version: 66.06
glider: 146
mission: 5
dive: 110
start: 8 31 110 13 44 38
data:
$ID,146
$MISSION,5
$DIVE,110
$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,-249472.97
$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,54
$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
$GPS1,133500,2253.930,-15749.096,34,1.9,40,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-65.7
$GPS2,134343,2253.911,-15749.149,9,1.8,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,-0.046
$KALMAN_X,-103657.3,-336.8,194.7,140727.2,-1050.3
$KALMAN_Y,1821.7,-265.2,290.7,133963.8,-621.4
$MHEAD_RNG_PITCHd_Wd,92.0,15221,-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,-86.25,0.000,6,0.000,0.000,475,1731,3478,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.0,-5.3,11,125,11.48,2.53,0.00,0.000,4,0.137,0.051,2743,219,3481,0,0,0,0,0,0
$GC,137,0.30,-116.8,17.3,-30.1,14,145,1.42,2.40,0.00,0.000,6,0.084,0.017,3062,1789,3481,0,0,0,0,0,0
$GC,436,-0.32,-116.8,44.7,-9.7,50,441,0.55,2.40,0.00,0.000,4,0.069,0.025,2928,3327,3481,0,0,0,0,0,0
$GC,558,-0.81,-116.8,53.4,-5.8,59,564,0.43,2.60,0.00,0.000,6,0.045,0.028,2813,1699,3482,0,0,0,0,0,0
$GC,826,-0.81,-116.8,77.7,-8.9,83,830,0.00,2.50,0.00,0.000,4,0.000,0.064,2812,222,3482,0,0,0,0,0,0
$GC,860,-0.81,-116.8,81.1,-9.9,85,864,0.00,2.15,0.00,0.000,6,0.000,0.015,2813,1697,3482,0,0,0,0,0,0
$GC,1126,-0.85,-116.8,107.0,-9.7,109,1131,0.00,2.55,0.00,0.000,4,0.000,0.028,2812,3320,3483,0,0,0,0,0,0
$GC,1172,-0.96,-116.8,111.8,-9.2,112,1182,0.08,2.62,0.00,0.000,6,0.045,0.031,2772,1709,3482,0,0,0,0,0,0
$GC,1439,-0.96,-116.8,140.4,-10.0,137,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1709,3483,0,0,0,0,0,0
$GC,1700,-0.96,-116.8,165.8,-8.2,162,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1709,3483,0,0,0,0,0,0
$GC,1956,-0.96,-116.8,186.6,-7.8,186,1960,0.00,2.53,0.00,0.000,4,0.000,0.031,2772,3322,3483,0,0,0,0,0,0
$GC,2012,-1.03,-116.8,190.7,-7.6,190,2016,0.00,2.60,0.00,0.000,6,0.000,0.034,2772,1706,3483,0,0,0,0,0,0
$GC,2298,-1.03,-116.8,214.2,-8.3,205,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1704,3483,0,0,0,0,0,0
$GC,2541,-1.03,-116.8,233.4,-7.6,211,2546,0.00,2.53,0.00,0.000,4,0.000,0.025,2772,3318,3483,0,0,0,0,0,0
$GC,2586,-1.09,-116.8,236.6,-6.5,212,2590,0.00,2.55,0.00,0.000,6,0.000,0.038,2772,1723,3483,0,0,0,0,0,0
$GC,2865,-1.09,-116.8,255.3,-6.9,219,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1723,3483,0,0,0,0,0,0
$GC,3107,-1.14,-116.8,275.1,-8.4,225,3112,0.00,2.67,0.00,0.000,4,0.000,0.082,2772,189,3482,0,0,0,0,0,0
$GC,3153,-1.18,-116.8,279.4,-9.8,226,3158,0.12,2.22,0.00,0.000,6,0.074,0.026,2732,1655,3482,0,0,0,0,0,0
$GC,3432,-1.18,-116.8,309.8,-10.9,233,3436,0.00,2.62,0.00,0.000,4,0.000,0.041,2731,3309,3482,0,0,0,0,0,0
$GC,3481,-1.18,-116.8,314.7,-9.0,234,3485,0.00,2.65,0.00,0.000,6,0.000,0.043,2731,1693,3482,0,0,0,0,0,0
$GC,3754,-1.18,-116.8,336.9,-7.8,241,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1692,3481,0,0,0,0,0,0
$GC,3999,-1.18,-116.8,355.8,-7.7,247,4003,0.00,2.58,0.00,0.000,4,0.000,0.034,2731,3306,3480,0,0,0,0,0,0
$GC,4038,-1.18,-116.8,359.1,-8.1,248,4042,0.00,2.70,0.00,0.000,6,0.000,0.050,2732,1692,3479,0,0,0,0,0,0
$GC,4320,-1.18,-116.8,382.7,-8.5,255,4325,0.00,2.72,0.00,0.000,4,0.000,0.102,2731,186,3478,0,0,0,0,0,0
$GC,4348,-1.18,-116.8,385.3,-9.5,255,4352,0.00,2.28,0.00,0.000,6,0.000,0.028,2731,1631,3478,0,0,0,0,0,0
$GC,4598,-1.18,-116.8,407.8,-9.1,261,4602,0.00,2.75,0.00,0.000,4,0.000,0.049,2731,3303,3477,0,0,0,0,0,0
$GC,4637,-1.22,-116.8,411.1,-8.4,262,4642,0.00,2.75,0.00,0.000,6,0.000,0.060,2731,1686,3477,0,0,0,0,0,0
$GC,4921,-1.22,-116.8,434.9,-8.3,269,4926,0.00,2.67,0.00,0.000,4,0.000,0.049,2732,3306,3475,0,0,0,0,0,0
$GC,4977,-1.26,-116.8,439.8,-8.4,270,4981,0.00,2.78,0.00,0.000,6,0.000,0.066,2731,1691,3474,0,0,0,0,0,0
$GC,5244,-1.26,-116.8,462.9,-9.0,277,5249,0.00,2.67,0.00,0.000,4,0.000,0.053,2732,3301,3472,0,0,0,0,0,0
$GC,5312,-1.30,-116.8,469.4,-9.2,278,5317,0.00,2.72,0.00,0.000,6,0.000,0.061,2731,1704,3471,0,0,0,0,0,0
$GC,5567,-1.30,-116.8,492.5,-9.0,285,5571,0.00,2.67,0.00,0.000,4,0.000,0.051,2731,3298,3470,0,0,0,0,0,0
$GC,5593,-1.30,-116.8,495.0,-8.9,285,5598,0.00,2.72,0.00,0.000,6,0.000,0.067,2731,1707,3470,0,0,0,0,0,0
$STATE,5678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5678,begin apogee
$GC,5686,-0.31,0.0,502.2,8.4,287,5785,0.88,0.00,96.05,0.925,6,0.075,0.000,2931,1788,3001,0,0,0,0,0,0
$STATE,5786,end apogee,CONTROL_FINISHED_OK
$STATE,5786,begin climb
$GC,5789,1.15,116.8,504.6,0.0,289,5894,1.33,0.00,101.30,0.897,6,0.048,0.000,3253,1788,2523,0,0,0,0,0,0
$GC,6117,1.01,121.1,487.8,7.8,297,6122,0.15,2.70,0.00,0.000,4,0.122,0.048,3223,3383,2514,0,0,0,0,0,0
$GC,6195,0.98,149.7,481.9,6.7,298,6230,0.00,2.65,27.92,0.863,6,0.000,0.055,3223,1846,2391,0,0,0,0,0,0
$GC,6489,0.95,179.5,462.3,6.6,306,6523,0.00,2.67,26.98,0.860,4,0.000,0.049,3224,3390,2268,0,0,0,0,0,0
$GC,6589,0.96,190.4,455.2,7.5,308,6605,0.00,2.65,10.62,0.780,6,0.000,0.053,3223,1847,2224,0,0,0,0,0,0
$GC,6863,0.93,202.3,434.8,7.5,315,6882,0.00,2.62,11.50,0.795,4,0.000,0.044,3224,3388,2175,0,0,0,0,0,0
$GC,6921,0.93,202.3,429.7,8.8,316,6925,0.00,2.60,0.00,0.000,6,0.000,0.054,3223,1855,2172,0,0,0,0,0,0
$GC,7188,0.90,204.4,408.4,7.9,323,7193,0.15,3.00,0.00,0.000,4,0.192,0.094,3193,228,2170,0,0,0,0,0,0
$GC,7218,0.85,204.4,405.8,8.3,323,7223,0.00,2.58,0.00,0.000,6,0.000,0.027,3193,1846,2169,0,0,0,0,0,0
$GC,7468,0.87,219.3,387.9,7.3,329,7485,0.00,0.00,15.55,0.811,6,0.000,0.000,3193,1846,2106,0,0,0,0,0,0
$GC,7712,0.91,219.3,368.1,8.2,335,7716,0.00,2.83,0.00,0.000,4,0.000,0.077,3193,232,2102,0,0,0,0,0,0
$GC,7747,0.91,219.3,365.1,9.1,335,7752,0.00,2.58,0.00,0.000,6,0.000,0.026,3193,1853,2101,0,0,0,0,0,0
$GC,7997,0.95,219.3,344.1,8.3,342,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1853,2100,0,0,0,0,0,0
$GC,8241,1.01,226.3,325.2,7.7,348,8255,0.12,2.92,6.62,0.674,4,0.084,0.068,3225,226,2077,0,0,0,0,0,0
$GC,8290,0.94,226.3,320.5,10.2,349,8295,0.00,2.55,0.00,0.000,6,0.000,0.025,3225,1841,2076,0,0,0,0,0,0
$GC,8568,0.96,237.9,298.2,7.5,356,8586,0.00,2.53,11.75,0.735,4,0.000,0.032,3225,3395,2030,0,0,0,0,0,0
$GC,8683,1.00,237.9,288.3,8.6,358,8688,0.00,2.55,0.00,0.000,6,0.000,0.035,3225,1831,2029,0,0,0,0,0,0
$GC,8938,1.00,237.9,265.8,9.0,365,8942,0.00,2.78,0.00,0.000,4,0.000,0.075,3225,242,2027,0,0,0,0,0,0
$GC,8987,1.00,237.9,260.8,10.1,366,8991,0.00,2.50,0.00,0.000,6,0.000,0.019,3225,1847,2026,0,0,0,0,0,0
$GC,9261,1.01,247.7,238.8,7.6,373,9272,0.00,0.00,9.50,0.665,6,0.000,0.000,3225,1848,1991,0,0,0,0,0,0
$GC,9503,1.02,251.6,220.1,7.8,379,9514,0.00,2.47,5.22,0.549,4,0.000,0.031,3225,3386,1974,0,0,0,0,0,0
$GC,9553,1.08,251.6,216.1,8.2,380,9557,0.00,2.50,0.00,0.000,6,0.000,0.033,3225,1842,1973,0,0,0,0,0,0
$GC,9810,1.09,260.6,196.9,7.6,388,9825,0.00,2.50,9.65,0.626,4,0.000,0.032,3225,3386,1937,0,0,0,0,0,0
$GC,9853,1.15,268.0,193.6,7.7,391,9867,0.10,2.53,7.88,0.592,6,0.089,0.031,3255,1840,1908,0,0,0,0,0,0
$GC,10129,1.15,268.0,167.5,9.9,417,10133,0.00,2.47,0.00,0.000,4,0.000,0.034,3255,3387,1907,0,0,0,0,0,0
$GC,10149,1.15,268.0,165.8,9.8,418,10153,0.00,2.53,0.00,0.000,6,0.000,0.033,3255,1835,1906,0,0,0,0,0,0
$GC,10412,1.15,268.0,139.1,9.9,442,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1835,1906,0,0,0,0,0,0
$GC,10664,1.15,268.0,114.7,8.6,466,10668,0.00,2.47,0.00,0.000,4,0.000,0.034,3255,3390,1906,0,0,0,0,0,0
$GC,10745,1.21,268.0,107.6,9.2,472,10754,0.00,2.53,0.00,0.000,6,0.000,0.038,3255,1851,1906,0,0,0,0,0,0
$GC,11011,1.24,290.6,88.1,7.0,497,11038,0.00,2.85,20.02,0.572,4,0.000,0.061,3255,243,1819,0,0,0,0,0,0
$GC,11050,1.26,312.3,84.9,7.0,500,11083,0.00,2.53,20.98,0.562,6,0.000,0.021,3255,1855,1726,0,0,0,0,0,0
$GC,11337,1.33,312.3,62.7,8.2,527,11346,0.15,0.00,0.00,0.000,6,0.081,0.000,3297,1855,1723,0,0,0,0,0,0
$GC,11604,1.33,312.3,37.5,9.6,552,11608,0.00,2.72,0.00,0.000,4,0.000,0.060,3297,243,1723,0,0,0,0,0,0
$GC,11636,1.25,312.3,34.1,9.5,554,11642,0.12,2.47,0.00,0.000,6,0.117,0.018,3271,1848,1722,0,0,0,0,0,0
$STATE,11953,end climb,SURFACE_DEPTH_REACHED
$STATE,11953,begin surface coast
$FINISH,0.4,1.023386
$STATE,12010,end surface coast,CONTROL_FINISHED_OK
$STATE,12010,begin surface
$SM_CCo,12031,99.55,0.460,1,0,1288,420.20
$SM_GC,0.91,0.00,0.00,99.55,0.000,0.000,0.460,480,1757,1288,-11.60,-0.37,420.20
$IRIDIUM_FIX,2244.02,-15748.90,251199,101026
$TT8_MAMPS,0.026078
$HUMID,42.28
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.70
$XPDR_PINGS,55
$24V_AH,23.6,18.410
$10V_AH,10.4,17.773
$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,28.375,145.650,381.550,99.550,0.000,28.186,31.369,325.207,13.750,0.000,15.631,1233.478,7833.760,582.889,2315.152,695.043,33.362,1404.299,0.000,2317.317,0.000,0.536,0.000
$DEVICE_MAMPS,191.750,102.011,925.002,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,410.480,378.882,468.325,913.095,1381.323,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,47885,606
$CAP_FILE_SIZE,127294,0
$CFSIZE,260165632,176185344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310810,170806,2253.364,-15748.369,28,1.5,28,10.1