version: 66.06
glider: 146
mission: 5
dive: 452
start: 10 19 110 20 51 58
data:
$ID,146
$MISSION,5
$DIVE,452
$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,-258246.19
$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,42
$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
$GPS1,203606,2256.333,-15741.949,24,1.3,24,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-69.6
$GPS2,205102,2256.337,-15741.954,10,1.5,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.014,0.230
$KALMAN_X,-260254.3,-354.5,-16.4,309934.8,81.6
$KALMAN_Y,-608557.9,77.2,164.5,748619.2,-88.7
$MHEAD_RNG_PITCHd_Wd,346.5,3081,-20.3,-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,16,-1.41,-111.7,0.0,0.0,0,104,0.00,0.00,-85.53,0.000,6,0.000,0.000,475,1746,3457,0,0,0,0,0,0
$GC,109,-1.41,-116.8,4.3,-8.7,11,126,11.55,2.53,-0.35,0.000,4,0.150,0.037,2682,3339,3479,0,0,0,0,0,0
$GC,145,-0.49,-116.8,19.1,-38.9,15,155,0.95,2.55,0.00,0.000,6,0.094,0.033,2888,1789,3481,0,0,0,0,0,0
$GC,440,-0.77,-116.8,40.1,-6.0,49,449,0.22,0.00,0.00,0.000,6,0.048,0.000,2814,1789,3482,0,0,0,0,0,0
$GC,707,-0.93,-116.8,64.2,-8.6,74,712,0.00,2.70,0.00,0.000,4,0.000,0.058,2813,184,3482,0,0,0,0,0,0
$GC,732,-1.12,-116.8,66.6,-8.3,75,741,0.20,2.47,0.00,0.000,6,0.027,0.016,2738,1797,3482,0,0,0,0,0,0
$GC,994,-1.18,-116.8,92.8,-9.6,100,998,0.00,2.38,0.00,0.000,4,0.000,0.024,2738,3318,3482,0,0,0,0,0,0
$GC,1041,-1.29,-116.8,96.9,-9.3,103,1046,0.00,2.50,0.00,0.000,6,0.000,0.028,2738,1764,3482,0,0,0,0,0,0
$GC,1308,-1.37,-116.8,120.2,-8.7,127,1313,0.15,2.67,0.00,0.000,4,0.063,0.058,2688,194,3482,0,0,0,0,0,0
$GC,1350,-1.37,-116.8,124.8,-10.6,130,1354,0.00,2.38,0.00,0.000,6,0.000,0.017,2688,1772,3483,0,0,0,0,0,0
$GC,1613,-1.37,-116.8,150.9,-9.6,154,1618,0.00,2.70,0.00,0.000,4,0.000,0.061,2688,196,3483,0,0,0,0,0,0
$GC,1635,-1.37,-116.8,153.5,-10.1,155,1641,0.00,2.35,0.00,0.000,6,0.000,0.019,2688,1766,3483,0,0,0,0,0,0
$GC,1900,-1.37,-116.8,177.7,-9.8,180,1904,0.00,2.40,0.00,0.000,4,0.000,0.031,2688,3310,3483,0,0,0,0,0,0
$GC,1928,-1.37,-116.8,181.0,-10.6,182,1932,0.00,2.50,0.00,0.000,6,0.000,0.028,2688,1758,3483,0,0,0,0,0,0
$GC,2187,-1.37,-116.8,209.7,-11.7,200,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1756,3483,0,0,0,0,0,0
$GC,2429,-1.37,-116.8,235.9,-10.5,206,2433,0.00,2.45,0.00,0.000,4,0.000,0.028,2688,3313,3483,0,0,0,0,0,0
$GC,2462,-1.42,-116.8,239.4,-10.0,206,2468,0.00,2.50,0.00,0.000,6,0.000,0.035,2688,1770,3483,0,0,0,0,0,0
$GC,2713,-1.42,-116.8,262.5,-9.2,213,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1770,3482,0,0,0,0,0,0
$GC,2956,-1.42,-116.8,286.5,-9.8,219,2960,0.00,2.75,0.00,0.000,4,0.000,0.081,2688,196,3482,0,0,0,0,0,0
$GC,2988,-1.42,-116.8,290.0,-10.9,219,2994,0.00,2.40,0.00,0.000,6,0.000,0.020,2687,1736,3482,0,0,0,0,0,0
$GC,3240,-1.46,-116.8,312.9,-9.0,226,3245,0.00,2.58,0.00,0.000,4,0.000,0.036,2688,3345,3481,0,0,0,0,0,0
$GC,3290,-1.56,-116.8,317.7,-8.5,227,3296,0.12,2.58,0.00,0.000,6,0.067,0.038,2640,1780,3480,0,0,0,0,0,0
$GC,3563,-1.50,-116.8,345.9,-10.6,234,3565,0.15,0.00,0.00,0.000,6,0.112,0.000,2671,1780,3479,0,0,0,0,0,0
$GC,3808,-1.50,-116.8,370.4,-10.2,240,3812,0.00,2.50,0.00,0.000,4,0.000,0.038,2671,3342,3478,0,0,0,0,0,0
$GC,3847,-1.55,-116.8,374.8,-11.2,241,3852,0.00,2.58,0.00,0.000,6,0.000,0.045,2671,1787,3478,0,0,0,0,0,0
$GC,4130,-1.55,-116.8,405.6,-10.8,248,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1787,3475,0,0,0,0,0,0
$GC,4376,-1.55,-116.8,429.8,-9.7,254,4380,0.00,2.92,0.00,0.000,4,0.000,0.100,2672,182,3473,0,0,0,0,0,0
$GC,4397,-1.55,-116.8,432.0,-9.4,254,4401,0.00,2.58,0.00,0.000,6,0.000,0.028,2671,1784,3473,0,0,0,0,0,0
$GC,4652,-1.55,-116.8,451.7,-7.5,261,4656,0.00,2.60,0.00,0.000,4,0.000,0.053,2670,3358,3472,0,0,0,0,0,0
$GC,4681,-1.61,-116.8,453.9,-7.6,261,4685,0.00,2.65,0.00,0.000,6,0.000,0.054,2672,1796,3472,0,0,0,0,0,0
$GC,4931,-1.61,-116.8,474.9,-8.8,267,4936,0.00,2.97,0.00,0.000,4,0.000,0.106,2672,186,3470,0,0,0,0,0,0
$GC,4970,-1.61,-116.8,479.1,-10.6,268,4975,0.00,2.60,0.00,0.000,6,0.000,0.035,2671,1785,3469,0,0,0,0,0,0
$STATE,5210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5210,begin apogee
$GC,5218,-0.31,0.0,503.9,10.3,274,5318,1.17,0.00,97.05,0.928,6,0.084,0.000,2930,1830,3001,0,0,0,0,0,0
$STATE,5319,end apogee,CONTROL_FINISHED_OK
$STATE,5319,begin climb
$GC,5322,1.41,116.8,506.9,0.0,276,5435,1.58,3.00,101.47,0.904,4,0.050,0.094,3314,234,2523,0,0,0,0,0,0
$GC,5464,1.24,168.4,506.9,6.9,279,5516,0.22,2.62,45.55,0.884,6,0.123,0.035,3271,1815,2314,0,0,0,0,0,0
$GC,5772,1.29,207.5,484.0,7.7,287,5813,0.00,2.80,34.38,0.874,4,0.000,0.065,3271,3406,2154,0,0,0,0,0,0
$GC,5837,1.30,221.7,478.4,9.2,288,5858,0.00,2.75,13.82,0.815,6,0.000,0.062,3271,1817,2097,0,0,0,0,0,0
$GC,6102,1.30,221.7,451.0,10.6,295,6106,0.00,3.03,0.00,0.000,4,0.000,0.109,3271,230,2090,0,0,0,0,0,0
$GC,6147,1.25,221.7,445.3,13.0,296,6152,0.00,2.60,0.00,0.000,6,0.000,0.030,3271,1815,2088,0,0,0,0,0,0
$GC,6424,1.25,221.7,413.1,11.5,303,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1816,2087,0,0,0,0,0,0
$GC,6668,1.25,224.2,388.3,9.9,309,6673,0.00,2.83,0.00,0.000,4,0.000,0.081,3271,229,2085,0,0,0,0,0,0
$GC,6697,1.20,224.2,385.3,10.7,309,6701,0.00,2.55,0.00,0.000,6,0.000,0.024,3271,1818,2084,0,0,0,0,0,0
$GC,6950,1.22,243.3,362.7,8.9,315,6971,0.00,0.00,18.77,0.815,6,0.000,0.000,3271,1818,2009,0,0,0,0,0,0
$GC,7190,1.24,259.1,340.5,9.1,321,7211,0.00,2.85,15.65,0.791,4,0.000,0.074,3271,229,1942,0,0,0,0,0,0
$GC,7224,1.25,263.2,337.3,9.8,321,7234,0.00,2.55,4.93,0.598,6,0.000,0.026,3271,1806,1928,0,0,0,0,0,0
$GC,7513,1.29,263.2,307.4,10.4,329,7517,0.00,2.78,0.00,0.000,4,0.000,0.075,3272,225,1924,0,0,0,0,0,0
$GC,7567,1.29,263.2,300.6,12.0,330,7572,0.00,2.50,0.00,0.000,6,0.000,0.021,3271,1796,1922,0,0,0,0,0,0
$GC,7836,1.34,263.2,272.7,10.4,337,7840,0.00,2.72,0.00,0.000,4,0.000,0.070,3271,233,1921,0,0,0,0,0,0
$GC,7863,1.34,263.2,269.3,11.4,337,7867,0.00,2.42,0.00,0.000,6,0.000,0.028,3271,1778,1920,0,0,0,0,0,0
$GC,8113,1.40,263.2,243.2,10.5,343,8118,0.15,2.72,0.00,0.000,4,0.077,0.070,3311,233,1921,0,0,0,0,0,0
$GC,8155,1.33,263.2,238.0,13.6,344,8160,0.10,2.40,0.00,0.000,6,0.141,0.025,3293,1753,1920,0,0,0,0,0,0
$GC,8438,1.33,263.2,208.7,10.1,351,8442,0.00,2.65,0.00,0.000,4,0.000,0.036,3293,3393,1919,0,0,0,0,0,0
$GC,8461,1.39,263.4,206.3,10.0,351,8466,0.00,2.72,0.00,0.000,6,0.000,0.038,3293,1741,1919,0,0,0,0,0,0
$GC,8730,1.44,271.5,181.4,9.6,370,8744,0.00,2.70,7.57,0.621,4,0.000,0.071,3292,229,1893,0,0,0,0,0,0
$GC,8766,1.44,271.5,177.3,11.2,373,8770,0.00,2.40,0.00,0.000,6,0.000,0.025,3292,1748,1892,0,0,0,0,0,0
$GC,9035,1.48,273.1,149.6,9.9,397,9040,0.12,2.67,0.00,0.000,4,0.120,0.031,3325,3394,1892,0,0,0,0,0,0
$GC,9076,1.52,273.1,144.5,11.5,400,9080,0.00,2.70,0.00,0.000,6,0.000,0.041,3324,1751,1891,0,0,0,0,0,0
$GC,9340,1.52,273.1,114.4,11.4,424,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1751,1891,0,0,0,0,0,0
$GC,9605,1.54,286.8,88.2,9.2,449,9630,0.00,2.70,14.98,0.598,4,0.000,0.067,3325,236,1830,0,0,0,0,0,0
$GC,9637,1.56,300.7,85.1,9.2,451,9657,0.00,2.40,13.57,0.582,6,0.000,0.020,3325,1769,1774,0,0,0,0,0,0
$GC,9912,1.68,333.9,62.0,8.0,477,9954,0.17,2.70,29.73,0.587,4,0.066,0.030,3371,3389,1638,0,0,0,0,0,0
$GC,9998,1.75,333.9,53.4,11.8,483,10002,0.00,2.72,0.00,0.000,6,0.000,0.037,3371,1753,1636,0,0,0,0,0,0
$GC,10281,1.75,333.9,21.2,11.8,512,10291,0.00,2.62,0.00,0.000,4,0.000,0.064,3371,233,1633,0,0,0,0,0,0
$GC,10302,1.75,333.9,18.9,11.4,514,10312,0.00,2.42,0.00,0.000,6,0.000,0.020,3371,1778,1633,0,0,0,0,0,0
$STATE,10428,end climb,SURFACE_DEPTH_REACHED
$STATE,10428,begin surface coast
$FINISH,0.4,1.010075
$STATE,10473,end surface coast,CONTROL_FINISHED_OK
$STATE,10473,begin surface
$SM_CCo,10494,76.68,0.463,1,0,1288,420.20
$SM_GC,0.97,0.00,0.00,76.68,0.000,0.000,0.463,477,1779,1288,-11.61,0.25,420.20
$IRIDIUM_FIX,2248.70,-15740.63,130100,202041
$TT8_MAMPS,0.026078
$HUMID,54.25
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.60
$XPDR_PINGS,83
$24V_AH,23.4,62.776
$10V_AH,10.0,59.872
$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,28.725,141.375,397.475,76.675,0.000,73.478,131.248,429.748,20.750,0.000,11.821,1080.667,6835.660,547.922,2046.753,965.067,33.368,1310.063,0.000,2060.578,0.000,0.533,0.000
$DEVICE_MAMPS,150.332,164.905,928.070,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.684,304.243,422.745,833.149,1260.500,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,41522,538
$CAP_FILE_SIZE,119666,0
$CFSIZE,260165632,155922432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191010,234928,2257.354,-15742.355,12,99.0,31,10.1