version: 66.06
glider: 146
mission: 5
dive: 543
start: 10 31 110 18 20 25
data:
$ID,146
$MISSION,5
$DIVE,543
$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,-260755.27
$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,39
$R_STBD_OVSHOOT,60
$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
$GPS1,180837,2253.224,-15741.891,26,1.3,26,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.0
$GPS2,181931,2253.331,-15741.864,14,1.6,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.011,-0.234
$KALMAN_X,-259164.9,-156.6,144.4,308646.7,-163.4
$KALMAN_Y,-546468.9,658.1,645.5,679898.0,564.1
$MHEAD_RNG_PITCHd_Wd,167.2,8024,-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,-1.38,-116.3,0.0,0.0,0,105,0.00,0.00,-85.78,0.000,6,0.000,0.000,472,1749,3478,0,0,0,0,0,0
$GC,110,-1.39,-116.8,4.5,-9.3,11,128,11.57,2.60,0.00,0.000,4,0.149,0.050,2688,201,3479,0,0,0,0,0,0
$GC,179,-1.26,-116.8,24.0,-16.3,20,189,0.12,2.45,0.00,0.000,6,0.105,0.020,2717,1771,3480,0,0,0,0,0,0
$GC,456,-1.20,-116.8,61.8,-12.2,47,461,0.00,2.47,0.00,0.000,4,0.000,0.026,2717,3335,3481,0,0,0,0,0,0
$GC,492,-1.20,-116.8,67.0,-12.4,49,501,0.00,2.53,0.00,0.000,6,0.000,0.028,2717,1790,3481,0,0,0,0,0,0
$GC,756,-1.20,-116.8,94.0,-9.6,74,760,0.00,2.70,0.00,0.000,4,0.000,0.059,2717,187,3482,0,0,0,0,0,0
$GC,779,-1.20,-116.8,96.0,-9.4,75,783,0.00,2.45,0.00,0.000,6,0.000,0.019,2717,1795,3481,0,0,0,0,0,0
$GC,1045,-1.20,-116.8,120.0,-8.4,99,1049,0.00,2.38,0.00,0.000,4,0.000,0.028,2717,3317,3483,0,0,0,0,0,0
$GC,1111,-1.26,-116.8,125.9,-7.8,104,1116,0.00,2.42,0.00,0.000,6,0.000,0.033,2717,1790,3482,0,0,0,0,0,0
$GC,1374,-1.26,-116.8,148.9,-9.2,128,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1788,3483,0,0,0,0,0,0
$GC,1631,-1.30,-116.8,172.7,-8.9,152,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1788,3483,0,0,0,0,0,0
$GC,1895,-1.35,-116.8,193.4,-7.2,177,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1787,3483,0,0,0,0,0,0
$GC,2153,-1.40,-116.8,213.0,-7.9,190,2157,0.00,2.72,0.00,0.000,4,0.000,0.068,2717,190,3483,0,0,0,0,0,0
$GC,2197,-1.47,-116.8,216.9,-8.6,191,2202,0.17,2.45,0.00,0.000,6,0.060,0.017,2661,1803,3483,0,0,0,0,0,0
$GC,2477,-1.42,-116.8,244.7,-10.2,198,2482,0.12,2.42,0.00,0.000,4,0.113,0.031,2688,3322,3482,0,0,0,0,0,0
$GC,2517,-1.49,-116.8,248.7,-8.8,199,2521,0.00,2.45,0.00,0.000,6,0.000,0.038,2688,1812,3483,0,0,0,0,0,0
$GC,2800,-1.49,-116.8,274.7,-9.5,206,2804,0.00,2.42,0.00,0.000,4,0.000,0.031,2688,3330,3482,0,0,0,0,0,0
$GC,2824,-1.49,-116.8,276.9,-9.3,206,2828,0.00,2.45,0.00,0.000,6,0.000,0.038,2688,1823,3482,0,0,0,0,0,0
$GC,3079,-1.49,-116.8,300.1,-9.1,213,3084,0.00,2.85,0.00,0.000,4,0.000,0.074,2687,189,3482,0,0,0,0,0,0
$GC,3095,-1.49,-116.8,301.8,-9.3,213,3099,0.00,2.53,0.00,0.000,6,0.000,0.027,2688,1792,3481,0,0,0,0,0,0
$GC,3357,-1.49,-116.8,324.7,-8.8,220,3361,0.00,2.53,0.00,0.000,4,0.000,0.041,2688,3354,3480,0,0,0,0,0,0
$GC,3373,-1.49,-116.8,326.4,-9.2,220,3377,0.00,2.53,0.00,0.000,6,0.000,0.035,2688,1805,3480,0,0,0,0,0,0
$GC,3634,-1.49,-116.8,347.8,-8.1,227,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1805,3479,0,0,0,0,0,0
$GC,3879,-1.49,-116.8,365.4,-7.0,233,3883,0.00,2.50,0.00,0.000,4,0.000,0.041,2688,3345,3477,0,0,0,0,0,0
$GC,3934,-1.57,-116.8,369.7,-7.3,234,3939,0.12,2.53,0.00,0.000,6,0.069,0.046,2642,1821,3477,0,0,0,0,0,0
$GC,4201,-1.52,-116.8,396.9,-10.8,241,4203,0.12,0.00,0.00,0.000,6,0.114,0.000,2668,1821,3476,0,0,0,0,0,0
$GC,4446,-1.52,-116.8,424.2,-11.3,247,4451,0.00,2.50,0.00,0.000,4,0.000,0.045,2668,3345,3474,0,0,0,0,0,0
$GC,4473,-1.52,-116.8,427.6,-11.3,247,4478,0.00,2.55,0.00,0.000,6,0.000,0.058,2668,1831,3474,0,0,0,0,0,0
$GC,4724,-1.52,-116.8,451.4,-9.1,253,4728,0.00,2.47,0.00,0.000,4,0.000,0.041,2668,3339,3472,0,0,0,0,0,0
$GC,4753,-1.56,-116.8,453.9,-8.2,253,4757,0.00,2.55,0.00,0.000,6,0.000,0.062,2668,1845,3472,0,0,0,0,0,0
$GC,5003,-1.56,-116.8,474.2,-8.2,259,5008,0.00,3.10,0.00,0.000,4,0.000,0.116,2668,192,3471,0,0,0,0,0,0
$GC,5014,-1.56,-116.8,475.2,-8.4,259,5018,0.00,2.65,0.00,0.000,6,0.000,0.035,2668,1830,3471,0,0,0,0,0,0
$GC,5282,-1.56,-116.8,498.8,-8.9,266,5286,0.00,2.55,0.00,0.000,4,0.000,0.064,2668,3342,3468,0,0,0,0,0,0
$STATE,5295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5295,begin apogee
$GC,5304,-0.31,0.0,500.5,8.9,266,5406,1.17,0.00,98.18,0.926,6,0.088,0.000,2927,1824,3000,0,0,0,0,0,0
$STATE,5406,end apogee,CONTROL_FINISHED_OK
$STATE,5406,begin climb
$GC,5409,1.39,116.8,503.3,0.0,269,5523,1.55,2.72,102.28,0.903,4,0.041,0.054,3305,3392,2523,0,0,0,0,0,0
$GC,5595,1.32,150.6,497.1,8.1,273,5631,0.00,2.72,29.85,0.870,6,0.000,0.061,3305,1822,2387,0,0,0,0,0,0
$GC,5908,1.24,171.1,469.7,8.8,281,5932,0.17,2.67,18.77,0.846,4,0.209,0.047,3271,3390,2302,0,0,0,0,0,0
$GC,5955,1.27,193.5,465.3,8.7,282,5983,0.00,2.72,21.55,0.846,6,0.000,0.058,3271,1817,2211,0,0,0,0,0,0
$GC,6236,1.29,215.4,440.5,8.8,289,6259,0.00,0.00,20.40,0.841,6,0.000,0.000,3271,1817,2122,0,0,0,0,0,0
$GC,6479,1.32,238.6,418.8,8.7,295,6508,0.00,2.72,21.83,0.839,4,0.000,0.040,3271,3397,2027,0,0,0,0,0,0
$GC,6533,1.40,267.7,414.4,8.4,296,6568,0.15,2.72,27.88,0.838,6,0.079,0.053,3309,1826,1908,0,0,0,0,0,0
$GC,6852,1.36,267.7,379.5,11.0,304,6857,0.00,2.95,0.00,0.000,4,0.000,0.093,3309,227,1900,0,0,0,0,0,0
$GC,6893,1.24,267.7,374.4,13.2,305,6899,0.17,2.53,0.00,0.000,6,0.119,0.025,3274,1814,1899,0,0,0,0,0,0
$GC,7180,1.24,267.7,343.6,10.7,312,7185,0.00,2.58,0.00,0.000,4,0.000,0.035,3274,3399,1898,0,0,0,0,0,0
$GC,7220,1.33,267.7,339.0,11.3,313,7224,0.00,2.67,0.00,0.000,6,0.000,0.051,3273,1819,1896,0,0,0,0,0,0
$GC,7505,1.37,267.7,309.1,10.3,320,7510,0.10,2.85,0.00,0.000,4,0.100,0.084,3300,234,1895,0,0,0,0,0,0
$GC,7574,1.33,267.7,300.4,12.3,321,7578,0.00,2.50,0.00,0.000,6,0.000,0.029,3300,1801,1894,0,0,0,0,0,0
$GC,7828,1.33,267.7,274.1,10.1,328,7833,0.00,2.58,0.00,0.000,4,0.000,0.036,3300,3401,1894,0,0,0,0,0,0
$GC,7846,1.33,267.7,272.3,10.3,328,7851,0.00,2.70,0.00,0.000,6,0.000,0.046,3300,1786,1894,0,0,0,0,0,0
$GC,8106,1.33,267.7,245.6,10.2,335,8111,0.00,2.72,0.00,0.000,4,0.000,0.076,3300,235,1893,0,0,0,0,0,0
$GC,8128,1.29,267.7,243.0,11.9,335,8133,0.00,2.47,0.00,0.000,6,0.000,0.021,3300,1798,1892,0,0,0,0,0,0
$GC,8386,1.30,281.9,218.6,9.2,342,8405,0.00,2.85,11.52,0.687,4,0.000,0.074,3300,232,1850,0,0,0,0,0,0
$GC,8433,1.26,281.9,213.4,11.4,343,8438,0.12,2.47,0.00,0.000,6,0.213,0.021,3277,1781,1848,0,0,0,0,0,0
$GC,8699,1.34,288.1,189.4,9.7,357,8713,0.00,2.75,6.30,0.590,4,0.000,0.067,3276,240,1827,0,0,0,0,0,0
$GC,8765,1.34,288.1,182.1,10.6,362,8770,0.00,2.40,0.00,0.000,6,0.000,0.028,3276,1758,1825,0,0,0,0,0,0
$GC,9030,1.43,297.9,157.7,9.5,387,9048,0.15,2.72,10.55,0.630,4,0.077,0.031,3316,3396,1786,0,0,0,0,0,0
$GC,9059,1.43,297.9,154.4,10.6,389,9064,0.00,2.80,0.00,0.000,6,0.000,0.042,3315,1730,1785,0,0,0,0,0,0
$GC,9323,1.43,297.9,125.7,10.7,414,9328,0.00,2.72,0.00,0.000,4,0.000,0.035,3315,3398,1784,0,0,0,0,0,0
$GC,9392,1.51,307.2,118.9,9.5,419,9407,0.00,2.72,9.48,0.589,6,0.000,0.043,3315,1765,1748,0,0,0,0,0,0
$GC,9665,1.53,327.8,94.6,8.8,444,9690,0.00,2.70,19.65,0.609,4,0.000,0.071,3315,232,1662,0,0,0,0,0,0
$GC,9714,1.53,327.8,89.5,11.0,448,9718,0.00,2.47,0.00,0.000,6,0.000,0.021,3315,1797,1661,0,0,0,0,0,0
$GC,9981,1.63,349.4,64.4,8.8,472,10008,0.17,2.58,19.42,0.580,4,0.110,0.028,3362,3387,1574,0,0,0,0,0,0
$GC,10052,1.69,349.4,57.3,10.8,477,10056,0.00,2.70,0.00,0.000,6,0.000,0.037,3362,1766,1573,0,0,0,0,0,0
$GC,10320,1.69,349.4,31.5,10.1,501,10324,0.00,2.62,0.00,0.000,4,0.000,0.061,3362,231,1571,0,0,0,0,0,0
$GC,10340,1.69,349.4,28.8,10.7,502,10349,0.00,2.45,0.00,0.000,6,0.000,0.020,3362,1784,1570,0,0,0,0,0,0
$STATE,10572,end climb,SURFACE_DEPTH_REACHED
$STATE,10572,begin surface coast
$FINISH,0.4,1.023017
$STATE,10620,end surface coast,CONTROL_FINISHED_OK
$STATE,10620,begin surface
$SM_CCo,10643,59.50,0.534,0,0,1287,420.20
$SM_GC,0.90,0.00,0.00,59.50,0.000,0.000,0.534,472,1786,1287,-11.63,0.45,420.20
$IRIDIUM_FIX,2244.02,-15543.24,250100,181854
$TT8_MAMPS,0.026078
$HUMID,57.00
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.10
$XPDR_PINGS,141
$24V_AH,23.3,75.413
$10V_AH,9.9,70.988
$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,27.875,151.200,417.650,59.500,0.000,50.170,115.613,282.275,35.250,0.000,15.965,1113.404,6867.912,531.085,2060.425,784.327,33.366,1318.605,0.000,2058.795,0.000,0.534,0.000
$DEVICE_MAMPS,213.226,115.817,925.769,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.138,306.248,424.487,792.127,1195.045,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,44561,544
$CAP_FILE_SIZE,120815,0
$CFSIZE,260165632,150552576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311010,212007,2253.186,-15741.936,38,1.1,38,10.1