version: 66.06
glider: 146
mission: 5
dive: 96
start: 8 29 110 12 43 9
data:
$ID,146
$MISSION,5
$DIVE,96
$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,-249186.45
$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,45
$R_STBD_OVSHOOT,48
$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
$GPS1,123507,2250.588,-15755.233,35,1.9,35,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-65.8
$GPS2,124214,2250.579,-15755.304,13,1.7,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.103,0.193
$KALMAN_X,-85471.3,-147.3,92.3,111868.8,-1221.0
$KALMAN_Y,4932.3,-219.3,356.9,124567.9,-788.4
$MHEAD_RNG_PITCHd_Wd,18.0,13753,-16.0,-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,15,begin dive
$GC,17,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-85.03,0.000,6,0.000,0.000,474,1748,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.5,-6.2,11,125,11.80,2.50,0.00,0.000,4,0.151,0.021,2740,3354,3482,0,0,0,0,0,0
$GC,293,-1.05,-116.8,43.5,-11.9,32,299,0.12,2.55,0.00,0.000,6,0.126,0.032,2766,1781,3482,0,0,0,0,0,0
$GC,560,-0.96,-116.8,78.8,-12.9,56,565,0.12,2.72,0.00,0.000,4,0.121,0.069,2791,193,3483,0,0,0,0,0,0
$GC,607,-0.96,-116.8,84.3,-11.0,59,611,0.00,2.42,0.00,0.000,6,0.000,0.015,2791,1809,3481,0,0,0,0,0,0
$GC,874,-0.96,-116.8,110.5,-9.8,83,878,0.00,2.33,0.00,0.000,4,0.000,0.031,2791,3320,3483,0,0,0,0,0,0
$GC,906,-0.96,-116.8,113.8,-9.6,85,910,0.00,2.47,0.00,0.000,6,0.000,0.033,2791,1764,3483,0,0,0,0,0,0
$GC,1173,-0.96,-116.8,139.0,-8.9,109,1178,0.00,2.67,0.00,0.000,4,0.000,0.071,2791,190,3483,0,0,0,0,0,0
$GC,1214,-1.00,-116.8,143.7,-9.6,112,1218,0.00,2.38,0.00,0.000,6,0.000,0.021,2791,1776,3483,0,0,0,0,0,0
$GC,1482,-1.05,-116.8,164.9,-7.7,136,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1779,3483,0,0,0,0,0,0
$GC,1745,-1.11,-116.8,184.1,-7.5,161,1751,0.15,2.72,0.00,0.000,4,0.064,0.065,2743,192,3483,0,0,0,0,0,0
$GC,1779,-1.06,-116.8,186.8,-9.5,163,1784,0.10,2.35,0.00,0.000,6,0.115,0.024,2765,1754,3484,0,0,0,0,0,0
$GC,2058,-1.06,-116.8,210.4,-8.2,180,2062,0.00,2.47,0.00,0.000,4,0.000,0.031,2765,3320,3483,0,0,0,0,0,0
$GC,2113,-1.11,-116.8,215.1,-7.4,181,2118,0.00,2.45,0.00,0.000,6,0.000,0.034,2765,1771,3483,0,0,0,0,0,0
$GC,2381,-1.11,-116.8,237.5,-8.4,188,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1771,3483,0,0,0,0,0,0
$GC,2624,-1.11,-116.8,255.0,-7.0,194,2628,0.00,2.42,0.00,0.000,4,0.000,0.032,2765,3321,3482,0,0,0,0,0,0
$GC,2657,-1.16,-116.8,257.4,-6.9,194,2663,0.00,2.47,0.00,0.000,6,0.000,0.032,2766,1775,3482,0,0,0,0,0,0
$GC,2908,-1.16,-116.8,275.9,-7.6,201,2913,0.00,2.75,0.00,0.000,4,0.000,0.077,2765,192,3482,0,0,0,0,0,0
$GC,2948,-1.16,-116.8,279.5,-8.9,202,2952,0.00,2.38,0.00,0.000,6,0.000,0.023,2765,1750,3482,0,0,0,0,0,0
$GC,3231,-1.20,-116.8,303.0,-8.2,209,3233,0.12,0.00,0.00,0.000,6,0.074,0.000,2725,1749,3481,0,0,0,0,0,0
$GC,3475,-1.20,-116.8,328.1,-10.5,215,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1749,3481,0,0,0,0,0,0
$GC,3718,-1.20,-116.8,351.8,-9.3,221,3722,0.00,2.62,0.00,0.000,4,0.000,0.053,2725,3340,3480,0,0,0,0,0,0
$GC,3757,-1.20,-116.8,355.3,-8.7,222,3761,0.00,2.60,0.00,0.000,6,0.000,0.051,2725,1781,3480,0,0,0,0,0,0
$GC,4041,-1.20,-116.8,378.7,-8.3,229,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1780,3479,0,0,0,0,0,0
$GC,4285,-1.20,-116.8,400.4,-9.0,235,4289,0.00,2.55,0.00,0.000,4,0.000,0.048,2725,3342,3477,0,0,0,0,0,0
$GC,4350,-1.20,-116.8,406.8,-9.2,236,4355,0.00,2.65,0.00,0.000,6,0.000,0.058,2725,1785,3477,0,0,0,0,0,0
$GC,4612,-1.20,-116.8,429.6,-8.7,243,4617,0.00,2.95,0.00,0.000,4,0.000,0.113,2725,183,3475,0,0,0,0,0,0
$GC,4662,-1.20,-116.8,434.1,-9.2,244,4666,0.00,2.53,0.00,0.000,6,0.000,0.035,2725,1749,3475,0,0,0,0,0,0
$GC,4934,-1.20,-116.8,455.6,-7.8,251,4938,0.00,2.72,0.00,0.000,4,0.000,0.067,2725,3357,3473,0,0,0,0,0,0
$GC,5023,-1.20,-116.8,463.0,-8.2,253,5028,0.00,2.67,0.00,0.000,6,0.000,0.065,2725,1784,3472,0,0,0,0,0,0
$GC,5301,-1.20,-116.8,485.2,-8.0,260,5306,0.00,3.03,0.00,0.000,4,0.000,0.120,2725,185,3470,0,0,0,0,0,0
$GC,5340,-1.20,-116.8,488.7,-9.0,261,5344,0.00,2.60,0.00,0.000,6,0.000,0.035,2725,1781,3470,0,0,0,0,0,0
$STATE,5499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5499,begin apogee
$GC,5506,-0.31,0.0,501.5,7.8,265,5605,0.93,0.00,95.38,0.921,6,0.078,0.000,2934,1833,3001,0,0,0,0,0,0
$STATE,5606,end apogee,CONTROL_FINISHED_OK
$STATE,5606,begin climb
$GC,5608,1.15,116.8,503.6,0.0,267,5716,1.33,2.78,100.28,0.897,4,0.041,0.073,3256,3397,2523,0,0,0,0,0,0
$GC,5729,1.10,202.1,504.1,4.1,270,5808,0.00,2.75,73.35,0.884,6,0.000,0.058,3257,1817,2176,0,0,0,0,0,0
$GC,6064,0.99,202.1,476.9,8.5,279,6070,0.20,2.65,0.00,0.000,4,0.194,0.044,3217,3407,2166,0,0,0,0,0,0
$GC,6082,0.90,202.1,475.5,8.2,279,6087,0.00,2.72,0.00,0.000,6,0.000,0.058,3217,1814,2165,0,0,0,0,0,0
$GC,6343,0.89,223.8,457.4,7.0,286,6368,0.10,2.72,18.33,0.842,4,0.272,0.049,3196,3400,2087,0,0,0,0,0,0
$GC,6379,0.91,238.8,454.8,7.3,286,6399,0.00,2.70,14.62,0.815,6,0.000,0.060,3196,1825,2027,0,0,0,0,0,0
$GC,6667,0.92,248.6,433.7,7.6,294,6679,0.00,0.00,9.60,0.777,6,0.000,0.000,3196,1825,1987,0,0,0,0,0,0
$GC,6909,0.92,248.6,412.8,8.7,300,6914,0.00,2.95,0.00,0.000,4,0.000,0.105,3196,233,1983,0,0,0,0,0,0
$GC,6938,0.92,248.6,410.1,9.7,300,6942,0.00,2.53,0.00,0.000,6,0.000,0.024,3196,1822,1982,0,0,0,0,0,0
$GC,7189,0.92,248.6,386.9,9.1,306,7193,0.00,2.60,0.00,0.000,4,0.000,0.042,3196,3410,1981,0,0,0,0,0,0
$GC,7229,1.00,248.6,383.2,9.3,307,7234,0.10,2.65,0.00,0.000,6,0.100,0.047,3223,1816,1980,0,0,0,0,0,0
$GC,7512,1.00,248.6,357.6,8.9,314,7517,0.00,2.58,0.00,0.000,4,0.000,0.034,3223,3407,1980,0,0,0,0,0,0
$GC,7535,1.00,248.6,355.7,8.6,314,7540,0.00,2.62,0.00,0.000,6,0.000,0.048,3223,1822,1979,0,0,0,0,0,0
$GC,7791,1.00,248.6,333.4,8.7,321,7795,0.00,2.55,0.00,0.000,4,0.000,0.039,3223,3412,1979,0,0,0,0,0,0
$GC,7829,1.00,248.6,329.7,10.0,322,7834,0.00,2.62,0.00,0.000,6,0.000,0.044,3223,1821,1978,0,0,0,0,0,0
$GC,8114,1.01,254.8,307.0,7.7,329,8124,0.00,2.58,5.57,0.635,4,0.000,0.036,3223,3411,1961,0,0,0,0,0,0
$GC,8153,1.06,254.8,303.4,8.5,330,8158,0.00,2.62,0.00,0.000,6,0.000,0.038,3223,1829,1960,0,0,0,0,0,0
$GC,8438,1.06,254.8,278.8,8.7,337,8442,0.00,2.53,0.00,0.000,4,0.000,0.033,3223,3408,1959,0,0,0,0,0,0
$GC,8464,1.06,254.8,276.3,8.8,337,8469,0.00,2.60,0.00,0.000,6,0.000,0.036,3223,1823,1959,0,0,0,0,0,0
$GC,8714,1.06,254.8,254.1,9.0,343,8719,0.00,2.75,0.00,0.000,4,0.000,0.074,3223,239,1958,0,0,0,0,0,0
$GC,8735,1.06,254.8,251.9,10.1,343,8740,0.00,2.50,0.00,0.000,6,0.000,0.026,3223,1848,1958,0,0,0,0,0,0
$GC,8992,1.06,259.6,231.3,7.8,350,9003,0.00,2.47,5.57,0.581,4,0.000,0.037,3223,3387,1941,0,0,0,0,0,0
$GC,9037,1.13,264.3,227.7,7.8,351,9048,0.10,2.55,5.80,0.581,6,0.097,0.035,3252,1826,1923,0,0,0,0,0,0
$GC,9317,1.13,264.3,203.1,8.8,358,9321,0.00,2.50,0.00,0.000,4,0.000,0.030,3251,3391,1922,0,0,0,0,0,0
$GC,9343,1.13,264.3,200.7,8.6,358,9348,0.00,2.50,0.00,0.000,6,0.000,0.034,3251,1838,1921,0,0,0,0,0,0
$GC,9607,1.13,264.3,178.5,8.5,379,9611,0.00,2.72,0.00,0.000,4,0.000,0.064,3251,242,1921,0,0,0,0,0,0
$GC,9629,1.07,264.3,175.9,9.9,380,9635,0.00,2.45,0.00,0.000,6,0.000,0.025,3251,1838,1921,0,0,0,0,0,0
$GC,9892,1.07,264.3,151.7,9.3,405,9896,0.00,2.45,0.00,0.000,4,0.000,0.036,3251,3386,1921,0,0,0,0,0,0
$GC,9972,1.11,264.3,144.3,9.8,411,9976,0.00,2.50,0.00,0.000,6,0.000,0.036,3251,1829,1921,0,0,0,0,0,0
$GC,10238,1.11,264.3,118.3,9.9,435,10242,0.00,2.45,0.00,0.000,4,0.000,0.029,3251,3379,1921,0,0,0,0,0,0
$GC,10308,1.17,264.3,111.2,9.3,440,10317,0.00,2.53,0.00,0.000,6,0.000,0.034,3251,1840,1921,0,0,0,0,0,0
$GC,10574,1.19,280.5,89.4,7.3,465,10599,0.00,2.50,15.88,0.571,4,0.000,0.028,3252,3376,1855,0,0,0,0,0,0
$GC,10636,1.27,292.4,84.5,7.5,470,10653,0.10,2.47,11.40,0.544,6,0.085,0.039,3282,1855,1809,0,0,0,0,0,0
$GC,10919,1.31,317.1,62.8,6.9,496,10947,0.00,2.45,22.12,0.556,4,0.000,0.031,3283,3383,1708,0,0,0,0,0,0
$GC,10991,1.41,373.9,58.4,5.4,501,11055,0.08,2.50,48.95,0.558,6,0.052,0.033,3314,1870,1475,0,0,0,0,0,0
$GC,11329,1.36,373.9,15.9,14.5,537,11338,0.00,2.80,0.00,0.000,4,0.000,0.059,3314,243,1471,0,0,0,0,0,0
$GC,11356,1.28,373.9,11.3,15.0,540,11364,0.12,2.53,0.00,0.000,6,0.091,0.020,3283,1869,1470,0,0,0,0,0,0
$STATE,11406,end climb,SURFACE_DEPTH_REACHED
$STATE,11406,begin surface coast
$FINISH,0.4,1.021563
$STATE,11442,end surface coast,CONTROL_FINISHED_OK
$STATE,11442,begin surface
$SM_CCo,11465,43.45,0.394,1,0,1287,420.20
$SM_GC,1.13,0.00,0.00,43.45,0.000,0.000,0.394,478,1735,1287,-11.60,-0.99,420.20
$IRIDIUM_FIX,2241.69,-15751.94,231199,090930
$TT8_MAMPS,0.026078
$HUMID,43.06
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.10
$XPDR_PINGS,65
$24V_AH,23.6,16.668
$10V_AH,10.4,15.919
$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,26.900,160.625,426.850,43.450,0.000,28.785,36.659,226.992,16.250,0.000,15.346,1140.230,7606.717,545.905,2054.455,594.846,33.372,1359.341,0.000,2052.526,0.000,0.536,0.000
$DEVICE_MAMPS,272.285,134.992,921.167,394.238,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.834,329.988,415.266,746.987,1129.741,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,44709,552
$CAP_FILE_SIZE,124194,0
$CFSIZE,260165632,177045504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290810,155636,2251.637,-15755.385,36,1.4,52,10.1