version: 66.06
glider: 146
mission: 5
dive: 557
start: 11 2 110 14 31 25
data:
$ID,146
$MISSION,5
$DIVE,557
$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,-261104.36
$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,20
$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
$GPS1,142100,2254.175,-15742.789,35,1.7,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.4
$GPS2,143031,2254.312,-15742.789,10,1.5,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.004,-0.235
$KALMAN_X,-263017.7,-17.9,-103.8,311010.8,45.1
$KALMAN_Y,-511585.6,-77.9,34.6,648173.1,2328.9
$MHEAD_RNG_PITCHd_Wd,171.0,9929,-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,18,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-77.38,0.000,2,0.000,0.000,476,1774,3272,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.1,-5.2,10,126,11.90,2.72,-4.05,0.000,4,0.160,0.067,2689,193,3479,0,0,0,0,0,0
$GC,158,-1.21,-116.8,17.8,-18.9,17,166,0.17,2.45,0.00,0.000,6,0.100,0.021,2729,1771,3480,0,0,0,0,0,0
$GC,447,-1.14,-116.8,53.3,-11.3,49,452,0.10,2.47,0.00,0.000,4,0.136,0.025,2748,3338,3481,0,0,0,0,0,0
$GC,469,-1.14,-116.8,56.0,-11.4,50,473,0.00,2.53,0.00,0.000,6,0.000,0.028,2748,1763,3481,0,0,0,0,0,0
$GC,738,-1.21,-116.8,80.5,-8.3,74,742,0.00,2.65,0.00,0.000,4,0.000,0.063,2748,196,3482,0,0,0,0,0,0
$GC,759,-1.27,-116.8,82.7,-8.6,75,764,0.10,2.42,0.00,0.000,6,0.081,0.019,2710,1788,3482,0,0,0,0,0,0
$GC,1027,-1.27,-116.8,107.9,-9.6,99,1032,0.00,2.72,0.00,0.000,4,0.000,0.062,2709,186,3483,0,0,0,0,0,0
$GC,1044,-1.27,-116.8,110.3,-9.2,100,1049,0.00,2.40,0.00,0.000,6,0.000,0.019,2709,1774,3483,0,0,0,0,0,0
$GC,1309,-1.27,-116.8,134.7,-9.6,124,1313,0.00,2.45,0.00,0.000,4,0.000,0.032,2709,3315,3483,0,0,0,0,0,0
$GC,1355,-1.35,-116.8,138.9,-9.8,127,1359,0.00,2.45,0.00,0.000,6,0.000,0.034,2709,1770,3483,0,0,0,0,0,0
$GC,1623,-1.35,-116.8,162.9,-8.8,151,1628,0.00,2.70,0.00,0.000,4,0.000,0.065,2709,198,3484,0,0,0,0,0,0
$GC,1646,-1.35,-116.8,165.8,-9.5,152,1653,0.00,2.38,0.00,0.000,6,0.000,0.021,2709,1778,3484,0,0,0,0,0,0
$GC,1909,-1.35,-116.8,188.5,-8.8,177,1913,0.00,2.42,0.00,0.000,4,0.000,0.025,2710,3318,3484,0,0,0,0,0,0
$GC,1940,-1.41,-116.8,191.3,-9.1,179,1945,0.00,2.45,0.00,0.000,6,0.000,0.027,2709,1772,3484,0,0,0,0,0,0
$GC,2205,-1.41,-116.8,217.1,-10.4,192,2209,0.00,2.45,0.00,0.000,4,0.000,0.025,2710,3321,3484,0,0,0,0,0,0
$GC,2229,-1.45,-116.8,219.4,-9.9,192,2234,0.12,2.45,0.00,0.000,6,0.071,0.028,2663,1783,3484,0,0,0,0,0,0
$GC,2484,-1.40,-116.8,248.5,-11.2,199,2486,0.15,0.00,0.00,0.000,6,0.107,0.000,2695,1783,3484,0,0,0,0,0,0
$GC,2728,-1.40,-116.8,269.5,-8.3,205,2732,0.00,2.45,0.00,0.000,4,0.000,0.030,2695,3321,3484,0,0,0,0,0,0
$GC,2751,-1.40,-116.8,271.1,-7.5,205,2755,0.00,2.47,0.00,0.000,6,0.000,0.037,2694,1791,3484,0,0,0,0,0,0
$GC,3006,-1.40,-116.8,290.2,-7.4,212,3010,0.00,2.42,0.00,0.000,4,0.000,0.035,2695,3314,3483,0,0,0,0,0,0
$GC,3021,-1.40,-116.8,291.5,-7.7,212,3026,0.00,2.45,0.00,0.000,6,0.000,0.038,2695,1794,3482,0,0,0,0,0,0
$GC,3285,-1.40,-116.8,311.3,-7.8,219,3289,0.00,2.85,0.00,0.000,4,0.000,0.080,2695,185,3482,0,0,0,0,0,0
$GC,3324,-1.43,-116.8,315.0,-9.2,220,3329,0.00,2.45,0.00,0.000,6,0.000,0.027,2694,1756,3482,0,0,0,0,0,0
$GC,3608,-1.43,-116.8,339.4,-8.8,227,3612,0.00,2.58,0.00,0.000,4,0.000,0.038,2694,3349,3481,0,0,0,0,0,0
$GC,3643,-1.51,-116.8,342.5,-8.8,227,3649,0.10,2.58,0.00,0.000,6,0.084,0.040,2659,1793,3481,0,0,0,0,0,0
$GC,3894,-1.51,-116.8,368.5,-10.5,234,3899,0.00,2.90,0.00,0.000,4,0.000,0.092,2659,185,3479,0,0,0,0,0,0
$GC,3927,-1.47,-116.8,372.5,-11.9,234,3933,0.10,2.50,0.00,0.000,6,0.128,0.028,2680,1778,3479,0,0,0,0,0,0
$GC,4179,-1.47,-116.8,396.7,-9.5,241,4183,0.00,2.55,0.00,0.000,4,0.000,0.041,2680,3349,3477,0,0,0,0,0,0
$GC,4246,-1.53,-116.8,403.1,-9.2,242,4250,0.00,2.60,0.00,0.000,6,0.000,0.051,2680,1803,3477,0,0,0,0,0,0
$GC,4501,-1.53,-116.8,426.9,-9.5,249,4506,0.00,2.97,0.00,0.000,4,0.000,0.097,2680,186,3476,0,0,0,0,0,0
$GC,4535,-1.53,-116.8,430.3,-10.2,249,4541,0.00,2.58,0.00,0.000,6,0.000,0.030,2680,1801,3476,0,0,0,0,0,0
$GC,4785,-1.53,-116.8,453.3,-9.1,256,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1801,3474,0,0,0,0,0,0
$GC,5029,-1.53,-116.8,476.5,-9.6,262,5033,0.00,2.58,0.00,0.000,4,0.000,0.054,2680,3350,3472,0,0,0,0,0,0
$GC,5046,-1.53,-116.8,478.1,-9.9,262,5051,0.00,2.65,0.00,0.000,6,0.000,0.054,2680,1796,3472,0,0,0,0,0,0
$STATE,5263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5263,begin apogee
$GC,5269,-0.31,0.0,500.1,10.0,268,5371,1.12,0.00,98.80,0.924,6,0.082,0.000,2929,1796,3001,0,0,0,0,0,0
$STATE,5372,end apogee,CONTROL_FINISHED_OK
$STATE,5372,begin climb
$GC,5375,1.38,116.8,503.3,0.0,270,5482,1.55,0.00,103.20,0.901,6,0.044,0.000,3308,1796,2524,0,0,0,0,0,0
$GC,5704,1.31,163.3,490.0,7.4,278,5753,0.10,2.75,41.00,0.880,4,0.139,0.051,3289,3404,2334,0,0,0,0,0,0
$GC,5818,1.29,178.8,480.1,9.1,280,5839,0.00,2.72,15.20,0.825,6,0.000,0.062,3289,1840,2271,0,0,0,0,0,0
$GC,6119,1.23,183.8,450.9,9.8,288,6126,0.00,0.00,4.78,0.620,6,0.000,0.000,3289,1840,2251,0,0,0,0,0,0
$GC,6361,1.21,198.2,427.9,9.2,294,6382,0.12,3.08,14.55,0.819,4,0.129,0.100,3264,231,2191,0,0,0,0,0,0
$GC,6407,1.16,208.5,423.9,9.4,295,6423,0.00,2.62,10.50,0.775,6,0.000,0.031,3264,1851,2151,0,0,0,0,0,0
$GC,6684,1.19,237.8,400.3,8.3,302,6714,0.00,0.00,27.60,0.840,6,0.000,0.000,3264,1850,2031,0,0,0,0,0,0
$GC,6930,1.21,254.5,378.4,9.1,308,6953,0.00,2.60,16.42,0.803,4,0.000,0.038,3264,3408,1961,0,0,0,0,0,0
$GC,6972,1.29,263.9,374.3,9.5,309,6987,0.00,2.70,9.75,0.742,6,0.000,0.048,3264,1829,1925,0,0,0,0,0,0
$GC,7258,1.36,277.8,347.5,9.2,316,7278,0.12,2.95,13.68,0.773,4,0.085,0.084,3296,233,1867,0,0,0,0,0,0
$GC,7336,1.29,277.8,338.2,12.8,317,7341,0.00,2.58,0.00,0.000,6,0.000,0.025,3297,1842,1865,0,0,0,0,0,0
$GC,7586,1.29,277.8,310.3,10.9,323,7590,0.00,2.85,0.00,0.000,4,0.000,0.077,3296,236,1863,0,0,0,0,0,0
$GC,7615,1.22,277.8,306.9,12.7,323,7620,0.15,2.50,0.00,0.000,6,0.119,0.023,3267,1819,1862,0,0,0,0,0,0
$GC,7865,1.30,287.4,282.6,9.5,329,7876,0.00,0.00,9.20,0.703,6,0.000,0.000,3266,1820,1829,0,0,0,0,0,0
$GC,8109,1.38,295.2,259.3,9.6,335,8124,0.15,2.85,8.40,0.677,4,0.190,0.072,3305,237,1797,0,0,0,0,0,0
$GC,8148,1.32,295.2,255.0,12.2,335,8153,0.00,2.53,0.00,0.000,6,0.000,0.021,3305,1817,1796,0,0,0,0,0,0
$GC,8397,1.32,295.2,228.5,10.4,342,8402,0.00,2.55,0.00,0.000,4,0.000,0.035,3305,3396,1794,0,0,0,0,0,0
$GC,8419,1.32,297.6,226.3,9.9,342,8423,0.00,2.62,0.00,0.000,6,0.000,0.044,3305,1805,1793,0,0,0,0,0,0
$GC,8676,1.33,300.3,201.5,9.9,349,8686,0.00,2.78,5.65,0.575,4,0.000,0.077,3305,241,1775,0,0,0,0,0,0
$GC,8742,1.29,300.3,194.2,12.4,352,8747,0.12,2.50,0.00,0.000,6,0.123,0.021,3281,1822,1775,0,0,0,0,0,0
$GC,9007,1.40,324.8,170.5,8.6,376,9042,0.10,2.88,23.52,0.681,4,0.091,0.073,3309,241,1675,0,0,0,0,0,0
$GC,9117,1.40,324.8,158.0,12.7,385,9121,0.00,2.45,0.00,0.000,6,0.000,0.021,3309,1793,1673,0,0,0,0,0,0
$GC,9386,1.45,334.0,130.2,9.5,409,9400,0.00,2.62,8.85,0.589,4,0.000,0.031,3309,3380,1639,0,0,0,0,0,0
$GC,9424,1.55,342.0,125.6,9.6,412,9438,0.08,2.67,8.62,0.578,6,0.053,0.037,3337,1788,1606,0,0,0,0,0,0
$GC,9697,1.55,342.0,93.9,12.7,437,9701,0.00,2.67,0.00,0.000,4,0.000,0.065,3338,240,1604,0,0,0,0,0,0
$GC,9765,1.55,342.0,84.6,13.0,442,9774,0.00,2.40,0.00,0.000,6,0.000,0.025,3338,1763,1602,0,0,0,0,0,0
$GC,10033,1.65,375.7,57.8,8.1,467,10073,0.10,0.00,30.38,0.585,6,0.230,0.000,3367,1764,1469,0,0,0,0,0,0
$GC,10334,1.67,388.2,28.7,9.3,496,10351,0.00,0.00,12.20,0.525,6,0.000,0.000,3366,1764,1417,0,0,0,0,0,0
$STATE,10533,end climb,SURFACE_DEPTH_REACHED
$STATE,10533,begin surface coast
$FINISH,0.4,1.001125
$STATE,10576,end surface coast,CONTROL_FINISHED_OK
$STATE,10576,begin surface
$SM_CCo,10597,9.85,0.491,0,0,1370,400.08
$SM_GC,1.13,0.00,0.00,9.85,0.000,0.000,0.491,476,1764,1370,-11.62,-0.17,400.08
$IRIDIUM_FIX,2244.02,-15741.52,270100,111137
$TT8_MAMPS,0.026078
$HUMID,57.52
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.60
$XPDR_PINGS,161
$24V_AH,23.3,77.340
$10V_AH,9.8,72.704
$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,28.300,140.575,462.300,9.850,0.000,25.241,41.819,352.220,40.250,0.000,16.782,1090.375,6818.462,533.821,1970.381,765.735,33.366,1279.018,0.000,1982.601,0.000,0.534,0.000
$DEVICE_MAMPS,230.100,100.477,924.235,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.815,318.851,411.671,794.007,1202.089,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,41490,531
$CAP_FILE_SIZE,119690,0
$CFSIZE,260165632,149708800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021110,172936,2254.396,-15743.013,36,1.1,41,10.1