version: 66.06
glider: 146
mission: 5
dive: 111
start: 8 31 110 17 17 46
data:
$ID,146
$MISSION,5
$DIVE,111
$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,-249505.69
$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,35
$R_STBD_OVSHOOT,56
$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
$GPS1,170806,2253.364,-15748.369,28,1.5,28,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-67.8
$GPS2,171652,2253.336,-15748.428,10,2.6,29,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.196,-0.095
$KALMAN_X,-104878.2,-335.6,1.8,143385.2,-1057.6
$KALMAN_Y,1686.2,-50.5,-289.5,133395.3,181.8
$MHEAD_RNG_PITCHd_Wd,105.8,13597,-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,12,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-86.15,0.000,3,0.000,0.000,479,1757,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.0,-5.1,11,123,11.50,2.60,0.00,0.000,4,0.140,0.052,2742,197,3481,0,0,0,0,0,0
$GC,246,-0.99,-116.8,36.7,-15.6,28,251,0.20,2.42,0.00,0.000,6,0.103,0.015,2784,1795,3482,0,0,0,0,0,0
$GC,512,-0.94,-116.8,71.4,-11.3,52,517,0.00,2.70,0.00,0.000,4,0.000,0.058,2784,203,3482,0,0,0,0,0,0
$GC,546,-0.89,-116.8,75.3,-11.5,54,551,0.10,2.33,0.00,0.000,6,0.125,0.016,2805,1760,3482,0,0,0,0,0,0
$GC,811,-0.89,-116.8,102.1,-9.5,78,815,0.00,2.42,0.00,0.000,4,0.000,0.026,2805,3315,3482,0,0,0,0,0,0
$GC,831,-0.94,-116.8,104.0,-9.1,79,836,0.00,2.47,0.00,0.000,6,0.000,0.030,2805,1758,3482,0,0,0,0,0,0
$GC,1100,-0.99,-116.8,126.0,-7.5,103,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1759,3483,0,0,0,0,0,0
$GC,1363,-1.05,-116.8,144.9,-6.9,128,1365,0.15,0.00,0.00,0.000,6,0.065,0.000,2754,1758,3483,0,0,0,0,0,0
$GC,1619,-1.01,-116.8,167.9,-9.9,152,1626,0.10,0.00,0.00,0.000,6,0.117,0.000,2778,1756,3483,0,0,0,0,0,0
$GC,1880,-1.01,-116.8,192.5,-9.3,177,1884,0.00,2.45,0.00,0.000,4,0.000,0.025,2778,3314,3483,0,0,0,0,0,0
$GC,1915,-1.07,-116.8,195.9,-9.6,179,1921,0.00,2.47,0.00,0.000,6,0.000,0.028,2778,1766,3483,0,0,0,0,0,0
$GC,2166,-1.07,-116.8,217.3,-8.3,189,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1765,3483,0,0,0,0,0,0
$GC,2411,-1.11,-116.8,236.6,-7.9,195,2415,0.00,2.45,0.00,0.000,4,0.000,0.033,2778,3314,3482,0,0,0,0,0,0
$GC,2434,-1.16,-116.8,238.4,-7.9,195,2439,0.15,2.47,0.00,0.000,6,0.064,0.036,2725,1765,3482,0,0,0,0,0,0
$GC,2689,-1.10,-116.8,264.6,-10.4,202,2695,0.15,2.75,0.00,0.000,4,0.098,0.077,2759,188,3482,0,0,0,0,0,0
$GC,2733,-1.10,-116.8,268.8,-8.7,203,2738,0.00,2.40,0.00,0.000,6,0.000,0.020,2759,1752,3482,0,0,0,0,0,0
$GC,3019,-1.10,-116.8,292.4,-8.4,210,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1753,3482,0,0,0,0,0,0
$GC,3261,-1.10,-116.8,312.3,-8.3,216,3265,0.00,2.72,0.00,0.000,4,0.000,0.077,2759,189,3482,0,0,0,0,0,0
$GC,3276,-1.10,-116.8,313.6,-7.8,216,3281,0.00,2.42,0.00,0.000,6,0.000,0.023,2759,1749,3481,0,0,0,0,0,0
$GC,3539,-1.14,-116.8,332.5,-7.1,223,3543,0.00,2.58,0.00,0.000,4,0.000,0.044,2759,3346,3481,0,0,0,0,0,0
$GC,3583,-1.22,-116.8,335.7,-6.7,224,3588,0.10,2.60,0.00,0.000,6,0.082,0.047,2717,1763,3481,0,0,0,0,0,0
$GC,3863,-1.18,-116.8,359.0,-8.8,231,3868,0.12,2.85,0.00,0.000,4,0.105,0.098,2743,186,3479,0,0,0,0,0,0
$GC,3947,-1.18,-116.8,366.9,-8.6,233,3952,0.00,2.45,0.00,0.000,6,0.000,0.028,2743,1749,3479,0,0,0,0,0,0
$GC,4231,-1.18,-116.8,390.4,-8.4,240,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1749,3477,0,0,0,0,0,0
$GC,4476,-1.18,-116.8,410.5,-8.2,246,4480,0.00,2.80,0.00,0.000,4,0.000,0.091,2743,182,3477,0,0,0,0,0,0
$GC,4491,-1.18,-116.8,412.1,-8.5,246,4496,0.00,2.47,0.00,0.000,6,0.000,0.035,2743,1743,3477,0,0,0,0,0,0
$GC,4753,-1.22,-116.8,433.7,-8.1,253,4757,0.00,2.70,0.00,0.000,4,0.000,0.063,2743,3360,3474,0,0,0,0,0,0
$GC,4793,-1.28,-116.8,436.9,-8.2,254,4798,0.00,2.70,0.00,0.000,6,0.000,0.056,2743,1758,3474,0,0,0,0,0,0
$GC,5077,-1.32,-116.8,458.1,-7.2,261,5082,0.12,2.67,0.00,0.000,4,0.081,0.052,2705,3365,3473,0,0,0,0,0,0
$GC,5117,-1.32,-116.8,461.3,-8.0,262,5121,0.00,2.72,0.00,0.000,6,0.000,0.061,2705,1770,3472,0,0,0,0,0,0
$GC,5401,-1.32,-116.8,483.9,-7.9,269,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1770,3470,0,0,0,0,0,0
$STATE,5641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5641,begin apogee
$GC,5647,-0.31,0.0,503.0,7.9,275,5747,1.00,0.00,96.07,0.927,6,0.077,0.000,2932,1847,3001,0,0,0,0,0,0
$STATE,5748,end apogee,CONTROL_FINISHED_OK
$STATE,5748,begin climb
$GC,5751,1.15,116.8,504.8,0.0,277,5857,1.35,0.00,101.55,0.899,6,0.053,0.000,3255,1847,2523,0,0,0,0,0,0
$GC,6088,1.04,142.2,488.9,6.8,286,6117,0.15,2.70,21.73,0.854,4,0.123,0.050,3226,3386,2420,0,0,0,0,0,0
$GC,6171,1.00,165.2,483.2,6.9,287,6200,0.00,2.72,21.45,0.848,6,0.000,0.057,3225,1813,2327,0,0,0,0,0,0
$GC,6462,0.94,165.2,459.5,8.3,295,6467,0.00,2.60,0.00,0.000,4,0.000,0.047,3226,3388,2320,0,0,0,0,0,0
$GC,6479,0.87,166.4,458.1,8.0,295,6484,0.17,2.70,0.00,0.000,6,0.110,0.057,3190,1815,2319,0,0,0,0,0,0
$GC,6741,0.90,188.3,439.5,7.0,302,6767,0.00,2.65,20.42,0.845,4,0.000,0.041,3190,3388,2232,0,0,0,0,0,0
$GC,6836,0.94,188.3,432.3,8.2,304,6841,0.00,2.67,0.00,0.000,6,0.000,0.052,3190,1823,2229,0,0,0,0,0,0
$GC,7109,0.99,224.2,414.2,6.3,311,7148,0.10,0.00,32.58,0.852,6,0.222,0.000,3215,1823,2085,0,0,0,0,0,0
$GC,7392,1.02,250.8,394.6,6.8,318,7421,0.00,2.62,24.10,0.828,4,0.000,0.036,3215,3389,1977,0,0,0,0,0,0
$GC,7444,1.05,280.5,391.0,6.6,319,7478,0.00,2.62,27.88,0.823,6,0.000,0.048,3215,1841,1856,0,0,0,0,0,0
$GC,7766,1.05,280.5,364.3,8.9,327,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1840,1849,0,0,0,0,0,0
$GC,8007,1.05,280.5,339.3,10.5,333,8011,0.00,2.88,0.00,0.000,4,0.000,0.082,3215,233,1847,0,0,0,0,0,0
$GC,8080,1.05,280.5,331.4,10.6,334,8084,0.00,2.58,0.00,0.000,6,0.000,0.022,3215,1855,1845,0,0,0,0,0,0
$GC,8329,1.05,280.5,310.0,8.2,340,8334,0.00,2.50,0.00,0.000,4,0.000,0.041,3215,3400,1845,0,0,0,0,0,0
$GC,8385,1.14,281.0,305.5,8.0,341,8390,0.12,2.58,0.00,0.000,6,0.079,0.038,3251,1833,1843,0,0,0,0,0,0
$GC,8653,1.14,281.0,280.2,9.7,348,8658,0.00,2.78,0.00,0.000,4,0.000,0.076,3251,242,1843,0,0,0,0,0,0
$GC,8680,1.05,281.0,277.1,11.7,348,8684,0.00,2.55,0.00,0.000,6,0.000,0.019,3251,1873,1842,0,0,0,0,0,0
$GC,8930,1.05,281.0,252.7,9.5,354,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1875,1842,0,0,0,0,0,0
$GC,9173,1.05,281.0,229.7,9.5,360,9177,0.00,2.42,0.00,0.000,4,0.000,0.036,3251,3399,1842,0,0,0,0,0,0
$GC,9192,1.05,281.0,228.1,9.7,360,9196,0.00,2.53,0.00,0.000,6,0.000,0.034,3251,1842,1841,0,0,0,0,0,0
$GC,9452,1.05,281.0,202.4,9.7,367,9457,0.00,2.47,0.00,0.000,4,0.000,0.028,3251,3397,1841,0,0,0,0,0,0
$GC,9492,1.05,281.0,198.8,8.5,368,9496,0.00,2.50,0.00,0.000,6,0.000,0.038,3251,1853,1841,0,0,0,0,0,0
$GC,9755,1.05,281.0,177.5,8.5,392,9760,0.00,2.75,0.00,0.000,4,0.000,0.069,3251,244,1841,0,0,0,0,0,0
$GC,9777,1.01,281.0,175.2,9.2,393,9787,0.12,2.55,0.00,0.000,6,0.084,0.019,3220,1875,1841,0,0,0,0,0,0
$GC,10045,1.07,281.0,153.7,9.0,418,10049,0.00,2.38,0.00,0.000,4,0.000,0.035,3220,3400,1841,0,0,0,0,0,0
$GC,10073,1.17,281.0,150.4,9.5,420,10078,0.15,2.47,0.00,0.000,6,0.070,0.038,3261,1866,1840,0,0,0,0,0,0
$GC,10333,1.17,281.0,123.5,10.0,444,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1866,1841,0,0,0,0,0,0
$GC,10590,1.17,281.0,99.2,9.6,468,10591,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1866,1841,0,0,0,0,0,0
$GC,10849,1.17,281.0,75.2,8.8,492,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1866,1841,0,0,0,0,0,0
$GC,11115,1.23,292.6,54.0,7.5,517,11131,0.00,2.78,9.80,0.507,4,0.000,0.058,3262,244,1806,0,0,0,0,0,0
$GC,11173,1.23,292.6,48.9,9.6,521,11178,0.00,2.55,0.00,0.000,6,0.000,0.018,3262,1893,1806,0,0,0,0,0,0
$GC,11453,1.27,292.6,24.8,8.9,549,11461,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1895,1806,0,0,0,0,0,0
$STATE,11703,end climb,SURFACE_DEPTH_REACHED
$STATE,11703,begin surface coast
$FINISH,0.2,1.002967
$STATE,11768,end surface coast,CONTROL_FINISHED_OK
$STATE,11768,begin surface
$SM_CCo,11789,116.35,0.470,1,0,1288,420.20
$SM_GC,0.94,0.00,0.00,116.35,0.000,0.000,0.470,477,1760,1288,-11.61,-0.28,420.20
$IRIDIUM_FIX,2244.02,-15751.06,251199,131355
$TT8_MAMPS,0.026078
$HUMID,42.63
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,48
$24V_AH,23.6,18.537
$10V_AH,10.4,17.904
$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,27.025,124.525,355.575,116.350,0.000,27.580,26.161,317.924,12.000,0.000,32.098,1181.688,7792.972,580.321,2197.439,681.566,33.371,1328.407,0.000,2196.399,0.000,0.535,0.000
$DEVICE_MAMPS,221.663,100.477,926.536,470.171,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,402.659,352.479,457.244,866.010,1308.272,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,47612,594
$CAP_FILE_SIZE,118649,0
$CFSIZE,260165632,176140288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310810,203737,2252.832,-15747.550,40,1.2,40,10.1