version: 66.06
glider: 146
mission: 5
dive: 105
start: 8 30 110 19 58 21
data:
$ID,146
$MISSION,5
$DIVE,105
$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,-249389.23
$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,36
$R_STBD_OVSHOOT,49
$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
$GPS1,194454,2255.987,-15753.325,51,1.0,67,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.3
$GPS2,195726,2256.010,-15753.420,16,1.1,16,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.179,-0.124
$KALMAN_X,-98426.1,24.8,-273.8,128253.0,-780.4
$KALMAN_Y,2865.3,297.2,-304.1,136837.5,584.5
$MHEAD_RNG_PITCHd_Wd,114.6,23423,-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,17,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-84.35,0.000,6,0.000,0.000,479,1756,3478,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.6,-6.8,11,125,11.57,2.62,0.00,0.000,4,0.143,0.057,2740,200,3480,0,0,0,0,0,0
$GC,189,-0.96,-116.8,29.2,-18.5,22,197,0.20,2.45,0.00,0.000,6,0.095,0.015,2786,1792,3481,0,0,0,0,0,0
$GC,458,-0.89,-116.8,64.0,-12.3,47,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1794,3481,0,0,0,0,0,0
$GC,718,-0.89,-116.8,92.2,-9.7,72,723,0.00,2.72,0.00,0.000,4,0.000,0.067,2786,197,3481,0,0,0,0,0,0
$GC,741,-0.85,-116.8,93.8,-9.8,73,746,0.12,2.38,0.00,0.000,6,0.110,0.015,2813,1788,3481,0,0,0,0,0,0
$GC,1007,-0.91,-116.8,117.1,-8.9,97,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1790,3481,0,0,0,0,0,0
$GC,1272,-0.98,-116.8,140.3,-7.9,122,1277,0.12,2.75,0.00,0.000,4,0.068,0.064,2766,197,3482,0,0,0,0,0,0
$GC,1294,-0.98,-116.8,142.3,-9.3,123,1298,0.00,2.33,0.00,0.000,6,0.000,0.018,2766,1767,3482,0,0,0,0,0,0
$GC,1557,-0.98,-116.8,167.8,-8.9,147,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1769,3482,0,0,0,0,0,0
$GC,1809,-0.98,-116.8,188.9,-8.4,171,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1769,3482,0,0,0,0,0,0
$GC,2069,-0.98,-116.8,210.8,-8.6,187,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1770,3481,0,0,0,0,0,0
$GC,2314,-0.98,-116.8,232.8,-9.2,193,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1770,3481,0,0,0,0,0,0
$GC,2556,-0.98,-116.8,256.0,-9.4,199,2561,0.00,2.75,0.00,0.000,4,0.000,0.076,2766,200,3481,0,0,0,0,0,0
$GC,2572,-0.98,-116.8,257.7,-9.3,199,2576,0.00,2.35,0.00,0.000,6,0.000,0.019,2766,1746,3481,0,0,0,0,0,0
$GC,2839,-0.98,-116.8,280.9,-8.5,206,2843,0.00,2.47,0.00,0.000,4,0.000,0.031,2766,3330,3480,0,0,0,0,0,0
$GC,2867,-1.03,-116.8,283.1,-8.1,206,2872,0.00,2.47,0.00,0.000,6,0.000,0.041,2766,1785,3480,0,0,0,0,0,0
$GC,3118,-1.06,-116.8,302.6,-7.9,212,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1785,3480,0,0,0,0,0,0
$GC,3361,-1.11,-116.8,321.0,-7.4,218,3366,0.00,2.45,0.00,0.000,4,0.000,0.041,2766,3326,3479,0,0,0,0,0,0
$GC,3405,-1.19,-116.8,323.7,-6.2,219,3410,0.10,2.58,0.00,0.000,6,0.084,0.044,2727,1772,3479,0,0,0,0,0,0
$GC,3688,-1.19,-116.8,348.1,-8.8,226,3692,0.00,2.85,0.00,0.000,4,0.000,0.100,2727,186,3478,0,0,0,0,0,0
$GC,3722,-1.15,-116.8,351.2,-9.8,226,3728,0.10,2.45,0.00,0.000,6,0.120,0.025,2748,1747,3478,0,0,0,0,0,0
$GC,3971,-1.15,-116.8,370.7,-7.7,233,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1747,3477,0,0,0,0,0,0
$GC,4216,-1.18,-116.8,388.5,-7.1,239,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1747,3476,0,0,0,0,0,0
$GC,4461,-1.23,-116.8,403.8,-6.2,245,4465,0.00,2.65,0.00,0.000,4,0.000,0.053,2748,3353,3474,0,0,0,0,0,0
$GC,4511,-1.30,-116.8,407.6,-7.9,246,4516,0.15,2.65,0.00,0.000,6,0.066,0.053,2701,1785,3474,0,0,0,0,0,0
$GC,4783,-1.25,-116.8,432.6,-9.4,253,4789,0.12,3.00,0.00,0.000,4,0.110,0.111,2727,181,3472,0,0,0,0,0,0
$GC,4812,-1.25,-116.8,435.1,-8.7,253,4816,0.00,2.58,0.00,0.000,6,0.000,0.040,2727,1771,3472,0,0,0,0,0,0
$GC,5062,-1.25,-116.8,455.1,-7.9,259,5066,0.00,2.67,0.00,0.000,4,0.000,0.065,2727,3363,3471,0,0,0,0,0,0
$GC,5122,-1.25,-116.8,460.2,-8.2,260,5127,0.00,2.67,0.00,0.000,6,0.000,0.057,2727,1785,3470,0,0,0,0,0,0
$GC,5385,-1.25,-116.8,479.8,-7.3,267,5390,0.00,2.60,0.00,0.000,4,0.000,0.054,2727,3357,3468,0,0,0,0,0,0
$GC,5475,-1.25,-116.8,486.5,-7.4,269,5479,0.00,2.62,0.00,0.000,6,0.000,0.061,2727,1805,3468,0,0,0,0,0,0
$STATE,5668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5668,begin apogee
$GC,5675,-0.31,0.0,500.1,7.1,274,5774,0.90,0.00,95.12,0.918,6,0.081,0.000,2930,1805,3001,0,0,0,0,0,0
$STATE,5774,end apogee,CONTROL_FINISHED_OK
$STATE,5774,begin climb
$GC,5777,1.15,116.8,501.7,0.0,276,5882,1.35,0.00,100.82,0.895,6,0.044,0.000,3253,1805,2524,0,0,0,0,0,0
$GC,6115,1.04,142.2,485.1,6.8,285,6145,0.12,3.08,21.65,0.850,4,0.176,0.109,3228,235,2420,0,0,0,0,0,0
$GC,6169,0.88,150.5,481.1,7.6,286,6184,0.17,2.60,8.65,0.752,6,0.120,0.035,3194,1819,2387,0,0,0,0,0,0
$GC,6445,0.93,191.4,463.8,6.1,293,6489,0.00,2.83,36.55,0.868,4,0.000,0.058,3194,3411,2219,0,0,0,0,0,0
$GC,6531,0.95,214.7,458.4,6.9,295,6560,0.00,2.75,21.52,0.838,6,0.000,0.051,3194,1814,2124,0,0,0,0,0,0
$GC,6817,0.96,221.8,436.9,7.7,302,6830,0.00,3.03,6.53,0.702,4,0.000,0.102,3193,234,2096,0,0,0,0,0,0
$GC,6883,0.93,221.8,431.0,9.4,303,6888,0.00,2.53,0.00,0.000,6,0.000,0.028,3193,1805,2094,0,0,0,0,0,0
$GC,7144,0.93,221.8,409.6,8.1,310,7149,0.00,2.78,0.00,0.000,4,0.000,0.082,3194,233,2092,0,0,0,0,0,0
$GC,7199,0.93,221.8,405.0,8.5,311,7203,0.00,2.47,0.00,0.000,6,0.000,0.025,3193,1788,2091,0,0,0,0,0,0
$GC,7466,0.94,231.9,384.9,7.5,318,7481,0.00,2.70,9.70,0.767,4,0.000,0.047,3194,3404,2055,0,0,0,0,0,0
$GC,7522,1.02,237.6,380.3,7.7,319,7537,0.12,2.72,6.55,0.693,6,0.085,0.048,3226,1789,2032,0,0,0,0,0,0
$GC,7794,1.02,237.6,357.4,8.4,326,7798,0.00,2.78,0.00,0.000,4,0.000,0.081,3226,232,2029,0,0,0,0,0,0
$GC,7888,0.95,237.6,349.0,8.8,328,7892,0.00,2.45,0.00,0.000,6,0.000,0.026,3225,1791,2028,0,0,0,0,0,0
$GC,8160,0.95,237.6,327.3,8.3,335,8164,0.00,2.72,0.00,0.000,4,0.000,0.074,3226,231,2027,0,0,0,0,0,0
$GC,8182,0.91,237.6,325.2,9.7,335,8187,0.12,2.40,0.00,0.000,6,0.120,0.026,3200,1767,2026,0,0,0,0,0,0
$GC,8438,0.98,256.5,306.0,7.1,342,8462,0.00,2.72,17.45,0.765,4,0.000,0.035,3200,3397,1954,0,0,0,0,0,0
$GC,8498,1.09,270.0,301.7,7.4,343,8518,0.17,2.70,13.45,0.736,6,0.067,0.041,3244,1769,1899,0,0,0,0,0,0
$GC,8768,1.09,270.0,275.2,10.0,350,8772,0.00,2.62,0.00,0.000,4,0.000,0.035,3244,3396,1895,0,0,0,0,0,0
$GC,8788,1.09,270.0,272.9,10.6,350,8793,0.00,2.65,0.00,0.000,6,0.000,0.036,3244,1769,1894,0,0,0,0,0,0
$GC,9052,1.09,270.0,246.8,10.1,357,9056,0.00,2.60,0.00,0.000,4,0.000,0.032,3244,3393,1893,0,0,0,0,0,0
$GC,9078,1.09,270.0,243.7,11.1,357,9083,0.00,2.65,0.00,0.000,6,0.000,0.036,3244,1774,1893,0,0,0,0,0,0
$GC,9328,1.09,270.0,218.2,10.2,363,9333,0.00,2.60,0.00,0.000,4,0.000,0.035,3244,3398,1893,0,0,0,0,0,0
$GC,9379,1.13,270.0,213.1,9.9,364,9383,0.00,2.60,0.00,0.000,6,0.000,0.039,3244,1801,1892,0,0,0,0,0,0
$GC,9635,1.13,270.0,189.3,9.6,378,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1801,1892,0,0,0,0,0,0
$GC,9891,1.13,270.0,165.2,9.6,402,9892,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1801,1892,0,0,0,0,0,0
$GC,10145,1.13,270.0,143.5,8.3,426,10149,0.00,2.53,0.00,0.000,4,0.000,0.028,3244,3396,1892,0,0,0,0,0,0
$GC,10190,1.20,270.0,139.7,8.2,429,10196,0.00,2.55,0.00,0.000,6,0.000,0.038,3243,1805,1892,0,0,0,0,0,0
$GC,10455,1.21,278.6,120.9,7.6,454,10469,0.00,2.53,8.18,0.542,4,0.000,0.030,3244,3396,1864,0,0,0,0,0,0
$GC,10497,1.27,278.6,117.6,8.4,457,10502,0.12,2.55,0.00,0.000,6,0.075,0.035,3282,1814,1863,0,0,0,0,0,0
$GC,10763,1.27,278.6,92.6,9.7,481,10767,0.00,2.67,0.00,0.000,4,0.000,0.062,3282,235,1863,0,0,0,0,0,0
$GC,10807,1.20,278.6,87.0,11.7,484,10816,0.00,2.45,0.00,0.000,6,0.000,0.018,3282,1813,1863,0,0,0,0,0,0
$GC,11075,1.20,278.6,64.1,8.2,509,11084,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1814,1863,0,0,0,0,0,0
$GC,11340,1.20,278.6,40.9,9.0,534,11348,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1814,1862,0,0,0,0,0,0
$GC,11647,1.20,278.6,13.4,9.1,572,11655,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1814,1863,0,0,0,0,0,0
$STATE,11752,end climb,SURFACE_DEPTH_REACHED
$STATE,11752,begin surface coast
$FINISH,0.3,1.009516
$STATE,11818,end surface coast,CONTROL_FINISHED_OK
$STATE,11818,begin surface
$SM_CCo,11840,127.68,0.471,1,0,1288,420.20
$SM_GC,1.03,0.00,0.00,127.68,0.000,0.000,0.471,475,1753,1288,-11.62,-0.48,420.20
$IRIDIUM_FIX,2248.70,-15755.40,241199,191946
$TT8_MAMPS,0.025311
$HUMID,42.00
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.00
$XPDR_PINGS,50
$24V_AH,23.6,17.754
$10V_AH,10.4,17.104
$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,26.925,131.400,346.175,127.675,0.000,47.834,58.299,437.443,12.500,0.000,17.740,1195.093,7886.650,583.915,2205.136,853.477,33.381,1363.428,0.000,2213.995,0.000,0.536,0.000
$DEVICE_MAMPS,176.410,128.089,918.099,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,403.810,357.870,459.187,865.087,1308.592,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,47598,596
$CAP_FILE_SIZE,124568,0
$CFSIZE,260165632,176496640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300810,231914,2255.399,-15752.359,32,1.0,39,10.1