version: 66.06
glider: 146
mission: 5
dive: 544
start: 10 31 110 21 28 37
data:
$ID,146
$MISSION,5
$DIVE,544
$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,-260768.91
$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,18
$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
$GPS1,212007,2253.186,-15741.936,38,1.1,38,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,2
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.2
$GPS2,212743,2253.271,-15741.935,11,1.0,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.002,-0.244
$KALMAN_X,-259116.2,-210.3,-82.3,308754.4,-19.5
$KALMAN_Y,-543238.2,1068.8,-870.7,677645.9,2266.9
$MHEAD_RNG_PITCHd_Wd,169.5,7911,-19.0,-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,16,-1.33,-116.8,0.0,0.0,0,105,0.00,0.00,-86.53,0.000,2,0.000,0.000,471,1787,3474,0,0,0,0,0,0
$GC,109,-1.33,-116.8,4.5,-9.0,11,126,11.93,2.72,0.00,0.000,4,0.159,0.054,2702,180,3477,0,0,0,0,0,0
$GC,145,-0.37,-116.8,18.6,-37.0,15,155,0.98,2.50,0.00,0.000,6,0.088,0.023,2916,1784,3478,0,0,0,0,0,0
$GC,449,-0.86,-116.8,38.3,-6.4,52,454,0.40,2.45,0.00,0.000,4,0.051,0.025,2804,3336,3479,0,0,0,0,0,0
$GC,508,-0.97,-116.8,43.2,-9.0,56,513,0.00,2.47,0.00,0.000,6,0.000,0.026,2804,1784,3479,0,0,0,0,0,0
$GC,778,-1.10,-116.8,67.3,-7.5,80,784,0.17,2.70,0.00,0.000,4,0.055,0.056,2747,189,3479,0,0,0,0,0,0
$GC,872,-1.10,-116.8,77.3,-9.6,87,877,0.00,2.40,0.00,0.000,6,0.000,0.015,2747,1788,3480,0,0,0,0,0,0
$GC,1141,-1.15,-116.8,98.5,-8.3,111,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1789,3481,0,0,0,0,0,0
$GC,1404,-1.21,-116.8,120.9,-8.6,136,1409,0.00,2.67,0.00,0.000,4,0.000,0.056,2747,197,3481,0,0,0,0,0,0
$GC,1417,-1.26,-116.8,122.1,-8.8,136,1427,0.08,2.35,0.00,0.000,6,0.045,0.017,2709,1751,3481,0,0,0,0,0,0
$GC,1683,-1.26,-116.8,146.4,-9.3,161,1687,0.00,2.45,0.00,0.000,4,0.000,0.025,2709,3312,3482,0,0,0,0,0,0
$GC,1716,-1.26,-116.8,149.5,-8.9,163,1721,0.00,2.50,0.00,0.000,6,0.000,0.035,2709,1747,3482,0,0,0,0,0,0
$GC,1983,-1.26,-116.8,174.5,-9.4,187,1987,0.00,2.65,0.00,0.000,4,0.000,0.067,2709,189,3482,0,0,0,0,0,0
$GC,2011,-1.26,-116.8,177.7,-9.6,189,2015,0.00,2.33,0.00,0.000,6,0.000,0.021,2709,1737,3483,0,0,0,0,0,0
$GC,2306,-1.26,-116.8,204.6,-9.8,213,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1739,3483,0,0,0,0,0,0
$GC,2546,-1.26,-116.8,227.2,-9.2,219,2550,0.00,2.50,0.00,0.000,4,0.000,0.034,2709,3330,3483,0,0,0,0,0,0
$GC,2575,-1.30,-116.8,230.0,-9.8,219,2580,0.00,2.55,0.00,0.000,6,0.000,0.031,2709,1736,3482,0,0,0,0,0,0
$GC,2825,-1.30,-116.8,253.3,-9.4,225,2830,0.00,2.65,0.00,0.000,4,0.000,0.071,2709,185,3482,0,0,0,0,0,0
$GC,2836,-1.30,-116.8,254.5,-9.4,225,2840,0.00,2.35,0.00,0.000,6,0.000,0.021,2709,1742,3482,0,0,0,0,0,0
$GC,3102,-1.30,-116.8,279.0,-9.1,232,3107,0.00,2.53,0.00,0.000,4,0.000,0.036,2709,3334,3482,0,0,0,0,0,0
$GC,3125,-1.35,-116.8,281.0,-8.5,232,3129,0.00,2.55,0.00,0.000,6,0.000,0.032,2709,1746,3482,0,0,0,0,0,0
$GC,3380,-1.35,-116.8,302.7,-8.6,239,3384,0.00,2.50,0.00,0.000,4,0.000,0.028,2709,3325,3481,0,0,0,0,0,0
$GC,3421,-1.42,-116.8,306.0,-8.6,240,3426,0.00,2.53,0.00,0.000,6,0.000,0.034,2709,1768,3481,0,0,0,0,0,0
$GC,3705,-1.42,-116.8,331.3,-9.1,247,3709,0.00,2.47,0.00,0.000,4,0.000,0.035,2709,3331,3479,0,0,0,0,0,0
$GC,3722,-1.47,-116.8,332.9,-9.1,247,3727,0.12,2.53,0.00,0.000,6,0.073,0.040,2667,1774,3479,0,0,0,0,0,0
$GC,3985,-1.42,-116.8,361.0,-10.9,254,3990,0.10,2.50,0.00,0.000,4,0.127,0.034,2688,3321,3477,0,0,0,0,0,0
$GC,4012,-1.42,-116.8,364.2,-10.1,254,4016,0.00,2.53,0.00,0.000,6,0.000,0.046,2688,1789,3477,0,0,0,0,0,0
$GC,4262,-1.42,-116.8,387.4,-9.1,260,4267,0.00,2.45,0.00,0.000,4,0.000,0.037,2687,3321,3476,0,0,0,0,0,0
$GC,4286,-1.42,-116.8,389.5,-8.8,260,4291,0.00,2.50,0.00,0.000,6,0.000,0.045,2687,1803,3476,0,0,0,0,0,0
$GC,4541,-1.42,-116.8,410.7,-8.3,267,4545,0.00,2.45,0.00,0.000,4,0.000,0.040,2687,3325,3475,0,0,0,0,0,0
$GC,4557,-1.42,-116.8,412.1,-8.2,267,4562,0.00,2.53,0.00,0.000,6,0.000,0.052,2688,1802,3475,0,0,0,0,0,0
$GC,4820,-1.42,-116.8,433.8,-8.5,274,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1802,3473,0,0,0,0,0,0
$GC,5062,-1.42,-116.8,455.9,-9.2,280,5066,0.00,2.50,0.00,0.000,4,0.000,0.048,2687,3324,3472,0,0,0,0,0,0
$GC,5106,-1.49,-116.8,460.3,-9.4,281,5111,0.00,2.55,0.00,0.000,6,0.000,0.061,2687,1812,3471,0,0,0,0,0,0
$GC,5385,-1.49,-116.8,486.5,-9.5,288,5390,0.00,2.50,0.00,0.000,4,0.000,0.052,2687,3323,3470,0,0,0,0,0,0
$GC,5409,-1.53,-116.8,488.8,-9.2,288,5414,0.00,2.55,0.00,0.000,6,0.000,0.060,2687,1815,3469,0,0,0,0,0,0
$STATE,5540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5540,begin apogee
$GC,5546,-0.31,0.0,500.1,8.4,292,5647,1.08,0.00,97.95,0.920,6,0.077,0.000,2929,1815,3001,0,0,0,0,0,0
$STATE,5648,end apogee,CONTROL_FINISHED_OK
$STATE,5648,begin climb
$GC,5652,1.33,116.8,502.2,0.0,294,5759,1.52,0.00,102.62,0.900,6,0.047,0.000,3297,1815,2524,0,0,0,0,0,0
$GC,5987,1.25,160.4,486.0,7.7,303,6028,0.12,0.00,38.38,0.877,6,0.127,0.000,3274,1815,2347,0,0,0,0,0,0
$GC,6272,1.23,189.1,462.1,8.5,310,6306,0.00,2.60,26.27,0.856,4,0.000,0.041,3274,3366,2228,0,0,0,0,0,0
$GC,6340,1.23,194.7,455.9,9.7,311,6351,0.00,2.62,6.30,0.686,6,0.000,0.058,3274,1835,2207,0,0,0,0,0,0
$GC,6595,1.23,224.5,433.9,8.4,317,6625,0.00,0.00,27.45,0.849,6,0.000,0.000,3274,1834,2085,0,0,0,0,0,0
$GC,6877,1.25,242.6,408.9,9.1,324,6901,0.00,2.60,16.92,0.814,4,0.000,0.040,3274,3372,2010,0,0,0,0,0,0
$GC,6931,1.29,242.6,403.2,10.3,325,6935,0.00,2.60,0.00,0.000,6,0.000,0.051,3274,1837,2009,0,0,0,0,0,0
$GC,7204,1.29,242.6,374.2,10.8,332,7209,0.00,2.92,0.00,0.000,4,0.000,0.089,3273,225,2006,0,0,0,0,0,0
$GC,7226,1.23,242.6,371.4,11.9,332,7230,0.00,2.53,0.00,0.000,6,0.000,0.019,3274,1818,2005,0,0,0,0,0,0
$GC,7480,1.23,242.6,344.6,10.5,339,7485,0.00,2.58,0.00,0.000,4,0.000,0.042,3273,3404,2004,0,0,0,0,0,0
$GC,7509,1.23,242.6,341.5,10.8,339,7514,0.00,2.62,0.00,0.000,6,0.000,0.046,3274,1835,2003,0,0,0,0,0,0
$GC,7759,1.23,242.6,315.7,10.3,345,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1835,2003,0,0,0,0,0,0
$GC,8003,1.23,245.8,291.2,9.9,351,8007,0.00,2.53,0.00,0.000,4,0.000,0.037,3274,3400,2002,0,0,0,0,0,0
$GC,8036,1.27,248.3,287.9,9.9,351,8046,0.00,2.58,5.00,0.595,6,0.000,0.044,3274,1838,1988,0,0,0,0,0,0
$GC,8325,1.30,271.2,261.6,8.8,359,8354,0.00,2.90,22.23,0.755,4,0.000,0.076,3273,245,1894,0,0,0,0,0,0
$GC,8387,1.30,271.2,255.2,10.9,360,8392,0.00,2.55,0.00,0.000,6,0.000,0.022,3274,1845,1892,0,0,0,0,0,0
$GC,8651,1.35,276.2,230.0,9.8,367,8659,0.00,0.00,5.68,0.589,6,0.000,0.000,3274,1847,1874,0,0,0,0,0,0
$GC,8893,1.41,288.7,207.1,9.4,373,8908,0.15,0.00,12.65,0.681,6,0.077,0.000,3313,1847,1823,0,0,0,0,0,0
$GC,9149,1.41,288.7,181.7,10.1,391,9154,0.00,2.80,0.00,0.000,4,0.000,0.071,3313,239,1819,0,0,0,0,0,0
$GC,9194,1.32,288.7,175.9,12.0,394,9201,0.08,2.47,0.00,0.000,6,0.107,0.021,3288,1831,1818,0,0,0,0,0,0
$GC,9459,1.35,309.6,152.3,8.9,419,9483,0.00,2.55,19.10,0.657,4,0.000,0.031,3288,3401,1738,0,0,0,0,0,0
$GC,9535,1.45,312.7,145.4,9.9,425,9547,0.12,2.55,4.18,0.459,6,0.080,0.041,3323,1847,1726,0,0,0,0,0,0
$GC,9803,1.46,315.6,118.2,9.9,450,9817,0.00,2.83,3.97,0.432,4,0.000,0.069,3324,245,1713,0,0,0,0,0,0
$GC,9877,1.41,315.6,109.2,12.2,456,9882,0.00,2.53,0.00,0.000,6,0.000,0.026,3323,1858,1712,0,0,0,0,0,0
$GC,10142,1.43,329.7,83.4,9.3,480,10164,0.00,2.47,14.20,0.585,4,0.000,0.028,3323,3389,1655,0,0,0,0,0,0
$GC,10207,1.51,330.8,77.3,10.0,485,10211,0.00,2.50,0.00,0.000,6,0.000,0.034,3324,1850,1654,0,0,0,0,0,0
$GC,10476,1.61,366.3,54.0,8.1,509,10518,0.10,2.85,32.75,0.576,4,0.236,0.067,3352,241,1505,0,0,0,0,0,0
$GC,10535,1.61,366.3,47.6,10.5,513,10545,0.00,2.58,0.00,0.000,6,0.000,0.021,3352,1864,1504,0,0,0,0,0,0
$GC,10828,1.61,366.3,17.4,11.0,546,10837,0.00,2.80,0.00,0.000,4,0.000,0.061,3352,247,1501,0,0,0,0,0,0
$GC,10854,1.61,366.3,14.3,11.5,549,10864,0.00,2.53,0.00,0.000,6,0.000,0.023,3352,1858,1501,0,0,0,0,0,0
$STATE,10946,end climb,SURFACE_DEPTH_REACHED
$STATE,10946,begin surface coast
$FINISH,0.3,1.004975
$STATE,10999,end surface coast,CONTROL_FINISHED_OK
$STATE,10999,begin surface
$SM_CCo,11021,44.25,0.527,0,0,1288,420.20
$SM_GC,0.88,0.00,0.00,44.25,0.000,0.000,0.527,474,1765,1288,-11.62,-0.14,420.20
$IRIDIUM_FIX,2244.02,-15741.52,250100,181818
$TT8_MAMPS,0.026078
$HUMID,55.71
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.50
$XPDR_PINGS,155
$24V_AH,23.3,75.542
$10V_AH,9.9,71.118
$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,28.625,143.625,435.650,44.250,0.000,29.535,35.317,234.034,38.750,0.000,13.019,1145.686,7044.616,569.328,2112.726,645.866,33.376,1325.015,0.000,2131.181,0.000,0.534,0.000
$DEVICE_MAMPS,236.236,88.972,920.400,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,384.873,328.437,448.474,881.858,1332.270,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355468
$DATA_FILE_SIZE,44730,569
$CAP_FILE_SIZE,120887,0
$CFSIZE,260165632,150491136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011110,003428,2253.471,-15742.040,24,2.1,43,10.1