version: 66.06
glider: 146
mission: 5
dive: 53
start: 8 23 110 5 24 29
data:
$ID,146
$MISSION,5
$DIVE,53
$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,-248256.58
$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,48
$R_STBD_OVSHOOT,26
$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
$GPS1,051744,2258.065,-15741.950,12,2.0,12,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.2
$GPS2,052336,2258.086,-15741.963,35,1.0,39,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.216,-0.105
$KALMAN_X,-40679.4,185.3,-84.2,89873.7,-592.6
$KALMAN_Y,26014.9,370.1,305.5,116847.3,-1027.3
$MHEAD_RNG_PITCHd_Wd,234.1,27351,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.06,-146.0,0.0,0.0,0,106,0.00,0.00,-86.85,0.000,2,0.000,0.000,476,1741,3481,0,0,0,0,0,0
$GC,109,-1.06,-146.0,4.0,-5.5,11,135,12.45,2.67,-2.00,0.000,4,0.170,0.076,2760,212,3599,0,0,0,0,0,0
$GC,285,-0.91,-146.0,43.6,-15.3,30,290,0.20,2.42,0.00,0.000,6,0.102,0.015,2802,1808,3600,0,0,0,0,0,0
$GC,554,-0.84,-146.0,76.9,-12.1,54,559,0.00,2.70,0.00,0.000,4,0.000,0.063,2802,217,3601,0,0,0,0,0,0
$GC,576,-0.77,-146.0,79.9,-11.2,55,581,0.12,2.38,0.00,0.000,6,0.109,0.015,2831,1796,3601,0,0,0,0,0,0
$GC,843,-0.77,-146.0,102.4,-8.1,79,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1798,3601,0,0,0,0,0,0
$GC,1106,-0.80,-146.0,126.7,-9.6,104,1110,0.00,2.35,0.00,0.000,4,0.000,0.033,2831,3306,3601,0,0,0,0,0,0
$GC,1121,-0.85,-146.0,128.0,-10.4,105,1126,0.00,2.45,0.00,0.000,6,0.000,0.033,2831,1775,3601,0,0,0,0,0,0
$GC,1390,-0.91,-146.0,148.2,-6.4,129,1395,0.12,2.72,0.00,0.000,4,0.069,0.072,2782,193,3601,0,0,0,0,0,0
$GC,1445,-0.91,-146.0,153.1,-9.2,133,1450,0.00,2.33,0.00,0.000,6,0.000,0.018,2782,1741,3602,0,0,0,0,0,0
$GC,1713,-0.91,-146.0,179.1,-9.9,157,1717,0.00,2.45,0.00,0.000,4,0.000,0.032,2782,3314,3602,0,0,0,0,0,0
$GC,1756,-0.91,-146.0,183.8,-10.0,160,1760,0.00,2.50,0.00,0.000,6,0.000,0.036,2782,1760,3602,0,0,0,0,0,0
$GC,2014,-0.91,-146.0,207.8,-8.9,178,2018,0.00,2.67,0.00,0.000,4,0.000,0.071,2782,195,3601,0,0,0,0,0,0
$GC,2029,-0.91,-146.0,209.3,-8.7,178,2033,0.00,2.35,0.00,0.000,6,0.000,0.023,2782,1776,3602,0,0,0,0,0,0
$GC,2296,-0.91,-146.0,231.9,-8.4,185,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1779,3602,0,0,0,0,0,0
$GC,2540,-0.91,-146.0,253.7,-9.3,191,2544,0.00,2.72,0.00,0.000,4,0.000,0.074,2782,196,3602,0,0,0,0,0,0
$GC,2568,-0.91,-146.0,256.5,-10.6,191,2572,0.00,2.30,0.00,0.000,6,0.000,0.024,2782,1724,3601,0,0,0,0,0,0
$GC,2823,-0.91,-146.0,277.7,-7.8,198,2828,0.00,2.53,0.00,0.000,4,0.000,0.035,2782,3327,3601,0,0,0,0,0,0
$GC,2856,-0.91,-146.0,280.4,-8.5,198,2862,0.00,2.50,0.00,0.000,6,0.000,0.036,2782,1767,3601,0,0,0,0,0,0
$GC,3107,-0.91,-146.0,302.0,-8.8,205,3112,0.00,2.80,0.00,0.000,4,0.000,0.087,2782,185,3600,0,0,0,0,0,0
$GC,3139,-0.91,-146.0,305.1,-9.1,205,3145,0.00,2.42,0.00,0.000,6,0.000,0.022,2782,1742,3600,0,0,0,0,0,0
$GC,3390,-0.91,-146.0,321.4,-6.1,212,3394,0.00,2.70,0.00,0.000,4,0.000,0.079,2782,190,3600,0,0,0,0,0,0
$GC,3411,-0.91,-146.0,322.8,-6.0,212,3416,0.00,2.42,0.00,0.000,6,0.000,0.029,2782,1744,3600,0,0,0,0,0,0
$GC,3668,-0.91,-146.0,338.4,-6.3,219,3673,0.00,2.62,0.00,0.000,4,0.000,0.045,2782,3354,3599,0,0,0,0,0,0
$GC,3685,-0.94,-146.0,339.7,-7.0,219,3689,0.00,2.65,0.00,0.000,6,0.000,0.046,2782,1750,3599,0,0,0,0,0,0
$GC,3947,-0.98,-146.0,359.9,-7.7,226,3952,0.00,2.83,0.00,0.000,4,0.000,0.097,2782,185,3598,0,0,0,0,0,0
$GC,3974,-1.02,-146.0,362.1,-7.3,226,3979,0.00,2.47,0.00,0.000,6,0.000,0.028,2782,1759,3598,0,0,0,0,0,0
$GC,4225,-1.07,-146.0,376.8,-5.7,232,4229,0.00,2.60,0.00,0.000,4,0.000,0.046,2782,3357,3596,0,0,0,0,0,0
$GC,4270,-1.15,-146.0,379.7,-6.5,233,4276,0.15,2.70,0.00,0.000,6,0.066,0.059,2734,1764,3596,0,0,0,0,0,0
$GC,4549,-1.11,-146.0,401.4,-7.8,240,4551,0.10,0.00,0.00,0.000,6,0.123,0.000,2757,1764,3595,0,0,0,0,0,0
$GC,4792,-1.11,-146.0,420.4,-7.9,246,4797,0.00,2.92,0.00,0.000,4,0.000,0.114,2757,184,3593,0,0,0,0,0,0
$GC,4826,-1.11,-146.0,423.3,-8.7,246,4832,0.00,2.53,0.00,0.000,6,0.000,0.036,2757,1758,3593,0,0,0,0,0,0
$GC,5076,-1.11,-146.0,442.5,-7.5,253,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1758,3592,0,0,0,0,0,0
$GC,5320,-1.11,-146.0,459.5,-6.9,259,5324,0.00,2.70,0.00,0.000,4,0.000,0.068,2757,3352,3590,0,0,0,0,0,0
$GC,5342,-1.11,-146.0,461.0,-6.9,259,5347,0.00,2.70,0.00,0.000,6,0.000,0.058,2757,1768,3590,0,0,0,0,0,0
$GC,5598,-1.11,-146.0,476.3,-5.7,266,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1768,3588,0,0,0,0,0,0
$GC,5842,-1.11,-146.0,492.0,-6.8,272,5846,0.00,2.97,0.00,0.000,4,0.000,0.123,2757,186,3587,0,0,0,0,0,0
$GC,5857,-1.11,-146.0,493.2,-7.2,272,5862,0.00,2.55,0.00,0.000,6,0.000,0.038,2757,1764,3586,0,0,0,0,0,0
$STATE,5994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5994,begin apogee
$GC,6001,-0.31,0.0,502.3,6.5,276,6123,0.77,0.00,118.53,0.921,6,0.076,0.000,2934,1826,3001,0,0,0,0,0,0
$STATE,6124,end apogee,CONTROL_FINISHED_OK
$STATE,6124,begin climb
$GC,6127,1.06,146.0,504.5,0.0,279,6261,1.23,2.85,123.03,0.894,4,0.048,0.078,3233,3404,2403,0,0,0,0,0,0
$GC,6369,0.93,146.0,492.9,8.1,284,6375,0.15,2.75,0.00,0.000,6,0.119,0.058,3204,1822,2397,0,0,0,0,0,0
$GC,6621,0.90,195.3,476.8,6.2,290,6665,0.00,0.00,42.55,0.869,6,0.000,0.000,3205,1821,2204,0,0,0,0,0,0
$GC,6903,0.83,195.3,454.2,8.2,297,6905,0.12,0.00,0.00,0.000,6,0.125,0.000,3180,1821,2196,0,0,0,0,0,0
$GC,7147,0.88,234.9,438.0,6.5,303,7188,0.00,2.70,34.38,0.860,4,0.000,0.044,3180,3412,2042,0,0,0,0,0,0
$GC,7223,0.92,234.9,431.9,9.3,304,7227,0.00,2.78,0.00,0.000,6,0.000,0.057,3180,1819,2040,0,0,0,0,0,0
$GC,7472,0.92,234.9,411.1,8.4,310,7477,0.00,3.00,0.00,0.000,4,0.000,0.114,3180,229,2036,0,0,0,0,0,0
$GC,7501,0.87,234.9,408.5,9.1,310,7505,0.00,2.60,0.00,0.000,6,0.000,0.031,3180,1838,2035,0,0,0,0,0,0
$GC,7752,0.88,244.6,388.8,7.7,316,7762,0.00,0.00,8.57,0.746,6,0.000,0.000,3180,1838,2004,0,0,0,0,0,0
$GC,7994,0.88,244.6,369.4,8.0,322,7998,0.00,2.58,0.00,0.000,4,0.000,0.041,3180,3405,2002,0,0,0,0,0,0
$GC,8038,0.93,244.6,365.9,8.3,323,8043,0.10,2.67,0.00,0.000,6,0.097,0.048,3206,1818,2000,0,0,0,0,0,0
$GC,8317,0.93,244.6,342.1,8.5,330,8318,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1817,1999,0,0,0,0,0,0
$GC,8560,0.93,248.8,322.2,7.9,336,8570,0.00,2.62,4.70,0.588,4,0.000,0.038,3206,3410,1986,0,0,0,0,0,0
$GC,8592,0.94,250.9,319.6,7.9,336,8598,0.00,2.62,0.00,0.000,6,0.000,0.040,3206,1833,1985,0,0,0,0,0,0
$GC,8843,0.94,250.9,299.8,8.2,343,8848,0.00,2.83,0.00,0.000,4,0.000,0.078,3206,233,1985,0,0,0,0,0,0
$GC,8875,0.87,250.9,296.6,9.8,343,8881,0.00,2.55,0.00,0.000,6,0.000,0.027,3206,1847,1984,0,0,0,0,0,0
$GC,9126,0.89,267.5,277.4,7.4,350,9145,0.00,0.00,17.83,0.740,6,0.000,0.000,3206,1849,1910,0,0,0,0,0,0
$GC,9408,0.89,267.5,254.7,8.3,357,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1849,1906,0,0,0,0,0,0
$GC,9650,0.91,283.8,236.3,7.4,363,9667,0.00,0.00,15.25,0.691,6,0.000,0.000,3206,1849,1843,0,0,0,0,0,0
$GC,9894,0.93,300.1,218.4,7.4,369,9911,0.00,0.00,15.43,0.670,6,0.000,0.000,3206,1849,1777,0,0,0,0,0,0
$GC,10139,0.93,300.7,199.1,8.0,375,10144,0.00,2.80,0.00,0.000,4,0.000,0.068,3206,237,1774,0,0,0,0,0,0
$GC,10168,0.93,300.7,196.2,9.9,377,10172,0.00,2.50,0.00,0.000,6,0.000,0.019,3206,1841,1773,0,0,0,0,0,0
$GC,10430,0.93,300.7,172.4,10.6,401,10434,0.00,2.45,0.00,0.000,4,0.000,0.030,3206,3387,1772,0,0,0,0,0,0
$GC,10465,0.99,300.7,169.0,11.8,403,10469,0.00,2.55,0.00,0.000,6,0.000,0.041,3207,1822,1773,0,0,0,0,0,0
$GC,10731,1.01,321.7,143.8,7.2,427,10756,0.00,2.75,19.73,0.614,4,0.000,0.070,3206,240,1688,0,0,0,0,0,0
$GC,10785,1.03,335.9,140.0,7.5,431,10810,0.00,2.47,13.57,0.586,6,0.000,0.024,3207,1834,1629,0,0,0,0,0,0
$GC,11065,1.09,341.9,116.9,7.8,457,11077,0.12,2.75,6.18,0.492,4,0.077,0.062,3243,240,1606,0,0,0,0,0,0
$GC,11095,1.09,341.9,114.5,8.1,459,11100,0.00,2.45,0.00,0.000,6,0.000,0.019,3243,1820,1605,0,0,0,0,0,0
$GC,11361,1.09,341.9,91.1,8.9,483,11366,0.00,2.45,0.00,0.000,4,0.000,0.028,3243,3383,1605,0,0,0,0,0,0
$GC,11404,1.15,341.9,86.8,9.0,486,11408,0.00,2.58,0.00,0.000,6,0.000,0.034,3243,1805,1604,0,0,0,0,0,0
$GC,11670,1.15,341.9,61.5,8.9,510,11674,0.00,2.67,0.00,0.000,4,0.000,0.063,3243,240,1604,0,0,0,0,0,0
$GC,11692,1.15,341.9,58.9,8.9,511,11701,0.00,2.42,0.00,0.000,6,0.000,0.018,3243,1810,1604,0,0,0,0,0,0
$GC,11959,1.15,341.9,36.7,8.2,536,11967,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1812,1604,0,0,0,0,0,0
$GC,12281,1.15,341.9,6.6,10.8,579,12290,0.00,2.70,0.00,0.000,4,0.000,0.064,3243,240,1604,0,0,0,0,0,0
$GC,12300,1.15,341.9,4.5,10.6,581,12309,0.00,2.42,0.00,0.000,6,0.000,0.025,3243,1823,1604,0,0,0,0,0,0
$STATE,12317,end climb,SURFACE_DEPTH_REACHED
$STATE,12317,begin surface coast
$FINISH,0.2,1.014508
$STATE,12367,end surface coast,CONTROL_FINISHED_OK
$STATE,12367,begin surface
$SM_CCo,12388,76.15,0.446,1,0,1287,420.20
$SM_GC,1.00,0.00,0.00,76.15,0.000,0.000,0.446,473,1749,1287,-11.62,-0.59,420.20
$IRIDIUM_FIX,2251.04,-15742.79,171199,020231
$TT8_MAMPS,0.025311
$HUMID,41.96
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.90
$XPDR_PINGS,59
$24V_AH,23.6,11.262
$10V_AH,10.4,10.331
$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,26.750,151.375,419.725,76.150,0.000,28.074,28.293,143.657,14.750,0.000,41.267,1183.600,8411.262,598.288,2117.095,514.077,33.373,1387.440,0.000,2101.676,0.000,0.537,0.000
$DEVICE_MAMPS,169.507,253.110,921.167,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.559,350.127,439.956,822.863,1239.654,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,44710,590
$CAP_FILE_SIZE,124063,0
$CFSIZE,260165632,179695616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230810,085336,2256.900,-15743.535,34,0.9,34,10.1