version: 66.06
glider: 146
mission: 5
dive: 109
start: 8 31 110 10 19 22
data:
$ID,146
$MISSION,5
$DIVE,109
$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,-249456.72
$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,43
$R_STBD_OVSHOOT,55
$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
$GPS1,100407,2254.703,-15749.939,22,1.6,22,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-66.0
$GPS2,101828,2254.712,-15750.072,15,1.8,17,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.103
$KALMAN_X,-102761.3,-102.5,-121.2,138324.6,-929.6
$KALMAN_Y,2187.5,-271.9,128.7,135246.3,158.6
$MHEAD_RNG_PITCHd_Wd,107.9,17373,-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,17,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-85.12,0.000,2,0.000,0.000,473,1744,3455,0,0,0,0,0,0
$GC,107,-1.15,-116.8,3.9,-4.9,11,125,11.68,2.60,-0.35,0.000,4,0.145,0.065,2742,203,3476,0,0,0,0,0,0
$GC,222,-1.00,-116.8,34.9,-18.0,25,227,0.17,2.42,0.00,0.000,6,0.104,0.015,2779,1795,3477,0,0,0,0,0,0
$GC,489,-0.94,-116.8,70.5,-12.1,49,493,0.00,2.70,0.00,0.000,4,0.000,0.062,2779,211,3478,0,0,0,0,0,0
$GC,512,-0.87,-116.8,73.6,-12.8,50,517,0.15,2.35,0.00,0.000,6,0.104,0.015,2812,1778,3477,0,0,0,0,0,0
$GC,774,-0.91,-116.8,100.2,-8.2,74,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1780,3478,0,0,0,0,0,0
$GC,1029,-0.97,-116.8,122.2,-8.7,98,1034,0.10,2.70,0.00,0.000,4,0.084,0.063,2776,208,3478,0,0,0,0,0,0
$GC,1058,-0.97,-116.8,125.4,-10.5,100,1062,0.00,2.33,0.00,0.000,6,0.000,0.015,2776,1763,3478,0,0,0,0,0,0
$GC,1331,-0.97,-116.8,150.7,-9.2,125,1335,0.00,2.65,0.00,0.000,4,0.000,0.063,2776,211,3478,0,0,0,0,0,0
$GC,1353,-0.97,-116.8,153.5,-9.7,126,1363,0.00,2.33,0.00,0.000,6,0.000,0.023,2776,1749,3479,0,0,0,0,0,0
$GC,1620,-0.97,-116.8,176.6,-8.7,151,1624,0.00,2.45,0.00,0.000,4,0.000,0.031,2776,3314,3479,0,0,0,0,0,0
$GC,1664,-1.04,-116.8,180.5,-9.2,154,1669,0.00,2.47,0.00,0.000,6,0.000,0.031,2776,1753,3478,0,0,0,0,0,0
$GC,1923,-1.04,-116.8,204.2,-8.7,175,1928,0.00,2.67,0.00,0.000,4,0.000,0.073,2776,190,3478,0,0,0,0,0,0
$GC,1951,-1.04,-116.8,206.7,-9.0,175,1955,0.00,2.33,0.00,0.000,6,0.000,0.020,2776,1741,3478,0,0,0,0,0,0
$GC,2201,-1.04,-116.8,225.6,-7.4,181,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1742,3479,0,0,0,0,0,0
$GC,2445,-1.04,-116.8,243.3,-7.4,187,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1742,3478,0,0,0,0,0,0
$GC,2689,-1.07,-116.8,262.3,-7.8,193,2693,0.00,2.47,0.00,0.000,4,0.000,0.028,2776,3321,3477,0,0,0,0,0,0
$GC,2734,-1.16,-116.8,266.1,-8.7,194,2739,0.12,2.58,0.00,0.000,6,0.069,0.039,2732,1733,3477,0,0,0,0,0,0
$GC,3012,-1.16,-116.8,294.4,-10.3,201,3016,0.00,2.47,0.00,0.000,4,0.000,0.030,2732,3310,3477,0,0,0,0,0,0
$GC,3057,-1.16,-116.8,298.9,-10.1,202,3061,0.00,2.53,0.00,0.000,6,0.000,0.033,2732,1749,3477,0,0,0,0,0,0
$GC,3334,-1.16,-116.8,326.2,-10.1,209,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1749,3476,0,0,0,0,0,0
$GC,3577,-1.16,-116.8,350.2,-9.8,215,3582,0.00,2.80,0.00,0.000,4,0.000,0.097,2731,186,3475,0,0,0,0,0,0
$GC,3598,-1.16,-116.8,352.4,-10.0,215,3602,0.00,2.35,0.00,0.000,6,0.000,0.030,2732,1696,3475,0,0,0,0,0,0
$GC,3861,-1.16,-116.8,375.7,-8.6,222,3865,0.00,2.65,0.00,0.000,4,0.000,0.052,2732,3307,3474,0,0,0,0,0,0
$GC,3933,-1.16,-116.8,381.3,-7.1,223,3937,0.00,2.58,0.00,0.000,6,0.000,0.048,2731,1756,3474,0,0,0,0,0,0
$GC,4182,-1.16,-116.8,401.1,-8.2,229,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1756,3472,0,0,0,0,0,0
$GC,4428,-1.16,-116.8,422.3,-8.9,235,4432,0.00,2.88,0.00,0.000,4,0.000,0.104,2732,185,3471,0,0,0,0,0,0
$GC,4449,-1.16,-116.8,424.4,-8.9,235,4453,0.00,2.40,0.00,0.000,6,0.000,0.029,2731,1700,3471,0,0,0,0,0,0
$GC,4709,-1.16,-116.8,447.2,-8.7,242,4714,0.00,2.67,0.00,0.000,4,0.000,0.059,2731,3297,3469,0,0,0,0,0,0
$GC,4771,-1.20,-116.8,452.4,-8.3,243,4776,0.00,2.60,0.00,0.000,6,0.000,0.058,2732,1752,3469,0,0,0,0,0,0
$GC,5033,-1.20,-116.8,472.2,-7.4,250,5037,0.00,2.55,0.00,0.000,4,0.000,0.048,2732,3299,3467,0,0,0,0,0,0
$GC,5088,-1.25,-116.8,476.1,-7.1,251,5092,0.00,2.60,0.00,0.000,6,0.000,0.058,2732,1771,3467,0,0,0,0,0,0
$GC,5356,-1.25,-116.8,493.2,-6.4,258,5360,0.00,2.55,0.00,0.000,4,0.000,0.052,2731,3295,3464,0,0,0,0,0,0
$GC,5383,-1.29,-116.8,495.1,-7.2,258,5388,0.00,2.60,0.00,0.000,6,0.000,0.066,2732,1782,3464,0,0,0,0,0,0
$STATE,5468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5468,begin apogee
$GC,5474,-0.31,0.0,501.0,6.8,260,5572,0.88,0.00,94.80,0.920,6,0.078,0.000,2929,1781,3001,0,0,0,0,0,0
$STATE,5573,end apogee,CONTROL_FINISHED_OK
$STATE,5573,begin climb
$GC,5576,1.15,116.8,502.7,0.0,262,5688,1.33,2.78,100.12,0.899,4,0.054,0.058,3252,3350,2522,0,0,0,0,0,0
$GC,5694,1.10,191.4,502.4,4.6,264,5765,0.00,2.67,64.40,0.883,6,0.000,0.057,3252,1816,2220,0,0,0,0,0,0
$GC,6021,0.99,191.4,474.0,9.1,273,6026,0.17,2.58,0.00,0.000,4,0.113,0.050,3216,3358,2210,0,0,0,0,0,0
$GC,6083,0.99,191.4,468.9,8.1,274,6087,0.00,2.65,0.00,0.000,6,0.000,0.061,3217,1827,2209,0,0,0,0,0,0
$GC,6343,0.99,193.9,448.7,7.9,281,6347,0.00,2.53,0.00,0.000,4,0.000,0.041,3217,3354,2207,0,0,0,0,0,0
$GC,6398,0.99,193.9,443.9,9.2,282,6403,0.00,2.58,0.00,0.000,6,0.000,0.053,3216,1849,2205,0,0,0,0,0,0
$GC,6667,0.99,193.9,421.1,8.7,289,6671,0.00,2.47,0.00,0.000,4,0.000,0.038,3216,3361,2204,0,0,0,0,0,0
$GC,6710,0.99,193.9,416.9,9.5,290,6714,0.00,2.50,0.00,0.000,6,0.000,0.048,3216,1863,2203,0,0,0,0,0,0
$GC,6988,0.99,193.9,392.9,8.6,297,6993,0.00,2.95,0.00,0.000,4,0.000,0.091,3216,233,2203,0,0,0,0,0,0
$GC,7009,0.92,193.9,390.9,8.9,297,7014,0.00,2.50,0.00,0.000,6,0.000,0.027,3217,1812,2201,0,0,0,0,0,0
$GC,7266,0.93,201.0,370.9,7.7,304,7274,0.00,0.00,6.32,0.695,6,0.000,0.000,3216,1813,2181,0,0,0,0,0,0
$GC,7508,0.98,236.9,354.9,6.4,310,7547,0.00,0.00,33.42,0.828,6,0.000,0.000,3216,1813,2034,0,0,0,0,0,0
$GC,7793,0.99,244.1,334.2,7.7,317,7807,0.00,2.65,7.20,0.693,4,0.000,0.034,3216,3400,2005,0,0,0,0,0,0
$GC,7825,0.99,244.1,331.5,8.2,317,7830,0.00,2.60,0.00,0.000,6,0.000,0.036,3217,1833,2004,0,0,0,0,0,0
$GC,8075,0.99,244.1,309.2,9.0,323,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1833,2002,0,0,0,0,0,0
$GC,8319,0.99,244.1,285.6,9.5,329,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1833,2001,0,0,0,0,0,0
$GC,8564,0.99,245.6,265.7,7.9,335,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1833,2000,0,0,0,0,0,0
$GC,8807,1.05,265.7,248.2,7.1,341,8832,0.00,2.58,19.73,0.723,4,0.000,0.030,3216,3400,1917,0,0,0,0,0,0
$GC,8854,1.11,269.7,244.4,7.8,342,8865,0.10,2.55,5.05,0.547,6,0.091,0.039,3244,1848,1901,0,0,0,0,0,0
$GC,9128,1.11,269.7,216.2,10.7,349,9129,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1848,1899,0,0,0,0,0,0
$GC,9378,1.11,269.7,192.4,8.6,361,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1848,1898,0,0,0,0,0,0
$GC,9640,1.14,291.6,173.3,7.0,386,9665,0.00,2.55,19.98,0.648,4,0.000,0.028,3243,3408,1811,0,0,0,0,0,0
$GC,9712,1.19,291.6,167.5,8.6,392,9717,0.00,2.55,0.00,0.000,6,0.000,0.033,3244,1850,1809,0,0,0,0,0,0
$GC,9976,1.19,291.6,142.0,10.6,416,9981,0.00,2.75,0.00,0.000,4,0.000,0.063,3244,237,1808,0,0,0,0,0,0
$GC,9999,1.19,291.6,138.9,11.8,417,10005,0.00,2.55,0.00,0.000,6,0.000,0.023,3244,1883,1807,0,0,0,0,0,0
$GC,10262,1.19,291.6,111.5,9.3,442,10266,0.00,2.80,0.00,0.000,4,0.000,0.066,3244,240,1807,0,0,0,0,0,0
$GC,10315,1.19,291.6,106.3,10.1,446,10319,0.00,2.50,0.00,0.000,6,0.000,0.025,3244,1869,1807,0,0,0,0,0,0
$GC,10578,1.26,307.7,85.9,7.3,470,10602,0.12,2.47,15.02,0.559,4,0.076,0.034,3280,3387,1745,0,0,0,0,0,0
$GC,10651,1.26,307.7,79.8,9.1,476,10656,0.00,2.50,0.00,0.000,6,0.000,0.034,3281,1848,1745,0,0,0,0,0,0
$GC,10917,1.26,307.7,58.0,8.7,500,10922,0.00,2.72,0.00,0.000,4,0.000,0.061,3280,242,1743,0,0,0,0,0,0
$GC,10964,1.26,307.7,53.4,10.6,503,10969,0.00,2.47,0.00,0.000,6,0.000,0.018,3280,1853,1742,0,0,0,0,0,0
$GC,11240,1.26,307.7,25.3,10.0,530,11248,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1855,1742,0,0,0,0,0,0
$STATE,11476,end climb,SURFACE_DEPTH_REACHED
$STATE,11476,begin surface coast
$FINISH,0.2,1.009068
$STATE,11533,end surface coast,CONTROL_FINISHED_OK
$STATE,11533,begin surface
$SM_CCo,11554,97.70,0.461,1,0,1288,420.20
$SM_GC,1.03,0.00,0.00,97.70,0.000,0.000,0.461,475,1732,1288,-11.62,-1.07,420.20
$IRIDIUM_FIX,2248.70,-15751.06,251199,101057
$TT8_MAMPS,0.026078
$HUMID,42.55
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.60
$XPDR_PINGS,50
$24V_AH,23.6,18.284
$10V_AH,10.4,17.635
$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,26.075,133.875,366.050,97.700,0.000,59.676,61.653,531.023,12.500,0.000,19.214,1141.363,7774.367,544.933,2094.517,961.583,33.369,1300.945,0.000,2095.144,0.000,0.536,0.000
$DEVICE_MAMPS,144.963,104.312,920.400,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.618,338.062,438.798,811.696,1226.753,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,44726,572
$CAP_FILE_SIZE,122603,0
$CFSIZE,260165632,176263168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310810,133500,2253.930,-15749.096,34,1.9,40,10.1