version: 66.06
glider: 146
mission: 5
dive: 481
start: 10 23 110 13 19 4
data:
$ID,146
$MISSION,5
$DIVE,481
$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,-258921.39
$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,37
$R_STBD_OVSHOOT,56
$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
$GPS1,125853,2251.455,-15746.623,32,2.0,48,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.5
$GPS2,131808,2251.504,-15746.600,13,1.4,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,-0.083
$KALMAN_X,-259561.5,-95.2,-8.4,300983.4,-255.3
$KALMAN_Y,-615282.5,-204.0,-61.4,746895.8,-309.4
$MHEAD_RNG_PITCHd_Wd,100.5,9119,-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,16,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-86.50,0.000,6,0.000,0.000,475,1748,3478,0,0,0,0,0,0
$GC,109,-1.38,-116.8,3.9,-7.4,11,127,11.32,2.55,0.00,0.000,4,0.140,0.022,2691,3355,3481,0,0,0,0,0,0
$GC,138,-0.22,-116.8,16.2,-35.0,14,148,1.17,2.58,0.00,0.000,6,0.100,0.030,2946,1784,3481,0,0,0,0,0,0
$GC,456,-0.87,-116.8,39.0,-7.7,53,461,0.57,2.47,0.00,0.000,4,0.058,0.024,2800,3352,3482,0,0,0,0,0,0
$GC,503,-1.05,-116.8,43.0,-8.6,56,509,0.12,2.70,0.00,0.000,6,0.071,0.026,2757,1665,3482,0,0,0,0,0,0
$GC,773,-1.05,-116.8,73.9,-12.5,80,777,0.00,2.65,0.00,0.000,4,0.000,0.024,2757,3345,3481,0,0,0,0,0,0
$GC,794,-1.10,-116.8,76.7,-11.6,81,798,0.00,2.67,0.00,0.000,6,0.000,0.028,2757,1678,3482,0,0,0,0,0,0
$GC,1063,-1.21,-116.8,97.8,-7.2,105,1067,0.00,2.67,0.00,0.000,4,0.000,0.031,2757,3344,3483,0,0,0,0,0,0
$GC,1166,-1.36,-116.8,104.7,-6.7,113,1171,0.22,2.60,0.00,0.000,6,0.048,0.032,2688,1717,3483,0,0,0,0,0,0
$GC,1433,-1.36,-116.8,131.0,-10.3,137,1438,0.00,2.58,0.00,0.000,4,0.000,0.025,2688,3339,3483,0,0,0,0,0,0
$GC,1466,-1.36,-116.8,134.5,-9.8,139,1470,0.00,2.55,0.00,0.000,6,0.000,0.028,2688,1737,3484,0,0,0,0,0,0
$GC,1734,-1.36,-116.8,160.8,-9.9,163,1739,0.00,2.60,0.00,0.000,4,0.000,0.067,2687,196,3483,0,0,0,0,0,0
$GC,1778,-1.36,-116.8,165.9,-11.4,166,1782,0.00,2.35,0.00,0.000,6,0.000,0.020,2687,1745,3483,0,0,0,0,0,0
$GC,2045,-1.36,-116.8,191.6,-9.6,190,2049,0.00,2.65,0.00,0.000,4,0.000,0.065,2687,194,3483,0,0,0,0,0,0
$GC,2063,-1.36,-116.8,193.9,-9.6,191,2067,0.00,2.30,0.00,0.000,6,0.000,0.015,2687,1724,3483,0,0,0,0,0,0
$GC,2331,-1.36,-116.8,219.9,-9.4,202,2335,0.00,2.50,0.00,0.000,4,0.000,0.032,2687,3309,3483,0,0,0,0,0,0
$GC,2388,-1.42,-116.8,225.3,-9.5,203,2392,0.00,2.53,0.00,0.000,6,0.000,0.035,2688,1737,3483,0,0,0,0,0,0
$GC,2654,-1.42,-116.8,251.2,-9.6,210,2659,0.00,2.53,0.00,0.000,4,0.000,0.029,2688,3313,3482,0,0,0,0,0,0
$GC,2688,-1.45,-116.8,254.3,-8.9,210,2694,0.00,2.53,0.00,0.000,6,0.000,0.031,2688,1746,3482,0,0,0,0,0,0
$GC,2940,-1.45,-116.8,275.5,-8.7,217,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1746,3481,0,0,0,0,0,0
$GC,3182,-1.45,-116.8,298.6,-9.6,223,3186,0.00,2.53,0.00,0.000,4,0.000,0.031,2687,3310,3480,0,0,0,0,0,0
$GC,3197,-1.45,-116.8,300.4,-10.1,223,3202,0.00,2.50,0.00,0.000,6,0.000,0.038,2687,1762,3480,0,0,0,0,0,0
$GC,3459,-1.45,-116.8,327.0,-10.3,230,3463,0.00,2.50,0.00,0.000,4,0.000,0.036,2688,3306,3478,0,0,0,0,0,0
$GC,3500,-1.51,-116.8,331.1,-10.6,231,3504,0.00,2.50,0.00,0.000,6,0.000,0.037,2688,1771,3478,0,0,0,0,0,0
$GC,3782,-1.51,-116.8,360.8,-10.3,238,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1771,3476,0,0,0,0,0,0
$GC,4027,-1.55,-116.8,384.7,-9.7,244,4029,0.12,0.00,0.00,0.000,6,0.071,0.000,2643,1771,3475,0,0,0,0,0,0
$GC,4272,-1.50,-116.8,412.1,-11.5,250,4277,0.12,2.53,0.00,0.000,4,0.114,0.041,2670,3302,3473,0,0,0,0,0,0
$GC,4299,-1.50,-116.8,415.6,-10.9,250,4304,0.00,2.55,0.00,0.000,6,0.000,0.050,2670,1791,3473,0,0,0,0,0,0
$GC,4555,-1.50,-116.8,441.6,-10.4,257,4559,0.00,2.50,0.00,0.000,4,0.000,0.043,2670,3308,3471,0,0,0,0,0,0
$GC,4589,-1.54,-116.8,445.1,-10.4,257,4595,0.00,2.55,0.00,0.000,6,0.000,0.053,2670,1796,3471,0,0,0,0,0,0
$GC,4839,-1.54,-116.8,471.7,-10.7,264,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1796,3469,0,0,0,0,0,0
$GC,5083,-1.54,-116.8,495.0,-9.3,270,5087,0.00,2.53,0.00,0.000,4,0.000,0.050,2670,3298,3467,0,0,0,0,0,0
$GC,5129,-1.60,-116.8,498.8,-8.3,271,5133,0.00,2.55,0.00,0.000,6,0.000,0.066,2670,1807,3467,0,0,0,0,0,0
$STATE,5142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5142,begin apogee
$GC,5148,-0.31,0.0,500.2,7.8,271,5248,1.12,0.00,96.72,0.923,6,0.087,0.000,2925,1806,3001,0,0,0,0,0,0
$STATE,5249,end apogee,CONTROL_FINISHED_OK
$STATE,5249,begin climb
$GC,5251,1.38,116.8,501.9,0.0,274,5366,1.55,2.72,100.90,0.900,4,0.045,0.050,3305,3352,2522,0,0,0,0,0,0
$GC,5405,1.29,130.8,496.4,9.2,277,5425,0.12,2.67,12.80,0.810,6,0.135,0.062,3282,1819,2467,0,0,0,0,0,0
$GC,5713,1.25,160.6,470.1,8.3,285,5746,0.00,2.65,26.50,0.862,4,0.000,0.044,3282,3351,2345,0,0,0,0,0,0
$GC,5828,1.27,173.2,459.9,9.3,287,5847,0.00,2.62,12.52,0.804,6,0.000,0.060,3282,1831,2293,0,0,0,0,0,0
$GC,6135,1.25,194.5,432.7,8.8,295,6160,0.00,2.58,19.60,0.839,4,0.000,0.044,3282,3360,2207,0,0,0,0,0,0
$GC,6188,1.26,205.6,427.4,9.4,296,6207,0.00,2.62,11.60,0.788,6,0.000,0.055,3282,1834,2161,0,0,0,0,0,0
$GC,6460,1.28,216.1,401.6,9.4,303,6475,0.00,2.53,10.18,0.775,4,0.000,0.036,3282,3365,2119,0,0,0,0,0,0
$GC,6491,1.29,224.7,398.4,9.5,303,6506,0.00,2.62,9.30,0.755,6,0.000,0.051,3282,1832,2084,0,0,0,0,0,0
$GC,6787,1.29,230.5,370.4,9.7,311,6800,0.00,2.92,6.30,0.686,4,0.000,0.085,3282,227,2059,0,0,0,0,0,0
$GC,6841,1.22,230.5,363.9,11.9,312,6846,0.00,2.50,0.00,0.000,6,0.000,0.021,3282,1788,2058,0,0,0,0,0,0
$GC,7114,1.22,230.5,336.1,10.1,319,7118,0.00,2.60,0.00,0.000,4,0.000,0.039,3282,3398,2057,0,0,0,0,0,0
$GC,7136,1.22,230.5,333.9,10.1,319,7141,0.00,2.65,0.00,0.000,6,0.000,0.048,3282,1818,2055,0,0,0,0,0,0
$GC,7391,1.24,245.8,310.2,9.2,326,7408,0.00,0.00,14.57,0.772,6,0.000,0.000,3282,1818,1999,0,0,0,0,0,0
$GC,7635,1.25,256.3,287.4,9.4,332,7651,0.00,2.85,10.85,0.730,4,0.000,0.077,3282,234,1955,0,0,0,0,0,0
$GC,7664,1.25,256.3,284.5,10.4,332,7668,0.00,2.55,0.00,0.000,6,0.000,0.021,3281,1825,1954,0,0,0,0,0,0
$GC,7913,1.25,256.3,259.0,10.1,338,7918,0.00,2.55,0.00,0.000,4,0.000,0.035,3282,3397,1952,0,0,0,0,0,0
$GC,7964,1.33,265.1,254.0,9.5,339,7978,0.00,2.62,8.88,0.687,6,0.000,0.044,3282,1822,1920,0,0,0,0,0,0
$GC,8242,1.39,284.5,229.5,8.9,346,8263,0.00,0.00,18.80,0.726,6,0.000,0.000,3282,1822,1841,0,0,0,0,0,0
$GC,8484,1.46,300.6,207.5,9.1,352,8505,0.15,2.83,15.15,0.694,4,0.076,0.069,3322,237,1775,0,0,0,0,0,0
$GC,8529,1.37,300.6,202.6,11.7,353,8535,0.10,2.58,0.00,0.000,6,0.137,0.022,3302,1844,1774,0,0,0,0,0,0
$GC,8801,1.37,300.6,174.9,10.2,376,8806,0.00,2.83,0.00,0.000,4,0.000,0.066,3301,233,1772,0,0,0,0,0,0
$GC,8822,1.37,300.6,172.0,11.1,377,8828,0.00,2.55,0.00,0.000,6,0.000,0.021,3301,1842,1771,0,0,0,0,0,0
$GC,9087,1.40,318.2,147.4,9.0,402,9111,0.00,2.85,16.62,0.651,4,0.000,0.064,3301,238,1702,0,0,0,0,0,0
$GC,9150,1.40,318.2,140.2,12.8,407,9154,0.00,2.47,0.00,0.000,6,0.000,0.022,3301,1814,1700,0,0,0,0,0,0
$GC,9418,1.40,318.2,109.7,12.0,431,9422,0.00,2.50,0.00,0.000,4,0.000,0.027,3302,3393,1699,0,0,0,0,0,0
$GC,9463,1.50,318.2,103.3,12.1,434,9473,0.08,2.62,0.00,0.000,6,0.060,0.038,3328,1820,1698,0,0,0,0,0,0
$GC,9727,1.51,320.2,74.6,9.9,459,9731,0.00,2.75,0.00,0.000,4,0.000,0.061,3328,233,1698,0,0,0,0,0,0
$GC,9747,1.51,320.2,72.4,10.8,460,9751,0.00,2.50,0.00,0.000,6,0.000,0.020,3328,1828,1697,0,0,0,0,0,0
$GC,10017,1.62,356.5,50.6,7.9,484,10059,0.10,2.55,33.35,0.581,4,0.093,0.028,3355,3378,1547,0,0,0,0,0,0
$GC,10163,1.71,356.5,35.5,11.0,495,10167,0.00,2.55,0.00,0.000,6,0.000,0.035,3355,1830,1544,0,0,0,0,0,0
$STATE,10448,end climb,SURFACE_DEPTH_REACHED
$STATE,10448,begin surface coast
$FINISH,0.4,1.008815
$STATE,10498,end surface coast,CONTROL_FINISHED_OK
$STATE,10498,begin surface
$SM_CCo,10520,52.40,0.535,0,0,1287,420.20
$SM_GC,0.91,0.00,0.00,52.40,0.000,0.000,0.535,474,1759,1287,-11.62,-0.31,420.20
$IRIDIUM_FIX,2244.02,-15748.90,170100,131307
$TT8_MAMPS,0.026078
$HUMID,55.27
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.40
$XPDR_PINGS,84
$24V_AH,23.3,66.537
$10V_AH,9.9,63.310
$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,28.700,145.175,424.650,52.400,0.000,162.095,196.416,392.226,21.000,0.000,15.266,1109.320,6872.444,528.954,2122.455,1097.843,33.374,1308.851,0.000,2120.341,0.000,0.535,0.000
$DEVICE_MAMPS,139.594,108.147,923.468,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.048,313.750,423.690,838.783,1270.963,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,41625,540
$CAP_FILE_SIZE,123427,0
$CFSIZE,260165632,154284032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231010,161657,2251.347,-15745.533,38,99.0,57,10.1