version: 66.06
glider: 146
mission: 5
dive: 49
start: 8 22 110 15 52 46
data:
$ID,146
$MISSION,5
$DIVE,49
$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,-248154.52
$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,46
$R_STBD_OVSHOOT,67
$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
$GPS1,154412,2254.017,-15742.662,34,1.4,45,10.1
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-65.3
$GPS2,155154,2254.019,-15742.743,32,1.5,42,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.052,0.235
$KALMAN_X,-36390.4,-122.5,-447.2,84915.5,-202.3
$KALMAN_Y,29134.7,-372.4,14.0,107229.5,-356.7
$MHEAD_RNG_PITCHd_Wd,2.4,7482,-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,-86.70,0.000,2,0.000,0.000,477,1744,3514,0,0,0,0,0,0
$GC,110,-1.06,-146.0,4.7,-7.0,11,136,12.40,2.55,-1.40,0.000,4,0.169,0.044,2761,3325,3601,0,0,0,0,0,0
$GC,167,-0.45,-146.0,25.5,-33.7,18,177,0.60,2.53,0.00,0.000,6,0.087,0.034,2897,1786,3602,0,0,0,0,0,0
$GC,449,-0.57,-146.0,47.3,-7.0,45,454,0.10,2.72,0.00,0.000,4,0.082,0.066,2859,192,3602,0,0,0,0,0,0
$GC,483,-0.64,-146.0,50.3,-8.7,47,487,0.00,2.38,0.00,0.000,6,0.000,0.016,2859,1784,3602,0,0,0,0,0,0
$GC,752,-0.71,-146.0,72.8,-8.8,71,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1785,3602,0,0,0,0,0,0
$GC,1014,-0.80,-146.0,93.5,-7.4,96,1019,0.15,2.75,0.00,0.000,4,0.062,0.061,2805,187,3603,0,0,0,0,0,0
$GC,1060,-0.80,-146.0,97.4,-10.1,99,1065,0.00,2.38,0.00,0.000,6,0.000,0.018,2805,1761,3603,0,0,0,0,0,0
$GC,1326,-0.80,-146.0,123.4,-9.1,123,1331,0.00,2.45,0.00,0.000,4,0.000,0.027,2805,3324,3603,0,0,0,0,0,0
$GC,1373,-0.85,-146.0,128.3,-9.0,126,1382,0.00,2.55,0.00,0.000,6,0.000,0.038,2805,1754,3604,0,0,0,0,0,0
$GC,1639,-0.85,-146.0,150.8,-8.3,151,1644,0.00,2.65,0.00,0.000,4,0.000,0.067,2805,192,3604,0,0,0,0,0,0
$GC,1682,-0.85,-146.0,154.5,-8.9,154,1686,0.00,2.35,0.00,0.000,6,0.000,0.017,2805,1769,3604,0,0,0,0,0,0
$GC,1950,-0.85,-146.0,173.8,-6.9,178,1954,0.00,2.42,0.00,0.000,4,0.000,0.027,2805,3316,3603,0,0,0,0,0,0
$GC,1984,-0.92,-146.0,176.6,-6.6,180,1993,0.00,2.53,0.00,0.000,6,0.000,0.034,2805,1757,3604,0,0,0,0,0,0
$GC,2251,-0.95,-146.0,196.8,-7.9,205,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1757,3604,0,0,0,0,0,0
$GC,2534,-0.99,-146.0,219.1,-7.8,215,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1757,3603,0,0,0,0,0,0
$GC,2779,-1.03,-146.0,238.1,-7.8,221,2784,0.12,2.47,0.00,0.000,4,0.076,0.027,2762,3322,3603,0,0,0,0,0,0
$GC,2805,-1.03,-146.0,240.9,-9.4,221,2810,0.00,2.50,0.00,0.000,6,0.000,0.035,2762,1762,3603,0,0,0,0,0,0
$GC,3061,-0.99,-146.0,264.7,-9.2,228,3066,0.10,2.75,0.00,0.000,4,0.121,0.077,2784,186,3603,0,0,0,0,0,0
$GC,3123,-0.99,-146.0,270.3,-8.9,229,3127,0.00,2.38,0.00,0.000,6,0.000,0.022,2783,1737,3603,0,0,0,0,0,0
$GC,3390,-0.99,-146.0,292.3,-8.3,236,3394,0.00,2.55,0.00,0.000,4,0.000,0.034,2784,3336,3602,0,0,0,0,0,0
$GC,3417,-1.03,-146.0,294.5,-8.7,236,3421,0.00,2.53,0.00,0.000,6,0.000,0.038,2784,1765,3602,0,0,0,0,0,0
$GC,3668,-1.03,-146.0,315.1,-8.4,242,3672,0.00,2.80,0.00,0.000,4,0.000,0.087,2784,188,3602,0,0,0,0,0,0
$GC,3728,-1.08,-146.0,320.4,-8.6,243,3733,0.00,2.40,0.00,0.000,6,0.000,0.025,2784,1731,3601,0,0,0,0,0,0
$GC,3990,-1.12,-146.0,341.6,-8.0,250,3995,0.12,2.65,0.00,0.000,4,0.076,0.045,2745,3357,3601,0,0,0,0,0,0
$GC,4042,-1.12,-146.0,346.4,-9.9,251,4047,0.00,2.65,0.00,0.000,6,0.000,0.049,2744,1757,3600,0,0,0,0,0,0
$GC,4314,-1.08,-146.0,370.1,-8.4,258,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1757,3599,0,0,0,0,0,0
$GC,4558,-1.08,-146.0,388.1,-7.2,264,4562,0.00,2.65,0.00,0.000,4,0.000,0.046,2744,3348,3598,0,0,0,0,0,0
$GC,4580,-1.08,-146.0,389.7,-7.6,264,4585,0.00,2.70,0.00,0.000,6,0.000,0.057,2744,1750,3598,0,0,0,0,0,0
$GC,4835,-1.08,-146.0,410.7,-8.5,271,4839,0.00,2.65,0.00,0.000,4,0.000,0.051,2744,3354,3597,0,0,0,0,0,0
$GC,4867,-1.08,-146.0,413.7,-8.9,271,4873,0.00,2.70,0.00,0.000,6,0.000,0.066,2744,1768,3597,0,0,0,0,0,0
$GC,5117,-1.08,-146.0,435.0,-8.7,278,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1768,3594,0,0,0,0,0,0
$GC,5361,-1.08,-146.0,455.2,-8.3,284,5365,0.00,2.67,0.00,0.000,4,0.000,0.052,2744,3352,3594,0,0,0,0,0,0
$GC,5387,-1.08,-146.0,457.7,-9.1,284,5392,0.00,2.67,0.00,0.000,6,0.000,0.063,2744,1780,3594,0,0,0,0,0,0
$GC,5637,-1.08,-146.0,481.3,-9.6,290,5642,0.00,3.05,0.00,0.000,4,0.000,0.126,2744,179,3592,0,0,0,0,0,0
$GC,5687,-1.08,-146.0,486.6,-10.7,291,5692,0.00,2.58,0.00,0.000,6,0.000,0.042,2744,1772,3591,0,0,0,0,0,0
$STATE,5835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5835,begin apogee
$GC,5841,-0.31,0.0,500.5,9.1,295,5964,0.82,0.00,119.80,0.910,6,0.077,0.000,2931,1826,3001,0,0,0,0,0,0
$STATE,5965,end apogee,CONTROL_FINISHED_OK
$STATE,5965,begin climb
$GC,5967,1.06,146.0,505.2,0.0,298,6102,1.25,2.80,123.68,0.888,4,0.058,0.074,3233,3396,2403,0,0,0,0,0,0
$GC,6153,0.93,147.4,500.6,8.0,302,6159,0.15,2.72,0.00,0.000,6,0.117,0.062,3204,1812,2398,0,0,0,0,0,0
$GC,6416,0.86,159.2,481.0,7.6,309,6430,0.00,0.00,11.35,0.790,6,0.000,0.000,3204,1812,2351,0,0,0,0,0,0
$GC,6659,0.80,166.6,462.1,7.7,315,6669,0.15,0.00,7.62,0.732,6,0.119,0.000,3174,1812,2321,0,0,0,0,0,0
$GC,6902,0.84,201.1,445.4,6.7,321,6942,0.00,2.67,31.38,0.859,4,0.000,0.042,3174,3404,2180,0,0,0,0,0,0
$GC,6966,0.84,205.6,440.8,7.8,322,6976,0.00,2.72,5.32,0.635,6,0.000,0.061,3174,1826,2162,0,0,0,0,0,0
$GC,7228,0.84,205.6,419.9,8.1,329,7232,0.00,2.62,0.00,0.000,4,0.000,0.046,3174,3414,2157,0,0,0,0,0,0
$GC,7278,0.89,205.6,415.7,8.8,330,7283,0.00,2.67,0.00,0.000,6,0.000,0.055,3174,1836,2157,0,0,0,0,0,0
$GC,7550,0.92,234.8,396.0,6.9,337,7579,0.12,0.00,26.20,0.834,6,0.088,0.000,3206,1836,2043,0,0,0,0,0,0
$GC,7794,0.90,244.3,377.1,7.7,343,7808,0.00,2.60,9.12,0.740,4,0.000,0.041,3205,3415,2005,0,0,0,0,0,0
$GC,7866,0.90,244.3,371.4,8.1,344,7871,0.00,2.62,0.00,0.000,6,0.000,0.050,3205,1854,2003,0,0,0,0,0,0
$GC,8121,0.90,244.3,349.8,8.7,351,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1854,2001,0,0,0,0,0,0
$GC,8365,0.90,244.3,328.9,8.5,357,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1854,2000,0,0,0,0,0,0
$GC,8609,0.94,278.2,312.0,6.8,363,8645,0.00,2.95,30.58,0.780,4,0.000,0.079,3205,230,1865,0,0,0,0,0,0
$GC,8667,0.88,278.2,307.5,8.7,363,8672,0.00,2.62,0.00,0.000,6,0.000,0.026,3205,1873,1863,0,0,0,0,0,0
$GC,8928,0.90,289.8,287.3,7.6,370,8941,0.00,0.00,10.68,0.701,6,0.000,0.000,3205,1875,1819,0,0,0,0,0,0
$GC,9173,0.90,289.8,266.7,8.6,376,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1875,1816,0,0,0,0,0,0
$GC,9416,0.90,289.8,243.9,9.4,382,9420,0.00,2.85,0.00,0.000,4,0.000,0.069,3206,231,1815,0,0,0,0,0,0
$GC,9465,0.90,289.8,238.7,11.3,383,9469,0.00,2.58,0.00,0.000,6,0.000,0.021,3205,1872,1813,0,0,0,0,0,0
$GC,9738,0.90,289.8,215.6,8.2,390,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1874,1813,0,0,0,0,0,0
$GC,9984,0.91,298.4,195.6,7.7,399,9996,0.00,0.00,8.15,0.600,6,0.000,0.000,3206,1874,1784,0,0,0,0,0,0
$GC,10253,0.91,298.4,174.0,8.2,424,10257,0.00,2.83,0.00,0.000,4,0.000,0.063,3205,230,1783,0,0,0,0,0,0
$GC,10270,0.91,298.4,172.2,8.5,425,10275,0.00,2.55,0.00,0.000,6,0.000,0.025,3205,1873,1782,0,0,0,0,0,0
$GC,10533,0.92,305.8,150.1,7.7,449,10543,0.00,0.00,7.90,0.558,6,0.000,0.000,3206,1875,1754,0,0,0,0,0,0
$GC,10800,0.97,313.9,128.6,7.7,474,10810,0.00,0.00,8.62,0.551,6,0.000,0.000,3206,1876,1721,0,0,0,0,0,0
$GC,11067,1.06,346.0,109.9,6.8,499,11106,0.10,0.00,28.62,0.597,6,0.097,0.000,3235,1876,1589,0,0,0,0,0,0
$GC,11360,1.06,346.0,85.9,9.3,527,11365,0.00,2.80,0.00,0.000,4,0.000,0.063,3234,230,1587,0,0,0,0,0,0
$GC,11376,1.06,346.0,84.1,9.0,528,11381,0.00,2.55,0.00,0.000,6,0.000,0.025,3234,1875,1586,0,0,0,0,0,0
$GC,11645,1.10,346.0,60.5,9.2,552,11649,0.00,2.80,0.00,0.000,4,0.000,0.059,3234,226,1585,0,0,0,0,0,0
$GC,11664,1.10,346.0,58.6,8.2,553,11669,0.00,2.50,0.00,0.000,6,0.000,0.018,3234,1861,1585,0,0,0,0,0,0
$GC,11934,1.16,356.7,38.7,7.6,577,11953,0.00,0.00,10.18,0.494,6,0.000,0.000,3234,1863,1545,0,0,0,0,0,0
$GC,12253,1.16,356.7,8.6,8.9,620,12263,0.00,2.83,0.00,0.000,4,0.000,0.065,3235,229,1544,0,0,0,0,0,0
$GC,12287,1.16,356.7,5.3,9.6,624,12297,0.00,2.47,0.00,0.000,6,0.000,0.018,3234,1826,1543,0,0,0,0,0,0
$STATE,12304,end climb,SURFACE_DEPTH_REACHED
$STATE,12304,begin surface coast
$FINISH,0.2,1.003034
$STATE,12362,end surface coast,CONTROL_FINISHED_OK
$STATE,12362,begin surface
$SM_CCo,12383,57.70,0.423,1,0,1288,420.20
$SM_GC,0.85,0.00,0.00,57.70,0.000,0.000,0.423,475,1725,1288,-11.62,-1.24,420.20
$IRIDIUM_FIX,2244.02,-15741.52,161199,121255
$TT8_MAMPS,0.026078
$HUMID,41.69
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.90
$XPDR_PINGS,50
$24V_AH,23.6,10.785
$10V_AH,10.4,9.836
$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,27.325,131.575,439.200,57.700,0.000,22.861,29.549,246.443,12.500,0.000,43.543,1232.175,8159.785,575.678,2315.827,624.913,33.364,1402.132,0.000,2307.000,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,131.157,910.429,423.384,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,428.551,412.640,497.877,945.899,1430.506,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,50940,634
$CAP_FILE_SIZE,123369,0
$CFSIZE,260165632,179924992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220810,192136,2255.377,-15742.779,40,1.0,40,10.1