version: 66.06
glider: 146
mission: 5
dive: 88
start: 8 28 110 9 6 45
data:
$ID,146
$MISSION,5
$DIVE,88
$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,120
$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,-248997
$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,37
$R_STBD_OVSHOOT,60
$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
$GPS1,085936,2256.817,-15743.268,39,1.0,50,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-64.7
$GPS2,090550,2256.837,-15743.322,11,1.0,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.148,-0.160
$KALMAN_X,-77599.3,-62.3,-87.0,124705.8,-637.4
$KALMAN_Y,6033.1,-147.2,248.7,135093.6,325.8
$MHEAD_RNG_PITCHd_Wd,212.5,24126,-16.1,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.15,-116.8,0.0,0.0,0,98,0.00,0.00,-78.55,0.000,2,0.000,0.000,474,1754,3242,0,0,0,0,0,0
$GC,101,-1.15,-116.8,3.0,-3.6,10,127,12.07,2.65,-4.47,0.000,4,0.160,0.068,2742,200,3478,0,0,0,0,0,0
$GC,268,-1.00,-116.8,37.1,-14.7,31,273,0.17,2.40,0.00,0.000,6,0.112,0.015,2778,1780,3478,0,0,0,0,0,0
$GC,536,-0.92,-116.8,71.2,-12.8,55,541,0.10,2.70,0.00,0.000,4,0.137,0.059,2797,199,3478,0,0,0,0,0,0
$GC,558,-0.84,-116.8,74.1,-11.8,56,562,0.00,2.38,0.00,0.000,6,0.000,0.016,2797,1774,3478,0,0,0,0,0,0
$GC,819,-0.84,-116.8,101.8,-10.1,80,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1776,3478,0,0,0,0,0,0
$GC,1074,-0.84,-116.8,126.6,-9.5,104,1078,0.00,2.67,0.00,0.000,4,0.000,0.062,2797,197,3480,0,0,0,0,0,0
$GC,1093,-0.84,-116.8,128.3,-9.1,105,1098,0.00,2.33,0.00,0.000,6,0.000,0.016,2797,1775,3480,0,0,0,0,0,0
$GC,1362,-0.89,-116.8,150.3,-7.9,129,1366,0.00,2.40,0.00,0.000,4,0.000,0.032,2798,3303,3480,0,0,0,0,0,0
$GC,1391,-0.97,-116.8,153.0,-8.0,131,1396,0.00,2.47,0.00,0.000,6,0.000,0.035,2797,1753,3480,0,0,0,0,0,0
$GC,1654,-1.03,-116.8,174.6,-8.8,155,1658,0.00,2.65,0.00,0.000,4,0.000,0.071,2797,192,3480,0,0,0,0,0,0
$GC,1675,-1.08,-116.8,176.8,-9.1,156,1685,0.10,2.35,0.00,0.000,6,0.044,0.022,2753,1755,3480,0,0,0,0,0,0
$GC,1958,-1.08,-116.8,205.0,-9.7,180,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1756,3480,0,0,0,0,0,0
$GC,2199,-1.08,-116.8,228.3,-9.4,186,2203,0.00,2.67,0.00,0.000,4,0.000,0.067,2752,190,3479,0,0,0,0,0,0
$GC,2214,-1.08,-116.8,230.1,-9.7,186,2218,0.00,2.30,0.00,0.000,6,0.000,0.023,2753,1749,3480,0,0,0,0,0,0
$GC,2481,-1.08,-116.8,255.0,-9.1,193,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1750,3480,0,0,0,0,0,0
$GC,2726,-1.08,-116.8,276.5,-8.7,199,2730,0.00,2.70,0.00,0.000,4,0.000,0.071,2753,197,3479,0,0,0,0,0,0
$GC,2741,-1.08,-116.8,278.0,-8.7,199,2745,0.00,2.35,0.00,0.000,6,0.000,0.019,2753,1720,3479,0,0,0,0,0,0
$GC,3008,-1.08,-116.8,302.5,-9.1,206,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1720,3479,0,0,0,0,0,0
$GC,3252,-1.08,-116.8,324.5,-8.9,212,3256,0.00,2.60,0.00,0.000,4,0.000,0.041,2753,3339,3478,0,0,0,0,0,0
$GC,3279,-1.08,-116.8,327.1,-9.6,212,3284,0.00,2.62,0.00,0.000,6,0.000,0.044,2753,1752,3478,0,0,0,0,0,0
$GC,3529,-1.08,-116.8,348.6,-8.4,218,3533,0.00,2.55,0.00,0.000,4,0.000,0.042,2753,3336,3478,0,0,0,0,0,0
$GC,3556,-1.12,-116.8,350.9,-7.8,218,3561,0.00,2.62,0.00,0.000,6,0.000,0.050,2753,1760,3478,0,0,0,0,0,0
$GC,3807,-1.12,-116.8,370.1,-7.8,224,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1759,3476,0,0,0,0,0,0
$GC,4050,-1.16,-116.8,388.4,-7.3,230,4055,0.00,2.55,0.00,0.000,4,0.000,0.042,2753,3329,3475,0,0,0,0,0,0
$GC,4067,-1.20,-116.8,389.6,-7.0,230,4071,0.00,2.60,0.00,0.000,6,0.000,0.054,2753,1769,3475,0,0,0,0,0,0
$GC,4329,-1.25,-116.8,407.1,-6.5,237,4335,0.10,2.90,0.00,0.000,4,0.091,0.099,2718,181,3474,0,0,0,0,0,0
$GC,4351,-1.25,-116.8,409.0,-7.9,237,4356,0.00,2.50,0.00,0.000,6,0.000,0.027,2718,1752,3474,0,0,0,0,0,0
$GC,4607,-1.25,-116.8,427.7,-7.3,244,4611,0.00,2.78,0.00,0.000,4,0.000,0.088,2718,185,3472,0,0,0,0,0,0
$GC,4623,-1.25,-116.8,429.1,-7.8,244,4628,0.00,2.53,0.00,0.000,6,0.000,0.035,2718,1763,3472,0,0,0,0,0,0
$GC,4884,-1.25,-116.8,453.0,-9.4,251,4888,0.00,2.67,0.00,0.000,4,0.000,0.067,2718,3357,3470,0,0,0,0,0,0
$GC,4933,-1.25,-116.8,457.6,-9.6,252,4937,0.00,2.70,0.00,0.000,6,0.000,0.062,2719,1772,3470,0,0,0,0,0,0
$GC,5207,-1.25,-116.8,480.0,-8.0,259,5211,0.00,2.65,0.00,0.000,4,0.000,0.057,2718,3360,3468,0,0,0,0,0,0
$GC,5239,-1.25,-116.8,482.6,-7.6,259,5245,0.00,2.67,0.00,0.000,6,0.000,0.061,2718,1793,3467,0,0,0,0,0,0
$GC,5490,-1.25,-116.8,499.7,-6.8,266,5494,0.00,2.08,0.00,0.000,3,0.000,0.053,2718,3051,3466,0,0,0,0,0,0
$STATE,5494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5494,begin apogee
$GC,5503,-0.31,0.0,500.1,6.7,266,5602,0.93,0.00,94.90,0.916,6,0.086,0.000,2927,1813,3000,0,0,0,0,0,0
$STATE,5603,end apogee,CONTROL_FINISHED_OK
$STATE,5603,begin climb
$GC,5605,1.15,116.8,501.3,0.0,268,5710,1.38,0.00,100.72,0.890,6,0.048,0.000,3254,1814,2524,0,0,0,0,0,0
$GC,5945,1.01,118.1,480.1,8.0,277,5950,0.17,2.72,0.00,0.000,4,0.193,0.048,3219,3410,2514,0,0,0,0,0,0
$GC,6032,0.97,136.4,473.9,7.2,279,6055,0.00,2.72,16.42,0.831,6,0.000,0.054,3219,1819,2444,0,0,0,0,0,0
$GC,6320,0.94,157.4,453.7,7.0,286,6344,0.00,2.72,19.00,0.841,4,0.000,0.047,3219,3417,2359,0,0,0,0,0,0
$GC,6412,0.94,157.4,446.8,8.1,288,6416,0.00,2.72,0.00,0.000,6,0.000,0.055,3219,1825,2355,0,0,0,0,0,0
$GC,6690,0.92,186.3,427.8,6.7,295,6723,0.00,2.67,26.08,0.851,4,0.000,0.042,3219,3421,2241,0,0,0,0,0,0
$GC,6776,0.92,187.0,421.6,8.0,297,6781,0.00,2.72,0.00,0.000,6,0.000,0.051,3219,1823,2238,0,0,0,0,0,0
$GC,7060,0.97,224.9,402.7,6.3,304,7102,0.00,2.97,34.55,0.848,4,0.000,0.094,3219,232,2082,0,0,0,0,0,0
$GC,7136,0.90,224.9,396.9,9.0,305,7142,0.10,2.60,0.00,0.000,6,0.135,0.026,3199,1855,2079,0,0,0,0,0,0
$GC,7386,0.94,224.9,376.0,8.8,311,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1856,2076,0,0,0,0,0,0
$GC,7630,0.94,224.9,354.2,8.8,317,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1856,2074,0,0,0,0,0,0
$GC,7875,0.99,224.9,331.9,9.1,323,7879,0.00,2.47,0.00,0.000,4,0.000,0.039,3199,3405,2073,0,0,0,0,0,0
$GC,7930,1.06,224.9,327.3,8.1,324,7935,0.15,2.60,0.00,0.000,6,0.076,0.042,3238,1826,2071,0,0,0,0,0,0
$GC,8197,1.06,224.9,304.7,8.4,331,8201,0.00,2.78,0.00,0.000,4,0.000,0.080,3238,241,2070,0,0,0,0,0,0
$GC,8208,1.06,224.9,303.8,8.4,331,8212,0.00,2.50,0.00,0.000,6,0.000,0.020,3238,1857,2069,0,0,0,0,0,0
$GC,8474,1.06,224.9,280.5,8.9,338,8478,0.00,2.45,0.00,0.000,4,0.000,0.035,3238,3398,2069,0,0,0,0,0,0
$GC,8506,1.06,224.9,277.5,9.1,338,8512,0.00,2.53,0.00,0.000,6,0.000,0.038,3237,1843,2068,0,0,0,0,0,0
$GC,8757,1.06,224.9,256.2,8.5,345,8762,0.00,2.78,0.00,0.000,4,0.000,0.070,3237,237,2068,0,0,0,0,0,0
$GC,8791,0.99,224.9,252.9,10.0,345,8797,0.10,2.50,0.00,0.000,6,0.136,0.021,3217,1843,2067,0,0,0,0,0,0
$GC,9042,1.04,235.0,233.9,7.5,352,9056,0.00,2.83,7.43,0.625,4,0.000,0.064,3216,243,2042,0,0,0,0,0,0
$GC,9063,1.05,250.1,232.3,7.3,352,9084,0.00,2.50,15.12,0.683,6,0.000,0.023,3216,1853,1981,0,0,0,0,0,0
$GC,9330,1.10,250.1,210.6,8.4,359,9335,0.10,2.45,0.00,0.000,4,0.091,0.031,3244,3382,1978,0,0,0,0,0,0
$GC,9415,1.10,250.1,201.8,10.1,361,9419,0.00,2.47,0.00,0.000,6,0.000,0.037,3243,1850,1977,0,0,0,0,0,0
$GC,9679,1.10,250.1,175.5,10.1,383,9684,0.00,2.47,0.00,0.000,4,0.000,0.030,3244,3385,1977,0,0,0,0,0,0
$GC,9713,1.10,250.1,171.8,10.4,385,9719,0.00,2.47,0.00,0.000,6,0.000,0.035,3243,1857,1977,0,0,0,0,0,0
$GC,9975,1.10,250.1,147.9,8.6,410,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1857,1977,0,0,0,0,0,0
$GC,10229,1.10,250.1,125.5,8.8,434,10233,0.00,2.40,0.00,0.000,4,0.000,0.031,3243,3384,1977,0,0,0,0,0,0
$GC,10265,1.15,250.1,122.4,9.2,436,10273,0.00,2.47,0.00,0.000,6,0.000,0.033,3243,1869,1977,0,0,0,0,0,0
$GC,10531,1.23,279.5,101.3,6.6,461,10566,0.10,2.83,26.40,0.591,4,0.088,0.061,3273,243,1860,0,0,0,0,0,0
$GC,10608,1.17,279.5,94.9,10.1,467,10613,0.00,2.50,0.00,0.000,6,0.000,0.018,3273,1873,1857,0,0,0,0,0,0
$GC,10875,1.18,290.8,73.6,7.5,491,10893,0.00,0.00,10.75,0.530,6,0.000,0.000,3273,1875,1814,0,0,0,0,0,0
$GC,11153,1.18,290.8,51.7,9.8,517,11158,0.00,2.78,0.00,0.000,4,0.000,0.058,3273,242,1812,0,0,0,0,0,0
$GC,11175,1.18,290.8,48.7,9.8,518,11185,0.00,2.50,0.00,0.000,6,0.000,0.018,3273,1864,1811,0,0,0,0,0,0
$GC,11458,1.18,290.8,23.2,9.4,548,11467,0.00,2.40,0.00,0.000,4,0.000,0.027,3273,3381,1811,0,0,0,0,0,0
$GC,11498,1.23,290.8,19.5,9.1,553,11507,0.00,2.47,0.00,0.000,6,0.000,0.031,3273,1861,1811,0,0,0,0,0,0
$STATE,11664,end climb,SURFACE_DEPTH_REACHED
$STATE,11664,begin surface coast
$FINISH,0.3,1.009890
$STATE,11723,end surface coast,CONTROL_FINISHED_OK
$STATE,11723,begin surface
$SM_CCo,11745,116.82,0.469,1,0,1287,420.20
$SM_GC,1.01,0.00,0.00,116.82,0.000,0.000,0.469,475,1734,1287,-11.62,-1.02,420.20
$IRIDIUM_FIX,2248.70,-15745.85,221199,050530
$TT8_MAMPS,0.025311
$HUMID,42.12
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.90
$XPDR_PINGS,57
$24V_AH,23.6,15.718
$10V_AH,10.4,14.924
$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,26.925,154.350,351.375,116.825,0.000,30.564,32.430,176.859,14.250,0.000,12.519,1179.583,7790.801,575.060,2159.449,535.837,33.365,1362.472,0.000,2164.556,0.000,0.536,0.000
$DEVICE_MAMPS,192.517,98.943,915.798,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,395.668,354.148,449.127,853.305,1290.507,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,44696,585
$CAP_FILE_SIZE,122235,0
$CFSIZE,260165632,177537024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280810,122554,2255.697,-15744.626,22,1.1,40,10.1