version: 66.06
glider: 146
mission: 5
dive: 98
start: 8 29 110 19 29 33
data:
$ID,146
$MISSION,5
$DIVE,98
$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,-249234.52
$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,48
$R_STBD_OVSHOOT,26
$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
$GPS1,192137,2253.177,-15755.281,36,1.1,36,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.0
$GPS2,192838,2253.211,-15755.339,11,1.1,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.087,0.200
$KALMAN_X,-88067.8,-181.9,-145.0,114670.0,-874.5
$KALMAN_Y,5270.2,137.0,-131.2,129229.9,770.5
$MHEAD_RNG_PITCHd_Wd,13.5,8888,-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,-78.93,0.000,2,0.000,0.000,473,1742,3275,0,0,0,0,0,0
$GC,100,-1.15,-116.8,3.4,-4.1,10,126,11.80,2.62,-3.83,0.000,4,0.150,0.043,2741,3369,3481,0,0,0,0,0,0
$GC,164,-0.84,-116.8,21.1,-23.1,18,174,0.32,2.58,0.00,0.000,6,0.084,0.035,2815,1788,3482,0,0,0,0,0,0
$GC,446,-0.84,-116.8,51.9,-10.7,48,451,0.00,2.72,0.00,0.000,4,0.000,0.064,2815,195,3482,0,0,0,0,0,0
$GC,479,-0.84,-116.8,55.7,-11.9,50,483,0.00,2.45,0.00,0.000,6,0.000,0.023,2816,1838,3482,0,0,0,0,0,0
$GC,741,-0.84,-116.8,83.3,-10.6,74,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1840,3482,0,0,0,0,0,0
$GC,995,-0.88,-116.8,106.3,-9.0,98,1000,0.00,2.80,0.00,0.000,4,0.000,0.063,2816,193,3483,0,0,0,0,0,0
$GC,1041,-0.96,-116.8,110.7,-9.3,101,1048,0.10,2.42,0.00,0.000,6,0.084,0.022,2777,1815,3483,0,0,0,0,0,0
$GC,1305,-0.96,-116.8,137.3,-10.0,126,1309,0.00,2.75,0.00,0.000,4,0.000,0.061,2777,193,3483,0,0,0,0,0,0
$GC,1326,-0.96,-116.8,139.4,-10.4,127,1331,0.00,2.33,0.00,0.000,6,0.000,0.018,2777,1759,3483,0,0,0,0,0,0
$GC,1594,-0.96,-116.8,165.3,-8.9,151,1598,0.00,2.40,0.00,0.000,4,0.000,0.026,2777,3314,3483,0,0,0,0,0,0
$GC,1672,-1.01,-116.8,172.3,-8.2,157,1676,0.00,2.50,0.00,0.000,6,0.000,0.036,2777,1750,3483,0,0,0,0,0,0
$GC,1939,-1.01,-116.8,195.0,-8.8,181,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1750,3483,0,0,0,0,0,0
$GC,2191,-1.01,-116.8,218.4,-9.1,191,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1749,3483,0,0,0,0,0,0
$GC,2435,-1.01,-116.8,240.6,-9.0,197,2439,0.00,2.67,0.00,0.000,4,0.000,0.076,2777,198,3484,0,0,0,0,0,0
$GC,2485,-1.01,-116.8,245.5,-9.8,198,2489,0.00,2.33,0.00,0.000,6,0.000,0.024,2777,1747,3483,0,0,0,0,0,0
$GC,2757,-1.05,-116.8,271.3,-9.5,205,2761,0.00,2.47,0.00,0.000,4,0.000,0.036,2777,3333,3483,0,0,0,0,0,0
$GC,2801,-1.13,-116.8,275.6,-9.1,206,2805,0.00,2.53,0.00,0.000,6,0.000,0.035,2777,1768,3483,0,0,0,0,0,0
$GC,3080,-1.18,-116.8,299.4,-8.1,213,3085,0.15,2.80,0.00,0.000,4,0.064,0.080,2726,185,3482,0,0,0,0,0,0
$GC,3113,-1.10,-116.8,302.8,-10.4,213,3119,0.15,2.40,0.00,0.000,6,0.097,0.028,2758,1747,3482,0,0,0,0,0,0
$GC,3363,-1.10,-116.8,320.4,-6.9,220,3368,0.00,2.58,0.00,0.000,4,0.000,0.041,2758,3345,3482,0,0,0,0,0,0
$GC,3415,-1.16,-116.8,323.9,-6.8,221,3419,0.00,2.58,0.00,0.000,6,0.000,0.046,2758,1782,3482,0,0,0,0,0,0
$GC,3687,-1.16,-116.8,343.2,-7.2,228,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1782,3481,0,0,0,0,0,0
$GC,3931,-1.20,-116.8,362.2,-7.9,234,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1782,3481,0,0,0,0,0,0
$GC,4176,-1.25,-116.8,379.9,-7.2,240,4181,0.12,2.55,0.00,0.000,4,0.075,0.045,2718,3343,3479,0,0,0,0,0,0
$GC,4203,-1.25,-116.8,382.2,-8.2,240,4207,0.00,2.62,0.00,0.000,6,0.000,0.054,2718,1776,3479,0,0,0,0,0,0
$GC,4459,-1.25,-116.8,402.6,-8.0,247,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1775,3478,0,0,0,0,0,0
$GC,4703,-1.25,-116.8,424.0,-9.0,253,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1775,3476,0,0,0,0,0,0
$GC,4946,-1.25,-116.8,446.7,-9.4,259,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1774,3475,0,0,0,0,0,0
$GC,5190,-1.25,-116.8,468.9,-9.2,265,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1775,3473,0,0,0,0,0,0
$GC,5434,-1.25,-116.8,488.6,-7.8,271,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1775,3472,0,0,0,0,0,0
$STATE,5634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5634,begin apogee
$GC,5641,-0.31,0.0,502.5,6.7,276,5740,0.95,0.00,95.60,0.919,6,0.098,0.000,2931,1775,3001,0,0,0,0,0,0
$STATE,5741,end apogee,CONTROL_FINISHED_OK
$STATE,5741,begin climb
$GC,5743,1.15,116.8,503.5,0.0,278,5848,1.35,0.00,100.32,0.892,6,0.042,0.000,3258,1775,2523,0,0,0,0,0,0
$GC,6081,1.00,120.7,483.7,7.8,287,6086,0.20,2.78,0.00,0.000,4,0.193,0.059,3218,3381,2513,0,0,0,0,0,0
$GC,6099,0.91,135.8,482.5,7.3,287,6120,0.00,2.72,15.80,0.830,6,0.000,0.061,3218,1816,2447,0,0,0,0,0,0
$GC,6365,0.89,168.2,465.0,6.5,294,6396,0.12,0.00,29.33,0.864,6,0.262,0.000,3193,1816,2315,0,0,0,0,0,0
$GC,6609,0.91,183.9,447.6,7.3,300,6626,0.00,0.00,14.65,0.823,6,0.000,0.000,3193,1816,2251,0,0,0,0,0,0
$GC,6851,0.91,186.3,428.4,7.9,306,6856,0.00,2.62,0.00,0.000,4,0.000,0.046,3193,3397,2245,0,0,0,0,0,0
$GC,6901,0.96,186.3,423.8,9.4,307,6905,0.00,2.65,0.00,0.000,6,0.000,0.048,3193,1823,2244,0,0,0,0,0,0
$GC,7174,0.98,207.6,403.5,7.0,314,7197,0.00,0.00,21.27,0.835,6,0.000,0.000,3193,1823,2154,0,0,0,0,0,0
$GC,7416,1.03,243.8,387.9,6.3,320,7460,0.12,2.65,32.47,0.838,4,0.118,0.040,3224,3389,2006,0,0,0,0,0,0
$GC,7482,1.04,253.1,383.2,7.6,321,7497,0.00,2.65,9.62,0.744,6,0.000,0.047,3225,1828,1969,0,0,0,0,0,0
$GC,7743,1.04,253.1,362.1,8.3,327,7748,0.00,2.55,0.00,0.000,4,0.000,0.038,3224,3393,1963,0,0,0,0,0,0
$GC,7778,1.04,253.1,359.1,8.7,327,7784,0.00,2.60,0.00,0.000,6,0.000,0.046,3225,1841,1962,0,0,0,0,0,0
$GC,8028,1.04,253.1,337.6,8.5,334,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1841,1961,0,0,0,0,0,0
$GC,8272,1.04,253.1,315.3,9.2,340,8277,0.00,2.50,0.00,0.000,4,0.000,0.037,3224,3400,1960,0,0,0,0,0,0
$GC,8328,1.09,253.1,309.7,9.9,341,8332,0.00,2.55,0.00,0.000,6,0.000,0.038,3224,1849,1959,0,0,0,0,0,0
$GC,8594,1.09,253.1,283.1,10.2,348,8598,0.00,2.47,0.00,0.000,4,0.000,0.031,3224,3393,1959,0,0,0,0,0,0
$GC,8628,1.14,253.1,279.5,10.8,348,8634,0.10,2.50,0.00,0.000,6,0.091,0.041,3252,1866,1958,0,0,0,0,0,0
$GC,8878,1.10,253.1,253.3,10.2,355,8882,0.00,2.42,0.00,0.000,4,0.000,0.035,3252,3396,1957,0,0,0,0,0,0
$GC,8910,1.10,253.1,250.1,9.3,355,8916,0.00,2.47,0.00,0.000,6,0.000,0.041,3252,1872,1957,0,0,0,0,0,0
$GC,9160,1.10,253.1,226.2,9.6,362,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1872,1957,0,0,0,0,0,0
$GC,9403,1.10,253.1,204.3,8.8,368,9408,0.00,2.80,0.00,0.000,4,0.000,0.071,3252,237,1957,0,0,0,0,0,0
$GC,9443,1.03,253.1,200.5,10.6,369,9448,0.15,2.55,0.00,0.000,6,0.110,0.021,3221,1884,1955,0,0,0,0,0,0
$GC,9709,1.10,281.8,182.9,6.7,391,9743,0.00,2.47,24.08,0.661,4,0.000,0.031,3221,3396,1851,0,0,0,0,0,0
$GC,9782,1.21,287.0,177.6,7.8,397,9794,0.17,2.50,6.07,0.535,6,0.067,0.035,3269,1863,1831,0,0,0,0,0,0
$GC,10048,1.21,287.0,151.7,9.6,422,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1863,1828,0,0,0,0,0,0
$GC,10303,1.21,287.0,125.5,10.3,446,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1863,1828,0,0,0,0,0,0
$GC,10559,1.21,287.0,102.0,8.3,470,10564,0.00,2.78,0.00,0.000,4,0.000,0.062,3269,239,1828,0,0,0,0,0,0
$GC,10579,1.21,287.0,100.5,8.5,471,10584,0.00,2.53,0.00,0.000,6,0.000,0.022,3269,1884,1827,0,0,0,0,0,0
$GC,10847,1.21,292.1,79.9,7.8,495,10857,0.00,0.00,5.68,0.459,6,0.000,0.000,3269,1886,1810,0,0,0,0,0,0
$GC,11115,1.21,292.1,57.3,8.6,520,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1885,1809,0,0,0,0,0,0
$GC,11381,1.21,292.1,35.4,8.1,545,11389,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1886,1810,0,0,0,0,0,0
$GC,11700,1.21,292.1,7.7,9.5,588,11710,0.00,2.40,0.00,0.000,4,0.000,0.036,3269,3388,1810,0,0,0,0,0,0
$GC,11735,1.25,292.1,4.5,9.5,592,11746,0.00,2.50,0.00,0.000,6,0.000,0.033,3269,1856,1810,0,0,0,0,0,0
$STATE,11753,end climb,SURFACE_DEPTH_REACHED
$STATE,11754,begin surface coast
$FINISH,0.4,1.009899
$STATE,11810,end surface coast,CONTROL_FINISHED_OK
$STATE,11810,begin surface
$SM_CCo,11831,116.90,0.465,1,0,1287,420.20
$SM_GC,1.04,0.00,0.00,116.90,0.000,0.000,0.465,474,1745,1287,-11.62,-0.71,420.20
$IRIDIUM_FIX,2246.36,-15753.23,231199,161630
$TT8_MAMPS,0.025311
$HUMID,42.24
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.10
$XPDR_PINGS,43
$24V_AH,23.6,16.900
$10V_AH,10.4,16.176
$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,27.025,107.900,354.900,116.900,0.000,30.287,29.226,227.773,10.750,0.000,13.266,1156.193,7930.678,588.401,2120.843,578.956,33.374,1301.088,0.000,2141.259,0.000,0.536,0.000
$DEVICE_MAMPS,262.314,82.836,918.866,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.000,366.891,464.212,897.149,1358.156,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,47859,602
$CAP_FILE_SIZE,110521,0
$CFSIZE,260165632,176939008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290810,225030,2254.798,-15755.000,62,1.9,62,10.1