version: 66.06
glider: 146
mission: 5
dive: 112
start: 8 31 110 20 47 15
data:
$ID,146
$MISSION,5
$DIVE,112
$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,-249520.53
$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,27
$R_STBD_OVSHOOT,41
$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
$GPS1,203737,2252.832,-15747.550,40,1.2,40,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-65.3
$GPS2,204620,2252.840,-15747.636,12,1.3,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.170,-0.137
$KALMAN_X,-105944.7,-90.8,-262.8,145831.8,-404.3
$KALMAN_Y,1565.4,202.4,-151.2,132205.8,452.5
$MHEAD_RNG_PITCHd_Wd,118.8,11964,-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,-85.70,0.000,6,0.000,0.000,476,1761,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.3,-6.1,11,124,11.55,2.62,0.00,0.000,4,0.142,0.050,2741,192,3481,0,0,0,0,0,0
$GC,169,-0.72,-116.8,25.0,-27.9,19,179,0.43,2.47,0.00,0.000,6,0.078,0.020,2839,1803,3482,0,0,0,0,0,0
$GC,449,-0.77,-116.8,54.7,-10.5,46,454,0.00,2.72,0.00,0.000,4,0.000,0.058,2839,192,3481,0,0,0,0,0,0
$GC,485,-0.84,-116.8,59.1,-10.7,48,495,0.05,2.40,0.00,0.000,6,0.056,0.015,2806,1772,3482,0,0,0,0,0,0
$GC,752,-0.84,-116.8,86.4,-9.8,73,756,0.00,2.67,0.00,0.000,4,0.000,0.061,2806,193,3482,0,0,0,0,0,0
$GC,783,-0.84,-116.8,90.0,-11.2,75,787,0.00,2.35,0.00,0.000,6,0.000,0.015,2806,1770,3482,0,0,0,0,0,0
$GC,1051,-0.89,-116.8,113.9,-9.5,99,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1772,3483,0,0,0,0,0,0
$GC,1312,-0.96,-116.8,139.2,-9.7,124,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1772,3483,0,0,0,0,0,0
$GC,1572,-1.03,-116.8,161.4,-8.0,148,1577,0.12,0.00,0.00,0.000,6,0.074,0.000,2760,1772,3483,0,0,0,0,0,0
$GC,1833,-1.03,-116.8,187.4,-9.7,173,1837,0.00,2.70,0.00,0.000,4,0.000,0.065,2760,189,3483,0,0,0,0,0,0
$GC,1878,-1.03,-116.8,192.4,-11.2,176,1884,0.00,2.38,0.00,0.000,6,0.000,0.023,2760,1761,3483,0,0,0,0,0,0
$GC,2162,-1.03,-116.8,220.5,-10.0,189,2166,0.00,2.42,0.00,0.000,4,0.000,0.033,2760,3324,3483,0,0,0,0,0,0
$GC,2188,-1.03,-116.8,223.0,-9.3,189,2193,0.00,2.50,0.00,0.000,6,0.000,0.031,2760,1767,3483,0,0,0,0,0,0
$GC,2440,-1.03,-116.8,244.1,-8.2,195,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1767,3482,0,0,0,0,0,0
$GC,2682,-1.03,-116.8,264.0,-8.2,201,2686,0.00,2.72,0.00,0.000,4,0.000,0.074,2760,195,3482,0,0,0,0,0,0
$GC,2703,-1.03,-116.8,266.0,-8.9,201,2707,0.00,2.38,0.00,0.000,6,0.000,0.026,2760,1752,3482,0,0,0,0,0,0
$GC,2963,-1.03,-116.8,289.5,-9.2,208,2968,0.00,2.53,0.00,0.000,4,0.000,0.035,2759,3339,3482,0,0,0,0,0,0
$GC,2980,-1.03,-116.8,290.9,-8.8,208,2985,0.00,2.58,0.00,0.000,6,0.000,0.035,2760,1756,3482,0,0,0,0,0,0
$GC,3240,-1.03,-116.8,313.7,-8.6,215,3245,0.00,2.75,0.00,0.000,4,0.000,0.084,2760,192,3481,0,0,0,0,0,0
$GC,3256,-1.03,-116.8,315.1,-7.9,215,3260,0.00,2.42,0.00,0.000,6,0.000,0.021,2760,1743,3481,0,0,0,0,0,0
$GC,3518,-1.08,-116.8,333.5,-7.0,222,3523,0.00,2.60,0.00,0.000,4,0.000,0.043,2760,3358,3480,0,0,0,0,0,0
$GC,3574,-1.15,-116.8,337.7,-7.5,223,3578,0.00,2.60,0.00,0.000,6,0.000,0.050,2760,1780,3480,0,0,0,0,0,0
$GC,3841,-1.20,-116.8,357.3,-7.6,230,3845,0.00,2.88,0.00,0.000,4,0.000,0.097,2760,183,3479,0,0,0,0,0,0
$GC,3874,-1.20,-116.8,360.4,-8.9,230,3880,0.00,2.50,0.00,0.000,6,0.000,0.027,2760,1772,3479,0,0,0,0,0,0
$GC,4124,-1.25,-116.8,382.7,-8.8,237,4129,0.15,2.58,0.00,0.000,4,0.067,0.048,2714,3354,3478,0,0,0,0,0,0
$GC,4140,-1.25,-116.8,384.4,-9.2,237,4145,0.00,2.62,0.00,0.000,6,0.000,0.050,2714,1765,3478,0,0,0,0,0,0
$GC,4402,-1.25,-116.8,410.9,-10.0,244,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1765,3476,0,0,0,0,0,0
$GC,4645,-1.25,-116.8,433.4,-9.3,250,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1765,3475,0,0,0,0,0,0
$GC,4889,-1.25,-116.8,455.3,-8.8,256,4893,0.00,2.65,0.00,0.000,4,0.000,0.051,2714,3354,3473,0,0,0,0,0,0
$GC,4921,-1.25,-116.8,458.3,-9.3,256,4927,0.00,2.72,0.00,0.000,6,0.000,0.064,2714,1763,3473,0,0,0,0,0,0
$GC,5172,-1.25,-116.8,479.2,-8.4,263,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1763,3471,0,0,0,0,0,0
$GC,5415,-1.25,-116.8,498.7,-7.9,269,5419,0.00,2.67,0.00,0.000,4,0.000,0.062,2714,3344,3470,0,0,0,0,0,0
$STATE,5428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5428,begin apogee
$GC,5436,-0.31,0.0,500.1,7.7,269,5537,0.93,0.00,96.18,0.919,6,0.081,0.000,2924,1820,3001,0,0,0,0,0,0
$STATE,5538,end apogee,CONTROL_FINISHED_OK
$STATE,5538,begin climb
$GC,5542,1.15,116.8,503.1,0.0,272,5652,1.38,3.15,100.78,0.895,4,0.048,0.120,3254,230,2523,0,0,0,0,0,0
$GC,5665,1.05,183.3,501.3,4.9,275,5730,0.12,2.62,58.10,0.877,6,0.133,0.031,3232,1816,2253,0,0,0,0,0,0
$GC,5985,0.98,183.3,475.2,8.6,283,5990,0.00,2.72,0.00,0.000,4,0.000,0.061,3231,3408,2243,0,0,0,0,0,0
$GC,6025,0.94,183.3,471.7,9.7,284,6030,0.12,2.72,0.00,0.000,6,0.124,0.058,3207,1821,2241,0,0,0,0,0,0
$GC,6310,0.94,183.3,447.2,8.8,291,6314,0.00,2.65,0.00,0.000,4,0.000,0.042,3207,3416,2239,0,0,0,0,0,0
$GC,6353,0.94,183.3,443.1,8.9,292,6358,0.00,2.70,0.00,0.000,6,0.000,0.049,3207,1831,2238,0,0,0,0,0,0
$GC,6633,0.94,183.3,419.6,8.3,299,6637,0.00,2.92,0.00,0.000,4,0.000,0.100,3207,235,2237,0,0,0,0,0,0
$GC,6665,0.87,183.3,416.4,9.8,299,6671,0.00,2.58,0.00,0.000,6,0.000,0.028,3207,1847,2236,0,0,0,0,0,0
$GC,6915,0.88,193.6,397.0,7.5,306,6929,0.00,2.62,7.28,0.720,4,0.000,0.041,3207,3405,2210,0,0,0,0,0,0
$GC,6943,0.91,215.1,395.0,7.0,306,6969,0.00,2.65,20.65,0.821,6,0.000,0.045,3207,1825,2123,0,0,0,0,0,0
$GC,7241,0.91,215.1,371.3,8.1,314,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1825,2119,0,0,0,0,0,0
$GC,7485,0.91,216.0,351.8,8.0,320,7490,0.00,2.83,0.00,0.000,4,0.000,0.087,3207,230,2117,0,0,0,0,0,0
$GC,7526,0.91,216.0,348.6,8.9,321,7530,0.00,2.53,0.00,0.000,6,0.000,0.024,3207,1835,2116,0,0,0,0,0,0
$GC,7809,0.94,240.3,328.5,6.9,328,7838,0.00,2.62,22.27,0.791,4,0.000,0.035,3207,3396,2021,0,0,0,0,0,0
$GC,7940,1.01,240.3,317.3,8.5,331,7945,0.00,2.60,0.00,0.000,6,0.000,0.043,3207,1827,2018,0,0,0,0,0,0
$GC,8223,1.05,240.3,293.1,8.3,338,8228,0.00,2.80,0.00,0.000,4,0.000,0.077,3207,236,2016,0,0,0,0,0,0
$GC,8262,1.05,240.3,289.6,9.0,339,8266,0.00,2.53,0.00,0.000,6,0.000,0.024,3207,1848,2015,0,0,0,0,0,0
$GC,8547,1.13,264.8,269.4,6.9,346,8577,0.17,2.58,22.08,0.739,4,0.066,0.035,3253,3390,1920,0,0,0,0,0,0
$GC,8610,1.13,264.8,263.5,9.5,347,8614,0.00,2.58,0.00,0.000,6,0.000,0.040,3253,1826,1918,0,0,0,0,0,0
$GC,8873,1.13,264.8,237.5,10.1,354,8877,0.00,2.53,0.00,0.000,4,0.000,0.033,3253,3397,1916,0,0,0,0,0,0
$GC,8901,1.13,264.8,234.4,10.8,354,8905,0.00,2.53,0.00,0.000,6,0.000,0.040,3253,1849,1915,0,0,0,0,0,0
$GC,9150,1.13,264.8,209.4,9.9,360,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1850,1916,0,0,0,0,0,0
$GC,9401,1.13,264.8,185.5,9.7,375,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1850,1915,0,0,0,0,0,0
$GC,9655,1.13,264.8,161.7,9.2,399,9659,0.00,2.45,0.00,0.000,4,0.000,0.031,3253,3398,1916,0,0,0,0,0,0
$GC,9688,1.13,264.8,158.6,9.1,401,9694,0.00,2.50,0.00,0.000,6,0.000,0.038,3253,1856,1916,0,0,0,0,0,0
$GC,9952,1.13,264.8,135.8,9.3,426,9956,0.00,2.45,0.00,0.000,4,0.000,0.028,3253,3399,1915,0,0,0,0,0,0
$GC,9972,1.13,264.8,134.1,9.2,427,9976,0.00,2.47,0.00,0.000,6,0.000,0.032,3253,1865,1915,0,0,0,0,0,0
$GC,10239,1.13,264.8,109.8,8.5,451,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1865,1915,0,0,0,0,0,0
$GC,10500,1.13,267.8,87.8,7.9,476,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1865,1916,0,0,0,0,0,0
$GC,10763,1.19,279.9,68.7,7.5,500,10782,0.00,2.78,13.95,0.538,4,0.000,0.059,3253,244,1859,0,0,0,0,0,0
$GC,10799,1.19,279.9,65.1,8.5,502,10809,0.00,2.58,0.00,0.000,6,0.000,0.018,3253,1890,1858,0,0,0,0,0,0
$GC,11066,1.27,293.7,46.2,7.4,527,11086,0.10,0.00,13.30,0.516,6,0.087,0.000,3285,1893,1802,0,0,0,0,0,0
$GC,11367,1.27,293.7,18.0,9.9,562,11376,0.00,2.85,0.00,0.000,4,0.000,0.058,3285,240,1801,0,0,0,0,0,0
$GC,11400,1.22,293.7,14.4,10.4,566,11410,0.00,2.55,0.00,0.000,6,0.000,0.018,3285,1878,1799,0,0,0,0,0,0
$STATE,11506,end climb,SURFACE_DEPTH_REACHED
$STATE,11506,begin surface coast
$FINISH,0.2,1.009789
$STATE,11565,end surface coast,CONTROL_FINISHED_OK
$STATE,11565,begin surface
$SM_CCo,11586,109.40,0.465,1,0,1287,420.20
$SM_GC,0.93,0.00,0.00,109.40,0.000,0.000,0.465,480,1755,1287,-11.59,-0.42,420.20
$IRIDIUM_FIX,2246.36,-15748.90,251199,171701
$TT8_MAMPS,0.026078
$HUMID,42.99
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,50
$24V_AH,23.6,18.661
$10V_AH,10.4,18.036
$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,26.425,141.350,354.575,109.400,0.000,24.707,31.453,329.912,12.500,0.000,14.213,1160.547,7637.597,555.647,2171.571,699.897,33.375,1342.631,0.000,2188.076,0.000,0.537,0.000
$DEVICE_MAMPS,141.895,120.419,918.866,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.167,356.330,457.053,875.659,1323.055,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355792
$DATA_FILE_SIZE,47804,589
$CAP_FILE_SIZE,119122,0
$CFSIZE,260165632,176074752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010910,000336,2252.335,-15746.801,36,1.0,36,10.1