version: 66.06
glider: 146
mission: 5
dive: 56
start: 8 23 110 15 57 32
data:
$ID,146
$MISSION,5
$DIVE,56
$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,-248301.5
$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,23
$R_STBD_OVSHOOT,60
$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
$GPS1,155036,2253.551,-15748.150,35,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.4
$GPS2,155638,2253.564,-15748.224,14,1.0,14,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.192,-0.145
$KALMAN_X,-43048.5,44.8,-376.5,81901.2,-721.7
$KALMAN_Y,23005.9,-420.6,-219.0,112799.6,-202.3
$MHEAD_RNG_PITCHd_Wd,222.8,13801,-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,-86.78,0.000,2,0.000,0.000,474,1790,3481,0,0,0,0,0,0
$GC,108,-1.06,-146.0,3.9,-5.2,11,134,12.35,2.78,-2.03,0.000,4,0.166,0.065,2760,187,3600,0,0,0,0,0,0
$GC,260,-0.92,-146.0,41.7,-15.8,28,270,0.15,2.45,0.00,0.000,6,0.093,0.016,2796,1777,3602,0,0,0,0,0,0
$GC,528,-0.84,-146.0,75.5,-11.5,53,533,0.10,2.72,0.00,0.000,4,0.128,0.063,2816,183,3602,0,0,0,0,0,0
$GC,550,-0.77,-146.0,78.4,-11.7,54,554,0.00,2.42,0.00,0.000,6,0.000,0.017,2816,1793,3602,0,0,0,0,0,0
$GC,814,-0.77,-146.0,102.9,-8.7,78,818,0.00,2.72,0.00,0.000,4,0.000,0.066,2816,185,3603,0,0,0,0,0,0
$GC,868,-0.81,-146.0,108.4,-10.1,82,872,0.00,2.35,0.00,0.000,6,0.000,0.023,2816,1748,3602,0,0,0,0,0,0
$GC,1130,-0.81,-146.0,130.3,-8.0,106,1134,0.00,2.45,0.00,0.000,4,0.000,0.032,2817,3314,3603,0,0,0,0,0,0
$GC,1155,-0.85,-146.0,132.2,-7.5,107,1161,0.00,2.50,0.00,0.000,6,0.000,0.036,2817,1748,3603,0,0,0,0,0,0
$GC,1418,-0.89,-146.0,152.4,-8.5,132,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1748,3604,0,0,0,0,0,0
$GC,1671,-0.94,-146.0,173.8,-8.6,156,1675,0.00,2.65,0.00,0.000,4,0.000,0.067,2816,193,3603,0,0,0,0,0,0
$GC,1715,-1.03,-146.0,178.2,-9.5,159,1725,0.15,2.35,0.00,0.000,6,0.036,0.024,2761,1744,3604,0,0,0,0,0,0
$GC,2007,-0.96,-146.0,208.4,-9.9,181,2012,0.12,2.47,0.00,0.000,4,0.110,0.027,2788,3310,3604,0,0,0,0,0,0
$GC,2028,-0.96,-146.0,210.8,-9.3,181,2033,0.00,2.50,0.00,0.000,6,0.000,0.035,2788,1749,3604,0,0,0,0,0,0
$GC,2284,-0.96,-146.0,233.5,-9.2,188,2288,0.00,2.67,0.00,0.000,4,0.000,0.075,2788,196,3604,0,0,0,0,0,0
$GC,2311,-0.96,-146.0,236.3,-10.5,188,2316,0.00,2.33,0.00,0.000,6,0.000,0.017,2788,1744,3604,0,0,0,0,0,0
$GC,2561,-0.96,-146.0,261.0,-9.8,194,2565,0.00,2.47,0.00,0.000,4,0.000,0.032,2788,3314,3603,0,0,0,0,0,0
$GC,2582,-0.96,-146.0,263.0,-9.1,194,2586,0.00,2.53,0.00,0.000,6,0.000,0.031,2788,1747,3603,0,0,0,0,0,0
$GC,2839,-0.96,-146.0,283.3,-7.7,201,2843,0.00,2.47,0.00,0.000,4,0.000,0.028,2788,3311,3603,0,0,0,0,0,0
$GC,2867,-0.96,-146.0,285.5,-6.9,201,2871,0.00,2.53,0.00,0.000,6,0.000,0.039,2788,1751,3603,0,0,0,0,0,0
$GC,3117,-0.96,-146.0,304.0,-7.6,207,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1751,3603,0,0,0,0,0,0
$GC,3360,-0.96,-146.0,326.1,-9.2,213,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1751,3602,0,0,0,0,0,0
$GC,3606,-1.00,-146.0,344.0,-6.8,219,3610,0.00,2.50,0.00,0.000,4,0.000,0.037,2788,3306,3601,0,0,0,0,0,0
$GC,3623,-1.05,-146.0,345.1,-6.0,219,3627,0.00,2.53,0.00,0.000,6,0.000,0.044,2788,1768,3601,0,0,0,0,0,0
$GC,3885,-1.10,-146.0,361.8,-6.6,226,3891,0.12,2.88,0.00,0.000,4,0.076,0.096,2744,182,3601,0,0,0,0,0,0
$GC,3919,-1.05,-146.0,365.0,-10.5,226,3925,0.12,2.42,0.00,0.000,6,0.105,0.026,2770,1716,3601,0,0,0,0,0,0
$GC,4168,-1.05,-146.0,385.6,-8.3,233,4173,0.00,2.62,0.00,0.000,4,0.000,0.048,2770,3306,3599,0,0,0,0,0,0
$GC,4191,-1.05,-146.0,387.2,-7.5,233,4196,0.00,2.62,0.00,0.000,6,0.000,0.059,2770,1759,3599,0,0,0,0,0,0
$GC,4446,-1.05,-146.0,405.0,-6.8,240,4451,0.00,2.90,0.00,0.000,4,0.000,0.104,2770,185,3598,0,0,0,0,0,0
$GC,4479,-1.10,-146.0,407.7,-8.1,240,4485,0.00,2.42,0.00,0.000,6,0.000,0.035,2770,1703,3598,0,0,0,0,0,0
$GC,4729,-1.10,-146.0,427.5,-8.0,247,4733,0.00,2.67,0.00,0.000,4,0.000,0.061,2770,3298,3597,0,0,0,0,0,0
$GC,4802,-1.16,-146.0,433.4,-8.1,248,4807,0.10,2.62,0.00,0.000,6,0.092,0.061,2735,1762,3597,0,0,0,0,0,0
$GC,5052,-1.13,-146.0,454.1,-8.2,254,5056,0.00,2.55,0.00,0.000,4,0.000,0.052,2734,3298,3594,0,0,0,0,0,0
$GC,5080,-1.13,-146.0,456.3,-7.1,254,5085,0.00,2.60,0.00,0.000,6,0.000,0.068,2735,1787,3594,0,0,0,0,0,0
$GC,5330,-1.13,-146.0,474.7,-7.4,260,5335,0.00,3.08,0.00,0.000,4,0.000,0.123,2734,179,3594,0,0,0,0,0,0
$GC,5391,-1.13,-146.0,480.2,-8.9,261,5395,0.00,2.53,0.00,0.000,6,0.000,0.042,2734,1728,3593,0,0,0,0,0,0
$STATE,5655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5655,begin apogee
$GC,5662,-0.31,0.0,502.8,8.7,268,5785,0.88,0.00,119.82,0.913,6,0.081,0.000,2931,1831,3000,0,0,0,0,0,0
$STATE,5786,end apogee,CONTROL_FINISHED_OK
$STATE,5786,begin climb
$GC,5789,1.06,146.0,507.2,0.0,271,5923,1.25,2.83,123.45,0.892,4,0.054,0.074,3235,3405,2403,0,0,0,0,0,0
$GC,5963,0.95,173.5,504.2,7.0,275,5995,0.12,2.78,24.50,0.847,6,0.130,0.058,3210,1816,2293,0,0,0,0,0,0
$GC,6241,0.86,179.7,483.6,7.8,282,6249,0.00,0.00,5.75,0.668,6,0.000,0.000,3210,1816,2268,0,0,0,0,0,0
$GC,6482,0.78,179.7,463.9,8.2,288,6487,0.20,3.03,0.00,0.000,4,0.190,0.111,3170,232,2265,0,0,0,0,0,0
$GC,6516,0.73,192.6,461.3,7.5,288,6535,0.00,2.62,12.75,0.809,6,0.000,0.033,3170,1832,2214,0,0,0,0,0,0
$GC,6809,0.77,224.4,441.2,6.8,296,6844,0.00,2.75,28.50,0.857,4,0.000,0.061,3170,3404,2085,0,0,0,0,0,0
$GC,6910,0.82,224.4,433.5,8.4,298,6914,0.00,2.67,0.00,0.000,6,0.000,0.054,3170,1837,2082,0,0,0,0,0,0
$GC,7183,0.85,247.7,413.2,7.1,305,7206,0.00,0.00,21.15,0.832,6,0.000,0.000,3170,1837,1991,0,0,0,0,0,0
$GC,7425,0.90,290.3,397.3,6.4,311,7470,0.10,2.67,38.40,0.841,4,0.094,0.038,3197,3411,1816,0,0,0,0,0,0
$GC,7499,0.90,290.3,391.5,8.3,312,7504,0.00,2.70,0.00,0.000,6,0.000,0.051,3198,1841,1814,0,0,0,0,0,0
$GC,7750,0.90,290.3,370.1,8.6,318,7755,0.00,2.90,0.00,0.000,4,0.000,0.092,3198,234,1810,0,0,0,0,0,0
$GC,7810,0.90,290.3,363.5,10.4,319,7815,0.00,2.58,0.00,0.000,6,0.000,0.026,3198,1846,1808,0,0,0,0,0,0
$GC,8071,0.90,290.3,338.2,9.8,326,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1847,1807,0,0,0,0,0,0
$GC,8316,0.90,290.3,316.0,8.9,332,8320,0.00,2.53,0.00,0.000,4,0.000,0.041,3198,3404,1806,0,0,0,0,0,0
$GC,8348,0.94,290.3,313.0,9.0,332,8354,0.00,2.62,0.00,0.000,6,0.000,0.042,3198,1816,1805,0,0,0,0,0,0
$GC,8598,0.94,290.3,292.0,8.3,339,8603,0.00,2.75,0.00,0.000,4,0.000,0.074,3198,240,1805,0,0,0,0,0,0
$GC,8638,0.94,290.3,288.4,9.7,340,8643,0.00,2.50,0.00,0.000,6,0.000,0.025,3198,1832,1803,0,0,0,0,0,0
$GC,8922,0.97,307.6,267.2,7.4,347,8942,0.00,2.55,14.35,0.712,4,0.000,0.035,3198,3393,1746,0,0,0,0,0,0
$GC,8976,1.06,316.2,262.9,7.7,348,8992,0.12,2.60,9.12,0.661,6,0.078,0.036,3234,1818,1711,0,0,0,0,0,0
$GC,9249,1.01,316.2,235.4,10.5,355,9253,0.00,2.75,0.00,0.000,4,0.000,0.071,3234,239,1708,0,0,0,0,0,0
$GC,9281,0.90,316.2,231.2,12.6,355,9288,0.17,2.50,0.00,0.000,6,0.107,0.025,3198,1841,1707,0,0,0,0,0,0
$GC,9531,0.90,316.2,208.4,8.8,362,9535,0.00,2.45,0.00,0.000,4,0.000,0.036,3198,3393,1706,0,0,0,0,0,0
$GC,9559,0.97,316.2,205.9,8.8,362,9563,0.00,2.55,0.00,0.000,6,0.000,0.039,3198,1823,1706,0,0,0,0,0,0
$GC,9816,0.97,316.2,184.0,8.2,380,9820,0.00,2.72,0.00,0.000,4,0.000,0.070,3197,244,1706,0,0,0,0,0,0
$GC,9873,0.97,316.2,178.9,8.8,384,9882,0.00,2.47,0.00,0.000,6,0.000,0.025,3197,1827,1706,0,0,0,0,0,0
$GC,10140,1.03,334.7,159.4,7.3,409,10164,0.12,2.83,16.83,0.624,4,0.079,0.068,3233,242,1635,0,0,0,0,0,0
$GC,10178,0.98,334.7,155.4,10.1,412,10184,0.10,2.47,0.00,0.000,6,0.124,0.025,3214,1834,1633,0,0,0,0,0,0
$GC,10442,0.98,334.7,133.4,8.4,437,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1836,1633,0,0,0,0,0,0
$GC,10705,1.02,334.7,111.5,8.1,462,10709,0.00,2.75,0.00,0.000,4,0.000,0.061,3214,237,1633,0,0,0,0,0,0
$GC,10772,1.02,334.7,105.9,8.9,467,10776,0.00,2.42,0.00,0.000,6,0.000,0.024,3214,1827,1632,0,0,0,0,0,0
$GC,11040,1.14,368.8,87.6,6.7,491,11078,0.15,2.83,30.08,0.575,4,0.074,0.060,3255,243,1496,0,0,0,0,0,0
$GC,11113,1.10,368.8,80.2,12.1,497,11118,0.00,2.42,0.00,0.000,6,0.000,0.022,3255,1808,1494,0,0,0,0,0,0
$GC,11381,1.10,368.8,53.7,9.2,521,11389,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1809,1494,0,0,0,0,0,0
$GC,11648,1.10,368.8,27.6,10.3,547,11657,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1810,1494,0,0,0,0,0,0
$STATE,11885,end climb,SURFACE_DEPTH_REACHED
$STATE,11885,begin surface coast
$FINISH,0.3,1.023303
$STATE,11935,end surface coast,CONTROL_FINISHED_OK
$STATE,11935,begin surface
$SM_CCo,11956,47.50,0.404,1,0,1288,420.20
$SM_GC,0.92,0.00,0.00,47.50,0.000,0.000,0.404,481,1749,1288,-11.59,-0.59,420.20
$IRIDIUM_FIX,2246.36,-15753.23,171199,121247
$TT8_MAMPS,0.025311
$HUMID,42.16
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.10
$XPDR_PINGS,64
$24V_AH,23.5,11.647
$10V_AH,10.4,10.706
$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,27.700,156.825,444.700,47.500,0.000,29.637,27.138,171.980,16.000,0.000,15.766,1180.897,7897.295,576.723,2175.624,541.883,33.367,1409.019,0.000,2177.746,0.000,0.537,0.000
$DEVICE_MAMPS,190.216,181.779,913.497,404.209,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.780,354.816,450.071,818.107,1237.197,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,44674,588
$CAP_FILE_SIZE,127314,0
$CFSIZE,260165632,179511296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230810,191931,2252.340,-15749.885,67,1.2,67,10.1