version: 66.06
glider: 146
mission: 5
dive: 91
start: 8 28 110 19 28 8
data:
$ID,146
$MISSION,5
$DIVE,91
$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,-249063.86
$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,42
$R_STBD_OVSHOOT,65
$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
$GPS1,191437,2253.459,-15748.305,33,0.9,33,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.5
$GPS2,192713,2253.533,-15748.413,11,0.9,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.135,-0.171
$KALMAN_X,-80296.0,-11.8,-328.7,118832.5,-356.7
$KALMAN_Y,5734.4,53.4,-198.2,129516.1,795.4
$MHEAD_RNG_PITCHd_Wd,208.1,13499,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-85.95,0.000,6,0.000,0.000,476,1741,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.5,-6.3,11,125,12.15,2.50,0.00,0.000,4,0.163,0.026,2740,3328,3481,0,0,0,0,0,0
$GC,283,-1.06,-116.8,42.1,-14.5,31,291,0.10,2.53,0.00,0.000,6,0.098,0.033,2765,1787,3481,0,0,0,0,0,0
$GC,552,-0.98,-116.8,77.6,-12.7,56,557,0.10,2.75,0.00,0.000,4,0.137,0.067,2784,188,3481,0,0,0,0,0,0
$GC,574,-0.89,-116.8,80.9,-12.6,57,579,0.10,2.40,0.00,0.000,6,0.127,0.015,2805,1797,3481,0,0,0,0,0,0
$GC,842,-0.89,-116.8,108.8,-10.0,81,846,0.00,2.72,0.00,0.000,4,0.000,0.067,2805,193,3482,0,0,0,0,0,0
$GC,874,-0.89,-116.8,112.4,-10.6,83,879,0.00,2.33,0.00,0.000,6,0.000,0.015,2805,1766,3482,0,0,0,0,0,0
$GC,1142,-0.94,-116.8,136.3,-8.0,107,1147,0.00,2.42,0.00,0.000,4,0.000,0.030,2805,3311,3481,0,0,0,0,0,0
$GC,1177,-1.02,-116.8,139.1,-7.3,109,1182,0.12,2.50,0.00,0.000,6,0.068,0.037,2756,1757,3482,0,0,0,0,0,0
$GC,1443,-1.02,-116.8,164.3,-9.9,133,1447,0.00,2.67,0.00,0.000,4,0.000,0.071,2756,187,3482,0,0,0,0,0,0
$GC,1475,-0.97,-116.8,168.5,-11.3,135,1484,0.10,2.38,0.00,0.000,6,0.079,0.018,2783,1751,3482,0,0,0,0,0,0
$GC,1740,-1.00,-116.8,192.0,-8.9,160,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1752,3482,0,0,0,0,0,0
$GC,2006,-1.04,-116.8,213.3,-7.8,174,2010,0.00,2.67,0.00,0.000,4,0.000,0.067,2783,196,3482,0,0,0,0,0,0
$GC,2033,-1.08,-116.8,215.8,-8.9,174,2037,0.00,2.35,0.00,0.000,6,0.000,0.021,2783,1767,3482,0,0,0,0,0,0
$GC,2290,-1.13,-116.8,235.1,-7.7,181,2295,0.12,2.45,0.00,0.000,4,0.073,0.028,2742,3318,3481,0,0,0,0,0,0
$GC,2334,-1.13,-116.8,239.6,-10.0,182,2338,0.00,2.50,0.00,0.000,6,0.000,0.038,2741,1765,3481,0,0,0,0,0,0
$GC,2611,-1.13,-116.8,267.9,-10.2,189,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1765,3481,0,0,0,0,0,0
$GC,2856,-1.13,-116.8,291.8,-9.7,195,2861,0.00,2.75,0.00,0.000,4,0.000,0.081,2741,193,3480,0,0,0,0,0,0
$GC,2872,-1.13,-116.8,293.7,-10.0,195,2876,0.00,2.38,0.00,0.000,6,0.000,0.018,2741,1739,3480,0,0,0,0,0,0
$GC,3139,-1.13,-116.8,319.3,-9.2,202,3143,0.00,2.58,0.00,0.000,4,0.000,0.042,2741,3346,3480,0,0,0,0,0,0
$GC,3165,-1.13,-116.8,321.5,-8.0,202,3170,0.00,2.58,0.00,0.000,6,0.000,0.048,2742,1771,3480,0,0,0,0,0,0
$GC,3417,-1.13,-116.8,341.5,-8.0,208,3421,0.00,2.83,0.00,0.000,4,0.000,0.096,2741,188,3479,0,0,0,0,0,0
$GC,3449,-1.13,-116.8,344.5,-9.4,208,3455,0.00,2.45,0.00,0.000,6,0.000,0.024,2742,1754,3479,0,0,0,0,0,0
$GC,3699,-1.13,-116.8,364.4,-7.9,215,3704,0.00,2.75,0.00,0.000,4,0.000,0.082,2741,183,3479,0,0,0,0,0,0
$GC,3733,-1.13,-116.8,367.0,-8.1,215,3738,0.00,2.47,0.00,0.000,6,0.000,0.028,2742,1747,3479,0,0,0,0,0,0
$GC,3982,-1.13,-116.8,387.3,-8.1,222,3987,0.00,2.65,0.00,0.000,4,0.000,0.056,2741,3354,3477,0,0,0,0,0,0
$GC,4015,-1.18,-116.8,390.4,-8.9,222,4021,0.00,2.65,0.00,0.000,6,0.000,0.061,2741,1773,3477,0,0,0,0,0,0
$GC,4266,-1.18,-116.8,412.7,-8.9,229,4271,0.00,2.60,0.00,0.000,4,0.000,0.048,2741,3356,3475,0,0,0,0,0,0
$GC,4310,-1.24,-116.8,416.5,-8.0,230,4315,0.00,2.65,0.00,0.000,6,0.000,0.060,2741,1789,3475,0,0,0,0,0,0
$GC,4590,-1.24,-116.8,435.8,-6.7,237,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1789,3473,0,0,0,0,0,0
$GC,4834,-1.29,-116.8,452.4,-6.8,243,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1789,3471,0,0,0,0,0,0
$GC,5076,-1.33,-116.8,470.2,-7.5,249,5081,0.15,2.65,0.00,0.000,4,0.064,0.054,2695,3359,3470,0,0,0,0,0,0
$GC,5098,-1.33,-116.8,472.3,-8.8,249,5102,0.00,2.70,0.00,0.000,6,0.000,0.064,2694,1787,3470,0,0,0,0,0,0
$GC,5354,-1.29,-116.8,494.5,-8.7,256,5360,0.10,3.08,0.00,0.000,4,0.126,0.128,2716,183,3468,0,0,0,0,0,0
$GC,5376,-1.29,-116.8,496.7,-8.8,256,5381,0.00,2.58,0.00,0.000,6,0.000,0.040,2716,1768,3468,0,0,0,0,0,0
$STATE,5426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5427,begin apogee
$GC,5433,-0.31,0.0,500.7,7.9,258,5531,0.98,0.00,95.32,0.917,6,0.084,0.000,2933,1834,3001,0,0,0,0,0,0
$STATE,5532,end apogee,CONTROL_FINISHED_OK
$STATE,5532,begin climb
$GC,5536,1.15,116.8,502.0,0.0,260,5644,1.35,2.78,100.55,0.894,4,0.052,0.073,3260,3403,2523,0,0,0,0,0,0
$GC,5655,1.06,173.1,500.0,5.4,263,5711,0.12,2.75,48.80,0.871,6,0.128,0.058,3235,1814,2295,0,0,0,0,0,0
$GC,5995,0.98,173.7,472.8,8.0,272,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1814,2285,0,0,0,0,0,0
$GC,6239,0.91,181.5,454.0,7.7,278,6254,0.17,2.72,6.82,0.716,4,0.195,0.044,3200,3404,2260,0,0,0,0,0,0
$GC,6287,0.95,211.9,450.7,6.6,279,6323,0.00,2.72,28.23,0.858,6,0.000,0.054,3200,1815,2136,0,0,0,0,0,0
$GC,6567,0.98,232.6,431.2,7.1,286,6590,0.00,0.00,18.83,0.836,6,0.000,0.000,3200,1815,2051,0,0,0,0,0,0
$GC,6852,0.98,232.6,407.7,8.5,293,6856,0.00,2.62,0.00,0.000,4,0.000,0.044,3200,3407,2046,0,0,0,0,0,0
$GC,6909,1.04,232.6,402.9,8.4,294,6914,0.12,2.70,0.00,0.000,6,0.084,0.052,3232,1813,2045,0,0,0,0,0,0
$GC,7176,1.04,232.6,378.2,9.2,301,7180,0.00,2.58,0.00,0.000,4,0.000,0.035,3232,3407,2043,0,0,0,0,0,0
$GC,7215,1.04,232.6,374.5,9.1,302,7219,0.00,2.67,0.00,0.000,6,0.000,0.050,3232,1813,2042,0,0,0,0,0,0
$GC,7499,1.04,232.6,348.8,9.1,309,7503,0.00,2.80,0.00,0.000,4,0.000,0.081,3232,235,2042,0,0,0,0,0,0
$GC,7548,0.97,232.6,343.3,10.7,310,7553,0.00,2.50,0.00,0.000,6,0.000,0.020,3233,1836,2040,0,0,0,0,0,0
$GC,7821,0.97,232.6,319.0,8.9,317,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1837,2040,0,0,0,0,0,0
$GC,8063,0.97,232.6,297.4,8.7,323,8067,0.00,2.50,0.00,0.000,4,0.000,0.035,3232,3401,2039,0,0,0,0,0,0
$GC,8079,0.97,232.6,296.0,8.7,323,8084,0.00,2.60,0.00,0.000,6,0.000,0.041,3233,1811,2039,0,0,0,0,0,0
$GC,8340,0.97,232.6,273.5,8.6,330,8345,0.00,2.55,0.00,0.000,4,0.000,0.036,3233,3396,2038,0,0,0,0,0,0
$GC,8386,0.97,232.6,269.2,9.3,331,8390,0.00,2.55,0.00,0.000,6,0.000,0.041,3232,1829,2037,0,0,0,0,0,0
$GC,8663,0.97,232.6,242.5,9.6,338,8668,0.00,2.75,0.00,0.000,4,0.000,0.072,3232,236,2037,0,0,0,0,0,0
$GC,8678,0.97,232.6,240.8,9.6,338,8682,0.00,2.50,0.00,0.000,6,0.000,0.024,3232,1850,2037,0,0,0,0,0,0
$GC,8947,0.98,237.6,218.9,7.8,345,8951,0.00,2.42,0.00,0.000,4,0.000,0.030,3232,3386,2037,0,0,0,0,0,0
$GC,9020,0.98,242.8,213.2,7.8,346,9034,0.00,2.50,7.95,0.618,6,0.000,0.038,3232,1841,2010,0,0,0,0,0,0
$GC,9294,1.00,257.1,194.0,7.3,357,9316,0.00,0.00,14.15,0.650,6,0.000,0.000,3232,1841,1951,0,0,0,0,0,0
$GC,9571,1.00,257.1,169.7,8.6,383,9575,0.00,2.72,0.00,0.000,4,0.000,0.068,3232,242,1950,0,0,0,0,0,0
$GC,9604,1.00,257.1,167.0,9.9,385,9608,0.00,2.47,0.00,0.000,6,0.000,0.019,3232,1863,1949,0,0,0,0,0,0
$GC,9872,1.04,260.8,145.5,7.8,409,9883,0.00,2.42,4.47,0.456,4,0.000,0.033,3233,3379,1937,0,0,0,0,0,0
$GC,9946,1.12,260.8,139.4,8.2,415,9950,0.00,2.45,0.00,0.000,6,0.000,0.033,3232,1868,1936,0,0,0,0,0,0
$GC,10214,1.21,278.1,120.1,7.2,439,10238,0.12,2.83,16.60,0.591,4,0.082,0.061,3269,238,1867,0,0,0,0,0,0
$GC,10266,1.16,278.1,115.1,10.5,443,10270,0.00,2.50,0.00,0.000,6,0.000,0.024,3269,1872,1866,0,0,0,0,0,0
$GC,10533,1.16,278.1,90.1,9.4,467,10537,0.00,2.38,0.00,0.000,4,0.000,0.029,3269,3382,1865,0,0,0,0,0,0
$GC,10615,1.22,278.1,82.3,9.2,473,10619,0.00,2.40,0.00,0.000,6,0.000,0.033,3269,1887,1864,0,0,0,0,0,0
$GC,10882,1.26,311.5,63.7,6.5,497,10921,0.00,0.00,29.62,0.555,6,0.000,0.000,3269,1887,1730,0,0,0,0,0,0
$GC,11179,1.26,311.5,39.3,9.1,525,11183,0.00,2.83,0.00,0.000,4,0.000,0.065,3269,237,1728,0,0,0,0,0,0
$GC,11211,1.26,311.5,35.7,10.4,527,11215,0.00,2.55,0.00,0.000,6,0.000,0.018,3269,1898,1727,0,0,0,0,0,0
$GC,11526,1.26,311.5,6.8,8.9,570,11535,0.00,2.83,0.00,0.000,4,0.000,0.055,3269,248,1727,0,0,0,0,0,0
$STATE,11556,end climb,SURFACE_DEPTH_REACHED
$STATE,11556,begin surface coast
$FINISH,0.1,1.010468
$STATE,11612,end surface coast,CONTROL_FINISHED_OK
$STATE,11612,begin surface
$SM_CCo,11636,93.85,0.456,1,0,1287,420.20
$SM_GC,0.95,0.00,0.00,93.85,0.000,0.000,0.456,477,1832,1287,-11.61,1.75,420.20
$IRIDIUM_FIX,2244.02,-15748.90,221199,191956
$TT8_MAMPS,0.025311
$HUMID,41.37
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.10
$XPDR_PINGS,60
$24V_AH,23.6,16.072
$10V_AH,10.4,15.301
$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,27.150,155.575,371.350,93.850,0.000,70.995,97.576,290.605,15.000,0.000,12.926,1178.211,7800.104,571.249,2131.004,811.380,33.374,1362.407,0.000,2138.099,0.000,0.536,0.000
$DEVICE_MAMPS,194.818,208.624,916.565,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.134,365.271,447.337,843.647,1276.438,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,44805,582
$CAP_FILE_SIZE,127152,0
$CFSIZE,260165632,177344512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280810,224507,2252.747,-15749.678,41,1.5,41,10.1