version: 66.06
glider: 146
mission: 5
dive: 514
start: 10 27 110 20 47 47
data:
$ID,146
$MISSION,5
$DIVE,514
$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,-259952.73
$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,36
$R_STBD_OVSHOOT,53
$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
$GPS1,203936,2257.656,-15754.337,35,1.9,41,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.5
$GPS2,204652,2257.731,-15754.316,10,2.5,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.149,-0.182
$KALMAN_X,-258069.3,-1.2,-114.4,286222.5,415.3
$KALMAN_Y,-598589.9,791.3,281.8,740390.8,362.8
$MHEAD_RNG_PITCHd_Wd,130.6,26525,-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,-116.8,0.0,0.0,0,103,0.00,0.00,-86.00,0.000,6,0.000,0.000,477,1751,3479,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.5,-9.5,11,126,11.65,2.62,0.00,0.000,4,0.153,0.051,2689,201,3482,0,0,0,0,0,0
$GC,151,-0.66,-116.8,20.3,-34.5,16,160,0.73,2.47,0.00,0.000,6,0.091,0.024,2847,1770,3482,0,0,0,0,0,0
$GC,442,-0.86,-116.8,43.8,-6.5,48,451,0.15,0.00,0.00,0.000,6,0.062,0.000,2797,1771,3483,0,0,0,0,0,0
$GC,710,-0.99,-116.8,67.9,-8.1,73,714,0.00,2.50,0.00,0.000,4,0.000,0.028,2797,3338,3484,0,0,0,0,0,0
$GC,755,-1.17,-116.8,71.6,-7.5,76,760,0.22,2.53,0.00,0.000,6,0.047,0.027,2725,1768,3484,0,0,0,0,0,0
$GC,1019,-1.17,-116.8,99.6,-11.1,100,1023,0.00,2.47,0.00,0.000,4,0.000,0.025,2725,3344,3485,0,0,0,0,0,0
$GC,1048,-1.23,-116.8,103.1,-11.2,102,1052,0.00,2.50,0.00,0.000,6,0.000,0.034,2725,1778,3485,0,0,0,0,0,0
$GC,1313,-1.28,-116.8,127.5,-8.8,126,1318,0.00,2.67,0.00,0.000,4,0.000,0.065,2724,198,3486,0,0,0,0,0,0
$GC,1366,-1.34,-116.8,132.8,-9.8,130,1371,0.00,2.42,0.00,0.000,6,0.000,0.022,2724,1800,3486,0,0,0,0,0,0
$GC,1635,-1.39,-116.8,155.2,-8.0,154,1640,0.12,2.70,0.00,0.000,4,0.068,0.060,2676,197,3487,0,0,0,0,0,0
$GC,1653,-1.39,-116.8,157.4,-8.4,155,1657,0.00,2.35,0.00,0.000,6,0.000,0.020,2676,1752,3486,0,0,0,0,0,0
$GC,1923,-1.36,-116.8,184.9,-10.4,180,1928,0.12,2.42,0.00,0.000,4,0.112,0.028,2702,3313,3487,0,0,0,0,0,0
$GC,1945,-1.36,-116.8,187.0,-10.3,181,1949,0.00,2.50,0.00,0.000,6,0.000,0.029,2702,1761,3487,0,0,0,0,0,0
$GC,2202,-1.36,-116.8,212.1,-9.4,196,2206,0.00,2.47,0.00,0.000,4,0.000,0.031,2702,3321,3487,0,0,0,0,0,0
$GC,2225,-1.40,-116.8,214.4,-9.5,196,2229,0.00,2.50,0.00,0.000,6,0.000,0.029,2702,1771,3487,0,0,0,0,0,0
$GC,2480,-1.40,-116.8,237.4,-9.0,203,2484,0.00,2.72,0.00,0.000,4,0.000,0.071,2702,189,3487,0,0,0,0,0,0
$GC,2508,-1.40,-116.8,240.2,-9.1,203,2513,0.00,2.42,0.00,0.000,6,0.000,0.018,2702,1763,3487,0,0,0,0,0,0
$GC,2758,-1.40,-116.8,262.8,-9.3,209,2763,0.00,2.47,0.00,0.000,4,0.000,0.035,2702,3331,3486,0,0,0,0,0,0
$GC,2800,-1.48,-116.8,266.7,-9.6,210,2806,0.10,2.55,0.00,0.000,6,0.084,0.031,2664,1761,3486,0,0,0,0,0,0
$GC,3085,-1.48,-116.8,297.0,-10.7,217,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1761,3485,0,0,0,0,0,0
$GC,3328,-1.48,-116.8,321.4,-9.8,223,3332,0.00,2.53,0.00,0.000,4,0.000,0.037,2664,3327,3485,0,0,0,0,0,0
$GC,3367,-1.48,-116.8,325.2,-9.5,224,3372,0.00,2.55,0.00,0.000,6,0.000,0.038,2664,1783,3484,0,0,0,0,0,0
$GC,3652,-1.48,-116.8,352.3,-9.5,231,3656,0.00,2.50,0.00,0.000,4,0.000,0.035,2664,3324,3483,0,0,0,0,0,0
$GC,3685,-1.48,-116.8,355.7,-9.3,231,3692,0.00,2.53,0.00,0.000,6,0.000,0.041,2664,1794,3483,0,0,0,0,0,0
$GC,3934,-1.48,-116.8,380.7,-10.4,238,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1794,3481,0,0,0,0,0,0
$GC,4180,-1.48,-116.8,407.7,-11.2,244,4184,0.00,2.53,0.00,0.000,4,0.000,0.040,2664,3328,3480,0,0,0,0,0,0
$GC,4201,-1.48,-116.8,410.4,-11.4,244,4205,0.00,2.60,0.00,0.000,6,0.000,0.052,2664,1792,3480,0,0,0,0,0,0
$GC,4462,-1.48,-116.8,435.2,-9.4,251,4466,0.00,2.50,0.00,0.000,4,0.000,0.040,2664,3321,3479,0,0,0,0,0,0
$GC,4483,-1.48,-116.8,437.2,-8.8,251,4487,0.00,2.62,0.00,0.000,6,0.000,0.056,2664,1790,3479,0,0,0,0,0,0
$GC,4740,-1.48,-116.8,460.7,-9.3,258,4744,0.00,2.55,0.00,0.000,4,0.000,0.046,2664,3326,3477,0,0,0,0,0,0
$GC,4755,-1.48,-116.8,462.4,-9.6,258,4760,0.00,2.62,0.00,0.000,6,0.000,0.064,2664,1797,3477,0,0,0,0,0,0
$GC,5016,-1.48,-116.8,486.8,-9.1,265,5021,0.00,3.05,0.00,0.000,4,0.000,0.117,2663,183,3475,0,0,0,0,0,0
$GC,5034,-1.48,-116.8,488.3,-8.5,265,5038,0.00,2.55,0.00,0.000,6,0.000,0.031,2664,1760,3475,0,0,0,0,0,0
$STATE,5171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5171,begin apogee
$GC,5178,-0.31,0.0,500.1,8.5,269,5281,1.23,0.00,99.70,0.926,6,0.088,0.000,2931,1831,3000,0,0,0,0,0,0
$STATE,5282,end apogee,CONTROL_FINISHED_OK
$STATE,5282,begin climb
$GC,5284,1.38,116.8,501.8,0.0,271,5392,1.55,0.00,102.62,0.905,6,0.044,0.000,3308,1831,2524,0,0,0,0,0,0
$GC,5653,1.31,161.9,482.9,7.4,281,5695,0.00,0.00,40.15,0.881,6,0.000,0.000,3307,1831,2340,0,0,0,0,0,0
$GC,5937,1.23,179.1,458.1,9.0,288,5961,0.17,2.70,16.23,0.833,4,0.123,0.051,3272,3404,2268,0,0,0,0,0,0
$GC,5981,1.26,202.2,454.3,8.7,289,6010,0.00,2.75,22.02,0.841,6,0.000,0.061,3272,1823,2176,0,0,0,0,0,0
$GC,6267,1.27,205.8,425.8,9.8,296,6271,0.00,2.62,0.00,0.000,4,0.000,0.037,3272,3410,2169,0,0,0,0,0,0
$GC,6312,1.27,205.8,421.1,10.7,297,6316,0.00,2.72,0.00,0.000,6,0.000,0.051,3272,1827,2168,0,0,0,0,0,0
$GC,6589,1.28,219.5,395.2,9.2,304,6610,0.00,2.65,15.50,0.813,4,0.000,0.038,3272,3414,2105,0,0,0,0,0,0
$GC,6621,1.30,233.4,392.1,9.2,304,6641,0.00,2.72,14.35,0.794,6,0.000,0.053,3272,1828,2049,0,0,0,0,0,0
$GC,6911,1.31,242.7,364.7,9.5,312,6926,0.00,2.95,9.32,0.749,4,0.000,0.088,3272,232,2010,0,0,0,0,0,0
$GC,6950,1.26,242.7,360.7,10.6,313,6954,0.00,2.60,0.00,0.000,6,0.000,0.027,3272,1848,2009,0,0,0,0,0,0
$GC,7235,1.27,252.8,333.6,9.5,320,7250,0.00,2.55,10.38,0.748,4,0.000,0.035,3272,3400,1970,0,0,0,0,0,0
$GC,7261,1.31,256.5,330.7,9.8,320,7273,0.00,2.62,5.15,0.607,6,0.000,0.042,3272,1836,1955,0,0,0,0,0,0
$GC,7518,1.32,261.3,306.2,9.8,327,7529,0.00,2.90,5.65,0.635,4,0.000,0.079,3272,233,1934,0,0,0,0,0,0
$GC,7540,1.32,261.3,303.3,11.5,327,7544,0.00,2.58,0.00,0.000,6,0.000,0.027,3272,1843,1934,0,0,0,0,0,0
$GC,7796,1.36,261.3,276.6,10.5,334,7801,0.10,2.85,0.00,0.000,4,0.094,0.071,3299,230,1932,0,0,0,0,0,0
$GC,7831,1.28,261.3,272.3,12.9,334,7837,0.00,2.55,0.00,0.000,6,0.000,0.025,3299,1829,1931,0,0,0,0,0,0
$GC,8081,1.28,261.3,243.8,11.2,341,8085,0.00,2.55,0.00,0.000,4,0.000,0.037,3298,3401,1931,0,0,0,0,0,0
$GC,8096,1.28,261.3,242.0,11.2,341,8101,0.00,2.62,0.00,0.000,6,0.000,0.041,3299,1805,1930,0,0,0,0,0,0
$GC,8357,1.28,261.3,214.7,10.2,348,8362,0.00,2.60,0.00,0.000,4,0.000,0.037,3299,3399,1930,0,0,0,0,0,0
$GC,8387,1.28,261.3,211.8,10.2,348,8392,0.00,2.62,0.00,0.000,6,0.000,0.044,3299,1821,1929,0,0,0,0,0,0
$GC,8643,1.30,280.5,187.8,8.9,363,8666,0.00,2.60,18.02,0.698,4,0.000,0.035,3298,3393,1856,0,0,0,0,0,0
$GC,8680,1.33,299.0,184.7,9.0,366,8704,0.00,2.60,17.77,0.683,6,0.000,0.036,3299,1838,1782,0,0,0,0,0,0
$GC,8959,1.33,299.0,156.2,10.8,392,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1838,1777,0,0,0,0,0,0
$GC,9216,1.37,299.0,127.2,10.6,416,9220,0.00,2.80,0.00,0.000,4,0.000,0.071,3298,234,1776,0,0,0,0,0,0
$GC,9244,1.37,299.0,123.6,12.5,418,9249,0.00,2.55,0.00,0.000,6,0.000,0.027,3299,1847,1775,0,0,0,0,0,0
$GC,9508,1.43,302.0,96.9,9.9,442,9512,0.00,2.80,0.00,0.000,4,0.000,0.068,3299,235,1774,0,0,0,0,0,0
$GC,9566,1.43,302.0,90.5,10.3,446,9575,0.00,2.53,0.00,0.000,6,0.000,0.021,3299,1820,1774,0,0,0,0,0,0
$GC,9833,1.55,334.5,67.8,8.2,471,9875,0.15,2.60,31.40,0.604,4,0.071,0.031,3341,3382,1635,0,0,0,0,0,0
$GC,9894,1.60,334.5,61.7,10.0,475,9904,0.00,2.65,0.00,0.000,6,0.000,0.037,3341,1813,1634,0,0,0,0,0,0
$GC,10161,1.66,346.3,38.5,9.4,500,10179,0.00,2.62,11.00,0.534,4,0.000,0.027,3341,3393,1588,0,0,0,0,0,0
$GC,10208,1.78,366.0,34.1,8.9,503,10234,0.15,2.65,18.48,0.550,6,0.103,0.036,3387,1815,1508,0,0,0,0,0,0
$STATE,10444,end climb,SURFACE_DEPTH_REACHED
$STATE,10444,begin surface coast
$FINISH,0.4,1.016502
$STATE,10480,end surface coast,CONTROL_FINISHED_OK
$STATE,10480,begin surface
$SM_CCo,10504,44.88,0.538,0,0,1288,420.20
$SM_GC,1.02,0.00,0.00,44.88,0.000,0.000,0.538,478,1753,1288,-11.60,-0.45,420.20
$IRIDIUM_FIX,2248.70,-15753.23,210100,171749
$TT8_MAMPS,0.025311
$HUMID,56.10
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,19.80
$XPDR_PINGS,144
$24V_AH,23.3,71.076
$10V_AH,9.9,67.355
$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,28.325,151.200,437.750,44.875,0.000,27.436,33.335,218.337,36.000,0.000,31.905,1098.892,6692.441,542.448,2046.974,604.849,33.376,1305.340,0.000,2039.046,0.000,0.534,0.000
$DEVICE_MAMPS,153.400,125.021,925.769,537.667,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.965,313.660,424.683,827.487,1251.758,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,41633,541
$CAP_FILE_SIZE,117606,0
$CFSIZE,260165632,152326144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271010,234447,2256.933,-15753.309,10,99.0,29,10.1