version: 66.06
glider: 146
mission: 5
dive: 93
start: 8 29 110 2 24 46
data:
$ID,146
$MISSION,5
$DIVE,93
$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,-249131.5
$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,29
$R_STBD_OVSHOOT,21
$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
$GPS1,021055,2251.660,-15751.400,57,1.4,57,10.1
$_CALLS,4
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-66.9
$GPS2,022352,2251.625,-15751.488,11,99.0,30,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.173,-0.133
$KALMAN_X,-82327.4,101.1,274.7,114854.2,-1486.4
$KALMAN_Y,5588.9,88.1,-19.3,125916.7,-712.7
$MHEAD_RNG_PITCHd_Wd,222.3,7171,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-86.12,0.000,6,0.000,0.000,475,1757,3479,0,0,0,0,0,0
$GC,106,-1.15,-116.8,4.1,-5.6,11,124,12.10,2.62,0.00,0.000,4,0.162,0.052,2739,190,3481,0,0,0,0,0,0
$GC,282,-0.99,-116.8,44.4,-15.9,31,287,0.20,2.47,0.00,0.000,6,0.114,0.015,2780,1818,3481,0,0,0,0,0,0
$GC,549,-0.91,-116.8,81.0,-12.7,55,553,0.00,2.35,0.00,0.000,4,0.000,0.025,2779,3326,3481,0,0,0,0,0,0
$GC,566,-0.86,-116.8,83.6,-11.6,56,571,0.15,2.47,0.00,0.000,6,0.107,0.036,2812,1774,3481,0,0,0,0,0,0
$GC,829,-0.90,-116.8,105.5,-8.0,80,834,0.00,2.70,0.00,0.000,4,0.000,0.068,2812,188,3482,0,0,0,0,0,0
$GC,853,-0.94,-116.8,107.1,-8.1,81,857,0.00,2.40,0.00,0.000,6,0.000,0.015,2812,1795,3482,0,0,0,0,0,0
$GC,1119,-1.02,-116.8,130.1,-8.5,105,1124,0.15,2.75,0.00,0.000,4,0.064,0.061,2761,188,3482,0,0,0,0,0,0
$GC,1151,-1.02,-116.8,133.5,-10.4,107,1155,0.00,2.33,0.00,0.000,6,0.000,0.024,2761,1748,3482,0,0,0,0,0,0
$GC,1415,-1.02,-116.8,159.8,-8.9,131,1419,0.00,2.42,0.00,0.000,4,0.000,0.032,2761,3305,3482,0,0,0,0,0,0
$GC,1455,-1.02,-116.8,163.6,-8.3,134,1459,0.00,2.50,0.00,0.000,6,0.000,0.033,2761,1740,3482,0,0,0,0,0,0
$GC,1718,-1.02,-116.8,187.5,-9.6,158,1723,0.00,2.45,0.00,0.000,4,0.000,0.031,2761,3305,3482,0,0,0,0,0,0
$GC,1740,-1.02,-116.8,189.9,-9.5,159,1749,0.00,2.50,0.00,0.000,6,0.000,0.034,2761,1751,3482,0,0,0,0,0,0
$GC,2015,-1.02,-116.8,215.2,-9.2,174,2019,0.00,2.65,0.00,0.000,4,0.000,0.068,2761,188,3482,0,0,0,0,0,0
$GC,2037,-1.02,-116.8,217.5,-10.0,174,2041,0.00,2.30,0.00,0.000,6,0.000,0.024,2761,1744,3482,0,0,0,0,0,0
$GC,2292,-1.02,-116.8,239.8,-8.4,181,2296,0.00,2.45,0.00,0.000,4,0.000,0.028,2761,3307,3482,0,0,0,0,0,0
$GC,2336,-1.07,-116.8,243.2,-7.7,182,2340,0.00,2.50,0.00,0.000,6,0.000,0.031,2761,1752,3482,0,0,0,0,0,0
$GC,2614,-1.07,-116.8,266.3,-8.7,189,2619,0.00,2.72,0.00,0.000,4,0.000,0.078,2761,192,3481,0,0,0,0,0,0
$GC,2632,-1.07,-116.8,268.1,-9.3,189,2636,0.00,2.35,0.00,0.000,6,0.000,0.026,2761,1722,3481,0,0,0,0,0,0
$GC,2894,-1.07,-116.8,292.8,-9.3,196,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1722,3481,0,0,0,0,0,0
$GC,3137,-1.07,-116.8,311.9,-7.4,202,3142,0.00,2.62,0.00,0.000,4,0.000,0.038,2761,3345,3480,0,0,0,0,0,0
$GC,3160,-1.12,-116.8,313.6,-7.2,202,3164,0.00,2.62,0.00,0.000,6,0.000,0.044,2761,1755,3480,0,0,0,0,0,0
$GC,3415,-1.16,-116.8,332.0,-7.3,209,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1755,3479,0,0,0,0,0,0
$GC,3660,-1.21,-116.8,349.5,-7.1,215,3662,0.12,0.00,0.00,0.000,6,0.075,0.000,2719,1755,3478,0,0,0,0,0,0
$GC,3902,-1.21,-116.8,373.5,-10.1,221,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1755,3476,0,0,0,0,0,0
$GC,4145,-1.21,-116.8,395.5,-9.0,227,4150,0.00,2.62,0.00,0.000,4,0.000,0.048,2719,3338,3475,0,0,0,0,0,0
$GC,4173,-1.21,-116.8,398.1,-9.2,227,4177,0.00,2.67,0.00,0.000,6,0.000,0.057,2719,1762,3475,0,0,0,0,0,0
$GC,4424,-1.21,-116.8,421.6,-9.4,233,4428,0.00,2.60,0.00,0.000,4,0.000,0.046,2719,3339,3474,0,0,0,0,0,0
$GC,4439,-1.21,-116.8,423.4,-9.4,233,4443,0.00,2.70,0.00,0.000,6,0.000,0.064,2719,1752,3474,0,0,0,0,0,0
$GC,4700,-1.21,-116.8,446.7,-8.8,240,4705,0.00,2.60,0.00,0.000,4,0.000,0.051,2718,3329,3472,0,0,0,0,0,0
$GC,4717,-1.21,-116.8,448.1,-8.7,240,4722,0.00,2.70,0.00,0.000,6,0.000,0.067,2719,1758,3472,0,0,0,0,0,0
$GC,4978,-1.21,-116.8,467.9,-7.6,247,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1758,3470,0,0,0,0,0,0
$GC,5222,-1.21,-116.8,485.9,-7.6,253,5226,0.00,2.65,0.00,0.000,4,0.000,0.055,2719,3335,3468,0,0,0,0,0,0
$GC,5248,-1.21,-116.8,488.2,-8.4,253,5253,0.00,2.70,0.00,0.000,6,0.000,0.066,2719,1766,3468,0,0,0,0,0,0
$STATE,5415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5415,begin apogee
$GC,5422,-0.31,0.0,501.9,8.2,257,5520,0.95,0.00,95.12,0.917,6,0.101,0.000,2929,1765,3001,0,0,0,0,0,0
$STATE,5521,end apogee,CONTROL_FINISHED_OK
$STATE,5521,begin climb
$GC,5523,1.15,116.8,504.4,0.0,259,5628,1.35,0.00,100.07,0.894,6,0.058,0.000,3255,1765,2524,0,0,0,0,0,0
$GC,5852,1.01,117.1,487.5,8.0,267,5857,0.17,2.95,0.00,0.000,4,0.194,0.118,3220,232,2514,0,0,0,0,0,0
$GC,5880,0.86,117.1,484.8,8.9,267,5885,0.17,2.55,0.00,0.000,6,0.117,0.037,3186,1790,2512,0,0,0,0,0,0
$GC,6130,0.90,152.0,468.4,6.4,273,6165,0.00,2.85,29.48,0.867,4,0.000,0.062,3187,3410,2380,0,0,0,0,0,0
$GC,6241,0.93,173.6,461.1,7.0,274,6266,0.00,2.72,20.05,0.841,6,0.000,0.058,3186,1827,2293,0,0,0,0,0,0
$GC,6540,0.96,201.0,440.9,6.7,282,6568,0.10,0.00,24.75,0.851,6,0.100,0.000,3213,1827,2180,0,0,0,0,0,0
$GC,6782,0.96,201.0,420.2,8.5,288,6787,0.00,2.62,0.00,0.000,4,0.000,0.041,3213,3416,2174,0,0,0,0,0,0
$GC,6798,0.96,201.0,418.9,8.1,288,6803,0.00,2.67,0.00,0.000,6,0.000,0.053,3213,1836,2173,0,0,0,0,0,0
$GC,7060,0.99,227.8,400.4,6.8,295,7089,0.00,3.03,23.38,0.835,4,0.000,0.096,3213,232,2071,0,0,0,0,0,0
$GC,7103,0.97,238.6,397.4,7.5,296,7120,0.00,2.60,11.07,0.768,6,0.000,0.021,3213,1849,2027,0,0,0,0,0,0
$GC,7386,0.97,238.6,375.2,8.1,303,7391,0.00,2.55,0.00,0.000,4,0.000,0.044,3213,3405,2023,0,0,0,0,0,0
$GC,7409,0.97,238.6,373.1,8.9,303,7414,0.00,2.65,0.00,0.000,6,0.000,0.046,3213,1821,2022,0,0,0,0,0,0
$GC,7664,0.97,238.6,351.5,8.4,310,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1821,2020,0,0,0,0,0,0
$GC,7908,0.97,240.9,332.1,7.9,316,7912,0.00,2.55,0.00,0.000,4,0.000,0.036,3213,3407,2020,0,0,0,0,0,0
$GC,7934,0.97,245.4,329.8,7.8,316,7946,0.00,2.60,6.12,0.660,6,0.000,0.039,3213,1837,2000,0,0,0,0,0,0
$GC,8191,0.99,256.9,310.3,7.5,323,8204,0.00,0.00,11.73,0.744,6,0.000,0.000,3213,1837,1953,0,0,0,0,0,0
$GC,8479,1.01,273.0,289.5,7.3,330,8499,0.00,2.88,15.12,0.743,4,0.000,0.076,3213,232,1888,0,0,0,0,0,0
$GC,8523,1.01,273.0,286.0,8.2,331,8527,0.00,2.58,0.00,0.000,6,0.000,0.022,3213,1862,1886,0,0,0,0,0,0
$GC,8800,1.07,285.0,265.8,7.5,338,8814,0.00,0.00,11.68,0.700,6,0.000,0.000,3213,1863,1839,0,0,0,0,0,0
$GC,9089,1.12,285.0,240.3,8.9,345,9090,0.12,0.00,0.00,0.000,6,0.189,0.000,3245,1863,1836,0,0,0,0,0,0
$GC,9333,1.12,285.0,216.2,9.7,351,9337,0.00,2.42,0.00,0.000,4,0.000,0.031,3245,3393,1835,0,0,0,0,0,0
$GC,9355,1.12,285.0,213.7,10.1,351,9359,0.00,2.55,0.00,0.000,6,0.000,0.038,3245,1826,1834,0,0,0,0,0,0
$GC,9617,1.12,285.0,187.7,10.3,364,9622,0.00,2.72,0.00,0.000,4,0.000,0.071,3245,243,1834,0,0,0,0,0,0
$GC,9647,1.07,285.0,184.1,12.0,366,9651,0.00,2.47,0.00,0.000,6,0.000,0.025,3245,1848,1834,0,0,0,0,0,0
$GC,9909,1.07,285.0,158.1,9.3,390,9913,0.00,2.45,0.00,0.000,4,0.000,0.030,3245,3391,1834,0,0,0,0,0,0
$GC,9974,1.14,285.0,152.3,8.7,395,9979,0.00,2.55,0.00,0.000,6,0.000,0.039,3245,1825,1832,0,0,0,0,0,0
$GC,10241,1.14,285.0,129.5,9.0,419,10245,0.00,2.47,0.00,0.000,4,0.000,0.028,3245,3387,1833,0,0,0,0,0,0
$GC,10272,1.20,285.0,126.5,9.1,421,10276,0.00,2.53,0.00,0.000,6,0.000,0.041,3245,1833,1833,0,0,0,0,0,0
$GC,10540,1.25,285.0,103.7,8.4,445,10545,0.12,0.00,0.00,0.000,6,0.078,0.000,3281,1833,1833,0,0,0,0,0,0
$GC,10804,1.28,307.3,80.6,7.0,470,10834,0.00,2.55,20.25,0.565,4,0.000,0.034,3280,3385,1746,0,0,0,0,0,0
$GC,10912,1.34,307.3,72.0,9.1,478,10916,0.00,2.53,0.00,0.000,6,0.000,0.035,3281,1844,1745,0,0,0,0,0,0
$GC,11180,1.35,313.1,48.0,7.7,502,11195,0.00,2.75,6.22,0.453,4,0.000,0.055,3280,235,1724,0,0,0,0,0,0
$GC,11224,1.31,313.1,43.5,10.5,505,11229,0.00,2.47,0.00,0.000,6,0.000,0.018,3281,1836,1723,0,0,0,0,0,0
$GC,11522,1.31,318.8,14.6,7.7,539,11540,0.00,2.47,6.65,0.440,4,0.000,0.025,3281,3387,1701,0,0,0,0,0,0
$GC,11564,1.31,318.8,10.5,9.7,544,11574,0.00,2.53,0.00,0.000,6,0.000,0.034,3281,1847,1700,0,0,0,0,0,0
$STATE,11636,end climb,SURFACE_DEPTH_REACHED
$STATE,11636,begin surface coast
$FINISH,0.3,1.021280
$STATE,11695,end surface coast,CONTROL_FINISHED_OK
$STATE,11695,begin surface
$SM_CCo,11716,88.43,0.454,1,0,1287,420.20
$SM_GC,0.87,0.00,0.00,88.43,0.000,0.000,0.454,480,1736,1287,-11.59,-0.93,420.20
$IRIDIUM_FIX,2244.02,-15746.73,221199,222226
$TT8_MAMPS,0.025311
$HUMID,42.16
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.00
$XPDR_PINGS,55
$24V_AH,23.6,16.310
$10V_AH,10.4,15.550
$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,27.025,144.850,381.700,88.425,0.000,122.601,124.060,192.619,13.750,0.000,32.524,1141.549,8106.912,557.373,2033.768,747.587,33.375,1307.700,0.000,2018.509,0.000,0.538,0.000
$DEVICE_MAMPS,194.051,118.118,917.332,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.692,330.825,423.466,786.250,1189.107,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,44852,562
$CAP_FILE_SIZE,121126,0
$CFSIZE,260165632,177233920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290810,054301,2250.478,-15753.398,43,1.2,43,10.1