version: 66.06
glider: 146
mission: 5
dive: 67
start: 8 25 110 6 46 47
data:
$ID,146
$MISSION,5
$DIVE,67
$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,-248543.66
$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,42
$R_STBD_OVSHOOT,55
$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
$GPS1,063107,2257.184,-15755.495,26,1.9,26,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.0
$GPS2,064555,2257.281,-15755.440,13,1.8,30,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.110,0.152
$KALMAN_X,-55532.6,119.3,-199.9,81717.7,-612.9
$KALMAN_Y,14895.7,305.9,246.5,126601.3,-570.2
$MHEAD_RNG_PITCHd_Wd,25.6,1528,-19.4,-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,-1.31,-83.8,0.0,0.0,0,105,0.00,0.00,-82.90,0.000,6,0.000,0.000,476,1740,3342,0,0,0,0,0,0
$GC,109,-1.37,-132.2,3.9,-4.9,11,135,11.93,2.58,-3.50,0.000,4,0.164,0.036,2692,3342,3543,0,0,0,0,0,0
$GC,167,-0.88,-132.2,23.5,-31.3,18,177,0.50,2.55,0.00,0.000,6,0.100,0.034,2801,1790,3544,0,0,0,0,0,0
$GC,451,-0.96,-132.2,57.1,-10.7,46,455,0.00,2.75,0.00,0.000,4,0.000,0.064,2801,185,3544,0,0,0,0,0,0
$GC,509,-1.05,-132.2,64.1,-11.0,50,514,0.15,2.40,0.00,0.000,6,0.064,0.015,2754,1793,3544,0,0,0,0,0,0
$GC,771,-1.05,-132.2,96.2,-12.1,74,775,0.00,2.72,0.00,0.000,4,0.000,0.067,2754,190,3544,0,0,0,0,0,0
$GC,817,-1.05,-132.2,101.8,-13.7,77,821,0.00,2.35,0.00,0.000,6,0.000,0.019,2754,1749,3544,0,0,0,0,0,0
$GC,1083,-1.11,-132.2,133.6,-12.3,101,1088,0.00,2.45,0.00,0.000,4,0.000,0.032,2754,3318,3544,0,0,0,0,0,0
$GC,1130,-1.21,-132.2,139.7,-11.2,104,1139,0.00,2.55,0.00,0.000,6,0.000,0.038,2754,1749,3544,0,0,0,0,0,0
$GC,1393,-1.28,-132.2,169.7,-11.1,129,1395,0.15,0.00,0.00,0.000,6,0.069,0.000,2707,1750,3544,0,0,0,0,0,0
$GC,1677,-1.28,-132.2,205.8,-12.4,153,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1749,3545,0,0,0,0,0,0
$GC,1919,-1.28,-132.2,234.5,-11.6,159,1923,0.00,2.47,0.00,0.000,4,0.000,0.028,2707,3318,3544,0,0,0,0,0,0
$GC,1940,-1.28,-132.2,237.2,-12.2,159,1944,0.00,2.50,0.00,0.000,6,0.000,0.035,2707,1754,3544,0,0,0,0,0,0
$GC,2196,-1.28,-132.2,269.1,-12.7,166,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1754,3544,0,0,0,0,0,0
$GC,2440,-1.28,-132.2,298.9,-12.1,172,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1754,3544,0,0,0,0,0,0
$GC,2683,-1.28,-132.2,326.1,-10.9,178,2687,0.00,2.50,0.00,0.000,4,0.000,0.038,2707,3318,3543,0,0,0,0,0,0
$GC,2738,-1.33,-132.2,331.9,-10.4,179,2742,0.00,2.58,0.00,0.000,6,0.000,0.054,2707,1765,3543,0,0,0,0,0,0
$GC,3006,-1.38,-132.2,357.8,-9.5,186,3010,0.00,2.85,0.00,0.000,4,0.000,0.100,2707,186,3542,0,0,0,0,0,0
$GC,3049,-1.41,-132.2,362.1,-9.7,187,3054,0.00,2.38,0.00,0.000,6,0.000,0.025,2707,1710,3542,0,0,0,0,0,0
$GC,3328,-1.47,-134.6,384.4,-7.9,194,3333,0.12,2.62,0.00,0.000,4,0.078,0.048,2666,3307,3541,0,0,0,0,0,0
$GC,3390,-1.47,-134.6,390.2,-9.1,195,3394,0.00,2.60,0.00,0.000,6,0.000,0.054,2666,1757,3541,0,0,0,0,0,0
$GC,3650,-1.47,-134.6,418.4,-11.0,202,3655,0.00,2.55,0.00,0.000,4,0.000,0.050,2666,3306,3539,0,0,0,0,0,0
$GC,3690,-1.47,-134.6,423.0,-11.6,203,3694,0.00,2.62,0.00,0.000,6,0.000,0.062,2666,1763,3539,0,0,0,0,0,0
$GC,3974,-1.47,-134.6,456.8,-11.8,210,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1763,3537,0,0,0,0,0,0
$GC,4216,-1.47,-134.6,482.4,-10.3,216,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1762,3535,0,0,0,0,0,0
$STATE,4376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4376,begin apogee
$GC,4382,-0.31,0.0,500.1,10.9,220,4493,1.20,0.00,107.65,0.900,6,0.090,0.000,2930,1762,3001,0,0,0,0,0,0
$STATE,4494,end apogee,CONTROL_FINISHED_OK
$STATE,4494,begin climb
$GC,4498,1.38,134.6,502.7,0.0,222,4616,1.52,0.00,114.03,0.878,6,0.048,0.000,3299,1763,2452,0,0,0,0,0,0
$GC,4828,1.25,134.6,482.6,9.3,231,4833,0.12,2.72,0.00,0.000,4,0.212,0.057,3276,3350,2443,0,0,0,0,0,0
$GC,4850,1.17,134.6,480.5,8.9,231,4854,0.00,2.67,0.00,0.000,6,0.000,0.061,3276,1817,2441,0,0,0,0,0,0
$GC,5107,1.10,134.6,457.3,9.1,238,5112,0.17,2.58,0.00,0.000,4,0.162,0.044,3241,3362,2439,0,0,0,0,0,0
$GC,5201,1.10,134.6,449.1,8.1,240,5206,0.00,2.60,0.00,0.000,6,0.000,0.054,3241,1834,2438,0,0,0,0,0,0
$GC,5474,1.10,134.6,426.6,8.5,247,5479,0.00,3.00,0.00,0.000,4,0.000,0.113,3241,233,2436,0,0,0,0,0,0
$GC,5496,1.05,134.6,424.6,9.2,247,5500,0.00,2.50,0.00,0.000,6,0.000,0.028,3241,1791,2434,0,0,0,0,0,0
$GC,5751,1.06,142.2,404.7,7.5,254,5761,0.00,2.67,4.65,0.609,4,0.000,0.049,3241,3406,2421,0,0,0,0,0,0
$GC,5773,1.07,149.8,403.1,7.5,254,5789,0.00,2.65,8.65,0.744,6,0.000,0.051,3241,1841,2389,0,0,0,0,0,0
$GC,6033,1.08,161.4,383.8,7.3,261,6051,0.00,2.65,11.50,0.778,4,0.000,0.041,3241,3408,2341,0,0,0,0,0,0
$GC,6132,1.08,163.5,376.3,7.9,263,6137,0.00,2.60,0.00,0.000,6,0.000,0.045,3241,1862,2339,0,0,0,0,0,0
$GC,6405,1.11,185.1,357.2,6.6,270,6433,0.00,2.62,21.45,0.805,4,0.000,0.035,3241,3408,2244,0,0,0,0,0,0
$GC,6493,1.19,197.7,351.4,7.2,272,6513,0.00,2.58,12.20,0.755,6,0.000,0.044,3241,1868,2194,0,0,0,0,0,0
$GC,6781,1.26,206.3,330.8,7.5,279,6796,0.12,2.95,8.32,0.704,4,0.088,0.077,3276,242,2159,0,0,0,0,0,0
$GC,6807,1.22,206.3,328.4,9.2,279,6812,0.00,2.62,0.00,0.000,6,0.000,0.026,3276,1891,2158,0,0,0,0,0,0
$GC,7064,1.22,206.3,303.4,9.8,286,7068,0.00,2.45,0.00,0.000,4,0.000,0.035,3276,3409,2156,0,0,0,0,0,0
$GC,7096,1.22,206.3,300.0,9.9,286,7102,0.00,2.53,0.00,0.000,6,0.000,0.038,3276,1868,2155,0,0,0,0,0,0
$GC,7346,1.22,206.3,276.7,9.3,293,7350,0.00,2.47,0.00,0.000,4,0.000,0.036,3276,3412,2154,0,0,0,0,0,0
$GC,7367,1.22,206.3,274.5,10.0,293,7371,0.00,2.53,0.00,0.000,6,0.000,0.041,3276,1871,2153,0,0,0,0,0,0
$GC,7624,1.22,206.3,249.9,9.6,300,7628,0.00,2.47,0.00,0.000,4,0.000,0.037,3276,3409,2153,0,0,0,0,0,0
$GC,7663,1.26,206.3,245.9,9.8,301,7667,0.00,2.50,0.00,0.000,6,0.000,0.035,3276,1875,2153,0,0,0,0,0,0
$GC,7947,1.26,206.3,219.7,9.4,308,7951,0.00,2.45,0.00,0.000,4,0.000,0.031,3276,3412,2153,0,0,0,0,0,0
$GC,8003,1.30,206.3,214.3,9.7,309,8007,0.00,2.47,0.00,0.000,6,0.000,0.040,3276,1883,2152,0,0,0,0,0,0
$GC,8262,1.30,206.3,189.2,9.6,321,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1884,2152,0,0,0,0,0,0
$GC,8518,1.30,206.3,167.0,8.5,345,8522,0.00,2.42,0.00,0.000,4,0.000,0.031,3276,3423,2152,0,0,0,0,0,0
$GC,8563,1.36,206.3,162.9,8.9,348,8572,0.00,2.50,0.00,0.000,6,0.000,0.032,3276,1888,2152,0,0,0,0,0,0
$GC,8830,1.40,206.3,138.8,9.8,373,8835,0.12,2.45,0.00,0.000,4,0.087,0.029,3309,3422,2152,0,0,0,0,0,0
$GC,8899,1.40,206.3,130.5,11.2,378,8909,0.00,2.47,0.00,0.000,6,0.000,0.035,3309,1908,2152,0,0,0,0,0,0
$GC,9164,1.40,206.3,105.8,8.9,403,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1908,2152,0,0,0,0,0,0
$GC,9427,1.44,243.6,88.3,5.6,428,9464,0.00,2.42,32.03,0.580,4,0.000,0.028,3308,3414,2007,0,0,0,0,0,0
$GC,9477,1.46,257.0,85.0,7.1,432,9494,0.00,2.47,12.90,0.536,6,0.000,0.036,3309,1899,1953,0,0,0,0,0,0
$GC,9754,1.46,257.0,60.4,10.3,457,9758,0.00,2.42,0.00,0.000,4,0.000,0.028,3309,3424,1950,0,0,0,0,0,0
$GC,9774,1.50,257.0,58.3,10.3,458,9779,0.00,2.45,0.00,0.000,6,0.000,0.031,3308,1894,1948,0,0,0,0,0,0
$GC,10043,1.54,257.0,33.6,8.6,482,10052,0.10,0.00,0.00,0.000,6,0.091,0.000,3338,1893,1948,0,0,0,0,0,0
$STATE,10329,end climb,SURFACE_DEPTH_REACHED
$STATE,10329,begin surface coast
$FINISH,0.4,1.023353
$STATE,10372,end surface coast,CONTROL_FINISHED_OK
$STATE,10372,begin surface
$SM_CCo,10395,142.68,0.473,1,0,1287,420.20
$SM_GC,0.98,0.00,0.00,142.68,0.000,0.000,0.473,475,1733,1287,-11.62,-1.05,420.20
$IRIDIUM_FIX,2251.04,-15755.40,191199,060605
$TT8_MAMPS,0.026078
$HUMID,40.90
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,45
$24V_AH,23.6,13.062
$10V_AH,10.4,12.137
$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,27.800,123.150,333.375,142.675,0.000,57.576,57.764,546.128,11.250,0.000,31.970,1051.275,6861.212,583.894,1983.906,948.587,33.352,1289.165,0.000,1975.018,0.000,0.537,0.000
$DEVICE_MAMPS,211.692,112.749,899.691,473.239,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.920,322.664,407.180,779.743,1178.788,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,41513,528
$CAP_FILE_SIZE,113533,0
$CFSIZE,260165632,178847744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250810,094336,2258.068,-15755.155,9,1.5,25,10.1