version: 66.06
glider: 146
mission: 5
dive: 552
start: 11 1 110 22 50 56
data:
$ID,146
$MISSION,5
$DIVE,552
$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,-260976.11
$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,23
$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
$GPS1,223636,2253.521,-15742.516,34,1.3,34,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-65.8
$GPS2,225002,2253.742,-15742.544,11,1.2,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.042,-0.231
$KALMAN_X,-260822.8,-120.0,-58.2,309299.6,-322.7
$KALMAN_Y,-524575.7,855.9,-228.2,659425.0,1431.0
$MHEAD_RNG_PITCHd_Wd,159.7,8831,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.4,0.0,0.0,0,105,0.00,0.00,-86.30,0.000,2,0.000,0.000,474,1796,3477,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.2,-8.2,11,126,12.12,2.72,0.00,0.000,4,0.168,0.052,2688,181,3479,0,0,0,0,0,0
$GC,171,-1.25,-116.8,22.3,-17.3,19,181,0.15,2.47,0.00,0.000,6,0.099,0.023,2722,1772,3480,0,0,0,0,0,0
$GC,448,-1.18,-116.8,60.0,-13.9,47,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1773,3481,0,0,0,0,0,0
$GC,709,-1.18,-116.8,90.2,-10.0,72,713,0.00,2.42,0.00,0.000,4,0.000,0.031,2722,3332,3481,0,0,0,0,0,0
$GC,740,-1.23,-116.8,93.2,-9.8,74,744,0.00,2.50,0.00,0.000,6,0.000,0.028,2722,1760,3481,0,0,0,0,0,0
$GC,1003,-1.23,-116.8,118.0,-8.5,98,1007,0.00,2.47,0.00,0.000,4,0.000,0.031,2722,3333,3482,0,0,0,0,0,0
$GC,1049,-1.31,-116.8,121.5,-7.8,101,1053,0.00,2.45,0.00,0.000,6,0.000,0.031,2721,1780,3482,0,0,0,0,0,0
$GC,1317,-1.31,-116.8,141.7,-7.9,125,1321,0.00,2.65,0.00,0.000,4,0.000,0.060,2722,199,3482,0,0,0,0,0,0
$GC,1339,-1.35,-116.8,144.2,-8.6,126,1348,0.00,2.47,0.00,0.000,6,0.000,0.017,2722,1809,3483,0,0,0,0,0,0
$GC,1607,-1.40,-116.8,165.9,-9.1,151,1612,0.12,0.00,0.00,0.000,6,0.070,0.000,2679,1810,3482,0,0,0,0,0,0
$GC,1870,-1.40,-116.8,192.7,-9.6,176,1874,0.00,2.40,0.00,0.000,4,0.000,0.029,2679,3324,3483,0,0,0,0,0,0
$GC,1912,-1.40,-116.8,196.5,-9.0,179,1916,0.00,2.45,0.00,0.000,6,0.000,0.028,2679,1787,3482,0,0,0,0,0,0
$GC,2164,-1.40,-116.8,220.8,-9.9,188,2168,0.00,2.72,0.00,0.000,4,0.000,0.065,2679,190,3483,0,0,0,0,0,0
$GC,2215,-1.40,-116.8,226.5,-11.3,189,2219,0.00,2.40,0.00,0.000,6,0.000,0.021,2679,1774,3483,0,0,0,0,0,0
$GC,2489,-1.40,-116.8,256.1,-11.0,196,2492,0.00,2.45,0.00,0.000,4,0.000,0.030,2679,3328,3482,0,0,0,0,0,0
$GC,2510,-1.40,-116.8,258.8,-10.9,196,2514,0.00,2.53,0.00,0.000,6,0.000,0.031,2679,1766,3482,0,0,0,0,0,0
$GC,2772,-1.40,-116.8,285.0,-9.7,203,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1766,3481,0,0,0,0,0,0
$GC,3017,-1.40,-116.8,308.1,-9.5,209,3021,0.00,2.47,0.00,0.000,4,0.000,0.038,2679,3325,3481,0,0,0,0,0,0
$GC,3041,-1.40,-116.8,310.5,-9.4,209,3045,0.00,2.55,0.00,0.000,6,0.000,0.036,2679,1769,3481,0,0,0,0,0,0
$GC,3296,-1.40,-116.8,334.6,-9.4,216,3300,0.00,2.47,0.00,0.000,4,0.000,0.037,2679,3318,3480,0,0,0,0,0,0
$GC,3331,-1.43,-116.8,337.7,-9.3,216,3336,0.00,2.53,0.00,0.000,6,0.000,0.047,2679,1782,3480,0,0,0,0,0,0
$GC,3581,-1.43,-116.8,360.7,-9.0,223,3585,0.00,2.45,0.00,0.000,4,0.000,0.034,2679,3314,3479,0,0,0,0,0,0
$GC,3625,-1.49,-116.8,364.7,-8.8,224,3630,0.00,2.53,0.00,0.000,6,0.000,0.049,2679,1799,3478,0,0,0,0,0,0
$GC,3906,-1.49,-116.8,388.4,-8.6,231,3910,0.00,2.45,0.00,0.000,4,0.000,0.039,2679,3315,3476,0,0,0,0,0,0
$GC,3927,-1.49,-116.8,390.5,-8.6,231,3932,0.00,2.53,0.00,0.000,6,0.000,0.050,2679,1803,3476,0,0,0,0,0,0
$GC,4182,-1.49,-116.8,412.1,-8.8,238,4187,0.00,2.92,0.00,0.000,4,0.000,0.100,2679,184,3475,0,0,0,0,0,0
$GC,4205,-1.49,-116.8,414.4,-10.0,238,4210,0.00,2.53,0.00,0.000,6,0.000,0.031,2679,1764,3475,0,0,0,0,0,0
$GC,4461,-1.49,-116.8,438.6,-9.5,245,4466,0.00,2.62,0.00,0.000,4,0.000,0.051,2679,3352,3473,0,0,0,0,0,0
$GC,4489,-1.53,-116.8,441.4,-9.8,245,4493,0.00,2.60,0.00,0.000,6,0.000,0.058,2679,1806,3473,0,0,0,0,0,0
$GC,4740,-1.53,-116.8,464.7,-9.3,251,4745,0.00,2.55,0.00,0.000,4,0.000,0.049,2679,3352,3471,0,0,0,0,0,0
$GC,4757,-1.53,-116.8,466.4,-9.0,251,4761,0.00,2.62,0.00,0.000,6,0.000,0.060,2679,1810,3471,0,0,0,0,0,0
$GC,5017,-1.53,-116.8,487.4,-8.0,258,5022,0.00,2.58,0.00,0.000,4,0.000,0.051,2679,3360,3470,0,0,0,0,0,0
$GC,5035,-1.58,-116.8,488.8,-8.0,258,5040,0.10,2.62,0.00,0.000,6,0.081,0.064,2641,1825,3470,0,0,0,0,0,0
$STATE,5172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5172,begin apogee
$GC,5177,-0.31,0.0,501.6,9.2,262,5280,1.33,0.00,98.35,0.921,6,0.087,0.000,2932,1825,3001,0,0,0,0,0,0
$STATE,5280,end apogee,CONTROL_FINISHED_OK
$STATE,5281,begin climb
$GC,5283,1.38,116.8,503.8,0.0,264,5397,1.52,2.72,102.78,0.898,4,0.038,0.051,3309,3398,2523,0,0,0,0,0,0
$GC,5516,1.33,164.3,496.6,7.3,269,5565,0.00,2.75,41.97,0.876,6,0.000,0.062,3308,1818,2330,0,0,0,0,0,0
$GC,5826,1.25,182.6,470.3,9.0,277,5850,0.17,2.75,16.70,0.835,4,0.155,0.043,3275,3404,2255,0,0,0,0,0,0
$GC,5872,1.28,205.0,465.6,8.7,278,5901,0.00,2.75,21.48,0.844,6,0.000,0.058,3275,1830,2165,0,0,0,0,0,0
$GC,6154,1.28,206.5,438.3,9.9,285,6158,0.00,2.60,0.00,0.000,4,0.000,0.042,3275,3405,2158,0,0,0,0,0,0
$GC,6186,1.28,206.5,434.7,10.5,285,6192,0.00,2.70,0.00,0.000,6,0.000,0.052,3275,1833,2158,0,0,0,0,0,0
$GC,6438,1.30,216.6,410.9,9.5,292,6454,0.00,3.00,10.73,0.781,4,0.000,0.104,3275,230,2116,0,0,0,0,0,0
$GC,6478,1.23,216.6,406.6,10.8,293,6482,0.00,2.60,0.00,0.000,6,0.000,0.026,3275,1836,2115,0,0,0,0,0,0
$GC,6762,1.24,225.5,379.4,9.5,300,6777,0.00,2.92,9.12,0.750,4,0.000,0.082,3275,229,2081,0,0,0,0,0,0
$GC,6812,1.18,225.5,374.2,10.9,301,6817,0.00,2.58,0.00,0.000,6,0.000,0.028,3275,1822,2079,0,0,0,0,0,0
$GC,7090,1.19,237.9,347.9,9.3,308,7110,0.00,2.70,12.27,0.771,4,0.000,0.039,3275,3411,2030,0,0,0,0,0,0
$GC,7152,1.25,240.4,342.1,9.9,309,7157,0.00,2.67,0.00,0.000,6,0.000,0.048,3275,1815,2029,0,0,0,0,0,0
$GC,7418,1.27,253.3,317.2,9.3,316,7439,0.00,2.85,15.10,0.769,4,0.000,0.082,3275,237,1968,0,0,0,0,0,0
$GC,7449,1.27,253.3,313.9,10.3,316,7455,0.00,2.55,0.00,0.000,6,0.000,0.020,3275,1835,1967,0,0,0,0,0,0
$GC,7701,1.29,269.5,290.9,9.1,323,7719,0.00,0.00,16.02,0.754,6,0.000,0.000,3275,1836,1902,0,0,0,0,0,0
$GC,7944,1.35,288.6,269.4,8.9,329,7968,0.00,2.92,18.27,0.745,4,0.000,0.076,3275,237,1824,0,0,0,0,0,0
$GC,8007,1.35,288.6,263.2,10.2,330,8012,0.00,2.53,0.00,0.000,6,0.000,0.022,3275,1820,1822,0,0,0,0,0,0
$GC,8271,1.41,288.6,237.8,10.1,337,8276,0.15,2.83,0.00,0.000,4,0.078,0.071,3315,234,1819,0,0,0,0,0,0
$GC,8315,1.36,288.6,231.5,13.9,338,8320,0.00,2.45,0.00,0.000,6,0.000,0.024,3314,1790,1818,0,0,0,0,0,0
$GC,8593,1.36,288.6,196.6,12.7,345,8598,0.00,2.72,0.00,0.000,4,0.000,0.075,3314,235,1818,0,0,0,0,0,0
$GC,8653,1.29,288.6,188.6,14.3,349,8659,0.15,2.42,0.00,0.000,6,0.118,0.027,3283,1776,1817,0,0,0,0,0,0
$GC,8916,1.38,308.5,163.4,8.9,374,8941,0.00,2.62,18.12,0.668,4,0.000,0.031,3283,3387,1741,0,0,0,0,0,0
$GC,8995,1.54,328.7,156.2,8.9,380,9024,0.22,2.65,19.23,0.658,6,0.062,0.037,3341,1779,1659,0,0,0,0,0,0
$GC,9284,1.54,328.7,125.3,11.3,407,9288,0.00,2.67,0.00,0.000,4,0.000,0.074,3341,240,1655,0,0,0,0,0,0
$GC,9347,1.48,328.7,116.1,14.4,412,9352,0.00,2.40,0.00,0.000,6,0.000,0.026,3341,1769,1654,0,0,0,0,0,0
$GC,9612,1.48,328.7,83.1,13.3,436,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,1771,1653,0,0,0,0,0,0
$GC,9877,1.49,338.4,53.8,9.5,461,9891,0.00,2.65,9.10,0.536,4,0.000,0.059,3341,236,1619,0,0,0,0,0,0
$GC,9909,1.53,363.7,51.2,8.6,463,9937,0.00,2.40,22.98,0.573,6,0.000,0.020,3341,1771,1518,0,0,0,0,0,0
$GC,10203,1.59,375.2,24.1,9.4,493,10220,0.00,0.00,10.90,0.518,6,0.000,0.000,3342,1772,1472,0,0,0,0,0,0
$STATE,10391,end climb,SURFACE_DEPTH_REACHED
$STATE,10391,begin surface coast
$FINISH,0.3,1.011308
$STATE,10433,end surface coast,CONTROL_FINISHED_OK
$STATE,10434,begin surface
$SM_CCo,10455,37.83,0.535,0,0,1287,420.20
$SM_GC,0.86,0.00,0.00,37.83,0.000,0.000,0.535,475,1772,1287,-11.62,0.06,420.20
$IRIDIUM_FIX,2246.36,-15740.63,260100,222252
$TT8_MAMPS,0.026078
$HUMID,56.89
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.40
$XPDR_PINGS,159
$24V_AH,23.3,76.659
$10V_AH,9.9,72.091
$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,27.700,145.575,443.125,37.825,0.000,46.226,83.706,448.711,39.750,0.000,13.125,1081.806,6757.520,530.556,2002.043,924.238,33.369,1317.701,0.000,2006.209,0.000,0.534,0.000
$DEVICE_MAMPS,167.973,103.545,921.167,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.417,307.593,405.502,772.600,1168.041,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,41519,526
$CAP_FILE_SIZE,121637,0
$CFSIZE,260165632,150011904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021110,014658,2253.914,-15742.648,8,99.0,27,10.1