version: 66.06
glider: 146
mission: 5
dive: 435
start: 10 17 110 16 14 3
data:
$ID,146
$MISSION,5
$DIVE,435
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$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,166
$T_MISSION,360
$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,-257885.53
$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,53
$R_STBD_OVSHOOT,50
$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
$GPS1,160502,2257.932,-15755.043,39,1.3,40,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.5
$GPS2,161308,2257.929,-15755.035,10,1.2,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.049
$KALMAN_X,-258454.3,-236.8,28.7,285461.7,-120.0
$KALMAN_Y,-601726.7,299.1,286.3,744391.7,-1104.6
$MHEAD_RNG_PITCHd_Wd,92.1,27724,-19.8,-10.040
$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,15,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.75,0.000,2,0.000,0.000,475,1739,3477,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.6,-9.7,11,126,11.68,2.58,0.00,0.000,4,0.154,0.048,2690,215,3479,0,0,0,0,0,0
$GC,151,-0.70,-116.8,21.8,-38.1,16,161,0.70,2.42,0.00,0.000,6,0.092,0.016,2842,1783,3480,0,0,0,0,0,0
$GC,431,-0.86,-116.8,47.6,-7.3,45,436,0.15,2.47,0.00,0.000,4,0.061,0.026,2790,3338,3481,0,0,0,0,0,0
$GC,454,-1.01,-116.8,49.6,-7.8,46,458,0.00,2.47,0.00,0.000,6,0.000,0.028,2790,1786,3481,0,0,0,0,0,0
$GC,724,-1.16,-116.8,70.5,-7.2,70,729,0.17,2.70,0.00,0.000,4,0.057,0.056,2733,194,3482,0,0,0,0,0,0
$GC,769,-1.16,-116.8,75.1,-10.2,73,773,0.00,2.42,0.00,0.000,6,0.000,0.021,2733,1796,3482,0,0,0,0,0,0
$GC,1037,-1.22,-116.8,102.9,-11.4,97,1041,0.00,2.38,0.00,0.000,4,0.000,0.030,2733,3313,3483,0,0,0,0,0,0
$GC,1054,-1.30,-116.8,105.6,-11.2,98,1058,0.00,2.47,0.00,0.000,6,0.000,0.028,2733,1752,3483,0,0,0,0,0,0
$GC,1317,-1.36,-116.8,127.2,-7.3,122,1322,0.12,2.62,0.00,0.000,4,0.067,0.060,2686,196,3483,0,0,0,0,0,0
$GC,1365,-1.36,-116.8,131.7,-9.5,125,1371,0.00,2.33,0.00,0.000,6,0.000,0.023,2686,1746,3483,0,0,0,0,0,0
$GC,1628,-1.36,-116.8,158.2,-11.1,150,1632,0.00,2.45,0.00,0.000,4,0.000,0.032,2686,3322,3484,0,0,0,0,0,0
$GC,1663,-1.36,-116.8,162.1,-10.9,152,1670,0.00,2.47,0.00,0.000,6,0.000,0.035,2686,1760,3484,0,0,0,0,0,0
$GC,1925,-1.36,-116.8,188.7,-9.5,177,1930,0.00,2.65,0.00,0.000,4,0.000,0.065,2686,194,3484,0,0,0,0,0,0
$GC,1970,-1.36,-116.8,194.1,-11.4,180,1979,0.00,2.35,0.00,0.000,6,0.000,0.018,2686,1730,3484,0,0,0,0,0,0
$GC,2244,-1.36,-116.8,221.3,-10.1,192,2248,0.00,2.53,0.00,0.000,4,0.000,0.033,2686,3332,3484,0,0,0,0,0,0
$GC,2270,-1.36,-116.8,224.4,-11.3,192,2275,0.00,2.58,0.00,0.000,6,0.000,0.031,2686,1731,3484,0,0,0,0,0,0
$GC,2526,-1.36,-116.8,253.8,-11.9,199,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1730,3484,0,0,0,0,0,0
$GC,2771,-1.36,-116.8,279.6,-10.1,205,2775,0.00,2.50,0.00,0.000,4,0.000,0.028,2686,3321,3483,0,0,0,0,0,0
$GC,2804,-1.40,-116.8,282.9,-9.0,205,2809,0.00,2.55,0.00,0.000,6,0.000,0.032,2686,1731,3483,0,0,0,0,0,0
$GC,3054,-1.40,-116.8,305.1,-9.0,212,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1731,3482,0,0,0,0,0,0
$GC,3299,-1.40,-116.8,327.8,-9.4,218,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1731,3481,0,0,0,0,0,0
$GC,3541,-1.40,-116.8,351.2,-9.6,224,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1731,3480,0,0,0,0,0,0
$GC,3785,-1.40,-116.8,372.3,-8.5,230,3789,0.00,2.58,0.00,0.000,4,0.000,0.037,2686,3323,3478,0,0,0,0,0,0
$GC,3848,-1.47,-116.8,377.6,-8.5,231,3852,0.00,2.60,0.00,0.000,6,0.000,0.048,2686,1745,3478,0,0,0,0,0,0
$GC,4108,-1.47,-116.8,402.8,-10.0,238,4113,0.00,2.53,0.00,0.000,4,0.000,0.035,2686,3324,3477,0,0,0,0,0,0
$GC,4124,-1.47,-116.8,404.5,-10.3,238,4129,0.00,2.65,0.00,0.000,6,0.000,0.055,2686,1737,3477,0,0,0,0,0,0
$GC,4385,-1.47,-116.8,431.1,-10.1,245,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1737,3475,0,0,0,0,0,0
$GC,4631,-1.50,-116.8,450.6,-7.6,251,4635,0.00,2.58,0.00,0.000,4,0.000,0.047,2686,3312,3474,0,0,0,0,0,0
$GC,4675,-1.59,-116.8,454.2,-8.2,252,4681,0.15,2.65,0.00,0.000,6,0.067,0.058,2638,1750,3473,0,0,0,0,0,0
$GC,4955,-1.54,-116.8,482.3,-10.7,259,4960,0.12,2.60,0.00,0.000,4,0.119,0.047,2664,3314,3471,0,0,0,0,0,0
$GC,4971,-1.54,-116.8,484.4,-11.3,259,4975,0.00,2.62,0.00,0.000,6,0.000,0.057,2664,1753,3471,0,0,0,0,0,0
$STATE,5154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5154,begin apogee
$GC,5160,-0.31,0.0,504.2,10.7,264,5261,1.20,0.00,97.57,0.925,6,0.100,0.000,2928,1752,3001,0,0,0,0,0,0
$STATE,5262,end apogee,CONTROL_FINISHED_OK
$STATE,5262,begin climb
$GC,5266,1.38,116.8,506.6,0.0,266,5378,1.55,2.97,101.25,0.900,4,0.047,0.117,3306,233,2523,0,0,0,0,0,0
$GC,5429,1.18,138.9,502.4,8.8,269,5455,0.22,2.50,19.83,0.847,6,0.120,0.031,3261,1774,2434,0,0,0,0,0,0
$GC,5718,1.22,169.0,479.2,8.3,277,5753,0.00,2.88,27.00,0.864,4,0.000,0.063,3261,3402,2310,0,0,0,0,0,0
$GC,5818,1.23,179.7,469.8,9.4,279,5835,0.00,2.67,10.75,0.788,6,0.000,0.057,3261,1825,2268,0,0,0,0,0,0
$GC,6092,1.26,199.9,444.8,8.9,286,6116,0.00,2.67,18.52,0.838,4,0.000,0.044,3261,3405,2185,0,0,0,0,0,0
$GC,6135,1.28,220.3,440.8,8.9,287,6160,0.00,2.70,19.50,0.829,6,0.000,0.054,3260,1827,2103,0,0,0,0,0,0
$GC,6418,1.31,246.4,416.1,8.5,294,6444,0.10,0.00,24.25,0.838,6,0.094,0.000,3287,1827,1996,0,0,0,0,0,0
$GC,6659,1.31,246.4,389.4,11.4,300,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1827,1990,0,0,0,0,0,0
$GC,6903,1.31,246.4,360.0,12.0,306,6908,0.00,2.58,0.00,0.000,4,0.000,0.035,3287,3421,1988,0,0,0,0,0,0
$GC,6934,1.31,246.4,356.5,12.1,306,6938,0.00,2.65,0.00,0.000,6,0.000,0.048,3287,1841,1987,0,0,0,0,0,0
$GC,7183,1.31,246.4,325.4,12.3,312,7188,0.00,2.85,0.00,0.000,4,0.000,0.082,3288,230,1986,0,0,0,0,0,0
$GC,7205,1.25,246.4,322.5,13.2,312,7209,0.00,2.60,0.00,0.000,6,0.000,0.028,3287,1872,1985,0,0,0,0,0,0
$GC,7460,1.25,246.4,291.4,12.1,319,7464,0.00,2.85,0.00,0.000,4,0.000,0.074,3287,236,1985,0,0,0,0,0,0
$GC,7481,1.21,246.4,288.7,12.3,319,7486,0.12,2.58,0.00,0.000,6,0.127,0.022,3264,1867,1984,0,0,0,0,0,0
$GC,7737,1.32,293.0,267.9,7.3,326,7786,0.10,2.92,41.08,0.772,4,0.092,0.070,3291,231,1804,0,0,0,0,0,0
$GC,7806,1.32,293.0,261.9,10.7,327,7810,0.00,2.55,0.00,0.000,6,0.000,0.021,3291,1834,1802,0,0,0,0,0,0
$GC,8061,1.32,293.0,236.4,10.0,334,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1836,1799,0,0,0,0,0,0
$GC,8304,1.33,298.2,212.5,9.7,340,8315,0.00,2.80,4.72,0.538,4,0.000,0.067,3291,236,1784,0,0,0,0,0,0
$GC,8366,1.33,298.2,205.7,11.5,341,8371,0.00,2.50,0.00,0.000,6,0.000,0.023,3291,1828,1783,0,0,0,0,0,0
$GC,8628,1.36,298.2,179.3,10.4,362,8633,0.00,2.75,0.00,0.000,4,0.000,0.066,3291,234,1783,0,0,0,0,0,0
$GC,8670,1.33,298.2,174.4,12.5,365,8675,0.00,2.47,0.00,0.000,6,0.000,0.021,3291,1818,1782,0,0,0,0,0,0
$GC,8936,1.33,298.2,147.1,10.1,389,8941,0.00,2.50,0.00,0.000,4,0.000,0.031,3291,3388,1782,0,0,0,0,0,0
$GC,8971,1.40,301.0,143.8,9.9,391,8975,0.00,2.58,0.00,0.000,6,0.000,0.035,3291,1803,1781,0,0,0,0,0,0
$GC,9237,1.44,301.0,115.9,11.1,415,9243,0.10,2.70,0.00,0.000,4,0.093,0.065,3318,237,1780,0,0,0,0,0,0
$GC,9279,1.36,301.0,110.6,12.3,418,9284,0.10,2.45,0.00,0.000,6,0.138,0.021,3298,1819,1780,0,0,0,0,0,0
$GC,9539,1.40,301.0,86.6,10.5,442,9544,0.00,2.72,0.00,0.000,4,0.000,0.060,3298,233,1780,0,0,0,0,0,0
$GC,9550,1.40,301.0,85.4,10.4,442,9559,0.00,2.45,0.00,0.000,6,0.000,0.021,3298,1809,1780,0,0,0,0,0,0
$GC,9818,1.52,322.5,59.6,8.8,467,9847,0.12,2.53,22.38,0.584,4,0.079,0.026,3334,3380,1684,0,0,0,0,0,0
$GC,9902,1.63,342.1,52.3,8.9,473,9930,0.00,2.58,18.10,0.565,6,0.000,0.034,3334,1804,1604,0,0,0,0,0,0
$GC,10193,1.71,357.5,25.9,9.2,502,10222,0.15,2.72,14.02,0.530,4,0.184,0.060,3376,247,1542,0,0,0,0,0,0
$GC,10242,1.63,357.5,20.2,12.8,507,10252,0.00,2.45,0.00,0.000,6,0.000,0.025,3376,1807,1541,0,0,0,0,0,0
$STATE,10368,end climb,SURFACE_DEPTH_REACHED
$STATE,10368,begin surface coast
$FINISH,0.3,1.022796
$STATE,10412,end surface coast,CONTROL_FINISHED_OK
$STATE,10412,begin surface
$SM_CCo,10434,58.08,0.442,1,0,1288,420.20
$SM_GC,1.15,0.00,0.00,58.08,0.000,0.000,0.442,476,1726,1288,-11.61,-1.24,420.20
$IRIDIUM_FIX,2248.70,-15756.28,110100,131359
$TT8_MAMPS,0.026078
$HUMID,53.15
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.20
$XPDR_PINGS,73
$24V_AH,23.4,60.525
$10V_AH,10.0,57.822
$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,28.725,140.000,418.975,58.075,0.000,26.131,33.352,293.341,18.250,0.000,11.477,1077.457,6714.304,533.608,1984.777,677.369,33.358,1292.724,0.000,1994.903,0.000,0.534,0.000
$DEVICE_MAMPS,184.080,117.351,925.002,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.455,314.695,416.774,809.966,1220.225,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,41660,531
$CAP_FILE_SIZE,115122,0
$CFSIZE,260165632,156889088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171010,191016,2257.096,-15753.596,13,3.3,32,10.1