version: 66.06
glider: 146
mission: 5
dive: 540
start: 10 31 110 8 13 38
data:
$ID,146
$MISSION,5
$DIVE,540
$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,-260707.08
$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,37
$R_STBD_OVSHOOT,54
$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
$GPS1,080424,2251.996,-15742.216,25,1.0,42,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.7
$GPS2,081244,2252.113,-15742.201,14,1.1,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.039,-0.231
$KALMAN_X,-259885.6,253.8,112.5,308406.7,-312.1
$KALMAN_Y,-557487.8,428.9,-107.1,689631.0,1017.5
$MHEAD_RNG_PITCHd_Wd,160.3,5776,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.39,-115.9,0.0,0.0,0,106,0.00,0.00,-85.90,0.000,2,0.000,0.000,475,1752,3461,0,0,0,0,0,0
$GC,110,-1.39,-116.8,4.4,-9.2,11,129,11.80,2.62,-0.28,0.000,4,0.158,0.064,2687,202,3479,0,0,0,0,0,0
$GC,180,-1.23,-116.8,24.4,-17.8,20,190,0.17,2.45,0.00,0.000,6,0.104,0.016,2726,1785,3480,0,0,0,0,0,0
$GC,461,-1.19,-116.8,62.0,-11.8,47,466,0.00,2.70,0.00,0.000,4,0.000,0.055,2725,201,3481,0,0,0,0,0,0
$GC,483,-1.19,-116.8,64.9,-11.2,48,487,0.00,2.38,0.00,0.000,6,0.000,0.016,2725,1762,3481,0,0,0,0,0,0
$GC,747,-1.19,-116.8,89.9,-8.7,72,752,0.00,2.45,0.00,0.000,4,0.000,0.025,2726,3317,3482,0,0,0,0,0,0
$GC,794,-1.27,-116.8,93.6,-8.4,75,798,0.00,2.50,0.00,0.000,6,0.000,0.034,2726,1764,3482,0,0,0,0,0,0
$GC,1062,-1.31,-116.8,116.4,-9.0,99,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1764,3483,0,0,0,0,0,0
$GC,1326,-1.36,-116.8,140.9,-9.3,124,1330,0.00,2.67,0.00,0.000,4,0.000,0.061,2725,196,3483,0,0,0,0,0,0
$GC,1348,-1.41,-116.8,143.4,-10.4,125,1354,0.15,2.33,0.00,0.000,6,0.066,0.016,2677,1756,3483,0,0,0,0,0,0
$GC,1612,-1.37,-116.8,172.6,-11.5,150,1617,0.10,2.47,0.00,0.000,4,0.124,0.025,2698,3315,3484,0,0,0,0,0,0
$GC,1637,-1.37,-116.8,175.7,-10.6,151,1643,0.00,2.53,0.00,0.000,6,0.000,0.028,2698,1746,3484,0,0,0,0,0,0
$GC,1921,-1.37,-116.8,204.6,-9.9,175,1925,0.00,2.47,0.00,0.000,4,0.000,0.031,2698,3310,3484,0,0,0,0,0,0
$GC,1999,-1.43,-116.8,212.1,-8.6,176,2005,0.00,2.47,0.00,0.000,6,0.000,0.034,2698,1770,3484,0,0,0,0,0,0
$GC,2251,-1.43,-116.8,234.7,-9.1,183,2255,0.00,2.72,0.00,0.000,4,0.000,0.068,2698,198,3484,0,0,0,0,0,0
$GC,2272,-1.43,-116.8,237.1,-9.7,183,2276,0.00,2.38,0.00,0.000,6,0.000,0.017,2697,1760,3484,0,0,0,0,0,0
$GC,2527,-1.43,-116.8,261.2,-9.5,190,2531,0.00,2.47,0.00,0.000,4,0.000,0.035,2698,3331,3483,0,0,0,0,0,0
$GC,2543,-1.46,-116.8,262.8,-9.8,190,2548,0.00,2.53,0.00,0.000,6,0.000,0.033,2698,1772,3483,0,0,0,0,0,0
$GC,2806,-1.46,-116.8,288.6,-9.9,197,2810,0.00,2.45,0.00,0.000,4,0.000,0.031,2698,3326,3482,0,0,0,0,0,0
$GC,2839,-1.54,-116.8,292.1,-10.0,197,2845,0.15,2.50,0.00,0.000,6,0.062,0.038,2645,1792,3482,0,0,0,0,0,0
$GC,3091,-1.48,-116.8,319.5,-11.2,204,3096,0.15,2.85,0.00,0.000,4,0.110,0.086,2676,185,3482,0,0,0,0,0,0
$GC,3113,-1.44,-116.8,322.5,-11.8,204,3117,0.00,2.47,0.00,0.000,6,0.000,0.028,2676,1757,3481,0,0,0,0,0,0
$GC,3368,-1.44,-116.8,346.8,-9.4,211,3372,0.00,2.58,0.00,0.000,4,0.000,0.040,2676,3354,3481,0,0,0,0,0,0
$GC,3409,-1.50,-116.8,350.5,-9.2,212,3414,0.00,2.60,0.00,0.000,6,0.000,0.041,2677,1786,3480,0,0,0,0,0,0
$GC,3693,-1.50,-116.8,376.3,-9.2,219,3698,0.00,2.88,0.00,0.000,4,0.000,0.091,2676,185,3479,0,0,0,0,0,0
$GC,3704,-1.50,-116.8,377.4,-9.3,219,3708,0.00,2.53,0.00,0.000,6,0.000,0.027,2676,1796,3479,0,0,0,0,0,0
$GC,3971,-1.50,-116.8,404.0,-10.2,226,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1795,3478,0,0,0,0,0,0
$GC,4213,-1.50,-116.8,429.1,-10.2,232,4218,0.00,2.55,0.00,0.000,4,0.000,0.049,2676,3345,3476,0,0,0,0,0,0
$GC,4230,-1.50,-116.8,430.8,-10.0,232,4234,0.00,2.62,0.00,0.000,6,0.000,0.052,2676,1790,3476,0,0,0,0,0,0
$GC,4492,-1.50,-116.8,455.6,-9.4,239,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1790,3475,0,0,0,0,0,0
$GC,4734,-1.50,-116.8,475.7,-8.0,245,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1790,3473,0,0,0,0,0,0
$GC,4978,-1.50,-116.8,495.4,-8.1,251,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,1790,3472,0,0,0,0,0,0
$STATE,5056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5056,begin apogee
$GC,5062,-0.31,0.0,502.1,8.3,253,5164,1.15,0.00,98.93,0.923,6,0.086,0.000,2928,1790,3001,0,0,0,0,0,0
$STATE,5165,end apogee,CONTROL_FINISHED_OK
$STATE,5165,begin climb
$GC,5169,1.39,116.8,504.1,0.0,255,5283,1.55,3.03,103.25,0.903,4,0.040,0.110,3307,233,2522,0,0,0,0,0,0
$GC,5337,1.20,142.6,500.9,8.5,259,5367,0.22,2.60,23.20,0.859,6,0.118,0.033,3263,1806,2419,0,0,0,0,0,0
$GC,5624,1.27,197.8,480.7,6.8,266,5680,0.00,2.83,49.75,0.886,4,0.000,0.060,3263,3411,2193,0,0,0,0,0,0
$GC,5707,1.30,223.6,474.6,8.5,268,5736,0.00,2.78,24.23,0.852,6,0.000,0.058,3263,1823,2089,0,0,0,0,0,0
$GC,5989,1.32,240.6,449.3,9.1,275,6013,0.10,3.03,15.90,0.828,4,0.097,0.101,3288,230,2018,0,0,0,0,0,0
$GC,6024,1.24,240.6,445.2,11.3,275,6030,0.00,2.62,0.00,0.000,6,0.000,0.029,3288,1834,2017,0,0,0,0,0,0
$GC,6275,1.24,240.6,417.6,11.0,282,6280,0.00,2.60,0.00,0.000,4,0.000,0.048,3288,3407,2014,0,0,0,0,0,0
$GC,6331,1.24,240.6,410.9,11.8,283,6335,0.00,2.70,0.00,0.000,6,0.000,0.058,3288,1836,2012,0,0,0,0,0,0
$GC,6597,1.24,240.6,381.1,11.2,290,6602,0.00,2.90,0.00,0.000,4,0.000,0.090,3288,232,2011,0,0,0,0,0,0
$GC,6631,1.14,240.6,377.1,12.3,290,6638,0.20,2.60,0.00,0.000,6,0.114,0.023,3248,1855,2010,0,0,0,0,0,0
$GC,6882,1.23,258.7,353.7,9.0,297,6900,0.00,0.00,16.50,0.799,6,0.000,0.000,3248,1855,1946,0,0,0,0,0,0
$GC,7127,1.33,275.7,331.8,9.0,303,7152,0.17,2.97,16.88,0.787,4,0.073,0.071,3292,230,1875,0,0,0,0,0,0
$GC,7158,1.33,275.7,328.3,11.2,303,7162,0.00,2.58,0.00,0.000,6,0.000,0.026,3292,1828,1874,0,0,0,0,0,0
$GC,7407,1.33,275.7,301.7,10.4,309,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1828,1872,0,0,0,0,0,0
$GC,7653,1.33,275.7,276.8,10.3,315,7657,0.00,2.55,0.00,0.000,4,0.000,0.038,3292,3400,1870,0,0,0,0,0,0
$GC,7676,1.37,275.7,274.2,10.6,315,7681,0.00,2.65,0.00,0.000,6,0.000,0.037,3292,1802,1869,0,0,0,0,0,0
$GC,7931,1.37,275.7,246.9,10.7,322,7935,0.00,2.75,0.00,0.000,4,0.000,0.078,3293,237,1868,0,0,0,0,0,0
$GC,7952,1.37,275.7,244.5,11.2,322,7956,0.00,2.50,0.00,0.000,6,0.000,0.023,3292,1814,1867,0,0,0,0,0,0
$GC,8208,1.37,275.7,218.3,10.1,329,8213,0.00,2.55,0.00,0.000,4,0.000,0.038,3292,3393,1867,0,0,0,0,0,0
$GC,8230,1.41,275.7,215.9,10.1,329,8234,0.00,2.62,0.00,0.000,6,0.000,0.038,3292,1808,1867,0,0,0,0,0,0
$GC,8487,1.44,296.0,192.7,8.9,339,8511,0.00,2.78,17.92,0.696,4,0.000,0.075,3292,240,1794,0,0,0,0,0,0
$GC,8529,1.44,296.0,188.4,10.8,342,8539,0.05,2.53,0.00,0.000,6,0.067,0.028,3314,1807,1792,0,0,0,0,0,0
$GC,8795,1.44,296.0,158.9,10.8,367,8800,0.00,2.58,0.00,0.000,4,0.000,0.037,3314,3404,1791,0,0,0,0,0,0
$GC,8854,1.50,296.0,152.1,10.9,371,8859,0.00,2.65,0.00,0.000,6,0.000,0.042,3314,1808,1789,0,0,0,0,0,0
$GC,9116,1.51,304.0,125.4,9.6,396,9130,0.00,2.75,8.32,0.581,4,0.000,0.066,3314,236,1760,0,0,0,0,0,0
$GC,9196,1.47,304.0,117.1,11.0,402,9205,0.00,2.50,0.00,0.000,6,0.000,0.027,3313,1803,1759,0,0,0,0,0,0
$GC,9462,1.47,304.0,91.1,10.1,427,9466,0.00,2.53,0.00,0.000,4,0.000,0.031,3314,3393,1758,0,0,0,0,0,0
$GC,9506,1.58,304.0,85.5,11.1,430,9516,0.10,2.67,0.00,0.000,6,0.051,0.044,3347,1795,1757,0,0,0,0,0,0
$GC,9775,1.60,316.0,59.1,9.3,455,9792,0.00,2.62,11.98,0.559,4,0.000,0.029,3347,3383,1711,0,0,0,0,0,0
$GC,9846,1.71,336.3,52.4,8.9,460,9872,0.08,2.60,19.12,0.570,6,0.056,0.035,3375,1826,1629,0,0,0,0,0,0
$GC,10146,1.71,336.3,21.0,11.1,492,10156,0.00,2.78,0.00,0.000,4,0.000,0.066,3375,232,1625,0,0,0,0,0,0
$GC,10175,1.66,336.3,17.9,11.5,495,10184,0.00,2.53,0.00,0.000,6,0.000,0.021,3375,1825,1624,0,0,0,0,0,0
$STATE,10302,end climb,SURFACE_DEPTH_REACHED
$STATE,10303,begin surface coast
$FINISH,0.3,1.023445
$STATE,10354,end surface coast,CONTROL_FINISHED_OK
$STATE,10354,begin surface
$SM_CCo,10376,69.45,0.536,0,0,1288,420.20
$SM_GC,0.94,0.00,0.00,69.45,0.000,0.000,0.536,473,1757,1288,-11.62,-0.37,420.20
$IRIDIUM_FIX,2241.69,-15754.11,250100,050526
$TT8_MAMPS,0.026078
$HUMID,55.63
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.40
$XPDR_PINGS,142
$24V_AH,23.3,74.944
$10V_AH,9.8,70.588
$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,28.025,146.625,405.975,69.450,0.000,25.014,38.629,285.112,35.500,0.000,16.141,1052.164,6751.875,539.529,1918.001,684.213,33.370,1285.586,0.000,1921.561,0.000,0.533,0.000
$DEVICE_MAMPS,158.002,109.681,923.468,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.215,299.675,400.054,762.166,1153.430,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,41433,520
$CAP_FILE_SIZE,115130,0
$CFSIZE,260165632,150740992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311010,110858,2252.081,-15742.041,12,99.0,31,10.1