version: 66.06
glider: 146
mission: 5
dive: 68
start: 8 25 110 9 50 33
data:
$ID,146
$MISSION,5
$DIVE,68
$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,-248557.52
$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,54
$R_STBD_OVSHOOT,27
$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
$GPS1,094336,2258.068,-15755.155,9,1.5,25,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-66.7
$GPS2,094938,2258.045,-15755.154,11,1.7,11,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.056
$KALMAN_X,-56948.5,268.5,196.1,83079.9,-1639.6
$KALMAN_Y,14324.0,215.4,420.4,128503.9,-1643.4
$MHEAD_RNG_PITCHd_Wd,66.4,28016,-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,-86.70,0.000,2,0.000,0.000,474,1733,3520,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.5,-6.5,11,134,12.32,2.62,-1.27,0.000,4,0.166,0.036,2759,3365,3601,0,0,0,0,0,0
$GC,152,0.01,-146.0,23.3,-40.7,16,162,1.05,2.58,0.00,0.000,6,0.078,0.038,2998,1804,3602,0,0,0,0,0,0
$GC,443,-0.46,-146.0,45.9,-9.0,48,448,0.40,2.72,0.00,0.000,4,0.056,0.061,2894,189,3602,0,0,0,0,0,0
$GC,552,-0.90,-146.0,53.8,-5.7,56,562,0.35,2.47,0.00,0.000,6,0.045,0.017,2798,1845,3603,0,0,0,0,0,0
$GC,819,-0.83,-146.0,78.4,-10.6,81,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1845,3602,0,0,0,0,0,0
$GC,1080,-0.83,-146.0,106.0,-10.1,106,1085,0.00,2.83,0.00,0.000,4,0.000,0.062,2798,190,3603,0,0,0,0,0,0
$GC,1109,-0.83,-146.0,109.1,-11.1,108,1113,0.00,2.42,0.00,0.000,6,0.000,0.021,2798,1816,3603,0,0,0,0,0,0
$GC,1372,-0.83,-146.0,136.0,-10.1,132,1378,0.10,2.80,0.00,0.000,4,0.120,0.070,2820,183,3603,0,0,0,0,0,0
$GC,1417,-0.90,-146.0,140.1,-9.0,135,1421,0.00,2.33,0.00,0.000,6,0.000,0.024,2820,1750,3603,0,0,0,0,0,0
$GC,1681,-0.96,-146.0,159.2,-7.1,159,1686,0.12,2.45,0.00,0.000,4,0.074,0.028,2777,3324,3604,0,0,0,0,0,0
$GC,1745,-0.96,-146.0,164.9,-8.3,164,1750,0.00,2.50,0.00,0.000,6,0.000,0.034,2777,1749,3604,0,0,0,0,0,0
$GC,2009,-0.96,-146.0,188.7,-9.6,188,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1749,3604,0,0,0,0,0,0
$GC,2285,-0.96,-146.0,217.1,-10.0,203,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1749,3604,0,0,0,0,0,0
$GC,2528,-0.96,-146.0,239.8,-9.1,209,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1749,3604,0,0,0,0,0,0
$GC,2774,-0.96,-146.0,258.2,-7.2,215,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1749,3603,0,0,0,0,0,0
$GC,3016,-0.96,-146.0,275.5,-7.1,221,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1749,3603,0,0,0,0,0,0
$GC,3260,-0.96,-146.0,295.1,-8.4,227,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1749,3602,0,0,0,0,0,0
$GC,3503,-0.96,-146.0,316.7,-8.8,233,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1749,3602,0,0,0,0,0,0
$GC,3749,-0.96,-146.0,335.3,-7.3,239,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1748,3601,0,0,0,0,0,0
$GC,3991,-0.96,-146.0,351.7,-6.6,245,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1748,3600,0,0,0,0,0,0
$GC,4235,-1.00,-146.0,369.3,-7.4,251,4240,0.00,2.60,0.00,0.000,4,0.000,0.055,2777,3303,3599,0,0,0,0,0,0
$GC,4263,-1.07,-146.0,371.6,-8.1,251,4267,0.00,2.58,0.00,0.000,6,0.000,0.054,2777,1770,3599,0,0,0,0,0,0
$GC,4515,-1.12,-146.0,390.9,-7.7,257,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1770,3597,0,0,0,0,0,0
$GC,4757,-1.17,-146.0,408.1,-6.8,263,4759,0.15,0.00,0.00,0.000,6,0.067,0.000,2725,1770,3596,0,0,0,0,0,0
$GC,5000,-1.12,-146.0,428.3,-8.2,269,5006,0.15,2.95,0.00,0.000,4,0.105,0.106,2757,185,3594,0,0,0,0,0,0
$GC,5024,-1.12,-146.0,430.0,-7.6,269,5028,0.00,2.42,0.00,0.000,6,0.000,0.035,2757,1712,3593,0,0,0,0,0,0
$GC,5279,-1.12,-146.0,446.9,-6.5,276,5283,0.00,2.65,0.00,0.000,4,0.000,0.062,2757,3298,3593,0,0,0,0,0,0
$GC,5354,-1.17,-146.0,451.8,-6.7,277,5358,0.00,2.58,0.00,0.000,6,0.000,0.063,2757,1769,3592,0,0,0,0,0,0
$GC,5604,-1.17,-146.0,469.3,-7.1,283,5609,0.00,2.95,0.00,0.000,4,0.000,0.111,2757,185,3590,0,0,0,0,0,0
$GC,5636,-1.17,-146.0,472.1,-8.5,283,5642,0.00,2.47,0.00,0.000,6,0.000,0.036,2757,1720,3590,0,0,0,0,0,0
$GC,5886,-1.17,-146.0,492.0,-8.1,290,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1720,3588,0,0,0,0,0,0
$STATE,6006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6006,begin apogee
$GC,6013,-0.31,0.0,502.3,8.4,293,6135,0.77,0.00,118.93,0.921,6,0.081,0.000,2933,1831,3001,0,0,0,0,0,0
$STATE,6136,end apogee,CONTROL_FINISHED_OK
$STATE,6136,begin climb
$GC,6139,1.06,146.0,507.5,0.0,296,6273,1.23,2.80,122.80,0.900,4,0.058,0.073,3232,3404,2403,0,0,0,0,0,0
$GC,6290,1.01,217.5,506.8,5.4,299,6359,0.00,2.75,61.45,0.883,6,0.000,0.061,3232,1823,2113,0,0,0,0,0,0
$GC,6628,0.89,217.5,474.9,10.2,308,6633,0.17,2.97,0.00,0.000,4,0.112,0.107,3196,234,2104,0,0,0,0,0,0
$GC,6644,0.77,217.5,472.7,10.5,308,6650,0.15,2.58,0.00,0.000,6,0.117,0.029,3168,1810,2103,0,0,0,0,0,0
$GC,6906,0.78,221.6,451.9,7.9,315,6910,0.00,2.70,0.00,0.000,4,0.000,0.055,3167,3412,2101,0,0,0,0,0,0
$GC,6933,0.78,221.6,449.7,8.1,315,6938,0.00,2.70,0.00,0.000,6,0.000,0.050,3167,1814,2100,0,0,0,0,0,0
$GC,7185,0.82,252.8,432.2,6.9,321,7217,0.00,0.00,30.42,0.860,6,0.000,0.000,3167,1814,1970,0,0,0,0,0,0
$GC,7427,0.82,256.3,413.5,7.9,327,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1814,1964,0,0,0,0,0,0
$GC,7671,0.84,275.7,395.5,7.3,333,7694,0.00,0.00,20.70,0.831,6,0.000,0.000,3167,1814,1877,0,0,0,0,0,0
$GC,7914,0.88,275.7,376.3,8.0,339,7919,0.10,2.65,0.00,0.000,4,0.100,0.035,3194,3420,1872,0,0,0,0,0,0
$GC,7937,0.88,275.7,374.0,9.4,339,7941,0.00,2.70,0.00,0.000,6,0.000,0.045,3194,1819,1871,0,0,0,0,0,0
$GC,8194,0.88,275.7,349.0,9.9,346,8198,0.00,2.60,0.00,0.000,4,0.000,0.039,3194,3415,1870,0,0,0,0,0,0
$GC,8209,0.88,275.7,347.2,9.9,346,8213,0.00,2.60,0.00,0.000,6,0.000,0.043,3194,1839,1870,0,0,0,0,0,0
$GC,8476,0.88,275.7,323.1,8.6,353,8481,0.00,2.85,0.00,0.000,4,0.000,0.081,3194,231,1868,0,0,0,0,0,0
$GC,8519,0.88,275.7,319.3,8.8,354,8524,0.00,2.55,0.00,0.000,6,0.000,0.024,3194,1855,1868,0,0,0,0,0,0
$GC,8799,0.93,314.1,300.2,6.6,361,8842,0.00,2.55,33.42,0.786,4,0.000,0.038,3194,3385,1719,0,0,0,0,0,0
$GC,8864,1.01,327.7,295.5,7.5,362,8886,0.12,2.55,13.35,0.730,6,0.084,0.040,3226,1833,1664,0,0,0,0,0,0
$GC,9130,1.01,327.7,272.1,9.0,369,9135,0.00,2.78,0.00,0.000,4,0.000,0.077,3226,243,1659,0,0,0,0,0,0
$GC,9170,0.95,327.7,267.8,10.6,370,9174,0.00,2.50,0.00,0.000,6,0.000,0.025,3226,1838,1658,0,0,0,0,0,0
$GC,9452,0.95,327.7,239.4,10.0,377,9457,0.00,2.50,0.00,0.000,4,0.000,0.035,3226,3399,1658,0,0,0,0,0,0
$GC,9475,0.95,327.7,237.2,10.1,377,9479,0.00,2.55,0.00,0.000,6,0.000,0.034,3226,1833,1657,0,0,0,0,0,0
$GC,9730,0.95,327.7,212.6,9.5,384,9734,0.00,2.75,0.00,0.000,4,0.000,0.072,3227,236,1656,0,0,0,0,0,0
$GC,9773,0.90,327.7,207.7,10.9,385,9779,0.15,2.47,0.00,0.000,6,0.109,0.019,3196,1832,1655,0,0,0,0,0,0
$GC,10041,0.96,339.9,187.0,7.6,402,10055,0.00,0.00,10.48,0.624,6,0.000,0.000,3196,1833,1615,0,0,0,0,0,0
$GC,10314,1.02,341.3,166.0,8.0,427,10319,0.10,2.78,0.00,0.000,4,0.094,0.064,3225,239,1614,0,0,0,0,0,0
$GC,10331,1.02,341.3,163.9,8.7,428,10335,0.00,2.45,0.00,0.000,6,0.000,0.023,3225,1835,1613,0,0,0,0,0,0
$GC,10593,1.02,341.3,140.4,8.8,452,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1836,1613,0,0,0,0,0,0
$GC,10848,1.02,341.3,118.0,8.8,476,10852,0.00,2.72,0.00,0.000,4,0.000,0.062,3225,234,1613,0,0,0,0,0,0
$GC,10878,1.02,341.3,114.9,10.5,478,10882,0.00,2.42,0.00,0.000,6,0.000,0.018,3225,1820,1613,0,0,0,0,0,0
$GC,11141,1.02,341.3,89.9,10.1,502,11145,0.00,2.45,0.00,0.000,4,0.000,0.028,3225,3389,1613,0,0,0,0,0,0
$GC,11171,1.10,341.3,86.4,11.5,504,11175,0.00,2.53,0.00,0.000,6,0.000,0.035,3225,1825,1613,0,0,0,0,0,0
$GC,11439,1.16,341.3,60.9,9.0,528,11444,0.12,2.72,0.00,0.000,4,0.078,0.061,3262,237,1613,0,0,0,0,0,0
$GC,11461,1.16,341.3,57.8,9.7,529,11470,0.00,2.47,0.00,0.000,6,0.000,0.019,3262,1834,1613,0,0,0,0,0,0
$GC,11726,1.16,341.3,31.9,9.6,554,11730,0.00,2.72,0.00,0.000,4,0.000,0.064,3262,240,1612,0,0,0,0,0,0
$GC,11749,1.16,341.3,29.9,9.7,555,11758,0.00,2.45,0.00,0.000,6,0.000,0.018,3262,1827,1613,0,0,0,0,0,0
$STATE,12026,end climb,SURFACE_DEPTH_REACHED
$STATE,12027,begin surface coast
$FINISH,0.2,1.012530
$STATE,12076,end surface coast,CONTROL_FINISHED_OK
$STATE,12076,begin surface
$SM_CCo,12099,78.05,0.452,1,0,1288,420.20
$SM_GC,0.91,0.00,0.00,78.05,0.000,0.000,0.452,480,1742,1288,-11.59,-0.79,420.20
$IRIDIUM_FIX,2246.36,-15756.28,191199,060648
$TT8_MAMPS,0.026078
$HUMID,42.55
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.40
$XPDR_PINGS,43
$24V_AH,23.5,13.188
$10V_AH,10.4,12.268
$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,28.800,126.025,411.550,78.050,0.000,27.715,30.375,178.559,10.750,0.000,13.240,1175.447,8108.059,571.496,2161.074,530.799,33.359,1341.944,0.000,2169.044,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,111.215,921.167,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.749,361.518,461.328,885.240,1338.902,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,48068,602
$CAP_FILE_SIZE,116799,0
$CFSIZE,260165632,178786304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250810,131455,2257.456,-15754.195,38,2.0,38,10.1