version: 66.06
glider: 146
mission: 5
dive: 107
start: 8 31 110 3 3 57
data:
$ID,146
$MISSION,5
$DIVE,107
$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,-249422.05
$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,25
$R_STBD_OVSHOOT,61
$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
$GPS1,024537,2255.095,-15751.236,30,1.4,30,10.1
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-69.0
$GPS2,030302,2255.029,-15751.437,11,1.4,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.205,0.074
$KALMAN_X,-100957.6,452.2,284.1,133213.3,-2068.3
$KALMAN_Y,2250.6,234.1,125.7,135264.2,-1264.7
$MHEAD_RNG_PITCHd_Wd,59.9,19600,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.93,0.000,2,0.000,0.000,476,1764,3295,0,0,0,0,0,0
$GC,100,-1.15,-116.8,3.6,-4.8,10,126,11.48,2.50,-3.45,0.000,4,0.138,0.034,2743,3340,3481,0,0,0,0,0,0
$GC,178,-1.04,-116.8,22.5,-14.8,20,188,0.10,2.58,0.00,0.000,6,0.081,0.031,2769,1765,3481,0,0,0,0,0,0
$GC,456,-0.93,-116.8,60.9,-13.8,48,461,0.12,2.72,0.00,0.000,4,0.112,0.067,2796,194,3482,0,0,0,0,0,0
$GC,479,-0.82,-116.8,63.9,-13.2,49,484,0.10,2.38,0.00,0.000,6,0.117,0.015,2819,1801,3481,0,0,0,0,0,0
$GC,746,-0.87,-116.8,89.7,-8.6,73,750,0.00,2.75,0.00,0.000,4,0.000,0.065,2819,196,3482,0,0,0,0,0,0
$GC,779,-0.91,-116.8,92.6,-8.6,75,783,0.00,2.30,0.00,0.000,6,0.000,0.015,2819,1748,3482,0,0,0,0,0,0
$GC,1047,-0.97,-116.8,113.1,-8.3,99,1052,0.12,0.00,0.00,0.000,6,0.072,0.000,2777,1749,3482,0,0,0,0,0,0
$GC,1311,-0.97,-116.8,140.2,-9.7,124,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1749,3482,0,0,0,0,0,0
$GC,1566,-0.97,-116.8,163.2,-9.5,148,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1749,3483,0,0,0,0,0,0
$GC,1827,-0.97,-116.8,187.4,-9.2,173,1831,0.00,2.42,0.00,0.000,4,0.000,0.025,2777,3314,3482,0,0,0,0,0,0
$GC,1862,-1.02,-116.8,190.1,-9.5,175,1866,0.00,2.47,0.00,0.000,6,0.000,0.035,2777,1751,3483,0,0,0,0,0,0
$GC,2136,-1.02,-116.8,215.7,-9.2,189,2141,0.00,2.67,0.00,0.000,4,0.000,0.068,2777,193,3482,0,0,0,0,0,0
$GC,2168,-1.02,-116.8,218.8,-9.4,189,2174,0.00,2.30,0.00,0.000,6,0.000,0.016,2777,1742,3482,0,0,0,0,0,0
$GC,2420,-1.02,-116.8,238.7,-7.7,196,2424,0.00,2.47,0.00,0.000,4,0.000,0.033,2776,3325,3482,0,0,0,0,0,0
$GC,2448,-1.07,-116.8,240.9,-6.9,196,2452,0.00,2.53,0.00,0.000,6,0.000,0.030,2777,1753,3481,0,0,0,0,0,0
$GC,2698,-1.12,-116.8,260.7,-8.3,202,2702,0.00,2.45,0.00,0.000,4,0.000,0.031,2777,3321,3481,0,0,0,0,0,0
$GC,2720,-1.17,-116.8,262.9,-9.2,202,2725,0.15,2.50,0.00,0.000,6,0.061,0.038,2722,1757,3481,0,0,0,0,0,0
$GC,2976,-1.11,-116.8,291.5,-11.4,209,2978,0.17,0.00,0.00,0.000,6,0.096,0.000,2760,1757,3480,0,0,0,0,0,0
$GC,3220,-1.15,-116.8,312.2,-8.2,215,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1757,3480,0,0,0,0,0,0
$GC,3465,-1.19,-116.8,329.9,-7.1,221,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1754,3480,0,0,0,0,0,0
$GC,3707,-1.23,-116.8,349.0,-7.9,227,3713,0.12,2.83,0.00,0.000,4,0.074,0.096,2718,195,3478,0,0,0,0,0,0
$GC,3729,-1.23,-116.8,351.3,-9.8,227,3733,0.00,2.42,0.00,0.000,6,0.000,0.025,2718,1734,3478,0,0,0,0,0,0
$GC,3986,-1.23,-116.8,377.6,-10.3,234,3990,0.00,2.67,0.00,0.000,4,0.000,0.054,2718,3360,3477,0,0,0,0,0,0
$GC,4035,-1.23,-116.8,382.9,-10.0,235,4039,0.00,2.65,0.00,0.000,6,0.000,0.054,2718,1780,3477,0,0,0,0,0,0
$GC,4307,-1.23,-116.8,409.9,-9.9,242,4312,0.00,2.55,0.00,0.000,4,0.000,0.045,2718,3350,3475,0,0,0,0,0,0
$GC,4330,-1.23,-116.8,412.1,-9.4,242,4335,0.00,2.67,0.00,0.000,6,0.000,0.056,2718,1767,3476,0,0,0,0,0,0
$GC,4585,-1.23,-116.8,433.8,-8.3,249,4589,0.00,2.60,0.00,0.000,4,0.000,0.051,2718,3350,3474,0,0,0,0,0,0
$GC,4611,-1.23,-116.8,436.2,-8.9,249,4616,0.00,2.67,0.00,0.000,6,0.000,0.058,2718,1780,3474,0,0,0,0,0,0
$GC,4863,-1.23,-116.8,456.7,-8.2,255,4867,0.00,2.58,0.00,0.000,4,0.000,0.049,2718,3349,3472,0,0,0,0,0,0
$GC,4895,-1.23,-116.8,459.7,-8.8,255,4901,0.00,2.65,0.00,0.000,6,0.000,0.058,2718,1789,3471,0,0,0,0,0,0
$GC,5145,-1.23,-116.8,480.5,-8.5,262,5150,0.00,3.03,0.00,0.000,4,0.000,0.117,2718,182,3469,0,0,0,0,0,0
$GC,5166,-1.23,-116.8,482.6,-9.4,262,5171,0.00,2.60,0.00,0.000,6,0.000,0.040,2718,1786,3469,0,0,0,0,0,0
$STATE,5379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5379,begin apogee
$GC,5386,-0.31,0.0,501.9,8.9,268,5485,0.95,0.00,95.55,0.917,6,0.082,0.000,2930,1827,3001,0,0,0,0,0,0
$STATE,5486,end apogee,CONTROL_FINISHED_OK
$STATE,5486,begin climb
$GC,5489,1.15,116.8,504.7,0.0,270,5602,1.33,3.05,99.95,0.894,4,0.058,0.095,3251,229,2522,0,0,0,0,0,0
$GC,5619,1.00,170.8,503.3,5.5,273,5674,0.15,2.62,46.72,0.871,6,0.121,0.033,3221,1813,2304,0,0,0,0,0,0
$GC,5943,0.95,172.6,478.6,7.9,281,5947,0.00,2.75,0.00,0.000,4,0.000,0.067,3221,3407,2295,0,0,0,0,0,0
$GC,6003,0.95,172.6,473.6,8.1,282,6008,0.00,2.72,0.00,0.000,6,0.000,0.055,3220,1812,2292,0,0,0,0,0,0
$GC,6271,0.90,176.7,452.4,7.8,289,6278,0.12,0.00,4.35,0.590,6,0.141,0.000,3197,1812,2280,0,0,0,0,0,0
$GC,6515,0.94,205.0,435.9,6.7,295,6548,0.00,2.70,26.15,0.859,4,0.000,0.041,3197,3419,2165,0,0,0,0,0,0
$GC,6589,0.99,205.0,430.4,8.6,296,6593,0.00,2.72,0.00,0.000,6,0.000,0.054,3197,1825,2162,0,0,0,0,0,0
$GC,6839,1.02,234.6,413.3,6.6,302,6868,0.10,0.00,27.10,0.848,6,0.100,0.000,3224,1825,2043,0,0,0,0,0,0
$GC,7084,1.03,242.1,394.6,7.7,308,7098,0.00,2.65,7.47,0.723,4,0.000,0.037,3224,3409,2013,0,0,0,0,0,0
$GC,7116,1.03,242.1,391.9,8.3,308,7120,0.00,2.65,0.00,0.000,6,0.000,0.044,3224,1827,2012,0,0,0,0,0,0
$GC,7366,1.03,242.1,371.6,8.2,314,7370,0.00,2.83,0.00,0.000,4,0.000,0.088,3223,236,2009,0,0,0,0,0,0
$GC,7383,0.99,242.1,370.1,8.1,314,7387,0.00,2.53,0.00,0.000,6,0.000,0.024,3224,1851,2008,0,0,0,0,0,0
$GC,7643,0.99,242.1,348.2,8.5,321,7647,0.00,2.47,0.00,0.000,4,0.000,0.038,3223,3394,2007,0,0,0,0,0,0
$GC,7704,1.03,242.1,342.3,10.1,322,7709,0.00,2.60,0.00,0.000,6,0.000,0.039,3224,1828,2006,0,0,0,0,0,0
$GC,7966,1.03,242.1,319.0,8.8,329,7970,0.00,2.80,0.00,0.000,4,0.000,0.081,3223,237,2006,0,0,0,0,0,0
$GC,7987,0.99,242.1,316.7,9.7,329,7991,0.00,2.53,0.00,0.000,6,0.000,0.024,3224,1855,2005,0,0,0,0,0,0
$GC,8242,0.99,242.1,295.9,8.1,336,8246,0.00,2.80,0.00,0.000,4,0.000,0.071,3224,238,2004,0,0,0,0,0,0
$GC,8264,0.99,242.1,294.1,8.9,336,8268,0.00,2.50,0.00,0.000,6,0.000,0.021,3224,1837,2003,0,0,0,0,0,0
$GC,8519,0.99,244.1,273.8,7.9,343,8523,0.00,2.47,0.00,0.000,4,0.000,0.037,3224,3396,2003,0,0,0,0,0,0
$GC,8574,1.05,244.1,268.9,8.9,344,8578,0.00,2.53,0.00,0.000,6,0.000,0.035,3223,1844,2003,0,0,0,0,0,0
$GC,8841,1.05,244.1,246.0,8.9,351,8845,0.00,2.45,0.00,0.000,4,0.000,0.035,3224,3393,2003,0,0,0,0,0,0
$GC,8880,1.10,244.1,242.2,9.4,352,8885,0.00,2.47,0.00,0.000,6,0.000,0.035,3224,1854,2002,0,0,0,0,0,0
$GC,9165,1.10,244.1,215.8,9.2,359,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1853,2003,0,0,0,0,0,0
$GC,9411,1.12,256.4,195.4,7.4,368,9436,0.00,2.83,12.32,0.642,4,0.000,0.069,3224,248,1954,0,0,0,0,0,0
$GC,9442,1.13,263.5,192.9,7.7,370,9458,0.00,2.53,8.07,0.590,6,0.000,0.021,3224,1863,1925,0,0,0,0,0,0
$GC,9713,1.17,263.5,171.2,8.7,396,9718,0.12,2.45,0.00,0.000,4,0.079,0.030,3261,3395,1923,0,0,0,0,0,0
$GC,9734,1.17,263.5,169.7,8.8,397,9738,0.00,2.53,0.00,0.000,6,0.000,0.037,3261,1845,1922,0,0,0,0,0,0
$GC,10001,1.17,263.5,142.4,10.7,421,10006,0.00,2.72,0.00,0.000,4,0.000,0.065,3260,242,1922,0,0,0,0,0,0
$GC,10035,1.10,263.5,137.8,11.8,423,10041,0.00,2.47,0.00,0.000,6,0.000,0.024,3261,1841,1922,0,0,0,0,0,0
$GC,10297,1.10,263.5,113.6,9.5,448,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,1843,1922,0,0,0,0,0,0
$GC,10552,1.11,272.7,91.0,7.6,472,10567,0.00,2.45,9.18,0.532,4,0.000,0.035,3261,3389,1888,0,0,0,0,0,0
$GC,10620,1.19,273.7,85.6,8.0,477,10626,0.00,2.50,0.00,0.000,6,0.000,0.035,3261,1856,1888,0,0,0,0,0,0
$GC,10888,1.27,301.3,68.1,6.7,502,10917,0.00,0.00,26.08,0.558,6,0.000,0.000,3261,1856,1771,0,0,0,0,0,0
$GC,11177,1.32,303.9,46.1,7.9,529,11186,0.10,0.00,0.00,0.000,6,0.087,0.000,3292,1856,1769,0,0,0,0,0,0
$GC,11474,1.32,303.9,14.2,10.5,564,11483,0.00,2.45,0.00,0.000,4,0.000,0.028,3292,3383,1769,0,0,0,0,0,0
$GC,11493,1.32,303.9,11.9,11.0,566,11502,0.00,2.50,0.00,0.000,6,0.000,0.035,3292,1864,1768,0,0,0,0,0,0
$STATE,11558,end climb,SURFACE_DEPTH_REACHED
$STATE,11558,begin surface coast
$FINISH,0.4,1.010406
$STATE,11607,end surface coast,CONTROL_FINISHED_OK
$STATE,11610,begin surface
$SM_CCo,11631,102.07,0.461,1,0,1287,420.20
$SM_GC,0.95,0.00,0.00,102.07,0.000,0.000,0.461,477,1745,1287,-11.61,-0.71,420.20
$IRIDIUM_FIX,2246.36,-15753.23,251199,030305
$TT8_MAMPS,0.025311
$HUMID,42.40
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.70
$XPDR_PINGS,60
$24V_AH,23.6,18.007
$10V_AH,10.4,17.362
$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,26.625,145.450,362.950,102.075,0.000,104.768,218.609,396.300,15.000,0.000,13.427,1157.333,7924.042,560.282,2100.803,1042.308,33.378,1339.053,0.000,2113.619,0.000,0.536,0.000
$DEVICE_MAMPS,141.128,169.507,916.565,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.307,352.989,449.073,842.955,1276.086,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,44784,582
$CAP_FILE_SIZE,126342,0
$CFSIZE,260165632,176377856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310810,062107,2255.130,-15750.628,49,1.0,49,10.1