version: 66.06
glider: 146
mission: 5
dive: 479
start: 10 23 110 6 54 15
data:
$ID,146
$MISSION,5
$DIVE,479
$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,-258867.34
$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,47
$R_STBD_OVSHOOT,52
$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
$GPS1,064536,2253.032,-15748.684,29,1.5,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-68.1
$GPS2,065319,2253.066,-15748.631,9,1.4,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.186,-0.143
$KALMAN_X,-258992.4,30.3,-66.8,296850.5,98.9
$KALMAN_Y,-614444.2,-168.6,62.3,748794.1,132.8
$MHEAD_RNG_PITCHd_Wd,117.4,13596,-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,-85.80,0.000,2,0.000,0.000,475,1743,3457,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.3,-8.9,11,127,11.52,2.55,-0.35,0.000,4,0.148,0.055,2689,207,3479,0,0,0,0,0,0
$GC,138,-0.18,-116.8,17.9,-37.4,14,147,1.25,2.45,0.00,0.000,6,0.113,0.017,2955,1787,3480,0,0,0,0,0,0
$GC,440,-0.82,-116.8,40.9,-7.5,51,445,0.55,2.42,0.00,0.000,4,0.060,0.025,2816,3328,3482,0,0,0,0,0,0
$GC,523,-0.99,-116.8,47.6,-7.2,57,528,0.12,2.60,0.00,0.000,6,0.069,0.027,2768,1712,3482,0,0,0,0,0,0
$GC,793,-1.07,-116.8,77.8,-10.5,81,797,0.00,2.55,0.00,0.000,4,0.000,0.025,2768,3318,3482,0,0,0,0,0,0
$GC,883,-1.24,-116.8,86.1,-7.3,88,888,0.17,2.50,0.00,0.000,6,0.052,0.027,2706,1763,3482,0,0,0,0,0,0
$GC,1147,-1.24,-116.8,106.9,-8.9,112,1152,0.10,2.47,0.00,0.000,4,0.114,0.026,2728,3318,3484,0,0,0,0,0,0
$GC,1177,-1.32,-116.8,109.5,-7.7,114,1182,0.00,2.53,0.00,0.000,6,0.000,0.027,2728,1744,3484,0,0,0,0,0,0
$GC,1442,-1.38,-116.8,134.3,-9.3,138,1447,0.12,2.62,0.00,0.000,4,0.074,0.064,2685,199,3484,0,0,0,0,0,0
$GC,1463,-1.38,-116.8,136.3,-9.3,139,1468,0.00,2.35,0.00,0.000,6,0.000,0.019,2685,1754,3484,0,0,0,0,0,0
$GC,1732,-1.38,-116.8,166.9,-11.5,163,1736,0.00,2.45,0.00,0.000,4,0.000,0.029,2684,3317,3485,0,0,0,0,0,0
$GC,1775,-1.38,-116.8,172.3,-11.4,166,1779,0.00,2.53,0.00,0.000,6,0.000,0.031,2685,1749,3485,0,0,0,0,0,0
$GC,2043,-1.38,-116.8,198.6,-9.6,190,2048,0.00,2.45,0.00,0.000,4,0.000,0.031,2685,3310,3485,0,0,0,0,0,0
$GC,2071,-1.38,-116.8,202.1,-9.1,191,2075,0.00,2.53,0.00,0.000,6,0.000,0.033,2685,1745,3485,0,0,0,0,0,0
$GC,2321,-1.38,-116.8,227.1,-10.2,197,2325,0.00,2.47,0.00,0.000,4,0.000,0.029,2685,3316,3485,0,0,0,0,0,0
$GC,2343,-1.38,-116.8,229.1,-9.2,197,2347,0.00,2.50,0.00,0.000,6,0.000,0.033,2685,1768,3485,0,0,0,0,0,0
$GC,2600,-1.38,-116.8,253.1,-9.6,204,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1768,3485,0,0,0,0,0,0
$GC,2842,-1.38,-116.8,276.4,-9.6,210,2846,0.00,2.45,0.00,0.000,4,0.000,0.034,2685,3318,3484,0,0,0,0,0,0
$GC,2857,-1.38,-116.8,278.1,-9.9,210,2862,0.00,2.50,0.00,0.000,6,0.000,0.031,2685,1777,3484,0,0,0,0,0,0
$GC,3120,-1.38,-116.8,302.6,-9.3,217,3124,0.00,2.78,0.00,0.000,4,0.000,0.077,2685,185,3483,0,0,0,0,0,0
$GC,3147,-1.38,-116.8,305.2,-9.0,217,3151,0.00,2.42,0.00,0.000,6,0.000,0.021,2685,1736,3483,0,0,0,0,0,0
$GC,3397,-1.38,-116.8,328.0,-9.1,223,3401,0.00,2.58,0.00,0.000,4,0.000,0.035,2685,3350,3482,0,0,0,0,0,0
$GC,3449,-1.44,-116.8,332.6,-9.0,224,3453,0.00,2.58,0.00,0.000,6,0.000,0.041,2685,1784,3482,0,0,0,0,0,0
$GC,3721,-1.44,-116.8,357.3,-9.0,231,3725,0.00,2.53,0.00,0.000,4,0.000,0.037,2685,3345,3481,0,0,0,0,0,0
$GC,3737,-1.44,-116.8,358.8,-8.7,231,3741,0.00,2.55,0.00,0.000,6,0.000,0.039,2684,1792,3481,0,0,0,0,0,0
$GC,3999,-1.44,-116.8,379.0,-7.7,238,4004,0.00,2.88,0.00,0.000,4,0.000,0.091,2685,184,3479,0,0,0,0,0,0
$GC,4015,-1.44,-116.8,380.5,-7.6,238,4019,0.00,2.53,0.00,0.000,6,0.000,0.028,2684,1789,3479,0,0,0,0,0,0
$GC,4275,-1.44,-116.8,401.3,-8.0,245,4280,0.00,2.53,0.00,0.000,4,0.000,0.041,2684,3351,3477,0,0,0,0,0,0
$GC,4322,-1.52,-116.8,405.2,-8.6,246,4326,0.00,2.58,0.00,0.000,6,0.000,0.050,2685,1805,3478,0,0,0,0,0,0
$GC,4599,-1.56,-116.8,432.0,-10.1,253,4601,0.10,0.00,0.00,0.000,6,0.087,0.000,2650,1805,3476,0,0,0,0,0,0
$GC,4843,-1.56,-116.8,460.2,-11.5,259,4847,0.00,2.55,0.00,0.000,4,0.000,0.050,2651,3343,3474,0,0,0,0,0,0
$GC,4883,-1.56,-116.8,464.7,-11.6,260,4888,0.00,2.62,0.00,0.000,6,0.000,0.057,2650,1809,3474,0,0,0,0,0,0
$GC,5166,-1.56,-116.8,494.6,-10.4,267,5171,0.00,3.03,0.00,0.000,4,0.000,0.111,2650,183,3472,0,0,0,0,0,0
$GC,5188,-1.52,-116.8,496.9,-10.6,267,5192,0.00,2.62,0.00,0.000,6,0.000,0.032,2650,1793,3472,0,0,0,0,0,0
$STATE,5237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5237,begin apogee
$GC,5244,-0.31,0.0,502.4,10.6,269,5345,1.27,0.00,97.68,0.926,6,0.095,0.000,2931,1793,3001,0,0,0,0,0,0
$STATE,5346,end apogee,CONTROL_FINISHED_OK
$STATE,5346,begin climb
$GC,5349,1.38,116.8,504.5,0.0,271,5455,1.55,0.00,102.32,0.903,6,0.043,0.000,3309,1793,2524,0,0,0,0,0,0
$GC,5685,1.27,125.4,483.4,9.5,280,5695,0.15,0.00,7.43,0.742,6,0.129,0.000,3279,1793,2489,0,0,0,0,0,0
$GC,5927,1.24,155.4,462.4,8.3,286,5962,0.00,2.92,27.30,0.869,4,0.000,0.081,3279,230,2366,0,0,0,0,0,0
$GC,5974,1.17,179.2,458.5,8.7,287,6004,0.12,2.62,23.15,0.849,6,0.134,0.028,3256,1823,2269,0,0,0,0,0,0
$GC,6258,1.21,210.7,435.5,8.2,294,6292,0.00,2.75,28.05,0.858,4,0.000,0.050,3256,3398,2141,0,0,0,0,0,0
$GC,6321,1.26,211.6,429.6,10.0,295,6325,0.00,2.70,0.00,0.000,6,0.000,0.055,3256,1829,2138,0,0,0,0,0,0
$GC,6583,1.27,222.2,405.0,9.4,302,6599,0.00,2.62,10.38,0.781,4,0.000,0.035,3255,3411,2096,0,0,0,0,0,0
$GC,6617,1.33,233.8,401.5,9.4,302,6637,0.15,2.70,12.43,0.791,6,0.081,0.048,3293,1835,2047,0,0,0,0,0,0
$GC,6913,1.33,238.4,372.1,9.8,310,6923,0.00,2.62,4.70,0.608,4,0.000,0.036,3293,3416,2029,0,0,0,0,0,0
$GC,6934,1.35,253.9,369.8,9.1,310,6955,0.00,2.67,16.02,0.803,6,0.000,0.046,3293,1840,1966,0,0,0,0,0,0
$GC,7235,1.35,253.9,339.6,10.4,318,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1841,1961,0,0,0,0,0,0
$GC,7477,1.35,253.9,312.5,11.1,324,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1841,1959,0,0,0,0,0,0
$GC,7721,1.35,253.9,287.2,10.3,330,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1841,1959,0,0,0,0,0,0
$GC,7965,1.35,253.9,261.6,10.6,336,7969,0.00,2.83,0.00,0.000,4,0.000,0.076,3293,232,1958,0,0,0,0,0,0
$GC,8010,1.30,253.9,256.1,12.4,337,8015,0.00,2.60,0.00,0.000,6,0.000,0.028,3293,1866,1956,0,0,0,0,0,0
$GC,8288,1.32,268.7,228.8,9.2,344,8303,0.00,0.00,13.30,0.716,6,0.000,0.000,3293,1868,1905,0,0,0,0,0,0
$GC,8531,1.35,291.8,207.4,8.7,350,8560,0.00,2.58,21.88,0.718,4,0.000,0.037,3293,3393,1809,0,0,0,0,0,0
$GC,8579,1.41,291.8,202.6,10.6,351,8584,0.00,2.62,0.00,0.000,6,0.000,0.043,3293,1826,1808,0,0,0,0,0,0
$GC,8846,1.41,291.8,172.9,10.4,374,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1826,1805,0,0,0,0,0,0
$GC,9103,1.41,291.8,146.5,10.2,398,9107,0.00,2.53,0.00,0.000,4,0.000,0.030,3293,3398,1804,0,0,0,0,0,0
$GC,9136,1.49,294.4,142.8,9.9,400,9146,0.10,2.58,0.00,0.000,6,0.056,0.041,3326,1853,1804,0,0,0,0,0,0
$GC,9404,1.49,294.4,114.9,11.1,425,9409,0.00,2.78,0.00,0.000,4,0.000,0.064,3326,234,1804,0,0,0,0,0,0
$GC,9461,1.42,294.4,106.7,13.8,429,9466,0.00,2.55,0.00,0.000,6,0.000,0.021,3326,1854,1803,0,0,0,0,0,0
$GC,9727,1.42,294.4,75.1,10.2,453,9731,0.00,2.45,0.00,0.000,4,0.000,0.028,3326,3390,1802,0,0,0,0,0,0
$GC,9764,1.48,294.4,71.2,11.5,455,9768,0.00,2.55,0.00,0.000,6,0.000,0.036,3326,1838,1802,0,0,0,0,0,0
$GC,10031,1.57,316.4,48.6,8.8,479,10059,0.00,2.78,21.33,0.576,4,0.000,0.059,3326,236,1711,0,0,0,0,0,0
$GC,10078,1.64,339.5,44.6,8.7,482,10107,0.12,2.58,21.52,0.565,6,0.080,0.019,3360,1872,1616,0,0,0,0,0,0
$GC,10399,1.64,339.5,11.7,10.3,521,10409,0.00,2.45,0.00,0.000,4,0.000,0.028,3360,3382,1612,0,0,0,0,0,0
$GC,10419,1.64,339.5,9.2,10.7,523,10428,0.00,2.55,0.00,0.000,6,0.000,0.041,3360,1853,1611,0,0,0,0,0,0
$STATE,10469,end climb,SURFACE_DEPTH_REACHED
$STATE,10470,begin surface coast
$FINISH,0.5,1.023202
$STATE,10519,end surface coast,CONTROL_FINISHED_OK
$STATE,10519,begin surface
$SM_CCo,10541,66.62,0.535,0,0,1287,420.20
$SM_GC,0.99,0.00,0.00,66.62,0.000,0.000,0.535,474,1751,1287,-11.62,-0.54,420.20
$IRIDIUM_FIX,2246.36,-15751.06,170100,030311
$TT8_MAMPS,0.026078
$HUMID,55.47
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.20
$XPDR_PINGS,101
$24V_AH,23.3,66.260
$10V_AH,9.9,63.055
$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,29.300,139.850,407.475,66.625,0.000,29.649,33.898,258.545,25.250,0.000,16.453,1101.413,6784.006,552.787,1991.287,644.652,33.375,1277.673,0.000,2000.771,0.000,0.534,0.000
$DEVICE_MAMPS,148.031,111.215,925.769,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.035,324.876,417.530,826.584,1250.469,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,41403,537
$CAP_FILE_SIZE,115909,0
$CFSIZE,260165632,154415104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231010,095156,2252.010,-15747.743,10,1.9,10,10.1