version: 66.06
glider: 146
mission: 5
dive: 476
start: 10 22 110 21 38 40
data:
$ID,146
$MISSION,5
$DIVE,476
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$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,-258802.86
$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,49
$R_STBD_OVSHOOT,59
$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
$GPS1,212955,2255.270,-15752.113,10,1.8,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-69.1
$GPS2,213744,2255.313,-15752.109,14,1.7,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.226,-0.063
$KALMAN_X,-258803.3,-47.4,125.6,290561.4,-63.6
$KALMAN_Y,-613789.5,158.1,392.3,751646.4,-845.4
$MHEAD_RNG_PITCHd_Wd,95.4,20845,-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,-85.97,0.000,2,0.000,0.000,475,1744,3467,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.3,-8.5,11,125,11.45,2.53,0.00,0.000,4,0.145,0.022,2687,3340,3469,0,0,0,0,0,0
$GC,137,-0.16,-116.8,16.5,-35.3,14,147,1.27,2.55,0.00,0.000,6,0.097,0.033,2961,1790,3471,0,0,0,0,0,0
$GC,454,-0.83,-116.8,40.6,-9.2,53,459,0.57,2.45,0.00,0.000,4,0.064,0.024,2819,3341,3472,0,0,0,0,0,0
$GC,538,-1.00,-116.8,48.8,-9.5,59,543,0.15,2.65,0.00,0.000,6,0.062,0.027,2768,1704,3472,0,0,0,0,0,0
$GC,808,-1.11,-116.8,73.0,-7.6,83,812,0.00,2.58,0.00,0.000,4,0.000,0.028,2768,3338,3472,0,0,0,0,0,0
$GC,881,-1.27,-116.8,79.6,-7.9,88,890,0.15,2.60,0.00,0.000,6,0.031,0.027,2708,1737,3473,0,0,0,0,0,0
$GC,1148,-1.27,-116.8,108.5,-10.2,113,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1736,3474,0,0,0,0,0,0
$GC,1409,-1.27,-116.8,133.8,-8.9,138,1414,0.00,2.60,0.00,0.000,4,0.000,0.065,2708,192,3474,0,0,0,0,0,0
$GC,1441,-1.27,-116.8,136.6,-10.0,140,1445,0.00,2.35,0.00,0.000,6,0.000,0.020,2708,1760,3474,0,0,0,0,0,0
$GC,1703,-1.27,-116.8,160.8,-9.0,164,1708,0.00,2.42,0.00,0.000,4,0.000,0.025,2708,3315,3474,0,0,0,0,0,0
$GC,1749,-1.33,-116.8,165.5,-9.6,167,1755,0.00,2.53,0.00,0.000,6,0.000,0.032,2708,1739,3475,0,0,0,0,0,0
$GC,2014,-1.33,-116.8,189.6,-9.0,192,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1739,3475,0,0,0,0,0,0
$GC,2299,-1.33,-116.8,215.4,-8.9,208,2304,0.00,2.47,0.00,0.000,4,0.000,0.031,2708,3313,3475,0,0,0,0,0,0
$GC,2351,-1.41,-116.8,220.4,-9.5,209,2356,0.00,2.50,0.00,0.000,6,0.000,0.030,2708,1750,3475,0,0,0,0,0,0
$GC,2624,-1.45,-116.8,246.9,-9.7,216,2629,0.10,2.67,0.00,0.000,4,0.090,0.072,2672,196,3475,0,0,0,0,0,0
$GC,2644,-1.45,-116.8,248.6,-9.1,216,2648,0.00,2.35,0.00,0.000,6,0.000,0.023,2672,1740,3475,0,0,0,0,0,0
$GC,2905,-1.45,-116.8,271.6,-8.1,223,2909,0.00,2.50,0.00,0.000,4,0.000,0.032,2672,3324,3474,0,0,0,0,0,0
$GC,2931,-1.45,-116.8,274.1,-8.7,223,2936,0.00,2.55,0.00,0.000,6,0.000,0.035,2672,1741,3474,0,0,0,0,0,0
$GC,3183,-1.45,-116.8,300.3,-10.9,229,3187,0.00,2.72,0.00,0.000,4,0.000,0.076,2672,187,3473,0,0,0,0,0,0
$GC,3222,-1.45,-116.8,305.2,-12.3,230,3226,0.00,2.38,0.00,0.000,6,0.000,0.028,2672,1713,3473,0,0,0,0,0,0
$GC,3505,-1.45,-116.8,337.2,-11.4,237,3509,0.00,2.58,0.00,0.000,4,0.000,0.037,2672,3319,3472,0,0,0,0,0,0
$GC,3561,-1.50,-116.8,343.2,-10.7,238,3566,0.00,2.60,0.00,0.000,6,0.000,0.039,2672,1745,3472,0,0,0,0,0,0
$GC,3828,-1.50,-116.8,369.8,-9.9,245,3832,0.00,2.53,0.00,0.000,4,0.000,0.040,2672,3321,3471,0,0,0,0,0,0
$GC,3845,-1.50,-116.8,371.4,-9.4,245,3850,0.00,2.60,0.00,0.000,6,0.000,0.046,2672,1746,3470,0,0,0,0,0,0
$GC,4108,-1.50,-116.8,396.9,-9.9,252,4112,0.00,2.83,0.00,0.000,4,0.000,0.090,2672,179,3469,0,0,0,0,0,0
$GC,4123,-1.50,-116.8,398.8,-9.7,252,4128,0.00,2.42,0.00,0.000,6,0.000,0.030,2672,1723,3469,0,0,0,0,0,0
$GC,4385,-1.50,-116.8,424.7,-10.0,259,4389,0.00,2.67,0.00,0.000,4,0.000,0.045,2672,3354,3467,0,0,0,0,0,0
$GC,4436,-1.55,-116.8,429.8,-10.3,260,4440,0.00,2.70,0.00,0.000,6,0.000,0.053,2672,1758,3467,0,0,0,0,0,0
$GC,4708,-1.55,-116.8,456.7,-9.7,267,4712,0.00,2.60,0.00,0.000,4,0.000,0.042,2672,3347,3465,0,0,0,0,0,0
$GC,4741,-1.59,-116.8,459.9,-9.1,267,4746,0.00,2.70,0.00,0.000,6,0.000,0.054,2672,1768,3465,0,0,0,0,0,0
$GC,4991,-1.59,-116.8,480.3,-8.3,274,4996,0.00,2.95,0.00,0.000,4,0.000,0.106,2672,185,3463,0,0,0,0,0,0
$GC,5018,-1.59,-116.8,483.0,-9.7,274,5022,0.00,2.55,0.00,0.000,6,0.000,0.037,2672,1758,3463,0,0,0,0,0,0
$STATE,5224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5225,begin apogee
$GC,5231,-0.31,0.0,501.0,8.7,279,5330,1.17,0.00,95.75,0.927,6,0.083,0.000,2932,1835,3001,0,0,0,0,0,0
$STATE,5331,end apogee,CONTROL_FINISHED_OK
$STATE,5331,begin climb
$GC,5335,1.38,116.8,503.3,0.0,281,5447,1.52,2.78,101.38,0.907,4,0.044,0.066,3306,3391,2523,0,0,0,0,0,0
$GC,5453,1.37,208.2,503.3,4.8,283,5540,0.00,2.70,79.68,0.891,6,0.000,0.056,3306,1820,2151,0,0,0,0,0,0
$GC,5784,1.28,208.2,467.5,11.7,292,5789,0.15,3.00,0.00,0.000,4,0.133,0.104,3278,233,2142,0,0,0,0,0,0
$GC,5806,1.17,208.2,464.7,11.5,292,5811,0.10,2.60,0.00,0.000,6,0.143,0.027,3258,1826,2140,0,0,0,0,0,0
$GC,6063,1.17,210.6,439.4,9.9,299,6068,0.00,2.88,0.00,0.000,4,0.000,0.082,3258,232,2139,0,0,0,0,0,0
$GC,6079,1.18,216.2,437.6,9.7,299,6092,0.00,2.60,6.47,0.700,6,0.000,0.030,3258,1832,2119,0,0,0,0,0,0
$GC,6344,1.18,216.2,411.2,10.1,306,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1832,2116,0,0,0,0,0,0
$GC,6589,1.18,216.2,386.1,10.2,312,6593,0.00,2.60,0.00,0.000,4,0.000,0.041,3258,3409,2114,0,0,0,0,0,0
$GC,6616,1.22,216.2,383.1,11.0,312,6620,0.00,2.67,0.00,0.000,6,0.000,0.050,3258,1827,2113,0,0,0,0,0,0
$GC,6866,1.24,232.1,359.9,9.1,318,6886,0.00,2.92,15.32,0.802,4,0.000,0.081,3258,230,2052,0,0,0,0,0,0
$GC,6916,1.20,232.1,355.1,10.5,319,6921,0.00,2.60,0.00,0.000,6,0.000,0.023,3258,1845,2050,0,0,0,0,0,0
$GC,7188,1.28,260.0,331.3,8.4,326,7220,0.00,2.58,25.90,0.808,4,0.000,0.037,3258,3398,1940,0,0,0,0,0,0
$GC,7250,1.39,274.8,326.2,9.2,327,7271,0.20,2.62,14.82,0.768,6,0.073,0.044,3307,1831,1880,0,0,0,0,0,0
$GC,7514,1.39,274.8,295.8,11.8,334,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1831,1875,0,0,0,0,0,0
$GC,7758,1.39,274.8,265.5,12.6,340,7763,0.00,2.83,0.00,0.000,4,0.000,0.077,3307,234,1873,0,0,0,0,0,0
$GC,7792,1.29,274.8,260.8,14.6,340,7798,0.12,2.58,0.00,0.000,6,0.131,0.023,3283,1845,1872,0,0,0,0,0,0
$GC,8042,1.29,274.8,232.7,10.7,347,8046,0.00,2.83,0.00,0.000,4,0.000,0.072,3283,234,1872,0,0,0,0,0,0
$GC,8057,1.29,274.8,230.9,10.2,347,8061,0.00,2.55,0.00,0.000,6,0.000,0.027,3283,1838,1872,0,0,0,0,0,0
$GC,8321,1.34,287.2,205.9,9.3,354,8337,0.00,2.83,10.95,0.682,4,0.000,0.071,3283,236,1829,0,0,0,0,0,0
$GC,8370,1.34,287.2,200.6,11.3,355,8375,0.00,2.53,0.00,0.000,6,0.000,0.026,3283,1824,1827,0,0,0,0,0,0
$GC,8636,1.39,290.1,175.9,9.9,378,8646,0.00,0.00,3.55,0.437,6,0.000,0.000,3283,1825,1818,0,0,0,0,0,0
$GC,8904,1.45,296.8,149.8,9.7,403,8919,0.15,2.58,7.88,0.606,4,0.077,0.034,3323,3385,1790,0,0,0,0,0,0
$GC,8939,1.45,296.8,145.6,10.6,406,8943,0.00,2.60,0.00,0.000,6,0.000,0.035,3323,1818,1789,0,0,0,0,0,0
$GC,9201,1.45,296.8,116.2,11.3,430,9206,0.00,2.72,0.00,0.000,4,0.000,0.071,3323,234,1787,0,0,0,0,0,0
$GC,9224,1.40,296.8,113.1,12.6,431,9229,0.00,2.53,0.00,0.000,6,0.000,0.020,3323,1835,1786,0,0,0,0,0,0
$GC,9488,1.40,296.8,82.3,12.0,456,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1837,1787,0,0,0,0,0,0
$GC,9753,1.49,315.7,60.6,8.9,481,9781,0.00,2.55,17.52,0.583,4,0.000,0.030,3322,3379,1713,0,0,0,0,0,0
$GC,9861,1.63,328.0,50.8,9.3,489,9879,0.12,2.58,12.32,0.551,6,0.082,0.038,3357,1814,1663,0,0,0,0,0,0
$GC,10156,1.63,328.0,20.4,11.0,520,10165,0.00,2.55,0.00,0.000,4,0.000,0.032,3357,3380,1660,0,0,0,0,0,0
$GC,10182,1.63,328.0,17.3,10.8,523,10192,0.00,2.58,0.00,0.000,6,0.000,0.036,3357,1833,1659,0,0,0,0,0,0
$STATE,10315,end climb,SURFACE_DEPTH_REACHED
$STATE,10315,begin surface coast
$FINISH,0.3,1.008391
$STATE,10373,end surface coast,CONTROL_FINISHED_OK
$STATE,10373,begin surface
$SM_CCo,10396,75.78,0.535,0,0,1288,420.20
$SM_GC,1.04,0.00,0.00,75.78,0.000,0.000,0.535,476,1751,1288,-11.61,-0.54,420.20
$IRIDIUM_FIX,2248.70,-15755.40,160100,181831
$TT8_MAMPS,0.026078
$HUMID,54.64
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.70
$XPDR_PINGS,108
$24V_AH,23.3,65.871
$10V_AH,10.0,62.691
$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,29.050,146.675,391.550,75.775,0.000,28.120,36.666,264.936,27.000,0.000,16.375,1105.839,6539.336,538.420,2116.844,643.086,33.376,1313.165,0.000,2116.863,0.000,0.534,0.000
$DEVICE_MAMPS,144.963,265.382,927.303,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.052,326.450,438.896,872.262,1317.992,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,44706,550
$CAP_FILE_SIZE,116970,0
$CFSIZE,260165632,154591232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231010,003430,2254.557,-15750.904,36,1.1,36,10.1