version: 66.06
glider: 146
mission: 5
dive: 80
start: 8 27 110 5 3 56
data:
$ID,146
$MISSION,5
$DIVE,80
$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,-248814.73
$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,46
$R_STBD_OVSHOOT,61
$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
$GPS1,045707,2249.745,-15743.016,32,0.9,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-66.9
$GPS2,050301,2249.742,-15743.088,10,1.1,15,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.144
$KALMAN_X,-69461.8,-113.3,-285.6,117223.7,-567.3
$KALMAN_Y,5701.7,26.0,-546.1,122906.0,455.9
$MHEAD_RNG_PITCHd_Wd,116.8,2310,-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,-86.75,0.000,2,0.000,0.000,475,1735,3515,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.4,-6.3,11,134,12.07,2.65,-1.38,0.000,4,0.157,0.069,2759,212,3600,0,0,0,0,0,0
$GC,172,-0.61,-146.0,26.8,-28.7,19,180,0.45,2.40,0.00,0.000,6,0.078,0.017,2863,1763,3601,0,0,0,0,0,0
$GC,445,-0.61,-146.0,51.7,-8.7,45,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1765,3602,0,0,0,0,0,0
$GC,710,-0.65,-146.0,75.4,-8.7,70,714,0.00,2.62,0.00,0.000,4,0.000,0.064,2863,213,3602,0,0,0,0,0,0
$GC,754,-0.73,-146.0,79.2,-8.8,73,759,0.00,2.35,0.00,0.000,6,0.000,0.015,2863,1794,3602,0,0,0,0,0,0
$GC,1023,-0.82,-146.0,97.4,-6.2,97,1028,0.17,2.67,0.00,0.000,4,0.060,0.063,2804,213,3602,0,0,0,0,0,0
$GC,1057,-0.82,-146.0,100.7,-9.4,99,1062,0.00,2.30,0.00,0.000,6,0.000,0.015,2805,1762,3602,0,0,0,0,0,0
$GC,1321,-0.82,-146.0,123.5,-8.6,124,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1764,3603,0,0,0,0,0,0
$GC,1572,-0.82,-146.0,145.8,-8.7,148,1576,0.00,2.62,0.00,0.000,4,0.000,0.062,2805,211,3603,0,0,0,0,0,0
$GC,1601,-0.82,-146.0,148.5,-9.5,150,1605,0.00,2.30,0.00,0.000,6,0.000,0.024,2805,1752,3603,0,0,0,0,0,0
$GC,1874,-0.82,-146.0,169.7,-7.4,175,1878,0.00,2.42,0.00,0.000,4,0.000,0.033,2805,3314,3603,0,0,0,0,0,0
$GC,1903,-0.87,-146.0,172.5,-7.8,177,1907,0.00,2.45,0.00,0.000,6,0.000,0.037,2805,1767,3603,0,0,0,0,0,0
$GC,2167,-0.87,-146.0,191.5,-7.2,201,2171,0.00,2.67,0.00,0.000,4,0.000,0.068,2804,196,3603,0,0,0,0,0,0
$GC,2195,-0.87,-146.0,194.0,-8.2,203,2199,0.00,2.33,0.00,0.000,6,0.000,0.020,2805,1755,3603,0,0,0,0,0,0
$GC,2480,-0.87,-146.0,215.3,-7.2,215,2485,0.00,2.67,0.00,0.000,4,0.000,0.066,2805,197,3603,0,0,0,0,0,0
$GC,2508,-0.91,-146.0,217.7,-7.7,215,2512,0.00,2.28,0.00,0.000,6,0.000,0.017,2805,1737,3603,0,0,0,0,0,0
$GC,2759,-0.95,-146.0,235.8,-7.4,221,2763,0.00,2.42,0.00,0.000,4,0.000,0.026,2805,3303,3603,0,0,0,0,0,0
$GC,2787,-1.02,-146.0,238.1,-8.1,221,2792,0.12,2.50,0.00,0.000,6,0.067,0.037,2755,1740,3603,0,0,0,0,0,0
$GC,3037,-0.96,-146.0,264.4,-10.8,227,3042,0.15,2.70,0.00,0.000,4,0.100,0.076,2788,189,3602,0,0,0,0,0,0
$GC,3059,-0.96,-146.0,266.7,-10.2,227,3063,0.00,2.30,0.00,0.000,6,0.000,0.020,2788,1701,3602,0,0,0,0,0,0
$GC,3321,-0.96,-146.0,289.6,-8.5,234,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1701,3602,0,0,0,0,0,0
$GC,3564,-0.96,-146.0,306.4,-6.7,240,3568,0.00,2.55,0.00,0.000,4,0.000,0.044,2788,3306,3602,0,0,0,0,0,0
$GC,3586,-1.01,-146.0,307.7,-5.8,240,3590,0.00,2.58,0.00,0.000,6,0.000,0.045,2788,1737,3602,0,0,0,0,0,0
$GC,3842,-1.04,-146.0,323.7,-6.5,247,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1736,3600,0,0,0,0,0,0
$GC,4085,-1.09,-146.0,342.2,-7.8,253,4086,0.12,0.00,0.00,0.000,6,0.079,0.000,2748,1737,3599,0,0,0,0,0,0
$GC,4328,-1.09,-146.0,366.4,-10.0,259,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1736,3598,0,0,0,0,0,0
$GC,4571,-1.09,-146.0,390.1,-9.8,265,4576,0.00,2.80,0.00,0.000,4,0.000,0.105,2748,189,3598,0,0,0,0,0,0
$GC,4599,-1.09,-146.0,392.9,-10.1,265,4603,0.00,2.35,0.00,0.000,6,0.000,0.028,2748,1676,3597,0,0,0,0,0,0
$GC,4849,-1.09,-146.0,415.7,-8.8,271,4853,0.00,2.70,0.00,0.000,4,0.000,0.062,2748,3298,3596,0,0,0,0,0,0
$GC,4926,-1.09,-146.0,422.2,-7.8,272,4932,0.00,2.62,0.00,0.000,6,0.000,0.060,2748,1747,3595,0,0,0,0,0,0
$GC,5178,-1.09,-146.0,440.8,-7.4,279,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1747,3594,0,0,0,0,0,0
$GC,5420,-1.09,-146.0,459.8,-7.9,285,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1747,3593,0,0,0,0,0,0
$GC,5663,-1.09,-146.0,479.9,-8.4,291,5668,0.00,2.58,0.00,0.000,4,0.000,0.053,2748,3296,3591,0,0,0,0,0,0
$GC,5685,-1.09,-146.0,481.8,-8.3,291,5689,0.00,2.67,0.00,0.000,6,0.000,0.061,2748,1738,3591,0,0,0,0,0,0
$STATE,5938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5938,begin apogee
$GC,5945,-0.31,0.0,503.0,8.3,298,6068,0.80,0.00,119.78,0.922,6,0.075,0.000,2931,1738,3001,0,0,0,0,0,0
$STATE,6069,end apogee,CONTROL_FINISHED_OK
$STATE,6069,begin climb
$GC,6071,1.06,146.0,507.0,0.0,301,6200,1.25,0.00,124.53,0.895,6,0.054,0.000,3235,1738,2405,0,0,0,0,0,0
$GC,6440,0.91,146.0,484.9,9.1,310,6445,0.17,2.70,0.00,0.000,4,0.192,0.048,3200,3339,2396,0,0,0,0,0,0
$GC,6535,0.85,150.9,477.0,7.8,312,6540,0.00,2.60,0.00,0.000,6,0.000,0.061,3200,1836,2393,0,0,0,0,0,0
$GC,6810,0.82,196.4,459.0,6.3,319,6855,0.00,0.00,43.33,0.873,6,0.000,0.000,3200,1836,2199,0,0,0,0,0,0
$GC,7092,0.79,213.5,438.5,7.4,326,7110,0.12,0.00,15.55,0.819,6,0.245,0.000,3174,1836,2130,0,0,0,0,0,0
$GC,7335,0.84,255.5,422.4,6.5,332,7379,0.00,2.58,37.92,0.854,4,0.000,0.040,3174,3342,1958,0,0,0,0,0,0
$GC,7412,0.92,278.2,417.5,7.2,333,7441,0.12,2.58,21.30,0.819,6,0.084,0.055,3206,1842,1865,0,0,0,0,0,0
$GC,7712,0.88,278.2,391.0,8.9,341,7716,0.00,2.45,0.00,0.000,4,0.000,0.039,3205,3358,1858,0,0,0,0,0,0
$GC,7734,0.88,278.2,388.7,8.7,341,7738,0.00,2.53,0.00,0.000,6,0.000,0.045,3205,1850,1857,0,0,0,0,0,0
$GC,7989,0.89,284.5,368.4,7.8,348,8000,0.00,2.95,5.07,0.624,4,0.000,0.089,3206,229,1841,0,0,0,0,0,0
$GC,8063,0.84,285.3,362.4,8.0,349,8068,0.10,2.45,0.00,0.000,6,0.129,0.027,3185,1790,1840,0,0,0,0,0,0
$GC,8313,0.87,311.8,344.9,7.0,355,8344,0.00,2.62,25.48,0.804,4,0.000,0.035,3185,3394,1729,0,0,0,0,0,0
$GC,8388,0.96,311.8,338.3,8.6,356,8395,0.10,2.60,0.00,0.000,6,0.097,0.043,3213,1823,1726,0,0,0,0,0,0
$GC,8639,0.96,311.8,313.3,10.3,363,8644,0.00,2.80,0.00,0.000,4,0.000,0.081,3213,232,1724,0,0,0,0,0,0
$GC,8683,0.92,311.8,308.1,10.7,364,8687,0.00,2.53,0.00,0.000,6,0.000,0.024,3212,1838,1723,0,0,0,0,0,0
$GC,8962,0.92,311.8,280.4,10.0,371,8966,0.00,2.50,0.00,0.000,4,0.000,0.035,3213,3404,1722,0,0,0,0,0,0
$GC,8977,0.92,311.8,278.6,9.8,371,8981,0.00,2.58,0.00,0.000,6,0.000,0.034,3213,1811,1721,0,0,0,0,0,0
$GC,9238,0.92,311.8,254.4,9.1,378,9243,0.00,2.70,0.00,0.000,4,0.000,0.070,3213,244,1721,0,0,0,0,0,0
$GC,9262,0.88,311.8,252.0,10.0,378,9266,0.00,2.47,0.00,0.000,6,0.000,0.020,3213,1836,1720,0,0,0,0,0,0
$GC,9518,0.88,311.8,229.6,8.6,385,9522,0.00,2.45,0.00,0.000,4,0.000,0.035,3213,3398,1720,0,0,0,0,0,0
$GC,9550,0.88,311.8,226.7,8.5,385,9556,0.00,2.58,0.00,0.000,6,0.000,0.039,3213,1806,1719,0,0,0,0,0,0
$GC,9800,0.88,311.8,205.8,8.3,392,9801,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1806,1719,0,0,0,0,0,0
$GC,10052,0.88,311.8,184.5,9.0,410,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1806,1719,0,0,0,0,0,0
$GC,10306,0.88,311.8,163.0,8.5,434,10310,0.00,2.67,0.00,0.000,4,0.000,0.066,3213,239,1719,0,0,0,0,0,0
$GC,10322,0.88,311.8,161.5,9.1,435,10327,0.00,2.42,0.00,0.000,6,0.000,0.025,3213,1831,1719,0,0,0,0,0,0
$GC,10590,0.88,311.8,139.3,8.3,459,10594,0.00,2.40,0.00,0.000,4,0.000,0.033,3212,3381,1719,0,0,0,0,0,0
$GC,10623,0.96,311.8,135.4,9.8,461,10629,0.00,2.53,0.00,0.000,6,0.000,0.040,3213,1813,1719,0,0,0,0,0,0
$GC,10888,1.02,326.9,116.0,7.5,486,10907,0.00,2.70,13.45,0.578,4,0.000,0.062,3213,243,1667,0,0,0,0,0,0
$GC,10934,1.03,329.4,112.6,7.9,489,10938,0.00,2.40,0.00,0.000,6,0.000,0.025,3213,1822,1666,0,0,0,0,0,0
$GC,11202,1.17,393.5,97.4,5.6,513,11273,0.17,2.58,57.83,0.590,4,0.067,0.035,3261,3389,1394,0,0,0,0,0,0
$GC,11301,1.21,393.5,88.5,10.2,521,11305,0.00,2.58,0.00,0.000,6,0.000,0.034,3262,1818,1393,0,0,0,0,0,0
$GC,11568,1.21,393.5,62.5,10.1,545,11572,0.00,2.72,0.00,0.000,4,0.000,0.063,3261,237,1391,0,0,0,0,0,0
$GC,11638,1.21,393.5,53.4,12.5,550,11643,0.00,2.40,0.00,0.000,6,0.000,0.018,3261,1814,1390,0,0,0,0,0,0
$GC,11927,1.21,393.5,17.5,12.5,581,11936,0.00,2.50,0.00,0.000,4,0.000,0.028,3261,3380,1390,0,0,0,0,0,0
$GC,11946,1.21,393.5,15.1,12.4,583,11955,0.00,2.58,0.00,0.000,6,0.000,0.041,3260,1813,1390,0,0,0,0,0,0
$STATE,12053,end climb,SURFACE_DEPTH_REACHED
$STATE,12053,begin surface coast
$FINISH,0.5,1.023302
$STATE,12105,end surface coast,CONTROL_FINISHED_OK
$STATE,12105,begin surface
$SM_CCo,12126,27.30,0.316,1,0,1287,420.20
$SM_GC,1.02,0.00,0.00,27.30,0.000,0.000,0.316,473,1750,1287,-11.62,-0.57,420.20
$IRIDIUM_FIX,2244.02,-15743.68,211199,010150
$TT8_MAMPS,0.025311
$HUMID,43.22
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.70
$XPDR_PINGS,55
$24V_AH,23.6,14.723
$10V_AH,10.4,13.896
$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,27.200,142.725,464.225,27.300,0.000,30.794,29.472,157.964,13.750,0.000,16.617,1192.677,8068.479,584.612,2141.040,527.629,33.369,1371.379,0.000,2143.761,0.000,0.537,0.000
$DEVICE_MAMPS,245.440,128.856,921.934,316.004,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,408.629,367.041,468.319,845.996,1279.697,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,47921,605
$CAP_FILE_SIZE,121866,0
$CFSIZE,260165632,178028544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270810,082755,2248.936,-15742.052,38,1.3,38,10.1