version: 66.06
glider: 146
mission: 5
dive: 528
start: 10 29 110 18 8 55
data:
$ID,146
$MISSION,5
$DIVE,528
$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,-260407
$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,20
$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
$GPS1,175022,2253.223,-15744.711,36,1.2,51,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-65.5
$GPS2,180802,2253.405,-15744.682,71,1.2,71,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.043,-0.231
$KALMAN_X,-260950.3,-376.8,-32.1,305977.6,162.7
$KALMAN_Y,-582004.2,317.0,-98.1,716644.6,1250.6
$MHEAD_RNG_PITCHd_Wd,159.3,9354,-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,-116.8,0.0,0.0,0,103,0.00,0.00,-85.75,0.000,6,0.000,0.000,474,1751,3478,0,0,0,0,0,0
$GC,106,-1.38,-116.8,4.2,-7.8,11,124,11.80,2.67,0.00,0.000,4,0.157,0.058,2689,182,3480,0,0,0,0,0,0
$GC,183,-1.27,-116.8,23.2,-15.2,21,192,0.12,2.47,0.00,0.000,6,0.105,0.017,2718,1769,3481,0,0,0,0,0,0
$GC,461,-1.19,-116.8,61.1,-13.6,49,466,0.10,2.50,0.00,0.000,4,0.138,0.027,2737,3335,3482,0,0,0,0,0,0
$GC,507,-1.24,-116.8,67.2,-11.1,52,512,0.00,2.50,0.00,0.000,6,0.000,0.027,2737,1771,3482,0,0,0,0,0,0
$GC,771,-1.29,-116.8,91.6,-8.2,76,775,0.00,2.47,0.00,0.000,4,0.000,0.024,2737,3346,3482,0,0,0,0,0,0
$GC,794,-1.36,-116.8,93.2,-8.6,77,799,0.15,2.53,0.00,0.000,6,0.061,0.028,2686,1775,3482,0,0,0,0,0,0
$GC,1060,-1.36,-116.8,120.9,-10.8,101,1064,0.00,2.45,0.00,0.000,4,0.000,0.025,2686,3339,3483,0,0,0,0,0,0
$GC,1071,-1.36,-116.8,122.6,-10.6,101,1077,0.00,2.47,0.00,0.000,6,0.000,0.030,2686,1791,3483,0,0,0,0,0,0
$GC,1334,-1.36,-116.8,148.7,-9.1,126,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1791,3483,0,0,0,0,0,0
$GC,1589,-1.36,-116.8,174.0,-10.2,150,1593,0.00,2.42,0.00,0.000,4,0.000,0.030,2686,3336,3483,0,0,0,0,0,0
$GC,1613,-1.36,-116.8,176.7,-10.4,151,1618,0.00,2.45,0.00,0.000,6,0.000,0.031,2686,1806,3483,0,0,0,0,0,0
$GC,1883,-1.36,-116.8,204.1,-10.0,174,1887,0.00,2.40,0.00,0.000,4,0.000,0.029,2686,3337,3483,0,0,0,0,0,0
$GC,1900,-1.36,-116.8,205.8,-9.9,174,1904,0.00,2.42,0.00,0.000,6,0.000,0.030,2686,1820,3483,0,0,0,0,0,0
$GC,2161,-1.36,-116.8,230.1,-9.2,181,2165,0.00,2.80,0.00,0.000,4,0.000,0.071,2686,197,3483,0,0,0,0,0,0
$GC,2200,-1.36,-116.8,234.0,-9.4,182,2205,0.00,2.47,0.00,0.000,6,0.000,0.020,2686,1820,3483,0,0,0,0,0,0
$GC,2485,-1.36,-116.8,259.6,-9.1,189,2489,0.00,2.38,0.00,0.000,4,0.000,0.035,2686,3330,3482,0,0,0,0,0,0
$GC,2506,-1.36,-116.8,261.9,-9.7,189,2511,0.00,2.45,0.00,0.000,6,0.000,0.031,2686,1820,3482,0,0,0,0,0,0
$GC,2762,-1.36,-116.8,288.2,-10.5,196,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1819,3481,0,0,0,0,0,0
$GC,3007,-1.36,-116.8,311.7,-9.5,202,3012,0.00,2.90,0.00,0.000,4,0.000,0.085,2686,193,3480,0,0,0,0,0,0
$GC,3034,-1.36,-116.8,314.6,-9.9,202,3039,0.00,2.53,0.00,0.000,6,0.000,0.022,2686,1803,3480,0,0,0,0,0,0
$GC,3285,-1.36,-116.8,334.8,-7.9,208,3289,0.00,2.50,0.00,0.000,4,0.000,0.039,2686,3352,3479,0,0,0,0,0,0
$GC,3319,-1.42,-116.8,337.7,-7.9,208,3325,0.00,2.53,0.00,0.000,6,0.000,0.043,2686,1823,3479,0,0,0,0,0,0
$GC,3569,-1.42,-116.8,358.5,-8.5,215,3574,0.00,2.92,0.00,0.000,4,0.000,0.087,2686,189,3476,0,0,0,0,0,0
$GC,3591,-1.42,-116.8,360.7,-9.2,215,3595,0.00,2.55,0.00,0.000,6,0.000,0.027,2686,1821,3477,0,0,0,0,0,0
$GC,3846,-1.42,-116.8,384.6,-9.4,222,3850,0.00,2.50,0.00,0.000,4,0.000,0.045,2686,3359,3475,0,0,0,0,0,0
$GC,3887,-1.48,-116.8,388.5,-10.6,223,3891,0.00,2.55,0.00,0.000,6,0.000,0.051,2686,1833,3475,0,0,0,0,0,0
$GC,4170,-1.48,-116.8,416.7,-9.8,230,4174,0.00,2.47,0.00,0.000,4,0.000,0.038,2686,3348,3472,0,0,0,0,0,0
$GC,4186,-1.48,-116.8,418.4,-10.0,230,4190,0.00,2.53,0.00,0.000,6,0.000,0.050,2686,1841,3473,0,0,0,0,0,0
$GC,4447,-1.52,-116.8,443.5,-9.6,237,4451,0.00,2.47,0.00,0.000,4,0.000,0.048,2686,3350,3471,0,0,0,0,0,0
$GC,4463,-1.56,-116.8,445.1,-9.3,237,4468,0.10,2.53,0.00,0.000,6,0.084,0.051,2650,1848,3471,0,0,0,0,0,0
$GC,4726,-1.56,-116.8,471.9,-10.4,244,4731,0.00,3.10,0.00,0.000,4,0.000,0.113,2651,194,3469,0,0,0,0,0,0
$GC,4748,-1.51,-116.8,474.5,-10.7,244,4753,0.10,2.67,0.00,0.000,6,0.131,0.033,2670,1834,3469,0,0,0,0,0,0
$GC,5003,-1.51,-116.8,498.1,-9.2,251,5008,0.00,2.58,0.00,0.000,4,0.000,0.063,2670,3344,3468,0,0,0,0,0,0
$STATE,5023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5023,begin apogee
$GC,5033,-0.31,0.0,500.3,9.1,251,5135,1.15,0.00,98.18,0.923,6,0.083,0.000,2927,1827,3001,0,0,0,0,0,0
$STATE,5136,end apogee,CONTROL_FINISHED_OK
$STATE,5136,begin climb
$GC,5138,1.38,116.8,502.9,0.0,254,5249,1.58,0.00,104.15,0.901,6,0.049,0.000,3308,1827,2523,0,0,0,0,0,0
$GC,5493,1.29,149.0,482.0,8.2,263,5528,0.12,2.72,28.10,0.869,4,0.127,0.044,3284,3390,2393,0,0,0,0,0,0
$GC,5601,1.27,165.7,472.7,9.1,265,5622,0.00,2.70,16.12,0.831,6,0.000,0.058,3284,1820,2325,0,0,0,0,0,0
$GC,5868,1.26,197.3,450.2,8.2,272,5903,0.00,3.08,29.15,0.861,4,0.000,0.108,3284,229,2195,0,0,0,0,0,0
$GC,5920,1.18,211.0,445.5,9.2,272,5940,0.12,2.60,13.73,0.803,6,0.130,0.031,3260,1812,2140,0,0,0,0,0,0
$GC,6191,1.22,240.8,423.3,8.3,279,6225,0.00,2.75,27.35,0.844,4,0.000,0.048,3261,3404,2018,0,0,0,0,0,0
$GC,6256,1.30,249.5,417.5,9.5,280,6270,0.00,2.75,9.30,0.749,6,0.000,0.058,3260,1816,1983,0,0,0,0,0,0
$GC,6521,1.31,259.1,392.3,9.5,287,6533,0.10,0.00,9.73,0.758,6,0.094,0.000,3287,1816,1943,0,0,0,0,0,0
$GC,6766,1.31,259.1,366.3,10.8,293,6770,0.00,2.62,0.00,0.000,4,0.000,0.037,3287,3423,1939,0,0,0,0,0,0
$GC,6781,1.31,259.1,364.4,10.8,293,6786,0.00,2.72,0.00,0.000,6,0.000,0.051,3287,1819,1938,0,0,0,0,0,0
$GC,7042,1.31,259.1,335.4,11.2,300,7047,0.00,2.85,0.00,0.000,4,0.000,0.087,3287,234,1938,0,0,0,0,0,0
$GC,7083,1.24,259.1,330.5,12.6,301,7088,0.00,2.58,0.00,0.000,6,0.000,0.027,3287,1853,1936,0,0,0,0,0,0
$GC,7366,1.24,259.1,299.8,10.3,308,7371,0.00,2.85,0.00,0.000,4,0.000,0.071,3287,230,1936,0,0,0,0,0,0
$GC,7393,1.18,259.1,296.7,11.1,308,7399,0.15,2.53,0.00,0.000,6,0.119,0.025,3258,1821,1935,0,0,0,0,0,0
$GC,7645,1.26,265.5,272.6,9.7,314,7656,0.00,2.80,5.43,0.601,4,0.000,0.074,3257,236,1919,0,0,0,0,0,0
$GC,7678,1.26,265.5,269.0,10.7,314,7684,0.00,2.50,0.00,0.000,6,0.000,0.027,3257,1806,1918,0,0,0,0,0,0
$GC,7929,1.34,274.9,245.6,9.5,321,7942,0.15,0.00,10.65,0.703,6,0.077,0.000,3296,1808,1879,0,0,0,0,0,0
$GC,8173,1.34,274.9,220.2,10.3,327,8178,0.00,2.78,0.00,0.000,4,0.000,0.069,3296,233,1877,0,0,0,0,0,0
$GC,8195,1.35,276.2,217.8,10.0,327,8199,0.00,2.50,0.00,0.000,6,0.000,0.021,3296,1809,1876,0,0,0,0,0,0
$GC,8456,1.35,280.5,193.6,9.8,337,8467,0.00,2.60,6.10,0.591,4,0.000,0.038,3296,3400,1856,0,0,0,0,0,0
$GC,8505,1.44,280.5,188.3,10.3,341,8509,0.00,2.65,0.00,0.000,6,0.000,0.038,3296,1805,1856,0,0,0,0,0,0
$GC,8768,1.48,282.3,162.3,9.9,365,8770,0.10,0.00,0.00,0.000,6,0.093,0.000,3324,1805,1855,0,0,0,0,0,0
$GC,9026,1.48,282.3,134.5,11.5,389,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1805,1855,0,0,0,0,0,0
$GC,9287,1.48,283.7,107.0,10.0,414,9300,0.00,0.00,4.15,0.447,6,0.000,0.000,3324,1805,1844,0,0,0,0,0,0
$GC,9559,1.51,312.1,80.4,8.4,439,9591,0.00,0.00,26.58,0.611,6,0.000,0.000,3325,1805,1728,0,0,0,0,0,0
$GC,9852,1.66,361.9,56.2,7.2,466,9907,0.15,2.83,43.85,0.587,4,0.148,0.065,3366,234,1524,0,0,0,0,0,0
$GC,9963,1.66,361.9,44.6,12.0,474,9972,0.00,2.53,0.00,0.000,6,0.000,0.021,3366,1811,1521,0,0,0,0,0,0
$GC,10268,1.66,361.9,10.4,11.1,511,10277,0.00,2.78,0.00,0.000,4,0.000,0.068,3366,240,1519,0,0,0,0,0,0
$GC,10295,1.69,381.7,8.1,8.9,514,10321,0.00,2.47,17.75,0.518,6,0.000,0.020,3366,1808,1444,0,0,0,0,0,0
$STATE,10330,end climb,SURFACE_DEPTH_REACHED
$STATE,10330,begin surface coast
$FINISH,0.4,1.011757
$STATE,10366,end surface coast,CONTROL_FINISHED_OK
$STATE,10367,begin surface
$SM_CCo,10390,32.10,0.525,0,0,1287,420.20
$SM_GC,1.13,0.00,0.00,32.10,0.000,0.000,0.525,474,1751,1287,-11.62,-0.54,420.20
$IRIDIUM_FIX,2246.36,-15745.85,230100,181838
$TT8_MAMPS,0.026078
$HUMID,56.81
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.20
$XPDR_PINGS,116
$24V_AH,23.3,73.237
$10V_AH,9.9,69.110
$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,27.850,141.075,450.300,32.100,0.000,54.359,73.958,654.909,29.000,0.000,73.414,1053.910,6804.507,551.844,1961.015,1109.077,33.371,1282.033,0.000,1907.356,0.000,0.535,0.000
$DEVICE_MAMPS,157.235,126.555,922.701,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.161,308.069,404.321,769.079,1159.798,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,41657,523
$CAP_FILE_SIZE,120623,0
$CFSIZE,260165632,151470080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291010,210346,2253.286,-15744.270,8,99.0,27,10.1