version: 66.06
glider: 146
mission: 5
dive: 69
start: 8 25 110 13 22 13
data:
$ID,146
$MISSION,5
$DIVE,69
$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,-248592.72
$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,49
$R_STBD_OVSHOOT,62
$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
$GPS1,131455,2257.456,-15754.195,38,2.0,38,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-68.1
$GPS2,132119,2257.406,-15754.248,14,2.0,31,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,0.018
$KALMAN_X,-58234.1,233.2,154.3,85998.1,-1959.0
$KALMAN_Y,13457.8,-36.3,-341.4,129201.0,-988.5
$MHEAD_RNG_PITCHd_Wd,75.6,26067,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-86.30,0.000,2,0.000,0.000,479,1743,3496,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.4,-6.1,11,133,12.25,2.60,-1.73,0.000,4,0.163,0.068,2761,218,3602,0,0,0,0,0,0
$GC,164,-0.40,-146.0,25.8,-34.4,18,173,0.65,2.40,0.00,0.000,6,0.081,0.018,2909,1791,3602,0,0,0,0,0,0
$GC,441,-0.55,-146.0,45.3,-6.1,45,450,0.15,0.00,0.00,0.000,6,0.063,0.000,2859,1793,3603,0,0,0,0,0,0
$GC,706,-0.62,-146.0,68.4,-8.8,70,711,0.00,2.67,0.00,0.000,4,0.000,0.061,2859,215,3603,0,0,0,0,0,0
$GC,754,-0.71,-146.0,73.2,-9.4,73,763,0.00,2.35,0.00,0.000,6,0.000,0.016,2858,1765,3603,0,0,0,0,0,0
$GC,1016,-0.80,-146.0,96.0,-8.2,98,1021,0.15,2.42,0.00,0.000,4,0.063,0.026,2805,3316,3604,0,0,0,0,0,0
$GC,1037,-0.85,-146.0,97.7,-8.4,99,1042,0.00,2.42,0.00,0.000,6,0.000,0.028,2805,1781,3604,0,0,0,0,0,0
$GC,1305,-0.85,-146.0,122.8,-9.3,123,1309,0.00,2.67,0.00,0.000,4,0.000,0.063,2805,199,3604,0,0,0,0,0,0
$GC,1338,-0.85,-146.0,126.8,-9.9,125,1344,0.00,2.35,0.00,0.000,6,0.000,0.016,2805,1764,3604,0,0,0,0,0,0
$GC,1602,-0.85,-146.0,148.2,-7.7,150,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1765,3604,0,0,0,0,0,0
$GC,1867,-0.85,-146.0,169.0,-7.5,175,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1766,3605,0,0,0,0,0,0
$GC,2130,-0.85,-146.0,189.7,-7.8,200,2134,0.00,2.70,0.00,0.000,4,0.000,0.069,2805,196,3605,0,0,0,0,0,0
$GC,2163,-0.85,-146.0,192.0,-7.9,202,2167,0.00,2.33,0.00,0.000,6,0.000,0.022,2805,1761,3605,0,0,0,0,0,0
$GC,2427,-0.85,-146.0,211.3,-6.9,215,2432,0.00,2.45,0.00,0.000,4,0.000,0.027,2805,3321,3605,0,0,0,0,0,0
$GC,2462,-0.93,-146.0,213.7,-7.1,215,2468,0.00,2.50,0.00,0.000,6,0.000,0.031,2805,1758,3605,0,0,0,0,0,0
$GC,2713,-0.97,-146.0,230.4,-6.7,222,2717,0.00,2.70,0.00,0.000,4,0.000,0.070,2805,192,3604,0,0,0,0,0,0
$GC,2740,-1.02,-146.0,232.5,-7.1,222,2745,0.12,2.35,0.00,0.000,6,0.071,0.018,2761,1757,3604,0,0,0,0,0,0
$GC,2991,-0.97,-146.0,255.8,-9.5,228,2993,0.12,0.00,0.00,0.000,6,0.109,0.000,2787,1758,3603,0,0,0,0,0,0
$GC,3233,-0.97,-146.0,275.0,-7.7,234,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1758,3603,0,0,0,0,0,0
$GC,3477,-0.97,-146.0,291.4,-6.5,240,3482,0.00,2.72,0.00,0.000,4,0.000,0.074,2787,196,3603,0,0,0,0,0,0
$GC,3529,-1.02,-146.0,294.9,-7.3,241,3534,0.00,2.35,0.00,0.000,6,0.000,0.028,2787,1725,3603,0,0,0,0,0,0
$GC,3802,-1.02,-146.0,311.5,-5.9,248,3806,0.00,2.58,0.00,0.000,4,0.000,0.037,2788,3343,3603,0,0,0,0,0,0
$GC,3865,-1.11,-146.0,315.8,-7.7,249,3870,0.12,2.60,0.00,0.000,6,0.073,0.042,2742,1760,3602,0,0,0,0,0,0
$GC,4126,-1.07,-146.0,338.6,-9.0,256,4131,0.12,2.83,0.00,0.000,4,0.108,0.092,2769,188,3601,0,0,0,0,0,0
$GC,4172,-1.07,-146.0,342.6,-9.0,257,4176,0.00,2.42,0.00,0.000,6,0.000,0.025,2769,1752,3601,0,0,0,0,0,0
$GC,4450,-1.07,-146.0,363.1,-7.2,264,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1752,3600,0,0,0,0,0,0
$GC,4693,-1.07,-146.0,380.2,-7.0,270,4697,0.00,2.62,0.00,0.000,4,0.000,0.053,2769,3345,3599,0,0,0,0,0,0
$GC,4732,-1.14,-146.0,383.0,-6.8,271,4737,0.00,2.67,0.00,0.000,6,0.000,0.055,2769,1760,3599,0,0,0,0,0,0
$GC,5016,-1.17,-146.0,403.4,-7.3,278,5021,0.12,2.88,0.00,0.000,4,0.077,0.105,2727,182,3597,0,0,0,0,0,0
$GC,5044,-1.12,-146.0,406.2,-10.0,278,5049,0.12,2.53,0.00,0.000,6,0.111,0.029,2753,1760,3597,0,0,0,0,0,0
$GC,5293,-1.12,-146.0,426.3,-8.1,284,5298,0.00,2.67,0.00,0.000,4,0.000,0.061,2754,3352,3595,0,0,0,0,0,0
$GC,5327,-1.12,-146.0,429.1,-8.7,284,5332,0.00,2.70,0.00,0.000,6,0.000,0.060,2754,1763,3596,0,0,0,0,0,0
$GC,5576,-1.12,-146.0,450.1,-8.5,291,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1763,3594,0,0,0,0,0,0
$GC,5820,-1.12,-146.0,471.7,-8.9,297,5821,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1762,3593,0,0,0,0,0,0
$GC,6065,-1.12,-146.0,493.3,-9.0,303,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1762,3591,0,0,0,0,0,0
$STATE,6143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6143,begin apogee
$GC,6149,-0.31,0.0,500.5,8.9,305,6272,0.77,0.00,119.35,0.914,6,0.077,0.000,2929,1840,3001,0,0,0,0,0,0
$STATE,6272,end apogee,CONTROL_FINISHED_OK
$STATE,6272,begin climb
$GC,6275,1.06,146.0,505.3,0.0,308,6409,1.27,2.70,123.15,0.891,4,0.062,0.065,3234,3379,2403,0,0,0,0,0,0
$GC,6483,0.93,146.0,498.6,9.1,313,6489,0.15,2.72,0.00,0.000,6,0.119,0.065,3205,1822,2398,0,0,0,0,0,0
$GC,6767,0.84,146.0,475.6,8.1,320,6769,0.10,0.00,0.00,0.000,6,0.137,0.000,3186,1822,2394,0,0,0,0,0,0
$GC,7011,0.86,195.6,459.8,6.2,326,7056,0.00,0.00,42.58,0.871,6,0.000,0.000,3186,1822,2202,0,0,0,0,0,0
$GC,7295,0.93,257.3,443.2,5.7,333,7354,0.00,2.67,54.22,0.864,4,0.000,0.048,3186,3389,1951,0,0,0,0,0,0
$GC,7391,0.98,268.3,437.0,7.6,335,7408,0.12,2.72,10.80,0.768,6,0.087,0.055,3218,1821,1907,0,0,0,0,0,0
$GC,7660,0.92,268.3,412.2,9.5,342,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,1822,1901,0,0,0,0,0,0
$GC,7905,0.86,268.3,386.9,10.6,348,7907,0.15,0.00,0.00,0.000,6,0.116,0.000,3188,1822,1899,0,0,0,0,0,0
$GC,8147,0.86,268.3,363.2,9.6,354,8151,0.00,2.55,0.00,0.000,4,0.000,0.035,3187,3392,1897,0,0,0,0,0,0
$GC,8168,0.86,268.3,361.0,10.2,354,8172,0.00,2.65,0.00,0.000,6,0.000,0.048,3188,1814,1896,0,0,0,0,0,0
$GC,8423,0.86,268.3,338.3,8.6,361,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1814,1895,0,0,0,0,0,0
$GC,8668,0.92,310.8,322.4,6.4,367,8709,0.00,2.88,36.20,0.796,4,0.000,0.081,3187,237,1733,0,0,0,0,0,0
$GC,8737,0.92,312.0,317.6,8.0,368,8742,0.00,2.47,0.00,0.000,6,0.000,0.021,3187,1820,1731,0,0,0,0,0,0
$GC,8994,0.94,331.0,299.4,7.3,375,9019,0.00,2.62,18.30,0.749,4,0.000,0.035,3187,3392,1651,0,0,0,0,0,0
$GC,9042,1.02,331.0,295.3,8.3,376,9047,0.15,2.62,0.00,0.000,6,0.076,0.041,3226,1808,1649,0,0,0,0,0,0
$GC,9320,1.02,331.0,267.1,10.3,383,9324,0.00,2.75,0.00,0.000,4,0.000,0.074,3225,243,1647,0,0,0,0,0,0
$GC,9376,0.97,331.0,260.5,11.7,384,9381,0.00,2.45,0.00,0.000,6,0.000,0.020,3226,1810,1645,0,0,0,0,0,0
$GC,9642,0.97,331.0,229.7,11.9,391,9646,0.00,2.53,0.00,0.000,4,0.000,0.036,3225,3391,1645,0,0,0,0,0,0
$GC,9658,0.97,331.0,227.6,12.0,391,9662,0.00,2.60,0.00,0.000,6,0.000,0.036,3226,1796,1644,0,0,0,0,0,0
$GC,9919,0.97,331.0,198.6,10.9,398,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,1796,1644,0,0,0,0,0,0
$GC,10173,0.97,331.0,174.3,9.4,422,10177,0.00,2.55,0.00,0.000,4,0.000,0.028,3226,3396,1644,0,0,0,0,0,0
$GC,10206,0.97,331.0,171.1,9.5,424,10212,0.00,2.58,0.00,0.000,6,0.000,0.037,3226,1810,1643,0,0,0,0,0,0
$GC,10474,0.97,331.0,146.7,9.4,449,10478,0.00,2.70,0.00,0.000,4,0.000,0.071,3225,236,1643,0,0,0,0,0,0
$GC,10497,0.92,331.0,143.7,10.2,450,10507,0.08,2.45,0.00,0.000,6,0.091,0.020,3205,1816,1643,0,0,0,0,0,0
$GC,10762,0.96,331.0,119.9,9.4,475,10766,0.00,2.47,0.00,0.000,4,0.000,0.034,3205,3383,1643,0,0,0,0,0,0
$GC,10783,1.04,331.0,117.4,9.6,476,10792,0.00,2.60,0.00,0.000,6,0.000,0.034,3205,1798,1643,0,0,0,0,0,0
$GC,11051,1.10,331.0,94.1,8.1,501,11056,0.15,2.62,0.00,0.000,4,0.073,0.067,3246,240,1643,0,0,0,0,0,0
$GC,11084,1.05,331.0,90.7,11.1,503,11089,0.00,2.35,0.00,0.000,6,0.000,0.023,3246,1789,1643,0,0,0,0,0,0
$GC,11352,1.05,331.0,64.8,9.5,527,11356,0.00,2.53,0.00,0.000,4,0.000,0.035,3246,3385,1643,0,0,0,0,0,0
$GC,11372,1.05,331.0,62.7,8.9,528,11376,0.00,2.58,0.00,0.000,6,0.000,0.034,3246,1783,1643,0,0,0,0,0,0
$GC,11639,1.05,331.0,39.2,9.0,552,11644,0.00,2.62,0.00,0.000,4,0.000,0.065,3246,234,1644,0,0,0,0,0,0
$GC,11686,1.05,331.0,34.8,9.0,555,11690,0.00,2.35,0.00,0.000,6,0.000,0.018,3246,1781,1644,0,0,0,0,0,0
$GC,12012,1.09,359.0,12.0,7.0,598,12046,0.00,2.60,24.17,0.512,4,0.000,0.036,3246,3372,1537,0,0,0,0,0,0
$GC,12084,1.15,359.0,5.7,9.4,607,12093,0.00,2.62,0.00,0.000,6,0.000,0.039,3246,1786,1536,0,0,0,0,0,0
$STATE,12101,end climb,SURFACE_DEPTH_REACHED
$STATE,12101,begin surface coast
$FINISH,0.4,1.023369
$STATE,12150,end surface coast,CONTROL_FINISHED_OK
$STATE,12151,begin surface
$SM_CCo,12172,56.30,0.420,1,0,1288,420.20
$SM_GC,0.80,0.00,0.00,56.30,0.000,0.000,0.420,476,1783,1288,-11.61,0.37,420.20
$IRIDIUM_FIX,2248.70,-15753.23,191199,090921
$TT8_MAMPS,0.025311
$HUMID,42.08
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.50
$XPDR_PINGS,55
$24V_AH,23.6,13.314
$10V_AH,10.4,12.404
$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,28.150,139.175,428.775,56.300,0.000,27.002,27.755,176.501,13.750,0.000,34.574,1216.366,8018.724,561.354,2281.010,540.837,33.367,1389.539,0.000,2272.416,0.000,0.536,0.000
$DEVICE_MAMPS,163.371,105.079,914.264,419.549,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,416.287,383.092,476.751,925.782,1400.365,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,47833,616
$CAP_FILE_SIZE,124159,0
$CFSIZE,260165632,178712576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250810,164724,2256.809,-15753.415,35,1.2,35,10.1