version: 66.06
glider: 146
mission: 5
dive: 477
start: 10 23 110 0 43 47
data:
$ID,146
$MISSION,5
$DIVE,477
$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,-258836.66
$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,40
$R_STBD_OVSHOOT,54
$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
$GPS1,003430,2254.557,-15750.904,36,1.1,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-70.0
$GPS2,004252,2254.613,-15750.851,11,99.0,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,-0.077
$KALMAN_X,-258860.1,4.5,42.6,292814.2,-193.9
$KALMAN_Y,-613913.6,107.2,-112.4,751024.7,-610.5
$MHEAD_RNG_PITCHd_Wd,99.0,18339,-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,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.32,0.000,2,0.000,0.000,476,1750,3210,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.1,-5.4,10,126,11.68,2.67,-5.15,0.000,4,0.154,0.068,2689,212,3479,0,0,0,0,0,0
$GC,151,-1.03,-116.8,18.0,-25.1,16,161,0.35,2.45,0.00,0.000,6,0.093,0.017,2767,1787,3481,0,0,0,0,0,0
$GC,443,-1.03,-116.8,51.7,-11.4,48,447,0.00,2.45,0.00,0.000,4,0.000,0.025,2767,3336,3481,0,0,0,0,0,0
$GC,467,-1.08,-116.8,54.7,-10.3,49,476,0.00,2.53,0.00,0.000,6,0.000,0.028,2767,1783,3482,0,0,0,0,0,0
$GC,735,-1.18,-116.8,78.0,-8.0,74,740,0.10,2.45,0.00,0.000,4,0.082,0.027,2731,3328,3482,0,0,0,0,0,0
$GC,805,-1.28,-116.8,84.1,-8.1,79,810,0.00,2.45,0.00,0.000,6,0.000,0.027,2731,1789,3482,0,0,0,0,0,0
$GC,1074,-1.35,-116.8,107.3,-8.7,103,1079,0.10,2.45,0.00,0.000,4,0.082,0.031,2696,3328,3483,0,0,0,0,0,0
$GC,1095,-1.35,-116.8,109.9,-8.7,104,1105,0.00,2.47,0.00,0.000,6,0.000,0.028,2696,1798,3483,0,0,0,0,0,0
$GC,1364,-1.35,-116.8,132.9,-9.5,129,1368,0.00,2.70,0.00,0.000,4,0.000,0.059,2695,197,3484,0,0,0,0,0,0
$GC,1397,-1.35,-116.8,136.5,-10.6,131,1401,0.00,2.45,0.00,0.000,6,0.000,0.019,2695,1806,3484,0,0,0,0,0,0
$GC,1660,-1.35,-116.8,162.9,-9.8,155,1664,0.00,2.40,0.00,0.000,4,0.000,0.032,2695,3325,3484,0,0,0,0,0,0
$GC,1713,-1.40,-116.8,168.1,-9.3,159,1718,0.00,2.45,0.00,0.000,6,0.000,0.035,2696,1787,3485,0,0,0,0,0,0
$GC,1976,-1.40,-116.8,193.0,-9.6,183,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1787,3484,0,0,0,0,0,0
$GC,2253,-1.40,-116.8,222.2,-10.7,195,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1784,3484,0,0,0,0,0,0
$GC,2495,-1.40,-116.8,248.7,-10.7,201,2499,0.00,2.42,0.00,0.000,4,0.000,0.032,2695,3316,3484,0,0,0,0,0,0
$GC,2540,-1.47,-116.8,252.7,-9.0,202,2544,0.00,2.45,0.00,0.000,6,0.000,0.032,2695,1803,3484,0,0,0,0,0,0
$GC,2819,-1.47,-116.8,275.8,-8.6,209,2824,0.00,2.83,0.00,0.000,4,0.000,0.078,2695,186,3483,0,0,0,0,0,0
$GC,2846,-1.47,-116.8,278.6,-10.2,209,2850,0.00,2.45,0.00,0.000,6,0.000,0.024,2695,1773,3483,0,0,0,0,0,0
$GC,3096,-1.47,-116.8,302.6,-9.5,215,3101,0.00,2.72,0.00,0.000,4,0.000,0.072,2695,194,3482,0,0,0,0,0,0
$GC,3112,-1.47,-116.8,304.2,-9.2,215,3116,0.00,2.47,0.00,0.000,6,0.000,0.021,2695,1788,3482,0,0,0,0,0,0
$GC,3375,-1.51,-116.8,326.0,-8.1,222,3380,0.12,2.53,0.00,0.000,4,0.074,0.037,2655,3351,3481,0,0,0,0,0,0
$GC,3408,-1.51,-116.8,329.3,-9.2,222,3413,0.00,2.55,0.00,0.000,6,0.000,0.041,2655,1800,3481,0,0,0,0,0,0
$GC,3659,-1.51,-116.8,354.2,-10.4,229,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,1800,3479,0,0,0,0,0,0
$GC,3901,-1.51,-116.8,380.8,-11.0,235,3906,0.00,2.88,0.00,0.000,4,0.000,0.087,2656,188,3478,0,0,0,0,0,0
$GC,3923,-1.47,-116.8,383.3,-11.2,235,3928,0.10,2.55,0.00,0.000,6,0.127,0.030,2676,1787,3478,0,0,0,0,0,0
$GC,4178,-1.47,-116.8,407.8,-9.5,242,4183,0.00,2.58,0.00,0.000,4,0.000,0.049,2676,3356,3477,0,0,0,0,0,0
$GC,4213,-1.53,-116.8,411.2,-10.2,242,4219,0.00,2.62,0.00,0.000,6,0.000,0.055,2676,1802,3477,0,0,0,0,0,0
$GC,4463,-1.53,-116.8,437.6,-10.8,249,4467,0.00,2.55,0.00,0.000,4,0.000,0.045,2676,3357,3475,0,0,0,0,0,0
$GC,4484,-1.53,-116.8,440.1,-11.1,249,4488,0.00,2.60,0.00,0.000,6,0.000,0.057,2676,1807,3474,0,0,0,0,0,0
$GC,4741,-1.53,-116.8,467.7,-10.8,256,4745,0.00,2.55,0.00,0.000,4,0.000,0.050,2676,3350,3473,0,0,0,0,0,0
$GC,4762,-1.57,-116.8,470.2,-10.5,256,4767,0.00,2.60,0.00,0.000,6,0.000,0.058,2676,1816,3473,0,0,0,0,0,0
$GC,5018,-1.57,-116.8,496.6,-10.5,263,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1816,3471,0,0,0,0,0,0
$STATE,5057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5057,begin apogee
$GC,5065,-0.31,0.0,500.7,10.3,264,5165,1.15,0.00,97.22,0.925,6,0.085,0.000,2929,1816,3001,0,0,0,0,0,0
$STATE,5166,end apogee,CONTROL_FINISHED_OK
$STATE,5166,begin climb
$GC,5169,1.38,116.8,503.9,0.0,266,5275,1.55,0.00,101.30,0.904,6,0.052,0.000,3307,1816,2523,0,0,0,0,0,0
$GC,5496,1.31,161.1,491.2,7.5,274,5539,0.00,0.00,38.42,0.880,6,0.000,0.000,3307,1816,2343,0,0,0,0,0,0
$GC,5781,1.21,161.1,461.7,11.0,281,5786,0.20,2.67,0.00,0.000,4,0.189,0.042,3267,3397,2336,0,0,0,0,0,0
$GC,5825,1.21,161.1,457.1,10.1,282,5830,0.00,2.72,0.00,0.000,6,0.000,0.058,3267,1821,2335,0,0,0,0,0,0
$GC,6105,1.25,188.2,432.8,8.5,289,6134,0.00,2.67,23.95,0.852,4,0.000,0.039,3267,3401,2232,0,0,0,0,0,0
$GC,6198,1.28,213.4,425.4,8.6,291,6227,0.00,2.72,23.38,0.841,6,0.000,0.051,3267,1819,2131,0,0,0,0,0,0
$GC,6479,1.30,234.9,401.0,8.8,298,6501,0.00,0.00,20.00,0.829,6,0.000,0.000,3267,1819,2043,0,0,0,0,0,0
$GC,6721,1.31,242.3,378.0,9.6,304,6736,0.00,2.95,7.53,0.720,4,0.000,0.086,3267,234,2012,0,0,0,0,0,0
$GC,6742,1.31,242.3,375.7,10.5,304,6747,0.00,2.58,0.00,0.000,6,0.000,0.023,3266,1838,2011,0,0,0,0,0,0
$GC,7006,1.32,249.7,350.1,9.6,311,7020,0.00,2.92,7.85,0.722,4,0.000,0.074,3267,232,1982,0,0,0,0,0,0
$GC,7037,1.32,249.7,346.7,10.1,311,7041,0.00,2.58,0.00,0.000,6,0.000,0.028,3267,1826,1981,0,0,0,0,0,0
$GC,7287,1.35,270.7,324.2,8.8,317,7313,0.12,2.62,20.35,0.796,4,0.089,0.033,3298,3406,1895,0,0,0,0,0,0
$GC,7337,1.35,270.7,318.9,11.0,318,7342,0.00,2.65,0.00,0.000,6,0.000,0.044,3298,1826,1894,0,0,0,0,0,0
$GC,7609,1.35,270.7,288.6,11.4,325,7613,0.00,2.83,0.00,0.000,4,0.000,0.074,3298,232,1891,0,0,0,0,0,0
$GC,7650,1.25,270.7,283.7,13.4,326,7655,0.12,2.55,0.00,0.000,6,0.128,0.021,3274,1839,1890,0,0,0,0,0,0
$GC,7934,1.30,274.8,254.7,9.8,333,7943,0.00,2.85,4.12,0.525,4,0.000,0.068,3274,236,1879,0,0,0,0,0,0
$GC,7965,1.30,274.8,251.2,10.7,333,7971,0.00,2.55,0.00,0.000,6,0.000,0.022,3274,1829,1879,0,0,0,0,0,0
$GC,8218,1.36,287.8,228.2,9.3,340,8237,0.00,2.60,13.18,0.707,4,0.000,0.033,3274,3390,1826,0,0,0,0,0,0
$GC,8249,1.43,289.0,224.9,10.0,340,8254,0.15,2.62,0.00,0.000,6,0.079,0.041,3313,1820,1825,0,0,0,0,0,0
$GC,8498,1.43,289.0,196.9,11.3,346,8503,0.00,2.80,0.00,0.000,4,0.000,0.076,3314,238,1823,0,0,0,0,0,0
$GC,8517,1.38,289.0,194.8,11.3,347,8522,0.00,2.53,0.00,0.000,6,0.000,0.022,3314,1829,1822,0,0,0,0,0,0
$GC,8780,1.38,289.0,166.8,10.5,371,8784,0.00,2.53,0.00,0.000,4,0.000,0.031,3314,3398,1822,0,0,0,0,0,0
$GC,8814,1.38,289.0,163.7,10.4,373,8818,0.00,2.60,0.00,0.000,6,0.000,0.041,3314,1821,1821,0,0,0,0,0,0
$GC,9080,1.38,289.0,135.2,10.4,397,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1821,1821,0,0,0,0,0,0
$GC,9341,1.38,289.0,107.2,10.5,422,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1821,1821,0,0,0,0,0,0
$GC,9598,1.38,289.0,80.5,10.5,446,9602,0.00,2.53,0.00,0.000,4,0.000,0.027,3314,3396,1821,0,0,0,0,0,0
$GC,9618,1.44,289.0,78.6,11.1,447,9623,0.00,2.58,0.00,0.000,6,0.000,0.036,3314,1818,1821,0,0,0,0,0,0
$GC,9888,1.53,303.3,55.3,9.2,471,9908,0.00,0.00,14.18,0.572,6,0.000,0.000,3314,1819,1762,0,0,0,0,0,0
$GC,10167,1.67,349.4,32.2,7.4,497,10222,0.20,2.62,40.25,0.567,4,0.065,0.027,3368,3391,1575,0,0,0,0,0,0
$GC,10235,1.67,349.4,25.8,10.3,503,10244,0.00,2.58,0.00,0.000,6,0.000,0.035,3369,1856,1574,0,0,0,0,0,0
$STATE,10437,end climb,SURFACE_DEPTH_REACHED
$STATE,10437,begin surface coast
$FINISH,0.4,1.008966
$STATE,10480,end surface coast,CONTROL_FINISHED_OK
$STATE,10480,begin surface
$SM_CCo,10503,58.28,0.533,0,0,1287,420.20
$SM_GC,0.92,0.00,0.00,58.28,0.000,0.000,0.533,475,1746,1287,-11.62,-0.68,420.20
$IRIDIUM_FIX,2244.02,-15756.28,160100,212156
$TT8_MAMPS,0.026078
$HUMID,55.59
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.20
$XPDR_PINGS,105
$24V_AH,23.3,65.999
$10V_AH,10.0,62.815
$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,27.700,135.275,411.725,58.275,0.000,30.246,32.794,272.687,26.250,0.000,33.170,1079.776,6778.968,525.815,2021.663,655.708,33.397,1272.497,0.000,2011.060,0.000,0.534,0.000
$DEVICE_MAMPS,188.682,87.438,925.002,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.470,315.988,423.571,830.768,1256.573,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,41486,538
$CAP_FILE_SIZE,112745,0
$CFSIZE,260165632,154533888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231010,034106,2253.778,-15749.702,33,1.2,37,10.1