version: 66.06
glider: 146
mission: 5
dive: 483
start: 10 23 110 19 35 48
data:
$ID,146
$MISSION,5
$DIVE,483
$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,-258973.12
$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,43
$R_STBD_OVSHOOT,55
$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
$GPS1,192322,2250.826,-15744.508,10,99.0,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.8
$GPS2,193452,2250.918,-15744.520,12,99.0,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.168,-0.164
$KALMAN_X,-259786.3,-84.9,26.3,304739.6,105.5
$KALMAN_Y,-614718.4,332.5,273.0,744375.2,171.6
$MHEAD_RNG_PITCHd_Wd,124.1,5578,-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,-85.88,0.000,2,0.000,0.000,474,1739,3465,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.2,-8.7,11,127,11.32,2.55,-0.20,0.000,4,0.140,0.058,2689,207,3478,0,0,0,0,0,0
$GC,145,-0.48,-116.8,18.8,-37.3,15,155,0.90,2.45,0.00,0.000,6,0.086,0.023,2888,1777,3479,0,0,0,0,0,0
$GC,446,-0.76,-116.8,41.3,-6.4,49,451,0.22,2.47,0.00,0.000,4,0.048,0.025,2818,3341,3480,0,0,0,0,0,0
$GC,481,-0.96,-116.8,44.2,-8.7,51,486,0.12,2.47,0.00,0.000,6,0.069,0.028,2772,1793,3481,0,0,0,0,0,0
$GC,751,-1.04,-116.8,71.6,-8.5,75,755,0.00,2.67,0.00,0.000,4,0.000,0.054,2772,195,3481,0,0,0,0,0,0
$GC,762,-1.12,-116.8,73.4,-8.6,75,771,0.00,2.45,0.00,0.000,6,0.000,0.016,2772,1799,3481,0,0,0,0,0,0
$GC,1025,-1.25,-116.8,95.9,-6.9,100,1030,0.20,2.38,0.00,0.000,4,0.054,0.024,2710,3308,3482,0,0,0,0,0,0
$GC,1108,-1.32,-116.8,103.3,-8.8,106,1117,0.00,2.45,0.00,0.000,6,0.000,0.030,2710,1798,3482,0,0,0,0,0,0
$GC,1375,-1.32,-116.8,130.4,-11.6,131,1379,0.00,2.72,0.00,0.000,4,0.000,0.058,2709,193,3482,0,0,0,0,0,0
$GC,1393,-1.32,-116.8,133.1,-12.0,132,1397,0.00,2.42,0.00,0.000,6,0.000,0.018,2709,1789,3483,0,0,0,0,0,0
$GC,1656,-1.32,-116.8,159.6,-9.5,156,1660,0.00,2.40,0.00,0.000,4,0.000,0.026,2710,3321,3483,0,0,0,0,0,0
$GC,1698,-1.41,-116.8,163.5,-9.4,159,1702,0.00,2.45,0.00,0.000,6,0.000,0.029,2710,1786,3483,0,0,0,0,0,0
$GC,1960,-1.41,-116.8,188.7,-10.1,183,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1786,3483,0,0,0,0,0,0
$GC,2208,-1.41,-116.8,211.6,-9.0,198,2212,0.00,2.42,0.00,0.000,4,0.000,0.032,2710,3321,3483,0,0,0,0,0,0
$GC,2232,-1.45,-116.8,213.8,-9.2,198,2237,0.12,2.42,0.00,0.000,6,0.072,0.028,2664,1813,3483,0,0,0,0,0,0
$GC,2488,-1.41,-116.8,241.3,-11.0,205,2493,0.12,2.83,0.00,0.000,4,0.110,0.067,2691,190,3483,0,0,0,0,0,0
$GC,2505,-1.41,-116.8,243.3,-10.8,205,2510,0.00,2.47,0.00,0.000,6,0.000,0.022,2691,1804,3483,0,0,0,0,0,0
$GC,2767,-1.41,-116.8,266.9,-8.7,212,2771,0.00,2.42,0.00,0.000,4,0.000,0.031,2691,3328,3482,0,0,0,0,0,0
$GC,2817,-1.47,-116.8,271.0,-7.6,213,2821,0.00,2.42,0.00,0.000,6,0.000,0.031,2691,1830,3482,0,0,0,0,0,0
$GC,3091,-1.47,-116.8,294.9,-9.2,220,3095,0.00,2.85,0.00,0.000,4,0.000,0.074,2691,196,3481,0,0,0,0,0,0
$GC,3106,-1.47,-116.8,296.7,-9.4,220,3111,0.00,2.53,0.00,0.000,6,0.000,0.021,2691,1813,3481,0,0,0,0,0,0
$GC,3367,-1.47,-116.8,323.5,-10.6,227,3372,0.00,2.47,0.00,0.000,4,0.000,0.038,2691,3354,3480,0,0,0,0,0,0
$GC,3402,-1.53,-116.8,327.3,-10.8,227,3408,0.10,2.50,0.00,0.000,6,0.087,0.042,2654,1834,3480,0,0,0,0,0,0
$GC,3652,-1.49,-116.8,356.5,-11.6,234,3654,0.10,0.00,0.00,0.000,6,0.124,0.000,2674,1834,3478,0,0,0,0,0,0
$GC,3896,-1.49,-116.8,380.8,-9.7,240,3901,0.00,2.95,0.00,0.000,4,0.000,0.086,2674,193,3477,0,0,0,0,0,0
$GC,3913,-1.49,-116.8,382.6,-10.0,240,3918,0.00,2.60,0.00,0.000,6,0.000,0.027,2674,1826,3477,0,0,0,0,0,0
$GC,4175,-1.49,-116.8,408.2,-9.6,247,4179,0.00,2.47,0.00,0.000,4,0.000,0.049,2674,3341,3475,0,0,0,0,0,0
$GC,4196,-1.49,-116.8,410.4,-9.4,247,4200,0.00,2.50,0.00,0.000,6,0.000,0.046,2674,1846,3475,0,0,0,0,0,0
$GC,4453,-1.49,-116.8,434.5,-9.6,254,4457,0.00,2.45,0.00,0.000,4,0.000,0.045,2674,3339,3473,0,0,0,0,0,0
$GC,4468,-1.49,-116.8,436.4,-10.2,254,4472,0.00,2.50,0.00,0.000,6,0.000,0.054,2674,1857,3473,0,0,0,0,0,0
$GC,4730,-1.49,-116.8,462.3,-9.9,261,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1857,3472,0,0,0,0,0,0
$GC,4973,-1.49,-116.8,485.7,-9.5,267,4978,0.00,2.47,0.00,0.000,4,0.000,0.053,2674,3341,3470,0,0,0,0,0,0
$GC,5003,-1.52,-116.8,488.6,-10.3,267,5007,0.00,2.55,0.00,0.000,6,0.000,0.056,2674,1854,3470,0,0,0,0,0,0
$STATE,5128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5128,begin apogee
$GC,5134,-0.31,0.0,500.5,9.3,270,5235,1.15,0.00,97.70,0.929,6,0.088,0.000,2929,1853,3001,0,0,0,0,0,0
$STATE,5236,end apogee,CONTROL_FINISHED_OK
$STATE,5236,begin climb
$GC,5238,1.38,116.8,502.7,0.0,272,5352,1.55,2.67,101.30,0.906,4,0.051,0.055,3306,3378,2523,0,0,0,0,0,0
$GC,5386,1.30,150.3,500.0,8.1,275,5422,0.10,2.70,29.83,0.869,6,0.139,0.057,3288,1835,2388,0,0,0,0,0,0
$GC,5690,1.25,164.0,471.7,9.2,283,5709,0.00,2.70,12.15,0.812,4,0.000,0.048,3287,3394,2332,0,0,0,0,0,0
$GC,5801,1.23,190.3,461.5,8.5,285,5831,0.00,2.70,24.75,0.859,6,0.000,0.061,3287,1840,2225,0,0,0,0,0,0
$GC,6108,1.21,215.1,434.9,8.6,293,6138,0.12,2.65,22.92,0.851,4,0.242,0.044,3264,3389,2122,0,0,0,0,0,0
$GC,6154,1.24,238.5,430.5,8.7,294,6184,0.00,2.67,22.20,0.838,6,0.000,0.055,3264,1838,2027,0,0,0,0,0,0
$GC,6436,1.24,238.5,403.1,10.1,301,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1839,2022,0,0,0,0,0,0
$GC,6678,1.24,238.5,377.0,10.8,307,6683,0.00,2.92,0.00,0.000,4,0.000,0.092,3263,233,2019,0,0,0,0,0,0
$GC,6713,1.19,238.5,372.7,12.7,307,6718,0.00,2.58,0.00,0.000,6,0.000,0.027,3264,1840,2018,0,0,0,0,0,0
$GC,6965,1.24,244.5,347.6,9.7,314,6971,0.00,0.00,4.95,0.621,6,0.000,0.000,3264,1841,2003,0,0,0,0,0,0
$GC,7207,1.30,258.1,325.3,9.3,320,7223,0.00,0.00,14.25,0.781,6,0.000,0.000,3264,1842,1947,0,0,0,0,0,0
$GC,7450,1.34,258.1,300.5,10.5,326,7455,0.12,2.88,0.00,0.000,4,0.086,0.071,3296,230,1944,0,0,0,0,0,0
$GC,7474,1.30,258.1,297.5,12.7,326,7478,0.00,2.60,0.00,0.000,6,0.000,0.021,3296,1856,1943,0,0,0,0,0,0
$GC,7729,1.30,258.1,268.0,11.2,333,7733,0.00,2.85,0.00,0.000,4,0.000,0.073,3296,233,1943,0,0,0,0,0,0
$GC,7761,1.22,258.1,263.9,12.4,333,7767,0.15,2.55,0.00,0.000,6,0.123,0.022,3267,1834,1942,0,0,0,0,0,0
$GC,8013,1.30,281.1,241.3,8.7,340,8037,0.00,0.00,21.17,0.745,6,0.000,0.000,3266,1836,1855,0,0,0,0,0,0
$GC,8300,1.38,281.1,213.2,10.3,347,8306,0.15,2.83,0.00,0.000,4,0.077,0.072,3306,233,1850,0,0,0,0,0,0
$GC,8347,1.32,281.1,207.3,13.1,348,8351,0.00,2.58,0.00,0.000,6,0.000,0.028,3305,1846,1849,0,0,0,0,0,0
$GC,8614,1.35,300.5,179.9,8.9,368,8638,0.00,2.88,17.83,0.691,4,0.000,0.070,3306,226,1775,0,0,0,0,0,0
$GC,8655,1.35,300.5,175.6,10.2,371,8661,0.00,2.58,0.00,0.000,6,0.000,0.028,3306,1837,1774,0,0,0,0,0,0
$GC,8919,1.35,300.5,149.5,10.8,396,8924,0.00,2.80,0.00,0.000,4,0.000,0.067,3306,228,1772,0,0,0,0,0,0
$GC,8941,1.35,300.5,147.1,11.4,397,8946,0.00,2.53,0.00,0.000,6,0.000,0.024,3306,1825,1771,0,0,0,0,0,0
$GC,9209,1.35,300.5,118.1,10.6,421,9213,0.00,2.50,0.00,0.000,4,0.000,0.028,3306,3389,1771,0,0,0,0,0,0
$GC,9231,1.41,300.5,115.0,10.8,422,9240,0.00,2.65,0.00,0.000,6,0.000,0.042,3305,1803,1770,0,0,0,0,0,0
$GC,9499,1.46,300.5,89.8,10.1,447,9504,0.00,2.70,0.00,0.000,4,0.000,0.064,3305,239,1770,0,0,0,0,0,0
$GC,9578,1.46,300.5,80.7,10.7,453,9582,0.00,2.42,0.00,0.000,6,0.000,0.020,3306,1793,1769,0,0,0,0,0,0
$GC,9846,1.60,332.7,57.9,8.2,477,9888,0.17,2.62,28.70,0.590,4,0.067,0.028,3352,3379,1642,0,0,0,0,0,0
$GC,9956,1.68,335.0,47.4,9.9,485,9961,0.00,2.62,0.00,0.000,6,0.000,0.035,3352,1794,1641,0,0,0,0,0,0
$GC,10253,1.68,335.0,16.3,10.8,518,10263,0.00,2.67,0.00,0.000,4,0.000,0.060,3352,243,1639,0,0,0,0,0,0
$GC,10294,1.64,335.0,11.5,12.1,523,10303,0.00,2.45,0.00,0.000,6,0.000,0.026,3352,1804,1638,0,0,0,0,0,0
$STATE,10358,end climb,SURFACE_DEPTH_REACHED
$STATE,10358,begin surface coast
$FINISH,0.4,1.023381
$STATE,10408,end surface coast,CONTROL_FINISHED_OK
$STATE,10411,begin surface
$SM_CCo,10433,73.07,0.535,0,0,1288,420.20
$SM_GC,0.98,0.00,0.00,73.07,0.000,0.000,0.535,477,1736,1288,-11.61,-0.96,420.20
$IRIDIUM_FIX,2244.02,-15741.52,170100,191915
$TT8_MAMPS,0.026078
$HUMID,55.43
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.40
$XPDR_PINGS,107
$24V_AH,23.3,66.810
$10V_AH,9.9,63.555
$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,28.475,145.125,397.750,73.075,0.000,53.502,66.354,345.524,26.750,0.000,33.668,1095.166,6685.962,537.902,2079.071,799.980,33.400,1300.685,0.000,2064.080,0.000,0.534,0.000
$DEVICE_MAMPS,242.372,116.584,928.837,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.947,311.076,424.600,833.908,1261.280,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,41536,539
$CAP_FILE_SIZE,121263,0
$CFSIZE,260165632,154169344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231010,223206,2250.050,-15743.534,30,1.2,30,10.1