version: 66.06
glider: 146
mission: 5
dive: 51
start: 8 22 110 22 57 28
data:
$ID,146
$MISSION,5
$DIVE,51
$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,-248200.67
$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,47
$R_STBD_OVSHOOT,63
$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
$GPS1,225027,2256.340,-15742.651,28,2.2,47,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.8
$GPS2,225634,2256.348,-15742.697,10,2.3,29,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.162,0.178
$KALMAN_X,-38734.1,-297.0,214.3,86851.4,-1355.8
$KALMAN_Y,27662.4,-17.3,-186.7,112862.4,-537.1
$MHEAD_RNG_PITCHd_Wd,32.1,3282,-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,-86.45,0.000,2,0.000,0.000,474,1741,3525,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.8,-6.9,11,125,12.32,0.00,-1.20,0.000,6,0.165,0.000,2761,1741,3599,0,0,0,0,0,0
$GC,401,-0.88,-146.0,63.4,-15.5,42,406,0.22,2.53,0.00,0.000,4,0.112,0.029,2807,3335,3601,0,0,0,0,0,0
$GC,434,-0.82,-146.0,67.9,-12.5,44,439,0.00,2.47,0.00,0.000,6,0.000,0.031,2807,1782,3601,0,0,0,0,0,0
$GC,696,-0.82,-146.0,93.2,-9.1,68,701,0.00,2.70,0.00,0.000,4,0.000,0.071,2806,196,3601,0,0,0,0,0,0
$GC,749,-0.82,-146.0,98.1,-9.5,72,753,0.00,2.38,0.00,0.000,6,0.000,0.023,2807,1789,3602,0,0,0,0,0,0
$GC,1011,-0.82,-146.0,120.8,-8.5,96,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1790,3602,0,0,0,0,0,0
$GC,1264,-0.82,-146.0,142.3,-8.6,120,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1791,3602,0,0,0,0,0,0
$GC,1521,-0.82,-146.0,162.3,-7.4,144,1526,0.00,2.72,0.00,0.000,4,0.000,0.067,2807,188,3603,0,0,0,0,0,0
$GC,1561,-0.82,-146.0,165.5,-8.2,147,1565,0.00,2.38,0.00,0.000,6,0.000,0.019,2807,1766,3603,0,0,0,0,0,0
$GC,1825,-0.82,-146.0,184.5,-7.5,171,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1767,3603,0,0,0,0,0,0
$GC,2103,-0.86,-146.0,207.0,-8.1,192,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1768,3602,0,0,0,0,0,0
$GC,2348,-0.90,-146.0,224.9,-7.2,198,2352,0.00,2.70,0.00,0.000,4,0.000,0.071,2807,189,3602,0,0,0,0,0,0
$GC,2382,-0.95,-146.0,227.5,-8.0,198,2387,0.00,2.35,0.00,0.000,6,0.000,0.018,2807,1755,3602,0,0,0,0,0,0
$GC,2632,-1.00,-146.0,245.5,-7.2,205,2637,0.10,2.45,0.00,0.000,4,0.089,0.028,2771,3323,3602,0,0,0,0,0,0
$GC,2664,-1.00,-146.0,248.3,-8.1,205,2671,0.00,2.50,0.00,0.000,6,0.000,0.032,2770,1753,3602,0,0,0,0,0,0
$GC,2916,-1.00,-146.0,272.1,-9.7,212,2920,0.00,2.70,0.00,0.000,4,0.000,0.078,2770,190,3601,0,0,0,0,0,0
$GC,2955,-1.00,-146.0,276.1,-10.1,213,2959,0.00,2.38,0.00,0.000,6,0.000,0.020,2770,1737,3601,0,0,0,0,0,0
$GC,3237,-1.00,-146.0,302.6,-9.3,220,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1738,3601,0,0,0,0,0,0
$GC,3483,-1.00,-146.0,322.8,-8.0,226,3487,0.00,2.72,0.00,0.000,4,0.000,0.078,2770,191,3601,0,0,0,0,0,0
$GC,3504,-1.00,-146.0,324.5,-7.4,226,3508,0.00,2.40,0.00,0.000,6,0.000,0.028,2770,1736,3600,0,0,0,0,0,0
$GC,3759,-1.00,-146.0,341.9,-6.8,233,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1736,3600,0,0,0,0,0,0
$GC,4003,-1.00,-146.0,360.2,-7.6,239,4007,0.00,2.67,0.00,0.000,4,0.000,0.059,2770,3351,3599,0,0,0,0,0,0
$GC,4044,-1.06,-146.0,363.2,-7.4,240,4048,0.00,2.65,0.00,0.000,6,0.000,0.055,2770,1772,3599,0,0,0,0,0,0
$GC,4327,-1.06,-146.0,382.9,-6.8,247,4331,0.00,2.60,0.00,0.000,4,0.000,0.049,2770,3356,3597,0,0,0,0,0,0
$GC,4351,-1.11,-146.0,384.3,-6.4,247,4356,0.00,2.67,0.00,0.000,6,0.000,0.058,2770,1779,3597,0,0,0,0,0,0
$GC,4607,-1.15,-146.0,400.2,-6.3,254,4611,0.00,2.95,0.00,0.000,4,0.000,0.109,2770,182,3595,0,0,0,0,0,0
$GC,4634,-1.18,-146.0,402.3,-7.6,254,4639,0.12,2.53,0.00,0.000,6,0.080,0.036,2732,1771,3595,0,0,0,0,0,0
$GC,4885,-1.14,-146.0,424.0,-8.7,260,4890,0.00,2.62,0.00,0.000,4,0.000,0.054,2732,3358,3593,0,0,0,0,0,0
$GC,4912,-1.14,-146.0,426.6,-8.7,260,4916,0.00,2.67,0.00,0.000,6,0.000,0.062,2732,1772,3593,0,0,0,0,0,0
$GC,5162,-1.11,-146.0,448.7,-8.9,266,5164,0.12,0.00,0.00,0.000,6,0.114,0.000,2758,1772,3592,0,0,0,0,0,0
$GC,5407,-1.11,-146.0,467.6,-7.6,272,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1772,3590,0,0,0,0,0,0
$GC,5650,-1.11,-146.0,484.5,-6.9,278,5654,0.00,3.03,0.00,0.000,4,0.000,0.126,2758,180,3588,0,0,0,0,0,0
$GC,5665,-1.11,-146.0,485.7,-7.0,278,5670,0.00,2.60,0.00,0.000,6,0.000,0.036,2759,1777,3588,0,0,0,0,0,0
$STATE,5883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5883,begin apogee
$GC,5890,-0.31,0.0,500.8,6.9,284,6013,0.75,0.00,119.45,0.924,6,0.077,0.000,2929,1831,3001,0,0,0,0,0,0
$STATE,6014,end apogee,CONTROL_FINISHED_OK
$STATE,6014,begin climb
$GC,6016,1.06,146.0,505.0,0.0,287,6150,1.25,2.80,123.80,0.904,4,0.058,0.077,3233,3400,2405,0,0,0,0,0,0
$GC,6225,0.92,146.0,498.4,9.0,292,6231,0.15,2.78,0.00,0.000,6,0.118,0.064,3203,1813,2398,0,0,0,0,0,0
$GC,6510,0.86,167.9,477.3,7.2,299,6534,0.00,2.70,18.95,0.850,4,0.000,0.051,3203,3400,2315,0,0,0,0,0,0
$GC,6547,0.80,183.3,474.6,7.4,299,6568,0.12,2.75,15.07,0.826,6,0.128,0.060,3179,1818,2253,0,0,0,0,0,0
$GC,6837,0.83,203.6,453.5,7.3,307,6861,0.00,2.75,18.25,0.847,4,0.000,0.047,3179,3407,2169,0,0,0,0,0,0
$GC,6875,0.85,224.8,450.5,7.2,307,6900,0.00,2.75,20.10,0.838,6,0.000,0.056,3179,1825,2084,0,0,0,0,0,0
$GC,7162,0.86,234.2,427.7,7.7,315,7176,0.00,3.08,8.77,0.761,4,0.000,0.118,3178,233,2045,0,0,0,0,0,0
$GC,7189,0.82,234.4,425.6,8.0,315,7193,0.00,2.60,0.00,0.000,6,0.000,0.032,3178,1830,2044,0,0,0,0,0,0
$GC,7445,0.82,234.4,404.5,8.1,322,7449,0.00,2.62,0.00,0.000,4,0.000,0.045,3178,3413,2042,0,0,0,0,0,0
$GC,7477,0.82,234.4,401.8,8.7,322,7483,0.00,2.70,0.00,0.000,6,0.000,0.051,3178,1826,2041,0,0,0,0,0,0
$GC,7727,0.85,256.4,383.2,7.2,329,7755,0.00,3.00,20.80,0.828,4,0.000,0.099,3178,231,1953,0,0,0,0,0,0
$GC,7785,0.83,265.7,379.0,7.7,330,7800,0.00,2.55,9.35,0.747,6,0.000,0.025,3178,1823,1917,0,0,0,0,0,0
$GC,8056,0.90,327.8,362.8,5.7,337,8117,0.00,2.65,55.20,0.832,4,0.000,0.045,3178,3402,1663,0,0,0,0,0,0
$GC,8156,1.02,345.1,356.0,7.4,339,8178,0.17,2.67,15.80,0.772,6,0.074,0.051,3223,1816,1593,0,0,0,0,0,0
$GC,8421,0.97,345.1,328.8,10.5,346,8426,0.00,2.85,0.00,0.000,4,0.000,0.088,3223,234,1587,0,0,0,0,0,0
$GC,8456,0.88,345.1,324.8,12.1,346,8462,0.15,2.55,0.00,0.000,6,0.114,0.024,3193,1822,1586,0,0,0,0,0,0
$GC,8705,0.88,345.1,302.1,8.8,353,8710,0.00,2.83,0.00,0.000,4,0.000,0.080,3192,229,1585,0,0,0,0,0,0
$GC,8720,0.88,345.1,300.5,8.8,353,8725,0.00,2.50,0.00,0.000,6,0.000,0.028,3193,1824,1584,0,0,0,0,0,0
$GC,8983,0.88,345.1,277.2,8.9,360,8987,0.00,2.53,0.00,0.000,4,0.000,0.036,3193,3391,1584,0,0,0,0,0,0
$GC,9004,0.93,345.1,275.0,9.1,360,9009,0.00,2.60,0.00,0.000,6,0.000,0.036,3193,1809,1582,0,0,0,0,0,0
$GC,9260,0.93,345.1,253.2,8.5,367,9264,0.00,2.75,0.00,0.000,4,0.000,0.080,3193,242,1582,0,0,0,0,0,0
$GC,9295,0.93,345.1,249.8,11.3,367,9300,0.00,2.47,0.00,0.000,6,0.000,0.025,3193,1820,1581,0,0,0,0,0,0
$GC,9544,0.93,345.1,226.8,9.1,374,9549,0.00,2.53,0.00,0.000,4,0.000,0.032,3193,3399,1581,0,0,0,0,0,0
$GC,9577,1.02,345.1,223.5,9.7,374,9584,0.12,2.58,0.00,0.000,6,0.083,0.035,3226,1807,1581,0,0,0,0,0,0
$GC,9828,1.02,345.1,195.9,11.4,381,9833,0.00,2.70,0.00,0.000,4,0.000,0.071,3226,236,1580,0,0,0,0,0,0
$GC,9857,0.95,345.1,192.1,13.3,383,9862,0.00,2.45,0.00,0.000,6,0.000,0.026,3226,1823,1581,0,0,0,0,0,0
$GC,10120,0.95,345.1,163.0,11.2,407,10124,0.00,2.72,0.00,0.000,4,0.000,0.066,3226,242,1581,0,0,0,0,0,0
$GC,10143,0.91,345.1,160.3,12.0,408,10153,0.10,2.42,0.00,0.000,6,0.090,0.025,3201,1801,1580,0,0,0,0,0,0
$GC,10408,0.96,345.1,137.2,8.4,433,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1803,1580,0,0,0,0,0,0
$GC,10672,1.08,386.5,118.0,6.5,458,10710,0.15,0.00,35.05,0.609,6,0.071,0.000,3243,1803,1425,0,0,0,0,0,0
$GC,10965,1.08,386.5,90.2,9.4,486,10969,0.00,2.70,0.00,0.000,4,0.000,0.062,3242,242,1422,0,0,0,0,0,0
$GC,10993,1.08,386.5,87.1,11.0,488,10997,0.00,2.40,0.00,0.000,6,0.000,0.018,3242,1798,1421,0,0,0,0,0,0
$GC,11265,1.08,386.5,59.2,9.7,513,11274,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1803,1421,0,0,0,0,0,0
$GC,11531,1.08,386.5,34.2,9.2,538,11536,0.00,2.65,0.00,0.000,4,0.000,0.062,3242,241,1421,0,0,0,0,0,0
$GC,11551,1.08,386.5,32.2,9.3,539,11555,0.00,2.35,0.00,0.000,6,0.000,0.018,3242,1793,1422,0,0,0,0,0,0
$STATE,11853,end climb,SURFACE_DEPTH_REACHED
$STATE,11853,begin surface coast
$FINISH,0.3,1.010068
$STATE,11917,end surface coast,CONTROL_FINISHED_OK
$STATE,11917,begin surface
$SM_CCo,11938,33.75,0.357,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,33.75,0.000,0.000,0.357,474,1796,1288,-11.62,0.74,420.20
$IRIDIUM_FIX,2246.36,-15741.52,161199,191926
$TT8_MAMPS,0.026078
$HUMID,42.28
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.70
$XPDR_PINGS,57
$24V_AH,23.5,11.039
$10V_AH,10.4,10.089
$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,27.050,147.425,460.600,33.750,0.000,30.723,28.585,155.483,14.250,0.000,32.181,1174.736,7920.798,555.486,2168.620,523.464,33.363,1365.864,0.000,2158.371,0.000,0.536,0.000
$DEVICE_MAMPS,164.905,129.623,924.235,357.422,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,400.251,370.099,450.651,834.029,1261.446,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,47893,592
$CAP_FILE_SIZE,122604,0
$CFSIZE,260165632,179810304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230810,021836,2257.073,-15742.244,38,1.2,49,10.1