version: 66.06
glider: 146
mission: 5
dive: 76
start: 8 26 110 14 25 8
data:
$ID,146
$MISSION,5
$DIVE,76
$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,-248733.61
$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,58
$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
$GPS1,141807,2252.920,-15747.356,36,1.8,36,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-68.2
$GPS2,142414,2252.906,-15747.401,13,1.0,13,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,-0.005
$KALMAN_X,-66524.7,151.4,108.8,106198.8,-1508.6
$KALMAN_Y,7123.5,155.4,-235.8,126898.2,-1098.6
$MHEAD_RNG_PITCHd_Wd,81.0,11720,-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,13,begin dive
$GC,15,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-86.25,0.000,2,0.000,0.000,475,1746,3475,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.4,-6.0,11,125,11.90,0.00,-2.08,0.000,6,0.151,0.000,2759,1746,3599,0,0,0,0,0,0
$GC,397,-0.85,-146.0,64.1,-16.3,42,406,0.25,0.00,0.00,0.000,6,0.115,0.000,2813,1747,3601,0,0,0,0,0,0
$GC,662,-0.85,-146.0,95.4,-10.1,67,667,0.00,2.62,0.00,0.000,4,0.000,0.068,2813,209,3602,0,0,0,0,0,0
$GC,680,-0.85,-146.0,98.0,-10.9,68,684,0.00,2.38,0.00,0.000,6,0.000,0.015,2813,1806,3602,0,0,0,0,0,0
$GC,942,-0.85,-146.0,122.0,-8.5,92,947,0.00,2.72,0.00,0.000,4,0.000,0.064,2813,207,3603,0,0,0,0,0,0
$GC,963,-0.85,-146.0,123.6,-8.2,93,967,0.00,2.30,0.00,0.000,6,0.000,0.023,2813,1769,3603,0,0,0,0,0,0
$GC,1230,-0.85,-146.0,144.6,-7.5,117,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1770,3603,0,0,0,0,0,0
$GC,1496,-0.85,-146.0,167.4,-8.5,142,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1770,3603,0,0,0,0,0,0
$GC,1759,-0.90,-146.0,188.1,-7.6,167,1763,0.00,2.67,0.00,0.000,4,0.000,0.071,2813,211,3603,0,0,0,0,0,0
$GC,1805,-0.97,-146.0,191.6,-7.6,170,1812,0.10,2.30,0.00,0.000,6,0.079,0.022,2767,1752,3603,0,0,0,0,0,0
$GC,2059,-0.92,-146.0,216.3,-9.8,183,2064,0.15,2.45,0.00,0.000,4,0.103,0.031,2801,3311,3604,0,0,0,0,0,0
$GC,2086,-0.92,-146.0,218.9,-8.6,183,2090,0.00,2.42,0.00,0.000,6,0.000,0.030,2801,1779,3603,0,0,0,0,0,0
$GC,2338,-0.92,-146.0,238.6,-7.8,189,2342,0.00,2.72,0.00,0.000,4,0.000,0.072,2800,196,3603,0,0,0,0,0,0
$GC,2377,-0.96,-146.0,242.1,-8.7,190,2381,0.00,2.33,0.00,0.000,6,0.000,0.016,2800,1749,3603,0,0,0,0,0,0
$GC,2662,-1.00,-146.0,263.7,-7.5,197,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1750,3603,0,0,0,0,0,0
$GC,2904,-1.05,-146.0,281.4,-7.2,203,2906,0.12,0.00,0.00,0.000,6,0.073,0.000,2760,1751,3603,0,0,0,0,0,0
$GC,3147,-1.05,-146.0,303.2,-9.1,209,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1751,3602,0,0,0,0,0,0
$GC,3391,-1.05,-146.0,325.8,-9.2,215,3395,0.00,2.78,0.00,0.000,4,0.000,0.090,2760,195,3602,0,0,0,0,0,0
$GC,3418,-1.05,-146.0,328.4,-9.8,215,3423,0.00,2.40,0.00,0.000,6,0.000,0.031,2760,1738,3601,0,0,0,0,0,0
$GC,3668,-1.05,-146.0,348.6,-7.9,221,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1738,3601,0,0,0,0,0,0
$GC,3912,-1.05,-146.0,366.3,-7.0,227,3917,0.00,2.65,0.00,0.000,4,0.000,0.050,2760,3357,3599,0,0,0,0,0,0
$GC,3940,-1.05,-146.0,368.3,-7.0,227,3944,0.00,2.67,0.00,0.000,6,0.000,0.056,2760,1774,3600,0,0,0,0,0,0
$GC,4191,-1.05,-146.0,386.4,-7.3,233,4196,0.00,2.92,0.00,0.000,4,0.000,0.106,2760,181,3598,0,0,0,0,0,0
$GC,4212,-1.05,-146.0,388.4,-8.2,233,4216,0.00,2.53,0.00,0.000,6,0.000,0.035,2760,1768,3598,0,0,0,0,0,0
$GC,4473,-1.05,-146.0,407.6,-7.2,240,4478,0.00,2.65,0.00,0.000,4,0.000,0.058,2760,3361,3597,0,0,0,0,0,0
$GC,4491,-1.05,-146.0,408.7,-6.9,240,4495,0.00,2.70,0.00,0.000,6,0.000,0.059,2760,1765,3597,0,0,0,0,0,0
$GC,4751,-1.05,-146.0,427.5,-7.4,247,4756,0.00,2.95,0.00,0.000,4,0.000,0.112,2759,183,3594,0,0,0,0,0,0
$GC,4772,-1.05,-146.0,429.4,-8.3,247,4777,0.00,2.53,0.00,0.000,6,0.000,0.036,2760,1772,3594,0,0,0,0,0,0
$GC,5030,-1.05,-146.0,448.5,-7.4,254,5034,0.00,2.88,0.00,0.000,4,0.000,0.096,2759,183,3594,0,0,0,0,0,0
$GC,5051,-1.05,-146.0,450.3,-7.4,254,5055,0.00,2.55,0.00,0.000,6,0.000,0.037,2760,1766,3593,0,0,0,0,0,0
$GC,5306,-1.05,-146.0,467.0,-6.4,261,5311,0.00,2.72,0.00,0.000,4,0.000,0.066,2760,3361,3591,0,0,0,0,0,0
$GC,5340,-1.10,-146.0,469.2,-7.1,261,5346,0.00,2.70,0.00,0.000,6,0.000,0.058,2759,1768,3591,0,0,0,0,0,0
$GC,5590,-1.10,-146.0,486.1,-6.8,268,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1768,3589,0,0,0,0,0,0
$STATE,5832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5832,begin apogee
$GC,5838,-0.31,0.0,502.0,6.5,274,5960,0.75,0.00,119.28,0.926,6,0.075,0.000,2931,1845,3001,0,0,0,0,0,0
$STATE,5961,end apogee,CONTROL_FINISHED_OK
$STATE,5961,begin climb
$GC,5965,1.06,146.0,505.7,0.0,277,6099,1.25,2.67,123.95,0.900,4,0.044,0.061,3235,3379,2403,0,0,0,0,0,0
$GC,6140,0.93,157.9,501.5,7.6,281,6158,0.15,2.72,10.98,0.787,6,0.121,0.060,3206,1820,2357,0,0,0,0,0,0
$GC,6415,0.88,191.3,482.4,6.8,288,6446,0.00,0.00,29.90,0.869,6,0.000,0.000,3206,1820,2221,0,0,0,0,0,0
$GC,6659,0.81,204.9,464.5,7.5,294,6678,0.15,2.70,12.70,0.812,4,0.222,0.049,3176,3386,2164,0,0,0,0,0,0
$GC,6707,0.84,232.5,461.1,7.0,295,6739,0.00,2.67,25.67,0.854,6,0.000,0.058,3176,1826,2052,0,0,0,0,0,0
$GC,6983,0.87,251.7,441.2,7.3,301,7007,0.00,3.08,17.58,0.834,4,0.000,0.106,3176,235,1974,0,0,0,0,0,0
$GC,7031,0.82,251.7,437.3,8.7,302,7035,0.00,2.58,0.00,0.000,6,0.000,0.031,3176,1817,1972,0,0,0,0,0,0
$GC,7308,0.84,268.8,416.6,7.4,309,7330,0.00,2.70,16.10,0.824,4,0.000,0.049,3176,3409,1904,0,0,0,0,0,0
$GC,7343,0.85,280.0,413.9,7.6,309,7362,0.00,2.72,11.48,0.785,6,0.000,0.052,3176,1821,1859,0,0,0,0,0,0
$GC,7636,0.86,284.2,390.7,7.9,317,7642,0.00,0.00,4.40,0.591,6,0.000,0.000,3176,1821,1842,0,0,0,0,0,0
$GC,7879,0.86,284.2,370.0,8.6,323,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1821,1840,0,0,0,0,0,0
$GC,8124,0.86,284.2,349.2,8.6,329,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1821,1839,0,0,0,0,0,0
$GC,8367,0.91,284.2,327.6,8.9,335,8371,0.00,2.83,0.00,0.000,4,0.000,0.084,3176,227,1838,0,0,0,0,0,0
$GC,8382,0.91,284.2,326.0,9.1,335,8386,0.00,2.53,0.00,0.000,6,0.000,0.022,3176,1847,1837,0,0,0,0,0,0
$GC,8644,0.96,287.3,304.5,7.9,342,8646,0.12,0.00,0.00,0.000,6,0.219,0.000,3209,1849,1837,0,0,0,0,0,0
$GC,8888,0.96,287.3,284.1,8.4,348,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1849,1836,0,0,0,0,0,0
$GC,9131,1.00,321.7,267.1,6.7,354,9170,0.00,0.00,33.65,0.762,6,0.000,0.000,3209,1849,1688,0,0,0,0,0,0
$GC,9414,1.00,321.7,244.7,8.4,361,9419,0.00,2.83,0.00,0.000,4,0.000,0.066,3209,227,1684,0,0,0,0,0,0
$GC,9450,0.95,321.7,241.5,9.9,361,9457,0.00,2.47,0.00,0.000,6,0.000,0.025,3209,1833,1683,0,0,0,0,0,0
$GC,9699,0.95,321.7,219.6,8.7,368,9704,0.00,2.47,0.00,0.000,4,0.000,0.036,3209,3397,1683,0,0,0,0,0,0
$GC,9721,0.95,321.7,217.7,8.7,368,9725,0.00,2.58,0.00,0.000,6,0.000,0.036,3209,1817,1682,0,0,0,0,0,0
$GC,9978,0.95,321.7,195.3,8.5,378,9982,0.00,2.72,0.00,0.000,4,0.000,0.067,3209,244,1682,0,0,0,0,0,0
$GC,10007,0.95,321.7,192.6,9.6,380,10012,0.00,2.47,0.00,0.000,6,0.000,0.022,3209,1847,1682,0,0,0,0,0,0
$GC,10270,0.95,321.7,170.8,8.5,404,10271,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1848,1682,0,0,0,0,0,0
$GC,10524,0.95,321.7,148.9,9.0,428,10529,0.00,2.42,0.00,0.000,4,0.000,0.028,3209,3391,1682,0,0,0,0,0,0
$GC,10558,1.04,321.7,145.6,9.4,430,10567,0.00,2.58,0.00,0.000,6,0.000,0.034,3209,1823,1681,0,0,0,0,0,0
$GC,10827,1.09,321.7,124.4,8.3,455,10832,0.12,0.00,0.00,0.000,6,0.076,0.000,3244,1823,1681,0,0,0,0,0,0
$GC,11089,1.09,321.7,97.3,10.6,480,11093,0.00,2.70,0.00,0.000,4,0.000,0.064,3244,238,1681,0,0,0,0,0,0
$GC,11109,1.09,321.7,95.3,11.2,481,11114,0.00,2.42,0.00,0.000,6,0.000,0.025,3244,1832,1681,0,0,0,0,0,0
$GC,11376,1.09,321.7,70.7,8.3,505,11381,0.00,2.45,0.00,0.000,4,0.000,0.028,3244,3392,1681,0,0,0,0,0,0
$GC,11411,1.13,321.7,67.7,8.7,507,11416,0.00,2.53,0.00,0.000,6,0.000,0.033,3245,1827,1682,0,0,0,0,0,0
$GC,11679,1.18,360.4,48.3,6.6,531,11718,0.00,0.00,33.08,0.550,6,0.000,0.000,3245,1827,1531,0,0,0,0,0,0
$GC,11983,1.21,389.0,26.6,7.0,562,12017,0.00,0.00,25.75,0.522,6,0.000,0.000,3245,1827,1413,0,0,0,0,0,0
$STATE,12226,end climb,SURFACE_DEPTH_REACHED
$STATE,12226,begin surface coast
$FINISH,0.3,1.010483
$STATE,12275,end surface coast,CONTROL_FINISHED_OK
$STATE,12275,begin surface
$SM_CCo,12296,31.17,0.343,1,0,1287,420.20
$SM_GC,0.91,0.00,0.00,31.17,0.000,0.000,0.343,474,1746,1287,-11.62,-0.68,420.20
$IRIDIUM_FIX,2241.69,-15744.57,201199,101053
$TT8_MAMPS,0.025311
$HUMID,42.43
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.90
$XPDR_PINGS,49
$24V_AH,23.5,14.207
$10V_AH,10.4,13.348
$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,26.275,120.600,464.500,31.175,0.000,25.650,34.888,170.976,12.250,0.000,16.176,1165.437,8353.580,551.456,2090.152,538.123,33.369,1331.524,0.000,2103.956,0.000,0.536,0.000
$DEVICE_MAMPS,221.663,111.982,925.769,342.849,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,408.424,375.120,459.353,856.440,1295.188,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,47972,604
$CAP_FILE_SIZE,115690,0
$CFSIZE,260165632,178286592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260810,175152,2252.673,-15746.194,8,99.0,27,10.1