version: 66.06
glider: 146
mission: 5
dive: 436
start: 10 17 110 19 19 41
data:
$ID,146
$MISSION,5
$DIVE,436
$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,-257923.67
$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,59
$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
$GPS1,191016,2257.096,-15753.596,13,3.3,32,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.8
$GPS2,191846,2257.080,-15753.592,16,99.0,35,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,-0.020
$KALMAN_X,-258269.0,-216.2,7.9,287756.4,195.8
$KALMAN_Y,-602753.9,239.0,291.4,743899.7,-1695.2
$MHEAD_RNG_PITCHd_Wd,84.8,24810,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.00,0.000,2,0.000,0.000,476,1726,3427,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.2,-8.5,11,125,11.57,2.50,-0.90,0.000,4,0.150,0.065,2690,224,3478,0,0,0,0,0,0
$GC,157,-0.98,-116.8,21.0,-29.9,17,166,0.40,2.40,0.00,0.000,6,0.096,0.015,2777,1790,3480,0,0,0,0,0,0
$GC,440,-0.98,-116.8,56.5,-12.5,46,444,0.00,2.65,0.00,0.000,4,0.000,0.052,2777,218,3481,0,0,0,0,0,0
$GC,461,-0.98,-116.8,59.4,-12.3,47,465,0.00,2.33,0.00,0.000,6,0.000,0.016,2777,1771,3481,0,0,0,0,0,0
$GC,730,-1.12,-116.8,81.8,-7.7,71,734,0.00,2.45,0.00,0.000,4,0.000,0.025,2778,3320,3482,0,0,0,0,0,0
$GC,770,-1.31,-116.8,85.8,-8.3,74,775,0.28,2.45,0.00,0.000,6,0.043,0.027,2696,1782,3482,0,0,0,0,0,0
$GC,1035,-1.31,-116.8,113.5,-10.0,98,1039,0.00,2.67,0.00,0.000,4,0.000,0.058,2696,193,3482,0,0,0,0,0,0
$GC,1064,-1.27,-116.8,117.3,-11.6,100,1069,0.12,2.35,0.00,0.000,6,0.110,0.022,2722,1756,3483,0,0,0,0,0,0
$GC,1327,-1.31,-116.8,142.5,-9.6,124,1331,0.00,2.42,0.00,0.000,4,0.000,0.025,2722,3317,3483,0,0,0,0,0,0
$GC,1350,-1.37,-116.8,145.0,-9.7,125,1356,0.00,2.47,0.00,0.000,6,0.000,0.029,2722,1757,3484,0,0,0,0,0,0
$GC,1613,-1.42,-116.8,170.0,-9.5,150,1618,0.15,2.45,0.00,0.000,4,0.064,0.029,2672,3317,3483,0,0,0,0,0,0
$GC,1637,-1.42,-116.8,172.6,-10.2,151,1643,0.00,2.47,0.00,0.000,6,0.000,0.028,2672,1754,3483,0,0,0,0,0,0
$GC,1900,-1.38,-116.8,201.0,-11.7,176,1906,0.12,2.67,0.00,0.000,4,0.111,0.065,2698,196,3484,0,0,0,0,0,0
$GC,1924,-1.38,-116.8,203.9,-11.5,176,1928,0.00,2.33,0.00,0.000,6,0.000,0.021,2698,1746,3484,0,0,0,0,0,0
$GC,2179,-1.38,-116.8,231.0,-10.6,183,2183,0.00,2.45,0.00,0.000,4,0.000,0.026,2698,3324,3484,0,0,0,0,0,0
$GC,2194,-1.38,-116.8,232.6,-10.0,183,2199,0.00,2.53,0.00,0.000,6,0.000,0.034,2698,1751,3484,0,0,0,0,0,0
$GC,2457,-1.38,-116.8,254.8,-8.2,190,2462,0.00,2.47,0.00,0.000,4,0.000,0.031,2698,3322,3483,0,0,0,0,0,0
$GC,2480,-1.43,-116.8,256.7,-7.9,190,2484,0.00,2.47,0.00,0.000,6,0.000,0.035,2698,1769,3483,0,0,0,0,0,0
$GC,2735,-1.43,-116.8,276.7,-7.9,197,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1769,3483,0,0,0,0,0,0
$GC,2980,-1.46,-116.8,295.9,-8.0,203,2985,0.00,2.47,0.00,0.000,4,0.000,0.033,2698,3329,3482,0,0,0,0,0,0
$GC,3009,-1.53,-116.8,298.5,-8.4,203,3014,0.12,2.50,0.00,0.000,6,0.073,0.040,2653,1779,3482,0,0,0,0,0,0
$GC,3259,-1.48,-116.8,326.4,-11.7,209,3264,0.10,2.80,0.00,0.000,4,0.123,0.083,2674,190,3481,0,0,0,0,0,0
$GC,3316,-1.48,-116.8,333.6,-12.9,210,3320,0.00,2.42,0.00,0.000,6,0.000,0.031,2674,1730,3480,0,0,0,0,0,0
$GC,3582,-1.48,-116.8,364.0,-11.2,217,3586,0.00,2.60,0.00,0.000,4,0.000,0.042,2674,3357,3479,0,0,0,0,0,0
$GC,3642,-1.52,-116.8,370.9,-10.1,218,3647,0.00,2.60,0.00,0.000,6,0.000,0.047,2674,1783,3479,0,0,0,0,0,0
$GC,3904,-1.52,-116.8,399.3,-10.8,225,3909,0.00,2.53,0.00,0.000,4,0.000,0.038,2674,3350,3477,0,0,0,0,0,0
$GC,3925,-1.52,-116.8,402.1,-11.4,225,3930,0.00,2.60,0.00,0.000,6,0.000,0.052,2674,1785,3477,0,0,0,0,0,0
$GC,4187,-1.52,-116.8,428.1,-9.8,232,4192,0.00,2.88,0.00,0.000,4,0.000,0.095,2674,186,3475,0,0,0,0,0,0
$GC,4215,-1.52,-116.8,431.0,-10.8,232,4220,0.00,2.53,0.00,0.000,6,0.000,0.028,2674,1784,3475,0,0,0,0,0,0
$GC,4465,-1.52,-116.8,453.6,-9.0,238,4470,0.00,2.60,0.00,0.000,4,0.000,0.054,2674,3363,3473,0,0,0,0,0,0
$GC,4493,-1.52,-116.8,456.3,-9.2,238,4497,0.00,2.62,0.00,0.000,6,0.000,0.056,2674,1793,3473,0,0,0,0,0,0
$GC,4745,-1.52,-116.8,478.2,-8.6,244,4749,0.00,2.58,0.00,0.000,4,0.000,0.044,2674,3360,3472,0,0,0,0,0,0
$GC,4772,-1.57,-116.8,480.6,-8.4,244,4776,0.00,2.62,0.00,0.000,6,0.000,0.061,2674,1805,3472,0,0,0,0,0,0
$STATE,5019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5019,begin apogee
$GC,5025,-0.31,0.0,503.2,9.5,250,5126,1.15,0.00,97.57,0.923,6,0.092,0.000,2928,1804,3001,0,0,0,0,0,0
$STATE,5127,end apogee,CONTROL_FINISHED_OK
$STATE,5127,begin climb
$GC,5131,1.38,116.8,505.8,0.0,252,5238,1.58,0.00,102.38,0.900,6,0.043,0.000,3307,1804,2524,0,0,0,0,0,0
$GC,5466,1.33,176.6,493.1,6.6,261,5524,0.00,2.75,52.53,0.887,4,0.000,0.050,3307,3401,2279,0,0,0,0,0,0
$GC,5558,1.26,176.6,485.0,10.4,263,5564,0.15,2.75,0.00,0.000,6,0.129,0.058,3277,1820,2277,0,0,0,0,0,0
$GC,5833,1.27,184.0,459.1,9.6,270,5846,0.00,2.70,6.57,0.711,4,0.000,0.039,3277,3405,2250,0,0,0,0,0,0
$GC,5880,1.27,184.0,453.8,11.1,271,5884,0.00,2.70,0.00,0.000,6,0.000,0.058,3277,1819,2249,0,0,0,0,0,0
$GC,6158,1.27,184.0,425.2,10.4,278,6162,0.00,2.60,0.00,0.000,4,0.000,0.041,3277,3406,2246,0,0,0,0,0,0
$GC,6197,1.27,184.0,421.1,10.3,279,6202,0.00,2.70,0.00,0.000,6,0.000,0.048,3277,1812,2246,0,0,0,0,0,0
$GC,6480,1.28,195.1,394.1,9.4,286,6496,0.00,2.90,10.90,0.787,4,0.000,0.091,3277,233,2204,0,0,0,0,0,0
$GC,6523,1.20,195.1,389.8,11.0,287,6528,0.00,2.55,0.00,0.000,6,0.000,0.021,3277,1830,2201,0,0,0,0,0,0
$GC,6806,1.21,204.6,362.3,9.5,294,6821,0.00,2.58,9.40,0.754,4,0.000,0.036,3277,3400,2166,0,0,0,0,0,0
$GC,6867,1.21,204.6,356.4,10.1,295,6872,0.00,2.65,0.00,0.000,6,0.000,0.042,3277,1818,2164,0,0,0,0,0,0
$GC,7133,1.22,210.0,330.6,9.7,302,7141,0.00,0.00,5.95,0.660,6,0.000,0.000,3277,1818,2145,0,0,0,0,0,0
$GC,7377,1.24,225.7,308.0,9.1,308,7398,0.00,2.83,15.73,0.771,4,0.000,0.074,3277,230,2080,0,0,0,0,0,0
$GC,7428,1.16,225.7,303.2,10.1,309,7433,0.12,2.55,0.00,0.000,6,0.133,0.027,3254,1829,2077,0,0,0,0,0,0
$GC,7701,1.26,267.3,281.6,7.6,316,7746,0.10,2.60,38.05,0.778,4,0.094,0.036,3280,3387,1910,0,0,0,0,0,0
$GC,7764,1.28,278.1,275.8,9.4,317,7780,0.00,2.62,10.98,0.701,6,0.000,0.041,3280,1816,1867,0,0,0,0,0,0
$GC,8024,1.28,278.1,248.1,10.6,323,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1816,1861,0,0,0,0,0,0
$GC,8268,1.32,278.1,222.4,10.6,329,8272,0.00,2.75,0.00,0.000,4,0.000,0.076,3280,241,1859,0,0,0,0,0,0
$GC,8296,1.32,278.1,219.2,11.8,329,8301,0.00,2.50,0.00,0.000,6,0.000,0.028,3280,1827,1858,0,0,0,0,0,0
$GC,8549,1.40,304.7,195.7,8.5,338,8575,0.10,0.00,23.40,0.703,6,0.094,0.000,3306,1829,1758,0,0,0,0,0,0
$GC,8831,1.40,304.7,165.4,10.9,364,8835,0.00,2.50,0.00,0.000,4,0.000,0.035,3306,3392,1753,0,0,0,0,0,0
$GC,8887,1.47,304.7,158.6,11.0,368,8892,0.00,2.55,0.00,0.000,6,0.000,0.041,3306,1840,1752,0,0,0,0,0,0
$GC,9153,1.47,304.7,131.8,10.7,393,9158,0.00,2.75,0.00,0.000,4,0.000,0.069,3306,241,1751,0,0,0,0,0,0
$GC,9172,1.47,304.7,129.1,11.4,394,9176,0.00,2.53,0.00,0.000,6,0.000,0.021,3306,1863,1751,0,0,0,0,0,0
$GC,9435,1.51,304.7,99.0,11.0,418,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1865,1750,0,0,0,0,0,0
$GC,9694,1.63,351.7,75.2,7.3,442,9748,0.20,2.45,40.47,0.607,4,0.062,0.029,3359,3382,1565,0,0,0,0,0,0
$GC,9753,1.64,359.8,69.6,9.6,446,9767,0.00,2.55,8.40,0.525,6,0.000,0.035,3360,1854,1533,0,0,0,0,0,0
$GC,10028,1.64,359.8,40.6,11.9,471,10032,0.00,2.78,0.00,0.000,4,0.000,0.061,3360,235,1530,0,0,0,0,0,0
$GC,10086,1.61,359.8,32.5,14.2,475,10090,0.00,2.50,0.00,0.000,6,0.000,0.020,3360,1838,1528,0,0,0,0,0,0
$STATE,10319,end climb,SURFACE_DEPTH_REACHED
$STATE,10319,begin surface coast
$FINISH,0.4,1.016172
$STATE,10362,end surface coast,CONTROL_FINISHED_OK
$STATE,10362,begin surface
$SM_CCo,10384,56.17,0.441,1,0,1287,420.20
$SM_GC,0.99,0.00,0.00,56.17,0.000,0.000,0.441,470,1739,1287,-11.64,-0.88,420.20
$IRIDIUM_FIX,2248.70,-15753.23,110100,161656
$TT8_MAMPS,0.025311
$HUMID,54.76
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.30
$XPDR_PINGS,77
$24V_AH,23.4,60.653
$10V_AH,10.0,57.938
$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,27.975,144.350,422.325,56.175,0.000,30.292,37.054,275.073,19.250,0.000,37.513,1052.417,6764.005,561.941,1923.957,653.950,33.395,1272.404,0.000,1905.466,0.000,0.533,0.000
$DEVICE_MAMPS,150.332,95.108,922.701,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.398,295.637,394.734,750.873,1135.217,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,41720,513
$CAP_FILE_SIZE,114419,0
$CFSIZE,260165632,156831744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171010,221506,2256.407,-15752.129,38,0.9,38,10.1