,1690,0,0,0,0,0,0
$GC,10679,0.97,320.5,118.8,10.0,444,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1805,1690,0,0,0,0,0,0
$GC,10933,0.99,337.6,97.3,7.4,468,10959,0.00,2.58,15.95,0.573,4,0.000,0.036,3223,3383,1623,0,0,0,0,0,0
$GC,10977,1.09,369.6,94.1,6.8,471,11011,0.00,2.60,28.48,0.580,6,0.000,0.035,3223,1803,1494,0,0,0,0,0,0
$GC,11271,1.15,377.8,73.8,7.7,498,11285,0.12,2.70,8.43,0.503,4,0.080,0.062,3261,242,1458,0,0,0,0,0,0
$GC,11304,1.15,377.8,70.3,10.4,500,11313,0.00,2.45,0.00,0.000,6,0.000,0.018,3261,1808,1458,0,0,0,0,0,0
$GC,11569,1.15,377.8,42.2,10.3,525,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1810,1458,0,0,0,0,0,0
$GC,11876,1.15,377.8,13.2,9.4,563,11884,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1810,1458,0,0,0,0,0,0
$STATE,11967,end climb,SURFACE_DEPTH_REACHED
$STATE,11967,begin surface coast
$FINISH,0.3,1.010425
$STATE,12016,end surface coast,CONTROL_FINISHED_OK
$STATE,12016,begin surface
$SM_CCo,12037,46.38,0.403,1,0,1287,420.20
$SM_GC,0.81,0.00,0.00,46.38,0.000,0.000,0.403,477,1713,1287,-11.61,-1.61,420.20
$IRIDIUM_FIX,2241.69,-15741.52,161199,010153
$TT8_MAMPS,0.025311
$HUMID,41.33
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.80
$XPDR_PINGS,54
$24V_AH,23.5,10.403
$10V_AH,10.4,9.436
$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,26.850,140.275,457.225,46.375,0.000,30.834,34.681,171.725,13.500,0.000,17.461,1173.471,8037.221,576.149,2143.171,535.088,33.358,1381.278,0.000,2142.347,0.000,0.536,0.000
$DEVICE_MAMPS,156.468,116.584,921.934,403.442,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,394.015,348.816,438.825,814.887,1231.130,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,44763,583
$CAP_FILE_SIZE,123647,0
$CFSIZE,260165632,180121600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220810,083807,2252.608,-15742.900,38,1.4,38,10.1