version: 66.06
glider: 146
mission: 5
dive: 539
start: 10 31 110 5 6 8
data:
$ID,146
$MISSION,5
$DIVE,539
$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,-260690.31
$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,21
$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
$GPS1,045606,2252.369,-15742.189,33,0.9,33,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.1
$GPS2,050514,2252.496,-15742.188,14,1.1,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.004,-0.234
$KALMAN_X,-259876.6,262.9,144.0,308375.5,67.0
$KALMAN_Y,-559962.1,783.9,444.2,691910.1,299.4
$MHEAD_RNG_PITCHd_Wd,169.0,6482,-19.9,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.39,-115.7,0.0,0.0,0,108,0.00,0.00,-86.40,0.000,6,0.000,0.000,473,1751,3474,0,0,0,0,0,0
$GC,111,-1.39,-116.8,4.5,-9.5,11,129,11.95,2.67,0.00,0.000,4,0.162,0.057,2690,181,3477,0,0,0,0,0,0
$GC,161,-1.00,-116.8,20.8,-27.7,17,171,0.40,2.47,0.00,0.000,6,0.100,0.016,2777,1775,3477,0,0,0,0,0,0
$GC,448,-1.06,-116.8,52.6,-10.0,47,452,0.00,2.47,0.00,0.000,4,0.000,0.026,2777,3335,3478,0,0,0,0,0,0
$GC,472,-1.15,-116.8,55.3,-9.4,48,481,0.10,2.60,0.00,0.000,6,0.035,0.029,2727,1745,3478,0,0,0,0,0,0
$GC,739,-1.15,-116.8,81.4,-10.9,73,744,0.10,2.62,0.00,0.000,4,0.117,0.063,2748,192,3479,0,0,0,0,0,0
$GC,784,-1.25,-116.8,87.1,-11.0,76,794,0.00,2.38,0.00,0.000,6,0.000,0.021,2748,1750,3479,0,0,0,0,0,0
$GC,1053,-1.34,-116.8,108.5,-7.7,101,1058,0.17,2.45,0.00,0.000,4,0.058,0.031,2693,3308,3480,0,0,0,0,0,0
$GC,1075,-1.34,-116.8,111.1,-8.1,102,1084,0.00,2.58,0.00,0.000,6,0.000,0.031,2693,1726,3480,0,0,0,0,0,0
$GC,1343,-1.34,-116.8,138.0,-10.5,127,1347,0.00,2.50,0.00,0.000,4,0.000,0.030,2693,3308,3480,0,0,0,0,0,0
$GC,1376,-1.34,-116.8,142.3,-10.2,129,1382,0.00,2.53,0.00,0.000,6,0.000,0.030,2693,1736,3480,0,0,0,0,0,0
$GC,1643,-1.34,-116.8,168.2,-9.9,154,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,1736,3481,0,0,0,0,0,0
$GC,1906,-1.34,-116.8,194.5,-10.0,179,1910,0.00,2.47,0.00,0.000,4,0.000,0.030,2693,3314,3481,0,0,0,0,0,0
$GC,1929,-1.34,-116.8,197.0,-10.2,180,1938,0.00,2.53,0.00,0.000,6,0.000,0.034,2693,1760,3481,0,0,0,0,0,0
$GC,2212,-1.34,-116.8,224.6,-9.6,190,2216,0.00,2.45,0.00,0.000,4,0.000,0.031,2693,3308,3481,0,0,0,0,0,0
$GC,2256,-1.40,-116.8,229.0,-8.9,191,2260,0.00,2.47,0.00,0.000,6,0.000,0.029,2693,1772,3481,0,0,0,0,0,0
$GC,2534,-1.40,-116.8,253.1,-8.5,198,2538,0.00,2.42,0.00,0.000,4,0.000,0.033,2693,3317,3480,0,0,0,0,0,0
$GC,2568,-1.46,-116.8,255.9,-8.1,198,2574,0.00,2.45,0.00,0.000,6,0.000,0.031,2693,1798,3480,0,0,0,0,0,0
$GC,2818,-1.46,-116.8,275.9,-8.0,205,2823,0.00,2.78,0.00,0.000,4,0.000,0.070,2693,196,3479,0,0,0,0,0,0
$GC,2845,-1.46,-116.8,278.3,-9.1,205,2850,0.00,2.42,0.00,0.000,6,0.000,0.021,2692,1762,3479,0,0,0,0,0,0
$GC,3097,-1.46,-116.8,299.2,-8.3,211,3101,0.00,2.53,0.00,0.000,4,0.000,0.039,2693,3342,3479,0,0,0,0,0,0
$GC,3141,-1.53,-116.8,303.3,-8.9,212,3147,0.12,2.50,0.00,0.000,6,0.071,0.039,2650,1809,3479,0,0,0,0,0,0
$GC,3420,-1.49,-116.8,333.4,-11.3,219,3425,0.12,2.90,0.00,0.000,4,0.116,0.082,2677,189,3478,0,0,0,0,0,0
$GC,3439,-1.49,-116.8,335.4,-10.9,219,3443,0.00,2.53,0.00,0.000,6,0.000,0.027,2677,1800,3478,0,0,0,0,0,0
$GC,3700,-1.49,-116.8,361.1,-9.6,226,3704,0.00,2.53,0.00,0.000,4,0.000,0.047,2677,3357,3476,0,0,0,0,0,0
$GC,3727,-1.52,-116.8,363.8,-9.4,226,3732,0.00,2.58,0.00,0.000,6,0.000,0.048,2677,1810,3476,0,0,0,0,0,0
$GC,3979,-1.52,-116.8,386.3,-9.0,232,3984,0.00,2.92,0.00,0.000,4,0.000,0.094,2677,184,3475,0,0,0,0,0,0
$GC,3995,-1.52,-116.8,388.1,-9.0,232,4000,0.00,2.58,0.00,0.000,6,0.000,0.029,2677,1814,3475,0,0,0,0,0,0
$GC,4256,-1.52,-116.8,412.2,-9.2,239,4260,0.00,2.55,0.00,0.000,4,0.000,0.050,2677,3360,3474,0,0,0,0,0,0
$GC,4285,-1.57,-116.8,414.9,-9.6,239,4289,0.00,2.60,0.00,0.000,6,0.000,0.056,2677,1822,3474,0,0,0,0,0,0
$GC,4535,-1.57,-116.8,436.8,-8.7,245,4540,0.00,3.00,0.00,0.000,4,0.000,0.100,2677,189,3472,0,0,0,0,0,0
$GC,4551,-1.57,-116.8,438.3,-8.7,245,4555,0.00,2.60,0.00,0.000,6,0.000,0.034,2677,1819,3471,0,0,0,0,0,0
$GC,4813,-1.57,-116.8,461.9,-9.1,252,4817,0.00,2.58,0.00,0.000,4,0.000,0.057,2677,3364,3470,0,0,0,0,0,0
$GC,4835,-1.57,-116.8,464.2,-8.8,252,4839,0.00,2.60,0.00,0.000,6,0.000,0.053,2677,1829,3470,0,0,0,0,0,0
$GC,5090,-1.57,-116.8,488.9,-9.8,259,5095,0.00,3.08,0.00,0.000,4,0.000,0.107,2677,185,3468,0,0,0,0,0,0
$GC,5113,-1.57,-116.8,491.1,-10.1,259,5117,0.00,2.65,0.00,0.000,6,0.000,0.036,2677,1825,3468,0,0,0,0,0,0
$STATE,5202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5202,begin apogee
$GC,5208,-0.31,0.0,500.0,9.6,262,5310,1.15,0.00,98.12,0.922,6,0.085,0.000,2930,1825,3001,0,0,0,0,0,0
$STATE,5311,end apogee,CONTROL_FINISHED_OK
$STATE,5311,begin climb
$GC,5313,1.39,116.8,502.4,0.0,264,5428,1.55,2.95,102.70,0.900,4,0.051,0.086,3307,239,2523,0,0,0,0,0,0
$GC,5450,1.24,168.6,501.4,7.0,267,5505,0.17,2.62,46.58,0.880,6,0.126,0.038,3273,1821,2313,0,0,0,0,0,0
$GC,5762,1.23,188.9,474.4,8.9,275,5786,0.00,2.80,18.20,0.837,4,0.000,0.060,3273,3409,2229,0,0,0,0,0,0
$GC,5814,1.23,192.4,469.3,9.8,276,5824,0.00,2.75,4.53,0.591,6,0.000,0.058,3273,1824,2216,0,0,0,0,0,0
$GC,6087,1.24,198.3,443.1,9.7,283,6101,0.00,2.72,6.55,0.709,4,0.000,0.038,3273,3422,2190,0,0,0,0,0,0
$GC,6123,1.24,198.3,439.2,10.1,283,6129,0.00,2.75,0.00,0.000,6,0.000,0.054,3273,1830,2190,0,0,0,0,0,0
$GC,6373,1.24,198.3,413.8,10.3,290,6378,0.00,2.92,0.00,0.000,4,0.000,0.100,3273,234,2188,0,0,0,0,0,0
$GC,6397,1.18,198.3,411.5,10.9,290,6401,0.00,2.58,0.00,0.000,6,0.000,0.027,3273,1840,2186,0,0,0,0,0,0
$GC,6652,1.18,198.6,385.7,10.0,297,6656,0.00,2.58,0.00,0.000,4,0.000,0.043,3272,3414,2186,0,0,0,0,0,0
$GC,6673,1.18,198.6,383.4,10.4,297,6677,0.00,2.67,0.00,0.000,6,0.000,0.054,3273,1825,2184,0,0,0,0,0,0
$GC,6935,1.20,211.3,359.2,9.3,304,6949,0.00,0.00,12.23,0.786,6,0.000,0.000,3273,1825,2138,0,0,0,0,0,0
$GC,7177,1.22,230.3,337.0,8.9,310,7197,0.00,0.00,18.10,0.797,6,0.000,0.000,3273,1825,2062,0,0,0,0,0,0
$GC,7421,1.24,247.7,314.9,9.0,316,7440,0.00,0.00,16.75,0.776,6,0.000,0.000,3273,1825,1991,0,0,0,0,0,0
$GC,7711,1.31,271.9,289.5,8.6,323,7740,0.00,2.95,23.17,0.774,4,0.000,0.081,3273,236,1891,0,0,0,0,0,0
$GC,7774,1.31,271.9,282.8,11.3,324,7778,0.00,2.58,0.00,0.000,6,0.000,0.026,3273,1847,1889,0,0,0,0,0,0
$GC,8035,1.36,271.9,256.8,10.1,331,8040,0.10,2.50,0.00,0.000,4,0.100,0.031,3299,3397,1887,0,0,0,0,0,0
$GC,8069,1.43,271.9,252.7,12.5,331,8075,0.00,2.62,0.00,0.000,6,0.000,0.046,3299,1828,1885,0,0,0,0,0,0
$GC,8319,1.43,271.9,224.6,11.2,338,8324,0.00,2.80,0.00,0.000,4,0.000,0.074,3299,241,1884,0,0,0,0,0,0
$GC,8346,1.38,271.9,221.3,12.3,338,8351,0.00,2.58,0.00,0.000,6,0.000,0.021,3299,1859,1883,0,0,0,0,0,0
$GC,8598,1.40,286.9,197.6,9.2,344,8623,0.00,2.55,13.57,0.685,4,0.000,0.040,3299,3390,1829,0,0,0,0,0,0
$GC,8647,1.49,304.4,193.2,9.0,348,8671,0.10,2.53,17.23,0.689,6,0.091,0.037,3326,1858,1758,0,0,0,0,0,0
$GC,8925,1.49,304.4,163.6,11.1,374,8930,0.00,2.85,0.00,0.000,4,0.000,0.071,3326,237,1753,0,0,0,0,0,0
$GC,8959,1.43,304.4,160.1,12.2,376,8963,0.00,2.58,0.00,0.000,6,0.000,0.026,3326,1858,1752,0,0,0,0,0,0
$GC,9223,1.43,304.4,130.6,10.9,400,9227,0.00,2.47,0.00,0.000,4,0.000,0.031,3326,3397,1752,0,0,0,0,0,0
$GC,9252,1.47,304.4,127.1,11.6,402,9256,0.00,2.58,0.00,0.000,6,0.000,0.044,3326,1831,1751,0,0,0,0,0,0
$GC,9516,1.47,304.4,98.8,11.5,426,9521,0.00,2.78,0.00,0.000,4,0.000,0.071,3326,236,1751,0,0,0,0,0,0
$GC,9562,1.47,304.4,93.2,13.0,429,9566,0.00,2.53,0.00,0.000,6,0.000,0.022,3326,1842,1750,0,0,0,0,0,0
$GC,9828,1.52,304.4,65.5,10.7,453,9833,0.00,2.80,0.00,0.000,4,0.000,0.069,3326,231,1750,0,0,0,0,0,0
$GC,9901,1.53,314.3,57.8,9.5,458,9915,0.00,2.50,8.70,0.538,6,0.000,0.020,3326,1813,1719,0,0,0,0,0,0
$GC,10176,1.66,359.0,36.6,7.4,483,10218,0.15,0.00,39.67,0.571,6,0.150,0.000,3368,1813,1537,0,0,0,0,0,0
$STATE,10488,end climb,SURFACE_DEPTH_REACHED
$STATE,10488,begin surface coast
$FINISH,0.3,1.008102
$STATE,10539,end surface coast,CONTROL_FINISHED_OK
$STATE,10539,begin surface
$SM_CCo,10562,50.58,0.535,0,0,1288,420.20
$SM_GC,0.96,0.00,0.00,50.58,0.000,0.000,0.535,475,1752,1288,-11.62,-0.51,420.20
$IRIDIUM_FIX,2244.02,-15741.52,250100,010142
$TT8_MAMPS,0.026078
$HUMID,56.18
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.40
$XPDR_PINGS,150
$24V_AH,23.3,74.811
$10V_AH,9.9,70.471
$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,28.075,157.575,426.100,50.575,0.000,28.851,47.282,318.795,37.500,0.000,15.777,1092.619,6787.821,539.341,2010.662,727.089,33.372,1314.657,0.000,2010.817,0.000,0.534,0.000
$DEVICE_MAMPS,161.837,124.254,921.934,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.691,315.821,412.987,810.835,1227.473,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,41570,532
$CAP_FILE_SIZE,120052,0
$CFSIZE,260165632,150798336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311010,080424,2251.996,-15742.216,25,1.0,42,10.1