version: 66.06
glider: 146
mission: 5
dive: 72
start: 8 26 110 0 11 4
data:
$ID,146
$MISSION,5
$DIVE,72
$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,-248656.83
$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,43
$R_STBD_OVSHOOT,59
$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
$GPS1,000406,2255.080,-15751.307,39,1.5,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-69.6
$GPS2,001010,2255.110,-15751.382,9,2.2,28,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,0.007
$KALMAN_X,-61722.5,-175.5,218.5,94765.1,-1327.2
$KALMAN_Y,10201.3,-246.4,157.8,127916.9,-1261.4
$MHEAD_RNG_PITCHd_Wd,78.2,19610,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-78.65,0.000,2,0.000,0.000,476,1743,3234,0,0,0,0,0,0
$GC,99,-1.06,-146.0,3.2,-4.1,10,125,12.07,0.00,-7.03,0.000,6,0.157,0.000,2759,1744,3598,0,0,0,0,0,0
$GC,404,-0.86,-146.0,57.3,-15.9,45,413,0.25,0.00,0.00,0.000,6,0.113,0.000,2814,1744,3600,0,0,0,0,0,0
$GC,666,-0.82,-146.0,86.4,-10.5,70,670,0.00,2.50,0.00,0.000,4,0.000,0.025,2814,3335,3600,0,0,0,0,0,0
$GC,711,-0.82,-146.0,90.4,-9.5,73,716,0.00,2.47,0.00,0.000,6,0.000,0.031,2814,1779,3601,0,0,0,0,0,0
$GC,979,-0.82,-146.0,114.7,-8.8,97,983,0.00,2.70,0.00,0.000,4,0.000,0.064,2813,193,3601,0,0,0,0,0,0
$GC,1034,-0.89,-146.0,120.1,-9.4,101,1038,0.00,2.38,0.00,0.000,6,0.000,0.018,2814,1787,3601,0,0,0,0,0,0
$GC,1300,-0.89,-146.0,143.3,-8.3,125,1304,0.00,2.38,0.00,0.000,4,0.000,0.031,2814,3322,3602,0,0,0,0,0,0
$GC,1333,-0.94,-146.0,146.2,-8.5,127,1338,0.00,2.50,0.00,0.000,6,0.000,0.036,2814,1750,3602,0,0,0,0,0,0
$GC,1600,-0.99,-146.0,168.3,-8.3,151,1605,0.12,2.67,0.00,0.000,4,0.221,0.065,2766,197,3602,0,0,0,0,0,0
$GC,1645,-0.94,-146.0,172.8,-10.5,154,1650,0.12,2.30,0.00,0.000,6,0.106,0.024,2795,1744,3602,0,0,0,0,0,0
$GC,1910,-0.94,-146.0,196.0,-7.7,178,1914,0.00,2.47,0.00,0.000,4,0.000,0.025,2795,3327,3601,0,0,0,0,0,0
$GC,1956,-0.99,-146.0,199.2,-7.4,181,1960,0.00,2.55,0.00,0.000,6,0.000,0.033,2795,1738,3602,0,0,0,0,0,0
$GC,2206,-0.99,-146.0,215.7,-6.4,187,2210,0.00,2.62,0.00,0.000,4,0.000,0.071,2795,197,3601,0,0,0,0,0,0
$GC,2261,-1.05,-146.0,219.7,-7.1,188,2266,0.10,2.30,0.00,0.000,6,0.083,0.019,2759,1739,3601,0,0,0,0,0,0
$GC,2529,-1.00,-146.0,244.7,-9.9,195,2534,0.10,2.47,0.00,0.000,4,0.120,0.035,2782,3321,3601,0,0,0,0,0,0
$GC,2585,-1.05,-146.0,250.0,-8.5,196,2589,0.00,2.55,0.00,0.000,6,0.000,0.038,2782,1741,3601,0,0,0,0,0,0
$GC,2852,-1.05,-146.0,272.0,-8.2,203,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1740,3601,0,0,0,0,0,0
$GC,3095,-1.05,-146.0,291.2,-8.0,209,3099,0.00,2.70,0.00,0.000,4,0.000,0.084,2782,192,3600,0,0,0,0,0,0
$GC,3139,-1.11,-146.0,294.8,-7.9,210,3144,0.12,2.33,0.00,0.000,6,0.074,0.022,2741,1702,3600,0,0,0,0,0,0
$GC,3418,-1.05,-146.0,320.7,-9.7,217,3423,0.12,2.62,0.00,0.000,4,0.106,0.044,2769,3318,3600,0,0,0,0,0,0
$GC,3458,-1.10,-146.0,324.3,-8.5,218,3462,0.00,2.62,0.00,0.000,6,0.000,0.049,2769,1734,3600,0,0,0,0,0,0
$GC,3741,-1.10,-146.0,346.4,-7.6,225,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1734,3598,0,0,0,0,0,0
$GC,3986,-1.10,-146.0,365.0,-7.9,231,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1733,3597,0,0,0,0,0,0
$GC,4229,-1.10,-146.0,383.0,-7.1,237,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1733,3596,0,0,0,0,0,0
$GC,4472,-1.10,-146.0,397.9,-6.0,243,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1734,3595,0,0,0,0,0,0
$GC,4716,-1.10,-146.0,412.4,-6.2,249,4720,0.00,2.62,0.00,0.000,4,0.000,0.048,2768,3310,3593,0,0,0,0,0,0
$GC,4757,-1.17,-146.0,415.1,-6.9,250,4762,0.10,2.67,0.00,0.000,6,0.090,0.063,2734,1738,3593,0,0,0,0,0,0
$GC,5040,-1.17,-146.0,439.5,-9.0,257,5045,0.00,2.90,0.00,0.000,4,0.000,0.115,2734,182,3592,0,0,0,0,0,0
$GC,5057,-1.13,-146.0,441.1,-9.1,257,5061,0.00,2.42,0.00,0.000,6,0.000,0.030,2734,1697,3592,0,0,0,0,0,0
$GC,5318,-1.13,-146.0,464.4,-8.9,264,5323,0.00,2.72,0.00,0.000,4,0.000,0.065,2733,3310,3589,0,0,0,0,0,0
$GC,5369,-1.13,-146.0,468.7,-8.7,265,5373,0.00,2.65,0.00,0.000,6,0.000,0.058,2734,1749,3589,0,0,0,0,0,0
$GC,5641,-1.13,-146.0,490.6,-8.2,272,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1750,3587,0,0,0,0,0,0
$STATE,5760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5760,begin apogee
$GC,5765,-0.31,0.0,500.8,8.3,275,5887,0.88,0.00,118.95,0.920,6,0.097,0.000,2932,1749,3001,0,0,0,0,0,0
$STATE,5888,end apogee,CONTROL_FINISHED_OK
$STATE,5888,begin climb
$GC,5891,1.06,146.0,504.6,0.0,278,6026,1.23,2.97,123.47,0.894,4,0.054,0.117,3233,228,2403,0,0,0,0,0,0
$GC,6071,0.83,146.0,499.9,9.1,282,6076,0.25,2.55,0.00,0.000,6,0.110,0.035,3183,1770,2399,0,0,0,0,0,0
$GC,6338,0.84,194.9,483.0,6.2,289,6382,0.00,0.00,42.55,0.872,6,0.000,0.000,3183,1770,2206,0,0,0,0,0,0
$GC,6622,0.85,206.3,462.1,7.6,296,6638,0.00,2.83,10.40,0.784,4,0.000,0.063,3183,3405,2159,0,0,0,0,0,0
$GC,6677,0.85,206.3,457.2,8.8,297,6682,0.00,2.67,0.00,0.000,6,0.000,0.052,3183,1828,2157,0,0,0,0,0,0
$GC,6945,0.86,206.5,435.5,8.0,304,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1828,2154,0,0,0,0,0,0
$GC,7188,0.91,254.7,419.7,6.2,310,7237,0.00,3.00,43.83,0.861,4,0.000,0.098,3182,236,1962,0,0,0,0,0,0
$GC,7254,0.90,287.3,415.6,6.8,311,7290,0.00,2.60,29.90,0.838,6,0.000,0.031,3183,1834,1829,0,0,0,0,0,0
$GC,7547,0.93,307.6,394.9,7.3,319,7567,0.00,0.00,18.27,0.812,6,0.000,0.000,3183,1835,1746,0,0,0,0,0,0
$GC,7789,0.93,307.6,373.9,8.9,325,7794,0.00,2.88,0.00,0.000,4,0.000,0.077,3183,229,1741,0,0,0,0,0,0
$GC,7810,0.93,307.6,371.8,10.2,325,7814,0.00,2.53,0.00,0.000,6,0.000,0.023,3183,1823,1740,0,0,0,0,0,0
$GC,8067,0.93,307.6,348.6,9.0,332,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1824,1739,0,0,0,0,0,0
$GC,8309,0.93,307.6,327.6,8.4,338,8314,0.00,2.78,0.00,0.000,4,0.000,0.076,3183,233,1738,0,0,0,0,0,0
$GC,8330,0.93,307.6,325.6,8.9,338,8335,0.00,2.53,0.00,0.000,6,0.000,0.021,3183,1826,1737,0,0,0,0,0,0
$GC,8588,0.98,318.2,305.3,7.6,345,8603,0.12,2.58,9.35,0.716,4,0.084,0.036,3215,3396,1703,0,0,0,0,0,0
$GC,8636,0.98,318.2,301.0,8.9,346,8641,0.00,2.62,0.00,0.000,6,0.000,0.044,3215,1813,1701,0,0,0,0,0,0
$GC,8909,0.98,318.2,277.2,8.9,353,8913,0.00,2.75,0.00,0.000,4,0.000,0.074,3215,234,1700,0,0,0,0,0,0
$GC,8959,0.94,318.2,271.7,11.3,354,8964,0.00,2.50,0.00,0.000,6,0.000,0.021,3215,1832,1699,0,0,0,0,0,0
$GC,9231,0.94,318.2,244.8,9.9,361,9235,0.00,2.53,0.00,0.000,4,0.000,0.038,3215,3395,1699,0,0,0,0,0,0
$GC,9270,0.99,318.2,240.9,9.8,362,9275,0.00,2.58,0.00,0.000,6,0.000,0.038,3215,1808,1698,0,0,0,0,0,0
$GC,9555,0.99,318.2,213.5,9.5,369,9560,0.00,2.70,0.00,0.000,4,0.000,0.073,3215,242,1698,0,0,0,0,0,0
$GC,9570,0.99,318.2,211.7,9.6,369,9574,0.00,2.42,0.00,0.000,6,0.000,0.019,3215,1833,1698,0,0,0,0,0,0
$GC,9832,0.99,318.2,186.4,9.9,384,9836,0.00,2.45,0.00,0.000,4,0.000,0.035,3215,3383,1698,0,0,0,0,0,0
$GC,9854,0.99,318.2,184.8,9.7,385,9858,0.00,2.55,0.00,0.000,6,0.000,0.036,3214,1807,1697,0,0,0,0,0,0
$GC,10120,0.99,318.2,159.2,9.0,409,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1807,1697,0,0,0,0,0,0
$GC,10382,0.99,318.2,134.9,9.7,434,10387,0.00,2.67,0.00,0.000,4,0.000,0.071,3215,242,1697,0,0,0,0,0,0
$GC,10413,0.99,318.2,131.5,10.9,436,10417,0.00,2.40,0.00,0.000,6,0.000,0.025,3215,1822,1697,0,0,0,0,0,0
$GC,10675,0.99,318.2,109.5,8.1,460,10679,0.00,2.45,0.00,0.000,4,0.000,0.032,3214,3381,1698,0,0,0,0,0,0
$GC,10697,0.99,318.2,108.0,8.3,461,10701,0.00,2.50,0.00,0.000,6,0.000,0.037,3215,1818,1698,0,0,0,0,0,0
$GC,10964,1.10,369.3,89.4,6.1,485,11015,0.10,2.80,44.42,0.585,4,0.088,0.069,3246,245,1494,0,0,0,0,0,0
$GC,11048,1.10,369.3,82.5,9.1,492,11052,0.00,2.42,0.00,0.000,6,0.000,0.018,3246,1816,1492,0,0,0,0,0,0
$GC,11314,1.13,394.3,62.3,7.1,516,11342,0.00,2.50,22.60,0.545,4,0.000,0.025,3246,3387,1392,0,0,0,0,0,0
$GC,11373,1.21,394.3,57.7,8.1,520,11377,0.00,2.55,0.00,0.000,6,0.000,0.034,3246,1817,1391,0,0,0,0,0,0
$GC,11639,1.21,394.3,33.8,9.3,544,11643,0.00,2.70,0.00,0.000,4,0.000,0.067,3246,235,1390,0,0,0,0,0,0
$GC,11711,1.21,394.3,26.3,10.1,551,11720,0.00,2.42,0.00,0.000,6,0.000,0.018,3246,1800,1389,0,0,0,0,0,0
$STATE,11957,end climb,SURFACE_DEPTH_REACHED
$STATE,11957,begin surface coast
$FINISH,0.2,1.010863
$STATE,12012,end surface coast,CONTROL_FINISHED_OK
$STATE,12012,begin surface
$SM_CCo,12034,27.15,0.313,1,0,1287,420.20
$SM_GC,0.99,0.00,0.00,27.15,0.000,0.000,0.313,477,1802,1287,-11.61,0.93,420.20
$IRIDIUM_FIX,2248.70,-15751.06,191199,202027
$TT8_MAMPS,0.026078
$HUMID,43.38
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.00
$XPDR_PINGS,52
$24V_AH,23.6,13.703
$10V_AH,10.4,12.812
$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,26.875,139.575,463.750,27.150,0.000,24.752,30.394,156.659,13.000,0.000,30.639,1187.471,7975.306,555.079,2193.590,516.065,33.364,1353.256,0.000,2182.379,0.000,0.536,0.000
$DEVICE_MAMPS,220.896,117.351,920.400,312.936,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,403.651,359.238,452.235,859.537,1300.157,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,47704,596
$CAP_FILE_SIZE,120654,0
$CFSIZE,260165632,178532352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260810,033330,2254.395,-15750.614,34,1.4,38,10.1