version: 66.06
glider: 146
mission: 5
dive: 63
start: 8 24 110 16 13 50
data:
$ID,146
$MISSION,5
$DIVE,63
$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,-248442.94
$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,75
$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
$GPS1,160607,2252.400,-15755.391,29,1.2,29,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.9
$GPS2,161258,2252.410,-15755.457,11,3.3,30,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.096,0.220
$KALMAN_X,-50114.3,-78.8,-302.3,76569.2,-989.5
$KALMAN_Y,17746.2,-319.5,-208.5,115805.8,77.7
$MHEAD_RNG_PITCHd_Wd,13.5,10383,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-86.90,0.000,2,0.000,0.000,475,1734,3514,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.4,-6.2,11,134,12.43,2.55,-1.40,0.000,4,0.169,0.040,2760,3314,3600,0,0,0,0,0,0
$GC,191,-0.95,-146.0,28.7,-14.9,22,200,0.10,2.50,0.00,0.000,6,0.097,0.034,2785,1797,3601,0,0,0,0,0,0
$GC,460,-0.83,-146.0,63.2,-11.8,47,466,0.15,2.78,0.00,0.000,4,0.115,0.066,2816,186,3601,0,0,0,0,0,0
$GC,495,-0.74,-146.0,68.1,-12.6,49,500,0.10,2.38,0.00,0.000,6,0.123,0.015,2837,1780,3602,0,0,0,0,0,0
$GC,763,-0.78,-146.0,91.6,-8.6,73,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1781,3602,0,0,0,0,0,0
$GC,1024,-0.83,-146.0,113.5,-8.2,98,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1781,3602,0,0,0,0,0,0
$GC,1280,-0.91,-146.0,134.4,-8.0,122,1282,0.15,0.00,0.00,0.000,6,0.064,0.000,2787,1781,3602,0,0,0,0,0,0
$GC,1532,-0.91,-146.0,158.6,-9.4,146,1537,0.00,2.72,0.00,0.000,4,0.000,0.070,2786,186,3602,0,0,0,0,0,0
$GC,1577,-0.91,-146.0,163.3,-9.7,149,1583,0.00,2.35,0.00,0.000,6,0.000,0.021,2787,1763,3602,0,0,0,0,0,0
$GC,1841,-0.91,-146.0,185.7,-8.6,174,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1765,3603,0,0,0,0,0,0
$GC,2089,-0.91,-146.0,208.0,-9.1,192,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1765,3602,0,0,0,0,0,0
$GC,2333,-0.91,-146.0,230.3,-9.1,198,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1765,3602,0,0,0,0,0,0
$GC,2576,-0.91,-146.0,251.2,-8.4,204,2580,0.00,2.70,0.00,0.000,4,0.000,0.074,2786,193,3603,0,0,0,0,0,0
$GC,2615,-0.91,-146.0,254.7,-9.2,205,2619,0.00,2.35,0.00,0.000,6,0.000,0.025,2787,1745,3602,0,0,0,0,0,0
$GC,2897,-0.91,-146.0,278.5,-8.5,212,2902,0.00,2.50,0.00,0.000,4,0.000,0.036,2786,3341,3602,0,0,0,0,0,0
$GC,2926,-0.95,-146.0,280.9,-9.0,212,2930,0.00,2.53,0.00,0.000,6,0.000,0.035,2786,1764,3602,0,0,0,0,0,0
$GC,3176,-0.95,-146.0,300.7,-7.7,218,3181,0.00,2.75,0.00,0.000,4,0.000,0.081,2786,193,3602,0,0,0,0,0,0
$GC,3227,-1.00,-146.0,304.6,-7.5,219,3231,0.00,2.40,0.00,0.000,6,0.000,0.028,2787,1755,3601,0,0,0,0,0,0
$GC,3500,-1.00,-146.0,321.2,-6.0,226,3504,0.00,2.58,0.00,0.000,4,0.000,0.045,2786,3350,3601,0,0,0,0,0,0
$GC,3527,-1.05,-146.0,323.0,-6.2,226,3532,0.00,2.60,0.00,0.000,6,0.000,0.041,2786,1762,3600,0,0,0,0,0,0
$GC,3779,-1.09,-146.0,340.1,-7.0,232,3784,0.10,2.83,0.00,0.000,4,0.087,0.093,2750,189,3600,0,0,0,0,0,0
$GC,3806,-1.09,-146.0,342.7,-8.9,232,3810,0.00,2.42,0.00,0.000,6,0.000,0.024,2750,1752,3600,0,0,0,0,0,0
$GC,4062,-1.09,-146.0,366.6,-9.4,239,4066,0.00,2.60,0.00,0.000,4,0.000,0.048,2750,3348,3599,0,0,0,0,0,0
$GC,4102,-1.09,-146.0,370.2,-9.1,240,4106,0.00,2.67,0.00,0.000,6,0.000,0.057,2750,1755,3599,0,0,0,0,0,0
$GC,4385,-1.09,-146.0,393.9,-8.2,247,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1755,3597,0,0,0,0,0,0
$GC,4628,-1.09,-146.0,413.2,-7.7,253,4633,0.00,2.90,0.00,0.000,4,0.000,0.104,2750,181,3597,0,0,0,0,0,0
$GC,4655,-1.09,-146.0,415.3,-8.1,253,4659,0.00,2.50,0.00,0.000,6,0.000,0.032,2750,1749,3596,0,0,0,0,0,0
$GC,4907,-1.09,-146.0,432.1,-6.6,259,4911,0.00,2.72,0.00,0.000,4,0.000,0.062,2750,3361,3595,0,0,0,0,0,0
$GC,4933,-1.09,-146.0,434.2,-7.6,259,4938,0.00,2.72,0.00,0.000,6,0.000,0.058,2750,1756,3595,0,0,0,0,0,0
$GC,5183,-1.09,-146.0,451.3,-6.9,265,5188,0.00,2.92,0.00,0.000,4,0.000,0.110,2750,183,3593,0,0,0,0,0,0
$GC,5211,-1.09,-146.0,453.5,-7.9,265,5216,0.00,2.55,0.00,0.000,6,0.000,0.040,2750,1759,3593,0,0,0,0,0,0
$GC,5461,-1.09,-146.0,471.8,-7.3,271,5466,0.00,2.72,0.00,0.000,4,0.000,0.072,2750,3354,3592,0,0,0,0,0,0
$GC,5488,-1.09,-146.0,474.0,-7.8,271,5493,0.00,2.72,0.00,0.000,6,0.000,0.065,2750,1754,3592,0,0,0,0,0,0
$GC,5739,-1.09,-146.0,493.6,-8.1,277,5744,0.00,2.65,0.00,0.000,4,0.000,0.051,2750,3353,3590,0,0,0,0,0,0
$GC,5766,-1.09,-146.0,496.1,-8.4,277,5771,0.00,2.72,0.00,0.000,6,0.000,0.066,2750,1767,3590,0,0,0,0,0,0
$STATE,5818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5818,begin apogee
$GC,5824,-0.31,0.0,500.7,8.8,279,5946,0.80,0.00,118.50,0.913,6,0.077,0.000,2933,1845,3001,0,0,0,0,0,0
$STATE,5947,end apogee,CONTROL_FINISHED_OK
$STATE,5947,begin climb
$GC,5951,1.06,146.0,506.7,0.0,282,6083,1.23,2.67,122.75,0.890,4,0.041,0.056,3235,3382,2404,0,0,0,0,0,0
$GC,6159,0.97,188.3,504.3,6.4,287,6204,0.12,2.72,36.65,0.863,6,0.128,0.065,3213,1816,2233,0,0,0,0,0,0
$GC,6488,0.88,188.3,476.2,9.2,295,6492,0.00,2.65,0.00,0.000,4,0.000,0.046,3212,3390,2224,0,0,0,0,0,0
$GC,6557,0.82,188.3,469.6,9.5,296,6562,0.17,2.72,0.00,0.000,6,0.113,0.063,3177,1823,2223,0,0,0,0,0,0
$GC,6813,0.83,197.3,449.0,7.7,303,6822,0.00,0.00,7.55,0.735,6,0.000,0.000,3177,1823,2196,0,0,0,0,0,0
$GC,7056,0.86,224.2,431.5,7.0,309,7083,0.00,0.00,25.15,0.847,6,0.000,0.000,3178,1823,2086,0,0,0,0,0,0
$GC,7301,0.91,262.1,415.3,6.6,315,7343,0.00,3.10,34.33,0.846,4,0.000,0.108,3177,230,1930,0,0,0,0,0,0
$GC,7360,0.91,262.1,410.7,8.5,316,7364,0.00,2.55,0.00,0.000,6,0.000,0.031,3177,1818,1929,0,0,0,0,0,0
$GC,7620,0.91,262.1,389.2,8.6,323,7625,0.00,2.83,0.00,0.000,4,0.000,0.083,3177,232,1925,0,0,0,0,0,0
$GC,7660,0.91,262.1,385.2,11.1,324,7665,0.00,2.55,0.00,0.000,6,0.000,0.027,3177,1827,1923,0,0,0,0,0,0
$GC,7944,0.91,262.1,359.3,8.7,331,7948,0.00,2.58,0.00,0.000,4,0.000,0.041,3177,3407,1922,0,0,0,0,0,0
$GC,7993,0.99,267.1,355.3,7.8,332,8003,0.17,2.65,4.00,0.538,6,0.073,0.042,3223,1821,1912,0,0,0,0,0,0
$GC,8272,0.93,267.1,331.8,8.3,339,8276,0.00,2.58,0.00,0.000,4,0.000,0.036,3223,3408,1910,0,0,0,0,0,0
$GC,8293,0.89,267.1,329.8,8.4,339,8298,0.15,2.60,0.00,0.000,6,0.110,0.039,3192,1825,1910,0,0,0,0,0,0
$GC,8549,0.91,284.7,311.1,7.4,346,8573,0.00,2.67,16.80,0.761,4,0.000,0.039,3192,3410,1839,0,0,0,0,0,0
$GC,8586,0.93,299.8,308.4,7.5,346,8606,0.00,2.58,14.73,0.738,6,0.000,0.035,3192,1844,1778,0,0,0,0,0,0
$GC,8873,0.93,301.6,285.6,7.9,354,8878,0.00,2.83,0.00,0.000,4,0.000,0.075,3192,241,1773,0,0,0,0,0,0
$GC,8918,0.93,301.6,281.6,9.5,355,8922,0.00,2.53,0.00,0.000,6,0.000,0.026,3192,1860,1772,0,0,0,0,0,0
$GC,9195,0.93,301.6,258.6,8.2,362,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1862,1772,0,0,0,0,0,0
$GC,9439,0.93,301.6,238.7,8.1,368,9443,0.00,2.80,0.00,0.000,4,0.000,0.070,3192,235,1771,0,0,0,0,0,0
$GC,9466,0.93,301.6,236.2,8.9,368,9471,0.00,2.50,0.00,0.000,6,0.000,0.025,3192,1846,1770,0,0,0,0,0,0
$GC,9716,0.97,301.6,215.1,8.4,374,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1847,1770,0,0,0,0,0,0
$GC,9962,1.03,311.4,195.3,7.7,383,9979,0.15,2.80,10.52,0.624,4,0.081,0.063,3233,239,1730,0,0,0,0,0,0
$GC,9997,0.99,311.4,192.8,9.2,385,10002,0.00,2.47,0.00,0.000,6,0.000,0.018,3233,1833,1729,0,0,0,0,0,0
$GC,10264,0.99,311.4,166.7,10.2,409,10268,0.00,2.47,0.00,0.000,4,0.000,0.030,3233,3390,1729,0,0,0,0,0,0
$GC,10285,0.99,311.4,163.9,9.8,410,10291,0.00,2.50,0.00,0.000,6,0.000,0.034,3233,1832,1728,0,0,0,0,0,0
$GC,10553,0.99,311.4,137.1,10.6,435,10557,0.00,2.70,0.00,0.000,4,0.000,0.065,3233,242,1728,0,0,0,0,0,0
$GC,10586,0.93,311.4,133.5,11.0,437,10591,0.15,2.42,0.00,0.000,6,0.107,0.025,3202,1837,1728,0,0,0,0,0,0
$GC,10852,1.01,318.9,111.5,7.7,461,10866,0.00,2.50,7.70,0.525,4,0.000,0.035,3202,3382,1701,0,0,0,0,0,0
$GC,10902,1.15,330.4,107.4,7.6,465,10927,0.20,2.53,12.02,0.558,6,0.060,0.035,3256,1832,1651,0,0,0,0,0,0
$GC,11181,1.15,330.4,80.1,8.9,491,11186,0.00,2.70,0.00,0.000,4,0.000,0.065,3256,242,1650,0,0,0,0,0,0
$GC,11202,1.10,330.4,78.2,8.9,492,11207,0.00,2.47,0.00,0.000,6,0.000,0.018,3256,1867,1649,0,0,0,0,0,0
$GC,11471,1.10,330.4,55.2,8.4,516,11480,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1869,1649,0,0,0,0,0,0
$GC,11736,1.10,330.4,32.3,8.5,541,11740,0.00,2.78,0.00,0.000,4,0.000,0.059,3256,235,1649,0,0,0,0,0,0
$GC,11757,1.10,330.4,30.5,8.7,542,11761,0.00,2.47,0.00,0.000,6,0.000,0.018,3256,1865,1649,0,0,0,0,0,0
$STATE,12046,end climb,SURFACE_DEPTH_REACHED
$STATE,12046,begin surface coast
$FINISH,0.2,1.006639
$STATE,12123,end surface coast,CONTROL_FINISHED_OK
$STATE,12123,begin surface
$SM_CCo,12145,78.30,0.446,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,78.30,0.000,0.000,0.446,475,1744,1288,-11.62,-0.74,420.20
$IRIDIUM_FIX,2239.35,-15932.66,181199,121211
$TT8_MAMPS,0.025311
$HUMID,41.84
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.00
$XPDR_PINGS,58
$24V_AH,23.6,12.499
$10V_AH,10.5,11.606
$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,27.425,152.550,410.700,78.300,0.000,27.962,27.242,196.411,14.500,0.000,33.272,1204.842,8074.620,591.444,2205.164,560.540,33.366,1390.233,0.000,2191.812,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,109.681,913.497,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,403.252,378.468,455.178,865.109,1308.501,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,47838,596
$CAP_FILE_SIZE,125104,0
$CFSIZE,260165632,179077120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240810,193852,2253.760,-15755.357,11,99.0,30,10.1