version: 66.06
glider: 146
mission: 5
dive: 50
start: 8 22 110 19 28 39
data:
$ID,146
$MISSION,5
$DIVE,50
$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,-248167.86
$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,50
$R_STBD_OVSHOOT,58
$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
$GPS1,192136,2255.377,-15742.779,40,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-68.4
$GPS2,192744,2255.417,-15742.816,11,1.2,11,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.104,0.217
$KALMAN_X,-37594.9,-306.0,176.5,85556.4,-803.6
$KALMAN_Y,28379.7,-341.6,400.2,110158.4,-1013.1
$MHEAD_RNG_PITCHd_Wd,15.6,4982,-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,-86.03,0.000,2,0.000,0.000,475,1725,3459,0,0,0,0,0,0
$GC,107,-1.06,-146.0,3.8,-5.0,11,133,12.45,2.60,-2.40,0.000,4,0.170,0.040,2757,3331,3600,0,0,0,0,0,0
$GC,236,-0.95,-146.0,34.2,-14.4,27,241,0.17,2.47,0.00,0.000,6,0.113,0.038,2793,1790,3601,0,0,0,0,0,0
$GC,503,-0.85,-146.0,68.8,-12.1,51,508,0.10,2.72,0.00,0.000,4,0.133,0.064,2814,194,3601,0,0,0,0,0,0
$GC,551,-0.85,-146.0,75.7,-12.3,54,560,0.00,2.42,0.00,0.000,6,0.000,0.023,2814,1786,3601,0,0,0,0,0,0
$GC,817,-0.85,-146.0,102.3,-9.0,79,821,0.00,2.40,0.00,0.000,4,0.000,0.031,2813,3332,3601,0,0,0,0,0,0
$GC,862,-0.89,-146.0,106.9,-9.1,82,871,0.00,2.53,0.00,0.000,6,0.000,0.038,2814,1779,3601,0,0,0,0,0,0
$GC,1127,-0.89,-146.0,129.7,-8.7,107,1132,0.00,2.70,0.00,0.000,4,0.000,0.067,2813,186,3602,0,0,0,0,0,0
$GC,1168,-0.89,-146.0,133.8,-9.2,110,1172,0.00,2.40,0.00,0.000,6,0.000,0.018,2814,1789,3602,0,0,0,0,0,0
$GC,1431,-0.93,-146.0,155.1,-8.0,134,1435,0.00,2.40,0.00,0.000,4,0.000,0.032,2813,3319,3602,0,0,0,0,0,0
$GC,1474,-1.02,-146.0,158.4,-7.6,137,1479,0.15,2.45,0.00,0.000,6,0.060,0.036,2759,1777,3603,0,0,0,0,0,0
$GC,1735,-0.95,-146.0,186.8,-11.2,161,1740,0.15,2.72,0.00,0.000,4,0.224,0.067,2791,192,3602,0,0,0,0,0,0
$GC,1768,-0.91,-146.0,189.9,-10.8,163,1773,0.00,2.38,0.00,0.000,6,0.000,0.024,2791,1780,3602,0,0,0,0,0,0
$GC,2032,-0.91,-146.0,214.3,-8.8,176,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1781,3602,0,0,0,0,0,0
$GC,2276,-0.91,-146.0,234.5,-8.3,182,2281,0.00,2.72,0.00,0.000,4,0.000,0.072,2791,190,3602,0,0,0,0,0,0
$GC,2291,-0.91,-146.0,235.9,-8.2,182,2296,0.00,2.38,0.00,0.000,6,0.000,0.021,2791,1783,3602,0,0,0,0,0,0
$GC,2560,-0.91,-146.0,257.1,-7.8,189,2564,0.00,2.72,0.00,0.000,4,0.000,0.071,2791,196,3602,0,0,0,0,0,0
$GC,2586,-0.91,-146.0,259.5,-8.3,189,2591,0.00,2.38,0.00,0.000,6,0.000,0.025,2791,1756,3602,0,0,0,0,0,0
$GC,2842,-0.91,-146.0,279.9,-8.0,196,2846,0.00,2.47,0.00,0.000,4,0.000,0.033,2791,3335,3601,0,0,0,0,0,0
$GC,2871,-0.96,-146.0,282.2,-7.9,196,2876,0.00,2.50,0.00,0.000,6,0.000,0.040,2791,1772,3601,0,0,0,0,0,0
$GC,3121,-0.96,-146.0,300.0,-7.0,202,3126,0.00,2.78,0.00,0.000,4,0.000,0.084,2791,191,3601,0,0,0,0,0,0
$GC,3156,-1.00,-146.0,302.6,-7.8,202,3161,0.00,2.45,0.00,0.000,6,0.000,0.023,2791,1759,3601,0,0,0,0,0,0
$GC,3407,-1.05,-146.0,320.4,-7.2,209,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1759,3600,0,0,0,0,0,0
$GC,3650,-1.10,-146.0,337.4,-6.8,215,3652,0.15,0.00,0.00,0.000,6,0.067,0.000,2744,1759,3600,0,0,0,0,0,0
$GC,3893,-1.10,-146.0,359.1,-9.0,221,3897,0.00,2.78,0.00,0.000,4,0.000,0.082,2744,188,3598,0,0,0,0,0,0
$GC,3933,-1.10,-146.0,362.7,-9.7,222,3937,0.00,2.50,0.00,0.000,6,0.000,0.033,2744,1759,3598,0,0,0,0,0,0
$GC,4216,-1.10,-146.0,384.4,-7.4,229,4220,0.00,2.65,0.00,0.000,4,0.000,0.058,2744,3366,3596,0,0,0,0,0,0
$GC,4271,-1.10,-146.0,388.9,-8.4,230,4275,0.00,2.67,0.00,0.000,6,0.000,0.055,2744,1775,3597,0,0,0,0,0,0
$GC,4538,-1.10,-146.0,412.4,-9.1,237,4543,0.00,2.95,0.00,0.000,4,0.000,0.113,2744,179,3595,0,0,0,0,0,0
$GC,4559,-1.10,-146.0,414.7,-9.5,237,4564,0.00,2.55,0.00,0.000,6,0.000,0.037,2744,1780,3595,0,0,0,0,0,0
$GC,4815,-1.10,-146.0,436.9,-8.7,244,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1780,3593,0,0,0,0,0,0
$GC,5060,-1.10,-146.0,456.7,-8.2,250,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1779,3592,0,0,0,0,0,0
$GC,5303,-1.10,-146.0,476.1,-7.9,256,5307,0.00,2.92,0.00,0.000,4,0.000,0.106,2744,183,3590,0,0,0,0,0,0
$GC,5329,-1.10,-146.0,478.6,-9.1,256,5334,0.00,2.58,0.00,0.000,6,0.000,0.037,2744,1766,3590,0,0,0,0,0,0
$GC,5580,-1.10,-146.0,497.2,-7.3,262,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1766,3588,0,0,0,0,0,0
$STATE,5658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5658,begin apogee
$GC,5665,-0.31,0.0,502.6,6.9,264,5788,0.82,0.00,119.15,0.918,6,0.084,0.000,2930,1830,3001,0,0,0,0,0,0
$STATE,5789,end apogee,CONTROL_FINISHED_OK
$STATE,5789,begin climb
$GC,5791,1.06,146.0,504.9,0.0,267,5926,1.25,2.83,123.72,0.894,4,0.058,0.076,3233,3403,2402,0,0,0,0,0,0
$GC,5982,0.92,146.0,497.9,8.9,271,5988,0.15,2.75,0.00,0.000,6,0.117,0.063,3204,1821,2398,0,0,0,0,0,0
$GC,6239,0.87,174.7,479.8,6.9,278,6265,0.00,0.00,24.77,0.854,6,0.000,0.000,3204,1820,2288,0,0,0,0,0,0
$GC,6482,0.82,204.3,462.9,6.9,284,6517,0.12,2.75,26.65,0.857,4,0.123,0.049,3179,3404,2166,0,0,0,0,0,0
$GC,6539,0.88,246.1,459.1,6.5,285,6584,0.00,2.72,37.78,0.859,6,0.000,0.056,3180,1816,1996,0,0,0,0,0,0
$GC,6854,0.88,246.1,434.6,8.3,293,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1816,1989,0,0,0,0,0,0
$GC,7095,0.88,246.1,413.1,8.9,299,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1816,1986,0,0,0,0,0,0
$GC,7339,0.88,246.1,393.2,8.1,305,7343,0.00,2.62,0.00,0.000,4,0.000,0.045,3180,3411,1985,0,0,0,0,0,0
$GC,7367,0.88,246.2,390.9,8.0,305,7372,0.00,2.70,0.00,0.000,6,0.000,0.053,3179,1820,1984,0,0,0,0,0,0
$GC,7617,0.88,250.0,371.3,7.9,311,7621,0.00,2.62,0.00,0.000,4,0.000,0.038,3179,3409,1983,0,0,0,0,0,0
$GC,7661,0.93,250.0,367.6,8.4,312,7666,0.10,2.65,0.00,0.000,6,0.096,0.051,3206,1834,1982,0,0,0,0,0,0
$GC,7939,0.89,250.0,344.5,8.2,319,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1834,1981,0,0,0,0,0,0
$GC,8182,0.89,250.0,324.8,8.1,325,8187,0.00,2.85,0.00,0.000,4,0.000,0.087,3206,233,1981,0,0,0,0,0,0
$GC,8203,0.84,250.0,322.8,8.8,325,8209,0.12,2.55,0.00,0.000,6,0.118,0.028,3181,1848,1980,0,0,0,0,0,0
$GC,8460,0.92,317.1,307.9,5.5,332,8526,0.00,2.88,60.08,0.797,4,0.000,0.069,3181,233,1707,0,0,0,0,0,0
$GC,8550,0.92,317.1,302.0,8.2,334,8554,0.00,2.53,0.00,0.000,6,0.000,0.025,3181,1826,1705,0,0,0,0,0,0
$GC,8823,0.97,317.1,278.0,9.2,341,8828,0.12,2.53,0.00,0.000,4,0.146,0.033,3215,3398,1701,0,0,0,0,0,0
$GC,8838,0.97,317.1,276.3,9.1,341,8843,0.00,2.60,0.00,0.000,6,0.000,0.035,3215,1809,1699,0,0,0,0,0,0
$GC,9105,0.97,317.1,250.3,9.6,348,9109,0.00,2.72,0.00,0.000,4,0.000,0.076,3214,240,1699,0,0,0,0,0,0
$GC,9139,0.91,317.1,247.1,10.2,348,9144,0.00,2.47,0.00,0.000,6,0.000,0.021,3215,1822,1698,0,0,0,0,0,0
$GC,9388,0.91,317.1,226.3,8.3,355,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1824,1697,0,0,0,0,0,0
$GC,9632,0.91,317.1,203.5,9.7,361,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1824,1698,0,0,0,0,0,0
$GC,9889,0.91,317.1,178.3,9.8,382,9893,0.00,2.50,0.00,0.000,4,0.000,0.035,3215,3397,1698,0,0,0,0,0,0
$GC,9906,0.91,317.1,176.3,10.3,383,9911,0.00,2.60,0.00,0.000,6,0.000,0.038,3215,1794,1697,0,0,0,0,0,0
$GC,10169,0.91,317.1,152.1,9.0,407,10170,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1794,1697,0,0,0,0,0,0
$GC,10427,0.91,317.1,129.3,8.7,431,10431,0.00,2.53,0.00,0.000,4,0.000,0.035,3215,3392,1697,0,0,0,0,0,0
$GC,10462,0.98,317.1,125.9,8.5,433,10468,0.00,2.58,0.00,0.000,6,0.000,0.041,3215,1794,1697,0,0,0,0,0,0
$GC,10726,1.02,317.1,104.0,8.8,458,10731,0.00,2.62,0.00,0.000,4,0.000,0.067,3215,241,1698,0,0,0,0,0,0
$GC,10755,1.02,317.1,100.8,10.3,460,10759,0.00,2.40,0.00,0.000,6,0.000,0.025,3215,1809,1697,0,0,0,0,0,0
$GC,11022,1.07,317.9,78.2,8.0,484,11026,0.00,2.45,0.00,0.000,4,0.000,0.028,3215,3383,1697,0,0,0,0,0,0
$GC,11045,1.14,319.6,76.4,8.0,485,11050,0.15,2.58,0.00,0.000,6,0.067,0.034,3260,1782,1697,0,0,0,0,0,0
$GC,11310,1.14,319.6,51.4,9.1,509,11314,0.00,2.50,0.00,0.000,4,0.000,0.027,3260,3379,1698,0,0,0,0,0,0
$GC,11331,1.14,319.6,49.6,9.3,510,11336,0.00,2.55,0.00,0.000,6,0.000,0.033,3260,1787,1698,0,0,0,0,0,0
$GC,11610,1.14,319.6,25.1,8.8,538,11619,0.00,2.53,0.00,0.000,4,0.000,0.027,3260,3375,1698,0,0,0,0,0,0
$GC,11636,1.14,319.6,22.8,8.7,541,11645,0.00,2.55,0.00,0.000,6,0.000,0.033,3260,1808,1699,0,0,0,0,0,0
$STATE,11846,end climb,SURFACE_DEPTH_REACHED
$STATE,11846,begin surface coast
$FINISH,0.2,1.023346
$STATE,11902,end surface coast,CONTROL_FINISHED_OK
$STATE,11902,begin surface
$SM_CCo,11923,88.50,0.455,1,0,1288,420.20
$SM_GC,1.04,0.00,0.00,88.50,0.000,0.000,0.455,474,1741,1288,-11.62,-0.82,420.20
$IRIDIUM_FIX,2246.36,-15740.63,161199,151558
$TT8_MAMPS,0.026078
$HUMID,41.53
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.60
$XPDR_PINGS,55
$24V_AH,23.5,10.910
$10V_AH,10.4,9.961
$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,27.225,145.500,392.150,88.500,0.000,24.451,27.842,181.077,13.750,0.000,12.717,1157.394,8039.189,567.529,2087.250,535.105,33.362,1341.557,0.000,2095.866,0.000,0.535,0.000
$DEVICE_MAMPS,223.964,171.041,918.099,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.153,346.970,436.799,821.221,1242.027,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,44681,579
$CAP_FILE_SIZE,119656,0
$CFSIZE,260165632,179875840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220810,225027,2256.340,-15742.651,28,2.2,47,10.1