version: 66.06
glider: 146
mission: 5
dive: 517
start: 10 28 110 6 31 2
data:
$ID,146
$MISSION,5
$DIVE,517
$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,-260033.3
$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,30
$R_STBD_OVSHOOT,59
$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
$GPS1,061327,2255.914,-15751.378,42,1.7,43,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.9
$GPS2,063004,2255.966,-15751.486,14,1.5,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.175,-0.156
$KALMAN_X,-259058.5,152.3,-277.6,292090.7,-296.5
$KALMAN_Y,-597116.6,-180.0,-153.7,737056.6,415.5
$MHEAD_RNG_PITCHd_Wd,121.7,20705,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-86.22,0.000,2,0.000,0.000,472,1758,3471,0,0,0,0,0,0
$GC,107,-1.38,-116.8,3.9,-7.5,11,125,11.80,2.67,0.00,0.000,4,0.157,0.054,2690,189,3473,0,0,0,0,0,0
$GC,222,-1.30,-116.8,33.6,-16.9,26,227,0.12,2.42,0.00,0.000,6,0.132,0.015,2713,1778,3474,0,0,0,0,0,0
$GC,488,-1.30,-116.8,68.8,-11.5,50,492,0.00,2.67,0.00,0.000,4,0.000,0.057,2713,198,3475,0,0,0,0,0,0
$GC,525,-1.30,-116.8,73.1,-10.2,52,534,0.00,2.38,0.00,0.000,6,0.000,0.015,2713,1751,3475,0,0,0,0,0,0
$GC,791,-1.30,-116.8,97.1,-10.1,77,795,0.00,2.45,0.00,0.000,4,0.000,0.028,2713,3315,3476,0,0,0,0,0,0
$GC,832,-1.37,-116.8,101.7,-9.9,80,836,0.00,2.47,0.00,0.000,6,0.000,0.027,2713,1761,3476,0,0,0,0,0,0
$GC,1096,-1.37,-116.8,125.6,-8.4,104,1100,0.00,2.45,0.00,0.000,4,0.000,0.029,2713,3316,3476,0,0,0,0,0,0
$GC,1117,-1.41,-116.8,127.3,-8.5,105,1122,0.00,2.47,0.00,0.000,6,0.000,0.030,2713,1764,3476,0,0,0,0,0,0
$GC,1385,-1.41,-116.8,150.2,-9.3,129,1390,0.00,2.45,0.00,0.000,4,0.000,0.025,2713,3325,3476,0,0,0,0,0,0
$GC,1420,-1.48,-116.8,154.4,-10.4,131,1426,0.15,2.47,0.00,0.000,6,0.062,0.030,2661,1774,3476,0,0,0,0,0,0
$GC,1684,-1.42,-116.8,184.2,-11.4,156,1689,0.15,2.72,0.00,0.000,4,0.107,0.069,2692,196,3477,0,0,0,0,0,0
$GC,1718,-1.42,-116.8,188.4,-10.9,158,1724,0.00,2.40,0.00,0.000,6,0.000,0.018,2692,1774,3477,0,0,0,0,0,0
$GC,2006,-1.42,-116.8,214.8,-9.0,174,2010,0.00,2.42,0.00,0.000,4,0.000,0.029,2692,3317,3476,0,0,0,0,0,0
$GC,2046,-1.47,-116.8,218.4,-8.5,175,2050,0.00,2.50,0.00,0.000,6,0.000,0.034,2692,1772,3476,0,0,0,0,0,0
$GC,2329,-1.47,-116.8,243.8,-9.2,182,2333,0.00,2.45,0.00,0.000,4,0.000,0.025,2692,3324,3475,0,0,0,0,0,0
$GC,2375,-1.54,-116.8,248.0,-9.2,183,2380,0.12,2.47,0.00,0.000,6,0.073,0.037,2650,1792,3475,0,0,0,0,0,0
$GC,2653,-1.48,-116.8,276.5,-10.3,190,2658,0.12,2.80,0.00,0.000,4,0.117,0.077,2677,193,3473,0,0,0,0,0,0
$GC,2675,-1.48,-116.8,278.8,-9.8,190,2679,0.00,2.45,0.00,0.000,6,0.000,0.020,2677,1767,3474,0,0,0,0,0,0
$GC,2932,-1.48,-116.8,302.6,-9.6,197,2936,0.00,2.50,0.00,0.000,4,0.000,0.033,2677,3343,3473,0,0,0,0,0,0
$GC,2972,-1.53,-116.8,306.8,-9.9,198,2976,0.00,2.50,0.00,0.000,6,0.000,0.038,2677,1802,3473,0,0,0,0,0,0
$GC,3256,-1.53,-116.8,336.9,-10.7,205,3261,0.00,2.88,0.00,0.000,4,0.000,0.088,2677,190,3471,0,0,0,0,0,0
$GC,3271,-1.53,-116.8,338.9,-10.7,205,3276,0.00,2.53,0.00,0.000,6,0.000,0.028,2677,1787,3471,0,0,0,0,0,0
$GC,3533,-1.53,-116.8,365.6,-10.0,212,3537,0.00,2.55,0.00,0.000,4,0.000,0.046,2676,3354,3469,0,0,0,0,0,0
$GC,3574,-1.57,-116.8,369.3,-9.6,213,3579,0.00,2.55,0.00,0.000,6,0.000,0.041,2677,1811,3469,0,0,0,0,0,0
$GC,3857,-1.57,-116.8,395.5,-9.1,220,3862,0.00,2.50,0.00,0.000,4,0.000,0.042,2677,3352,3467,0,0,0,0,0,0
$GC,3891,-1.62,-116.8,398.7,-9.5,220,3897,0.12,2.58,0.00,0.000,6,0.074,0.052,2635,1814,3467,0,0,0,0,0,0
$GC,4143,-1.56,-116.8,425.1,-10.6,227,4145,0.12,0.00,0.00,0.000,6,0.122,0.000,2660,1814,3466,0,0,0,0,0,0
$GC,4387,-1.56,-116.8,449.0,-9.7,233,4391,0.00,2.53,0.00,0.000,4,0.000,0.048,2660,3346,3464,0,0,0,0,0,0
$GC,4419,-1.56,-116.8,452.7,-10.3,233,4425,0.00,2.60,0.00,0.000,6,0.000,0.058,2660,1822,3464,0,0,0,0,0,0
$GC,4671,-1.56,-116.8,478.5,-10.5,240,4675,0.00,2.53,0.00,0.000,4,0.000,0.045,2660,3345,3462,0,0,0,0,0,0
$GC,4726,-1.60,-116.8,484.4,-10.7,241,4730,0.00,2.58,0.00,0.000,6,0.000,0.065,2660,1848,3462,0,0,0,0,0,0
$STATE,4908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4908,begin apogee
$GC,4914,-0.31,0.0,502.5,9.8,246,5015,1.23,0.00,96.38,0.927,6,0.089,0.000,2929,1821,3000,0,0,0,0,0,0
$STATE,5015,end apogee,CONTROL_FINISHED_OK
$STATE,5015,begin climb
$GC,5020,1.38,116.8,505.0,0.0,248,5127,1.55,0.00,103.22,0.905,6,0.052,0.000,3306,1820,2524,0,0,0,0,0,0
$GC,5347,1.31,160.9,490.5,7.5,256,5391,0.00,3.10,38.62,0.882,4,0.000,0.114,3306,234,2344,0,0,0,0,0,0
$GC,5445,1.12,160.9,481.2,10.8,258,5451,0.30,2.60,0.00,0.000,6,0.114,0.035,3246,1808,2340,0,0,0,0,0,0
$GC,5718,1.18,208.6,460.1,7.3,265,5768,0.00,2.80,43.08,0.876,4,0.000,0.055,3246,3405,2149,0,0,0,0,0,0
$GC,5823,1.25,215.9,451.4,9.6,267,5837,0.10,2.72,7.68,0.732,6,0.096,0.054,3270,1827,2120,0,0,0,0,0,0
$GC,6095,1.25,223.3,425.2,9.6,274,6105,0.00,0.00,7.47,0.732,6,0.000,0.000,3270,1827,2090,0,0,0,0,0,0
$GC,6339,1.28,247.4,403.9,8.6,280,6364,0.00,0.00,23.35,0.839,6,0.000,0.000,3270,1827,1991,0,0,0,0,0,0
$GC,6581,1.30,261.2,381.9,9.2,286,6600,0.00,3.00,13.40,0.793,4,0.000,0.094,3270,240,1935,0,0,0,0,0,0
$GC,6624,1.26,261.2,377.2,11.3,287,6629,0.00,2.60,0.00,0.000,6,0.000,0.021,3270,1856,1933,0,0,0,0,0,0
$GC,6909,1.26,261.2,346.7,10.9,294,6913,0.00,2.50,0.00,0.000,4,0.000,0.037,3270,3404,1931,0,0,0,0,0,0
$GC,6926,1.31,261.2,344.5,11.0,294,6930,0.00,2.67,0.00,0.000,6,0.000,0.044,3270,1818,1930,0,0,0,0,0,0
$GC,7186,1.32,269.4,318.8,9.6,301,7200,0.00,2.90,7.95,0.710,4,0.000,0.082,3270,233,1902,0,0,0,0,0,0
$GC,7248,1.32,269.4,312.5,10.3,302,7252,0.00,2.53,0.00,0.000,6,0.000,0.021,3270,1812,1901,0,0,0,0,0,0
$GC,7514,1.33,279.9,287.6,9.4,309,7527,0.00,0.00,11.05,0.733,6,0.000,0.000,3270,1814,1859,0,0,0,0,0,0
$GC,7760,1.38,279.9,263.0,10.3,315,7765,0.12,2.83,0.00,0.000,4,0.083,0.076,3305,229,1856,0,0,0,0,0,0
$GC,7795,1.28,279.9,258.2,13.9,315,7801,0.12,2.50,0.00,0.000,6,0.130,0.021,3281,1802,1855,0,0,0,0,0,0
$GC,8045,1.28,279.9,229.8,11.2,322,8049,0.00,2.53,0.00,0.000,4,0.000,0.030,3281,3389,1854,0,0,0,0,0,0
$GC,8094,1.36,279.9,224.2,11.0,323,8099,0.00,2.62,0.00,0.000,6,0.000,0.037,3281,1799,1853,0,0,0,0,0,0
$GC,8368,1.43,295.6,198.2,9.1,330,8393,0.12,2.83,14.80,0.698,4,0.081,0.071,3315,241,1794,0,0,0,0,0,0
$GC,8422,1.37,295.6,192.2,11.6,334,8428,0.00,2.47,0.00,0.000,6,0.000,0.021,3315,1797,1793,0,0,0,0,0,0
$GC,8685,1.37,295.6,166.4,10.3,359,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1798,1792,0,0,0,0,0,0
$GC,8942,1.37,295.6,138.6,11.2,383,8946,0.00,2.55,0.00,0.000,4,0.000,0.036,3315,3387,1791,0,0,0,0,0,0
$GC,9000,1.41,295.6,132.5,10.8,387,9005,0.00,2.60,0.00,0.000,6,0.000,0.037,3315,1811,1790,0,0,0,0,0,0
$GC,9266,1.41,295.6,104.8,10.5,411,9271,0.00,2.53,0.00,0.000,4,0.000,0.029,3315,3389,1790,0,0,0,0,0,0
$GC,9288,1.45,295.6,101.7,11.4,412,9298,0.00,2.58,0.00,0.000,6,0.000,0.038,3315,1838,1790,0,0,0,0,0,0
$GC,9557,1.47,314.9,75.9,8.9,437,9585,0.00,2.85,17.80,0.603,4,0.000,0.068,3315,236,1715,0,0,0,0,0,0
$GC,9602,1.48,318.0,71.1,9.9,440,9617,0.00,2.53,4.32,0.433,6,0.000,0.027,3315,1837,1703,0,0,0,0,0,0
$GC,9873,1.62,357.3,48.6,7.8,465,9914,0.15,2.83,34.95,0.588,4,0.070,0.058,3356,231,1543,0,0,0,0,0,0
$GC,9932,1.62,357.3,41.3,12.5,469,9942,0.00,2.55,0.00,0.000,6,0.000,0.021,3356,1826,1542,0,0,0,0,0,0
$GC,10244,1.62,357.3,13.2,12.3,508,10253,0.00,2.53,0.00,0.000,4,0.000,0.032,3356,3385,1540,0,0,0,0,0,0
$GC,10277,1.62,357.3,8.7,13.9,512,10286,0.00,2.58,0.00,0.000,6,0.000,0.036,3356,1838,1538,0,0,0,0,0,0
$STATE,10314,end climb,SURFACE_DEPTH_REACHED
$STATE,10314,begin surface coast
$FINISH,0.4,1.009314
$STATE,10364,end surface coast,CONTROL_FINISHED_OK
$STATE,10364,begin surface
$SM_CCo,10388,52.67,0.539,0,0,1288,420.20
$SM_GC,1.05,0.00,0.00,52.67,0.000,0.000,0.539,477,1756,1288,-11.61,-0.40,420.20
$IRIDIUM_FIX,2246.36,-15751.06,220100,060633
$TT8_MAMPS,0.026078
$HUMID,56.37
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,20.10
$XPDR_PINGS,112
$24V_AH,23.3,71.536
$10V_AH,9.8,67.732
$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,28.225,145.425,424.075,52.675,0.000,57.191,82.438,632.937,28.000,0.000,16.280,1071.287,6720.425,556.885,1981.288,1109.749,33.405,1310.792,0.000,1980.953,0.000,0.535,0.000
$DEVICE_MAMPS,157.235,200.954,927.303,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.565,298.059,405.332,782.795,1183.203,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355748
$DATA_FILE_SIZE,41510,524
$CAP_FILE_SIZE,122104,0
$CFSIZE,260165632,152137728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281010,092706,2255.743,-15750.698,83,1.0,83,10.1