version: 66.06
glider: 146
mission: 5
dive: 94
start: 8 29 110 5 50 18
data:
$ID,146
$MISSION,5
$DIVE,94
$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,-249153.66
$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,49
$R_STBD_OVSHOOT,50
$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
$GPS1,054301,2250.478,-15753.398,43,1.2,43,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-66.7
$GPS2,054923,2250.471,-15753.461,11,1.2,20,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.112,-0.187
$KALMAN_X,-83118.3,68.8,-142.9,112697.6,-1021.0
$KALMAN_Y,5695.3,6.3,-523.4,124256.8,690.7
$MHEAD_RNG_PITCHd_Wd,200.8,3184,-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,-85.68,0.000,6,0.000,0.000,480,1736,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.8,-6.8,11,125,11.88,2.55,0.00,0.000,4,0.154,0.050,2740,211,3481,0,0,0,0,0,0
$GC,258,-0.95,-116.8,40.3,-18.0,28,263,0.25,2.40,0.00,0.000,6,0.104,0.015,2792,1794,3482,0,0,0,0,0,0
$GC,525,-0.88,-116.8,74.1,-12.7,52,530,0.00,2.72,0.00,0.000,4,0.000,0.062,2792,215,3482,0,0,0,0,0,0
$GC,547,-0.79,-116.8,77.7,-14.2,53,552,0.15,2.35,0.00,0.000,6,0.110,0.016,2825,1815,3482,0,0,0,0,0,0
$GC,817,-0.83,-116.8,103.6,-7.8,77,821,0.00,2.28,0.00,0.000,4,0.000,0.029,2825,3277,3482,0,0,0,0,0,0
$GC,857,-0.94,-116.8,107.3,-7.0,80,862,0.12,2.38,0.00,0.000,6,0.074,0.033,2777,1786,3482,0,0,0,0,0,0
$GC,1119,-0.94,-116.8,134.8,-11.1,104,1124,0.00,2.70,0.00,0.000,4,0.000,0.065,2777,197,3483,0,0,0,0,0,0
$GC,1142,-0.94,-116.8,137.8,-11.4,105,1148,0.00,2.30,0.00,0.000,6,0.000,0.018,2777,1759,3483,0,0,0,0,0,0
$GC,1409,-0.94,-116.8,163.2,-10.2,130,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1760,3483,0,0,0,0,0,0
$GC,1671,-0.94,-116.8,186.0,-6.9,155,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1761,3483,0,0,0,0,0,0
$GC,1942,-0.94,-116.8,206.9,-8.3,175,1946,0.00,2.40,0.00,0.000,4,0.000,0.025,2777,3287,3483,0,0,0,0,0,0
$GC,1970,-0.99,-116.8,209.0,-8.0,175,1975,0.00,2.42,0.00,0.000,6,0.000,0.037,2777,1779,3483,0,0,0,0,0,0
$GC,2221,-1.03,-116.8,228.3,-7.7,181,2225,0.00,2.75,0.00,0.000,4,0.000,0.070,2777,189,3483,0,0,0,0,0,0
$GC,2276,-1.07,-116.8,233.6,-9.5,182,2280,0.00,2.33,0.00,0.000,6,0.000,0.017,2777,1730,3483,0,0,0,0,0,0
$GC,2544,-1.11,-116.8,257.9,-9.4,189,2548,0.00,2.53,0.00,0.000,4,0.000,0.032,2777,3333,3483,0,0,0,0,0,0
$GC,2565,-1.16,-116.8,260.0,-9.3,189,2570,0.12,2.50,0.00,0.000,6,0.071,0.033,2729,1768,3483,0,0,0,0,0,0
$GC,2820,-1.11,-116.8,286.0,-10.2,196,2822,0.12,0.00,0.00,0.000,6,0.109,0.000,2756,1768,3483,0,0,0,0,0,0
$GC,3065,-1.11,-116.8,307.2,-8.4,202,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1768,3482,0,0,0,0,0,0
$GC,3308,-1.11,-116.8,328.1,-8.7,208,3312,0.00,2.53,0.00,0.000,4,0.000,0.036,2756,3324,3482,0,0,0,0,0,0
$GC,3334,-1.16,-116.8,330.6,-8.9,208,3339,0.00,2.55,0.00,0.000,6,0.000,0.051,2756,1791,3482,0,0,0,0,0,0
$GC,3586,-1.21,-116.8,349.9,-7.5,214,3591,0.00,2.90,0.00,0.000,4,0.000,0.101,2756,186,3481,0,0,0,0,0,0
$GC,3614,-1.24,-116.8,352.1,-7.4,214,3619,0.12,2.45,0.00,0.000,6,0.074,0.028,2717,1744,3481,0,0,0,0,0,0
$GC,3863,-1.24,-116.8,373.5,-8.7,220,3868,0.00,2.62,0.00,0.000,4,0.000,0.053,2716,3349,3481,0,0,0,0,0,0
$GC,3880,-1.24,-116.8,375.2,-9.2,220,3885,0.00,2.62,0.00,0.000,6,0.000,0.051,2716,1773,3480,0,0,0,0,0,0
$GC,4141,-1.24,-116.8,400.5,-9.8,227,4146,0.00,2.90,0.00,0.000,4,0.000,0.101,2716,186,3478,0,0,0,0,0,0
$GC,4185,-1.24,-116.8,405.1,-10.9,228,4189,0.00,2.50,0.00,0.000,6,0.000,0.029,2716,1760,3478,0,0,0,0,0,0
$GC,4462,-1.24,-116.8,430.8,-8.9,235,4467,0.00,2.67,0.00,0.000,4,0.000,0.062,2716,3354,3477,0,0,0,0,0,0
$GC,4478,-1.24,-116.8,432.3,-8.4,235,4483,0.00,2.70,0.00,0.000,6,0.000,0.055,2716,1755,3477,0,0,0,0,0,0
$GC,4739,-1.24,-116.8,452.8,-8.0,242,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1755,3475,0,0,0,0,0,0
$GC,4984,-1.24,-116.8,472.0,-7.7,248,4988,0.00,2.67,0.00,0.000,4,0.000,0.051,2716,3360,3473,0,0,0,0,0,0
$GC,5017,-1.24,-116.8,474.7,-8.4,248,5023,0.00,2.72,0.00,0.000,6,0.000,0.065,2716,1772,3473,0,0,0,0,0,0
$GC,5267,-1.24,-116.8,495.0,-8.0,255,5271,0.00,2.65,0.00,0.000,4,0.000,0.058,2717,3355,3471,0,0,0,0,0,0
$GC,5293,-1.24,-116.8,497.2,-7.9,255,5298,0.00,2.70,0.00,0.000,6,0.000,0.061,2716,1780,3471,0,0,0,0,0,0
$STATE,5338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5338,begin apogee
$GC,5345,-0.31,0.0,500.8,8.1,256,5444,0.95,0.00,95.43,0.917,6,0.077,0.000,2931,1841,3001,0,0,0,0,0,0
$STATE,5445,end apogee,CONTROL_FINISHED_OK
$STATE,5445,begin climb
$GC,5447,1.15,116.8,502.6,0.0,258,5556,1.35,2.62,99.12,0.893,4,0.054,0.055,3260,3381,2524,0,0,0,0,0,0
$GC,5580,1.06,167.3,500.0,5.7,261,5630,0.15,2.72,43.90,0.871,6,0.121,0.058,3231,1816,2319,0,0,0,0,0,0
$GC,5898,1.00,178.5,475.6,7.5,269,5913,0.00,2.65,10.05,0.780,4,0.000,0.046,3230,3383,2273,0,0,0,0,0,0
$GC,5948,0.96,182.3,471.8,7.8,270,5958,0.00,2.70,4.75,0.613,6,0.000,0.056,3230,1826,2257,0,0,0,0,0,0
$GC,6220,0.90,182.3,447.0,9.5,277,6225,0.17,2.60,0.00,0.000,4,0.145,0.039,3196,3388,2254,0,0,0,0,0,0
$GC,6248,0.90,182.3,444.2,9.3,277,6253,0.00,2.65,0.00,0.000,6,0.000,0.055,3196,1834,2252,0,0,0,0,0,0
$GC,6498,0.90,188.5,424.3,7.7,283,6506,0.00,0.00,6.00,0.691,6,0.000,0.000,3196,1834,2232,0,0,0,0,0,0
$GC,6742,0.95,225.1,408.5,6.3,289,6783,0.00,2.65,33.28,0.854,4,0.000,0.037,3196,3389,2082,0,0,0,0,0,0
$GC,6814,1.03,247.0,403.8,7.0,290,6840,0.12,2.65,20.58,0.824,6,0.086,0.048,3228,1834,1994,0,0,0,0,0,0
$GC,7114,1.03,247.0,377.0,9.3,298,7119,0.00,2.90,0.00,0.000,4,0.000,0.087,3228,228,1987,0,0,0,0,0,0
$GC,7148,0.95,247.0,373.1,11.7,298,7154,0.00,2.53,0.00,0.000,6,0.000,0.026,3228,1831,1986,0,0,0,0,0,0
$GC,7398,0.95,247.0,349.1,9.3,305,7402,0.00,2.55,0.00,0.000,4,0.000,0.040,3228,3403,1984,0,0,0,0,0,0
$GC,7441,0.95,247.0,345.0,9.3,306,7446,0.00,2.60,0.00,0.000,6,0.000,0.040,3228,1828,1983,0,0,0,0,0,0
$GC,7726,0.95,247.0,321.0,8.3,313,7731,0.00,2.80,0.00,0.000,4,0.000,0.081,3228,236,1983,0,0,0,0,0,0
$GC,7753,0.90,247.0,318.1,10.3,313,7758,0.15,2.53,0.00,0.000,6,0.119,0.026,3198,1841,1981,0,0,0,0,0,0
$GC,8004,0.98,258.0,299.2,7.5,319,8015,0.00,0.00,9.12,0.713,6,0.000,0.000,3198,1843,1948,0,0,0,0,0,0
$GC,8249,1.06,271.5,281.2,7.4,325,8264,0.15,0.00,13.30,0.730,6,0.071,0.000,3240,1843,1894,0,0,0,0,0,0
$GC,8490,1.06,271.5,260.9,8.4,331,8495,0.00,2.47,0.00,0.000,4,0.000,0.035,3240,3399,1891,0,0,0,0,0,0
$GC,8523,1.06,271.5,257.8,9.0,331,8529,0.00,2.58,0.00,0.000,6,0.000,0.041,3240,1819,1890,0,0,0,0,0,0
$GC,8774,1.06,271.5,233.5,10.0,338,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1820,1889,0,0,0,0,0,0
$GC,9017,1.06,271.5,208.4,10.5,344,9021,0.00,2.70,0.00,0.000,4,0.000,0.071,3240,239,1889,0,0,0,0,0,0
$GC,9038,1.02,271.5,205.8,12.1,344,9042,0.00,2.47,0.00,0.000,6,0.000,0.023,3240,1848,1887,0,0,0,0,0,0
$GC,9302,1.02,271.5,179.7,8.9,363,9306,0.00,2.42,0.00,0.000,4,0.000,0.037,3240,3387,1887,0,0,0,0,0,0
$GC,9357,1.09,271.5,174.9,9.1,367,9362,0.00,2.50,0.00,0.000,6,0.000,0.038,3240,1836,1887,0,0,0,0,0,0
$GC,9624,1.09,274.1,152.8,7.9,391,9628,0.00,2.45,0.00,0.000,4,0.000,0.033,3240,3391,1887,0,0,0,0,0,0
$GC,9658,1.15,274.1,149.5,8.4,393,9664,0.00,2.47,0.00,0.000,6,0.000,0.033,3240,1843,1887,0,0,0,0,0,0
$GC,9921,1.19,274.1,126.8,8.9,418,9925,0.00,2.70,0.00,0.000,4,0.000,0.066,3240,236,1887,0,0,0,0,0,0
$GC,9951,1.19,274.1,124.0,9.3,420,9955,0.00,2.42,0.00,0.000,6,0.000,0.023,3240,1840,1888,0,0,0,0,0,0
$GC,10214,1.26,283.7,103.7,7.6,444,10232,0.15,2.47,11.52,0.558,4,0.074,0.030,3281,3376,1843,0,0,0,0,0,0
$GC,10287,1.30,283.7,97.0,9.5,450,10291,0.00,2.50,0.00,0.000,6,0.000,0.040,3281,1832,1843,0,0,0,0,0,0
$GC,10553,1.30,283.7,72.9,9.4,474,10557,0.00,2.45,0.00,0.000,4,0.000,0.029,3281,3385,1843,0,0,0,0,0,0
$GC,10588,1.30,283.7,69.7,10.0,476,10592,0.00,2.50,0.00,0.000,6,0.000,0.032,3281,1831,1843,0,0,0,0,0,0
$GC,10855,1.32,301.5,47.4,7.2,500,10874,0.00,0.00,16.77,0.528,6,0.000,0.000,3281,1831,1771,0,0,0,0,0,0
$GC,11142,1.32,301.5,24.7,8.4,530,11152,0.00,2.47,0.00,0.000,4,0.000,0.034,3281,3375,1768,0,0,0,0,0,0
$GC,11168,1.32,301.5,22.3,8.1,533,11178,0.00,2.53,0.00,0.000,6,0.000,0.037,3281,1841,1768,0,0,0,0,0,0
$STATE,11350,end climb,SURFACE_DEPTH_REACHED
$STATE,11350,begin surface coast
$FINISH,0.4,1.010527
$STATE,11407,end surface coast,CONTROL_FINISHED_OK
$STATE,11407,begin surface
$SM_CCo,11429,101.95,0.459,1,0,1288,420.20
$SM_GC,1.08,0.00,0.00,101.95,0.000,0.000,0.459,473,1742,1288,-11.62,-0.79,420.20
$IRIDIUM_FIX,2246.36,-15821.47,231199,020203
$TT8_MAMPS,0.026078
$HUMID,42.08
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.10
$XPDR_PINGS,58
$24V_AH,23.6,16.425
$10V_AH,10.4,15.674
$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,27.225,149.275,363.825,101.950,0.000,27.352,33.893,177.642,14.500,0.000,21.531,1149.144,7587.809,549.853,2084.893,547.063,33.373,1314.169,0.000,2081.782,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,247.741,916.565,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.590,345.699,438.010,818.099,1237.342,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,44655,567
$CAP_FILE_SIZE,121728,0
$CFSIZE,260165632,177172480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290810,090424,2249.198,-15754.811,67,1.2,67,10.1