version: 66.06
glider: 146
mission: 5
dive: 48
start: 8 22 110 12 19 29
data:
$ID,146
$MISSION,5
$DIVE,48
$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,-248110.34
$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,30
$R_STBD_OVSHOOT,62
$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
$GPS1,121201,2252.962,-15742.689,59,1.5,59,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-66.4
$GPS2,121837,2252.928,-15742.754,14,1.1,31,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.119,0.209
$KALMAN_X,-35452.8,76.7,-124.6,83434.3,-1223.5
$KALMAN_Y,29867.0,-110.9,-386.3,104620.6,-733.8
$MHEAD_RNG_PITCHd_Wd,19.5,9480,-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,16,-1.06,-146.0,0.0,0.0,0,105,0.00,0.00,-86.55,0.000,2,0.000,0.000,477,1759,3465,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.0,-5.1,11,134,12.25,2.53,-2.30,0.000,4,0.164,0.041,2760,3334,3600,0,0,0,0,0,0
$GC,226,-0.93,-146.0,32.5,-12.7,27,236,0.12,2.55,0.00,0.000,6,0.097,0.031,2790,1775,3601,0,0,0,0,0,0
$GC,493,-0.84,-146.0,65.5,-11.9,52,498,0.12,2.72,0.00,0.000,4,0.119,0.068,2815,194,3602,0,0,0,0,0,0
$GC,553,-0.84,-146.0,72.6,-9.4,56,563,0.00,2.40,0.00,0.000,6,0.000,0.015,2816,1769,3602,0,0,0,0,0,0
$GC,821,-0.84,-146.0,93.6,-6.9,81,825,0.00,2.42,0.00,0.000,4,0.000,0.033,2816,3321,3603,0,0,0,0,0,0
$GC,856,-0.89,-146.0,96.8,-7.5,83,861,0.00,2.53,0.00,0.000,6,0.000,0.038,2816,1743,3603,0,0,0,0,0,0
$GC,1117,-0.89,-146.0,117.7,-8.4,108,1121,0.00,2.65,0.00,0.000,4,0.000,0.066,2815,187,3603,0,0,0,0,0,0
$GC,1151,-0.89,-146.0,120.8,-9.1,110,1160,0.00,2.40,0.00,0.000,6,0.000,0.020,2816,1760,3603,0,0,0,0,0,0
$GC,1417,-0.93,-146.0,142.1,-8.0,135,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1761,3603,0,0,0,0,0,0
$GC,1685,-0.97,-146.0,161.4,-6.8,160,1691,0.12,0.00,0.00,0.000,6,0.077,0.000,2772,1761,3603,0,0,0,0,0,0
$GC,1948,-0.93,-146.0,184.7,-9.2,185,1950,0.12,0.00,0.00,0.000,6,0.110,0.000,2799,1762,3603,0,0,0,0,0,0
$GC,2200,-0.93,-146.0,203.3,-7.1,206,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1761,3603,0,0,0,0,0,0
$GC,2443,-0.93,-146.0,221.0,-7.4,212,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1762,3603,0,0,0,0,0,0
$GC,2686,-0.93,-146.0,239.4,-7.6,218,2691,0.00,2.70,0.00,0.000,4,0.000,0.073,2799,192,3603,0,0,0,0,0,0
$GC,2714,-0.93,-146.0,241.8,-8.3,218,2718,0.00,2.33,0.00,0.000,6,0.000,0.019,2799,1733,3603,0,0,0,0,0,0
$GC,2964,-0.93,-146.0,261.5,-7.8,224,2968,0.00,2.50,0.00,0.000,4,0.000,0.029,2798,3333,3603,0,0,0,0,0,0
$GC,2991,-1.00,-146.0,263.5,-7.2,224,2996,0.00,2.55,0.00,0.000,6,0.000,0.032,2799,1751,3602,0,0,0,0,0,0
$GC,3243,-1.04,-146.0,279.5,-6.2,230,3245,0.12,0.00,0.00,0.000,6,0.077,0.000,2759,1751,3602,0,0,0,0,0,0
$GC,3485,-1.04,-146.0,302.2,-9.7,236,3489,0.00,2.72,0.00,0.000,4,0.000,0.084,2759,193,3602,0,0,0,0,0,0
$GC,3534,-1.04,-146.0,307.7,-11.2,237,3538,0.00,2.40,0.00,0.000,6,0.000,0.024,2759,1732,3601,0,0,0,0,0,0
$GC,3813,-1.04,-146.0,334.1,-9.1,244,3817,0.00,2.62,0.00,0.000,4,0.000,0.050,2759,3348,3601,0,0,0,0,0,0
$GC,3874,-1.08,-146.0,339.4,-8.2,245,3878,0.00,2.62,0.00,0.000,6,0.000,0.044,2759,1768,3601,0,0,0,0,0,0
$GC,4134,-1.08,-146.0,358.3,-7.2,252,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1767,3600,0,0,0,0,0,0
$GC,4379,-1.08,-146.0,375.6,-7.1,258,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1767,3598,0,0,0,0,0,0
$GC,4622,-1.08,-146.0,393.5,-7.3,264,4626,0.00,2.88,0.00,0.000,4,0.000,0.102,2759,186,3597,0,0,0,0,0,0
$GC,4649,-1.08,-146.0,395.7,-7.9,264,4653,0.00,2.50,0.00,0.000,6,0.000,0.032,2759,1756,3597,0,0,0,0,0,0
$GC,4900,-1.08,-146.0,413.5,-7.2,270,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1756,3595,0,0,0,0,0,0
$GC,5142,-1.08,-146.0,432.2,-7.9,276,5147,0.00,2.67,0.00,0.000,4,0.000,0.057,2759,3352,3594,0,0,0,0,0,0
$GC,5169,-1.08,-146.0,434.6,-8.3,276,5173,0.00,2.65,0.00,0.000,6,0.000,0.059,2759,1772,3594,0,0,0,0,0,0
$GC,5419,-1.08,-146.0,456.0,-8.8,282,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1772,3593,0,0,0,0,0,0
$GC,5664,-1.08,-146.0,476.1,-8.0,288,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1772,3590,0,0,0,0,0,0
$GC,5907,-1.08,-146.0,494.0,-7.1,294,5912,0.00,2.97,0.00,0.000,4,0.000,0.120,2758,188,3589,0,0,0,0,0,0
$GC,5934,-1.08,-146.0,495.8,-7.4,294,5938,0.00,2.55,0.00,0.000,6,0.000,0.041,2759,1771,3589,0,0,0,0,0,0
$STATE,6019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6019,begin apogee
$GC,6026,-0.31,0.0,501.5,6.6,296,6149,0.75,0.00,119.82,0.922,6,0.073,0.000,2932,1828,3001,0,0,0,0,0,0
$STATE,6150,end apogee,CONTROL_FINISHED_OK
$STATE,6150,begin climb
$GC,6152,1.06,146.0,504.4,0.0,299,6285,1.27,2.80,125.18,0.897,4,0.052,0.076,3240,3397,2404,0,0,0,0,0,0
$GC,6305,0.94,189.1,501.5,6.4,303,6350,0.17,2.75,38.10,0.867,6,0.116,0.058,3206,1823,2229,0,0,0,0,0,0
$GC,6634,0.90,221.5,478.0,6.8,311,6665,0.00,0.00,28.75,0.861,6,0.000,0.000,3206,1824,2097,0,0,0,0,0,0
$GC,6878,0.83,227.7,459.2,7.8,317,6890,0.12,2.65,5.70,0.668,4,0.121,0.048,3181,3400,2073,0,0,0,0,0,0
$GC,6907,0.85,245.2,456.9,7.4,317,6932,0.00,2.75,17.62,0.831,6,0.000,0.057,3181,1818,2000,0,0,0,0,0,0
$GC,7205,0.87,259.1,434.8,7.5,325,7220,0.00,0.00,13.25,0.808,6,0.000,0.000,3181,1818,1944,0,0,0,0,0,0
$GC,7450,0.87,259.1,414.1,8.8,331,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1818,1940,0,0,0,0,0,0
$GC,7692,0.87,259.1,394.0,8.1,337,7697,0.00,2.92,0.00,0.000,4,0.000,0.096,3181,232,1939,0,0,0,0,0,0
$GC,7732,0.87,259.1,390.5,9.1,338,7736,0.00,2.55,0.00,0.000,6,0.000,0.029,3181,1820,1937,0,0,0,0,0,0
$GC,8016,0.91,288.8,369.7,6.9,345,8050,0.00,2.70,26.62,0.827,4,0.000,0.044,3181,3403,1822,0,0,0,0,0,0
$GC,8109,1.00,310.8,362.9,7.2,347,8136,0.15,2.65,20.70,0.805,6,0.077,0.049,3220,1829,1733,0,0,0,0,0,0
$GC,8389,0.95,310.8,336.3,9.9,354,8394,0.00,2.85,0.00,0.000,4,0.000,0.085,3220,230,1727,0,0,0,0,0,0
$GC,8429,0.86,310.8,331.6,11.7,355,8434,0.15,2.55,0.00,0.000,6,0.118,0.029,3189,1838,1726,0,0,0,0,0,0
$GC,8712,0.86,310.8,307.0,8.6,362,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1839,1726,0,0,0,0,0,0
$GC,8957,0.86,310.8,284.9,9.3,368,8961,0.00,2.80,0.00,0.000,4,0.000,0.069,3189,234,1724,0,0,0,0,0,0
$GC,9000,0.86,310.8,280.2,10.0,369,9005,0.00,2.53,0.00,0.000,6,0.000,0.024,3189,1836,1723,0,0,0,0,0,0
$GC,9279,0.89,310.8,256.0,8.7,376,9283,0.00,2.80,0.00,0.000,4,0.000,0.072,3189,234,1723,0,0,0,0,0,0
$GC,9301,0.89,310.8,253.9,9.3,376,9305,0.00,2.47,0.00,0.000,6,0.000,0.026,3189,1830,1723,0,0,0,0,0,0
$GC,9556,0.93,310.8,232.7,8.3,383,9560,0.00,2.75,0.00,0.000,4,0.000,0.065,3189,233,1723,0,0,0,0,0,0
$GC,9582,0.93,310.8,230.2,9.4,383,9587,0.00,2.45,0.00,0.000,6,0.000,0.020,3189,1825,1722,0,0,0,0,0,0
$GC,9834,1.00,330.7,211.5,7.3,389,9854,0.12,0.00,17.10,0.676,6,0.113,0.000,3224,1827,1653,0,0,0,0,0,0
$GC,10080,1.00,330.7,189.0,9.5,401,10084,0.00,2.75,0.00,0.000,4,0.000,0.065,3224,233,1650,0,0,0,0,0,0
$GC,10097,0.95,330.7,187.3,10.0,402,10101,0.00,2.45,0.00,0.000,6,0.000,0.021,3224,1823,1649,0,0,0,0,0,0
$GC,10360,0.95,330.7,162.9,9.3,426,10365,0.00,2.47,0.00,0.000,4,0.000,0.035,3224,3383,1649,0,0,0,0,0,0
$GC,10401,1.00,330.7,158.8,9.2,429,10406,0.00,2.58,0.00,0.000,6,0.000,0.036,3224,1802,1648,0,0,0,0,0,0
$GC,10669,1.00,330.7,133.1,10.1,453,10673,0.00,2.67,0.00,0.000,4,0.000,0.066,3224,241,1648,0,0,0,0,0,0
$GC,10691,1.00,330.7,130.1,10.4,454,10701,0.00,2.42,0.00,0.000,6,0.000,0.025,3224,1806,1648,0,0,0,0,0,0
$GC,10958,1.00,330.7,105.4,9.1,479,10962,0.00,2.47,0.00,0.000,4,0.000,0.028,3224,3388,1648,0,0,0,0,0,0
$GC,10991,1.05,330.7,102.2,9.9,481,10996,0.00,2.55,0.00,0.000,6,0.000,0.035,3224,1804,1648,0,0,0,0,0,0
$GC,11258,1.09,330.7,78.0,8.3,505,11266,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1804,1648,0,0,0,0,0,0
$GC,11525,1.20,377.4,59.0,6.3,530,11580,0.15,2.78,40.72,0.561,4,0.068,0.061,3268,241,1461,0,0,0,0,0,0
$GC,11586,1.15,377.4,52.9,10.2,534,11595,0.00,2.45,0.00,0.000,6,0.000,0.018,3269,1810,1461,0,0,0,0,0,0
$GC,11853,1.17,389.1,31.0,7.6,559,11867,0.00,0.00,11.18,0.492,6,0.000,0.000,3268,1813,1413,0,0,0,0,0,0
$STATE,12088,end climb,SURFACE_DEPTH_REACHED
$STATE,12088,begin surface coast
$FINISH,0.5,1.023365
$STATE,12137,end surface coast,CONTROL_FINISHED_OK
$STATE,12137,begin surface
$SM_CCo,12159,31.60,0.344,1,0,1287,420.20
$SM_GC,0.90,0.00,0.00,31.60,0.000,0.000,0.344,478,1743,1287,-11.61,-0.76,420.20
$IRIDIUM_FIX,2244.02,-15743.68,161199,080803
$TT8_MAMPS,0.025311
$HUMID,42.79
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.80
$XPDR_PINGS,46
$24V_AH,23.5,10.657
$10V_AH,10.4,9.696
$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,27.050,125.600,464.750,31.600,0.000,27.720,29.826,184.334,11.500,0.000,32.571,1173.734,8139.341,588.836,2138.936,547.103,33.359,1364.314,0.000,2127.045,0.000,0.535,0.000
$DEVICE_MAMPS,164.138,127.322,921.934,344.383,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,405.642,371.733,460.309,864.393,1302.458,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,47777,600
$CAP_FILE_SIZE,117546,0
$CFSIZE,260165632,180002816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220810,154412,2254.017,-15742.662,34,1.4,45,10.1