version: 66.06
glider: 146
mission: 5
dive: 556
start: 11 2 110 11 25 15
data:
$ID,146
$MISSION,5
$DIVE,556
$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,-261086.95
$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,43
$R_STBD_OVSHOOT,58
$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
$GPS1,111428,2254.046,-15743.026,12,99.0,31,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.9
$GPS2,112422,2254.147,-15743.017,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.047,-0.230
$KALMAN_X,-262879.2,-110.0,-56.7,310529.6,-424.8
$KALMAN_Y,-513915.7,-84.4,-215.5,650445.6,2061.5
$MHEAD_RNG_PITCHd_Wd,158.4,9688,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-77.28,0.000,2,0.000,0.000,475,1748,3279,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.4,-6.2,10,126,11.95,2.65,-3.92,0.000,4,0.163,0.064,2691,210,3481,0,0,0,0,0,0
$GC,191,-1.31,-116.8,23.4,-15.7,22,201,0.08,2.42,0.00,0.000,6,0.109,0.016,2710,1773,3482,0,0,0,0,0,0
$GC,473,-1.21,-116.8,61.1,-13.0,50,478,0.12,2.47,0.00,0.000,4,0.124,0.026,2734,3335,3483,0,0,0,0,0,0
$GC,521,-1.26,-116.8,66.4,-10.9,53,525,0.00,2.47,0.00,0.000,6,0.000,0.028,2734,1786,3483,0,0,0,0,0,0
$GC,788,-1.31,-116.8,90.7,-9.0,77,793,0.00,2.67,0.00,0.000,4,0.000,0.064,2734,197,3484,0,0,0,0,0,0
$GC,822,-1.36,-116.8,94.1,-10.7,79,827,0.12,2.40,0.00,0.000,6,0.072,0.022,2690,1789,3484,0,0,0,0,0,0
$GC,1089,-1.36,-116.8,121.8,-10.1,103,1094,0.00,2.40,0.00,0.000,4,0.000,0.028,2691,3316,3485,0,0,0,0,0,0
$GC,1122,-1.36,-116.8,125.3,-9.9,105,1126,0.00,2.45,0.00,0.000,6,0.000,0.030,2690,1786,3485,0,0,0,0,0,0
$GC,1388,-1.36,-116.8,152.5,-10.0,129,1393,0.00,2.70,0.00,0.000,4,0.000,0.062,2690,191,3485,0,0,0,0,0,0
$GC,1410,-1.32,-116.8,155.0,-11.0,130,1415,0.10,2.40,0.00,0.000,6,0.118,0.022,2711,1789,3485,0,0,0,0,0,0
$GC,1675,-1.32,-116.8,181.1,-9.9,154,1679,0.00,2.38,0.00,0.000,4,0.000,0.028,2711,3314,3486,0,0,0,0,0,0
$GC,1773,-1.39,-116.8,190.9,-9.4,162,1777,0.00,2.40,0.00,0.000,6,0.000,0.028,2711,1813,3486,0,0,0,0,0,0
$GC,2050,-1.39,-116.8,214.2,-8.3,176,2053,0.00,2.38,0.00,0.000,4,0.000,0.032,2711,3313,3486,0,0,0,0,0,0
$GC,2089,-1.47,-116.8,217.7,-8.5,176,2095,0.15,2.38,0.00,0.000,6,0.061,0.030,2661,1826,3486,0,0,0,0,0,0
$GC,2339,-1.41,-116.8,243.9,-11.0,183,2344,0.15,2.83,0.00,0.000,4,0.107,0.067,2692,190,3486,0,0,0,0,0,0
$GC,2351,-1.35,-116.8,245.2,-11.2,183,2356,0.00,2.47,0.00,0.000,6,0.000,0.020,2692,1815,3485,0,0,0,0,0,0
$GC,2618,-1.35,-116.8,269.5,-8.8,190,2622,0.00,2.40,0.00,0.000,4,0.000,0.030,2692,3329,3485,0,0,0,0,0,0
$GC,2640,-1.35,-116.8,271.3,-8.0,190,2644,0.00,2.42,0.00,0.000,6,0.000,0.038,2692,1829,3485,0,0,0,0,0,0
$GC,2897,-1.35,-116.8,291.2,-7.7,197,2901,0.00,2.85,0.00,0.000,4,0.000,0.078,2692,198,3484,0,0,0,0,0,0
$GC,2913,-1.35,-116.8,292.8,-8.1,197,2917,0.00,2.50,0.00,0.000,6,0.000,0.019,2692,1806,3484,0,0,0,0,0,0
$GC,3173,-1.35,-116.8,315.0,-8.7,204,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1806,3483,0,0,0,0,0,0
$GC,3419,-1.35,-116.8,336.2,-8.8,210,3423,0.00,2.83,0.00,0.000,4,0.000,0.081,2692,198,3483,0,0,0,0,0,0
$GC,3447,-1.35,-116.8,339.2,-10.4,210,3451,0.00,2.58,0.00,0.000,6,0.000,0.023,2692,1819,3483,0,0,0,0,0,0
$GC,3696,-1.35,-116.8,364.6,-10.3,216,3701,0.00,2.53,0.00,0.000,4,0.000,0.048,2692,3353,3482,0,0,0,0,0,0
$GC,3725,-1.40,-116.8,367.6,-10.7,216,3730,0.00,2.53,0.00,0.000,6,0.000,0.043,2692,1837,3481,0,0,0,0,0,0
$GC,3975,-1.40,-116.8,392.0,-9.6,222,3980,0.00,2.47,0.00,0.000,4,0.000,0.039,2692,3354,3480,0,0,0,0,0,0
$GC,4009,-1.47,-116.8,395.0,-9.3,222,4014,0.00,2.50,0.00,0.000,6,0.000,0.050,2692,1861,3480,0,0,0,0,0,0
$GC,4261,-1.51,-116.8,416.3,-8.4,229,4265,0.00,2.45,0.00,0.000,4,0.000,0.046,2692,3349,3478,0,0,0,0,0,0
$GC,4307,-1.60,-116.8,420.5,-8.9,230,4312,0.17,2.47,0.00,0.000,6,0.061,0.055,2638,1879,3478,0,0,0,0,0,0
$GC,4590,-1.54,-116.8,451.5,-11.3,237,4592,0.12,0.00,0.00,0.000,6,0.120,0.000,2664,1879,3476,0,0,0,0,0,0
$GC,4835,-1.54,-116.8,476.7,-10.2,243,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1879,3475,0,0,0,0,0,0
$STATE,5075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5075,begin apogee
$GC,5081,-0.31,0.0,501.4,10.0,249,5184,1.20,0.00,99.28,0.919,6,0.084,0.000,2928,1827,3001,0,0,0,0,0,0
$STATE,5185,end apogee,CONTROL_FINISHED_OK
$STATE,5185,begin climb
$GC,5187,1.38,116.8,504.0,0.0,251,5302,1.52,3.12,102.53,0.900,4,0.038,0.117,3305,236,2523,0,0,0,0,0,0
$GC,5309,1.35,207.5,504.7,4.8,254,5395,0.00,2.60,80.18,0.885,6,0.000,0.034,3305,1807,2155,0,0,0,0,0,0
$GC,5677,1.26,207.5,466.3,11.0,263,5682,0.15,2.72,0.00,0.000,4,0.156,0.053,3276,3409,2146,0,0,0,0,0,0
$GC,5717,1.27,215.7,462.1,9.6,264,5732,0.00,2.75,7.65,0.726,6,0.000,0.058,3276,1818,2119,0,0,0,0,0,0
$GC,6006,1.29,233.3,435.3,9.0,271,6030,0.00,3.10,16.77,0.822,4,0.000,0.104,3275,229,2048,0,0,0,0,0,0
$GC,6054,1.22,233.3,430.2,10.9,272,6058,0.00,2.62,0.00,0.000,6,0.000,0.028,3275,1834,2046,0,0,0,0,0,0
$GC,6333,1.22,241.0,403.4,9.6,279,6347,0.00,2.67,7.88,0.729,4,0.000,0.047,3275,3408,2017,0,0,0,0,0,0
$GC,6364,1.23,241.5,400.0,10.0,279,6369,0.00,2.72,0.00,0.000,6,0.000,0.056,3275,1822,2017,0,0,0,0,0,0
$GC,6614,1.23,241.5,374.6,10.1,285,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1822,2015,0,0,0,0,0,0
$GC,6858,1.23,246.2,350.6,9.8,291,6870,0.00,2.88,5.93,0.657,4,0.000,0.087,3276,233,1996,0,0,0,0,0,0
$GC,6902,1.18,246.2,346.3,10.7,292,6907,0.00,2.55,0.00,0.000,6,0.000,0.026,3275,1826,1994,0,0,0,0,0,0
$GC,7186,1.19,257.7,319.6,9.4,299,7205,0.00,2.92,11.95,0.755,4,0.000,0.075,3275,230,1949,0,0,0,0,0,0
$GC,7218,1.19,257.7,316.5,10.1,299,7223,0.00,2.55,0.00,0.000,6,0.000,0.027,3275,1815,1948,0,0,0,0,0,0
$GC,7468,1.20,265.6,292.2,9.6,305,7482,0.00,2.88,8.30,0.696,4,0.000,0.074,3275,230,1918,0,0,0,0,0,0
$GC,7517,1.20,265.6,287.2,11.1,306,7521,0.00,2.50,0.00,0.000,6,0.000,0.022,3275,1802,1916,0,0,0,0,0,0
$GC,7797,1.28,297.0,263.5,8.2,313,7832,0.00,2.65,29.48,0.759,4,0.000,0.038,3275,3401,1790,0,0,0,0,0,0
$GC,7860,1.41,316.4,257.7,8.9,313,7885,0.12,2.70,18.62,0.728,6,0.087,0.044,3308,1779,1711,0,0,0,0,0,0
$GC,8167,1.41,316.4,225.5,10.7,321,8171,0.00,2.70,0.00,0.000,4,0.000,0.076,3308,240,1705,0,0,0,0,0,0
$GC,8194,1.37,316.4,221.8,11.9,321,8198,0.00,2.47,0.00,0.000,6,0.000,0.025,3307,1798,1704,0,0,0,0,0,0
$GC,8445,1.37,316.4,194.8,11.0,330,8450,0.00,2.55,0.00,0.000,4,0.000,0.038,3308,3390,1704,0,0,0,0,0,0
$GC,8503,1.45,316.4,189.1,10.5,334,8507,0.00,2.62,0.00,0.000,6,0.000,0.044,3308,1797,1703,0,0,0,0,0,0
$GC,8769,1.45,316.4,161.6,10.4,358,8774,0.00,2.72,0.00,0.000,4,0.000,0.071,3308,238,1703,0,0,0,0,0,0
$GC,8799,1.45,316.4,157.8,12.0,360,8804,0.00,2.47,0.00,0.000,6,0.000,0.020,3308,1812,1701,0,0,0,0,0,0
$GC,9062,1.45,316.7,131.1,10.0,384,9067,0.00,2.72,0.00,0.000,4,0.000,0.066,3308,233,1701,0,0,0,0,0,0
$GC,9084,1.45,316.7,128.3,11.1,385,9090,0.00,2.45,0.00,0.000,6,0.000,0.027,3308,1805,1702,0,0,0,0,0,0
$GC,9349,1.50,316.7,101.9,10.1,410,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1807,1701,0,0,0,0,0,0
$GC,9615,1.56,323.4,76.0,9.7,435,9630,0.15,2.75,6.53,0.512,4,0.071,0.064,3349,243,1680,0,0,0,0,0,0
$GC,9662,1.50,323.4,71.1,12.2,438,9667,0.12,2.42,0.00,0.000,6,0.130,0.025,3325,1795,1680,0,0,0,0,0,0
$GC,9927,1.61,349.9,48.6,8.5,462,9957,0.10,0.00,24.20,0.573,6,0.087,0.000,3354,1796,1572,0,0,0,0,0,0
$GC,10238,1.62,359.9,17.6,9.5,498,10256,0.00,2.75,9.70,0.503,4,0.000,0.064,3354,238,1532,0,0,0,0,0,0
$GC,10270,1.64,371.4,14.8,9.4,501,10288,0.00,2.42,11.45,0.506,6,0.000,0.019,3354,1772,1487,0,0,0,0,0,0
$STATE,10370,end climb,SURFACE_DEPTH_REACHED
$STATE,10370,begin surface coast
$FINISH,0.4,1.013051
$STATE,10421,end surface coast,CONTROL_FINISHED_OK
$STATE,10421,begin surface
$SM_CCo,10442,24.23,0.524,0,0,1369,400.08
$SM_GC,1.08,0.00,0.00,24.23,0.000,0.000,0.524,476,1772,1369,-11.61,0.06,400.08
$IRIDIUM_FIX,2241.69,-15909.67,270100,080800
$TT8_MAMPS,0.026078
$HUMID,56.49
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.50
$XPDR_PINGS,154
$24V_AH,23.3,77.203
$10V_AH,9.9,72.583
$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,28.050,145.525,440.425,24.225,0.000,26.412,35.236,366.896,38.500,0.000,31.560,1076.589,6715.690,498.401,2008.804,760.659,33.367,1270.680,0.000,1995.246,0.000,0.535,0.000
$DEVICE_MAMPS,162.604,138.827,918.866,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.969,310.862,408.358,792.358,1198.513,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,41542,522
$CAP_FILE_SIZE,118810,0
$CFSIZE,260165632,149770240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021110,142100,2254.175,-15742.789,35,1.7,35,10.1