version: 66.06
glider: 146
mission: 5
dive: 106
start: 8 30 110 23 25 57
data:
$ID,146
$MISSION,5
$DIVE,106
$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,-249408
$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,57
$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
$GPS1,231914,2255.399,-15752.359,32,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.9
$GPS2,232502,2255.398,-15752.410,16,1.8,16,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,-0.002
$KALMAN_X,-99660.6,377.5,104.8,130492.3,-1122.0
$KALMAN_Y,2390.8,403.8,479.2,135289.3,-1031.5
$MHEAD_RNG_PITCHd_Wd,80.4,21360,-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,-116.8,0.0,0.0,0,98,0.00,0.00,-78.55,0.000,2,0.000,0.000,475,1753,3239,0,0,0,0,0,0
$GC,101,-1.15,-116.8,3.2,-4.0,10,126,11.60,0.00,-4.57,0.000,6,0.143,0.000,2739,1753,3479,0,0,0,0,0,0
$GC,406,-0.97,-116.8,56.6,-15.4,45,415,0.22,0.00,0.00,0.000,6,0.115,0.000,2785,1754,3481,0,0,0,0,0,0
$GC,668,-0.93,-116.8,88.3,-10.2,70,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1754,3481,0,0,0,0,0,0
$GC,921,-0.93,-116.8,113.7,-10.3,94,925,0.00,2.62,0.00,0.000,4,0.000,0.062,2785,206,3482,0,0,0,0,0,0
$GC,949,-0.93,-116.8,116.8,-11.5,96,954,0.00,2.38,0.00,0.000,6,0.000,0.016,2785,1806,3482,0,0,0,0,0,0
$GC,1213,-0.93,-116.8,145.8,-10.4,120,1217,0.00,2.72,0.00,0.000,4,0.000,0.068,2785,203,3482,0,0,0,0,0,0
$GC,1257,-0.97,-116.8,150.7,-11.6,123,1261,0.00,2.28,0.00,0.000,6,0.000,0.021,2785,1745,3482,0,0,0,0,0,0
$GC,1521,-0.97,-116.8,174.4,-8.0,147,1525,0.00,2.42,0.00,0.000,4,0.000,0.032,2785,3317,3483,0,0,0,0,0,0
$GC,1554,-1.04,-116.8,177.2,-7.8,149,1560,0.00,2.47,0.00,0.000,6,0.000,0.035,2785,1761,3483,0,0,0,0,0,0
$GC,1819,-1.08,-116.8,196.1,-7.5,174,1823,0.00,2.67,0.00,0.000,4,0.000,0.071,2785,193,3483,0,0,0,0,0,0
$GC,1841,-1.08,-116.8,197.7,-7.6,175,1845,0.00,2.33,0.00,0.000,6,0.000,0.023,2785,1749,3483,0,0,0,0,0,0
$GC,2112,-1.12,-116.8,218.9,-7.8,183,2117,0.12,2.47,0.00,0.000,4,0.171,0.027,2744,3322,3482,0,0,0,0,0,0
$GC,2135,-1.12,-116.8,221.0,-9.0,183,2140,0.00,2.53,0.00,0.000,6,0.000,0.031,2744,1738,3482,0,0,0,0,0,0
$GC,2390,-1.08,-116.8,246.9,-10.2,190,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1738,3482,0,0,0,0,0,0
$GC,2634,-1.08,-116.8,271.6,-10.0,196,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1738,3482,0,0,0,0,0,0
$GC,2877,-1.08,-116.8,292.4,-8.1,202,2881,0.00,2.47,0.00,0.000,4,0.000,0.038,2743,3308,3481,0,0,0,0,0,0
$GC,2900,-1.08,-116.8,294.0,-7.3,202,2904,0.00,2.53,0.00,0.000,6,0.000,0.038,2743,1747,3481,0,0,0,0,0,0
$GC,3155,-1.08,-116.8,313.1,-7.7,209,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1747,3481,0,0,0,0,0,0
$GC,3398,-1.08,-116.8,333.9,-8.5,215,3402,0.00,2.50,0.00,0.000,4,0.000,0.038,2743,3314,3481,0,0,0,0,0,0
$GC,3440,-1.08,-116.8,337.3,-9.3,216,3444,0.00,2.58,0.00,0.000,6,0.000,0.051,2744,1762,3480,0,0,0,0,0,0
$GC,3722,-1.08,-116.8,362.9,-8.9,223,3727,0.00,2.85,0.00,0.000,4,0.000,0.094,2743,183,3480,0,0,0,0,0,0
$GC,3744,-1.08,-116.8,364.6,-7.9,223,3748,0.00,2.38,0.00,0.000,6,0.000,0.023,2743,1711,3480,0,0,0,0,0,0
$GC,4000,-1.08,-116.8,385.1,-8.2,230,4004,0.00,2.62,0.00,0.000,4,0.000,0.047,2743,3310,3478,0,0,0,0,0,0
$GC,4032,-1.14,-116.8,388.1,-8.6,230,4038,0.00,2.60,0.00,0.000,6,0.000,0.050,2743,1763,3478,0,0,0,0,0,0
$GC,4283,-1.14,-116.8,408.1,-7.9,237,4287,0.00,2.53,0.00,0.000,4,0.000,0.044,2743,3302,3477,0,0,0,0,0,0
$GC,4339,-1.21,-116.8,412.4,-7.5,238,4343,0.00,2.60,0.00,0.000,6,0.000,0.054,2743,1769,3477,0,0,0,0,0,0
$GC,4605,-1.25,-116.8,430.5,-6.7,245,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1769,3475,0,0,0,0,0,0
$GC,4849,-1.29,-116.8,447.9,-7.2,251,4854,0.10,2.55,0.00,0.000,4,0.094,0.054,2713,3307,3474,0,0,0,0,0,0
$GC,4872,-1.29,-116.8,449.7,-7.8,251,4877,0.00,2.60,0.00,0.000,6,0.000,0.064,2713,1779,3473,0,0,0,0,0,0
$GC,5127,-1.29,-116.8,470.4,-7.9,258,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1778,3471,0,0,0,0,0,0
$GC,5371,-1.29,-116.8,488.6,-7.4,264,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1778,3470,0,0,0,0,0,0
$STATE,5532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5532,begin apogee
$GC,5539,-0.31,0.0,500.9,7.5,268,5638,0.98,0.00,95.62,0.920,6,0.081,0.000,2932,1778,3001,0,0,0,0,0,0
$STATE,5639,end apogee,CONTROL_FINISHED_OK
$STATE,5639,begin climb
$GC,5641,1.15,116.8,503.3,0.0,270,5747,1.35,0.00,101.35,0.897,6,0.043,0.000,3256,1778,2524,0,0,0,0,0,0
$GC,5977,1.05,156.5,489.6,6.2,279,6021,0.12,2.72,34.00,0.874,4,0.127,0.054,3231,3346,2362,0,0,0,0,0,0
$GC,6035,1.02,200.1,486.3,6.0,280,6080,0.00,2.65,39.38,0.868,6,0.000,0.063,3231,1819,2184,0,0,0,0,0,0
$GC,6349,0.96,200.1,460.4,8.7,288,6354,0.10,2.55,0.00,0.000,4,0.228,0.041,3213,3351,2176,0,0,0,0,0,0
$GC,6372,0.96,200.1,458.1,9.2,288,6376,0.00,2.60,0.00,0.000,6,0.000,0.054,3213,1827,2174,0,0,0,0,0,0
$GC,6626,0.96,200.1,437.1,8.2,295,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1826,2172,0,0,0,0,0,0
$GC,6870,0.96,200.1,416.5,8.5,301,6874,0.00,2.50,0.00,0.000,4,0.000,0.044,3213,3365,2171,0,0,0,0,0,0
$GC,6949,0.96,200.1,409.7,8.9,302,6954,0.00,2.60,0.00,0.000,6,0.000,0.050,3213,1835,2169,0,0,0,0,0,0
$GC,7198,0.98,211.4,390.4,7.5,309,7213,0.00,2.53,8.32,0.753,4,0.000,0.040,3213,3352,2139,0,0,0,0,0,0
$GC,7258,0.98,216.5,385.8,7.8,310,7270,0.00,2.53,6.40,0.696,6,0.000,0.049,3212,1850,2118,0,0,0,0,0,0
$GC,7529,1.00,232.0,365.9,7.3,317,7548,0.00,0.00,14.98,0.805,6,0.000,0.000,3213,1850,2054,0,0,0,0,0,0
$GC,7816,1.00,232.4,342.9,8.0,324,7820,0.00,2.42,0.00,0.000,4,0.000,0.032,3213,3362,2050,0,0,0,0,0,0
$GC,7857,1.05,234.6,339.8,7.9,325,7861,0.00,2.47,0.00,0.000,6,0.000,0.044,3213,1856,2049,0,0,0,0,0,0
$GC,8140,1.07,246.8,318.5,7.4,332,8155,0.00,0.00,13.80,0.763,6,0.000,0.000,3213,1857,1994,0,0,0,0,0,0
$GC,8384,1.09,261.8,300.5,7.3,338,8401,0.10,0.00,14.73,0.749,6,0.197,0.000,3240,1857,1933,0,0,0,0,0,0
$GC,8628,1.09,261.8,279.2,8.9,344,8633,0.00,2.42,0.00,0.000,4,0.000,0.036,3241,3361,1930,0,0,0,0,0,0
$GC,8661,1.09,261.8,275.7,9.6,344,8667,0.00,2.42,0.00,0.000,6,0.000,0.034,3240,1857,1929,0,0,0,0,0,0
$GC,8911,1.09,261.8,251.8,9.6,351,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1856,1928,0,0,0,0,0,0
$GC,9155,1.09,261.8,228.6,9.6,357,9156,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1857,1928,0,0,0,0,0,0
$GC,9398,1.09,261.8,206.4,9.1,363,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1857,1928,0,0,0,0,0,0
$GC,9650,1.09,261.8,184.2,9.3,381,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1856,1927,0,0,0,0,0,0
$GC,9905,1.09,261.8,161.4,8.8,405,9909,0.00,2.40,0.00,0.000,4,0.000,0.028,3240,3368,1928,0,0,0,0,0,0
$GC,9962,1.14,261.8,156.7,8.9,409,9966,0.00,2.45,0.00,0.000,6,0.000,0.039,3240,1857,1927,0,0,0,0,0,0
$GC,10228,1.14,261.8,133.0,9.0,433,10233,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1857,1927,0,0,0,0,0,0
$GC,10491,1.19,261.8,108.9,8.8,458,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1857,1927,0,0,0,0,0,0
$GC,10746,1.28,278.3,89.9,7.2,482,10770,0.15,2.83,15.15,0.563,4,0.074,0.061,3282,242,1865,0,0,0,0,0,0
$GC,10789,1.23,278.3,86.8,9.0,485,10794,0.00,2.50,0.00,0.000,6,0.000,0.023,3282,1859,1865,0,0,0,0,0,0
$GC,11056,1.23,281.8,64.8,7.9,509,11070,0.00,2.45,4.53,0.409,4,0.000,0.028,3282,3383,1851,0,0,0,0,0,0
$GC,11090,1.23,281.8,62.2,8.4,511,11094,0.00,2.42,0.00,0.000,6,0.000,0.031,3282,1872,1851,0,0,0,0,0,0
$GC,11356,1.23,281.8,38.2,9.6,535,11361,0.00,2.78,0.00,0.000,4,0.000,0.061,3282,240,1851,0,0,0,0,0,0
$GC,11378,1.23,281.8,35.4,9.5,536,11387,0.00,2.53,0.00,0.000,6,0.000,0.018,3282,1872,1851,0,0,0,0,0,0
$GC,11692,1.23,281.8,7.4,9.4,580,11701,0.00,2.40,0.00,0.000,4,0.000,0.030,3282,3383,1850,0,0,0,0,0,0
$STATE,11721,end climb,SURFACE_DEPTH_REACHED
$STATE,11721,begin surface coast
$FINISH,0.4,1.023336
$STATE,11755,end surface coast,CONTROL_FINISHED_OK
$STATE,11755,begin surface
$SM_CCo,11780,123.97,0.471,1,0,1288,420.20
$SM_GC,0.82,0.00,0.00,123.97,0.000,0.000,0.471,477,1764,1288,-11.61,-0.17,420.20
$IRIDIUM_FIX,2246.36,-15754.11,241199,202001
$TT8_MAMPS,0.026078
$HUMID,42.67
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.80
$XPDR_PINGS,43
$24V_AH,23.6,17.868
$10V_AH,10.4,17.229
$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,26.150,111.525,348.250,123.975,0.000,27.232,27.574,151.875,10.750,0.000,18.146,1146.281,7984.971,581.077,2038.166,507.595,33.375,1284.917,0.000,2053.369,0.000,0.536,0.000
$DEVICE_MAMPS,227.799,93.574,920.400,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.801,348.675,448.194,843.780,1276.054,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,44721,589
$CAP_FILE_SIZE,109040,0
$CFSIZE,260165632,176455680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310810,024537,2255.095,-15751.236,30,1.4,30,10.1