version: 66.06
glider: 146
mission: 5
dive: 512
start: 10 27 110 14 38 33
data:
$ID,146
$MISSION,5
$DIVE,512
$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,-259897.09
$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,23
$R_STBD_OVSHOOT,64
$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
$GPS1,142636,2256.277,-15755.261,35,1.1,35,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,3
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.1
$GPS2,143740,2256.301,-15755.312,11,99.0,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.063,0.226
$KALMAN_X,-257543.8,-451.8,1.0,284321.1,-150.8
$KALMAN_Y,-599534.7,-183.1,-106.2,740054.2,590.3
$MHEAD_RNG_PITCHd_Wd,5.5,3191,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.97,0.000,2,0.000,0.000,473,1796,3241,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.2,-5.1,10,126,11.55,2.47,-4.70,0.000,4,0.150,0.038,2683,3329,3479,0,0,0,0,0,0
$GC,165,-1.31,-116.8,17.8,-14.5,18,175,0.12,2.58,0.00,0.000,6,0.120,0.031,2711,1769,3481,0,0,0,0,0,0
$GC,458,-1.21,-116.8,57.2,-13.4,50,463,0.12,2.70,0.00,0.000,4,0.131,0.061,2736,192,3481,0,0,0,0,0,0
$GC,494,-1.21,-116.8,62.0,-13.6,52,499,0.00,2.42,0.00,0.000,6,0.000,0.015,2736,1775,3481,0,0,0,0,0,0
$GC,757,-1.27,-116.8,86.6,-8.5,76,762,0.00,2.45,0.00,0.000,4,0.000,0.025,2736,3326,3482,0,0,0,0,0,0
$GC,819,-1.37,-116.8,92.0,-8.6,80,829,0.12,2.55,0.00,0.000,6,0.036,0.031,2687,1754,3482,0,0,0,0,0,0
$GC,1085,-1.37,-116.8,118.8,-9.8,105,1090,0.00,2.65,0.00,0.000,4,0.000,0.067,2687,189,3483,0,0,0,0,0,0
$GC,1121,-1.32,-116.8,122.3,-10.7,107,1126,0.10,2.38,0.00,0.000,6,0.123,0.018,2709,1769,3483,0,0,0,0,0,0
$GC,1386,-1.32,-116.8,145.3,-8.3,131,1390,0.00,2.67,0.00,0.000,4,0.000,0.061,2709,194,3484,0,0,0,0,0,0
$GC,1418,-1.32,-116.8,148.2,-9.1,133,1422,0.00,2.33,0.00,0.000,6,0.000,0.022,2709,1741,3484,0,0,0,0,0,0
$GC,1686,-1.32,-116.8,171.0,-8.3,157,1690,0.00,2.50,0.00,0.000,4,0.000,0.026,2709,3320,3484,0,0,0,0,0,0
$GC,1743,-1.40,-116.8,176.4,-8.1,161,1748,0.00,2.50,0.00,0.000,6,0.000,0.035,2709,1762,3484,0,0,0,0,0,0
$GC,2007,-1.40,-116.8,197.6,-8.5,186,2012,0.00,2.67,0.00,0.000,4,0.000,0.069,2709,192,3484,0,0,0,0,0,0
$GC,2048,-1.45,-116.8,201.3,-8.8,189,2053,0.12,2.35,0.00,0.000,6,0.075,0.023,2669,1749,3484,0,0,0,0,0,0
$GC,2333,-1.41,-116.8,229.9,-10.1,196,2338,0.10,2.50,0.00,0.000,4,0.123,0.035,2691,3326,3484,0,0,0,0,0,0
$GC,2384,-1.46,-116.8,235.0,-9.0,197,2388,0.00,2.55,0.00,0.000,6,0.000,0.031,2690,1751,3484,0,0,0,0,0,0
$GC,2657,-1.46,-116.8,261.7,-10.2,204,2661,0.00,2.72,0.00,0.000,4,0.000,0.077,2690,191,3483,0,0,0,0,0,0
$GC,2689,-1.46,-116.8,265.7,-11.6,204,2695,0.00,2.38,0.00,0.000,6,0.000,0.021,2690,1729,3483,0,0,0,0,0,0
$GC,2940,-1.46,-116.8,290.5,-9.8,211,2944,0.00,2.58,0.00,0.000,4,0.000,0.037,2690,3338,3482,0,0,0,0,0,0
$GC,2961,-1.50,-116.8,292.8,-10.3,211,2965,0.00,2.60,0.00,0.000,6,0.000,0.038,2690,1739,3482,0,0,0,0,0,0
$GC,3218,-1.50,-116.8,316.9,-9.5,218,3222,0.00,2.75,0.00,0.000,4,0.000,0.081,2690,190,3481,0,0,0,0,0,0
$GC,3250,-1.50,-116.8,320.3,-9.7,218,3256,0.00,2.42,0.00,0.000,6,0.000,0.028,2690,1724,3481,0,0,0,0,0,0
$GC,3501,-1.50,-116.8,340.9,-8.1,225,3505,0.00,2.62,0.00,0.000,4,0.000,0.041,2690,3350,3480,0,0,0,0,0,0
$GC,3552,-1.59,-116.8,344.8,-7.5,226,3557,0.15,2.65,0.00,0.000,6,0.068,0.045,2644,1741,3480,0,0,0,0,0,0
$GC,3827,-1.53,-116.8,370.8,-9.9,233,3832,0.10,2.60,0.00,0.000,4,0.127,0.035,2663,3349,3478,0,0,0,0,0,0
$GC,3862,-1.53,-116.8,374.5,-9.6,233,3867,0.00,2.67,0.00,0.000,6,0.000,0.051,2663,1753,3477,0,0,0,0,0,0
$GC,4111,-1.53,-116.8,399.3,-10.1,240,4116,0.00,2.85,0.00,0.000,4,0.000,0.097,2663,186,3477,0,0,0,0,0,0
$GC,4132,-1.53,-116.8,401.7,-11.0,240,4137,0.00,2.47,0.00,0.000,6,0.000,0.027,2663,1750,3476,0,0,0,0,0,0
$GC,4395,-1.53,-116.8,428.6,-10.5,247,4399,0.00,2.65,0.00,0.000,4,0.000,0.050,2663,3351,3475,0,0,0,0,0,0
$GC,4434,-1.53,-116.8,432.7,-10.0,248,4439,0.00,2.70,0.00,0.000,6,0.000,0.054,2663,1756,3474,0,0,0,0,0,0
$GC,4717,-1.53,-116.8,462.2,-10.3,255,4721,0.00,2.62,0.00,0.000,4,0.000,0.044,2663,3355,3473,0,0,0,0,0,0
$GC,4751,-1.53,-116.8,465.6,-10.0,255,4757,0.00,2.72,0.00,0.000,6,0.000,0.058,2663,1770,3472,0,0,0,0,0,0
$GC,5001,-1.53,-116.8,490.9,-10.2,262,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1770,3471,0,0,0,0,0,0
$STATE,5120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5120,begin apogee
$GC,5127,-0.31,0.0,503.9,10.6,265,5229,1.23,0.00,99.00,0.931,6,0.087,0.000,2931,1833,3001,0,0,0,0,0,0
$STATE,5230,end apogee,CONTROL_FINISHED_OK
$STATE,5230,begin climb
$GC,5234,1.38,116.8,506.8,0.0,267,5347,1.52,2.75,103.20,0.909,4,0.039,0.055,3306,3389,2523,0,0,0,0,0,0
$GC,5387,1.32,159.5,505.5,7.6,270,5431,0.00,2.75,38.60,0.883,6,0.000,0.061,3306,1822,2349,0,0,0,0,0,0
$GC,5686,1.21,159.5,475.6,10.6,278,5688,0.20,0.00,0.00,0.000,6,0.141,0.000,3267,1822,2340,0,0,0,0,0,0
$GC,5926,1.25,185.0,454.0,8.6,284,5951,0.00,0.00,22.85,0.858,6,0.000,0.000,3267,1822,2246,0,0,0,0,0,0
$GC,6172,1.29,219.4,434.0,8.1,290,6213,0.00,2.70,31.65,0.861,4,0.000,0.041,3267,3389,2105,0,0,0,0,0,0
$GC,6235,1.32,245.4,428.5,8.5,291,6265,0.00,2.75,24.98,0.839,6,0.000,0.061,3267,1809,2000,0,0,0,0,0,0
$GC,6540,1.34,264.2,401.5,8.9,299,6564,0.10,3.00,17.75,0.821,4,0.269,0.096,3292,237,1923,0,0,0,0,0,0
$GC,6577,1.28,264.2,397.4,11.3,299,6583,0.00,2.53,0.00,0.000,6,0.000,0.023,3292,1815,1921,0,0,0,0,0,0
$GC,6827,1.28,264.2,370.7,10.5,306,6832,0.00,2.85,0.00,0.000,4,0.000,0.077,3292,223,1918,0,0,0,0,0,0
$GC,6844,1.23,264.2,368.7,11.4,306,6849,0.12,2.53,0.00,0.000,6,0.133,0.021,3269,1809,1917,0,0,0,0,0,0
$GC,7105,1.23,264.2,340.6,10.5,313,7109,0.00,2.60,0.00,0.000,4,0.000,0.038,3269,3399,1916,0,0,0,0,0,0
$GC,7134,1.29,264.2,337.6,10.4,313,7138,0.00,2.70,0.00,0.000,6,0.000,0.047,3269,1795,1914,0,0,0,0,0,0
$GC,7383,1.29,264.2,310.9,10.7,319,7388,0.00,2.78,0.00,0.000,4,0.000,0.084,3269,229,1914,0,0,0,0,0,0
$GC,7406,1.29,264.2,308.3,11.7,319,7410,0.00,2.53,0.00,0.000,6,0.000,0.021,3269,1811,1913,0,0,0,0,0,0
$GC,7661,1.34,264.2,281.4,10.4,326,7666,0.10,2.78,0.00,0.000,4,0.097,0.071,3296,230,1913,0,0,0,0,0,0
$GC,7689,1.28,264.2,277.7,13.1,326,7693,0.00,2.50,0.00,0.000,6,0.000,0.021,3296,1800,1912,0,0,0,0,0,0
$GC,7940,1.28,264.2,250.5,10.5,332,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1801,1911,0,0,0,0,0,0
$GC,8182,1.29,272.2,226.5,9.6,338,8196,0.00,2.65,6.57,0.631,4,0.000,0.033,3296,3390,1890,0,0,0,0,0,0
$GC,8219,1.35,272.2,222.8,10.2,338,8225,0.00,2.62,0.00,0.000,6,0.000,0.040,3296,1802,1890,0,0,0,0,0,0
$GC,8471,1.36,281.4,199.1,9.5,345,8482,0.00,0.00,9.95,0.668,6,0.000,0.000,3296,1802,1853,0,0,0,0,0,0
$GC,8738,1.36,281.4,172.1,10.5,370,8743,0.00,2.58,0.00,0.000,4,0.000,0.031,3296,3391,1850,0,0,0,0,0,0
$GC,8757,1.40,281.4,169.5,11.4,371,8762,0.00,2.62,0.00,0.000,6,0.000,0.043,3296,1805,1849,0,0,0,0,0,0
$GC,9024,1.40,281.4,142.5,10.3,395,9028,0.00,2.55,0.00,0.000,4,0.000,0.037,3296,3393,1849,0,0,0,0,0,0
$GC,9056,1.46,281.4,139.2,10.9,397,9060,0.00,2.60,0.00,0.000,6,0.000,0.037,3296,1821,1849,0,0,0,0,0,0
$GC,9324,1.46,281.6,113.0,10.0,421,9328,0.00,2.75,0.00,0.000,4,0.000,0.068,3296,240,1849,0,0,0,0,0,0
$GC,9402,1.46,281.6,104.1,11.2,427,9407,0.00,2.45,0.00,0.000,6,0.000,0.025,3296,1816,1848,0,0,0,0,0,0
$GC,9671,1.54,312.5,80.1,8.3,451,9710,0.17,2.60,28.17,0.614,4,0.069,0.029,3342,3385,1726,0,0,0,0,0,0
$GC,9765,1.54,315.5,71.5,9.9,458,9780,0.00,2.58,4.25,0.425,6,0.000,0.037,3342,1833,1713,0,0,0,0,0,0
$GC,10040,1.62,341.8,46.9,8.5,483,10071,0.00,2.85,23.88,0.574,4,0.000,0.063,3342,238,1606,0,0,0,0,0,0
$GC,10095,1.62,341.8,41.2,10.9,487,10100,0.00,2.50,0.00,0.000,6,0.000,0.020,3342,1832,1604,0,0,0,0,0,0
$GC,10404,1.70,405.8,13.8,6.3,524,10472,0.12,2.55,55.95,0.545,4,0.082,0.035,3378,3379,1344,0,0,0,0,0,0
$STATE,10481,end climb,SURFACE_DEPTH_REACHED
$STATE,10481,begin surface coast
$FINISH,0.5,1.023786
$STATE,10520,end surface coast,CONTROL_FINISHED_OK
$STATE,10520,begin surface
$SM_CCo,10544,11.27,0.493,0,0,1288,420.20
$SM_GC,0.83,0.00,0.00,11.27,0.000,0.000,0.493,477,1753,1288,-11.61,-0.45,420.20
$IRIDIUM_FIX,2246.36,-15756.28,210100,141444
$TT8_MAMPS,0.026078
$HUMID,56.49
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,19.60
$XPDR_PINGS,117
$24V_AH,23.3,70.818
$10V_AH,9.8,67.115
$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,27.900,156.675,466.800,11.275,0.000,55.809,69.867,298.403,29.250,0.000,33.000,1087.925,6792.652,513.963,2051.210,771.225,33.370,1316.627,0.000,2037.621,0.000,0.534,0.000
$DEVICE_MAMPS,269.217,118.885,931.138,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.060,312.972,421.430,808.358,1222.628,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,41712,538
$CAP_FILE_SIZE,121517,0
$CFSIZE,260165632,152440832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271010,173536,2257.837,-15755.100,26,1.1,26,10.1