version: 66.06
glider: 146
mission: 5
dive: 519
start: 10 28 110 13 7 17
data:
$ID,146
$MISSION,5
$DIVE,519
$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,-260127.38
$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,35
$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
$GPS1,125237,2255.728,-15750.117,53,1.0,53,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-60.2
$GPS2,130624,2255.815,-15750.109,49,1.4,59,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,-0.154
$KALMAN_X,-259877.1,-424.0,202.0,295377.5,-390.4
$KALMAN_Y,-594761.7,-241.0,460.4,733867.1,297.3
$MHEAD_RNG_PITCHd_Wd,121.0,18733,-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,-116.8,0.0,0.0,0,127,0.00,0.00,-109.00,0.000,2,0.000,0.000,470,1748,3278,0,0,0,0,0,0
$GC,132,-1.38,-116.8,3.7,-6.4,14,158,11.60,2.67,-3.78,0.000,4,0.150,0.072,2691,202,3482,0,0,0,0,0,0
$GC,189,-1.21,-116.8,19.9,-20.8,21,198,0.17,2.45,0.00,0.000,6,0.095,0.016,2731,1768,3482,0,0,0,0,0,0
$GC,469,-1.16,-116.8,54.9,-13.1,51,473,0.00,2.47,0.00,0.000,4,0.000,0.025,2731,3343,3483,0,0,0,0,0,0
$GC,480,-1.11,-116.8,56.8,-11.5,51,489,0.05,2.53,0.00,0.000,6,0.100,0.026,2746,1776,3483,0,0,0,0,0,0
$GC,745,-1.20,-116.8,81.2,-7.7,76,750,0.00,2.47,0.00,0.000,4,0.000,0.025,2747,3348,3483,0,0,0,0,0,0
$GC,780,-1.31,-116.8,84.0,-7.0,78,791,0.10,2.53,0.00,0.000,6,0.038,0.027,2703,1783,3483,0,0,0,0,0,0
$GC,1049,-1.31,-116.8,108.5,-9.8,103,1054,0.00,2.67,0.00,0.000,4,0.000,0.064,2702,197,3483,0,0,0,0,0,0
$GC,1104,-1.31,-116.8,114.7,-11.0,107,1109,0.00,2.40,0.00,0.000,6,0.000,0.016,2702,1793,3483,0,0,0,0,0,0
$GC,1372,-1.31,-116.8,139.9,-8.0,131,1377,0.00,2.38,0.00,0.000,4,0.000,0.033,2702,3314,3483,0,0,0,0,0,0
$GC,1431,-1.38,-116.8,146.1,-9.6,135,1437,0.00,2.47,0.00,0.000,6,0.000,0.035,2702,1765,3483,0,0,0,0,0,0
$GC,1697,-1.38,-116.8,172.2,-10.4,160,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1765,3483,0,0,0,0,0,0
$GC,1960,-1.38,-116.8,198.1,-9.6,185,1964,0.00,2.42,0.00,0.000,4,0.000,0.025,2702,3314,3483,0,0,0,0,0,0
$GC,1978,-1.38,-116.8,199.8,-9.5,186,1982,0.00,2.47,0.00,0.000,6,0.000,0.028,2702,1772,3483,0,0,0,0,0,0
$GC,2229,-1.38,-116.8,222.7,-9.2,192,2234,0.00,2.70,0.00,0.000,4,0.000,0.066,2702,193,3483,0,0,0,0,0,0
$GC,2245,-1.38,-116.8,224.4,-9.2,192,2250,0.00,2.42,0.00,0.000,6,0.000,0.018,2702,1790,3483,0,0,0,0,0,0
$GC,2507,-1.38,-116.8,246.2,-8.2,199,2511,0.00,2.38,0.00,0.000,4,0.000,0.028,2702,3310,3482,0,0,0,0,0,0
$GC,2553,-1.45,-116.8,249.8,-7.9,200,2557,0.00,2.42,0.00,0.000,6,0.000,0.033,2702,1794,3482,0,0,0,0,0,0
$GC,2831,-1.49,-116.8,272.8,-8.7,207,2832,0.12,0.00,0.00,0.000,6,0.074,0.000,2662,1794,3481,0,0,0,0,0,0
$GC,3073,-1.49,-116.8,299.0,-10.9,213,3078,0.00,2.40,0.00,0.000,4,0.000,0.036,2662,3307,3480,0,0,0,0,0,0
$GC,3091,-1.49,-116.8,300.7,-10.1,213,3095,0.00,2.45,0.00,0.000,6,0.000,0.035,2662,1796,3479,0,0,0,0,0,0
$GC,3352,-1.49,-116.8,324.4,-9.0,220,3356,0.00,2.42,0.00,0.000,4,0.000,0.038,2662,3309,3478,0,0,0,0,0,0
$GC,3373,-1.49,-116.8,326.6,-9.8,220,3377,0.00,2.47,0.00,0.000,6,0.000,0.038,2662,1801,3478,0,0,0,0,0,0
$GC,3629,-1.49,-116.8,354.0,-11.2,227,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1801,3476,0,0,0,0,0,0
$GC,3872,-1.49,-116.8,379.8,-10.4,233,3876,0.00,2.45,0.00,0.000,4,0.000,0.041,2662,3313,3474,0,0,0,0,0,0
$GC,3899,-1.49,-116.8,382.6,-10.0,233,3903,0.00,2.50,0.00,0.000,6,0.000,0.050,2662,1816,3474,0,0,0,0,0,0
$GC,4149,-1.49,-116.8,407.1,-10.1,239,4153,0.00,2.97,0.00,0.000,4,0.000,0.095,2662,182,3473,0,0,0,0,0,0
$GC,4166,-1.49,-116.8,408.9,-10.6,239,4170,0.00,2.53,0.00,0.000,6,0.000,0.030,2661,1765,3473,0,0,0,0,0,0
$GC,4426,-1.49,-116.8,437.1,-10.8,246,4430,0.00,2.65,0.00,0.000,4,0.000,0.047,2662,3356,3471,0,0,0,0,0,0
$GC,4475,-1.49,-116.8,442.8,-10.5,247,4480,0.00,2.60,0.00,0.000,6,0.000,0.053,2662,1826,3470,0,0,0,0,0,0
$GC,4749,-1.49,-116.8,470.6,-10.2,254,4754,0.00,2.53,0.00,0.000,4,0.000,0.044,2662,3349,3468,0,0,0,0,0,0
$GC,4789,-1.49,-116.8,474.6,-9.6,255,4794,0.00,2.60,0.00,0.000,6,0.000,0.056,2662,1831,3468,0,0,0,0,0,0
$STATE,5070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5070,begin apogee
$GC,5076,-0.31,0.0,500.4,8.8,262,5177,1.23,0.00,97.85,0.923,6,0.086,0.000,2930,1831,3001,0,0,0,0,0,0
$STATE,5178,end apogee,CONTROL_FINISHED_OK
$STATE,5178,begin climb
$GC,5182,1.38,116.8,501.8,0.0,264,5295,1.52,3.10,103.18,0.901,4,0.039,0.107,3303,233,2523,0,0,0,0,0,0
$GC,5304,1.36,206.7,501.1,4.8,267,5390,0.00,2.60,79.72,0.887,6,0.000,0.034,3303,1810,2158,0,0,0,0,0,0
$GC,5672,1.28,206.7,463.5,10.6,276,5677,0.12,2.70,0.00,0.000,4,0.242,0.053,3280,3405,2148,0,0,0,0,0,0
$GC,5763,1.29,213.5,454.4,9.7,278,5774,0.00,2.70,5.53,0.658,6,0.000,0.055,3280,1840,2130,0,0,0,0,0,0
$GC,6041,1.30,221.6,427.9,9.6,285,6056,0.00,3.08,8.70,0.755,4,0.000,0.102,3280,236,2096,0,0,0,0,0,0
$GC,6075,1.22,221.6,424.5,10.1,285,6080,0.00,2.60,0.00,0.000,6,0.000,0.024,3280,1838,2095,0,0,0,0,0,0
$GC,6325,1.23,231.3,400.3,9.5,291,6337,0.00,0.00,10.00,0.769,6,0.000,0.000,3280,1838,2058,0,0,0,0,0,0
$GC,6568,1.23,231.3,374.3,10.9,297,6573,0.00,2.88,0.00,0.000,4,0.000,0.077,3279,226,2054,0,0,0,0,0,0
$GC,6597,1.16,231.3,371.0,11.6,297,6602,0.12,2.58,0.00,0.000,6,0.130,0.028,3254,1836,2053,0,0,0,0,0,0
$GC,6847,1.25,264.8,349.6,8.1,303,6881,0.00,0.00,31.48,0.821,6,0.000,0.000,3254,1836,1921,0,0,0,0,0,0
$GC,7092,1.31,264.8,326.2,10.1,309,7097,0.12,2.88,0.00,0.000,4,0.081,0.071,3288,227,1915,0,0,0,0,0,0
$GC,7115,1.31,264.8,323.4,11.8,309,7120,0.00,2.58,0.00,0.000,6,0.000,0.021,3287,1834,1914,0,0,0,0,0,0
$GC,7370,1.31,264.8,294.3,11.0,316,7374,0.00,2.55,0.00,0.000,4,0.000,0.034,3288,3401,1913,0,0,0,0,0,0
$GC,7412,1.37,266.3,290.5,10.0,317,7416,0.00,2.65,0.00,0.000,6,0.000,0.041,3287,1817,1911,0,0,0,0,0,0
$GC,7696,1.37,266.3,262.2,10.3,324,7701,0.00,2.80,0.00,0.000,4,0.000,0.078,3287,233,1911,0,0,0,0,0,0
$GC,7735,1.33,266.3,257.2,12.6,325,7740,0.00,2.55,0.00,0.000,6,0.000,0.021,3287,1839,1910,0,0,0,0,0,0
$GC,8019,1.35,283.4,229.9,9.1,332,8042,0.00,2.92,16.50,0.723,4,0.000,0.073,3287,234,1844,0,0,0,0,0,0
$GC,8051,1.36,291.9,227.1,9.5,332,8065,0.00,2.53,9.00,0.657,6,0.000,0.028,3287,1828,1810,0,0,0,0,0,0
$GC,8352,1.41,292.9,198.4,10.0,340,8356,0.00,2.78,0.00,0.000,4,0.000,0.071,3287,238,1805,0,0,0,0,0,0
$GC,8386,1.41,292.9,194.5,11.2,342,8395,0.05,2.50,0.00,0.000,6,0.064,0.021,3308,1806,1803,0,0,0,0,0,0
$GC,8652,1.42,295.8,167.4,9.9,367,8656,0.00,2.55,0.00,0.000,4,0.000,0.031,3308,3389,1803,0,0,0,0,0,0
$GC,8685,1.46,295.8,163.6,10.2,369,8694,0.00,2.62,0.00,0.000,6,0.000,0.039,3308,1818,1802,0,0,0,0,0,0
$GC,8948,1.46,295.8,138.8,10.1,394,8953,0.00,2.75,0.00,0.000,4,0.000,0.067,3308,232,1802,0,0,0,0,0,0
$GC,8958,1.46,297.6,137.3,9.9,394,8971,0.00,2.55,5.60,0.533,6,0.000,0.021,3308,1843,1785,0,0,0,0,0,0
$GC,9232,1.46,297.6,109.2,10.1,420,9236,0.00,2.80,0.00,0.000,4,0.000,0.063,3308,229,1784,0,0,0,0,0,0
$GC,9254,1.46,297.6,106.6,10.8,421,9260,0.00,2.50,0.00,0.000,6,0.000,0.020,3308,1824,1783,0,0,0,0,0,0
$GC,9519,1.51,297.6,80.8,10.9,446,9523,0.00,2.47,0.00,0.000,4,0.000,0.034,3308,3387,1783,0,0,0,0,0,0
$GC,9578,1.60,300.2,74.2,9.9,450,9587,0.12,2.55,0.00,0.000,6,0.046,0.032,3348,1841,1783,0,0,0,0,0,0
$GC,9845,1.62,320.7,49.2,8.9,475,9869,0.00,0.00,21.27,0.574,6,0.000,0.000,3348,1841,1693,0,0,0,0,0,0
$GC,10141,1.63,324.9,23.2,9.8,506,10151,0.00,2.47,4.68,0.413,4,0.000,0.024,3348,3387,1676,0,0,0,0,0,0
$GC,10184,1.69,324.9,17.9,12.8,511,10194,0.00,2.58,0.00,0.000,6,0.000,0.037,3348,1846,1675,0,0,0,0,0,0
$STATE,10297,end climb,SURFACE_DEPTH_REACHED
$STATE,10297,begin surface coast
$FINISH,0.5,1.023523
$STATE,10348,end surface coast,CONTROL_FINISHED_OK
$STATE,10348,begin surface
$SM_CCo,10370,78.95,0.535,0,0,1287,420.20
$SM_GC,1.14,0.00,0.00,78.95,0.000,0.000,0.535,480,1753,1287,-11.60,-0.48,420.20
$IRIDIUM_FIX,2241.69,-16104.27,220100,131351
$TT8_MAMPS,0.026078
$HUMID,55.23
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.30
$XPDR_PINGS,115
$24V_AH,23.3,71.887
$10V_AH,9.9,67.990
$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,27.125,145.375,393.500,78.950,0.000,59.273,91.498,422.019,28.750,0.000,60.903,1076.188,6686.557,553.983,2062.836,895.814,33.377,1330.346,0.000,2018.934,0.000,0.534,0.000
$DEVICE_MAMPS,242.372,106.613,923.468,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.877,317.754,419.538,813.065,1230.087,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,41575,534
$CAP_FILE_SIZE,119591,0
$CFSIZE,260165632,152018944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281010,160300,2255.426,-15749.185,51,1.5,51,10.1