version: 66.06
glider: 146
mission: 5
dive: 549
start: 11 1 110 13 22 8
data:
$ID,146
$MISSION,5
$DIVE,549
$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,-260912.58
$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,29
$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
$GPS1,130536,2253.320,-15742.479,25,1.0,29,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.0
$GPS2,132114,2253.576,-15742.526,13,1.2,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.015,-0.235
$KALMAN_X,-260233.8,72.5,-215.4,308705.7,9.4
$KALMAN_Y,-530417.6,-309.3,-405.2,666310.5,3676.8
$MHEAD_RNG_PITCHd_Wd,173.6,8522,-19.8,-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,-116.8,0.0,0.0,0,106,0.00,0.00,-85.78,0.000,2,0.000,0.000,471,1759,3471,0,0,0,0,0,0
$GC,110,-1.38,-116.8,4.2,-8.6,11,128,12.02,2.65,0.00,0.000,4,0.163,0.056,2692,189,3474,0,0,0,0,0,0
$GC,173,-1.25,-116.8,22.7,-16.6,19,181,0.12,2.45,0.00,0.000,6,0.099,0.017,2721,1765,3475,0,0,0,0,0,0
$GC,454,-1.19,-116.8,57.9,-12.0,48,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1766,3475,0,0,0,0,0,0
$GC,719,-1.19,-116.8,85.0,-9.1,73,724,0.00,2.62,0.00,0.000,4,0.000,0.054,2721,196,3476,0,0,0,0,0,0
$GC,730,-1.19,-116.8,86.4,-9.0,73,736,0.00,2.40,0.00,0.000,6,0.000,0.017,2721,1803,3476,0,0,0,0,0,0
$GC,995,-1.19,-116.8,108.9,-8.7,98,999,0.00,2.35,0.00,0.000,4,0.000,0.032,2721,3300,3476,0,0,0,0,0,0
$GC,1017,-1.25,-116.8,111.4,-9.1,99,1023,0.00,2.45,0.00,0.000,6,0.000,0.032,2721,1758,3477,0,0,0,0,0,0
$GC,1282,-1.25,-116.8,135.4,-9.3,124,1286,0.00,2.40,0.00,0.000,4,0.000,0.031,2722,3294,3477,0,0,0,0,0,0
$GC,1311,-1.31,-116.8,138.6,-9.8,126,1316,0.00,2.40,0.00,0.000,6,0.000,0.033,2721,1775,3477,0,0,0,0,0,0
$GC,1576,-1.35,-116.8,163.0,-9.1,150,1581,0.00,2.67,0.00,0.000,4,0.000,0.066,2721,190,3477,0,0,0,0,0,0
$GC,1619,-1.42,-116.8,167.8,-10.5,153,1624,0.12,2.35,0.00,0.000,6,0.071,0.020,2678,1748,3477,0,0,0,0,0,0
$GC,1880,-1.38,-116.8,195.8,-10.9,177,1884,0.00,2.45,0.00,0.000,4,0.000,0.028,2678,3320,3478,0,0,0,0,0,0
$GC,1941,-1.38,-116.8,202.4,-10.6,180,1945,0.00,2.42,0.00,0.000,6,0.000,0.035,2678,1788,3478,0,0,0,0,0,0
$GC,2202,-1.38,-116.8,229.7,-10.7,187,2206,0.00,2.42,0.00,0.000,4,0.000,0.031,2678,3326,3478,0,0,0,0,0,0
$GC,2225,-1.38,-116.8,232.0,-10.0,187,2230,0.00,2.47,0.00,0.000,6,0.000,0.036,2678,1784,3478,0,0,0,0,0,0
$GC,2480,-1.38,-116.8,259.1,-10.6,194,2485,0.10,2.42,0.00,0.000,4,0.121,0.028,2699,3318,3477,0,0,0,0,0,0
$GC,2497,-1.38,-116.8,260.7,-10.3,194,2501,0.00,2.42,0.00,0.000,6,0.000,0.031,2699,1808,3477,0,0,0,0,0,0
$GC,2760,-1.38,-116.8,284.4,-9.0,201,2764,0.00,2.38,0.00,0.000,4,0.000,0.029,2699,3317,3476,0,0,0,0,0,0
$GC,2777,-1.42,-116.8,286.1,-8.9,201,2781,0.00,2.38,0.00,0.000,6,0.000,0.034,2699,1832,3476,0,0,0,0,0,0
$GC,3038,-1.46,-116.8,308.0,-8.3,208,3043,0.00,2.88,0.00,0.000,4,0.000,0.083,2699,192,3474,0,0,0,0,0,0
$GC,3062,-1.50,-116.8,309.9,-8.5,208,3067,0.12,2.50,0.00,0.000,6,0.077,0.027,2656,1799,3475,0,0,0,0,0,0
$GC,3317,-1.47,-116.8,335.8,-10.0,215,3322,0.10,2.53,0.00,0.000,4,0.124,0.044,2678,3358,3474,0,0,0,0,0,0
$GC,3339,-1.47,-116.8,338.0,-9.7,215,3343,0.00,2.50,0.00,0.000,6,0.000,0.044,2678,1828,3473,0,0,0,0,0,0
$GC,3597,-1.47,-116.8,361.8,-9.1,222,3601,0.00,2.90,0.00,0.000,4,0.000,0.089,2678,193,3472,0,0,0,0,0,0
$GC,3618,-1.47,-116.8,364.0,-9.1,222,3622,0.00,2.58,0.00,0.000,6,0.000,0.030,2678,1820,3472,0,0,0,0,0,0
$GC,3873,-1.47,-116.8,385.8,-8.4,229,3877,0.00,2.50,0.00,0.000,4,0.000,0.048,2678,3361,3470,0,0,0,0,0,0
$GC,3925,-1.53,-116.8,390.1,-8.5,230,3929,0.00,2.53,0.00,0.000,6,0.000,0.045,2678,1841,3470,0,0,0,0,0,0
$GC,4197,-1.53,-116.8,414.0,-9.0,237,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1841,3468,0,0,0,0,0,0
$GC,4440,-1.53,-116.8,437.7,-9.9,243,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1840,3467,0,0,0,0,0,0
$GC,4685,-1.53,-116.8,462.9,-10.3,249,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1841,3465,0,0,0,0,0,0
$GC,4928,-1.53,-116.8,485.2,-9.0,255,4932,0.00,2.50,0.00,0.000,4,0.000,0.053,2678,3346,3464,0,0,0,0,0,0
$GC,4949,-1.57,-116.8,487.1,-8.4,255,4954,0.00,2.58,0.00,0.000,6,0.000,0.061,2678,1852,3464,0,0,0,0,0,0
$STATE,5121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5121,begin apogee
$GC,5128,-0.31,0.0,501.2,8.1,260,5229,1.15,0.00,97.40,0.922,6,0.084,0.000,2931,1850,3001,0,0,0,0,0,0
$STATE,5230,end apogee,CONTROL_FINISHED_OK
$STATE,5230,begin climb
$GC,5233,1.38,116.8,502.7,0.0,262,5346,1.52,2.65,103.53,0.900,4,0.038,0.053,3306,3395,2525,0,0,0,0,0,0
$GC,5365,1.33,175.6,500.2,6.6,265,5424,0.00,2.75,53.28,0.881,6,0.000,0.061,3306,1829,2284,0,0,0,0,0,0
$GC,5682,1.23,175.6,468.0,10.3,273,5687,0.17,2.60,0.00,0.000,4,0.115,0.040,3271,3398,2275,0,0,0,0,0,0
$GC,5725,1.26,200.9,464.0,8.6,274,5755,0.00,2.70,22.30,0.841,6,0.000,0.060,3271,1827,2181,0,0,0,0,0,0
$GC,6006,1.29,225.6,440.0,8.6,281,6031,0.00,0.00,23.10,0.841,6,0.000,0.000,3271,1827,2081,0,0,0,0,0,0
$GC,6252,1.30,235.3,417.0,9.5,287,6267,0.00,3.05,9.68,0.764,4,0.000,0.107,3270,226,2040,0,0,0,0,0,0
$GC,6278,1.31,242.4,414.2,9.6,287,6292,0.00,2.58,8.12,0.727,6,0.000,0.025,3271,1822,2012,0,0,0,0,0,0
$GC,6577,1.32,249.3,385.1,9.6,295,6591,0.00,2.67,7.38,0.716,4,0.000,0.045,3271,3406,1984,0,0,0,0,0,0
$GC,6610,1.36,250.3,382.0,10.0,295,6616,0.10,2.70,0.00,0.000,6,0.097,0.054,3297,1818,1982,0,0,0,0,0,0
$GC,6860,1.36,250.3,354.2,11.3,301,6865,0.00,2.85,0.00,0.000,4,0.000,0.091,3297,230,1981,0,0,0,0,0,0
$GC,6887,1.28,250.3,350.9,12.8,301,6891,0.00,2.53,0.00,0.000,6,0.000,0.028,3297,1826,1980,0,0,0,0,0,0
$GC,7138,1.28,250.3,323.7,10.7,307,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1826,1979,0,0,0,0,0,0
$GC,7381,1.29,261.1,300.3,9.4,313,7399,0.00,2.83,11.62,0.744,4,0.000,0.076,3297,233,1935,0,0,0,0,0,0
$GC,7434,1.23,261.1,295.0,10.6,314,7439,0.15,2.50,0.00,0.000,6,0.118,0.028,3267,1815,1933,0,0,0,0,0,0
$GC,7709,1.34,303.1,274.3,7.6,321,7754,0.10,2.65,38.40,0.772,4,0.096,0.041,3295,3399,1764,0,0,0,0,0,0
$GC,7789,1.41,303.1,266.4,10.3,322,7795,0.00,2.67,0.00,0.000,6,0.000,0.044,3295,1795,1762,0,0,0,0,0,0
$GC,8041,1.41,303.1,239.6,11.0,329,8045,0.00,2.75,0.00,0.000,4,0.000,0.075,3296,233,1758,0,0,0,0,0,0
$GC,8069,1.41,303.1,236.0,12.6,329,8073,0.00,2.47,0.00,0.000,6,0.000,0.027,3296,1809,1758,0,0,0,0,0,0
$GC,8319,1.41,303.1,208.8,10.7,335,8323,0.00,2.55,0.00,0.000,4,0.000,0.037,3296,3400,1757,0,0,0,0,0,0
$GC,8342,1.47,303.1,206.6,10.3,335,8347,0.10,2.62,0.00,0.000,6,0.097,0.038,3323,1807,1756,0,0,0,0,0,0
$GC,8608,1.47,303.1,178.3,10.4,354,8613,0.00,2.72,0.00,0.000,4,0.000,0.076,3323,237,1756,0,0,0,0,0,0
$GC,8631,1.43,303.1,176.2,10.5,355,8635,0.00,2.47,0.00,0.000,6,0.000,0.021,3323,1817,1754,0,0,0,0,0,0
$GC,8899,1.44,308.7,148.5,9.7,379,8910,0.00,2.55,4.93,0.509,4,0.000,0.036,3323,3397,1741,0,0,0,0,0,0
$GC,8927,1.44,308.7,145.3,10.3,381,8932,0.00,2.62,0.00,0.000,6,0.000,0.043,3323,1803,1741,0,0,0,0,0,0
$GC,9195,1.44,308.7,119.1,10.7,405,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1803,1741,0,0,0,0,0,0
$GC,9456,1.44,309.9,90.3,10.0,430,9461,0.00,2.55,0.00,0.000,4,0.000,0.031,3323,3400,1740,0,0,0,0,0,0
$GC,9479,1.49,309.9,88.4,10.5,431,9484,0.00,2.58,0.00,0.000,6,0.000,0.041,3323,1824,1740,0,0,0,0,0,0
$GC,9746,1.59,336.1,63.2,8.5,455,9778,0.10,2.78,25.45,0.586,4,0.257,0.063,3351,241,1629,0,0,0,0,0,0
$GC,9861,1.60,343.8,52.8,9.6,463,9876,0.00,2.45,8.00,0.511,6,0.000,0.020,3351,1817,1598,0,0,0,0,0,0
$GC,10142,1.66,364.7,26.0,8.8,491,10168,0.00,2.53,19.25,0.538,4,0.000,0.027,3351,3383,1513,0,0,0,0,0,0
$GC,10195,1.83,432.8,22.8,6.1,497,10264,0.15,2.62,58.75,0.545,6,0.042,0.038,3401,1809,1234,0,0,0,0,0,0
$STATE,10353,end climb,SURFACE_DEPTH_REACHED
$STATE,10353,begin surface coast
$FINISH,0.5,1.023537
$STATE,10396,end surface coast,CONTROL_FINISHED_OK
$STATE,10396,begin surface
$SM_CCo,10480,0.00,0.000,0,0,1226,435.16
$SM_GC,1.19,12.00,0.00,0.00,0.028,0.000,0.000,474,1743,1226,-11.53,-0.74,435.16
$IRIDIUM_FIX,2246.36,-15743.68,260100,131343
$TT8_MAMPS,0.025311
$HUMID,55.51
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.70
$XPDR_PINGS,142
$24V_AH,23.3,76.243
$10V_AH,9.9,71.722
$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,28.150,144.175,491.175,0.000,0.000,74.102,163.178,417.326,35.500,0.000,15.108,1066.155,6897.403,499.444,1945.784,1005.244,33.368,1283.992,0.000,1953.368,0.000,0.534,0.000
$DEVICE_MAMPS,256.945,121.186,921.934,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.576,312.615,408.452,784.159,1187.716,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41483,524
$CAP_FILE_SIZE,120466,0
$CFSIZE,260165632,150196224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011110,161807,2253.694,-15742.598,41,1.1,41,10.1