version: 66.06
glider: 146
mission: 5
dive: 97
start: 8 29 110 16 3 26
data:
$ID,146
$MISSION,5
$DIVE,97
$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,-249220.62
$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,51
$R_STBD_OVSHOOT,63
$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
$GPS1,155636,2251.637,-15755.385,36,1.4,52,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-65.8
$GPS2,160231,2251.619,-15755.458,15,1.9,32,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.122,0.181
$KALMAN_X,-86839.6,-227.6,-9.9,113150.6,-1367.3
$KALMAN_Y,4930.6,-119.0,-223.0,126971.9,31.7
$MHEAD_RNG_PITCHd_Wd,23.8,11843,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.95,0.000,2,0.000,0.000,478,1735,3243,0,0,0,0,0,0
$GC,100,-1.15,-116.8,3.2,-4.0,10,125,12.00,0.00,-4.55,0.000,6,0.159,0.000,2741,1735,3479,0,0,0,0,0,0
$GC,402,-0.97,-116.8,60.8,-19.1,44,407,0.22,2.50,0.00,0.000,4,0.117,0.021,2786,3342,3480,0,0,0,0,0,0
$GC,425,-0.84,-116.8,64.5,-16.6,45,430,0.12,2.47,0.00,0.000,6,0.117,0.029,2813,1785,3480,0,0,0,0,0,0
$GC,691,-0.84,-116.8,89.8,-9.3,69,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1785,3480,0,0,0,0,0,0
$GC,953,-0.90,-116.8,114.4,-9.7,94,957,0.00,2.70,0.00,0.000,4,0.000,0.066,2813,197,3481,0,0,0,0,0,0
$GC,973,-0.97,-116.8,116.2,-9.5,95,978,0.10,2.40,0.00,0.000,6,0.080,0.021,2771,1812,3481,0,0,0,0,0,0
$GC,1238,-0.97,-116.8,143.5,-9.5,119,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1813,3482,0,0,0,0,0,0
$GC,1500,-0.97,-116.8,166.3,-8.1,144,1505,0.00,2.75,0.00,0.000,4,0.000,0.065,2770,197,3482,0,0,0,0,0,0
$GC,1523,-0.97,-116.8,168.6,-9.1,145,1529,0.00,2.35,0.00,0.000,6,0.000,0.015,2770,1779,3482,0,0,0,0,0,0
$GC,1787,-0.97,-116.8,190.4,-8.9,170,1791,0.00,2.35,0.00,0.000,4,0.000,0.027,2770,3308,3482,0,0,0,0,0,0
$GC,1803,-0.97,-116.8,192.2,-9.1,171,1807,0.00,2.42,0.00,0.000,6,0.000,0.029,2770,1779,3482,0,0,0,0,0,0
$GC,2057,-0.97,-116.8,215.7,-9.5,183,2061,0.00,2.70,0.00,0.000,4,0.000,0.068,2770,197,3482,0,0,0,0,0,0
$GC,2118,-0.97,-116.8,222.0,-10.3,184,2122,0.00,2.35,0.00,0.000,6,0.000,0.016,2770,1755,3482,0,0,0,0,0,0
$GC,2378,-0.97,-116.8,245.7,-9.1,191,2383,0.00,2.45,0.00,0.000,4,0.000,0.029,2770,3321,3482,0,0,0,0,0,0
$GC,2411,-1.03,-116.8,248.8,-8.8,191,2417,0.00,2.47,0.00,0.000,6,0.000,0.032,2770,1780,3482,0,0,0,0,0,0
$GC,2662,-1.03,-116.8,269.2,-8.0,198,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1780,3482,0,0,0,0,0,0
$GC,2905,-1.03,-116.8,287.8,-7.6,204,2910,0.00,2.78,0.00,0.000,4,0.000,0.085,2770,191,3481,0,0,0,0,0,0
$GC,2932,-1.03,-116.8,290.1,-8.6,204,2936,0.00,2.40,0.00,0.000,6,0.000,0.019,2770,1760,3481,0,0,0,0,0,0
$GC,3188,-1.08,-116.8,309.9,-8.0,211,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1760,3481,0,0,0,0,0,0
$GC,3433,-1.14,-116.8,328.5,-7.6,217,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1760,3480,0,0,0,0,0,0
$GC,3675,-1.20,-116.8,347.4,-7.8,223,3681,0.15,2.58,0.00,0.000,4,0.067,0.048,2724,3343,3480,0,0,0,0,0,0
$GC,3731,-1.20,-116.8,352.7,-9.7,224,3735,0.00,2.58,0.00,0.000,6,0.000,0.044,2724,1783,3480,0,0,0,0,0,0
$GC,3998,-1.20,-116.8,377.7,-9.6,231,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1783,3478,0,0,0,0,0,0
$GC,4240,-1.20,-116.8,400.0,-9.2,237,4245,0.00,2.53,0.00,0.000,4,0.000,0.049,2724,3336,3477,0,0,0,0,0,0
$GC,4284,-1.20,-116.8,404.3,-9.5,238,4289,0.00,2.62,0.00,0.000,6,0.000,0.054,2724,1790,3477,0,0,0,0,0,0
$GC,4569,-1.20,-116.8,430.8,-9.4,245,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1789,3476,0,0,0,0,0,0
$GC,4811,-1.20,-116.8,452.3,-8.7,251,4816,0.00,3.00,0.00,0.000,4,0.000,0.114,2724,178,3474,0,0,0,0,0,0
$GC,4827,-1.20,-116.8,453.7,-8.6,251,4831,0.00,2.55,0.00,0.000,6,0.000,0.034,2724,1763,3474,0,0,0,0,0,0
$GC,5095,-1.20,-116.8,475.1,-7.8,258,5099,0.00,2.70,0.00,0.000,4,0.000,0.067,2724,3360,3472,0,0,0,0,0,0
$GC,5115,-1.20,-116.8,477.2,-8.3,258,5120,0.00,2.70,0.00,0.000,6,0.000,0.055,2724,1772,3472,0,0,0,0,0,0
$GC,5371,-1.20,-116.8,496.6,-7.4,265,5376,0.00,3.00,0.00,0.000,4,0.000,0.120,2724,185,3470,0,0,0,0,0,0
$GC,5403,-1.20,-116.8,499.4,-8.4,265,5409,0.00,2.58,0.00,0.000,6,0.000,0.035,2723,1772,3470,0,0,0,0,0,0
$STATE,5448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5448,begin apogee
$GC,5455,-0.31,0.0,503.1,8.2,267,5555,0.93,0.00,95.90,0.922,6,0.079,0.000,2932,1826,3001,0,0,0,0,0,0
$STATE,5555,end apogee,CONTROL_FINISHED_OK
$STATE,5555,begin climb
$GC,5558,1.15,116.8,505.0,0.0,269,5662,1.35,0.00,100.72,0.898,6,0.052,0.000,3260,1825,2524,0,0,0,0,0,0
$GC,5896,1.03,145.3,489.9,6.7,278,5927,0.17,2.80,24.48,0.861,4,0.114,0.065,3225,3405,2407,0,0,0,0,0,0
$GC,5944,1.01,181.3,486.5,6.3,279,5983,0.00,2.75,32.70,0.864,6,0.000,0.061,3225,1820,2260,0,0,0,0,0,0
$GC,6266,0.95,181.3,458.5,9.3,287,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1820,2252,0,0,0,0,0,0
$GC,6507,0.89,181.3,436.6,8.7,293,6509,0.15,0.00,0.00,0.000,6,0.117,0.000,3195,1820,2249,0,0,0,0,0,0
$GC,6750,0.92,201.2,418.8,7.1,299,6774,0.00,2.72,16.58,0.828,4,0.000,0.043,3195,3414,2179,0,0,0,0,0,0
$GC,6804,0.97,209.7,415.2,7.6,300,6819,0.00,2.72,9.07,0.756,6,0.000,0.046,3195,1807,2144,0,0,0,0,0,0
$GC,7080,1.00,233.1,395.7,6.9,307,7104,0.00,0.00,21.58,0.831,6,0.000,0.000,3196,1807,2050,0,0,0,0,0,0
$GC,7324,1.01,245.3,377.6,7.4,313,7343,0.10,2.70,11.65,0.780,4,0.099,0.035,3222,3408,1999,0,0,0,0,0,0
$GC,7373,1.01,245.3,373.5,8.3,314,7378,0.00,2.67,0.00,0.000,6,0.000,0.044,3222,1807,1998,0,0,0,0,0,0
$GC,7651,1.01,245.3,348.6,9.1,321,7655,0.00,2.60,0.00,0.000,4,0.000,0.038,3222,3409,1995,0,0,0,0,0,0
$GC,7690,1.01,245.3,344.8,10.4,322,7694,0.00,2.62,0.00,0.000,6,0.000,0.038,3222,1826,1994,0,0,0,0,0,0
$GC,7974,1.01,245.3,318.4,9.2,329,7978,0.00,2.58,0.00,0.000,4,0.000,0.038,3222,3416,1993,0,0,0,0,0,0
$GC,7994,1.01,245.3,316.1,10.2,329,7999,0.00,2.62,0.00,0.000,6,0.000,0.037,3222,1819,1992,0,0,0,0,0,0
$GC,8250,1.01,245.3,294.4,8.3,336,8254,0.00,2.58,0.00,0.000,4,0.000,0.031,3222,3415,1992,0,0,0,0,0,0
$GC,8290,1.07,245.3,291.2,8.3,337,8295,0.00,2.60,0.00,0.000,6,0.000,0.036,3222,1828,1992,0,0,0,0,0,0
$GC,8573,1.07,248.6,269.3,7.9,344,8578,0.00,2.55,0.00,0.000,4,0.000,0.035,3223,3414,1991,0,0,0,0,0,0
$GC,8591,1.08,251.8,268.0,7.9,344,8602,0.00,2.58,5.82,0.607,6,0.000,0.035,3222,1834,1974,0,0,0,0,0,0
$GC,8853,1.08,251.8,245.6,8.6,351,8858,0.00,2.53,0.00,0.000,4,0.000,0.031,3223,3411,1973,0,0,0,0,0,0
$GC,8886,1.13,251.8,242.6,8.9,351,8893,0.10,2.55,0.00,0.000,6,0.097,0.038,3251,1847,1972,0,0,0,0,0,0
$GC,9138,1.13,251.8,219.8,9.1,358,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1847,1972,0,0,0,0,0,0
$GC,9381,1.13,251.8,198.0,9.1,364,9386,0.00,2.75,0.00,0.000,4,0.000,0.067,3251,243,1971,0,0,0,0,0,0
$GC,9425,1.06,251.8,193.7,11.2,367,9429,0.00,2.50,0.00,0.000,6,0.000,0.019,3251,1875,1971,0,0,0,0,0,0
$GC,9693,1.06,251.8,170.7,8.2,391,9697,0.00,2.45,0.00,0.000,4,0.000,0.035,3251,3425,1971,0,0,0,0,0,0
$GC,9744,1.06,251.8,165.2,10.0,395,9748,0.00,2.55,0.00,0.000,6,0.000,0.032,3251,1832,1970,0,0,0,0,0,0
$GC,10010,1.06,251.8,141.2,9.4,419,10014,0.00,2.53,0.00,0.000,4,0.000,0.034,3251,3423,1971,0,0,0,0,0,0
$GC,10066,1.06,251.8,135.9,9.4,423,10071,0.00,2.55,0.00,0.000,6,0.000,0.038,3251,1847,1971,0,0,0,0,0,0
$GC,10333,1.07,258.9,113.4,7.7,447,10347,0.00,2.78,7.85,0.534,4,0.000,0.062,3251,247,1945,0,0,0,0,0,0
$GC,10367,1.07,258.9,110.2,8.7,450,10371,0.00,2.53,0.00,0.000,6,0.000,0.024,3251,1887,1944,0,0,0,0,0,0
$GC,10630,1.14,286.9,90.9,6.7,474,10661,0.00,0.00,25.62,0.580,6,0.000,0.000,3251,1888,1830,0,0,0,0,0,0
$GC,10920,1.25,324.0,70.8,6.3,501,10961,0.10,2.47,32.17,0.564,4,0.091,0.028,3281,3408,1679,0,0,0,0,0,0
$GC,10993,1.31,324.0,65.0,9.1,506,10997,0.00,2.55,0.00,0.000,6,0.000,0.033,3281,1838,1678,0,0,0,0,0,0
$GC,11260,1.31,324.0,42.5,8.7,530,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1838,1677,0,0,0,0,0,0
$GC,11562,1.31,324.0,13.7,8.5,567,11571,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1837,1677,0,0,0,0,0,0
$STATE,11653,end climb,SURFACE_DEPTH_REACHED
$STATE,11653,begin surface coast
$FINISH,0.4,1.023304
$STATE,11696,end surface coast,CONTROL_FINISHED_OK
$STATE,11696,begin surface
$SM_CCo,11718,89.50,0.453,1,0,1288,420.20
$SM_GC,0.89,0.00,0.00,89.50,0.000,0.000,0.453,473,1742,1288,-11.62,-0.79,420.20
$IRIDIUM_FIX,2244.02,-15756.28,231199,121207
$TT8_MAMPS,0.025311
$HUMID,42.28
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.90
$XPDR_PINGS,51
$24V_AH,23.6,16.782
$10V_AH,10.4,16.045
$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,26.825,129.925,384.150,89.500,0.000,27.574,27.035,146.999,12.750,0.000,33.546,1149.331,7847.730,574.047,2099.594,497.398,33.373,1320.904,0.000,2087.233,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,131.157,921.934,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.320,350.636,447.776,835.652,1259.016,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,44711,586
$CAP_FILE_SIZE,114324,0
$CFSIZE,260165632,177000448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290810,192137,2253.177,-15755.281,36,1.1,36,10.1