version: 66.06
glider: 146
mission: 5
dive: 102
start: 8 30 110 9 26 31
data:
$ID,146
$MISSION,5
$DIVE,102
$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,-249317.3
$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,57
$R_STBD_OVSHOOT,62
$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
$GPS1,091156,2257.341,-15755.322,62,99.0,81,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.8
$GPS2,092534,2257.368,-15755.394,11,99.0,30,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.205,-0.075
$KALMAN_X,-93921.9,-117.4,-170.4,120392.3,-1210.8
$KALMAN_Y,4084.9,-431.9,200.6,138353.4,33.4
$MHEAD_RNG_PITCHd_Wd,100.0,27622,-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,13,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-85.22,0.000,6,0.000,0.000,474,1733,3478,0,0,0,0,0,0
$GC,106,-1.15,-116.8,4.7,-6.7,11,123,11.90,2.50,0.00,0.000,4,0.155,0.047,2739,219,3480,0,0,0,0,0,0
$GC,143,0.11,-116.8,19.8,-36.1,15,153,1.25,2.40,0.00,0.000,6,0.084,0.015,3020,1788,3480,0,0,0,0,0,0
$GC,451,-0.45,-116.8,40.5,-8.1,52,460,0.47,0.00,0.00,0.000,6,0.095,0.000,2898,1790,3481,0,0,0,0,0,0
$GC,719,-0.77,-116.8,55.1,-5.3,77,724,0.25,2.62,0.00,0.000,4,0.048,0.060,2813,224,3481,0,0,0,0,0,0
$GC,742,-0.95,-116.8,57.0,-6.3,78,751,0.00,2.35,0.00,0.000,6,0.000,0.023,2814,1784,3481,0,0,0,0,0,0
$GC,1007,-0.95,-116.8,83.9,-9.7,103,1011,0.00,2.40,0.00,0.000,4,0.000,0.032,2814,3309,3481,0,0,0,0,0,0
$GC,1029,-0.95,-116.8,86.4,-9.0,104,1039,0.00,2.42,0.00,0.000,6,0.000,0.029,2814,1798,3481,0,0,0,0,0,0
$GC,1296,-1.00,-116.8,106.0,-6.0,129,1301,0.15,2.72,0.00,0.000,4,0.060,0.068,2759,195,3481,0,0,0,0,0,0
$GC,1332,-0.93,-116.8,109.6,-10.0,131,1338,0.17,2.35,0.00,0.000,6,0.089,0.017,2799,1766,3482,0,0,0,0,0,0
$GC,1596,-0.98,-116.8,131.9,-9.1,156,1601,0.00,2.42,0.00,0.000,4,0.000,0.033,2799,3321,3482,0,0,0,0,0,0
$GC,1619,-1.03,-116.8,133.9,-9.6,157,1624,0.10,2.47,0.00,0.000,6,0.086,0.028,2760,1751,3482,0,0,0,0,0,0
$GC,1883,-1.03,-116.8,162.6,-9.8,181,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1751,3482,0,0,0,0,0,0
$GC,2145,-1.03,-116.8,186.2,-8.7,206,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1751,3482,0,0,0,0,0,0
$GC,2425,-1.03,-116.8,211.7,-9.1,224,2429,0.00,2.45,0.00,0.000,4,0.000,0.026,2760,3317,3481,0,0,0,0,0,0
$GC,2447,-1.03,-116.8,213.7,-8.6,224,2451,0.00,2.45,0.00,0.000,6,0.000,0.031,2760,1766,3481,0,0,0,0,0,0
$GC,2704,-1.03,-116.8,236.3,-8.7,231,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1767,3481,0,0,0,0,0,0
$GC,2946,-1.03,-116.8,256.0,-8.2,237,2951,0.00,2.70,0.00,0.000,4,0.000,0.079,2760,199,3481,0,0,0,0,0,0
$GC,2967,-1.03,-116.8,257.9,-8.6,237,2971,0.00,2.33,0.00,0.000,6,0.000,0.021,2760,1740,3481,0,0,0,0,0,0
$GC,3230,-1.03,-116.8,280.3,-8.8,244,3234,0.00,2.55,0.00,0.000,4,0.000,0.039,2760,3349,3480,0,0,0,0,0,0
$GC,3269,-1.08,-116.8,284.2,-9.5,245,3273,0.00,2.53,0.00,0.000,6,0.000,0.036,2760,1772,3480,0,0,0,0,0,0
$GC,3552,-1.08,-116.8,310.0,-8.8,252,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1769,3480,0,0,0,0,0,0
$GC,3797,-1.12,-116.8,330.1,-8.1,258,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1769,3480,0,0,0,0,0,0
$GC,4039,-1.17,-116.8,350.3,-8.7,264,4044,0.00,2.53,0.00,0.000,4,0.000,0.042,2760,3340,3478,0,0,0,0,0,0
$GC,4084,-1.25,-116.8,354.7,-9.7,265,4089,0.15,2.60,0.00,0.000,6,0.067,0.050,2713,1779,3478,0,0,0,0,0,0
$GC,4363,-1.25,-116.8,384.7,-10.5,272,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1779,3477,0,0,0,0,0,0
$GC,4606,-1.25,-116.8,406.2,-8.6,278,4610,0.00,2.90,0.00,0.000,4,0.000,0.106,2713,186,3476,0,0,0,0,0,0
$GC,4633,-1.21,-116.8,408.5,-8.8,278,4638,0.10,2.47,0.00,0.000,6,0.122,0.036,2734,1749,3475,0,0,0,0,0,0
$GC,4882,-1.21,-116.8,428.5,-8.2,284,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1749,3474,0,0,0,0,0,0
$GC,5127,-1.21,-116.8,450.8,-9.3,290,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1749,3472,0,0,0,0,0,0
$GC,5370,-1.21,-116.8,472.1,-8.6,296,5374,0.00,2.75,0.00,0.000,4,0.000,0.074,2734,3354,3471,0,0,0,0,0,0
$GC,5414,-1.27,-116.8,475.9,-8.3,297,5418,0.00,2.67,0.00,0.000,6,0.000,0.062,2734,1780,3470,0,0,0,0,0,0
$GC,5693,-1.31,-116.8,497.3,-7.6,304,5697,0.00,2.65,0.00,0.000,4,0.000,0.054,2734,3357,3468,0,0,0,0,0,0
$STATE,5723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5723,begin apogee
$GC,5731,-0.31,0.0,500.1,8.1,304,5830,0.85,0.00,95.45,0.917,6,0.077,0.000,2930,1815,3000,0,0,0,0,0,0
$STATE,5831,end apogee,CONTROL_FINISHED_OK
$STATE,5831,begin climb
$GC,5835,1.15,116.8,502.7,0.0,307,5939,1.35,0.00,100.78,0.894,6,0.043,0.000,3258,1815,2524,0,0,0,0,0,0
$GC,6182,1.02,135.8,486.2,7.1,316,6206,0.17,2.70,16.12,0.835,4,0.115,0.052,3223,3400,2445,0,0,0,0,0,0
$GC,6336,0.98,148.5,475.7,7.4,319,6357,0.00,2.70,12.25,0.809,6,0.000,0.060,3223,1821,2394,0,0,0,0,0,0
$GC,6602,0.94,171.0,457.1,7.0,326,6628,0.00,2.67,20.83,0.852,4,0.000,0.046,3223,3404,2301,0,0,0,0,0,0
$GC,6740,0.90,173.3,446.7,7.9,329,6746,0.12,2.67,0.00,0.000,6,0.121,0.054,3198,1830,2297,0,0,0,0,0,0
$GC,7013,0.94,210.2,429.4,6.3,336,7054,0.00,3.05,34.60,0.862,4,0.000,0.104,3198,229,2142,0,0,0,0,0,0
$GC,7089,0.90,210.2,423.7,8.2,337,7094,0.00,2.58,0.00,0.000,6,0.000,0.022,3198,1842,2139,0,0,0,0,0,0
$GC,7339,0.92,227.6,405.3,7.2,343,7357,0.00,0.00,15.75,0.818,6,0.000,0.000,3199,1842,2073,0,0,0,0,0,0
$GC,7583,0.92,227.6,385.6,8.3,349,7587,0.00,2.85,0.00,0.000,4,0.000,0.078,3198,231,2068,0,0,0,0,0,0
$GC,7629,0.92,227.6,381.0,10.7,350,7633,0.00,2.55,0.00,0.000,6,0.000,0.023,3198,1833,2066,0,0,0,0,0,0
$GC,7906,0.96,227.6,356.6,8.5,357,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1834,2065,0,0,0,0,0,0
$GC,8150,1.04,267.8,340.6,6.1,363,8190,0.12,0.00,36.03,0.815,6,0.083,0.000,3232,1834,1909,0,0,0,0,0,0
$GC,8434,1.04,267.8,316.2,8.9,370,8439,0.00,2.50,0.00,0.000,4,0.000,0.035,3232,3404,1902,0,0,0,0,0,0
$GC,8462,1.08,267.8,312.9,10.7,370,8467,0.00,2.62,0.00,0.000,6,0.000,0.044,3232,1810,1901,0,0,0,0,0,0
$GC,8712,1.08,267.8,286.7,10.4,376,8716,0.00,2.58,0.00,0.000,4,0.000,0.035,3233,3408,1901,0,0,0,0,0,0
$GC,8733,1.08,267.8,284.2,11.1,376,8737,0.00,2.60,0.00,0.000,6,0.000,0.041,3232,1825,1900,0,0,0,0,0,0
$GC,8989,1.08,267.8,260.3,9.1,383,8993,0.00,2.53,0.00,0.000,4,0.000,0.035,3233,3404,1899,0,0,0,0,0,0
$GC,9004,1.08,267.8,258.7,8.9,383,9009,0.00,2.55,0.00,0.000,6,0.000,0.036,3232,1831,1898,0,0,0,0,0,0
$GC,9271,1.08,267.8,234.0,9.3,390,9276,0.00,2.72,0.00,0.000,4,0.000,0.072,3232,242,1898,0,0,0,0,0,0
$GC,9293,1.08,267.8,231.8,10.4,390,9298,0.00,2.53,0.00,0.000,6,0.000,0.019,3232,1866,1898,0,0,0,0,0,0
$GC,9549,1.10,279.4,211.8,7.5,397,9564,0.00,2.45,9.88,0.640,4,0.000,0.037,3232,3386,1861,0,0,0,0,0,0
$GC,9597,1.16,279.4,208.1,8.4,398,9602,0.00,2.53,0.00,0.000,6,0.000,0.033,3232,1839,1859,0,0,0,0,0,0
$GC,9861,1.16,279.4,186.0,9.4,415,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1839,1859,0,0,0,0,0,0
$GC,10122,1.16,279.4,158.7,9.9,440,10126,0.00,2.45,0.00,0.000,4,0.000,0.029,3232,3398,1859,0,0,0,0,0,0
$GC,10163,1.23,279.4,154.6,10.0,443,10168,0.15,2.50,0.00,0.000,6,0.071,0.039,3275,1847,1859,0,0,0,0,0,0
$GC,10428,1.23,279.4,125.1,10.0,467,10432,0.00,2.72,0.00,0.000,4,0.000,0.066,3275,244,1859,0,0,0,0,0,0
$GC,10461,1.15,279.4,121.7,10.7,469,10466,0.12,2.50,0.00,0.000,6,0.120,0.021,3250,1868,1858,0,0,0,0,0,0
$GC,10726,1.20,287.3,101.0,7.6,493,10740,0.00,2.45,8.45,0.531,4,0.000,0.032,3250,3390,1828,0,0,0,0,0,0
$GC,10800,1.29,287.3,95.2,8.3,499,10805,0.12,2.50,0.00,0.000,6,0.080,0.034,3288,1846,1827,0,0,0,0,0,0
$GC,11065,1.29,287.3,71.0,9.7,523,11069,0.00,2.70,0.00,0.000,4,0.000,0.060,3288,243,1827,0,0,0,0,0,0
$GC,11100,1.25,287.3,67.5,11.1,525,11105,0.00,2.45,0.00,0.000,6,0.000,0.018,3288,1848,1827,0,0,0,0,0,0
$GC,11367,1.25,287.3,40.2,11.0,549,11371,0.00,2.40,0.00,0.000,4,0.000,0.028,3287,3382,1826,0,0,0,0,0,0
$GC,11411,1.25,287.3,35.0,11.3,552,11415,0.00,2.45,0.00,0.000,6,0.000,0.033,3288,1849,1826,0,0,0,0,0,0
$GC,11729,1.25,287.3,4.9,10.1,596,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1850,1827,0,0,0,0,0,0
$STATE,11745,end climb,SURFACE_DEPTH_REACHED
$STATE,11745,begin surface coast
$FINISH,0.6,1.023368
$STATE,11802,end surface coast,CONTROL_FINISHED_OK
$STATE,11802,begin surface
$SM_CCo,11824,113.95,0.468,1,0,1287,420.20
$SM_GC,0.92,0.00,0.00,113.95,0.000,0.000,0.468,474,1752,1287,-11.62,-0.51,420.20
$IRIDIUM_FIX,2246.36,-15755.40,241199,090954
$TT8_MAMPS,0.026078
$HUMID,42.12
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.80
$XPDR_PINGS,53
$24V_AH,23.6,17.389
$10V_AH,10.4,16.704
$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,28.850,133.550,350.125,113.950,0.000,80.828,91.324,347.773,13.250,0.000,35.875,1201.095,7853.296,589.917,2265.849,853.725,33.374,1346.017,0.000,2259.905,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,105.846,916.565,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,410.456,373.424,472.477,933.181,1410.446,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,47787,606
$CAP_FILE_SIZE,125560,0
$CFSIZE,260165632,176680960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300810,124654,2256.747,-15754.747,37,1.3,37,10.1