version: 66.06
glider: 146
mission: 5
dive: 101
start: 8 30 110 5 56 45
data:
$ID,146
$MISSION,5
$DIVE,101
$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,-249280.8
$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,47
$R_STBD_OVSHOOT,35
$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
$GPS1,054537,2256.293,-15755.527,39,1.0,39,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.8
$GPS2,055550,2256.277,-15755.634,11,1.4,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.168,0.139
$KALMAN_X,-92301.8,131.3,-354.1,118300.4,-1494.7
$KALMAN_Y,4222.5,-158.5,-483.5,136613.5,15.4
$MHEAD_RNG_PITCHd_Wd,40.1,3370,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.15,-116.8,0.0,0.0,0,105,0.00,0.00,-84.85,0.000,6,0.000,0.000,473,1740,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.8,-6.9,11,125,11.65,0.00,0.00,0.000,6,0.145,0.000,2741,1740,3481,0,0,0,0,0,0
$GC,406,-0.98,-116.8,63.1,-15.4,43,416,0.20,0.00,0.00,0.000,6,0.104,0.000,2783,1740,3482,0,0,0,0,0,0
$GC,668,-0.98,-116.8,94.1,-10.4,68,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1740,3482,0,0,0,0,0,0
$GC,922,-0.98,-116.8,117.7,-8.8,92,926,0.00,2.58,0.00,0.000,4,0.000,0.027,2784,3364,3482,0,0,0,0,0,0
$GC,951,-0.98,-116.8,120.1,-8.7,94,955,0.00,2.50,0.00,0.000,6,0.000,0.029,2784,1790,3482,0,0,0,0,0,0
$GC,1214,-0.98,-116.8,143.2,-8.5,118,1219,0.00,2.72,0.00,0.000,4,0.000,0.067,2783,194,3483,0,0,0,0,0,0
$GC,1268,-1.02,-116.8,148.3,-9.1,122,1272,0.00,2.42,0.00,0.000,6,0.000,0.016,2783,1805,3483,0,0,0,0,0,0
$GC,1531,-1.02,-116.8,171.6,-9.4,146,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1806,3483,0,0,0,0,0,0
$GC,1783,-1.06,-116.8,196.1,-9.8,170,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1807,3483,0,0,0,0,0,0
$GC,2029,-1.10,-116.8,219.7,-9.5,179,2034,0.10,2.38,0.00,0.000,4,0.086,0.034,2749,3327,3482,0,0,0,0,0,0
$GC,2045,-1.10,-116.8,221.5,-9.7,179,2050,0.00,2.50,0.00,0.000,6,0.000,0.037,2749,1755,3482,0,0,0,0,0,0
$GC,2306,-1.10,-116.8,248.3,-10.0,186,2311,0.00,2.70,0.00,0.000,4,0.000,0.080,2749,190,3482,0,0,0,0,0,0
$GC,2339,-1.06,-116.8,251.6,-10.4,186,2345,0.00,2.35,0.00,0.000,6,0.000,0.019,2748,1727,3482,0,0,0,0,0,0
$GC,2590,-1.06,-116.8,272.4,-8.3,193,2594,0.00,2.55,0.00,0.000,4,0.000,0.039,2749,3346,3482,0,0,0,0,0,0
$GC,2629,-1.06,-116.8,275.6,-7.6,194,2634,0.00,2.55,0.00,0.000,6,0.000,0.041,2748,1763,3482,0,0,0,0,0,0
$GC,2912,-1.06,-116.8,298.2,-8.0,201,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1764,3481,0,0,0,0,0,0
$GC,3157,-1.06,-116.8,317.5,-7.8,207,3162,0.00,2.80,0.00,0.000,4,0.000,0.093,2749,186,3480,0,0,0,0,0,0
$GC,3189,-1.06,-116.8,320.3,-8.2,207,3195,0.00,2.42,0.00,0.000,6,0.000,0.022,2748,1754,3480,0,0,0,0,0,0
$GC,3440,-1.06,-116.8,339.3,-7.6,214,3444,0.00,2.60,0.00,0.000,4,0.000,0.046,2748,3357,3480,0,0,0,0,0,0
$GC,3481,-1.12,-116.8,342.2,-7.5,215,3486,0.00,2.62,0.00,0.000,6,0.000,0.052,2748,1770,3480,0,0,0,0,0,0
$GC,3764,-1.12,-116.8,365.2,-8.5,222,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1770,3478,0,0,0,0,0,0
$GC,4007,-1.12,-116.8,387.8,-9.5,228,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1769,3477,0,0,0,0,0,0
$GC,4253,-1.16,-116.8,409.3,-8.7,234,4257,0.00,2.60,0.00,0.000,4,0.000,0.045,2749,3346,3475,0,0,0,0,0,0
$GC,4274,-1.20,-116.8,411.2,-8.2,234,4279,0.00,2.67,0.00,0.000,6,0.000,0.051,2749,1759,3475,0,0,0,0,0,0
$GC,4530,-1.25,-116.8,430.4,-7.5,241,4535,0.00,2.88,0.00,0.000,4,0.000,0.110,2748,184,3474,0,0,0,0,0,0
$GC,4582,-1.31,-116.8,434.3,-7.6,242,4587,0.15,2.50,0.00,0.000,6,0.068,0.035,2705,1743,3474,0,0,0,0,0,0
$GC,4854,-1.31,-116.8,457.5,-8.6,249,4858,0.00,2.72,0.00,0.000,4,0.000,0.062,2705,3356,3472,0,0,0,0,0,0
$GC,4897,-1.31,-116.8,461.3,-8.4,250,4902,0.00,2.72,0.00,0.000,6,0.000,0.064,2705,1756,3472,0,0,0,0,0,0
$GC,5177,-1.31,-116.8,484.3,-8.2,257,5181,0.00,2.67,0.00,0.000,4,0.000,0.058,2704,3353,3470,0,0,0,0,0,0
$GC,5215,-1.31,-116.8,487.7,-8.6,258,5220,0.00,2.75,0.00,0.000,6,0.000,0.065,2704,1754,3469,0,0,0,0,0,0
$STATE,5374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5374,begin apogee
$GC,5380,-0.31,0.0,502.0,8.9,262,5479,1.02,0.00,95.43,0.914,6,0.087,0.000,2931,1842,3001,0,0,0,0,0,0
$STATE,5480,end apogee,CONTROL_FINISHED_OK
$STATE,5480,begin climb
$GC,5484,1.15,116.8,504.1,0.0,264,5588,1.35,0.00,100.53,0.892,6,0.044,0.000,3255,1842,2524,0,0,0,0,0,0
$GC,5821,1.02,132.7,487.6,7.3,273,5841,0.15,2.67,13.43,0.816,4,0.179,0.057,3225,3379,2459,0,0,0,0,0,0
$GC,5893,0.97,132.7,482.2,8.1,274,5897,0.00,2.72,0.00,0.000,6,0.000,0.058,3225,1817,2456,0,0,0,0,0,0
$GC,6148,0.91,156.2,463.8,6.9,281,6177,0.12,2.72,21.33,0.856,4,0.238,0.045,3201,3387,2363,0,0,0,0,0,0
$GC,6279,0.96,193.4,455.5,6.3,284,6320,0.00,2.62,33.67,0.867,6,0.000,0.054,3201,1847,2211,0,0,0,0,0,0
$GC,6564,1.03,251.3,439.6,5.3,291,6623,0.10,3.08,50.78,0.865,4,0.183,0.104,3226,232,1976,0,0,0,0,0,0
$GC,6643,0.95,251.3,433.8,8.9,292,6648,0.00,2.58,0.00,0.000,6,0.000,0.026,3226,1834,1973,0,0,0,0,0,0
$GC,6892,0.95,251.3,410.7,9.4,299,6897,0.00,2.88,0.00,0.000,4,0.000,0.081,3226,225,1968,0,0,0,0,0,0
$GC,6919,0.88,251.3,407.6,11.3,299,6925,0.17,2.58,0.00,0.000,6,0.110,0.028,3191,1837,1967,0,0,0,0,0,0
$GC,7171,0.93,251.3,385.4,8.9,305,7175,0.00,2.55,0.00,0.000,4,0.000,0.041,3191,3407,1965,0,0,0,0,0,0
$GC,7220,1.03,251.3,380.6,9.1,306,7225,0.15,2.60,0.00,0.000,6,0.074,0.042,3231,1839,1964,0,0,0,0,0,0
$GC,7495,1.03,251.3,354.0,9.7,313,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1839,1963,0,0,0,0,0,0
$GC,7737,1.03,251.3,332.1,8.8,319,7742,0.00,2.53,0.00,0.000,4,0.000,0.037,3231,3404,1962,0,0,0,0,0,0
$GC,7786,1.03,251.3,327.7,9.1,320,7791,0.00,2.58,0.00,0.000,6,0.000,0.037,3231,1839,1961,0,0,0,0,0,0
$GC,8059,1.03,251.3,303.8,9.0,327,8063,0.00,2.78,0.00,0.000,4,0.000,0.078,3231,239,1961,0,0,0,0,0,0
$GC,8081,0.99,251.3,301.4,11.2,327,8086,0.00,2.53,0.00,0.000,6,0.000,0.021,3231,1848,1960,0,0,0,0,0,0
$GC,8336,0.99,251.3,274.9,10.6,334,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1849,1960,0,0,0,0,0,0
$GC,8580,0.99,251.3,248.9,10.5,340,8584,0.00,2.47,0.00,0.000,4,0.000,0.034,3231,3398,1959,0,0,0,0,0,0
$GC,8622,1.03,251.3,245.1,10.2,341,8626,0.00,2.55,0.00,0.000,6,0.000,0.034,3230,1828,1958,0,0,0,0,0,0
$GC,8905,1.03,251.3,219.9,8.4,348,8909,0.00,2.72,0.00,0.000,4,0.000,0.067,3231,243,1958,0,0,0,0,0,0
$GC,8926,1.03,251.3,218.0,8.4,348,8930,0.00,2.47,0.00,0.000,6,0.000,0.025,3231,1845,1959,0,0,0,0,0,0
$GC,9182,1.03,251.3,197.6,8.1,355,9186,0.00,2.42,0.00,0.000,4,0.000,0.038,3231,3385,1958,0,0,0,0,0,0
$GC,9226,1.08,251.3,193.9,9.7,358,9231,0.00,2.50,0.00,0.000,6,0.000,0.038,3231,1841,1957,0,0,0,0,0,0
$GC,9492,1.08,251.3,170.7,9.4,382,9497,0.00,2.72,0.00,0.000,4,0.000,0.064,3231,245,1957,0,0,0,0,0,0
$GC,9522,1.08,251.3,167.4,10.4,384,9526,0.00,2.47,0.00,0.000,6,0.000,0.025,3231,1854,1957,0,0,0,0,0,0
$GC,9785,1.12,256.3,145.5,7.8,408,9789,0.00,2.40,0.00,0.000,4,0.000,0.031,3231,3383,1957,0,0,0,0,0,0
$GC,9807,1.17,256.3,144.0,8.0,409,9812,0.10,2.45,0.00,0.000,6,0.094,0.038,3261,1846,1957,0,0,0,0,0,0
$GC,10073,1.19,272.3,123.0,7.3,433,10092,0.00,0.00,16.67,0.592,6,0.000,0.000,3261,1846,1889,0,0,0,0,0,0
$GC,10351,1.19,272.3,101.7,8.5,459,10355,0.00,2.45,0.00,0.000,4,0.000,0.028,3261,3385,1887,0,0,0,0,0,0
$GC,10406,1.25,272.3,96.3,9.2,463,10410,0.00,2.47,0.00,0.000,6,0.000,0.040,3261,1858,1887,0,0,0,0,0,0
$GC,10674,1.30,272.3,70.8,8.4,487,10679,0.10,2.78,0.00,0.000,4,0.087,0.060,3291,235,1887,0,0,0,0,0,0
$GC,10696,1.30,272.3,68.6,8.9,488,10701,0.00,2.50,0.00,0.000,6,0.000,0.018,3292,1865,1887,0,0,0,0,0,0
$GC,10963,1.33,297.1,46.0,6.9,512,10991,0.00,2.40,22.55,0.535,4,0.000,0.025,3291,3380,1788,0,0,0,0,0,0
$GC,11022,1.33,297.1,41.3,9.1,516,11026,0.00,2.45,0.00,0.000,6,0.000,0.033,3292,1865,1786,0,0,0,0,0,0
$GC,11335,1.33,297.1,9.9,8.4,555,11343,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1865,1785,0,0,0,0,0,0
$STATE,11398,end climb,SURFACE_DEPTH_REACHED
$STATE,11399,begin surface coast
$FINISH,0.2,1.000674
$STATE,11455,end surface coast,CONTROL_FINISHED_OK
$STATE,11455,begin surface
$SM_CCo,11476,105.60,0.462,1,0,1287,420.20
$SM_GC,0.94,0.00,0.00,105.60,0.000,0.000,0.462,475,1733,1287,-11.62,-1.05,420.20
$IRIDIUM_FIX,2246.36,-15754.11,241199,050538
$TT8_MAMPS,0.026078
$HUMID,42.00
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.80
$XPDR_PINGS,53
$24V_AH,23.6,17.259
$10V_AH,10.4,16.562
$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,26.675,135.150,354.375,105.600,0.000,66.057,62.304,274.652,13.250,0.000,13.442,1147.370,7686.980,557.772,2085.864,723.210,33.369,1308.695,0.000,2100.143,0.000,0.536,0.000
$DEVICE_MAMPS,237.770,205.556,914.264,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.436,340.640,436.484,808.455,1222.788,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,44639,572
$CAP_FILE_SIZE,118963,0
$CFSIZE,260165632,176750592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300810,091156,2257.341,-15755.322,62,99.0,81,10.1