version: 66.06
glider: 146
mission: 5
dive: 83
start: 8 27 110 15 17 37
data:
$ID,146
$MISSION,5
$DIVE,83
$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,-248897.97
$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,52
$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
$GPS1,151037,2251.625,-15742.451,24,1.4,24,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-64.9
$GPS2,151643,2251.623,-15742.539,12,1.4,30,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.101,0.218
$KALMAN_X,-72721.1,-108.1,-45.1,121180.0,-1085.4
$KALMAN_Y,5189.9,142.8,-152.5,126383.8,-418.3
$MHEAD_RNG_PITCHd_Wd,14.8,11847,-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,15,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-86.15,0.000,2,0.000,0.000,475,1739,3523,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.9,-6.7,11,133,12.18,2.60,-1.20,0.000,4,0.160,0.042,2761,3343,3599,0,0,0,0,0,0
$GC,203,-0.97,-146.0,30.5,-13.4,24,213,0.10,2.55,0.00,0.000,6,0.094,0.034,2786,1794,3600,0,0,0,0,0,0
$GC,471,-0.83,-146.0,66.9,-13.5,49,476,0.15,2.78,0.00,0.000,4,0.112,0.061,2818,188,3600,0,0,0,0,0,0
$GC,517,-0.83,-146.0,73.0,-11.6,52,521,0.00,2.42,0.00,0.000,6,0.000,0.015,2817,1791,3601,0,0,0,0,0,0
$GC,778,-0.83,-146.0,98.1,-8.6,76,782,0.00,2.40,0.00,0.000,4,0.000,0.025,2817,3327,3601,0,0,0,0,0,0
$GC,808,-0.87,-146.0,100.5,-8.4,78,812,0.00,2.53,0.00,0.000,6,0.000,0.030,2817,1757,3602,0,0,0,0,0,0
$GC,1070,-0.87,-146.0,123.8,-9.2,102,1075,0.00,2.65,0.00,0.000,4,0.000,0.069,2817,192,3602,0,0,0,0,0,0
$GC,1118,-0.93,-146.0,127.3,-8.3,105,1122,0.00,2.35,0.00,0.000,6,0.000,0.021,2817,1773,3602,0,0,0,0,0,0
$GC,1384,-0.97,-146.0,146.9,-7.3,129,1389,0.12,2.40,0.00,0.000,4,0.074,0.027,2773,3314,3602,0,0,0,0,0,0
$GC,1416,-0.97,-146.0,149.6,-8.4,131,1420,0.00,2.47,0.00,0.000,6,0.000,0.031,2773,1752,3602,0,0,0,0,0,0
$GC,1679,-0.93,-146.0,173.7,-9.0,155,1684,0.10,2.67,0.00,0.000,4,0.122,0.074,2796,196,3602,0,0,0,0,0,0
$GC,1711,-0.93,-146.0,176.3,-8.4,157,1715,0.00,2.33,0.00,0.000,6,0.000,0.018,2796,1745,3602,0,0,0,0,0,0
$GC,1979,-0.93,-146.0,196.4,-7.6,181,1983,0.00,2.42,0.00,0.000,4,0.000,0.031,2796,3310,3602,0,0,0,0,0,0
$GC,2031,-0.99,-146.0,200.9,-7.8,185,2036,0.00,2.47,0.00,0.000,6,0.000,0.030,2796,1750,3602,0,0,0,0,0,0
$GC,2304,-0.99,-146.0,222.8,-8.1,192,2308,0.00,2.67,0.00,0.000,4,0.000,0.073,2796,196,3603,0,0,0,0,0,0
$GC,2348,-1.03,-146.0,226.9,-8.7,193,2352,0.00,2.33,0.00,0.000,6,0.000,0.017,2796,1747,3602,0,0,0,0,0,0
$GC,2625,-1.03,-146.0,250.0,-8.3,200,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1748,3602,0,0,0,0,0,0
$GC,2870,-1.03,-146.0,268.4,-7.3,206,2875,0.00,2.70,0.00,0.000,4,0.000,0.071,2796,196,3602,0,0,0,0,0,0
$GC,2898,-1.07,-146.0,270.5,-7.3,206,2903,0.12,2.35,0.00,0.000,6,0.070,0.019,2752,1741,3602,0,0,0,0,0,0
$GC,3148,-1.01,-146.0,292.6,-9.0,212,3153,0.12,2.55,0.00,0.000,4,0.106,0.037,2779,3336,3601,0,0,0,0,0,0
$GC,3189,-1.06,-146.0,295.7,-7.7,213,3194,0.00,2.55,0.00,0.000,6,0.000,0.037,2779,1754,3602,0,0,0,0,0,0
$GC,3473,-1.06,-146.0,316.3,-7.1,220,3477,0.00,2.80,0.00,0.000,4,0.000,0.087,2779,185,3601,0,0,0,0,0,0
$GC,3518,-1.12,-146.0,319.6,-7.8,221,3523,0.10,2.40,0.00,0.000,6,0.083,0.025,2741,1738,3601,0,0,0,0,0,0
$GC,3796,-1.07,-146.0,344.9,-9.3,228,3801,0.12,2.62,0.00,0.000,4,0.109,0.052,2768,3346,3600,0,0,0,0,0,0
$GC,3824,-1.07,-146.0,347.2,-7.8,228,3828,0.00,2.67,0.00,0.000,6,0.000,0.050,2768,1738,3600,0,0,0,0,0,0
$GC,4075,-1.07,-146.0,365.9,-7.5,234,4080,0.00,2.83,0.00,0.000,4,0.000,0.101,2768,185,3599,0,0,0,0,0,0
$GC,4102,-1.07,-146.0,368.0,-7.2,234,4106,0.00,2.45,0.00,0.000,6,0.000,0.026,2768,1731,3599,0,0,0,0,0,0
$GC,4352,-1.07,-146.0,383.2,-5.9,240,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1731,3598,0,0,0,0,0,0
$GC,4597,-1.07,-146.0,399.3,-6.7,246,4601,0.00,2.72,0.00,0.000,4,0.000,0.055,2768,3360,3597,0,0,0,0,0,0
$GC,4652,-1.14,-146.0,403.7,-7.9,247,4657,0.00,2.78,0.00,0.000,6,0.000,0.059,2768,1729,3596,0,0,0,0,0,0
$GC,4919,-1.18,-146.0,424.5,-7.8,254,4921,0.12,0.00,0.00,0.000,6,0.073,0.000,2725,1729,3594,0,0,0,0,0,0
$GC,5163,-1.13,-146.0,446.0,-8.7,260,5165,0.12,0.00,0.00,0.000,6,0.107,0.000,2752,1729,3593,0,0,0,0,0,0
$GC,5405,-1.13,-146.0,465.7,-8.1,266,5410,0.00,2.70,0.00,0.000,4,0.000,0.058,2751,3354,3591,0,0,0,0,0,0
$GC,5450,-1.17,-146.0,469.3,-7.9,267,5454,0.00,2.80,0.00,0.000,6,0.000,0.065,2751,1739,3591,0,0,0,0,0,0
$GC,5728,-1.17,-146.0,490.5,-7.4,274,5733,0.00,3.00,0.00,0.000,4,0.000,0.131,2752,182,3589,0,0,0,0,0,0
$GC,5750,-1.17,-146.0,492.3,-7.6,274,5754,0.00,2.50,0.00,0.000,6,0.000,0.037,2751,1732,3589,0,0,0,0,0,0
$STATE,5882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5882,begin apogee
$GC,5888,-0.31,0.0,501.6,7.0,278,6011,0.80,0.00,119.38,0.925,6,0.076,0.000,2934,1823,3001,0,0,0,0,0,0
$STATE,6011,end apogee,CONTROL_FINISHED_OK
$STATE,6012,begin climb
$GC,6015,1.06,146.0,504.1,0.0,281,6149,1.25,2.85,123.40,0.900,4,0.043,0.074,3235,3399,2404,0,0,0,0,0,0
$GC,6178,0.91,148.8,499.5,7.9,285,6184,0.17,2.75,0.00,0.000,6,0.117,0.058,3201,1816,2400,0,0,0,0,0,0
$GC,6452,0.86,178.8,480.0,6.9,292,6486,0.00,2.75,28.60,0.861,4,0.000,0.047,3201,3401,2271,0,0,0,0,0,0
$GC,6503,0.83,203.7,476.1,7.1,293,6534,0.00,2.72,22.73,0.842,6,0.000,0.064,3201,1829,2169,0,0,0,0,0,0
$GC,6780,0.77,203.7,454.1,8.3,300,6782,0.15,0.00,0.00,0.000,6,0.121,0.000,3170,1829,2162,0,0,0,0,0,0
$GC,7022,0.79,222.7,436.4,7.3,306,7046,0.00,2.67,16.45,0.832,4,0.000,0.041,3170,3410,2092,0,0,0,0,0,0
$GC,7076,0.83,222.7,432.2,8.6,307,7081,0.00,2.72,0.00,0.000,6,0.000,0.056,3170,1830,2090,0,0,0,0,0,0
$GC,7348,0.85,236.7,411.5,7.5,314,7367,0.00,3.03,13.48,0.810,4,0.000,0.104,3170,229,2034,0,0,0,0,0,0
$GC,7384,0.86,244.2,408.7,7.7,314,7398,0.00,2.60,8.40,0.740,6,0.000,0.028,3169,1848,2004,0,0,0,0,0,0
$GC,7677,0.91,281.9,388.7,6.6,322,7719,0.12,2.62,34.22,0.841,4,0.085,0.041,3204,3405,1850,0,0,0,0,0,0
$GC,7735,0.91,281.9,383.7,8.8,323,7740,0.00,2.65,0.00,0.000,6,0.000,0.051,3204,1841,1849,0,0,0,0,0,0
$GC,8003,0.91,281.9,357.7,10.0,330,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1841,1845,0,0,0,0,0,0
$GC,8245,0.91,281.9,334.9,9.3,336,8250,0.00,2.85,0.00,0.000,4,0.000,0.087,3204,233,1843,0,0,0,0,0,0
$GC,8278,0.85,281.9,331.5,10.9,336,8283,0.00,2.55,0.00,0.000,6,0.000,0.021,3204,1856,1842,0,0,0,0,0,0
$GC,8529,0.85,281.9,309.0,9.1,343,8533,0.00,2.47,0.00,0.000,4,0.000,0.041,3204,3401,1841,0,0,0,0,0,0
$GC,8585,0.90,281.9,303.7,9.4,344,8590,0.00,2.55,0.00,0.000,6,0.000,0.037,3204,1850,1840,0,0,0,0,0,0
$GC,8851,0.90,281.9,280.6,8.5,351,8856,0.00,2.83,0.00,0.000,4,0.000,0.079,3204,236,1840,0,0,0,0,0,0
$GC,8892,0.85,281.9,276.9,9.7,352,8896,0.00,2.53,0.00,0.000,6,0.000,0.022,3204,1858,1839,0,0,0,0,0,0
$GC,9176,0.85,281.9,252.7,8.6,359,9181,0.00,2.45,0.00,0.000,4,0.000,0.035,3204,3390,1839,0,0,0,0,0,0
$GC,9204,0.89,281.9,249.8,9.9,359,9208,0.00,2.50,0.00,0.000,6,0.000,0.040,3204,1850,1838,0,0,0,0,0,0
$GC,9455,0.89,281.9,229.1,8.2,365,9459,0.00,2.78,0.00,0.000,4,0.000,0.068,3204,243,1838,0,0,0,0,0,0
$GC,9481,0.89,281.9,226.7,8.9,365,9486,0.00,2.50,0.00,0.000,6,0.000,0.025,3204,1866,1837,0,0,0,0,0,0
$GC,9737,0.90,292.5,207.4,7.6,372,9752,0.00,2.88,8.32,0.618,4,0.000,0.066,3204,241,1808,0,0,0,0,0,0
$GC,9769,0.90,292.5,204.8,8.3,372,9774,0.00,2.50,0.00,0.000,6,0.000,0.023,3205,1848,1807,0,0,0,0,0,0
$GC,10027,0.90,292.5,184.0,8.2,390,10031,0.00,2.42,0.00,0.000,4,0.000,0.032,3204,3391,1807,0,0,0,0,0,0
$GC,10071,0.96,292.5,180.1,8.3,393,10081,0.00,2.53,0.00,0.000,6,0.000,0.038,3204,1849,1806,0,0,0,0,0,0
$GC,10339,0.99,310.6,159.8,7.3,418,10363,0.00,2.85,17.15,0.630,4,0.000,0.066,3204,246,1733,0,0,0,0,0,0
$GC,10376,0.99,310.6,156.3,8.1,421,10381,0.00,2.47,0.00,0.000,6,0.000,0.019,3204,1859,1733,0,0,0,0,0,0
$GC,10640,1.04,321.8,136.2,7.6,446,10657,0.10,0.00,11.32,0.581,6,0.257,0.000,3233,1861,1688,0,0,0,0,0,0
$GC,10913,1.04,321.8,111.8,9.2,472,10914,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1861,1686,0,0,0,0,0,0
$GC,11168,1.07,343.5,92.2,7.2,496,11195,0.00,2.88,19.70,0.572,4,0.000,0.060,3233,244,1599,0,0,0,0,0,0
$GC,11214,1.07,343.5,88.5,8.5,500,11218,0.00,2.47,0.00,0.000,6,0.000,0.018,3233,1852,1598,0,0,0,0,0,0
$GC,11482,1.11,343.5,68.2,8.2,524,11490,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1854,1598,0,0,0,0,0,0
$GC,11747,1.17,343.5,46.9,8.8,549,11751,0.00,2.72,0.00,0.000,4,0.000,0.059,3233,243,1598,0,0,0,0,0,0
$GC,11780,1.17,343.5,43.9,8.9,551,11785,0.00,2.47,0.00,0.000,6,0.000,0.018,3233,1859,1597,0,0,0,0,0,0
$GC,12068,1.24,365.3,21.6,7.2,583,12095,0.15,2.78,20.05,0.510,4,0.069,0.061,3278,237,1509,0,0,0,0,0,0
$GC,12107,1.24,365.3,17.6,9.3,587,12117,0.00,2.47,0.00,0.000,6,0.000,0.018,3278,1830,1509,0,0,0,0,0,0
$STATE,12221,end climb,SURFACE_DEPTH_REACHED
$STATE,12221,begin surface coast
$FINISH,0.5,1.023307
$STATE,12265,end surface coast,CONTROL_FINISHED_OK
$STATE,12265,begin surface
$SM_CCo,12286,50.78,0.410,1,0,1288,420.20
$SM_GC,0.92,0.00,0.00,50.78,0.000,0.000,0.410,474,1732,1288,-11.62,-1.07,420.20
$IRIDIUM_FIX,2241.69,-15741.52,211199,111139
$TT8_MAMPS,0.025311
$HUMID,41.88
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.80
$XPDR_PINGS,60
$24V_AH,23.5,15.096
$10V_AH,10.4,14.268
$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,27.475,167.550,443.200,50.775,0.000,27.839,28.741,156.177,15.000,0.000,31.944,1232.498,8100.789,570.097,2274.561,531.085,33.371,1432.763,0.000,2260.395,0.000,0.536,0.000
$DEVICE_MAMPS,256.945,131.157,925.002,409.578,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.575,373.735,468.382,867.640,1307.393,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,47953,609
$CAP_FILE_SIZE,132088,0
$CFSIZE,260165632,177840128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270810,184437,2253.186,-15742.461,34,1.4,34,10.1