version: 66.06
glider: 146
mission: 5
dive: 553
start: 11 2 110 1 57 59
data:
$ID,146
$MISSION,5
$DIVE,553
$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,400
$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,-261024.23
$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,22
$R_STBD_OVSHOOT,59
$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
$GPS1,014658,2253.914,-15742.648,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.0
$GPS2,015706,2254.115,-15742.655,36,1.1,46,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.006,-0.235
$KALMAN_X,-261178.4,-130.3,-287.8,309704.1,128.9
$KALMAN_Y,-521870.0,720.7,133.9,657185.4,1775.3
$MHEAD_RNG_PITCHd_Wd,171.4,9539,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.18,0.000,2,0.000,0.000,475,1772,3415,0,0,0,0,0,0
$GC,108,-1.38,-116.8,3.9,-7.3,11,134,12.07,2.75,-1.17,0.000,4,0.167,0.065,2690,185,3481,0,0,0,0,0,0
$GC,167,-1.26,-116.8,19.4,-17.8,18,176,0.12,2.47,0.00,0.000,6,0.100,0.021,2720,1768,3482,0,0,0,0,0,0
$GC,454,-1.19,-116.8,57.8,-13.5,49,459,0.10,2.50,0.00,0.000,4,0.132,0.026,2739,3339,3483,0,0,0,0,0,0
$GC,476,-1.19,-116.8,60.6,-12.5,50,481,0.00,2.55,0.00,0.000,6,0.000,0.030,2739,1761,3483,0,0,0,0,0,0
$GC,741,-1.23,-116.8,87.4,-9.4,74,746,0.00,2.65,0.00,0.000,4,0.000,0.057,2739,194,3483,0,0,0,0,0,0
$GC,775,-1.28,-116.8,91.2,-10.2,76,786,0.00,2.45,0.00,0.000,6,0.000,0.017,2739,1792,3483,0,0,0,0,0,0
$GC,1045,-1.34,-116.8,115.1,-8.7,101,1050,0.15,2.42,0.00,0.000,4,0.062,0.033,2690,3324,3484,0,0,0,0,0,0
$GC,1079,-1.34,-116.8,119.3,-10.9,103,1084,0.00,2.47,0.00,0.000,6,0.000,0.028,2690,1778,3484,0,0,0,0,0,0
$GC,1344,-1.30,-116.8,145.5,-9.3,128,1349,0.12,2.70,0.00,0.000,4,0.107,0.061,2717,197,3485,0,0,0,0,0,0
$GC,1374,-1.30,-116.8,148.6,-8.9,130,1378,0.00,2.38,0.00,0.000,6,0.000,0.018,2717,1782,3485,0,0,0,0,0,0
$GC,1643,-1.34,-116.8,167.4,-7.2,154,1647,0.00,2.42,0.00,0.000,4,0.000,0.033,2717,3319,3485,0,0,0,0,0,0
$GC,1687,-1.42,-116.8,171.0,-7.8,157,1692,0.12,2.42,0.00,0.000,6,0.071,0.029,2670,1783,3485,0,0,0,0,0,0
$GC,1952,-1.38,-116.8,200.6,-13.0,181,1954,0.12,0.00,0.00,0.000,6,0.107,0.000,2697,1781,3485,0,0,0,0,0,0
$GC,2191,-1.38,-116.8,227.1,-10.6,187,2196,0.00,2.72,0.00,0.000,4,0.000,0.065,2697,194,3485,0,0,0,0,0,0
$GC,2230,-1.38,-116.8,231.2,-10.5,188,2235,0.00,2.40,0.00,0.000,6,0.000,0.016,2697,1765,3485,0,0,0,0,0,0
$GC,2516,-1.38,-116.8,256.1,-8.8,195,2520,0.00,2.47,0.00,0.000,4,0.000,0.028,2697,3325,3485,0,0,0,0,0,0
$GC,2555,-1.45,-116.8,259.8,-9.0,196,2560,0.00,2.53,0.00,0.000,6,0.000,0.032,2697,1765,3485,0,0,0,0,0,0
$GC,2840,-1.45,-116.8,285.0,-8.9,203,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1765,3484,0,0,0,0,0,0
$GC,3082,-1.45,-116.8,306.3,-8.7,209,3087,0.00,2.75,0.00,0.000,4,0.000,0.079,2697,195,3483,0,0,0,0,0,0
$GC,3110,-1.49,-116.8,309.1,-9.6,209,3114,0.00,2.42,0.00,0.000,6,0.000,0.021,2697,1738,3483,0,0,0,0,0,0
$GC,3360,-1.49,-116.8,331.0,-8.9,215,3364,0.00,2.60,0.00,0.000,4,0.000,0.038,2697,3348,3482,0,0,0,0,0,0
$GC,3423,-1.57,-116.8,336.6,-8.7,216,3428,0.17,2.58,0.00,0.000,6,0.058,0.040,2642,1779,3482,0,0,0,0,0,0
$GC,3684,-1.50,-116.8,365.7,-11.3,223,3689,0.15,2.53,0.00,0.000,4,0.107,0.038,2674,3346,3481,0,0,0,0,0,0
$GC,3702,-1.46,-116.8,367.6,-11.2,223,3706,0.00,2.58,0.00,0.000,6,0.000,0.041,2674,1790,3481,0,0,0,0,0,0
$GC,3963,-1.46,-116.8,390.3,-8.5,230,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1789,3479,0,0,0,0,0,0
$GC,4206,-1.46,-116.8,411.5,-8.8,236,4211,0.00,2.55,0.00,0.000,4,0.000,0.043,2674,3352,3478,0,0,0,0,0,0
$GC,4224,-1.46,-116.8,413.1,-8.7,236,4228,0.00,2.60,0.00,0.000,6,0.000,0.048,2674,1790,3479,0,0,0,0,0,0
$GC,4485,-1.46,-116.8,437.7,-9.6,243,4489,0.00,2.55,0.00,0.000,4,0.000,0.042,2674,3346,3477,0,0,0,0,0,0
$GC,4506,-1.46,-116.8,440.0,-10.7,243,4510,0.00,2.60,0.00,0.000,6,0.000,0.060,2674,1800,3477,0,0,0,0,0,0
$GC,4761,-1.46,-116.8,465.8,-10.2,250,4765,0.00,2.53,0.00,0.000,4,0.000,0.045,2674,3341,3475,0,0,0,0,0,0
$GC,4784,-1.46,-116.8,468.0,-9.9,250,4788,0.00,2.62,0.00,0.000,6,0.000,0.059,2674,1802,3475,0,0,0,0,0,0
$GC,5039,-1.46,-116.8,492.2,-9.4,257,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1803,3474,0,0,0,0,0,0
$STATE,5158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5158,begin apogee
$GC,5164,-0.31,0.0,503.1,9.0,260,5266,1.15,0.00,98.50,0.924,6,0.084,0.000,2929,1802,3001,0,0,0,0,0,0
$STATE,5267,end apogee,CONTROL_FINISHED_OK
$STATE,5267,begin climb
$GC,5271,1.38,116.8,505.2,0.0,262,5384,1.55,2.78,102.53,0.901,4,0.038,0.056,3309,3388,2523,0,0,0,0,0,0
$GC,5403,1.33,174.4,503.3,6.7,265,5461,0.00,2.72,51.08,0.880,6,0.000,0.060,3309,1821,2290,0,0,0,0,0,0
$GC,5720,1.24,174.4,467.6,11.7,273,5725,0.20,3.03,0.00,0.000,4,0.116,0.113,3269,233,2280,0,0,0,0,0,0
$GC,5742,1.14,174.4,464.6,11.9,273,5747,0.10,2.58,0.00,0.000,6,0.137,0.031,3249,1814,2279,0,0,0,0,0,0
$GC,5999,1.18,212.4,443.5,7.8,280,6040,0.00,2.78,33.03,0.857,4,0.000,0.055,3249,3408,2134,0,0,0,0,0,0
$GC,6057,1.28,250.1,438.9,7.9,281,6099,0.12,2.75,35.28,0.851,6,0.087,0.056,3280,1823,1980,0,0,0,0,0,0
$GC,6366,1.29,260.0,409.7,9.5,289,6381,0.00,3.00,9.35,0.755,4,0.000,0.100,3280,233,1939,0,0,0,0,0,0
$GC,6398,1.25,260.0,406.3,10.2,289,6403,0.00,2.60,0.00,0.000,6,0.000,0.027,3280,1836,1938,0,0,0,0,0,0
$GC,6649,1.25,266.1,382.1,9.7,296,6663,0.00,2.92,6.60,0.691,4,0.000,0.082,3280,226,1915,0,0,0,0,0,0
$GC,6687,1.19,266.1,377.6,11.4,296,6693,0.00,2.55,0.00,0.000,6,0.000,0.028,3280,1810,1914,0,0,0,0,0,0
$GC,6937,1.19,266.1,351.7,10.4,303,6941,0.00,2.60,0.00,0.000,4,0.000,0.038,3280,3405,1912,0,0,0,0,0,0
$GC,6954,1.19,266.1,350.0,10.8,303,6959,0.00,2.72,0.00,0.000,6,0.000,0.051,3280,1795,1911,0,0,0,0,0,0
$GC,7214,1.19,266.1,320.9,11.2,310,7219,0.00,2.80,0.00,0.000,4,0.000,0.081,3280,229,1910,0,0,0,0,0,0
$GC,7247,1.15,266.1,316.9,11.9,310,7253,0.15,2.53,0.00,0.000,6,0.119,0.021,3250,1817,1910,0,0,0,0,0,0
$GC,7497,1.27,296.6,295.3,8.3,317,7532,0.10,2.88,27.85,0.781,4,0.094,0.071,3279,242,1790,0,0,0,0,0,0
$GC,7571,1.27,296.6,288.0,11.2,318,7576,0.00,2.42,0.00,0.000,6,0.000,0.027,3279,1773,1789,0,0,0,0,0,0
$GC,7822,1.32,300.8,263.5,9.8,324,7828,0.00,0.00,4.57,0.550,6,0.000,0.000,3279,1774,1774,0,0,0,0,0,0
$GC,8067,1.38,300.8,239.2,10.1,330,8071,0.00,2.70,0.00,0.000,4,0.000,0.072,3279,235,1773,0,0,0,0,0,0
$GC,8122,1.38,300.8,232.5,11.4,331,8126,0.00,2.40,0.00,0.000,6,0.000,0.027,3279,1758,1771,0,0,0,0,0,0
$GC,8390,1.44,300.8,205.2,10.2,338,8395,0.15,2.67,0.00,0.000,4,0.071,0.069,3320,234,1771,0,0,0,0,0,0
$GC,8457,1.36,300.8,196.6,12.6,339,8462,0.10,2.38,0.00,0.000,6,0.137,0.022,3299,1743,1770,0,0,0,0,0,0
$GC,8729,1.37,309.1,170.3,9.6,364,8743,0.00,2.72,8.38,0.617,4,0.000,0.033,3299,3390,1741,0,0,0,0,0,0
$GC,8803,1.48,309.1,162.1,11.2,370,8809,0.10,2.75,0.00,0.000,6,0.091,0.042,3326,1727,1739,0,0,0,0,0,0
$GC,9071,1.48,309.1,133.6,11.4,395,9075,0.00,2.70,0.00,0.000,4,0.000,0.031,3326,3400,1738,0,0,0,0,0,0
$GC,9092,1.48,309.1,130.2,11.4,396,9101,0.00,2.75,0.00,0.000,6,0.000,0.044,3326,1751,1738,0,0,0,0,0,0
$GC,9359,1.48,309.1,101.5,10.5,421,9363,0.00,2.65,0.00,0.000,4,0.000,0.028,3326,3396,1738,0,0,0,0,0,0
$GC,9381,1.48,309.1,98.4,11.2,422,9390,0.00,2.72,0.00,0.000,6,0.000,0.040,3326,1760,1738,0,0,0,0,0,0
$GC,9648,1.51,333.2,71.5,8.6,447,9676,0.00,2.67,22.67,0.594,4,0.000,0.063,3326,232,1640,0,0,0,0,0,0
$GC,9731,1.51,333.2,63.6,10.1,453,9736,0.00,2.45,0.00,0.000,6,0.000,0.020,3326,1794,1638,0,0,0,0,0,0
$GC,9999,1.61,358.6,40.1,8.6,477,10028,0.10,2.60,22.88,0.560,4,0.089,0.028,3354,3390,1537,0,0,0,0,0,0
$GC,10047,1.61,361.7,35.6,9.9,480,10062,0.00,2.67,3.83,0.367,6,0.000,0.036,3354,1766,1526,0,0,0,0,0,0
$STATE,10321,end climb,SURFACE_DEPTH_REACHED
$STATE,10321,begin surface coast
$FINISH,0.4,1.023376
$STATE,10370,end surface coast,CONTROL_FINISHED_OK
$STATE,10370,begin surface
$SM_CCo,10393,32.25,0.531,0,0,1370,400.08
$SM_GC,1.08,0.00,0.00,32.25,0.000,0.000,0.531,475,1764,1370,-11.62,-0.14,400.08
$IRIDIUM_FIX,2244.02,-15743.68,260100,222232
$TT8_MAMPS,0.026078
$HUMID,56.18
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.50
$XPDR_PINGS,160
$24V_AH,23.3,76.795
$10V_AH,9.8,72.213
$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,28.750,151.725,426.525,32.250,0.000,27.579,31.534,366.530,40.000,0.000,47.497,1078.354,6654.952,515.495,2019.184,763.021,33.370,1288.613,0.000,1994.200,0.000,0.534,0.000
$DEVICE_MAMPS,167.206,112.749,924.235,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.749,311.984,407.214,781.916,1182.614,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,41515,525
$CAP_FILE_SIZE,120271,0
$CFSIZE,260165632,149950464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021110,045306,2254.160,-15742.842,40,1.6,40,10.1