version: 66.06
glider: 146
mission: 5
dive: 99
start: 8 29 110 22 58 2
data:
$ID,146
$MISSION,5
$DIVE,99
$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,-249250.16
$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,45
$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
$GPS1,225030,2254.798,-15755.000,62,1.9,62,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-66.2
$GPS2,225707,2254.830,-15755.032,8,1.9,13,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.077,0.214
$KALMAN_X,-89106.1,29.0,119.5,115758.7,-932.8
$KALMAN_Y,5136.7,322.5,326.1,131726.8,-428.0
$MHEAD_RNG_PITCHd_Wd,9.6,5870,-15.2,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.09,-116.8,0.0,0.0,0,97,0.00,0.00,-79.07,0.000,2,0.000,0.000,474,1746,3267,0,0,0,0,0,0
$GC,100,-1.09,-116.8,3.2,-3.9,10,126,11.80,2.58,-4.07,0.000,4,0.148,0.041,2754,3345,3481,0,0,0,0,0,0
$GC,183,-1.00,-116.8,22.2,-13.9,21,193,0.10,2.55,0.00,0.000,6,0.096,0.036,2778,1789,3482,0,0,0,0,0,0
$GC,468,-0.88,-116.8,59.5,-13.1,50,473,0.12,2.75,0.00,0.000,4,0.123,0.061,2804,185,3482,0,0,0,0,0,0
$GC,492,-0.77,-116.8,63.4,-13.4,51,501,0.08,2.47,0.00,0.000,6,0.090,0.015,2825,1819,3483,0,0,0,0,0,0
$GC,755,-0.77,-116.8,90.0,-8.8,76,759,0.00,2.78,0.00,0.000,4,0.000,0.065,2825,189,3483,0,0,0,0,0,0
$GC,784,-0.77,-116.8,92.9,-9.1,78,788,0.00,2.33,0.00,0.000,6,0.000,0.016,2825,1762,3483,0,0,0,0,0,0
$GC,1047,-0.81,-116.8,114.0,-7.1,102,1051,0.00,2.67,0.00,0.000,4,0.000,0.065,2825,187,3483,0,0,0,0,0,0
$GC,1071,-0.85,-116.8,116.0,-7.5,103,1077,0.00,2.33,0.00,0.000,6,0.000,0.016,2825,1754,3483,0,0,0,0,0,0
$GC,1334,-0.91,-116.8,133.2,-6.6,128,1339,0.10,2.42,0.00,0.000,4,0.087,0.029,2788,3300,3484,0,0,0,0,0,0
$GC,1357,-0.96,-116.8,134.5,-6.5,129,1361,0.00,2.47,0.00,0.000,6,0.000,0.028,2788,1750,3483,0,0,0,0,0,0
$GC,1619,-0.96,-116.8,156.8,-8.1,153,1624,0.00,2.62,0.00,0.000,4,0.000,0.068,2788,199,3484,0,0,0,0,0,0
$GC,1667,-0.96,-116.8,161.4,-9.1,156,1676,0.00,2.33,0.00,0.000,6,0.000,0.016,2788,1737,3484,0,0,0,0,0,0
$GC,1933,-0.96,-116.8,182.3,-7.3,181,1937,0.00,2.47,0.00,0.000,4,0.000,0.025,2788,3315,3484,0,0,0,0,0,0
$GC,2002,-1.02,-116.8,187.4,-6.7,186,2011,0.00,2.53,0.00,0.000,6,0.000,0.029,2788,1755,3484,0,0,0,0,0,0
$GC,2291,-1.02,-116.8,205.7,-6.2,208,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1754,3484,0,0,0,0,0,0
$GC,2534,-1.02,-116.8,223.9,-7.7,214,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1754,3483,0,0,0,0,0,0
$GC,2779,-1.02,-116.8,243.3,-7.9,220,2784,0.00,2.67,0.00,0.000,4,0.000,0.073,2788,193,3483,0,0,0,0,0,0
$GC,2812,-1.06,-116.8,246.2,-8.8,220,2818,0.00,2.33,0.00,0.000,6,0.000,0.018,2788,1731,3483,0,0,0,0,0,0
$GC,3062,-1.10,-116.8,266.0,-8.1,227,3067,0.12,2.53,0.00,0.000,4,0.071,0.038,2741,3336,3483,0,0,0,0,0,0
$GC,3096,-1.10,-116.8,269.5,-11.0,227,3102,0.00,2.53,0.00,0.000,6,0.000,0.032,2741,1757,3482,0,0,0,0,0,0
$GC,3346,-1.06,-116.8,293.6,-9.4,234,3348,0.12,0.00,0.00,0.000,6,0.110,0.000,2768,1754,3482,0,0,0,0,0,0
$GC,3590,-1.06,-116.8,312.4,-7.7,240,3594,0.00,2.75,0.00,0.000,4,0.000,0.087,2768,189,3481,0,0,0,0,0,0
$GC,3611,-1.06,-116.8,314.2,-7.7,240,3615,0.00,2.42,0.00,0.000,6,0.000,0.028,2768,1754,3482,0,0,0,0,0,0
$GC,3874,-1.06,-116.8,334.0,-7.8,247,3878,0.00,2.58,0.00,0.000,4,0.000,0.047,2767,3350,3481,0,0,0,0,0,0
$GC,3906,-1.11,-116.8,336.8,-8.3,247,3912,0.00,2.62,0.00,0.000,6,0.000,0.048,2767,1763,3481,0,0,0,0,0,0
$GC,4156,-1.11,-116.8,354.5,-6.9,254,4161,0.00,2.55,0.00,0.000,4,0.000,0.035,2767,3350,3480,0,0,0,0,0,0
$GC,4191,-1.16,-116.8,356.9,-6.9,254,4197,0.00,2.62,0.00,0.000,6,0.000,0.050,2768,1759,3480,0,0,0,0,0,0
$GC,4441,-1.21,-116.8,376.5,-8.1,261,4443,0.12,0.00,0.00,0.000,6,0.071,0.000,2720,1759,3479,0,0,0,0,0,0
$GC,4685,-1.17,-116.8,402.1,-10.8,267,4690,0.12,2.88,0.00,0.000,4,0.110,0.098,2745,188,3477,0,0,0,0,0,0
$GC,4719,-1.17,-116.8,405.6,-9.7,267,4725,0.00,2.47,0.00,0.000,6,0.000,0.028,2746,1742,3477,0,0,0,0,0,0
$GC,4969,-1.17,-116.8,425.7,-7.6,274,4974,0.00,2.70,0.00,0.000,4,0.000,0.060,2746,3360,3476,0,0,0,0,0,0
$GC,5025,-1.22,-116.8,429.7,-6.8,275,5029,0.00,2.67,0.00,0.000,6,0.000,0.059,2745,1764,3475,0,0,0,0,0,0
$GC,5292,-1.22,-116.8,445.6,-5.9,282,5297,0.00,2.60,0.00,0.000,4,0.000,0.047,2746,3353,3473,0,0,0,0,0,0
$GC,5320,-1.25,-116.8,447.6,-7.0,282,5324,0.00,2.70,0.00,0.000,6,0.000,0.062,2745,1769,3474,0,0,0,0,0,0
$GC,5571,-1.25,-116.8,464.4,-7.0,288,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1769,3472,0,0,0,0,0,0
$GC,5813,-1.25,-116.8,483.6,-8.0,294,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1769,3470,0,0,0,0,0,0
$STATE,6055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6055,begin apogee
$GC,6061,-0.31,0.0,502.5,7.6,300,6159,0.82,0.00,95.30,0.920,6,0.080,0.000,2932,1847,3001,0,0,0,0,0,0
$STATE,6160,end apogee,CONTROL_FINISHED_OK
$STATE,6160,begin climb
$GC,6163,1.09,116.8,504.4,0.0,302,6271,1.30,2.70,100.05,0.900,4,0.054,0.062,3247,3375,2523,0,0,0,0,0,0
$GC,6282,1.01,168.2,502.6,5.8,305,6333,0.12,2.72,44.65,0.872,6,0.124,0.062,3223,1815,2315,0,0,0,0,0,0
$GC,6580,0.92,168.2,475.0,10.0,312,6585,0.10,2.60,0.00,0.000,4,0.130,0.049,3203,3382,2305,0,0,0,0,0,0
$GC,6602,0.87,168.2,472.5,9.6,312,6606,0.00,2.70,0.00,0.000,6,0.000,0.061,3203,1825,2304,0,0,0,0,0,0
$GC,6858,0.82,168.2,448.8,9.3,319,6860,0.10,0.00,0.00,0.000,6,0.132,0.000,3182,1825,2302,0,0,0,0,0,0
$GC,7102,0.84,179.0,429.7,7.6,325,7112,0.00,0.00,8.62,0.759,6,0.000,0.000,3182,1825,2271,0,0,0,0,0,0
$GC,7385,0.93,251.9,414.6,4.9,332,7455,0.00,2.65,64.47,0.864,4,0.000,0.039,3182,3390,1973,0,0,0,0,0,0
$GC,7495,1.03,277.7,408.2,6.9,334,7525,0.17,2.70,23.83,0.823,6,0.070,0.054,3226,1814,1868,0,0,0,0,0,0
$GC,7793,1.03,277.7,379.1,10.3,342,7798,0.00,2.85,0.00,0.000,4,0.000,0.091,3226,234,1859,0,0,0,0,0,0
$GC,7827,0.94,277.7,374.9,12.2,342,7832,0.00,2.53,0.00,0.000,6,0.000,0.025,3226,1820,1858,0,0,0,0,0,0
$GC,8076,0.94,277.7,349.0,10.1,349,8081,0.00,2.55,0.00,0.000,4,0.000,0.038,3226,3398,1857,0,0,0,0,0,0
$GC,8120,0.94,277.7,344.4,10.0,350,8125,0.00,2.60,0.00,0.000,6,0.000,0.044,3226,1822,1855,0,0,0,0,0,0
$GC,8399,0.94,277.7,315.8,10.5,357,8404,0.00,2.53,0.00,0.000,4,0.000,0.036,3226,3398,1854,0,0,0,0,0,0
$GC,8449,0.94,277.7,309.8,11.5,358,8453,0.00,2.58,0.00,0.000,6,0.000,0.039,3226,1838,1853,0,0,0,0,0,0
$GC,8721,0.94,277.7,283.5,9.3,365,8726,0.00,2.80,0.00,0.000,4,0.000,0.076,3226,235,1853,0,0,0,0,0,0
$GC,8762,0.88,277.7,279.7,9.9,366,8767,0.17,2.53,0.00,0.000,6,0.110,0.023,3190,1850,1852,0,0,0,0,0,0
$GC,9046,0.95,280.5,257.4,7.9,373,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1852,1852,0,0,0,0,0,0
$GC,9289,1.02,280.5,237.2,8.4,379,9294,0.12,2.83,0.00,0.000,4,0.080,0.071,3225,233,1852,0,0,0,0,0,0
$GC,9312,1.02,280.5,235.0,9.6,379,9316,0.00,2.50,0.00,0.000,6,0.000,0.025,3225,1850,1851,0,0,0,0,0,0
$GC,9567,1.02,280.5,209.5,10.0,386,9568,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1852,1851,0,0,0,0,0,0
$GC,9816,1.02,280.5,186.1,8.3,401,9820,0.00,2.42,0.00,0.000,4,0.000,0.030,3225,3385,1851,0,0,0,0,0,0
$GC,9851,1.06,280.5,183.1,8.8,403,9857,0.00,2.50,0.00,0.000,6,0.000,0.038,3225,1829,1850,0,0,0,0,0,0
$GC,10114,1.08,300.3,163.3,7.2,428,10135,0.00,0.00,17.83,0.636,6,0.000,0.000,3225,1829,1776,0,0,0,0,0,0
$GC,10389,1.09,308.7,142.4,7.7,454,10404,0.00,2.75,8.77,0.565,4,0.000,0.066,3225,240,1740,0,0,0,0,0,0
$GC,10416,1.09,308.7,139.8,8.6,456,10420,0.00,2.50,0.00,0.000,6,0.000,0.019,3225,1857,1739,0,0,0,0,0,0
$GC,10680,1.14,308.7,117.9,9.2,480,10685,0.10,2.40,0.00,0.000,4,0.088,0.028,3256,3382,1739,0,0,0,0,0,0
$GC,10701,1.19,308.7,115.8,10.0,481,10705,0.00,2.47,0.00,0.000,6,0.000,0.038,3256,1843,1738,0,0,0,0,0,0
$GC,10967,1.19,308.7,89.4,10.0,505,10971,0.00,2.70,0.00,0.000,4,0.000,0.061,3256,244,1738,0,0,0,0,0,0
$GC,10989,1.19,308.7,86.8,9.4,506,10998,0.00,2.47,0.00,0.000,6,0.000,0.025,3255,1839,1738,0,0,0,0,0,0
$GC,11255,1.23,316.9,65.0,7.7,531,11270,0.00,0.00,8.43,0.502,6,0.000,0.000,3256,1841,1708,0,0,0,0,0,0
$GC,11529,1.23,317.4,43.7,8.0,556,11534,0.00,2.72,0.00,0.000,4,0.000,0.064,3256,236,1708,0,0,0,0,0,0
$GC,11550,1.23,317.4,41.4,8.6,557,11554,0.00,2.47,0.00,0.000,6,0.000,0.018,3256,1854,1707,0,0,0,0,0,0
$GC,11852,1.23,317.4,16.4,8.8,592,11861,0.00,2.40,0.00,0.000,4,0.000,0.035,3256,3372,1707,0,0,0,0,0,0
$GC,11878,1.27,317.4,14.1,8.9,595,11888,0.00,2.47,0.00,0.000,6,0.000,0.033,3256,1848,1707,0,0,0,0,0,0
$STATE,11997,end climb,SURFACE_DEPTH_REACHED
$STATE,11997,begin surface coast
$FINISH,0.3,1.015425
$STATE,12063,end surface coast,CONTROL_FINISHED_OK
$STATE,12063,begin surface
$SM_CCo,12084,96.75,0.459,1,0,1288,420.20
$SM_GC,0.98,0.00,0.00,96.75,0.000,0.000,0.459,471,1752,1288,-11.64,-0.51,420.20
$IRIDIUM_FIX,2244.02,-15756.28,231199,191933
$TT8_MAMPS,0.025311
$HUMID,41.96
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.00
$XPDR_PINGS,59
$24V_AH,23.6,17.020
$10V_AH,10.4,16.312
$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,26.850,149.800,371.950,96.750,0.000,24.255,35.034,198.139,14.750,0.000,15.011,1219.382,7976.723,566.326,2238.553,582.610,33.374,1370.413,0.000,2245.704,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,174.109,920.400,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,419.509,376.743,484.578,914.078,1382.375,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,47917,621
$CAP_FILE_SIZE,125635,0
$CFSIZE,260165632,176861184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300810,022231,2255.852,-15755.099,41,1.3,41,10.1