version: 66.06
glider: 146
mission: 5
dive: 103
start: 8 30 110 12 54 33
data:
$ID,146
$MISSION,5
$DIVE,103
$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,-249355.62
$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,38
$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
$GPS1,124654,2256.747,-15754.747,37,1.3,37,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.8
$GPS2,125338,2256.731,-15754.788,34,1.0,34,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,0.019
$KALMAN_X,-95674.0,-368.4,321.8,122947.2,-1917.6
$KALMAN_Y,3641.7,-416.8,389.9,137417.0,-753.9
$MHEAD_RNG_PITCHd_Wd,74.9,26106,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-85.35,0.000,6,0.000,0.000,474,1752,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.5,-6.6,11,124,11.80,0.00,0.00,0.000,6,0.150,0.000,2740,1752,3481,0,0,0,0,0,0
$GC,402,-0.98,-116.8,63.2,-15.7,42,411,0.22,0.00,0.00,0.000,6,0.117,0.000,2786,1752,3482,0,0,0,0,0,0
$GC,668,-0.94,-116.8,97.1,-10.6,67,672,0.00,2.62,0.00,0.000,4,0.000,0.064,2785,206,3482,0,0,0,0,0,0
$GC,702,-0.89,-116.8,100.9,-11.4,69,706,0.00,2.35,0.00,0.000,6,0.000,0.015,2785,1795,3482,0,0,0,0,0,0
$GC,970,-0.89,-116.8,124.6,-8.6,93,974,0.00,2.35,0.00,0.000,4,0.000,0.033,2785,3306,3483,0,0,0,0,0,0
$GC,1026,-0.93,-116.8,129.3,-7.8,97,1030,0.00,2.42,0.00,0.000,6,0.000,0.035,2785,1785,3483,0,0,0,0,0,0
$GC,1292,-0.93,-116.8,150.9,-8.8,121,1296,0.00,2.67,0.00,0.000,4,0.000,0.069,2785,193,3483,0,0,0,0,0,0
$GC,1310,-0.93,-116.8,152.8,-8.6,122,1314,0.00,2.35,0.00,0.000,6,0.000,0.018,2785,1780,3483,0,0,0,0,0,0
$GC,1572,-0.97,-116.8,174.8,-8.0,146,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1781,3483,0,0,0,0,0,0
$GC,1827,-1.02,-116.8,196.5,-9.2,170,1831,0.00,2.38,0.00,0.000,4,0.000,0.026,2785,3321,3483,0,0,0,0,0,0
$GC,1867,-1.10,-116.8,200.4,-9.1,173,1872,0.12,2.42,0.00,0.000,6,0.067,0.033,2739,1782,3483,0,0,0,0,0,0
$GC,2152,-1.05,-116.8,231.3,-10.8,180,2157,0.12,2.75,0.00,0.000,4,0.110,0.069,2767,197,3483,0,0,0,0,0,0
$GC,2179,-1.05,-116.8,234.3,-10.1,180,2183,0.00,2.35,0.00,0.000,6,0.000,0.017,2768,1766,3483,0,0,0,0,0,0
$GC,2435,-1.05,-116.8,255.5,-8.0,187,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1768,3483,0,0,0,0,0,0
$GC,2678,-1.05,-116.8,275.6,-8.3,193,2683,0.00,2.72,0.00,0.000,4,0.000,0.075,2767,197,3483,0,0,0,0,0,0
$GC,2701,-1.05,-116.8,277.8,-9.9,193,2706,0.00,2.40,0.00,0.000,6,0.000,0.019,2767,1768,3482,0,0,0,0,0,0
$GC,2957,-1.10,-116.8,300.7,-9.0,200,2961,0.00,2.50,0.00,0.000,4,0.000,0.038,2767,3349,3483,0,0,0,0,0,0
$GC,2998,-1.18,-116.8,304.2,-8.9,201,3003,0.10,2.53,0.00,0.000,6,0.081,0.038,2725,1794,3482,0,0,0,0,0,0
$GC,3282,-1.18,-116.8,331.6,-9.8,208,3287,0.00,2.85,0.00,0.000,4,0.000,0.087,2725,186,3481,0,0,0,0,0,0
$GC,3348,-1.18,-116.8,338.2,-9.5,209,3353,0.00,2.47,0.00,0.000,6,0.000,0.027,2725,1773,3481,0,0,0,0,0,0
$GC,3604,-1.18,-116.8,361.6,-9.2,216,3609,0.00,2.80,0.00,0.000,4,0.000,0.084,2725,185,3480,0,0,0,0,0,0
$GC,3645,-1.13,-116.8,365.4,-10.3,217,3650,0.12,2.47,0.00,0.000,6,0.106,0.030,2752,1766,3480,0,0,0,0,0,0
$GC,3928,-1.17,-116.8,388.8,-8.2,224,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1766,3479,0,0,0,0,0,0
$GC,4174,-1.22,-116.8,407.0,-7.4,230,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1766,3477,0,0,0,0,0,0
$GC,4416,-1.27,-116.8,423.6,-6.8,236,4421,0.12,2.67,0.00,0.000,4,0.077,0.059,2713,3353,3476,0,0,0,0,0,0
$GC,4444,-1.27,-116.8,425.6,-7.5,236,4448,0.00,2.67,0.00,0.000,6,0.000,0.060,2713,1772,3476,0,0,0,0,0,0
$GC,4695,-1.27,-116.8,443.9,-7.4,242,4700,0.00,2.92,0.00,0.000,4,0.000,0.107,2712,183,3474,0,0,0,0,0,0
$GC,4734,-1.27,-116.8,447.5,-9.2,243,4738,0.00,2.55,0.00,0.000,6,0.000,0.035,2712,1755,3474,0,0,0,0,0,0
$GC,5017,-1.27,-116.8,472.2,-8.9,250,5021,0.00,2.72,0.00,0.000,4,0.000,0.073,2712,3363,3472,0,0,0,0,0,0
$GC,5050,-1.27,-116.8,475.1,-9.1,250,5056,0.00,2.70,0.00,0.000,6,0.000,0.059,2712,1772,3472,0,0,0,0,0,0
$GC,5300,-1.27,-116.8,496.3,-8.4,257,5304,0.00,2.65,0.00,0.000,4,0.000,0.058,2712,3358,3470,0,0,0,0,0,0
$STATE,5347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5347,begin apogee
$GC,5355,-0.31,0.0,500.1,7.4,258,5454,0.95,0.00,95.75,0.920,6,0.084,0.000,2926,1823,3001,0,0,0,0,0,0
$STATE,5455,end apogee,CONTROL_FINISHED_OK
$STATE,5455,begin climb
$GC,5459,1.15,116.8,501.8,0.0,260,5564,1.35,0.00,100.07,0.897,6,0.057,0.000,3251,1822,2524,0,0,0,0,0,0
$GC,5785,1.01,130.4,484.8,7.4,268,5804,0.15,2.78,11.43,0.801,4,0.159,0.055,3222,3404,2468,0,0,0,0,0,0
$GC,5897,0.96,145.7,476.9,7.3,270,5918,0.00,2.72,14.68,0.828,6,0.000,0.056,3222,1819,2406,0,0,0,0,0,0
$GC,6162,0.93,173.6,458.7,6.7,277,6193,0.00,2.72,24.98,0.861,4,0.000,0.046,3222,3408,2292,0,0,0,0,0,0
$GC,6215,0.89,188.1,454.8,7.3,278,6235,0.12,2.75,14.10,0.814,6,0.121,0.062,3198,1812,2234,0,0,0,0,0,0
$GC,6485,0.91,201.3,435.0,7.4,285,6499,0.00,0.00,12.25,0.807,6,0.000,0.000,3197,1812,2180,0,0,0,0,0,0
$GC,6730,0.91,201.3,415.3,8.1,291,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1812,2175,0,0,0,0,0,0
$GC,6972,0.91,201.3,395.0,8.3,297,6977,0.00,2.62,0.00,0.000,4,0.000,0.041,3198,3413,2173,0,0,0,0,0,0
$GC,7022,0.96,201.3,390.8,8.1,298,7027,0.00,2.72,0.00,0.000,6,0.000,0.053,3198,1802,2172,0,0,0,0,0,0
$GC,7296,0.97,211.7,370.7,7.5,305,7310,0.00,2.67,9.23,0.754,4,0.000,0.041,3198,3418,2138,0,0,0,0,0,0
$GC,7328,1.02,215.5,368.0,7.8,305,7340,0.10,2.70,5.25,0.634,6,0.090,0.048,3225,1819,2122,0,0,0,0,0,0
$GC,7583,1.02,215.5,346.2,8.4,312,7588,0.00,2.80,0.00,0.000,4,0.000,0.084,3225,232,2119,0,0,0,0,0,0
$GC,7606,0.96,215.5,344.3,8.3,312,7610,0.00,2.53,0.00,0.000,6,0.000,0.027,3225,1846,2118,0,0,0,0,0,0
$GC,7862,0.96,215.5,323.7,8.1,319,7866,0.00,2.50,0.00,0.000,4,0.000,0.041,3225,3397,2117,0,0,0,0,0,0
$GC,7888,0.96,215.5,321.4,8.4,319,7893,0.00,2.58,0.00,0.000,6,0.000,0.038,3225,1835,2117,0,0,0,0,0,0
$GC,8140,0.96,215.5,300.4,8.8,325,8144,0.00,2.78,0.00,0.000,4,0.000,0.076,3225,237,2116,0,0,0,0,0,0
$GC,8208,0.90,215.5,294.3,8.2,326,8213,0.12,2.50,0.00,0.000,6,0.120,0.025,3199,1833,2115,0,0,0,0,0,0
$GC,8464,1.02,262.1,279.0,5.9,333,8513,0.10,2.62,41.28,0.768,4,0.090,0.040,3226,3397,1931,0,0,0,0,0,0
$GC,8557,1.07,262.1,271.4,8.8,335,8562,0.00,2.58,0.00,0.000,6,0.000,0.037,3226,1836,1928,0,0,0,0,0,0
$GC,8829,1.07,262.1,247.1,9.2,342,8834,0.00,2.78,0.00,0.000,4,0.000,0.070,3226,241,1925,0,0,0,0,0,0
$GC,8880,1.07,262.1,242.0,10.4,343,8884,0.00,2.50,0.00,0.000,6,0.000,0.025,3225,1841,1924,0,0,0,0,0,0
$GC,9151,1.07,262.1,218.2,8.4,350,9155,0.00,2.47,0.00,0.000,4,0.000,0.037,3226,3396,1924,0,0,0,0,0,0
$GC,9184,1.13,262.1,215.4,8.3,350,9190,0.00,2.55,0.00,0.000,6,0.000,0.039,3226,1831,1923,0,0,0,0,0,0
$GC,9436,1.15,275.6,196.6,7.4,360,9451,0.10,0.00,11.95,0.640,6,0.088,0.000,3255,1831,1877,0,0,0,0,0,0
$GC,9705,1.15,275.6,170.9,10.3,385,9709,0.00,2.47,0.00,0.000,4,0.000,0.034,3255,3390,1875,0,0,0,0,0,0
$GC,9728,1.15,275.6,168.1,10.8,386,9734,0.00,2.50,0.00,0.000,6,0.000,0.035,3255,1838,1874,0,0,0,0,0,0
$GC,9994,1.15,275.6,140.6,10.3,411,9999,0.00,2.47,0.00,0.000,4,0.000,0.035,3255,3396,1874,0,0,0,0,0,0
$GC,10016,1.15,275.6,137.9,9.7,412,10025,0.00,2.55,0.00,0.000,6,0.000,0.035,3255,1836,1874,0,0,0,0,0,0
$GC,10284,1.15,275.6,111.9,9.7,437,10289,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1837,1874,0,0,0,0,0,0
$GC,10547,1.20,291.6,90.3,7.3,462,10570,0.00,2.55,14.88,0.561,4,0.000,0.028,3255,3390,1811,0,0,0,0,0,0
$GC,10612,1.30,297.2,85.7,7.8,467,10626,0.12,2.53,6.57,0.485,6,0.077,0.038,3291,1826,1788,0,0,0,0,0,0
$GC,10891,1.30,297.2,63.5,8.4,493,10899,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1826,1786,0,0,0,0,0,0
$GC,11157,1.35,338.1,49.0,6.1,518,11199,0.00,2.53,35.85,0.544,4,0.000,0.025,3291,3390,1620,0,0,0,0,0,0
$GC,11240,1.41,338.1,42.3,9.7,524,11245,0.00,2.53,0.00,0.000,6,0.000,0.035,3291,1840,1619,0,0,0,0,0,0
$GC,11550,1.41,338.1,4.1,12.0,562,11560,0.00,2.75,0.00,0.000,4,0.000,0.063,3291,237,1616,0,0,0,0,0,0
$STATE,11568,end climb,SURFACE_DEPTH_REACHED
$STATE,11568,begin surface coast
$FINISH,0.4,1.023361
$STATE,11610,end surface coast,CONTROL_FINISHED_OK
$STATE,11610,begin surface
$SM_CCo,11635,73.22,0.442,1,0,1288,420.20
$SM_GC,0.93,0.00,0.00,73.22,0.000,0.000,0.442,473,1784,1288,-11.62,0.37,420.20
$IRIDIUM_FIX,2248.70,-15753.23,241199,090904
$TT8_MAMPS,0.026078
$HUMID,42.28
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.80
$XPDR_PINGS,55
$24V_AH,23.6,17.506
$10V_AH,10.4,16.828
$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,27.175,145.150,398.250,73.225,0.000,28.125,28.770,190.269,13.750,0.000,37.699,1150.800,7718.980,541.800,2149.469,556.329,33.374,1349.785,0.000,2138.432,0.000,0.535,0.000
$DEVICE_MAMPS,158.769,106.613,920.400,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.354,336.945,433.554,808.510,1222.491,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,44840,570
$CAP_FILE_SIZE,120910,0
$CFSIZE,260165632,176627712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300810,161107,2256.445,-15753.988,39,1.5,39,10.1