version: 66.06
glider: 146
mission: 5
dive: 65
start: 8 24 110 23 32 24
data:
$ID,146
$MISSION,5
$DIVE,65
$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,-248495.78
$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,60
$R_STBD_OVSHOOT,77
$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
$GPS1,232237,2254.830,-15755.530,36,1.1,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-69.0
$GPS2,233131,2254.829,-15755.604,8,1.3,13,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.127,0.204
$KALMAN_X,-52753.1,-418.3,180.8,78814.5,-1249.8
$KALMAN_Y,16346.7,-147.9,-52.2,121363.6,-668.7
$MHEAD_RNG_PITCHd_Wd,21.7,5962,-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,-86.38,0.000,2,0.000,0.000,476,1730,3483,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.0,-5.5,11,134,12.23,2.55,-2.00,0.000,4,0.162,0.043,2761,3314,3600,0,0,0,0,0,0
$GC,212,-0.96,-146.0,29.7,-12.8,25,220,0.10,2.47,0.00,0.000,6,0.098,0.035,2785,1801,3601,0,0,0,0,0,0
$GC,480,-0.84,-146.0,65.0,-13.2,50,485,0.15,2.78,0.00,0.000,4,0.114,0.064,2817,193,3602,0,0,0,0,0,0
$GC,551,-0.84,-146.0,74.2,-12.1,55,556,0.00,2.35,0.00,0.000,6,0.000,0.024,2817,1768,3602,0,0,0,0,0,0
$GC,819,-0.84,-146.0,102.4,-10.7,79,824,0.00,2.67,0.00,0.000,4,0.000,0.066,2816,194,3602,0,0,0,0,0,0
$GC,852,-0.84,-146.0,106.0,-10.9,81,856,0.00,2.33,0.00,0.000,6,0.000,0.018,2817,1760,3602,0,0,0,0,0,0
$GC,1120,-0.84,-146.0,127.6,-6.8,105,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1761,3602,0,0,0,0,0,0
$GC,1383,-0.87,-146.0,144.3,-6.3,130,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1761,3603,0,0,0,0,0,0
$GC,1641,-0.92,-146.0,163.3,-8.0,154,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1761,3603,0,0,0,0,0,0
$GC,1903,-0.97,-146.0,183.8,-7.2,179,1905,0.12,0.00,0.00,0.000,6,0.077,0.000,2774,1761,3603,0,0,0,0,0,0
$GC,2187,-0.97,-146.0,207.0,-7.9,200,2191,0.00,2.70,0.00,0.000,4,0.000,0.069,2774,193,3603,0,0,0,0,0,0
$GC,2208,-0.93,-146.0,208.9,-8.0,200,2213,0.10,2.30,0.00,0.000,6,0.120,0.018,2796,1737,3603,0,0,0,0,0,0
$GC,2465,-0.93,-146.0,226.7,-6.9,207,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1738,3603,0,0,0,0,0,0
$GC,2707,-0.93,-146.0,246.6,-8.4,213,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1738,3602,0,0,0,0,0,0
$GC,2951,-0.97,-146.0,267.7,-8.7,219,2955,0.00,2.50,0.00,0.000,4,0.000,0.038,2796,3318,3602,0,0,0,0,0,0
$GC,2973,-1.03,-146.0,269.7,-8.9,219,2978,0.00,2.53,0.00,0.000,6,0.000,0.034,2796,1744,3602,0,0,0,0,0,0
$GC,3230,-1.07,-146.0,288.9,-7.3,226,3235,0.12,2.75,0.00,0.000,4,0.071,0.086,2752,195,3602,0,0,0,0,0,0
$GC,3257,-1.07,-146.0,291.5,-9.4,226,3261,0.00,2.33,0.00,0.000,6,0.000,0.021,2753,1717,3601,0,0,0,0,0,0
$GC,3513,-1.04,-146.0,313.6,-8.5,233,3515,0.10,0.00,0.00,0.000,6,0.117,0.000,2774,1718,3601,0,0,0,0,0,0
$GC,3757,-1.04,-146.0,331.9,-7.5,239,3761,0.00,2.55,0.00,0.000,4,0.000,0.041,2774,3310,3600,0,0,0,0,0,0
$GC,3807,-1.10,-146.0,335.7,-6.9,240,3811,0.00,2.60,0.00,0.000,6,0.000,0.051,2774,1737,3600,0,0,0,0,0,0
$GC,4080,-1.10,-146.0,355.7,-7.4,247,4084,0.00,2.80,0.00,0.000,4,0.000,0.095,2774,186,3599,0,0,0,0,0,0
$GC,4101,-1.10,-146.0,357.5,-7.8,247,4105,0.00,2.35,0.00,0.000,6,0.000,0.025,2774,1705,3598,0,0,0,0,0,0
$GC,4356,-1.10,-146.0,378.5,-8.5,254,4360,0.00,2.62,0.00,0.000,4,0.000,0.052,2774,3307,3597,0,0,0,0,0,0
$GC,4388,-1.17,-146.0,381.2,-8.5,254,4395,0.12,2.60,0.00,0.000,6,0.074,0.053,2733,1743,3597,0,0,0,0,0,0
$GC,4640,-1.13,-146.0,404.1,-9.0,261,4641,0.10,0.00,0.00,0.000,6,0.152,0.000,2754,1743,3596,0,0,0,0,0,0
$GC,4882,-1.13,-146.0,421.4,-6.9,267,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1743,3594,0,0,0,0,0,0
$GC,5126,-1.13,-146.0,438.6,-7.1,273,5130,0.00,2.60,0.00,0.000,4,0.000,0.054,2754,3309,3593,0,0,0,0,0,0
$GC,5167,-1.17,-146.0,441.6,-7.7,274,5171,0.00,2.67,0.00,0.000,6,0.000,0.059,2754,1743,3592,0,0,0,0,0,0
$GC,5450,-1.17,-146.0,463.2,-7.8,281,5454,0.00,2.90,0.00,0.000,4,0.000,0.116,2754,182,3591,0,0,0,0,0,0
$GC,5471,-1.17,-146.0,465.1,-8.7,281,5475,0.00,2.42,0.00,0.000,6,0.000,0.037,2754,1691,3590,0,0,0,0,0,0
$GC,5733,-1.17,-146.0,486.6,-8.1,288,5738,0.00,2.72,0.00,0.000,4,0.000,0.071,2754,3300,3589,0,0,0,0,0,0
$GC,5785,-1.24,-146.0,490.7,-7.9,289,5790,0.10,2.67,0.00,0.000,6,0.093,0.062,2722,1744,3588,0,0,0,0,0,0
$STATE,5892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5892,begin apogee
$GC,5898,-0.31,0.0,500.9,9.3,292,6021,0.93,0.00,118.75,0.917,6,0.081,0.000,2931,1743,3000,0,0,0,0,0,0
$STATE,6021,end apogee,CONTROL_FINISHED_OK
$STATE,6022,begin climb
$GC,6024,1.06,146.0,505.5,0.0,295,6157,1.25,3.00,123.12,0.891,4,0.057,0.122,3234,232,2404,0,0,0,0,0,0
$GC,6175,0.89,180.4,503.7,6.7,298,6212,0.20,2.55,30.62,0.851,6,0.117,0.035,3195,1768,2265,0,0,0,0,0,0
$GC,6470,0.83,189.0,481.8,7.7,306,6484,0.00,2.80,7.38,0.721,4,0.000,0.065,3195,3352,2230,0,0,0,0,0,0
$GC,6519,0.83,189.0,477.5,8.9,307,6523,0.00,2.62,0.00,0.000,6,0.000,0.057,3196,1819,2228,0,0,0,0,0,0
$GC,6796,0.78,189.0,454.6,8.1,314,6798,0.12,0.00,0.00,0.000,6,0.255,0.000,3171,1818,2225,0,0,0,0,0,0
$GC,7041,0.83,232.2,438.5,6.4,320,7082,0.00,0.00,38.70,0.860,6,0.000,0.000,3172,1819,2054,0,0,0,0,0,0
$GC,7325,0.88,270.7,419.5,6.6,327,7365,0.00,0.00,34.28,0.843,6,0.000,0.000,3172,1819,1896,0,0,0,0,0,0
$GC,7609,0.91,294.9,400.1,7.1,334,7639,0.12,3.03,21.77,0.818,4,0.196,0.097,3204,229,1797,0,0,0,0,0,0
$GC,7657,0.83,294.9,395.3,10.9,335,7662,0.12,2.50,0.00,0.000,6,0.122,0.028,3180,1788,1795,0,0,0,0,0,0
$GC,7936,0.83,294.9,370.6,8.8,342,7941,0.00,2.65,0.00,0.000,4,0.000,0.044,3180,3408,1792,0,0,0,0,0,0
$GC,7969,0.89,294.9,367.4,8.8,342,7974,0.00,2.67,0.00,0.000,6,0.000,0.047,3180,1820,1790,0,0,0,0,0,0
$GC,8219,0.91,308.7,348.1,7.5,349,8238,0.00,2.92,12.15,0.759,4,0.000,0.087,3180,229,1742,0,0,0,0,0,0
$GC,8256,0.91,308.7,344.9,8.4,349,8262,0.00,2.55,0.00,0.000,6,0.000,0.022,3180,1830,1741,0,0,0,0,0,0
$GC,8506,0.93,328.8,326.3,7.3,356,8527,0.10,0.00,19.15,0.775,6,0.093,0.000,3207,1830,1660,0,0,0,0,0,0
$GC,8751,0.93,328.8,303.5,9.6,362,8755,0.00,2.80,0.00,0.000,4,0.000,0.069,3207,233,1655,0,0,0,0,0,0
$GC,8790,0.88,328.8,299.2,10.5,363,8794,0.00,2.47,0.00,0.000,6,0.000,0.021,3207,1825,1654,0,0,0,0,0,0
$GC,9073,0.88,328.8,271.7,9.8,370,9077,0.00,2.78,0.00,0.000,4,0.000,0.074,3207,236,1653,0,0,0,0,0,0
$GC,9088,0.88,328.8,269.9,9.8,370,9092,0.00,2.47,0.00,0.000,6,0.000,0.020,3207,1828,1653,0,0,0,0,0,0
$GC,9356,0.88,328.8,244.3,9.6,377,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1831,1653,0,0,0,0,0,0
$GC,9598,0.88,328.8,221.2,9.4,383,9603,0.00,2.78,0.00,0.000,4,0.000,0.071,3207,229,1653,0,0,0,0,0,0
$GC,9614,0.88,328.8,219.5,9.6,383,9618,0.00,2.42,0.00,0.000,6,0.000,0.024,3207,1818,1652,0,0,0,0,0,0
$GC,9873,0.88,328.8,195.8,9.1,392,9878,0.00,2.72,0.00,0.000,4,0.000,0.066,3207,235,1652,0,0,0,0,0,0
$GC,9894,0.88,328.8,193.5,9.9,393,9904,0.00,2.42,0.00,0.000,6,0.000,0.025,3207,1804,1652,0,0,0,0,0,0
$GC,10161,0.88,328.8,169.9,8.4,418,10165,0.00,2.47,0.00,0.000,4,0.000,0.030,3207,3374,1652,0,0,0,0,0,0
$GC,10192,0.94,328.8,166.9,8.4,420,10196,0.00,2.58,0.00,0.000,6,0.000,0.041,3207,1790,1651,0,0,0,0,0,0
$GC,10454,0.94,328.8,143.6,9.2,444,10458,0.00,2.65,0.00,0.000,4,0.000,0.067,3207,241,1651,0,0,0,0,0,0
$GC,10484,0.94,328.8,140.5,10.2,446,10488,0.00,2.38,0.00,0.000,6,0.000,0.021,3207,1810,1651,0,0,0,0,0,0
$GC,10747,0.98,328.8,115.0,8.6,470,10751,0.00,2.47,0.00,0.000,4,0.000,0.034,3207,3382,1651,0,0,0,0,0,0
$GC,10776,1.06,328.8,112.4,9.1,472,10781,0.10,2.53,0.00,0.000,6,0.086,0.034,3238,1814,1651,0,0,0,0,0,0
$GC,11036,1.06,328.8,89.6,8.2,496,11041,0.00,2.65,0.00,0.000,4,0.000,0.068,3238,238,1652,0,0,0,0,0,0
$GC,11057,1.06,328.8,88.2,8.1,497,11061,0.00,2.40,0.00,0.000,6,0.000,0.018,3238,1822,1652,0,0,0,0,0,0
$GC,11325,1.11,362.2,68.2,6.8,521,11366,0.00,2.80,28.35,0.562,4,0.000,0.065,3238,243,1523,0,0,0,0,0,0
$GC,11371,1.11,362.2,64.1,8.1,524,11380,0.00,2.42,0.00,0.000,6,0.000,0.018,3238,1807,1523,0,0,0,0,0,0
$GC,11639,1.11,362.2,43.0,8.3,549,11648,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,1810,1523,0,0,0,0,0,0
$GC,11934,1.11,362.2,17.6,8.9,584,11943,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1809,1523,0,0,0,0,0,0
$STATE,12088,end climb,SURFACE_DEPTH_REACHED
$STATE,12088,begin surface coast
$FINISH,0.2,1.002467
$STATE,12154,end surface coast,CONTROL_FINISHED_OK
$STATE,12154,begin surface
$SM_CCo,12175,59.50,0.426,1,0,1289,420.20
$SM_GC,1.07,0.00,0.00,59.50,0.000,0.000,0.426,477,1735,1289,-11.61,-0.96,420.20
$IRIDIUM_FIX,2244.02,-15756.28,181199,191927
$TT8_MAMPS,0.026078
$HUMID,41.57
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.00
$XPDR_PINGS,54
$24V_AH,23.6,12.789
$10V_AH,10.4,11.882
$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,27.400,135.375,434.275,59.500,0.000,28.130,28.731,339.138,13.500,0.000,15.211,1202.272,8076.615,589.120,2200.203,700.655,33.366,1383.297,0.000,2207.356,0.000,0.536,0.000
$DEVICE_MAMPS,255.411,121.953,916.565,426.452,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,415.968,377.162,472.863,887.584,1342.525,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,47795,615
$CAP_FILE_SIZE,122620,0
$CFSIZE,260165632,178954240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250810,025737,2255.637,-15755.488,32,1.6,32,10.1