version: 66.06
glider: 146
mission: 5
dive: 541
start: 10 31 110 11 24 32
data:
$ID,146
$MISSION,5
$DIVE,541
$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,-260723.02
$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,32
$R_STBD_OVSHOOT,51
$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
$GPS1,110858,2252.081,-15742.041,12,99.0,31,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.0
$GPS2,112338,2252.255,-15741.987,13,1.6,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.008,-0.539
$KALMAN_X,-259647.8,202.1,-108.9,308806.8,-91.4
$KALMAN_Y,-554718.7,25.6,25.7,687392.3,1849.5
$MHEAD_RNG_PITCHd_Wd,169.0,6028,-4.9,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.45,-116.8,0.0,0.0,0,107,0.00,0.00,-86.15,0.000,3,0.000,0.000,472,1758,3479,0,0,0,0,0,0
$GC,111,-0.45,-116.8,4.3,-8.9,11,136,13.40,2.70,0.00,0.000,4,0.173,0.052,2895,200,3481,0,0,0,0,0,0
$GC,196,-0.33,-116.8,21.1,-7.2,22,204,0.10,2.45,0.00,0.000,6,0.069,0.016,2926,1796,3482,0,0,0,0,0,0
$GC,498,-0.48,-116.8,39.2,-7.0,59,503,0.15,2.72,0.00,0.000,4,0.079,0.054,2889,189,3482,0,0,0,0,0,0
$GC,782,-0.60,-116.8,57.5,-6.5,81,791,0.00,2.33,0.00,0.000,6,0.000,0.016,2889,1728,3483,0,0,0,0,0,0
$GC,1051,-0.60,-116.8,73.1,-6.2,106,1055,0.00,2.47,0.00,0.000,4,0.000,0.025,2888,3309,3483,0,0,0,0,0,0
$GC,1145,-0.68,-116.8,79.4,-6.5,113,1151,0.17,2.45,0.00,0.000,6,0.071,0.034,2838,1766,3483,0,0,0,0,0,0
$GC,1411,-0.59,-116.8,94.8,-5.2,137,1416,0.15,0.00,0.00,0.000,6,0.083,0.000,2876,1766,3484,0,0,0,0,0,0
$GC,1674,-0.70,-116.8,107.8,-5.0,162,1679,0.12,2.42,0.00,0.000,4,0.074,0.027,2836,3300,3484,0,0,0,0,0,0
$GC,1706,-0.66,-116.8,109.8,-6.6,164,1710,0.00,2.30,0.00,0.000,6,0.000,0.032,2836,1849,3484,0,0,0,0,0,0
$GC,1979,-0.61,-116.8,130.0,-7.5,189,1984,0.12,2.83,0.00,0.000,4,0.087,0.060,2869,195,3485,0,0,0,0,0,0
$GC,2251,-0.79,-116.8,145.9,-4.8,211,2257,0.17,2.33,0.00,0.000,6,0.061,0.020,2817,1769,3485,0,0,0,0,0,0
$GC,2516,-0.68,-116.8,158.8,-5.6,236,2521,0.15,2.70,0.00,0.000,4,0.081,0.064,2855,192,3485,0,0,0,0,0,0
$GC,2784,-0.80,-116.8,176.2,-6.5,258,2793,0.10,2.50,0.00,0.000,6,0.043,0.020,2816,1834,3484,0,0,0,0,0,0
$GC,3051,-0.70,-116.8,192.3,-5.6,283,3056,0.15,2.80,0.00,0.000,4,0.079,0.064,2855,190,3484,0,0,0,0,0,0
$GC,3317,-0.86,-116.8,206.0,-5.3,298,3323,0.20,2.58,0.00,0.000,6,0.060,0.016,2798,1895,3484,0,0,0,0,0,0
$GC,3569,-0.73,-116.8,225.0,-8.1,305,3574,0.17,2.20,0.00,0.000,4,0.076,0.031,2842,3295,3483,0,0,0,0,0,0
$GC,3647,-0.73,-116.8,231.6,-8.3,306,3654,0.00,2.08,0.00,0.000,6,0.000,0.025,2842,1982,3483,0,0,0,0,0,0
$GC,3897,-0.73,-116.8,247.8,-6.1,313,3900,0.00,2.08,0.00,0.000,4,0.000,0.031,2842,3291,3482,0,0,0,0,0,0
$GC,3909,-0.73,-116.8,248.4,-5.4,313,3913,0.00,2.22,0.00,0.000,6,0.000,0.033,2842,1890,3482,0,0,0,0,0,0
$GC,4181,-0.73,-116.8,260.1,-4.2,320,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1890,3481,0,0,0,0,0,0
$GC,4425,-0.73,-116.8,272.8,-5.5,326,4429,0.00,2.25,0.00,0.000,4,0.000,0.030,2842,3291,3481,0,0,0,0,0,0
$GC,4441,-0.73,-116.8,273.9,-6.1,326,4445,0.00,2.38,0.00,0.000,6,0.000,0.028,2842,1800,3481,0,0,0,0,0,0
$GC,4704,-0.73,-116.8,290.6,-6.5,333,4708,0.00,2.78,0.00,0.000,4,0.000,0.074,2842,193,3479,0,0,0,0,0,0
$GC,4963,-0.85,-116.8,305.0,-5.0,338,4969,0.12,2.42,0.00,0.000,6,0.075,0.021,2801,1775,3478,0,0,0,0,0,0
$GC,5214,-0.74,-116.8,318.2,-5.3,345,5219,0.17,2.75,0.00,0.000,4,0.077,0.068,2844,197,3477,0,0,0,0,0,0
$GC,5471,-0.88,-116.8,331.3,-5.2,350,5477,0.17,2.70,0.00,0.000,6,0.066,0.021,2795,1908,3476,0,0,0,0,0,0
$GC,5722,-0.79,-116.8,347.3,-6.5,357,5727,0.15,2.30,0.00,0.000,4,0.082,0.043,2833,3339,3475,0,0,0,0,0,0
$GC,5745,-0.72,-116.8,348.7,-6.1,357,5749,0.00,2.17,0.00,0.000,6,0.000,0.030,2833,1985,3475,0,0,0,0,0,0
$GC,6001,-0.72,-116.8,363.4,-5.8,364,6006,0.00,3.17,0.00,0.000,4,0.000,0.084,2833,194,3474,0,0,0,0,0,0
$GC,6261,-0.84,-116.8,376.4,-4.7,369,6267,0.00,2.72,0.00,0.000,6,0.000,0.026,2833,1921,3472,0,0,0,0,0,0
$GC,6511,-0.84,-116.8,390.7,-5.9,376,6515,0.00,2.33,0.00,0.000,4,0.000,0.041,2833,3345,3471,0,0,0,0,0,0
$GC,6572,-0.84,-116.8,394.6,-6.4,377,6577,0.00,2.28,0.00,0.000,6,0.000,0.036,2833,1954,3471,0,0,0,0,0,0
$GC,6836,-0.84,-116.8,410.7,-6.2,384,6840,0.00,2.22,0.00,0.000,4,0.000,0.043,2833,3332,3470,0,0,0,0,0,0
$GC,6846,-0.84,-116.8,411.6,-6.4,384,6850,0.00,2.40,0.00,0.000,6,0.000,0.048,2833,1874,3470,0,0,0,0,0,0
$GC,7113,-0.84,-116.8,428.0,-6.2,391,7118,0.00,2.40,0.00,0.000,4,0.000,0.040,2833,3337,3468,0,0,0,0,0,0
$GC,7155,-0.84,-116.8,430.3,-6.0,392,7160,0.00,2.58,0.00,0.000,6,0.000,0.051,2833,1804,3468,0,0,0,0,0,0
$GC,7438,-0.84,-116.8,446.9,-5.9,399,7443,0.00,2.50,0.00,0.000,4,0.000,0.045,2833,3330,3467,0,0,0,0,0,0
$GC,7490,-0.84,-116.8,449.7,-5.5,400,7494,0.00,2.70,0.00,0.000,6,0.000,0.053,2833,1738,3466,0,0,0,0,0,0
$GC,7762,-0.84,-116.8,463.2,-4.8,407,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1739,3465,0,0,0,0,0,0
$GC,8006,-0.84,-116.8,474.4,-4.6,413,8010,0.00,2.62,0.00,0.000,4,0.000,0.046,2833,3335,3464,0,0,0,0,0,0
$GC,8180,-0.90,-116.8,483.1,-5.0,417,8185,0.12,2.65,0.00,0.000,6,0.078,0.058,2790,1775,3463,0,0,0,0,0,0
$STATE,8461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8461,begin apogee
$GC,8467,-0.31,0.0,500.2,6.4,424,8567,0.60,0.00,96.97,0.940,6,0.068,0.000,2933,1775,3001,0,0,0,0,0,0
$STATE,8569,end apogee,CONTROL_FINISHED_OK
$STATE,8569,begin climb
$GC,8572,0.45,116.8,504.5,0.0,426,8684,0.65,2.80,103.35,0.920,4,0.041,0.054,3100,3375,2523,0,0,0,0,0,0
$GC,8799,1.50,1075.5,504.7,2.2,431,9250,0.95,2.70,437.80,0.892,6,0.035,0.061,3333,1823,476,0,0,0,0,0,0
$GC,9517,0.99,1075.5,375.8,23.5,449,9523,0.52,2.55,0.00,0.000,4,0.099,0.031,3220,3388,470,0,0,0,0,0,0
$GC,9573,0.88,1075.5,367.2,13.2,450,9579,0.12,2.72,0.00,0.000,6,0.110,0.046,3194,1790,469,0,0,0,0,0,0
$GC,9842,0.70,1075.5,337.6,11.0,457,9848,0.20,2.83,0.00,0.000,4,0.092,0.089,3151,233,468,0,0,0,0,0,0
$GC,9932,0.74,1216.1,329.0,8.9,459,9936,0.00,2.28,0.00,0.000,6,0.000,0.022,3151,1684,469,0,0,0,0,0,0
$GC,10211,0.94,1216.1,298.2,11.9,466,10217,0.22,2.80,0.00,0.000,4,0.069,0.038,3206,3383,468,0,0,0,0,0,0
$GC,10343,1.21,1216.1,282.2,12.0,469,10349,0.25,2.78,0.00,0.000,6,0.051,0.037,3274,1706,468,0,0,0,0,0,0
$GC,10629,1.08,1216.1,251.2,10.8,476,10634,0.17,2.62,0.00,0.000,4,0.128,0.074,3235,231,468,0,0,0,0,0,0
$GC,10669,0.82,1216.1,246.5,12.4,477,10674,0.25,2.50,0.00,0.000,6,0.091,0.025,3179,1807,467,0,0,0,0,0,0
$GC,10953,1.10,1216.1,216.2,11.9,484,10958,0.25,2.55,0.00,0.000,4,0.066,0.034,3242,3395,467,0,0,0,0,0,0
$GC,11068,1.30,1216.1,203.2,11.9,486,11074,0.17,2.55,0.00,0.000,6,0.071,0.035,3287,1817,466,0,0,0,0,0,0
$GC,11339,1.18,1216.1,174.9,11.1,508,11344,0.15,2.58,0.00,0.000,4,0.092,0.031,3252,3395,466,0,0,0,0,0,0
$GC,11396,0.98,1216.1,167.9,11.5,512,11402,0.17,2.40,0.00,0.000,6,0.100,0.031,3215,1920,467,0,0,0,0,0,0
$GC,11665,1.16,1216.1,140.6,10.8,537,11670,0.17,2.95,0.00,0.000,4,0.071,0.066,3261,237,467,0,0,0,0,0,0
$GC,11769,1.37,1216.1,129.5,10.5,545,11774,0.15,2.70,0.00,0.000,6,0.077,0.020,3303,1960,467,0,0,0,0,0,0
$GC,12035,1.10,1216.1,100.1,12.4,569,12040,0.25,2.28,0.00,0.000,4,0.093,0.030,3243,3404,468,0,0,0,0,0,0
$GC,12092,1.02,1228.1,93.8,9.9,573,12097,0.10,2.55,0.00,0.000,6,0.120,0.031,3222,1835,468,0,0,0,0,0,0
$GC,12356,1.27,1228.1,63.8,11.9,597,12362,0.22,2.72,0.00,0.000,4,0.064,0.055,3278,238,468,0,0,0,0,0,0
$GC,12452,1.44,1228.1,52.8,10.6,604,12457,0.15,2.60,0.00,0.000,6,0.070,0.020,3323,1920,468,0,0,0,0,0,0
$GC,12741,1.15,1228.1,18.1,13.6,635,12751,0.30,2.95,0.00,0.000,4,0.089,0.066,3252,245,469,0,0,0,0,0,0
$GC,12789,0.92,1228.1,12.2,12.0,641,12798,0.20,2.50,0.00,0.000,6,0.071,0.021,3202,1841,469,0,0,0,0,0,0
$STATE,12886,end climb,SURFACE_DEPTH_REACHED
$STATE,12887,begin surface coast
$FINISH,0.4,1.023715
$STATE,12946,end surface coast,CONTROL_FINISHED_OK
$STATE,12946,begin surface
$SM_CCo,13027,0.00,0.000,0,0,469,621.10
$SM_GC,1.07,11.10,0.00,0.00,0.028,0.000,0.000,470,1770,469,-11.54,0.00,621.10
$IRIDIUM_FIX,2246.36,-15741.52,250100,111102
$TT8_MAMPS,0.025311
$HUMID,56.93
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,19.60
$XPDR_PINGS,152
$24V_AH,23.3,75.144
$10V_AH,9.8,70.747
$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,33.275,152.500,638.125,0.000,0.000,86.031,102.368,410.992,38.000,0.000,15.304,1399.263,7946.650,634.220,2926.644,996.525,33.365,1737.729,0.000,2915.138,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,103.545,939.575,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,448.637,397.643,520.952,995.225,1505.362,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,54346,663
$CAP_FILE_SIZE,154625,0
$CFSIZE,260165632,150634496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311010,150255,2253.380,-15741.670,38,0.9,38,10.1