version: 66.06
glider: 146
mission: 5
dive: 84
start: 8 27 110 18 51 50
data:
$ID,146
$MISSION,5
$DIVE,84
$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,-248915.45
$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,61
$R_STBD_OVSHOOT,69
$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
$GPS1,184437,2253.186,-15742.461,34,1.4,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.0
$GPS2,185055,2253.200,-15742.505,10,1.3,15,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.079,0.227
$KALMAN_X,-73874.6,-0.7,-206.4,122445.8,-652.1
$KALMAN_Y,5474.1,148.5,-245.6,129108.8,587.4
$MHEAD_RNG_PITCHd_Wd,9.1,8931,-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,-85.95,0.000,2,0.000,0.000,474,1732,3493,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.3,-6.1,11,133,12.02,2.58,-1.77,0.000,4,0.155,0.039,2761,3332,3601,0,0,0,0,0,0
$GC,197,-0.97,-146.0,29.1,-14.6,23,205,0.10,2.50,0.00,0.000,6,0.097,0.031,2785,1808,3602,0,0,0,0,0,0
$GC,466,-0.83,-146.0,65.6,-13.4,48,471,0.15,2.80,0.00,0.000,4,0.118,0.065,2815,192,3602,0,0,0,0,0,0
$GC,525,-0.78,-146.0,73.4,-11.0,52,529,0.00,2.38,0.00,0.000,6,0.000,0.021,2816,1779,3602,0,0,0,0,0,0
$GC,788,-0.78,-146.0,100.9,-10.2,76,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1780,3603,0,0,0,0,0,0
$GC,1040,-0.78,-146.0,123.5,-7.5,100,1045,0.00,2.70,0.00,0.000,4,0.000,0.067,2815,190,3603,0,0,0,0,0,0
$GC,1073,-0.78,-146.0,126.2,-8.4,102,1083,0.00,2.38,0.00,0.000,6,0.000,0.016,2816,1761,3603,0,0,0,0,0,0
$GC,1341,-0.78,-146.0,148.4,-7.4,127,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1762,3604,0,0,0,0,0,0
$GC,1603,-0.82,-146.0,167.0,-7.4,152,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1761,3604,0,0,0,0,0,0
$GC,1861,-0.88,-146.0,185.9,-7.0,176,1865,0.00,2.67,0.00,0.000,4,0.000,0.068,2815,192,3604,0,0,0,0,0,0
$GC,1893,-0.93,-146.0,188.1,-7.1,178,1897,0.00,2.33,0.00,0.000,6,0.000,0.016,2816,1754,3604,0,0,0,0,0,0
$GC,2154,-0.99,-146.0,206.2,-6.8,196,2158,0.15,2.42,0.00,0.000,4,0.066,0.030,2767,3316,3603,0,0,0,0,0,0
$GC,2197,-0.99,-146.0,210.1,-9.2,197,2202,0.00,2.47,0.00,0.000,6,0.000,0.031,2767,1753,3603,0,0,0,0,0,0
$GC,2476,-0.95,-146.0,237.3,-10.2,204,2481,0.12,2.67,0.00,0.000,4,0.110,0.071,2794,196,3603,0,0,0,0,0,0
$GC,2517,-0.95,-146.0,241.1,-8.6,205,2521,0.00,2.30,0.00,0.000,6,0.000,0.024,2794,1740,3603,0,0,0,0,0,0
$GC,2800,-0.95,-146.0,263.2,-7.4,212,2804,0.00,2.47,0.00,0.000,4,0.000,0.036,2794,3328,3603,0,0,0,0,0,0
$GC,2822,-0.99,-146.0,264.9,-7.4,212,2826,0.00,2.55,0.00,0.000,6,0.000,0.032,2794,1745,3603,0,0,0,0,0,0
$GC,3078,-0.99,-146.0,285.0,-7.9,219,3082,0.00,2.70,0.00,0.000,4,0.000,0.080,2794,188,3603,0,0,0,0,0,0
$GC,3122,-1.05,-146.0,288.9,-8.6,220,3127,0.10,2.33,0.00,0.000,6,0.082,0.021,2758,1709,3602,0,0,0,0,0,0
$GC,3400,-1.05,-146.0,313.0,-8.5,227,3405,0.00,2.60,0.00,0.000,4,0.000,0.038,2758,3314,3602,0,0,0,0,0,0
$GC,3433,-1.05,-146.0,315.9,-8.3,227,3439,0.00,2.58,0.00,0.000,6,0.000,0.044,2758,1736,3602,0,0,0,0,0,0
$GC,3683,-1.05,-146.0,336.8,-8.3,234,3687,0.00,2.55,0.00,0.000,4,0.000,0.038,2757,3314,3601,0,0,0,0,0,0
$GC,3715,-1.05,-146.0,339.7,-8.9,234,3723,0.00,2.60,0.00,0.000,6,0.000,0.048,2758,1756,3601,0,0,0,0,0,0
$GC,3967,-1.05,-146.0,361.0,-8.5,241,3971,0.00,2.85,0.00,0.000,4,0.000,0.100,2758,184,3600,0,0,0,0,0,0
$GC,3999,-1.05,-146.0,364.1,-9.2,241,4004,0.00,2.38,0.00,0.000,6,0.000,0.032,2757,1703,3600,0,0,0,0,0,0
$GC,4249,-1.05,-146.0,385.9,-8.9,248,4253,0.00,2.70,0.00,0.000,4,0.000,0.054,2758,3314,3599,0,0,0,0,0,0
$GC,4305,-1.10,-146.0,390.8,-8.9,249,4310,0.00,2.67,0.00,0.000,6,0.000,0.062,2758,1748,3599,0,0,0,0,0,0
$GC,4571,-1.10,-146.0,410.7,-6.9,256,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1748,3597,0,0,0,0,0,0
$GC,4815,-1.10,-146.0,427.2,-6.6,262,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1748,3595,0,0,0,0,0,0
$GC,5060,-1.10,-146.0,443.7,-6.7,268,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1748,3594,0,0,0,0,0,0
$GC,5302,-1.10,-146.0,461.1,-7.3,274,5307,0.00,2.62,0.00,0.000,4,0.000,0.056,2758,3311,3593,0,0,0,0,0,0
$GC,5352,-1.16,-146.0,465.1,-7.9,275,5357,0.00,2.67,0.00,0.000,6,0.000,0.067,2758,1758,3592,0,0,0,0,0,0
$GC,5626,-1.16,-146.0,485.4,-7.4,282,5631,0.00,3.03,0.00,0.000,4,0.000,0.129,2758,184,3590,0,0,0,0,0,0
$GC,5653,-1.16,-146.0,487.8,-8.1,282,5657,0.00,2.42,0.00,0.000,6,0.000,0.035,2758,1703,3590,0,0,0,0,0,0
$STATE,5819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5819,begin apogee
$GC,5825,-0.31,0.0,500.7,7.7,286,5948,0.77,0.00,119.62,0.920,6,0.081,0.000,2933,1783,3001,0,0,0,0,0,0
$STATE,5949,end apogee,CONTROL_FINISHED_OK
$STATE,5949,begin climb
$GC,5953,1.06,146.0,504.9,0.0,289,6087,1.23,2.90,123.82,0.897,4,0.055,0.074,3233,3403,2403,0,0,0,0,0,0
$GC,6111,0.96,186.5,502.6,6.5,292,6153,0.12,2.78,35.62,0.863,6,0.123,0.062,3209,1810,2240,0,0,0,0,0,0
$GC,6398,0.87,186.5,479.8,8.4,299,6402,0.00,3.00,0.00,0.000,4,0.000,0.114,3209,235,2231,0,0,0,0,0,0
$GC,6430,0.72,186.5,476.4,9.5,299,6437,0.25,2.58,0.00,0.000,6,0.109,0.037,3159,1803,2230,0,0,0,0,0,0
$GC,6682,0.76,220.8,459.3,6.7,306,6717,0.00,2.83,29.50,0.865,4,0.000,0.061,3159,3415,2099,0,0,0,0,0,0
$GC,6751,0.83,225.3,453.9,7.8,306,6762,0.00,2.75,5.32,0.646,6,0.000,0.051,3159,1809,2082,0,0,0,0,0,0
$GC,7007,0.84,232.1,434.4,7.8,313,7022,0.10,3.00,7.00,0.726,4,0.255,0.107,3186,235,2054,0,0,0,0,0,0
$GC,7034,0.79,232.1,431.8,8.7,313,7039,0.00,2.55,0.00,0.000,6,0.000,0.025,3186,1820,2052,0,0,0,0,0,0
$GC,7289,0.81,244.7,411.8,7.5,320,7308,0.00,2.72,12.38,0.805,4,0.000,0.048,3186,3410,2002,0,0,0,0,0,0
$GC,7333,0.85,281.4,408.8,6.6,321,7375,0.00,2.72,34.05,0.845,6,0.000,0.054,3186,1811,1853,0,0,0,0,0,0
$GC,7619,0.87,294.0,387.4,7.5,328,7632,0.00,0.00,11.70,0.780,6,0.000,0.000,3186,1811,1801,0,0,0,0,0,0
$GC,7863,0.87,294.0,366.5,8.7,334,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1811,1798,0,0,0,0,0,0
$GC,8106,0.87,294.0,345.9,8.3,340,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1811,1795,0,0,0,0,0,0
$GC,8350,0.88,301.6,327.0,7.7,346,8358,0.00,0.00,7.10,0.687,6,0.000,0.000,3186,1811,1771,0,0,0,0,0,0
$GC,8638,0.92,301.6,303.1,8.4,353,8643,0.00,2.60,0.00,0.000,4,0.000,0.035,3186,3423,1769,0,0,0,0,0,0
$GC,8661,0.98,301.6,301.1,8.5,353,8667,0.12,2.62,0.00,0.000,6,0.084,0.035,3220,1808,1767,0,0,0,0,0,0
$GC,8917,0.98,301.6,274.1,10.8,360,8921,0.00,2.75,0.00,0.000,4,0.000,0.077,3220,233,1767,0,0,0,0,0,0
$GC,8949,0.90,301.6,270.4,11.5,360,8956,0.12,2.50,0.00,0.000,6,0.119,0.020,3195,1834,1766,0,0,0,0,0,0
$GC,9200,0.90,301.6,249.0,8.3,367,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1835,1766,0,0,0,0,0,0
$GC,9443,0.93,326.4,231.3,7.1,373,9472,0.00,2.58,22.62,0.707,4,0.000,0.031,3195,3393,1669,0,0,0,0,0,0
$GC,9490,0.99,328.7,227.4,7.9,374,9495,0.00,2.60,0.00,0.000,6,0.000,0.035,3195,1805,1669,0,0,0,0,0,0
$GC,9769,1.04,328.7,203.2,8.8,381,9775,0.12,2.72,0.00,0.000,4,0.104,0.066,3230,242,1667,0,0,0,0,0,0
$GC,9791,1.00,328.7,200.8,10.0,381,9796,0.00,2.42,0.00,0.000,6,0.000,0.025,3230,1827,1666,0,0,0,0,0,0
$GC,10064,1.00,328.7,175.8,9.4,406,10069,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1829,1666,0,0,0,0,0,0
$GC,10325,1.00,328.7,150.4,9.4,431,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,1829,1666,0,0,0,0,0,0
$GC,10585,1.00,328.7,126.0,8.9,455,10589,0.00,2.45,0.00,0.000,4,0.000,0.035,3230,3383,1666,0,0,0,0,0,0
$GC,10617,1.00,328.7,122.8,9.4,457,10622,0.00,2.53,0.00,0.000,6,0.000,0.038,3230,1816,1666,0,0,0,0,0,0
$GC,10885,1.00,328.7,97.3,9.2,481,10889,0.00,2.65,0.00,0.000,4,0.000,0.062,3230,243,1666,0,0,0,0,0,0
$GC,10905,1.00,328.7,94.6,9.6,482,10915,0.00,2.42,0.00,0.000,6,0.000,0.018,3230,1817,1665,0,0,0,0,0,0
$GC,11172,1.03,328.7,73.2,8.2,507,11176,0.00,2.45,0.00,0.000,4,0.000,0.028,3230,3377,1666,0,0,0,0,0,0
$GC,11195,1.10,340.9,71.5,7.6,508,11213,0.00,2.47,13.52,0.540,6,0.000,0.031,3230,1825,1610,0,0,0,0,0,0
$GC,11474,1.22,388.7,53.5,6.2,533,11529,0.15,2.80,41.88,0.553,4,0.072,0.061,3271,242,1415,0,0,0,0,0,0
$GC,11550,1.16,388.7,46.4,10.7,538,11560,0.00,2.47,0.00,0.000,6,0.000,0.018,3271,1825,1414,0,0,0,0,0,0
$GC,11845,1.16,388.7,15.5,10.4,572,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1827,1413,0,0,0,0,0,0
$STATE,11950,end climb,SURFACE_DEPTH_REACHED
$STATE,11950,begin surface coast
$FINISH,0.3,1.017129
$STATE,11994,end surface coast,CONTROL_FINISHED_OK
$STATE,11994,begin surface
$SM_CCo,12015,32.47,0.350,1,0,1288,420.20
$SM_GC,0.89,0.00,0.00,32.47,0.000,0.000,0.350,474,1718,1288,-11.62,-1.50,420.20
$IRIDIUM_FIX,2244.02,-15743.68,211199,151531
$TT8_MAMPS,0.026078
$HUMID,42.32
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.70
$XPDR_PINGS,53
$24V_AH,23.6,15.223
$10V_AH,10.4,14.394
$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,26.975,141.025,464.150,32.475,0.000,40.859,29.025,166.608,13.250,0.000,16.842,1171.889,8015.045,559.593,2131.874,551.035,33.402,1388.510,0.000,2139.385,0.000,0.536,0.000
$DEVICE_MAMPS,255.411,157.235,919.633,349.752,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,400.396,364.492,453.949,823.712,1245.805,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,47941,593
$CAP_FILE_SIZE,122714,0
$CFSIZE,260165632,177786880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270810,221431,2255.344,-15742.139,66,1.3,66,10.1