version: 66.06
glider: 146
mission: 5
dive: 95
start: 8 29 110 9 15 24
data:
$ID,146
$MISSION,5
$DIVE,95
$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,-249170.48
$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,39
$R_STBD_OVSHOOT,67
$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
$GPS1,090424,2249.198,-15754.811,67,1.2,67,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.7
$GPS2,091427,2249.198,-15754.887,14,1.2,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.045,0.212
$KALMAN_X,-84046.8,-15.3,-182.2,111298.5,-599.3
$KALMAN_Y,5189.0,-158.2,127.1,121926.3,-10.3
$MHEAD_RNG_PITCHd_Wd,2.0,16303,-16.2,-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,-1.16,-114.9,0.0,0.0,0,103,0.00,0.00,-85.70,0.000,6,0.000,0.000,473,1742,3471,0,0,0,0,0,0
$GC,108,-1.16,-116.8,4.2,-5.8,11,125,11.82,2.47,0.00,0.000,4,0.152,0.023,2738,3341,3473,0,0,0,0,0,0
$GC,247,-1.06,-116.8,35.6,-16.2,29,257,0.10,2.55,0.00,0.000,6,0.258,0.031,2763,1778,3474,0,0,0,0,0,0
$GC,515,-0.94,-116.8,73.2,-13.2,54,520,0.15,2.72,0.00,0.000,4,0.122,0.068,2793,189,3474,0,0,0,0,0,0
$GC,537,-0.82,-116.8,76.6,-13.6,55,542,0.12,2.38,0.00,0.000,6,0.120,0.015,2818,1806,3473,0,0,0,0,0,0
$GC,805,-0.88,-116.8,100.2,-8.6,79,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1808,3474,0,0,0,0,0,0
$GC,1066,-0.95,-116.8,124.2,-8.8,104,1072,0.12,2.78,0.00,0.000,4,0.073,0.061,2774,194,3474,0,0,0,0,0,0
$GC,1137,-0.95,-116.8,131.8,-10.8,109,1143,0.00,2.30,0.00,0.000,6,0.000,0.015,2774,1758,3474,0,0,0,0,0,0
$GC,1399,-0.95,-116.8,156.2,-9.4,134,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1759,3475,0,0,0,0,0,0
$GC,1655,-0.95,-116.8,178.1,-7.8,158,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1759,3475,0,0,0,0,0,0
$GC,1908,-0.95,-116.8,196.5,-8.1,182,1912,0.00,2.67,0.00,0.000,4,0.000,0.072,2774,187,3475,0,0,0,0,0,0
$GC,1941,-0.95,-116.8,199.7,-9.9,184,1947,0.00,2.30,0.00,0.000,6,0.000,0.017,2774,1741,3475,0,0,0,0,0,0
$GC,2192,-0.95,-116.8,222.5,-9.2,191,2196,0.00,2.42,0.00,0.000,4,0.000,0.026,2774,3314,3476,0,0,0,0,0,0
$GC,2253,-1.03,-116.8,228.3,-9.5,192,2258,0.00,2.47,0.00,0.000,6,0.000,0.028,2774,1760,3475,0,0,0,0,0,0
$GC,2514,-1.03,-116.8,251.0,-8.7,199,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1760,3475,0,0,0,0,0,0
$GC,2760,-1.07,-116.8,271.1,-8.3,205,2764,0.00,2.47,0.00,0.000,4,0.000,0.031,2774,3324,3474,0,0,0,0,0,0
$GC,2787,-1.13,-116.8,273.5,-7.8,205,2791,0.00,2.47,0.00,0.000,6,0.000,0.031,2774,1770,3474,0,0,0,0,0,0
$GC,3038,-1.18,-116.8,291.2,-6.8,211,3043,0.15,2.78,0.00,0.000,4,0.065,0.083,2725,190,3474,0,0,0,0,0,0
$GC,3100,-1.14,-116.8,297.1,-10.0,212,3105,0.12,2.38,0.00,0.000,6,0.107,0.021,2751,1741,3474,0,0,0,0,0,0
$GC,3361,-1.14,-116.8,315.2,-6.6,219,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1742,3473,0,0,0,0,0,0
$GC,3605,-1.14,-116.8,332.4,-7.2,225,3609,0.00,2.60,0.00,0.000,4,0.000,0.048,2751,3347,3473,0,0,0,0,0,0
$GC,3639,-1.19,-116.8,335.0,-7.7,225,3645,0.00,2.60,0.00,0.000,6,0.000,0.051,2751,1775,3472,0,0,0,0,0,0
$GC,3889,-1.22,-116.8,355.2,-8.2,232,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1775,3472,0,0,0,0,0,0
$GC,4133,-1.27,-116.8,375.4,-8.1,238,4135,0.12,0.00,0.00,0.000,6,0.077,0.000,2710,1774,3470,0,0,0,0,0,0
$GC,4377,-1.27,-116.8,397.1,-8.9,244,4382,0.00,2.58,0.00,0.000,4,0.000,0.044,2710,3346,3468,0,0,0,0,0,0
$GC,4432,-1.27,-116.8,402.4,-9.6,245,4437,0.00,2.60,0.00,0.000,6,0.000,0.055,2710,1783,3468,0,0,0,0,0,0
$GC,4699,-1.27,-116.8,426.1,-8.7,252,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1783,3466,0,0,0,0,0,0
$GC,4942,-1.27,-116.8,448.9,-9.5,258,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1783,3465,0,0,0,0,0,0
$GC,5187,-1.27,-116.8,472.0,-9.5,264,5192,0.00,2.60,0.00,0.000,4,0.000,0.055,2710,3338,3462,0,0,0,0,0,0
$GC,5208,-1.27,-116.8,474.2,-9.6,264,5213,0.00,2.67,0.00,0.000,6,0.000,0.061,2710,1777,3462,0,0,0,0,0,0
$GC,5464,-1.27,-116.8,494.4,-7.3,271,5469,0.00,3.03,0.00,0.000,4,0.000,0.122,2709,183,3461,0,0,0,0,0,0
$GC,5487,-1.27,-116.8,496.1,-7.6,271,5492,0.00,2.55,0.00,0.000,6,0.000,0.041,2710,1757,3461,0,0,0,0,0,0
$STATE,5577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5577,begin apogee
$GC,5583,-0.31,0.0,502.3,6.7,274,5680,1.00,0.00,93.65,0.918,6,0.087,0.000,2931,1828,3001,0,0,0,0,0,0
$STATE,5681,end apogee,CONTROL_FINISHED_OK
$STATE,5681,begin climb
$GC,5683,1.16,116.8,502.7,0.0,276,5787,1.35,0.00,99.93,0.893,6,0.047,0.000,3257,1828,2524,0,0,0,0,0,0
$GC,6025,1.02,120.1,481.1,7.9,285,6027,0.17,0.00,0.00,0.000,6,0.116,0.000,3222,1828,2514,0,0,0,0,0,0
$GC,6268,1.00,156.1,465.3,6.3,291,6306,0.00,0.00,33.33,0.867,6,0.000,0.000,3222,1828,2363,0,0,0,0,0,0
$GC,6551,0.95,158.0,443.8,7.9,298,6556,0.00,2.65,0.00,0.000,4,0.000,0.056,3222,3410,2356,0,0,0,0,0,0
$GC,6625,0.95,158.0,438.0,8.5,299,6629,0.00,2.67,0.00,0.000,6,0.000,0.049,3222,1815,2355,0,0,0,0,0,0
$GC,6875,0.91,162.2,418.5,7.8,305,6883,0.12,0.00,5.25,0.652,6,0.122,0.000,3198,1815,2339,0,0,0,0,0,0
$GC,7119,0.96,199.7,402.5,6.2,311,7157,0.00,0.00,34.58,0.853,6,0.000,0.000,3198,1815,2185,0,0,0,0,0,0
$GC,7402,1.01,245.3,385.4,5.9,318,7449,0.10,2.67,40.35,0.838,4,0.091,0.038,3223,3414,1999,0,0,0,0,0,0
$GC,7492,1.01,245.3,378.5,8.7,320,7497,0.00,2.70,0.00,0.000,6,0.000,0.048,3224,1810,1996,0,0,0,0,0,0
$GC,7766,1.01,245.3,354.5,8.8,327,7770,0.00,2.78,0.00,0.000,4,0.000,0.085,3224,236,1992,0,0,0,0,0,0
$GC,7782,1.01,245.3,352.7,8.9,327,7786,0.00,2.47,0.00,0.000,6,0.000,0.024,3224,1824,1991,0,0,0,0,0,0
$GC,8043,1.01,245.3,329.6,8.7,334,8048,0.00,2.53,0.00,0.000,4,0.000,0.038,3224,3402,1990,0,0,0,0,0,0
$GC,8123,1.01,245.3,322.5,9.5,335,8128,0.00,2.58,0.00,0.000,6,0.000,0.039,3224,1828,1989,0,0,0,0,0,0
$GC,8372,1.01,245.3,300.8,8.7,342,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1827,1988,0,0,0,0,0,0
$GC,8616,1.01,245.3,278.8,9.0,348,8620,0.00,2.75,0.00,0.000,4,0.000,0.076,3224,239,1987,0,0,0,0,0,0
$GC,8638,1.01,245.3,276.5,10.5,348,8642,0.00,2.50,0.00,0.000,6,0.000,0.024,3224,1852,1986,0,0,0,0,0,0
$GC,8893,1.01,245.3,251.5,9.6,355,8894,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1854,1986,0,0,0,0,0,0
$GC,9136,1.01,245.3,229.4,9.0,361,9140,0.00,2.45,0.00,0.000,4,0.000,0.032,3224,3394,1986,0,0,0,0,0,0
$GC,9176,1.08,245.3,225.6,9.6,362,9181,0.00,2.53,0.00,0.000,6,0.000,0.035,3224,1835,1985,0,0,0,0,0,0
$GC,9460,1.08,245.3,201.0,8.2,369,9464,0.00,2.47,0.00,0.000,4,0.000,0.031,3224,3392,1985,0,0,0,0,0,0
$GC,9505,1.15,245.8,197.5,8.0,370,9511,0.10,2.47,0.00,0.000,6,0.089,0.038,3254,1845,1985,0,0,0,0,0,0
$GC,9768,1.15,245.8,173.8,10.2,395,9770,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1845,1985,0,0,0,0,0,0
$GC,10024,1.15,245.8,149.0,9.0,419,10028,0.00,2.42,0.00,0.000,4,0.000,0.030,3254,3392,1985,0,0,0,0,0,0
$GC,10055,1.15,245.8,145.9,9.9,421,10059,0.00,2.45,0.00,0.000,6,0.000,0.033,3254,1857,1985,0,0,0,0,0,0
$GC,10323,1.18,269.8,125.0,6.9,445,10347,0.00,0.00,20.02,0.606,6,0.000,0.000,3254,1856,1900,0,0,0,0,0,0
$GC,10602,1.18,275.7,105.1,7.7,471,10614,0.00,2.45,6.43,0.499,4,0.000,0.032,3254,3394,1876,0,0,0,0,0,0
$GC,10632,1.24,275.7,102.4,8.5,473,10637,0.00,2.53,0.00,0.000,6,0.000,0.033,3254,1844,1876,0,0,0,0,0,0
$GC,10896,1.28,275.7,79.1,9.2,498,10901,0.10,2.47,0.00,0.000,4,0.087,0.028,3285,3403,1875,0,0,0,0,0,0
$GC,10941,1.33,275.7,74.4,10.7,501,10945,0.00,2.47,0.00,0.000,6,0.000,0.031,3285,1868,1875,0,0,0,0,0,0
$GC,11209,1.35,295.2,52.1,7.1,525,11237,0.00,2.47,18.15,0.538,4,0.000,0.025,3285,3393,1796,0,0,0,0,0,0
$GC,11280,1.39,295.2,46.8,8.9,530,11284,0.00,2.45,0.00,0.000,6,0.000,0.038,3285,1872,1795,0,0,0,0,0,0
$GC,11567,1.39,295.2,19.1,11.3,561,11576,0.00,2.80,0.00,0.000,4,0.000,0.066,3285,239,1794,0,0,0,0,0,0
$GC,11588,1.39,295.2,17.2,10.4,563,11597,0.00,2.55,0.00,0.000,6,0.000,0.022,3285,1891,1794,0,0,0,0,0,0
$STATE,11720,end climb,SURFACE_DEPTH_REACHED
$STATE,11720,begin surface coast
$FINISH,0.2,1.023339
$STATE,11773,end surface coast,CONTROL_FINISHED_OK
$STATE,11773,begin surface
$SM_CCo,11795,106.95,0.464,1,0,1287,420.20
$SM_GC,0.94,0.00,0.00,106.95,0.000,0.000,0.464,475,1748,1287,-11.62,-0.65,420.20
$IRIDIUM_FIX,2239.35,-15754.99,231199,090921
$TT8_MAMPS,0.025311
$HUMID,42.08
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.70
$XPDR_PINGS,48
$24V_AH,23.6,16.546
$10V_AH,10.4,15.801
$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,27.075,118.000,351.675,106.950,0.000,52.982,58.763,283.425,12.000,0.000,16.196,1147.226,8046.961,574.241,2043.969,700.232,33.367,1284.919,0.000,2051.941,0.000,0.537,0.000
$DEVICE_MAMPS,258.479,281.489,918.099,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.164,354.565,450.802,824.557,1245.840,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,47931,589
$CAP_FILE_SIZE,116242,0
$CFSIZE,260165632,177115136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290810,123507,2250.588,-15755.233,35,1.9,35,10.1