version: 66.06
glider: 146
mission: 5
dive: 100
start: 8 30 110 2 29 33
data:
$ID,146
$MISSION,5
$DIVE,100
$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,-249266.73
$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,37
$R_STBD_OVSHOOT,65
$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
$GPS1,022231,2255.852,-15755.099,41,1.3,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-66.5
$GPS2,022836,2255.829,-15755.144,13,1.6,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.127,0.177
$KALMAN_X,-90430.0,217.0,113.5,116714.0,-1493.1
$KALMAN_Y,4834.6,220.6,-89.2,134397.3,-707.6
$MHEAD_RNG_PITCHd_Wd,25.5,4028,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-86.03,0.000,6,0.000,0.000,470,1751,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.2,-5.6,11,124,11.73,2.47,0.00,0.000,4,0.146,0.020,2742,3335,3481,0,0,0,0,0,0
$GC,245,-1.06,-116.8,34.2,-12.6,29,250,0.12,2.50,0.00,0.000,6,0.121,0.032,2766,1782,3481,0,0,0,0,0,0
$GC,513,-0.94,-116.8,70.3,-13.6,53,518,0.12,2.75,0.00,0.000,4,0.129,0.070,2790,186,3482,0,0,0,0,0,0
$GC,559,-0.88,-116.8,76.8,-11.7,56,564,0.00,2.38,0.00,0.000,6,0.000,0.015,2790,1784,3481,0,0,0,0,0,0
$GC,822,-0.88,-116.8,105.1,-11.0,80,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1786,3482,0,0,0,0,0,0
$GC,1075,-0.88,-116.8,130.9,-10.2,104,1079,0.00,2.72,0.00,0.000,4,0.000,0.067,2790,188,3482,0,0,0,0,0,0
$GC,1095,-0.88,-116.8,132.5,-9.7,105,1099,0.00,2.35,0.00,0.000,6,0.000,0.017,2790,1770,3482,0,0,0,0,0,0
$GC,1359,-0.88,-116.8,157.0,-8.3,129,1363,0.00,2.40,0.00,0.000,4,0.000,0.030,2790,3312,3483,0,0,0,0,0,0
$GC,1381,-0.93,-116.8,158.7,-8.2,130,1386,0.00,2.50,0.00,0.000,6,0.000,0.035,2790,1749,3483,0,0,0,0,0,0
$GC,1649,-0.98,-116.8,177.7,-6.7,154,1654,0.00,2.65,0.00,0.000,4,0.000,0.070,2790,197,3483,0,0,0,0,0,0
$GC,1701,-1.06,-116.8,182.0,-7.4,158,1705,0.00,2.33,0.00,0.000,6,0.000,0.016,2790,1751,3483,0,0,0,0,0,0
$GC,1996,-1.12,-116.8,204.1,-8.0,182,2001,0.15,2.45,0.00,0.000,4,0.110,0.025,2742,3325,3483,0,0,0,0,0,0
$GC,2045,-1.12,-116.8,209.4,-10.4,183,2049,0.00,2.47,0.00,0.000,6,0.000,0.029,2742,1760,3483,0,0,0,0,0,0
$GC,2318,-1.12,-116.8,236.7,-9.7,190,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1760,3482,0,0,0,0,0,0
$GC,2562,-1.12,-116.8,258.4,-8.7,196,2567,0.00,2.70,0.00,0.000,4,0.000,0.077,2742,197,3482,0,0,0,0,0,0
$GC,2589,-1.07,-116.8,261.2,-9.7,196,2594,0.10,2.38,0.00,0.000,6,0.113,0.018,2763,1740,3482,0,0,0,0,0,0
$GC,2839,-1.07,-116.8,283.5,-9.0,202,2843,0.00,2.55,0.00,0.000,4,0.000,0.038,2764,3342,3482,0,0,0,0,0,0
$GC,2861,-1.11,-116.8,285.4,-8.8,202,2866,0.00,2.58,0.00,0.000,6,0.000,0.038,2763,1760,3481,0,0,0,0,0,0
$GC,3116,-1.11,-116.8,308.7,-9.1,209,3121,0.00,2.78,0.00,0.000,4,0.000,0.087,2763,186,3481,0,0,0,0,0,0
$GC,3160,-1.18,-116.8,312.7,-8.7,210,3164,0.00,2.40,0.00,0.000,6,0.000,0.026,2763,1740,3481,0,0,0,0,0,0
$GC,3439,-1.23,-116.8,332.8,-6.9,217,3444,0.12,2.62,0.00,0.000,4,0.076,0.048,2723,3354,3480,0,0,0,0,0,0
$GC,3495,-1.23,-116.8,337.6,-8.5,218,3499,0.00,2.65,0.00,0.000,6,0.000,0.054,2722,1752,3480,0,0,0,0,0,0
$GC,3761,-1.23,-116.8,361.3,-9.1,225,3765,0.00,2.58,0.00,0.000,4,0.000,0.039,2722,3350,3479,0,0,0,0,0,0
$GC,3811,-1.23,-116.8,365.9,-9.5,226,3816,0.00,2.67,0.00,0.000,6,0.000,0.052,2723,1754,3479,0,0,0,0,0,0
$GC,4082,-1.23,-116.8,389.7,-8.8,233,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1753,3477,0,0,0,0,0,0
$GC,4326,-1.23,-116.8,412.6,-9.6,239,4327,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1753,3476,0,0,0,0,0,0
$GC,4571,-1.23,-116.8,434.2,-8.9,245,4576,0.00,2.65,0.00,0.000,4,0.000,0.054,2723,3351,3475,0,0,0,0,0,0
$GC,4632,-1.23,-116.8,439.9,-9.5,246,4637,0.00,2.70,0.00,0.000,6,0.000,0.061,2722,1764,3474,0,0,0,0,0,0
$GC,4893,-1.23,-116.8,461.8,-8.4,253,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1764,3472,0,0,0,0,0,0
$GC,5137,-1.23,-116.8,480.7,-7.7,259,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1764,3471,0,0,0,0,0,0
$GC,5382,-1.23,-116.8,499.6,-7.7,265,5386,0.00,2.05,0.00,0.000,3,0.000,0.052,2723,2999,3469,0,0,0,0,0,0
$STATE,5387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5387,begin apogee
$GC,5395,-0.31,0.0,500.1,7.8,265,5494,0.90,0.00,95.25,0.920,6,0.085,0.000,2926,1817,3001,0,0,0,0,0,0
$STATE,5495,end apogee,CONTROL_FINISHED_OK
$STATE,5495,begin climb
$GC,5497,1.15,116.8,502.4,0.0,267,5610,1.35,3.15,100.03,0.897,4,0.057,0.119,3251,235,2522,0,0,0,0,0,0
$GC,5616,1.03,172.0,500.3,5.5,269,5672,0.12,2.58,48.15,0.874,6,0.131,0.036,3228,1802,2298,0,0,0,0,0,0
$GC,5950,0.97,175.8,474.6,7.8,278,5954,0.00,2.78,0.00,0.000,4,0.000,0.067,3228,3407,2288,0,0,0,0,0,0
$GC,6049,0.98,183.7,466.8,7.6,280,6064,0.00,2.72,9.85,0.780,6,0.000,0.058,3228,1823,2251,0,0,0,0,0,0
$GC,6316,0.94,200.7,447.5,7.2,287,6340,0.10,2.67,16.02,0.833,4,0.289,0.044,3207,3411,2181,0,0,0,0,0,0
$GC,6379,0.94,200.7,442.5,8.0,288,6384,0.00,2.70,0.00,0.000,6,0.000,0.053,3207,1833,2179,0,0,0,0,0,0
$GC,6642,0.95,207.7,423.0,7.7,295,6655,0.00,2.65,6.47,0.710,4,0.000,0.039,3207,3420,2154,0,0,0,0,0,0
$GC,6706,0.95,207.7,417.8,8.1,296,6711,0.00,2.67,0.00,0.000,6,0.000,0.046,3207,1838,2154,0,0,0,0,0,0
$GC,6967,0.98,232.2,399.6,6.9,303,6993,0.00,0.00,23.27,0.842,6,0.000,0.000,3207,1837,2054,0,0,0,0,0,0
$GC,7212,1.00,248.7,381.9,7.2,309,7234,0.00,2.95,15.85,0.809,4,0.000,0.087,3207,229,1985,0,0,0,0,0,0
$GC,7263,0.96,248.7,377.6,9.0,310,7268,0.00,2.62,0.00,0.000,6,0.000,0.027,3207,1866,1982,0,0,0,0,0,0
$GC,7535,0.96,248.7,353.6,8.9,317,7539,0.00,2.50,0.00,0.000,4,0.000,0.041,3207,3407,1980,0,0,0,0,0,0
$GC,7568,1.01,248.7,350.4,10.2,317,7574,0.00,2.60,0.00,0.000,6,0.000,0.042,3207,1842,1979,0,0,0,0,0,0
$GC,7818,1.01,248.7,328.0,8.9,324,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1842,1978,0,0,0,0,0,0
$GC,8062,1.01,248.7,306.8,8.6,330,8066,0.00,2.50,0.00,0.000,4,0.000,0.035,3207,3404,1977,0,0,0,0,0,0
$GC,8095,1.07,248.7,303.9,8.9,330,8102,0.12,2.55,0.00,0.000,6,0.078,0.039,3242,1856,1977,0,0,0,0,0,0
$GC,8345,1.07,248.7,279.9,9.6,337,8350,0.00,2.83,0.00,0.000,4,0.000,0.076,3242,238,1976,0,0,0,0,0,0
$GC,8372,1.00,248.7,276.9,11.0,337,8377,0.12,2.58,0.00,0.000,6,0.120,0.025,3218,1876,1975,0,0,0,0,0,0
$GC,8623,1.01,257.0,257.7,7.6,343,8632,0.00,0.00,6.82,0.637,6,0.000,0.000,3218,1877,1953,0,0,0,0,0,0
$GC,8866,1.03,272.5,239.7,7.3,349,8883,0.00,0.00,15.40,0.703,6,0.000,0.000,3218,1877,1890,0,0,0,0,0,0
$GC,9110,1.08,278.1,220.8,7.8,355,9123,0.00,2.85,6.22,0.584,4,0.000,0.064,3218,236,1866,0,0,0,0,0,0
$GC,9130,1.08,278.1,219.0,8.8,355,9135,0.00,2.58,0.00,0.000,6,0.000,0.019,3218,1895,1865,0,0,0,0,0,0
$GC,9388,1.12,278.1,196.4,9.3,364,9393,0.12,0.00,0.00,0.000,6,0.123,0.000,3253,1897,1865,0,0,0,0,0,0
$GC,9649,1.12,278.1,167.0,11.4,389,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1897,1865,0,0,0,0,0,0
$GC,9909,1.12,278.1,141.7,9.4,413,9913,0.00,2.83,0.00,0.000,4,0.000,0.061,3252,238,1865,0,0,0,0,0,0
$GC,9940,1.08,278.1,138.5,10.6,415,9945,0.00,2.55,0.00,0.000,6,0.000,0.024,3252,1890,1863,0,0,0,0,0,0
$GC,10208,1.09,284.5,116.1,7.7,439,10222,0.00,2.47,7.03,0.523,4,0.000,0.035,3252,3405,1841,0,0,0,0,0,0
$GC,10256,1.16,284.5,112.0,8.7,443,10261,0.00,2.50,0.00,0.000,6,0.000,0.034,3252,1858,1840,0,0,0,0,0,0
$GC,10524,1.20,284.5,88.2,8.8,467,10529,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1858,1840,0,0,0,0,0,0
$GC,10791,1.28,289.3,65.6,7.8,492,10806,0.10,2.80,5.85,0.459,4,0.110,0.058,3282,240,1821,0,0,0,0,0,0
$GC,10825,1.28,289.3,62.7,8.6,494,10829,0.00,2.53,0.00,0.000,6,0.000,0.018,3282,1893,1821,0,0,0,0,0,0
$GC,11091,1.28,289.3,39.9,8.0,518,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1894,1820,0,0,0,0,0,0
$GC,11397,1.28,289.3,12.5,9.2,556,11407,0.00,2.40,0.00,0.000,4,0.000,0.026,3283,3411,1821,0,0,0,0,0,0
$GC,11437,1.28,289.3,8.5,10.0,561,11446,0.00,2.53,0.00,0.000,6,0.000,0.034,3283,1863,1820,0,0,0,0,0,0
$STATE,11481,end climb,SURFACE_DEPTH_REACHED
$STATE,11481,begin surface coast
$FINISH,0.3,1.008503
$STATE,11538,end surface coast,CONTROL_FINISHED_OK
$STATE,11538,begin surface
$SM_CCo,11560,118.95,0.469,1,0,1288,420.20
$SM_GC,0.80,0.00,0.00,118.95,0.000,0.000,0.469,474,1739,1288,-11.62,-0.88,420.20
$IRIDIUM_FIX,2246.36,-15753.23,231199,232328
$TT8_MAMPS,0.026078
$HUMID,42.12
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.80
$XPDR_PINGS,52
$24V_AH,23.6,17.136
$10V_AH,10.4,16.437
$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,26.625,134.525,356.225,118.950,0.000,29.760,32.881,165.317,13.000,0.000,15.954,1150.569,7697.771,561.423,2115.054,525.503,33.398,1325.383,0.000,2119.067,0.000,0.537,0.000
$DEVICE_MAMPS,289.159,118.885,919.633,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.618,342.795,440.618,824.598,1247.056,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,44854,575
$CAP_FILE_SIZE,117041,0
$CFSIZE,260165632,176816128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300810,054537,2256.293,-15755.527,39,1.0,39,10.1