version: 66.06
glider: 146
mission: 5
dive: 66
start: 8 25 110 3 7 31
data:
$ID,146
$MISSION,5
$DIVE,66
$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,-248511.06
$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,50
$R_STBD_OVSHOOT,70
$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
$GPS1,025737,2255.637,-15755.488,32,1.6,32,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-67.4
$GPS2,030638,2255.684,-15755.541,13,1.5,13,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.106,0.216
$KALMAN_X,-54050.7,-183.5,-231.0,80394.5,-689.5
$KALMAN_Y,15543.3,146.5,-507.6,123911.0,251.5
$MHEAD_RNG_PITCHd_Wd,16.2,4388,-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,-86.30,0.000,2,0.000,0.000,477,1734,3469,0,0,0,0,0,0
$GC,108,-1.06,-146.0,3.9,-5.3,11,134,12.35,2.55,-2.25,0.000,4,0.166,0.038,2759,3319,3600,0,0,0,0,0,0
$GC,186,-0.89,-146.0,26.5,-16.9,21,194,0.17,2.50,0.00,0.000,6,0.090,0.033,2801,1799,3601,0,0,0,0,0,0
$GC,459,-0.79,-146.0,61.6,-12.7,47,464,0.12,2.80,0.00,0.000,4,0.119,0.069,2826,185,3601,0,0,0,0,0,0
$GC,530,-0.79,-146.0,70.3,-10.5,52,535,0.00,2.40,0.00,0.000,6,0.000,0.015,2827,1777,3602,0,0,0,0,0,0
$GC,793,-0.79,-146.0,94.8,-7.5,76,797,0.00,2.72,0.00,0.000,4,0.000,0.067,2827,185,3602,0,0,0,0,0,0
$GC,828,-0.79,-146.0,97.3,-7.9,78,837,0.00,2.38,0.00,0.000,6,0.000,0.016,2827,1742,3602,0,0,0,0,0,0
$GC,1095,-0.83,-146.0,114.8,-7.7,103,1100,0.00,2.50,0.00,0.000,4,0.000,0.033,2827,3325,3602,0,0,0,0,0,0
$GC,1129,-0.90,-146.0,117.8,-8.5,105,1134,0.10,2.53,0.00,0.000,6,0.084,0.035,2786,1737,3602,0,0,0,0,0,0
$GC,1395,-0.90,-146.0,145.4,-10.6,129,1399,0.00,2.60,0.00,0.000,4,0.000,0.069,2786,196,3603,0,0,0,0,0,0
$GC,1416,-0.86,-146.0,148.1,-10.2,130,1426,0.08,2.35,0.00,0.000,6,0.077,0.021,2809,1751,3603,0,0,0,0,0,0
$GC,1680,-0.86,-146.0,169.7,-8.0,155,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1751,3603,0,0,0,0,0,0
$GC,1932,-0.89,-146.0,191.4,-8.4,179,1936,0.00,2.45,0.00,0.000,4,0.000,0.026,2809,3318,3603,0,0,0,0,0,0
$GC,1978,-0.98,-146.0,195.3,-8.0,182,1985,0.10,2.53,0.00,0.000,6,0.085,0.035,2769,1746,3603,0,0,0,0,0,0
$GC,2241,-0.94,-146.0,221.4,-10.1,193,2246,0.12,2.67,0.00,0.000,4,0.108,0.069,2797,195,3603,0,0,0,0,0,0
$GC,2285,-0.94,-146.0,225.8,-9.6,194,2289,0.00,2.30,0.00,0.000,6,0.000,0.015,2797,1741,3603,0,0,0,0,0,0
$GC,2570,-0.94,-146.0,249.9,-8.6,201,2574,0.00,2.47,0.00,0.000,4,0.000,0.036,2797,3321,3601,0,0,0,0,0,0
$GC,2591,-0.97,-146.0,252.0,-8.9,201,2596,0.00,2.53,0.00,0.000,6,0.000,0.036,2797,1744,3602,0,0,0,0,0,0
$GC,2846,-0.97,-146.0,272.7,-7.9,208,2851,0.00,2.70,0.00,0.000,4,0.000,0.082,2796,186,3602,0,0,0,0,0,0
$GC,2876,-1.02,-146.0,275.0,-8.0,208,2880,0.00,2.35,0.00,0.000,6,0.000,0.023,2796,1718,3602,0,0,0,0,0,0
$GC,3126,-1.06,-146.0,293.0,-7.0,214,3131,0.12,2.55,0.00,0.000,4,0.076,0.036,2754,3322,3601,0,0,0,0,0,0
$GC,3170,-1.06,-146.0,296.8,-9.0,215,3174,0.00,2.58,0.00,0.000,6,0.000,0.043,2753,1740,3601,0,0,0,0,0,0
$GC,3450,-1.02,-146.0,321.5,-9.1,222,3452,0.12,0.00,0.00,0.000,6,0.106,0.000,2780,1740,3601,0,0,0,0,0,0
$GC,3692,-1.02,-146.0,339.5,-7.3,228,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1739,3600,0,0,0,0,0,0
$GC,3936,-1.02,-146.0,357.0,-6.9,234,3940,0.00,2.58,0.00,0.000,4,0.000,0.046,2780,3318,3599,0,0,0,0,0,0
$GC,3964,-1.08,-146.0,358.9,-6.5,234,3969,0.00,2.62,0.00,0.000,6,0.000,0.056,2780,1746,3599,0,0,0,0,0,0
$GC,4215,-1.11,-146.0,375.4,-6.8,240,4217,0.10,0.00,0.00,0.000,6,0.091,0.000,2749,1746,3598,0,0,0,0,0,0
$GC,4458,-1.11,-146.0,398.0,-9.4,246,4462,0.00,2.58,0.00,0.000,4,0.000,0.054,2749,3307,3597,0,0,0,0,0,0
$GC,4498,-1.11,-146.0,401.8,-9.6,247,4502,0.00,2.65,0.00,0.000,6,0.000,0.054,2749,1744,3597,0,0,0,0,0,0
$GC,4781,-1.11,-146.0,427.5,-9.1,254,4785,0.00,2.58,0.00,0.000,4,0.000,0.051,2749,3306,3594,0,0,0,0,0,0
$GC,4807,-1.11,-146.0,429.8,-8.2,254,4812,0.00,2.65,0.00,0.000,6,0.000,0.060,2748,1759,3595,0,0,0,0,0,0
$GC,5059,-1.11,-146.0,450.6,-8.3,260,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1758,3593,0,0,0,0,0,0
$GC,5301,-1.11,-146.0,469.4,-7.6,266,5306,0.00,2.97,0.00,0.000,4,0.000,0.117,2748,178,3592,0,0,0,0,0,0
$GC,5329,-1.11,-146.0,471.6,-7.9,266,5333,0.00,2.45,0.00,0.000,6,0.000,0.040,2748,1700,3592,0,0,0,0,0,0
$GC,5580,-1.11,-146.0,489.5,-7.2,272,5584,0.00,2.75,0.00,0.000,4,0.000,0.072,2748,3300,3590,0,0,0,0,0,0
$GC,5630,-1.16,-146.0,493.6,-7.8,273,5634,0.00,2.65,0.00,0.000,6,0.000,0.064,2748,1758,3590,0,0,0,0,0,0
$STATE,5736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5736,begin apogee
$GC,5742,-0.31,0.0,501.8,7.4,276,5864,0.80,0.00,119.03,0.911,6,0.074,0.000,2932,1758,3001,0,0,0,0,0,0
$STATE,5865,end apogee,CONTROL_FINISHED_OK
$STATE,5865,begin climb
$GC,5869,1.06,146.0,505.1,0.0,279,5996,1.27,0.00,123.80,0.889,6,0.053,0.000,3241,1758,2405,0,0,0,0,0,0
$GC,6223,0.90,146.0,484.6,8.5,288,6228,0.22,2.70,0.00,0.000,4,0.109,0.048,3196,3360,2396,0,0,0,0,0,0
$GC,6286,0.88,171.2,480.1,7.1,289,6315,0.00,2.65,21.42,0.841,6,0.000,0.062,3196,1829,2303,0,0,0,0,0,0
$GC,6596,0.90,239.6,462.2,5.5,297,6660,0.00,0.00,59.62,0.871,6,0.000,0.000,3196,1829,2024,0,0,0,0,0,0
$GC,6926,0.87,239.6,437.0,8.4,305,6931,0.00,3.03,0.00,0.000,4,0.000,0.109,3196,233,2017,0,0,0,0,0,0
$GC,6942,0.80,239.6,435.0,8.9,305,6946,0.00,2.50,0.00,0.000,6,0.000,0.028,3196,1788,2016,0,0,0,0,0,0
$GC,7203,0.80,239.6,410.8,9.3,312,7208,0.00,2.67,0.00,0.000,4,0.000,0.053,3196,3405,2014,0,0,0,0,0,0
$GC,7277,0.80,239.6,404.2,8.6,313,7281,0.00,2.65,0.00,0.000,6,0.000,0.054,3196,1841,2012,0,0,0,0,0,0
$GC,7527,0.82,258.0,385.5,7.3,319,7548,0.00,2.62,15.77,0.798,4,0.000,0.035,3196,3416,1948,0,0,0,0,0,0
$GC,7575,0.85,274.8,381.8,7.4,320,7599,0.00,2.65,16.45,0.792,6,0.000,0.045,3196,1851,1879,0,0,0,0,0,0
$GC,7851,0.86,288.8,361.3,7.5,327,7871,0.00,3.00,13.02,0.767,4,0.000,0.087,3196,238,1822,0,0,0,0,0,0
$GC,7904,0.82,288.8,356.3,9.5,328,7909,0.00,2.58,0.00,0.000,6,0.000,0.027,3196,1859,1821,0,0,0,0,0,0
$GC,8178,0.82,288.8,331.8,9.0,335,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1860,1819,0,0,0,0,0,0
$GC,8420,0.82,288.8,310.8,8.4,341,8425,0.00,2.88,0.00,0.000,4,0.000,0.071,3196,234,1817,0,0,0,0,0,0
$GC,8435,0.82,288.8,309.4,8.4,341,8440,0.00,2.53,0.00,0.000,6,0.000,0.020,3196,1866,1817,0,0,0,0,0,0
$GC,8697,0.85,305.1,289.8,7.4,348,8713,0.00,0.00,14.60,0.728,6,0.000,0.000,3196,1868,1757,0,0,0,0,0,0
$GC,8942,0.85,305.1,267.4,9.6,354,8946,0.00,2.85,0.00,0.000,4,0.000,0.069,3196,232,1754,0,0,0,0,0,0
$GC,8968,0.85,305.1,264.4,10.1,354,8972,0.00,2.50,0.00,0.000,6,0.000,0.025,3196,1839,1753,0,0,0,0,0,0
$GC,9224,0.85,305.1,240.3,9.0,361,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1841,1752,0,0,0,0,0,0
$GC,9469,0.86,317.1,221.4,7.6,367,9488,0.00,2.90,11.57,0.651,4,0.000,0.067,3196,232,1707,0,0,0,0,0,0
$GC,9505,0.86,317.1,218.2,9.0,367,9511,0.00,2.50,0.00,0.000,6,0.000,0.024,3196,1836,1706,0,0,0,0,0,0
$GC,9756,0.90,317.1,196.9,8.7,374,9757,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1838,1705,0,0,0,0,0,0
$GC,10012,0.94,320.3,176.1,7.9,398,10023,0.00,2.80,4.10,0.443,4,0.000,0.072,3197,234,1695,0,0,0,0,0,0
$GC,10052,0.94,320.3,172.6,9.1,401,10058,0.00,2.45,0.00,0.000,6,0.000,0.020,3196,1835,1694,0,0,0,0,0,0
$GC,10317,1.01,330.9,153.3,7.6,426,10333,0.10,0.00,11.12,0.589,6,0.096,0.000,3224,1836,1651,0,0,0,0,0,0
$GC,10588,1.01,330.9,127.4,9.4,452,10592,0.00,2.75,0.00,0.000,4,0.000,0.063,3224,230,1650,0,0,0,0,0,0
$GC,10609,1.01,330.9,125.8,9.5,453,10613,0.00,2.45,0.00,0.000,6,0.000,0.025,3224,1833,1649,0,0,0,0,0,0
$GC,10875,1.01,330.9,101.1,8.9,477,10880,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1834,1648,0,0,0,0,0,0
$GC,11142,1.04,330.9,78.7,8.1,502,11146,0.00,2.75,0.00,0.000,4,0.000,0.064,3224,233,1648,0,0,0,0,0,0
$GC,11174,1.04,330.9,75.8,8.6,504,11178,0.00,2.42,0.00,0.000,6,0.000,0.018,3224,1825,1648,0,0,0,0,0,0
$GC,11442,1.15,370.6,56.6,6.5,528,11484,0.10,2.78,34.92,0.553,4,0.088,0.061,3255,229,1488,0,0,0,0,0,0
$GC,11516,1.11,370.6,49.9,9.9,533,11525,0.00,2.47,0.00,0.000,6,0.000,0.018,3255,1807,1486,0,0,0,0,0,0
$GC,11791,1.11,370.6,24.9,9.8,561,11800,0.00,2.50,0.00,0.000,4,0.000,0.028,3255,3383,1486,0,0,0,0,0,0
$GC,11818,1.11,370.6,21.8,10.6,564,11827,0.00,2.58,0.00,0.000,6,0.000,0.035,3255,1812,1485,0,0,0,0,0,0
$STATE,12015,end climb,SURFACE_DEPTH_REACHED
$STATE,12015,begin surface coast
$FINISH,0.2,1.023302
$STATE,12071,end surface coast,CONTROL_FINISHED_OK
$STATE,12071,begin surface
$SM_CCo,12094,49.60,0.407,1,0,1288,420.20
$SM_GC,0.90,0.00,0.00,49.60,0.000,0.000,0.407,477,1741,1288,-11.61,-0.82,420.20
$IRIDIUM_FIX,2248.70,-15756.28,181199,232333
$TT8_MAMPS,0.025311
$HUMID,42.16
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.00
$XPDR_PINGS,52
$24V_AH,23.6,12.925
$10V_AH,10.4,12.014
$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,27.050,146.150,445.450,49.600,0.000,23.908,36.041,343.991,13.000,0.000,14.652,1192.278,8020.418,595.127,2156.582,722.437,33.359,1393.612,0.000,2171.123,0.000,0.537,0.000
$DEVICE_MAMPS,166.439,123.487,911.196,407.277,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,405.254,374.305,462.481,858.889,1299.051,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,47914,600
$CAP_FILE_SIZE,124688,0
$CFSIZE,260165632,178888704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250810,063107,2257.184,-15755.495,26,1.9,26,10.1