version: 66.06
glider: 146
mission: 5
dive: 73
start: 8 26 110 3 39 55
data:
$ID,146
$MISSION,5
$DIVE,73
$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,-248670.48
$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,26
$R_STBD_OVSHOOT,54
$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
$GPS1,033330,2254.395,-15750.614,34,1.4,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-67.5
$GPS2,033901,2254.414,-15750.672,11,1.4,11,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.226,-0.082
$KALMAN_X,-63137.9,-115.5,-196.5,97761.7,-1103.1
$KALMAN_Y,9182.6,94.7,-544.7,128007.0,-134.4
$MHEAD_RNG_PITCHd_Wd,99.8,17879,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.06,-146.0,0.0,0.0,0,106,0.00,0.00,-86.97,0.000,2,0.000,0.000,477,1804,3544,0,0,0,0,0,0
$GC,109,-1.06,-146.0,4.9,-7.2,11,135,12.25,2.78,-0.88,0.000,4,0.163,0.066,2760,186,3602,0,0,0,0,0,0
$GC,147,0.22,-146.0,22.5,-39.2,15,157,1.25,2.45,0.00,0.000,6,0.083,0.016,3042,1791,3603,0,0,0,0,0,0
$GC,444,-0.30,-146.0,47.6,-9.6,48,450,0.45,2.70,0.00,0.000,4,0.059,0.054,2927,189,3603,0,0,0,0,0,0
$GC,602,-0.75,-146.0,62.2,-9.3,60,607,0.38,2.33,0.00,0.000,6,0.104,0.016,2833,1759,3603,0,0,0,0,0,0
$GC,866,-0.93,-146.0,83.6,-8.4,84,871,0.15,2.65,0.00,0.000,4,0.065,0.058,2778,186,3604,0,0,0,0,0,0
$GC,888,-1.02,-146.0,85.4,-8.3,85,893,0.00,2.45,0.00,0.000,6,0.000,0.015,2778,1813,3604,0,0,0,0,0,0
$GC,1156,-0.96,-146.0,115.5,-10.7,109,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1814,3604,0,0,0,0,0,0
$GC,1417,-0.91,-146.0,141.4,-8.1,134,1419,0.10,0.00,0.00,0.000,6,0.114,0.000,2801,1814,3605,0,0,0,0,0,0
$GC,1675,-0.91,-146.0,158.5,-7.1,158,1680,0.00,2.78,0.00,0.000,4,0.000,0.067,2801,189,3605,0,0,0,0,0,0
$GC,1720,-0.91,-146.0,162.7,-8.7,161,1726,0.00,2.42,0.00,0.000,6,0.000,0.019,2802,1796,3605,0,0,0,0,0,0
$GC,1983,-0.91,-146.0,183.3,-8.8,186,1987,0.00,2.72,0.00,0.000,4,0.000,0.068,2801,193,3605,0,0,0,0,0,0
$GC,2005,-0.91,-146.0,185.0,-8.9,187,2010,0.00,2.42,0.00,0.000,6,0.000,0.023,2801,1802,3605,0,0,0,0,0,0
$GC,2293,-0.91,-146.0,210.9,-8.9,205,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1803,3605,0,0,0,0,0,0
$GC,2536,-0.91,-146.0,231.5,-8.3,211,2541,0.00,2.75,0.00,0.000,4,0.000,0.065,2801,188,3605,0,0,0,0,0,0
$GC,2577,-0.97,-146.0,234.7,-8.5,212,2581,0.00,2.42,0.00,0.000,6,0.000,0.022,2801,1787,3605,0,0,0,0,0,0
$GC,2860,-1.01,-146.0,255.3,-7.0,219,2865,0.00,2.42,0.00,0.000,4,0.000,0.034,2802,3331,3605,0,0,0,0,0,0
$GC,2904,-1.10,-146.0,258.2,-7.6,220,2909,0.17,2.45,0.00,0.000,6,0.058,0.032,2745,1799,3604,0,0,0,0,0,0
$GC,3187,-1.03,-146.0,284.4,-9.3,227,3193,0.12,2.83,0.00,0.000,4,0.107,0.080,2773,186,3604,0,0,0,0,0,0
$GC,3220,-1.03,-146.0,287.6,-9.7,227,3226,0.00,2.47,0.00,0.000,6,0.000,0.027,2773,1786,3604,0,0,0,0,0,0
$GC,3472,-1.03,-146.0,309.7,-9.0,234,3476,0.00,2.80,0.00,0.000,4,0.000,0.074,2773,185,3603,0,0,0,0,0,0
$GC,3520,-1.03,-146.0,314.8,-10.4,235,3525,0.00,2.50,0.00,0.000,6,0.000,0.030,2772,1786,3603,0,0,0,0,0,0
$GC,3793,-1.03,-146.0,337.0,-7.7,242,3797,0.00,2.55,0.00,0.000,4,0.000,0.047,2773,3354,3602,0,0,0,0,0,0
$GC,3822,-1.08,-146.0,339.1,-7.7,242,3826,0.00,2.55,0.00,0.000,6,0.000,0.044,2773,1797,3602,0,0,0,0,0,0
$GC,4071,-1.08,-146.0,357.5,-7.3,248,4076,0.00,2.92,0.00,0.000,4,0.000,0.099,2773,186,3602,0,0,0,0,0,0
$GC,4104,-1.08,-146.0,359.9,-7.4,248,4110,0.00,2.50,0.00,0.000,6,0.000,0.032,2773,1781,3601,0,0,0,0,0,0
$GC,4355,-1.08,-146.0,378.2,-7.4,255,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1781,3600,0,0,0,0,0,0
$GC,4598,-1.08,-146.0,396.3,-7.5,261,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1781,3599,0,0,0,0,0,0
$GC,4842,-1.12,-146.0,415.2,-7.7,267,4846,0.00,2.83,0.00,0.000,4,0.000,0.086,2773,188,3598,0,0,0,0,0,0
$GC,4870,-1.17,-146.0,417.5,-7.8,267,4876,0.12,2.53,0.00,0.000,6,0.077,0.030,2734,1779,3598,0,0,0,0,0,0
$GC,5120,-1.17,-146.0,439.9,-9.1,273,5124,0.00,2.62,0.00,0.000,4,0.000,0.063,2734,3356,3595,0,0,0,0,0,0
$GC,5146,-1.17,-146.0,442.5,-9.6,273,5151,0.00,2.65,0.00,0.000,6,0.000,0.061,2734,1783,3595,0,0,0,0,0,0
$GC,5396,-1.17,-146.0,465.3,-9.1,279,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1783,3594,0,0,0,0,0,0
$GC,5641,-1.17,-146.0,485.9,-8.4,285,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1783,3593,0,0,0,0,0,0
$STATE,5841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5841,begin apogee
$GC,5847,-0.31,0.0,501.9,7.8,290,5970,0.88,0.00,119.95,0.919,6,0.077,0.000,2932,1831,3001,0,0,0,0,0,0
$STATE,5971,end apogee,CONTROL_FINISHED_OK
$STATE,5971,begin climb
$GC,5974,1.06,146.0,505.6,0.0,293,6108,1.23,2.72,123.43,0.893,4,0.044,0.062,3234,3386,2403,0,0,0,0,0,0
$GC,6170,0.92,146.0,498.9,9.7,297,6176,0.15,2.72,0.00,0.000,6,0.117,0.063,3204,1822,2398,0,0,0,0,0,0
$GC,6422,0.85,160.3,480.1,7.5,303,6441,0.00,2.72,12.15,0.804,4,0.000,0.048,3203,3390,2347,0,0,0,0,0,0
$GC,6498,0.79,166.6,474.2,7.8,304,6513,0.15,2.70,6.95,0.719,6,0.121,0.054,3174,1826,2321,0,0,0,0,0,0
$GC,6800,0.84,205.0,454.7,6.6,312,6841,0.00,2.67,34.33,0.866,4,0.000,0.050,3174,3392,2164,0,0,0,0,0,0
$GC,6880,0.84,205.0,448.4,8.1,313,6885,0.00,2.70,0.00,0.000,6,0.000,0.058,3174,1841,2161,0,0,0,0,0,0
$GC,7131,0.85,209.5,428.7,7.8,320,7141,0.00,3.05,4.40,0.591,4,0.000,0.107,3174,233,2145,0,0,0,0,0,0
$GC,7158,0.81,209.5,426.4,8.3,320,7162,0.00,2.58,0.00,0.000,6,0.000,0.027,3174,1834,2145,0,0,0,0,0,0
$GC,7408,0.84,234.7,408.3,7.1,326,7437,0.00,2.67,23.38,0.841,4,0.000,0.044,3174,3407,2043,0,0,0,0,0,0
$GC,7451,0.88,269.5,405.3,6.7,327,7492,0.00,2.67,32.12,0.843,6,0.000,0.050,3173,1845,1901,0,0,0,0,0,0
$GC,7736,0.93,308.3,385.2,6.6,334,7778,0.12,3.03,34.47,0.828,4,0.168,0.093,3206,229,1741,0,0,0,0,0,0
$GC,7814,0.86,308.3,378.5,10.5,335,7819,0.00,2.62,0.00,0.000,6,0.000,0.028,3206,1859,1739,0,0,0,0,0,0
$GC,8064,0.86,308.3,355.0,9.5,341,8068,0.00,2.53,0.00,0.000,4,0.000,0.042,3206,3407,1736,0,0,0,0,0,0
$GC,8079,0.86,308.3,353.3,9.5,341,8083,0.00,2.60,0.00,0.000,6,0.000,0.039,3206,1849,1734,0,0,0,0,0,0
$GC,8342,0.86,308.3,327.5,10.0,348,8346,0.00,2.88,0.00,0.000,4,0.000,0.082,3206,236,1733,0,0,0,0,0,0
$GC,8363,0.82,308.3,325.1,10.2,348,8368,0.12,2.58,0.00,0.000,6,0.119,0.021,3181,1865,1733,0,0,0,0,0,0
$GC,8619,0.88,310.3,304.3,7.9,355,8624,0.00,2.85,0.00,0.000,4,0.000,0.072,3181,237,1732,0,0,0,0,0,0
$GC,8664,0.88,310.3,300.5,8.7,356,8668,0.00,2.50,0.00,0.000,6,0.000,0.021,3181,1843,1731,0,0,0,0,0,0
$GC,8942,0.94,313.5,278.6,7.9,363,8944,0.10,0.00,0.00,0.000,6,0.202,0.000,3208,1845,1731,0,0,0,0,0,0
$GC,9185,0.94,313.5,256.7,9.1,369,9189,0.00,2.47,0.00,0.000,4,0.000,0.037,3208,3393,1730,0,0,0,0,0,0
$GC,9213,0.98,313.5,254.2,9.2,369,9217,0.00,2.58,0.00,0.000,6,0.000,0.036,3208,1816,1729,0,0,0,0,0,0
$GC,9462,0.98,313.5,230.8,9.4,375,9467,0.00,2.72,0.00,0.000,4,0.000,0.069,3208,243,1729,0,0,0,0,0,0
$GC,9502,0.94,313.5,227.0,10.0,376,9506,0.00,2.45,0.00,0.000,6,0.000,0.023,3208,1830,1728,0,0,0,0,0,0
$GC,9786,0.94,313.5,203.6,8.2,383,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1831,1728,0,0,0,0,0,0
$GC,10036,0.94,313.5,182.5,8.2,401,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1832,1728,0,0,0,0,0,0
$GC,10290,0.94,313.5,160.6,9.3,425,10295,0.00,2.42,0.00,0.000,4,0.000,0.033,3208,3383,1728,0,0,0,0,0,0
$GC,10309,0.98,313.5,159.0,9.1,426,10314,0.00,2.53,0.00,0.000,6,0.000,0.038,3208,1810,1728,0,0,0,0,0,0
$GC,10572,1.00,328.1,137.2,7.5,450,10596,0.00,2.78,16.35,0.599,4,0.000,0.069,3208,245,1662,0,0,0,0,0,0
$GC,10615,1.01,338.7,134.4,7.6,453,10630,0.00,2.40,10.30,0.561,6,0.000,0.018,3209,1816,1620,0,0,0,0,0,0
$GC,10886,1.12,381.7,115.5,6.4,478,10927,0.15,0.00,38.05,0.598,6,0.068,0.000,3252,1816,1445,0,0,0,0,0,0
$GC,11180,1.12,381.7,87.2,9.3,506,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1816,1442,0,0,0,0,0,0
$GC,11439,1.12,381.7,63.6,10.3,530,11443,0.00,2.45,0.00,0.000,4,0.000,0.027,3252,3385,1442,0,0,0,0,0,0
$GC,11461,1.12,381.7,61.4,10.3,531,11466,0.00,2.58,0.00,0.000,6,0.000,0.033,3252,1801,1440,0,0,0,0,0,0
$GC,11728,1.12,381.7,34.8,9.6,555,11732,0.00,2.65,0.00,0.000,4,0.000,0.067,3251,242,1440,0,0,0,0,0,0
$GC,11773,1.12,381.7,29.9,10.6,558,11782,0.00,2.40,0.00,0.000,6,0.000,0.018,3252,1800,1440,0,0,0,0,0,0
$STATE,12033,end climb,SURFACE_DEPTH_REACHED
$STATE,12034,begin surface coast
$FINISH,0.5,1.023271
$STATE,12081,end surface coast,CONTROL_FINISHED_OK
$STATE,12081,begin surface
$SM_CCo,12103,37.62,0.370,1,0,1287,420.20
$SM_GC,0.93,0.00,0.00,37.62,0.000,0.000,0.370,476,1802,1287,-11.62,0.90,420.20
$IRIDIUM_FIX,2248.70,-15750.18,201199,000002
$TT8_MAMPS,0.026078
$HUMID,41.80
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.00
$XPDR_PINGS,53
$24V_AH,23.5,13.828
$10V_AH,10.4,12.945
$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,29.200,146.775,455.875,37.625,0.000,26.055,26.496,144.990,13.250,0.000,13.037,1201.152,7954.985,561.862,2241.486,517.701,33.365,1389.250,0.000,2256.002,0.000,0.536,0.000
$DEVICE_MAMPS,202.488,157.235,918.866,369.694,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,408.000,372.144,468.924,888.561,1343.719,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,47798,604
$CAP_FILE_SIZE,124353,0
$CFSIZE,260165632,178462720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260810,070337,2253.917,-15749.593,34,1.1,34,10.1