version: 66.06
glider: 146
mission: 5
dive: 92
start: 8 28 110 22 52 37
data:
$ID,146
$MISSION,5
$DIVE,92
$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,-249098.34
$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,28
$R_STBD_OVSHOOT,61
$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
$GPS1,224507,2252.747,-15749.678,41,1.5,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-65.0
$GPS2,225142,2252.793,-15749.712,12,99.0,31,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.184,-0.117
$KALMAN_X,-81353.6,78.7,86.4,117149.7,-791.2
$KALMAN_Y,5691.0,120.1,549.2,127377.6,-607.3
$MHEAD_RNG_PITCHd_Wd,227.4,10894,-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,16,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-85.68,0.000,6,0.000,0.000,477,1833,3478,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.3,-6.0,11,125,11.90,2.78,0.00,0.000,4,0.155,0.050,2739,191,3481,0,0,0,0,0,0
$GC,270,-0.99,-116.8,42.2,-16.7,29,275,0.20,2.42,0.00,0.000,6,0.112,0.022,2781,1781,3481,0,0,0,0,0,0
$GC,538,-0.90,-116.8,78.9,-12.7,53,547,0.10,0.00,0.00,0.000,6,0.136,0.000,2800,1783,3481,0,0,0,0,0,0
$GC,799,-0.90,-116.8,104.3,-8.5,78,803,0.00,2.42,0.00,0.000,4,0.000,0.031,2800,3332,3481,0,0,0,0,0,0
$GC,820,-0.90,-116.8,105.7,-8.1,79,825,0.00,2.53,0.00,0.000,6,0.000,0.037,2800,1760,3482,0,0,0,0,0,0
$GC,1088,-0.90,-116.8,128.3,-9.1,103,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1760,3482,0,0,0,0,0,0
$GC,1349,-0.95,-116.8,151.8,-8.8,128,1354,0.00,2.65,0.00,0.000,4,0.000,0.064,2800,197,3482,0,0,0,0,0,0
$GC,1383,-1.00,-116.8,154.5,-9.5,130,1387,0.00,2.38,0.00,0.000,6,0.000,0.015,2800,1786,3482,0,0,0,0,0,0
$GC,1652,-1.06,-116.8,175.7,-7.5,154,1657,0.12,0.00,0.00,0.000,6,0.073,0.000,2757,1787,3482,0,0,0,0,0,0
$GC,1914,-1.06,-116.8,198.3,-8.6,179,1918,0.00,2.40,0.00,0.000,4,0.000,0.031,2757,3314,3482,0,0,0,0,0,0
$GC,1936,-1.06,-116.8,200.4,-9.1,180,1946,0.00,2.53,0.00,0.000,6,0.000,0.030,2757,1758,3482,0,0,0,0,0,0
$GC,2186,-1.06,-116.8,224.9,-10.1,187,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1758,3482,0,0,0,0,0,0
$GC,2431,-1.06,-116.8,246.5,-8.6,193,2435,0.00,2.47,0.00,0.000,4,0.000,0.035,2757,3313,3482,0,0,0,0,0,0
$GC,2457,-1.06,-116.8,248.8,-8.4,193,2462,0.00,2.47,0.00,0.000,6,0.000,0.034,2757,1779,3482,0,0,0,0,0,0
$GC,2708,-1.06,-116.8,267.7,-7.5,199,2712,0.00,2.78,0.00,0.000,4,0.000,0.078,2757,188,3482,0,0,0,0,0,0
$GC,2730,-1.06,-116.8,269.6,-8.4,199,2734,0.00,2.40,0.00,0.000,6,0.000,0.025,2757,1748,3482,0,0,0,0,0,0
$GC,2985,-1.06,-116.8,290.7,-8.3,206,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1748,3481,0,0,0,0,0,0
$GC,3228,-1.06,-116.8,310.9,-8.4,212,3232,0.00,2.58,0.00,0.000,4,0.000,0.043,2757,3344,3481,0,0,0,0,0,0
$GC,3255,-1.11,-116.8,313.3,-8.6,212,3260,0.00,2.60,0.00,0.000,6,0.000,0.044,2757,1767,3481,0,0,0,0,0,0
$GC,3506,-1.11,-116.8,335.0,-8.9,218,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1767,3480,0,0,0,0,0,0
$GC,3749,-1.15,-116.8,354.6,-7.8,224,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1767,3479,0,0,0,0,0,0
$GC,3993,-1.19,-116.8,371.9,-6.9,230,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1767,3478,0,0,0,0,0,0
$GC,4238,-1.24,-116.8,391.1,-8.1,236,4239,0.12,0.00,0.00,0.000,6,0.074,0.000,2717,1767,3476,0,0,0,0,0,0
$GC,4479,-1.24,-116.8,412.4,-8.5,242,4484,0.00,2.58,0.00,0.000,4,0.000,0.052,2717,3334,3475,0,0,0,0,0,0
$GC,4568,-1.24,-116.8,419.3,-7.2,244,4573,0.00,2.67,0.00,0.000,6,0.000,0.064,2717,1770,3475,0,0,0,0,0,0
$GC,4848,-1.24,-116.8,441.0,-7.8,251,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1769,3472,0,0,0,0,0,0
$GC,5090,-1.24,-116.8,459.8,-7.7,257,5094,0.00,2.60,0.00,0.000,4,0.000,0.051,2717,3336,3471,0,0,0,0,0,0
$GC,5105,-1.24,-116.8,461.2,-8.5,257,5110,0.00,2.70,0.00,0.000,6,0.000,0.061,2717,1765,3471,0,0,0,0,0,0
$GC,5367,-1.24,-116.8,483.1,-8.4,264,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1764,3469,0,0,0,0,0,0
$STATE,5608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5608,begin apogee
$GC,5613,-0.31,0.0,501.3,7.5,270,5712,0.95,0.00,95.10,0.922,6,0.099,0.000,2930,1764,3001,0,0,0,0,0,0
$STATE,5712,end apogee,CONTROL_FINISHED_OK
$STATE,5713,begin climb
$GC,5715,1.15,116.8,502.7,0.0,272,5827,1.33,2.83,99.57,0.897,4,0.044,0.054,3251,3380,2522,0,0,0,0,0,0
$GC,5844,1.04,145.2,499.2,6.7,275,5875,0.12,2.75,24.92,0.851,6,0.123,0.060,3227,1814,2407,0,0,0,0,0,0
$GC,6121,0.96,145.2,476.6,8.4,281,6126,0.00,3.10,0.00,0.000,4,0.000,0.126,3227,227,2399,0,0,0,0,0,0
$GC,6150,0.82,145.2,474.1,8.7,281,6155,0.22,2.55,0.00,0.000,6,0.113,0.033,3182,1784,2397,0,0,0,0,0,0
$GC,6399,0.89,200.6,459.4,5.4,287,6454,0.00,2.88,47.25,0.876,4,0.000,0.065,3182,3409,2181,0,0,0,0,0,0
$GC,6480,0.97,227.4,454.4,6.8,288,6511,0.12,2.75,24.45,0.841,6,0.082,0.055,3214,1820,2073,0,0,0,0,0,0
$GC,6768,0.97,227.4,427.6,9.7,296,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1820,2065,0,0,0,0,0,0
$GC,7011,0.97,227.4,404.6,9.4,302,7015,0.00,2.60,0.00,0.000,4,0.000,0.044,3214,3412,2063,0,0,0,0,0,0
$GC,7066,0.97,227.4,399.5,9.1,303,7070,0.00,2.70,0.00,0.000,6,0.000,0.052,3214,1821,2061,0,0,0,0,0,0
$GC,7332,0.97,227.4,376.2,8.9,310,7336,0.00,2.60,0.00,0.000,4,0.000,0.035,3214,3415,2060,0,0,0,0,0,0
$GC,7364,0.97,227.4,373.0,9.4,310,7370,0.00,2.67,0.00,0.000,6,0.000,0.047,3214,1829,2059,0,0,0,0,0,0
$GC,7616,0.97,227.4,351.5,8.5,317,7620,0.00,2.58,0.00,0.000,4,0.000,0.033,3214,3422,2058,0,0,0,0,0,0
$GC,7649,1.02,227.4,348.5,8.1,317,7655,0.00,2.62,0.00,0.000,6,0.000,0.042,3214,1846,2058,0,0,0,0,0,0
$GC,7899,1.02,227.4,328.4,8.2,324,7903,0.00,2.55,0.00,0.000,4,0.000,0.036,3214,3419,2058,0,0,0,0,0,0
$GC,7927,1.02,227.4,326.1,9.0,324,7931,0.00,2.60,0.00,0.000,6,0.000,0.041,3214,1848,2057,0,0,0,0,0,0
$GC,8176,1.02,228.2,306.1,8.0,330,8181,0.00,2.83,0.00,0.000,4,0.000,0.078,3214,239,2057,0,0,0,0,0,0
$GC,8203,1.02,228.2,303.5,9.0,330,8207,0.00,2.58,0.00,0.000,6,0.000,0.025,3214,1878,2055,0,0,0,0,0,0
$GC,8460,1.02,228.2,282.0,8.6,337,8464,0.00,2.47,0.00,0.000,4,0.000,0.038,3214,3419,2055,0,0,0,0,0,0
$GC,8487,1.06,228.2,279.5,8.9,337,8491,0.00,2.58,0.00,0.000,6,0.000,0.040,3214,1844,2054,0,0,0,0,0,0
$GC,8737,1.07,240.6,260.9,7.4,343,8748,0.00,0.00,9.57,0.686,6,0.000,0.000,3214,1844,2020,0,0,0,0,0,0
$GC,8982,1.15,271.3,244.1,6.6,349,9013,0.15,0.00,28.70,0.728,6,0.075,0.000,3254,1844,1895,0,0,0,0,0,0
$GC,9224,1.15,271.3,220.8,10.0,355,9228,0.00,2.53,0.00,0.000,4,0.000,0.031,3254,3420,1890,0,0,0,0,0,0
$GC,9273,1.15,271.3,215.5,10.7,356,9277,0.00,2.55,0.00,0.000,6,0.000,0.035,3254,1858,1889,0,0,0,0,0,0
$GC,9533,1.15,271.3,190.5,9.3,367,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1858,1889,0,0,0,0,0,0
$GC,9794,1.15,271.3,165.4,9.8,392,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1858,1888,0,0,0,0,0,0
$GC,10050,1.15,271.3,138.9,10.8,416,10054,0.00,2.50,0.00,0.000,4,0.000,0.029,3254,3427,1888,0,0,0,0,0,0
$GC,10096,1.19,271.3,134.3,11.0,419,10100,0.00,2.55,0.00,0.000,6,0.000,0.035,3254,1854,1888,0,0,0,0,0,0
$GC,10362,1.19,272.4,110.5,8.0,443,10366,0.00,2.72,0.00,0.000,4,0.000,0.066,3254,237,1888,0,0,0,0,0,0
$GC,10394,1.19,272.4,107.6,9.8,445,10399,0.00,2.55,0.00,0.000,6,0.000,0.025,3254,1907,1887,0,0,0,0,0,0
$GC,10661,1.23,272.4,86.3,8.2,469,10665,0.00,2.38,0.00,0.000,4,0.000,0.036,3254,3426,1887,0,0,0,0,0,0
$GC,10718,1.32,272.4,81.3,9.2,473,10723,0.12,2.50,0.00,0.000,6,0.075,0.033,3290,1876,1887,0,0,0,0,0,0
$GC,10982,1.32,278.9,59.2,7.7,497,10997,0.00,2.50,7.53,0.486,4,0.000,0.035,3290,3423,1862,0,0,0,0,0,0
$GC,11040,1.33,281.7,54.8,7.9,501,11055,0.00,2.50,4.18,0.384,6,0.000,0.032,3290,1875,1852,0,0,0,0,0,0
$GC,11310,1.33,281.7,31.3,8.5,526,11319,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1875,1851,0,0,0,0,0,0
$STATE,11603,end climb,SURFACE_DEPTH_REACHED
$STATE,11604,begin surface coast
$FINISH,0.4,1.023216
$STATE,11653,end surface coast,CONTROL_FINISHED_OK
$STATE,11653,begin surface
$SM_CCo,11674,119.15,0.469,1,0,1287,420.20
$SM_GC,0.98,0.00,0.00,119.15,0.000,0.000,0.469,475,1756,1287,-11.62,-0.40,420.20
$IRIDIUM_FIX,2246.36,-15751.06,221199,191914
$TT8_MAMPS,0.026078
$HUMID,41.29
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.80
$XPDR_PINGS,45
$24V_AH,23.6,16.185
$10V_AH,10.4,15.426
$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,26.775,119.625,341.275,119.150,0.000,30.690,43.981,160.542,11.250,0.000,33.854,1128.208,7919.925,551.066,2059.647,535.440,33.375,1278.991,0.000,2046.470,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,125.788,921.934,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.427,347.337,440.769,824.534,1247.091,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,44669,575
$CAP_FILE_SIZE,111175,0
$CFSIZE,260165632,177303552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290810,021055,2251.660,-15751.400,57,1.4,57,10.1