version: 66.06
glider: 146
mission: 5
dive: 82
start: 8 27 110 11 43 28
data:
$ID,146
$MISSION,5
$DIVE,82
$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,-248865.41
$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,40
$R_STBD_OVSHOOT,34
$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
$GPS1,113554,2250.481,-15742.499,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-67.8
$GPS2,114234,2250.468,-15742.542,11,99.0,30,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.103,0.216
$KALMAN_X,-71577.4,-182.8,172.3,119894.4,-1186.1
$KALMAN_Y,5068.0,138.2,538.1,123683.1,-1201.1
$MHEAD_RNG_PITCHd_Wd,15.4,13980,-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,-145.1,0.0,0.0,0,96,0.00,0.00,-78.57,0.000,2,0.000,0.000,473,1751,3262,0,0,0,0,0,0
$GC,99,-1.06,-146.0,3.4,-4.3,10,125,12.20,0.00,-6.28,0.000,6,0.161,0.000,2760,1751,3599,0,0,0,0,0,0
$GC,404,-0.88,-146.0,57.3,-17.0,45,413,0.22,0.00,0.00,0.000,6,0.112,0.000,2806,1751,3600,0,0,0,0,0,0
$GC,666,-0.81,-146.0,90.5,-11.2,70,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1751,3600,0,0,0,0,0,0
$GC,919,-0.81,-146.0,114.8,-8.0,94,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1751,3601,0,0,0,0,0,0
$GC,1174,-0.81,-146.0,134.4,-7.9,118,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1751,3602,0,0,0,0,0,0
$GC,1433,-0.81,-146.0,156.3,-8.7,142,1438,0.00,2.65,0.00,0.000,4,0.000,0.069,2805,204,3601,0,0,0,0,0,0
$GC,1454,-0.81,-146.0,158.8,-9.0,143,1460,0.00,2.40,0.00,0.000,6,0.000,0.021,2806,1817,3602,0,0,0,0,0,0
$GC,1719,-0.81,-146.0,180.2,-7.2,168,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1818,3602,0,0,0,0,0,0
$GC,1986,-0.85,-146.0,197.5,-6.0,193,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1819,3602,0,0,0,0,0,0
$GC,2269,-0.89,-146.0,217.6,-7.6,203,2274,0.00,2.75,0.00,0.000,4,0.000,0.065,2805,203,3601,0,0,0,0,0,0
$GC,2324,-0.97,-146.0,222.4,-8.4,204,2329,0.00,2.33,0.00,0.000,6,0.000,0.021,2805,1769,3601,0,0,0,0,0,0
$GC,2593,-1.01,-146.0,240.4,-6.3,211,2598,0.12,2.42,0.00,0.000,4,0.074,0.032,2761,3314,3601,0,0,0,0,0,0
$GC,2620,-1.01,-146.0,242.7,-7.5,211,2625,0.00,2.45,0.00,0.000,6,0.000,0.034,2761,1772,3601,0,0,0,0,0,0
$GC,2870,-0.98,-146.0,262.7,-8.1,217,2876,0.12,2.75,0.00,0.000,4,0.107,0.074,2788,193,3601,0,0,0,0,0,0
$GC,2893,-0.98,-146.0,264.8,-8.6,217,2898,0.00,2.38,0.00,0.000,6,0.000,0.023,2788,1747,3601,0,0,0,0,0,0
$GC,3148,-0.98,-146.0,284.0,-7.7,224,3152,0.00,2.55,0.00,0.000,4,0.000,0.041,2788,3347,3600,0,0,0,0,0,0
$GC,3175,-1.03,-146.0,286.2,-8.0,224,3180,0.00,2.55,0.00,0.000,6,0.000,0.035,2788,1768,3600,0,0,0,0,0,0
$GC,3427,-1.07,-146.0,305.3,-7.5,230,3432,0.00,2.80,0.00,0.000,4,0.000,0.084,2788,192,3600,0,0,0,0,0,0
$GC,3453,-1.07,-146.0,307.7,-8.6,230,3458,0.00,2.42,0.00,0.000,6,0.000,0.024,2788,1751,3599,0,0,0,0,0,0
$GC,3710,-1.11,-146.0,325.5,-6.7,237,3712,0.15,0.00,0.00,0.000,6,0.069,0.000,2742,1751,3599,0,0,0,0,0,0
$GC,3955,-1.08,-146.0,347.7,-9.3,243,3956,0.10,0.00,0.00,0.000,6,0.119,0.000,2763,1751,3598,0,0,0,0,0,0
$GC,4197,-1.08,-146.0,365.9,-7.0,249,4201,0.00,2.65,0.00,0.000,4,0.000,0.060,2763,3350,3597,0,0,0,0,0,0
$GC,4230,-1.12,-146.0,368.3,-7.6,249,4235,0.00,2.67,0.00,0.000,6,0.000,0.060,2763,1770,3597,0,0,0,0,0,0
$GC,4481,-1.12,-146.0,387.4,-8.0,256,4486,0.00,2.95,0.00,0.000,4,0.000,0.104,2763,182,3595,0,0,0,0,0,0
$GC,4513,-1.12,-146.0,390.5,-8.9,256,4519,0.00,2.53,0.00,0.000,6,0.000,0.034,2763,1759,3595,0,0,0,0,0,0
$GC,4764,-1.12,-146.0,409.6,-7.4,263,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1759,3594,0,0,0,0,0,0
$GC,5007,-1.12,-146.0,427.0,-7.2,269,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1759,3593,0,0,0,0,0,0
$GC,5252,-1.12,-146.0,444.8,-7.2,275,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1759,3591,0,0,0,0,0,0
$GC,5495,-1.12,-146.0,461.2,-6.6,281,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1759,3589,0,0,0,0,0,0
$GC,5738,-1.12,-146.0,477.3,-6.6,287,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1759,3587,0,0,0,0,0,0
$GC,5983,-1.17,-146.0,494.2,-7.0,293,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1759,3586,0,0,0,0,0,0
$STATE,6061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6061,begin apogee
$GC,6068,-0.31,0.0,500.1,7.2,295,6191,0.75,0.00,118.88,0.925,6,0.078,0.000,2934,1826,3001,0,0,0,0,0,0
$STATE,6191,end apogee,CONTROL_FINISHED_OK
$STATE,6191,begin climb
$GC,6194,1.06,146.0,504.4,0.0,298,6329,1.23,2.80,123.93,0.900,4,0.054,0.074,3233,3396,2402,0,0,0,0,0,0
$GC,6425,0.93,146.0,496.3,8.2,303,6430,0.15,2.75,0.00,0.000,6,0.117,0.063,3205,1821,2397,0,0,0,0,0,0
$GC,6688,0.85,151.7,475.9,7.8,310,6697,0.00,2.65,4.25,0.581,4,0.000,0.050,3205,3400,2382,0,0,0,0,0,0
$GC,6709,0.77,156.6,474.1,7.8,310,6724,0.17,2.72,6.20,0.696,6,0.119,0.059,3170,1814,2362,0,0,0,0,0,0
$GC,6968,0.83,202.6,457.2,6.3,317,7017,0.00,2.78,41.38,0.879,4,0.000,0.045,3170,3411,2174,0,0,0,0,0,0
$GC,7041,0.87,236.6,452.4,6.7,318,7077,0.00,2.72,30.88,0.856,6,0.000,0.056,3170,1823,2036,0,0,0,0,0,0
$GC,7335,0.90,257.0,431.3,7.3,326,7359,0.10,2.70,18.38,0.834,4,0.092,0.042,3197,3397,1952,0,0,0,0,0,0
$GC,7371,0.90,257.0,427.9,9.0,326,7377,0.00,2.72,0.00,0.000,6,0.000,0.060,3198,1824,1951,0,0,0,0,0,0
$GC,7621,0.90,257.0,404.9,9.2,333,7626,0.00,2.92,0.00,0.000,4,0.000,0.100,3197,231,1947,0,0,0,0,0,0
$GC,7637,0.83,257.0,403.2,9.0,333,7641,0.00,2.55,0.00,0.000,6,0.000,0.021,3198,1830,1946,0,0,0,0,0,0
$GC,7899,0.83,257.0,380.2,8.7,340,7904,0.00,2.58,0.00,0.000,4,0.000,0.048,3198,3407,1945,0,0,0,0,0,0
$GC,7943,0.83,257.0,376.2,8.7,341,7948,0.00,2.65,0.00,0.000,6,0.000,0.048,3197,1836,1943,0,0,0,0,0,0
$GC,8227,0.83,257.0,352.9,8.4,348,8232,0.00,2.88,0.00,0.000,4,0.000,0.084,3198,229,1943,0,0,0,0,0,0
$GC,8250,0.78,257.0,350.9,9.4,348,8255,0.12,2.58,0.00,0.000,6,0.117,0.023,3172,1847,1942,0,0,0,0,0,0
$GC,8506,0.88,300.1,333.8,6.4,355,8545,0.00,0.00,37.83,0.817,6,0.000,0.000,3173,1848,1777,0,0,0,0,0,0
$GC,8789,0.96,313.7,313.1,7.5,362,8809,0.15,2.92,12.48,0.747,4,0.168,0.074,3213,234,1722,0,0,0,0,0,0
$GC,8838,0.89,313.7,308.4,10.3,363,8843,0.00,2.55,0.00,0.000,6,0.000,0.022,3213,1846,1720,0,0,0,0,0,0
$GC,9115,0.89,313.7,283.3,9.0,370,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1847,1719,0,0,0,0,0,0
$GC,9361,0.89,313.7,260.5,9.5,376,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1848,1717,0,0,0,0,0,0
$GC,9603,0.89,313.7,239.4,8.5,382,9607,0.00,2.47,0.00,0.000,4,0.000,0.035,3214,3408,1717,0,0,0,0,0,0
$GC,9618,0.89,313.7,237.9,8.5,382,9623,0.00,2.55,0.00,0.000,6,0.000,0.034,3213,1829,1716,0,0,0,0,0,0
$GC,9879,0.89,313.7,216.8,8.1,389,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1829,1716,0,0,0,0,0,0
$GC,10126,0.89,313.7,194.5,9.1,398,10131,0.00,2.75,0.00,0.000,4,0.000,0.068,3213,243,1715,0,0,0,0,0,0
$GC,10166,0.89,313.7,190.1,10.6,401,10171,0.00,2.53,0.00,0.000,6,0.000,0.025,3213,1868,1714,0,0,0,0,0,0
$GC,10429,0.89,313.7,166.6,8.7,425,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1869,1715,0,0,0,0,0,0
$GC,10687,0.89,313.7,143.3,9.2,449,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1870,1715,0,0,0,0,0,0
$GC,10950,0.93,316.2,122.6,7.9,474,10951,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1870,1714,0,0,0,0,0,0
$GC,11206,1.00,327.7,101.6,7.6,498,11224,0.00,2.80,13.07,0.568,4,0.000,0.060,3213,240,1663,0,0,0,0,0,0
$GC,11241,1.03,327.7,98.3,8.6,500,11251,0.00,2.53,0.00,0.000,6,0.000,0.025,3213,1851,1663,0,0,0,0,0,0
$GC,11509,1.13,349.7,79.0,7.2,525,11539,0.12,0.00,19.80,0.565,6,0.081,0.000,3250,1853,1574,0,0,0,0,0,0
$GC,11796,1.13,349.7,54.8,9.4,552,11800,0.00,2.38,0.00,0.000,4,0.000,0.027,3250,3389,1572,0,0,0,0,0,0
$GC,11829,1.27,406.2,52.6,5.9,554,11885,0.10,2.53,49.35,0.553,6,0.092,0.035,3281,1826,1344,0,0,0,0,0,0
$GC,12157,1.23,406.2,18.8,13.0,588,12166,0.00,2.75,0.00,0.000,4,0.000,0.063,3281,242,1341,0,0,0,0,0,0
$GC,12192,1.17,406.2,13.8,12.6,592,12200,0.10,2.47,0.00,0.000,6,0.085,0.025,3255,1831,1340,0,0,0,0,0,0
$STATE,12274,end climb,SURFACE_DEPTH_REACHED
$STATE,12274,begin surface coast
$FINISH,0.5,1.023330
$STATE,12318,end surface coast,CONTROL_FINISHED_OK
$STATE,12318,begin surface
$SM_CCo,12341,18.02,0.206,1,0,1288,420.20
$SM_GC,0.87,0.00,0.00,18.02,0.000,0.000,0.206,475,1739,1288,-11.62,-0.88,420.20
$IRIDIUM_FIX,2239.35,-15744.57,211199,080855
$TT8_MAMPS,0.025311
$HUMID,43.26
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.50
$XPDR_PINGS,45
$24V_AH,23.5,14.971
$10V_AH,10.4,14.136
$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,27.225,110.675,476.400,18.025,0.000,27.233,26.133,197.654,11.250,0.000,34.458,1171.865,8399.689,534.249,2107.447,551.595,33.365,1334.395,0.000,2102.698,0.000,0.536,0.000
$DEVICE_MAMPS,167.973,111.982,925.002,206.323,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.901,378.830,464.277,833.235,1260.277,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,47826,610
$CAP_FILE_SIZE,116723,0
$CFSIZE,260165632,177922048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270810,151037,2251.625,-15742.451,24,1.4,24,10.1