version: 66.06
glider: 146
mission: 5
dive: 86
start: 8 28 110 1 57 25
data:
$ID,146
$MISSION,5
$DIVE,86
$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,-248967.3
$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,44
$R_STBD_OVSHOOT,68
$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
$GPS1,015024,2256.470,-15741.954,24,1.8,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.4
$GPS2,015631,2256.432,-15742.011,18,2.0,35,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.116,0.220
$KALMAN_X,-75716.9,179.7,197.5,124552.6,-1436.7
$KALMAN_Y,5683.9,12.0,50.3,134735.5,-749.6
$MHEAD_RNG_PITCHd_Wd,17.7,2903,-13.4,-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,-1.01,-146.0,0.0,0.0,0,96,0.00,0.00,-78.30,0.000,2,0.000,0.000,474,1745,3216,0,0,0,0,0,0
$GC,99,-1.01,-146.0,3.0,-3.7,10,125,12.15,2.50,-7.38,0.000,4,0.157,0.035,2770,3328,3601,0,0,0,0,0,0
$GC,176,-0.87,-146.0,20.4,-14.1,20,184,0.15,2.53,0.00,0.000,6,0.088,0.031,2806,1783,3602,0,0,0,0,0,0
$GC,464,-0.76,-146.0,54.7,-12.0,51,469,0.12,2.72,0.00,0.000,4,0.113,0.061,2833,192,3602,0,0,0,0,0,0
$GC,500,-0.69,-146.0,59.8,-11.5,53,509,0.00,2.42,0.00,0.000,6,0.000,0.015,2833,1787,3602,0,0,0,0,0,0
$GC,761,-0.69,-146.0,84.7,-8.8,78,766,0.00,2.72,0.00,0.000,4,0.000,0.058,2833,190,3602,0,0,0,0,0,0
$GC,791,-0.69,-146.0,87.2,-9.2,80,795,0.00,2.35,0.00,0.000,6,0.000,0.017,2833,1765,3602,0,0,0,0,0,0
$GC,1054,-0.69,-146.0,107.6,-7.2,104,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1767,3603,0,0,0,0,0,0
$GC,1307,-0.69,-146.0,129.1,-9.4,128,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1767,3603,0,0,0,0,0,0
$GC,1562,-0.74,-146.0,151.7,-7.5,152,1566,0.00,2.67,0.00,0.000,4,0.000,0.064,2833,193,3603,0,0,0,0,0,0
$GC,1596,-0.80,-146.0,154.0,-8.3,154,1601,0.00,2.35,0.00,0.000,6,0.000,0.017,2833,1761,3603,0,0,0,0,0,0
$GC,1863,-0.85,-146.0,170.8,-6.3,178,1868,0.00,2.42,0.00,0.000,4,0.000,0.026,2833,3311,3604,0,0,0,0,0,0
$GC,1886,-0.93,-146.0,172.8,-6.6,179,1892,0.15,2.47,0.00,0.000,6,0.062,0.033,2776,1750,3604,0,0,0,0,0,0
$GC,2150,-0.88,-146.0,195.9,-8.7,204,2155,0.15,2.67,0.00,0.000,4,0.097,0.068,2811,196,3603,0,0,0,0,0,0
$GC,2191,-0.92,-146.0,199.4,-7.9,207,2195,0.00,2.33,0.00,0.000,6,0.000,0.024,2811,1767,3603,0,0,0,0,0,0
$GC,2453,-0.92,-146.0,215.7,-6.0,214,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1768,3603,0,0,0,0,0,0
$GC,2695,-0.92,-146.0,231.2,-6.5,220,2699,0.00,2.42,0.00,0.000,4,0.000,0.027,2810,3314,3603,0,0,0,0,0,0
$GC,2737,-0.99,-146.0,234.2,-7.6,221,2742,0.12,2.47,0.00,0.000,6,0.071,0.030,2767,1769,3603,0,0,0,0,0,0
$GC,3022,-0.94,-146.0,261.6,-9.8,228,3027,0.12,2.75,0.00,0.000,4,0.107,0.077,2796,196,3602,0,0,0,0,0,0
$GC,3055,-0.94,-146.0,264.4,-7.8,228,3061,0.00,2.35,0.00,0.000,6,0.000,0.017,2796,1741,3603,0,0,0,0,0,0
$GC,3307,-0.94,-146.0,278.9,-5.4,235,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1741,3602,0,0,0,0,0,0
$GC,3549,-0.94,-146.0,295.4,-7.0,241,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1741,3602,0,0,0,0,0,0
$GC,3793,-0.94,-146.0,313.2,-7.1,247,3797,0.00,2.55,0.00,0.000,4,0.000,0.043,2796,3333,3601,0,0,0,0,0,0
$GC,3834,-1.03,-146.0,315.6,-6.6,248,3838,0.00,2.55,0.00,0.000,6,0.000,0.047,2796,1771,3601,0,0,0,0,0,0
$GC,4119,-1.07,-146.0,332.7,-6.0,255,4124,0.12,2.85,0.00,0.000,4,0.071,0.094,2753,183,3600,0,0,0,0,0,0
$GC,4169,-1.07,-146.0,337.2,-9.3,256,4173,0.00,2.42,0.00,0.000,6,0.000,0.025,2753,1742,3599,0,0,0,0,0,0
$GC,4448,-1.03,-146.0,362.2,-8.9,263,4453,0.10,2.65,0.00,0.000,4,0.118,0.045,2774,3354,3598,0,0,0,0,0,0
$GC,4475,-1.03,-146.0,364.8,-8.1,263,4480,0.00,2.65,0.00,0.000,6,0.000,0.051,2774,1761,3598,0,0,0,0,0,0
$GC,4726,-1.03,-146.0,382.9,-7.0,269,4730,0.00,2.88,0.00,0.000,4,0.000,0.100,2774,186,3597,0,0,0,0,0,0
$GC,4766,-1.03,-146.0,385.6,-6.9,270,4771,0.00,2.50,0.00,0.000,6,0.000,0.029,2774,1759,3596,0,0,0,0,0,0
$GC,5050,-1.03,-146.0,404.1,-6.7,277,5054,0.00,2.62,0.00,0.000,4,0.000,0.060,2774,3354,3595,0,0,0,0,0,0
$GC,5090,-1.08,-146.0,406.6,-6.4,278,5094,0.00,2.70,0.00,0.000,6,0.000,0.055,2774,1757,3595,0,0,0,0,0,0
$GC,5374,-1.08,-146.0,424.4,-6.2,285,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1757,3594,0,0,0,0,0,0
$GC,5617,-1.08,-146.0,440.3,-6.5,291,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1757,3592,0,0,0,0,0,0
$GC,5861,-1.12,-146.0,456.1,-6.3,297,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1757,3590,0,0,0,0,0,0
$GC,6105,-1.12,-146.0,469.7,-5.6,303,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1757,3588,0,0,0,0,0,0
$GC,6348,-1.16,-146.0,485.0,-6.3,309,6353,0.12,2.70,0.00,0.000,4,0.077,0.061,2736,3354,3587,0,0,0,0,0,0
$GC,6375,-1.16,-146.0,487.2,-7.9,309,6380,0.00,2.78,0.00,0.000,6,0.000,0.067,2735,1757,3587,0,0,0,0,0,0
$STATE,6541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6542,begin apogee
$GC,6549,-0.31,0.0,500.9,8.2,313,6672,0.88,0.00,119.43,0.927,6,0.081,0.000,2932,1834,3001,0,0,0,0,0,0
$STATE,6673,end apogee,CONTROL_FINISHED_OK
$STATE,6673,begin climb
$GC,6675,1.01,146.0,504.8,0.0,316,6809,1.20,2.67,124.28,0.902,4,0.054,0.055,3225,3390,2404,0,0,0,0,0,0
$GC,6840,0.90,178.3,502.0,6.9,320,6875,0.15,2.78,28.83,0.862,6,0.118,0.062,3196,1817,2273,0,0,0,0,0,0
$GC,7127,0.84,202.8,481.2,7.2,327,7156,0.00,2.75,21.48,0.850,4,0.000,0.044,3197,3392,2173,0,0,0,0,0,0
$GC,7175,0.80,219.2,477.5,7.5,328,7196,0.10,2.75,15.68,0.821,6,0.129,0.058,3177,1818,2107,0,0,0,0,0,0
$GC,7453,0.80,223.0,456.0,7.9,335,7459,0.00,0.00,4.10,0.567,6,0.000,0.000,3177,1818,2090,0,0,0,0,0,0
$GC,7698,0.82,235.1,437.6,7.6,341,7718,0.00,2.70,12.20,0.811,4,0.000,0.048,3177,3392,2041,0,0,0,0,0,0
$GC,7730,0.82,240.3,434.8,7.8,341,7741,0.00,2.70,6.22,0.689,6,0.000,0.056,3177,1818,2021,0,0,0,0,0,0
$GC,7985,0.82,241.0,414.3,8.0,348,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1818,2017,0,0,0,0,0,0
$GC,8230,0.89,296.3,398.7,6.1,354,8287,0.00,2.67,50.62,0.858,4,0.000,0.041,3177,3391,1791,0,0,0,0,0,0
$GC,8304,0.90,301.4,393.3,7.8,355,8315,0.00,2.67,5.80,0.650,6,0.000,0.050,3177,1821,1772,0,0,0,0,0,0
$GC,8594,0.90,302.1,370.4,8.0,363,8598,0.00,2.92,0.00,0.000,4,0.000,0.096,3177,229,1766,0,0,0,0,0,0
$GC,8627,0.90,302.1,367.4,9.7,363,8633,0.00,2.50,0.00,0.000,6,0.000,0.027,3177,1816,1764,0,0,0,0,0,0
$GC,8877,0.91,308.2,347.6,7.8,370,8885,0.00,0.00,6.32,0.673,6,0.000,0.000,3177,1817,1744,0,0,0,0,0,0
$GC,9121,0.92,316.1,328.9,7.7,376,9132,0.10,0.00,8.70,0.719,6,0.098,0.000,3205,1817,1712,0,0,0,0,0,0
$GC,9365,0.92,316.1,306.7,9.2,382,9370,0.00,2.78,0.00,0.000,4,0.000,0.073,3204,234,1709,0,0,0,0,0,0
$GC,9381,0.87,316.1,305.1,9.0,382,9386,0.00,2.47,0.00,0.000,6,0.000,0.020,3205,1824,1708,0,0,0,0,0,0
$GC,9642,0.87,316.1,282.8,8.5,389,9646,0.00,2.55,0.00,0.000,4,0.000,0.033,3205,3394,1708,0,0,0,0,0,0
$GC,9664,0.87,316.1,280.9,8.4,389,9669,0.00,2.62,0.00,0.000,6,0.000,0.035,3205,1794,1707,0,0,0,0,0,0
$GC,9919,0.87,316.1,256.6,9.7,396,9923,0.00,2.70,0.00,0.000,4,0.000,0.077,3205,241,1707,0,0,0,0,0,0
$GC,9946,0.81,316.1,253.8,10.6,396,9951,0.12,2.45,0.00,0.000,6,0.117,0.021,3180,1816,1706,0,0,0,0,0,0
$GC,10197,0.90,348.2,235.8,6.9,402,10232,0.00,2.58,28.50,0.724,4,0.000,0.036,3180,3379,1580,0,0,0,0,0,0
$GC,10250,0.99,368.9,232.0,7.3,403,10275,0.15,2.58,19.55,0.696,6,0.070,0.035,3220,1805,1497,0,0,0,0,0,0
$GC,10521,0.99,368.9,206.5,9.8,409,10525,0.00,2.72,0.00,0.000,4,0.000,0.072,3220,240,1493,0,0,0,0,0,0
$GC,10536,0.93,368.9,204.7,10.0,409,10541,0.00,2.45,0.00,0.000,6,0.000,0.024,3220,1835,1492,0,0,0,0,0,0
$GC,10801,0.93,368.9,178.0,10.8,430,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1837,1492,0,0,0,0,0,0
$GC,11067,0.93,368.9,148.4,11.0,455,11072,0.00,2.75,0.00,0.000,4,0.000,0.063,3220,240,1492,0,0,0,0,0,0
$GC,11107,0.89,368.9,143.5,10.4,458,11112,0.12,2.42,0.00,0.000,6,0.112,0.025,3193,1812,1491,0,0,0,0,0,0
$GC,11368,0.95,368.9,119.8,8.4,482,11370,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1813,1491,0,0,0,0,0,0
$GC,11625,1.07,395.0,99.7,7.1,506,11663,0.15,2.75,23.80,0.588,4,0.183,0.061,3235,238,1388,0,0,0,0,0,0
$GC,11681,1.03,395.0,94.6,9.6,510,11690,0.00,2.45,0.00,0.000,6,0.000,0.023,3235,1806,1387,0,0,0,0,0,0
$GC,11947,1.04,405.6,71.2,7.6,535,11962,0.00,2.70,10.32,0.525,4,0.000,0.059,3235,241,1345,0,0,0,0,0,0
$GC,12005,1.04,405.6,66.7,8.5,539,12009,0.00,2.35,0.00,0.000,6,0.000,0.018,3235,1788,1345,0,0,0,0,0,0
$GC,12271,1.04,405.6,43.5,9.6,563,12275,0.00,2.47,0.00,0.000,4,0.000,0.027,3235,3375,1344,0,0,0,0,0,0
$GC,12280,1.04,405.6,42.0,8.5,563,12290,0.00,2.58,0.00,0.000,6,0.000,0.028,3235,1775,1344,0,0,0,0,0,0
$GC,12574,1.04,405.6,18.2,9.0,598,12582,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1776,1345,0,0,0,0,0,0
$STATE,12759,end climb,SURFACE_DEPTH_REACHED
$STATE,12759,begin surface coast
$FINISH,0.3,1.022388
$STATE,12836,end surface coast,CONTROL_FINISHED_OK
$STATE,12837,begin surface
$SM_CCo,12857,24.02,0.288,1,0,1288,420.20
$SM_GC,0.87,0.00,0.00,24.02,0.000,0.000,0.288,469,1771,1288,-11.65,0.03,420.20
$IRIDIUM_FIX,2248.70,-15740.63,211199,222248
$TT8_MAMPS,0.026078
$HUMID,43.03
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.00
$XPDR_PINGS,57
$24V_AH,23.5,15.487
$10V_AH,10.4,14.666
$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,27.425,145.625,485.825,24.025,0.000,28.679,28.138,153.707,14.250,0.000,36.608,1263.421,8547.271,580.611,2328.388,531.793,33.368,1418.964,0.000,2312.519,0.000,0.538,0.000
$DEVICE_MAMPS,183.313,204.022,926.536,288.392,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,431.231,382.333,485.782,938.734,1419.872,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,51127,637
$CAP_FILE_SIZE,130099,0
$CFSIZE,260165632,177647616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280810,053331,2257.760,-15741.988,38,1.9,38,10.1