version: 66.06
glider: 146
mission: 5
dive: 525
start: 10 29 110 8 17 31
data:
$ID,146
$MISSION,5
$DIVE,525
$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,-260243.16
$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,46
$R_STBD_OVSHOOT,56
$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
$GPS1,080539,2253.955,-15745.778,50,1.1,50,10.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.3
$GPS2,081637,2254.064,-15745.797,8,1.3,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.088,-0.218
$KALMAN_X,-260469.7,22.9,-151.4,303298.0,-323.7
$KALMAN_Y,-586396.6,-308.0,-243.2,723031.3,1383.0
$MHEAD_RNG_PITCHd_Wd,148.0,11400,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.12,0.000,2,0.000,0.000,470,1745,3261,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.6,-6.9,10,127,12.00,2.65,-4.25,0.000,4,0.163,0.067,2690,214,3479,0,0,0,0,0,0
$GC,153,-1.02,-116.8,16.9,-21.6,16,163,0.38,2.42,0.00,0.000,6,0.096,0.016,2772,1775,3480,0,0,0,0,0,0
$GC,447,-1.02,-116.8,49.0,-11.2,49,451,0.00,2.67,0.00,0.000,4,0.000,0.055,2772,206,3481,0,0,0,0,0,0
$GC,470,-1.02,-116.8,52.2,-10.8,50,480,0.00,2.40,0.00,0.000,6,0.000,0.017,2772,1761,3481,0,0,0,0,0,0
$GC,738,-1.12,-116.8,76.3,-7.4,75,742,0.00,2.50,0.00,0.000,4,0.000,0.027,2772,3334,3481,0,0,0,0,0,0
$GC,786,-1.28,-116.8,79.8,-7.4,78,791,0.22,2.50,0.00,0.000,6,0.048,0.027,2703,1778,3481,0,0,0,0,0,0
$GC,1049,-1.28,-116.8,104.6,-8.5,102,1053,0.00,2.67,0.00,0.000,4,0.000,0.064,2703,193,3482,0,0,0,0,0,0
$GC,1071,-1.28,-116.8,106.5,-9.4,103,1075,0.00,2.35,0.00,0.000,6,0.000,0.021,2703,1758,3482,0,0,0,0,0,0
$GC,1337,-1.28,-116.8,130.1,-8.8,127,1342,0.00,2.45,0.00,0.000,4,0.000,0.031,2703,3320,3483,0,0,0,0,0,0
$GC,1372,-1.33,-116.8,133.9,-9.4,129,1378,0.00,2.55,0.00,0.000,6,0.000,0.032,2703,1738,3483,0,0,0,0,0,0
$GC,1640,-1.33,-116.8,157.9,-9.1,154,1645,0.00,2.65,0.00,0.000,4,0.000,0.063,2703,189,3483,0,0,0,0,0,0
$GC,1673,-1.33,-116.8,161.9,-10.3,156,1683,0.00,2.38,0.00,0.000,6,0.000,0.016,2703,1738,3483,0,0,0,0,0,0
$GC,1942,-1.33,-116.8,185.5,-9.1,181,1946,0.00,2.47,0.00,0.000,4,0.000,0.028,2703,3317,3483,0,0,0,0,0,0
$GC,1975,-1.36,-116.8,189.2,-9.1,183,1984,0.00,2.58,0.00,0.000,6,0.000,0.031,2703,1737,3484,0,0,0,0,0,0
$GC,2262,-1.36,-116.8,215.9,-9.7,199,2266,0.00,2.53,0.00,0.000,4,0.000,0.032,2703,3324,3484,0,0,0,0,0,0
$GC,2323,-1.43,-116.8,222.0,-9.5,200,2327,0.00,2.55,0.00,0.000,6,0.000,0.036,2703,1750,3483,0,0,0,0,0,0
$GC,2584,-1.43,-116.8,245.8,-9.1,207,2588,0.00,2.47,0.00,0.000,4,0.000,0.033,2703,3313,3482,0,0,0,0,0,0
$GC,2607,-1.47,-116.8,247.8,-8.8,207,2612,0.10,2.53,0.00,0.000,6,0.084,0.032,2665,1758,3482,0,0,0,0,0,0
$GC,2863,-1.44,-116.8,274.4,-10.4,214,2864,0.10,0.00,0.00,0.000,6,0.125,0.000,2686,1758,3482,0,0,0,0,0,0
$GC,3106,-1.44,-116.8,295.5,-8.4,220,3111,0.00,2.75,0.00,0.000,4,0.000,0.081,2686,187,3481,0,0,0,0,0,0
$GC,3135,-1.44,-116.8,298.1,-9.5,220,3139,0.00,2.45,0.00,0.000,6,0.000,0.022,2686,1745,3481,0,0,0,0,0,0
$GC,3385,-1.44,-116.8,320.6,-9.0,226,3389,0.00,2.58,0.00,0.000,4,0.000,0.035,2686,3354,3480,0,0,0,0,0,0
$GC,3418,-1.50,-116.8,323.8,-9.1,226,3424,0.00,2.60,0.00,0.000,6,0.000,0.038,2686,1776,3480,0,0,0,0,0,0
$GC,3668,-1.50,-116.8,347.0,-9.3,233,3673,0.00,2.83,0.00,0.000,4,0.000,0.091,2686,186,3478,0,0,0,0,0,0
$GC,3700,-1.50,-116.8,350.3,-10.2,233,3706,0.00,2.47,0.00,0.000,6,0.000,0.028,2686,1759,3478,0,0,0,0,0,0
$GC,3951,-1.50,-116.8,373.0,-9.1,240,3955,0.00,2.60,0.00,0.000,4,0.000,0.047,2686,3353,3477,0,0,0,0,0,0
$GC,4008,-1.56,-116.8,378.3,-9.0,241,4013,0.12,2.62,0.00,0.000,6,0.073,0.048,2645,1783,3476,0,0,0,0,0,0
$GC,4275,-1.51,-116.8,408.3,-11.4,248,4280,0.12,2.58,0.00,0.000,4,0.118,0.038,2670,3356,3474,0,0,0,0,0,0
$GC,4297,-1.51,-116.8,410.7,-10.3,248,4301,0.00,2.62,0.00,0.000,6,0.000,0.050,2670,1793,3474,0,0,0,0,0,0
$GC,4554,-1.51,-116.8,434.8,-9.4,255,4558,0.00,2.55,0.00,0.000,4,0.000,0.046,2670,3350,3472,0,0,0,0,0,0
$GC,4589,-1.55,-116.8,438.1,-9.3,255,4594,0.00,2.60,0.00,0.000,6,0.000,0.051,2670,1807,3472,0,0,0,0,0,0
$GC,4839,-1.55,-116.8,460.8,-9.1,262,4843,0.00,3.03,0.00,0.000,4,0.000,0.107,2670,180,3471,0,0,0,0,0,0
$GC,4867,-1.55,-116.8,463.5,-9.5,262,4872,0.00,2.62,0.00,0.000,6,0.000,0.037,2670,1792,3471,0,0,0,0,0,0
$GC,5117,-1.55,-116.8,486.1,-8.9,268,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1792,3469,0,0,0,0,0,0
$STATE,5277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5277,begin apogee
$GC,5283,-0.31,0.0,500.3,8.7,272,5384,1.17,0.00,98.03,0.927,6,0.081,0.000,2931,1792,3001,0,0,0,0,0,0
$STATE,5385,end apogee,CONTROL_FINISHED_OK
$STATE,5385,begin climb
$GC,5388,1.38,116.8,502.8,0.0,274,5496,1.58,0.00,102.90,0.906,6,0.038,0.000,3313,1792,2524,0,0,0,0,0,0
$GC,5724,1.32,173.2,490.4,6.8,283,5777,0.12,0.00,50.28,0.890,6,0.133,0.000,3289,1792,2294,0,0,0,0,0,0
$GC,6010,1.28,193.6,466.4,8.9,290,6030,0.00,0.00,18.62,0.850,6,0.000,0.000,3290,1792,2211,0,0,0,0,0,0
$GC,6252,1.23,196.1,442.3,9.9,296,6257,0.10,2.85,0.00,0.000,4,0.138,0.081,3270,232,2205,0,0,0,0,0,0
$GC,6294,1.15,196.1,437.9,10.8,297,6298,0.00,2.60,0.00,0.000,6,0.000,0.028,3270,1822,2203,0,0,0,0,0,0
$GC,6577,1.18,227.6,413.6,8.2,304,6613,0.00,2.67,30.62,0.858,4,0.000,0.049,3270,3406,2072,0,0,0,0,0,0
$GC,6661,1.25,239.1,406.3,9.4,305,6679,0.00,2.70,11.45,0.785,6,0.000,0.049,3270,1828,2026,0,0,0,0,0,0
$GC,6950,1.27,251.5,379.7,9.3,312,6969,0.00,2.67,12.07,0.785,4,0.000,0.036,3270,3412,1975,0,0,0,0,0,0
$GC,6975,1.27,252.3,377.1,10.0,312,6980,0.00,2.70,0.00,0.000,6,0.000,0.051,3270,1835,1974,0,0,0,0,0,0
$GC,7232,1.29,271.3,353.9,8.9,319,7253,0.00,0.00,19.42,0.805,6,0.000,0.000,3270,1835,1894,0,0,0,0,0,0
$GC,7474,1.33,275.2,330.4,9.8,325,7484,0.00,2.92,4.30,0.561,4,0.000,0.087,3270,233,1879,0,0,0,0,0,0
$GC,7547,1.33,275.2,322.1,11.4,326,7552,0.00,2.60,0.00,0.000,6,0.000,0.023,3270,1862,1877,0,0,0,0,0,0
$GC,7799,1.38,275.2,296.4,10.3,332,7804,0.12,2.88,0.00,0.000,4,0.213,0.070,3304,233,1876,0,0,0,0,0,0
$GC,7832,1.28,275.2,291.8,13.8,332,7839,0.12,2.50,0.00,0.000,6,0.128,0.024,3280,1810,1876,0,0,0,0,0,0
$GC,8082,1.28,275.2,264.5,10.7,339,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1811,1875,0,0,0,0,0,0
$GC,8328,1.32,275.2,239.2,10.4,345,8332,0.00,2.75,0.00,0.000,4,0.000,0.074,3280,232,1875,0,0,0,0,0,0
$GC,8343,1.32,275.2,237.2,10.3,345,8348,0.00,2.50,0.00,0.000,6,0.000,0.023,3280,1810,1874,0,0,0,0,0,0
$GC,8605,1.39,297.7,213.5,8.7,352,8631,0.00,2.60,20.35,0.720,4,0.000,0.038,3279,3396,1788,0,0,0,0,0,0
$GC,8645,1.48,318.6,210.2,8.8,353,8672,0.17,2.65,20.48,0.706,6,0.067,0.042,3325,1802,1702,0,0,0,0,0,0
$GC,8925,1.48,318.6,178.2,11.7,371,8929,0.00,2.60,0.00,0.000,4,0.000,0.033,3325,3396,1697,0,0,0,0,0,0
$GC,8960,1.48,318.6,174.1,12.1,373,8965,0.00,2.62,0.00,0.000,6,0.000,0.040,3324,1824,1695,0,0,0,0,0,0
$GC,9222,1.48,318.6,143.7,11.7,398,9227,0.00,2.78,0.00,0.000,4,0.000,0.069,3325,236,1695,0,0,0,0,0,0
$GC,9292,1.39,318.6,135.0,13.9,403,9297,0.10,2.47,0.00,0.000,6,0.134,0.021,3305,1804,1693,0,0,0,0,0,0
$GC,9560,1.40,327.3,107.1,9.5,427,9575,0.00,2.60,8.02,0.570,4,0.000,0.032,3305,3384,1666,0,0,0,0,0,0
$GC,9601,1.48,329.2,102.5,9.9,430,9610,0.00,2.67,0.00,0.000,6,0.000,0.037,3305,1789,1666,0,0,0,0,0,0
$GC,9868,1.57,341.8,77.0,9.3,455,9888,0.15,2.62,14.20,0.590,4,0.074,0.027,3344,3392,1605,0,0,0,0,0,0
$GC,9907,1.57,341.8,73.2,10.8,457,9911,0.00,2.62,0.00,0.000,6,0.000,0.037,3344,1805,1604,0,0,0,0,0,0
$GC,10174,1.63,354.0,48.0,9.3,481,10193,0.00,0.00,11.73,0.550,6,0.000,0.000,3344,1805,1555,0,0,0,0,0,0
$GC,10472,1.68,354.2,20.4,10.0,514,10481,0.00,2.72,0.00,0.000,4,0.000,0.065,3344,245,1553,0,0,0,0,0,0
$GC,10532,1.68,354.2,12.6,13.0,522,10541,0.00,2.53,0.00,0.000,6,0.000,0.020,3344,1838,1553,0,0,0,0,0,0
$STATE,10603,end climb,SURFACE_DEPTH_REACHED
$STATE,10603,begin surface coast
$FINISH,0.3,1.023425
$STATE,10646,end surface coast,CONTROL_FINISHED_OK
$STATE,10649,begin surface
$SM_CCo,10671,55.85,0.538,0,0,1287,420.20
$SM_GC,1.06,0.00,0.00,55.85,0.000,0.000,0.538,472,1758,1287,-11.63,-0.34,420.20
$IRIDIUM_FIX,2244.02,-15748.90,230100,050523
$TT8_MAMPS,0.026078
$HUMID,56.45
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,20.00
$XPDR_PINGS,135
$24V_AH,23.3,72.768
$10V_AH,9.7,68.737
$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,28.400,146.200,422.475,55.850,0.000,27.612,40.184,439.183,33.750,0.000,14.992,1099.262,6879.741,568.498,1995.035,840.881,33.376,1311.353,0.000,2005.084,0.000,0.533,0.000
$DEVICE_MAMPS,213.226,107.380,927.303,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.188,310.057,419.729,814.740,1232.367,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,41471,538
$CAP_FILE_SIZE,121200,0
$CFSIZE,260165632,151654400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291010,111734,2253.738,-15745.498,15,99.0,34,10.1