version: 66.06
glider: 146
mission: 5
dive: 559
start: 11 2 110 20 51 1
data:
$ID,146
$MISSION,5
$DIVE,559
$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,-261133.64
$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,42
$R_STBD_OVSHOOT,53
$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
$GPS1,204037,2254.214,-15742.865,33,0.9,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.7
$GPS2,205007,2254.324,-15742.857,8,1.2,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.058,-0.228
$KALMAN_X,-263730.3,128.6,79.7,311277.9,-411.2
$KALMAN_Y,-507402.6,295.5,130.3,643547.4,1152.5
$MHEAD_RNG_PITCHd_Wd,155.6,9969,-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,-77.30,0.000,2,0.000,0.000,474,1749,3281,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.4,-6.5,10,126,11.77,2.65,-3.92,0.000,4,0.156,0.064,2692,210,3481,0,0,0,0,0,0
$GC,183,-1.27,-116.8,21.5,-14.8,21,192,0.10,2.45,0.00,0.000,6,0.106,0.017,2715,1786,3483,0,0,0,0,0,0
$GC,461,-1.17,-116.8,60.5,-13.9,50,471,0.12,0.00,0.00,0.000,6,0.127,0.000,2740,1787,3483,0,0,0,0,0,0
$GC,729,-1.17,-116.8,90.3,-9.1,75,733,0.00,2.42,0.00,0.000,4,0.000,0.025,2741,3337,3483,0,0,0,0,0,0
$GC,771,-1.28,-116.8,95.1,-10.4,78,775,0.00,2.50,0.00,0.000,6,0.000,0.026,2741,1767,3484,0,0,0,0,0,0
$GC,1036,-1.33,-116.8,118.9,-8.5,102,1041,0.12,2.47,0.00,0.000,4,0.070,0.026,2697,3332,3484,0,0,0,0,0,0
$GC,1065,-1.33,-116.8,122.1,-9.8,104,1069,0.00,2.50,0.00,0.000,6,0.000,0.029,2697,1769,3485,0,0,0,0,0,0
$GC,1328,-1.33,-116.8,147.8,-9.4,128,1333,0.00,2.65,0.00,0.000,4,0.000,0.061,2697,197,3485,0,0,0,0,0,0
$GC,1374,-1.33,-116.8,152.7,-10.7,131,1380,0.00,2.38,0.00,0.000,6,0.000,0.016,2697,1785,3485,0,0,0,0,0,0
$GC,1637,-1.33,-116.8,177.2,-9.3,156,1642,0.00,2.70,0.00,0.000,4,0.000,0.061,2697,197,3486,0,0,0,0,0,0
$GC,1667,-1.33,-116.8,180.6,-10.6,158,1672,0.00,2.30,0.00,0.000,6,0.000,0.021,2697,1731,3486,0,0,0,0,0,0
$GC,1958,-1.33,-116.8,208.1,-9.6,179,1963,0.00,2.50,0.00,0.000,4,0.000,0.031,2697,3320,3486,0,0,0,0,0,0
$GC,2008,-1.38,-116.8,212.8,-8.7,180,2013,0.00,2.53,0.00,0.000,6,0.000,0.035,2697,1746,3486,0,0,0,0,0,0
$GC,2282,-1.38,-116.8,237.5,-9.2,187,2286,0.00,2.47,0.00,0.000,4,0.000,0.032,2697,3317,3486,0,0,0,0,0,0
$GC,2298,-1.38,-116.8,239.3,-9.1,187,2302,0.00,2.50,0.00,0.000,6,0.000,0.035,2697,1769,3486,0,0,0,0,0,0
$GC,2559,-1.38,-116.8,263.3,-9.2,194,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1769,3485,0,0,0,0,0,0
$GC,2804,-1.38,-116.8,287.0,-10.0,200,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1769,3485,0,0,0,0,0,0
$GC,3046,-1.38,-116.8,312.2,-10.3,206,3050,0.00,2.50,0.00,0.000,4,0.000,0.033,2697,3321,3484,0,0,0,0,0,0
$GC,3090,-1.46,-116.8,316.5,-9.9,207,3094,0.00,2.58,0.00,0.000,6,0.000,0.041,2697,1759,3484,0,0,0,0,0,0
$GC,3370,-1.50,-116.8,342.4,-9.5,214,3375,0.10,2.53,0.00,0.000,4,0.084,0.032,2661,3314,3483,0,0,0,0,0,0
$GC,3386,-1.50,-116.8,344.4,-9.4,214,3391,0.00,2.58,0.00,0.000,6,0.000,0.046,2661,1762,3483,0,0,0,0,0,0
$GC,3646,-1.50,-116.8,372.2,-10.7,221,3651,0.00,2.53,0.00,0.000,4,0.000,0.039,2661,3312,3482,0,0,0,0,0,0
$GC,3664,-1.50,-116.8,374.0,-10.7,221,3669,0.00,2.58,0.00,0.000,6,0.000,0.046,2661,1765,3482,0,0,0,0,0,0
$GC,3925,-1.50,-116.8,399.7,-9.6,228,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1765,3480,0,0,0,0,0,0
$GC,4168,-1.50,-116.8,421.6,-9.0,234,4173,0.00,2.88,0.00,0.000,4,0.000,0.102,2660,185,3478,0,0,0,0,0,0
$GC,4188,-1.50,-116.8,423.2,-9.2,234,4192,0.00,2.45,0.00,0.000,6,0.000,0.028,2661,1723,3478,0,0,0,0,0,0
$GC,4448,-1.50,-116.8,447.2,-9.2,241,4453,0.00,2.70,0.00,0.000,4,0.000,0.053,2661,3353,3477,0,0,0,0,0,0
$GC,4481,-1.50,-116.8,450.3,-9.2,241,4486,0.00,2.70,0.00,0.000,6,0.000,0.054,2661,1768,3477,0,0,0,0,0,0
$GC,4733,-1.50,-116.8,472.3,-8.8,248,4737,0.00,2.95,0.00,0.000,4,0.000,0.108,2661,185,3475,0,0,0,0,0,0
$GC,4756,-1.50,-116.8,474.6,-9.5,248,4760,0.00,2.58,0.00,0.000,6,0.000,0.030,2661,1769,3475,0,0,0,0,0,0
$GC,5011,-1.50,-116.8,498.9,-9.5,255,5015,0.00,2.72,0.00,0.000,4,0.000,0.064,2661,3362,3473,0,0,0,0,0,0
$STATE,5019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5019,begin apogee
$GC,5029,-0.31,0.0,500.1,9.9,255,5135,1.20,0.00,99.47,0.921,6,0.087,0.000,2926,1813,3000,0,0,0,0,0,0
$STATE,5136,end apogee,CONTROL_FINISHED_OK
$STATE,5136,begin climb
$GC,5138,1.38,116.8,504.6,0.0,258,5249,1.58,2.80,102.47,0.902,4,0.041,0.049,3307,3404,2523,0,0,0,0,0,0
$GC,5281,1.37,206.0,504.6,4.9,261,5366,0.00,2.75,79.00,0.888,6,0.000,0.055,3306,1823,2161,0,0,0,0,0,0
$GC,5624,1.30,223.1,474.9,9.1,270,5646,0.12,2.70,15.60,0.826,4,0.127,0.041,3283,3410,2090,0,0,0,0,0,0
$GC,5665,1.33,251.5,471.5,8.4,271,5700,0.00,2.78,27.38,0.852,6,0.000,0.060,3283,1825,1974,0,0,0,0,0,0
$GC,5951,1.34,253.3,443.6,9.9,278,5956,0.00,3.03,0.00,0.000,4,0.000,0.114,3283,233,1967,0,0,0,0,0,0
$GC,5980,1.26,253.3,440.2,12.2,278,5985,0.00,2.62,0.00,0.000,6,0.000,0.031,3283,1839,1967,0,0,0,0,0,0
$GC,6230,1.26,253.3,412.5,11.1,284,6235,0.00,2.90,0.00,0.000,4,0.000,0.086,3282,226,1965,0,0,0,0,0,0
$GC,6251,1.20,253.3,409.8,12.4,284,6256,0.10,2.60,0.00,0.000,6,0.139,0.028,3264,1828,1964,0,0,0,0,0,0
$GC,6508,1.20,253.3,382.8,10.6,291,6513,0.00,2.85,0.00,0.000,4,0.000,0.081,3263,232,1964,0,0,0,0,0,0
$GC,6529,1.20,253.3,380.1,11.4,291,6534,0.00,2.55,0.00,0.000,6,0.000,0.025,3263,1811,1963,0,0,0,0,0,0
$GC,6786,1.24,253.3,353.4,10.2,298,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1812,1962,0,0,0,0,0,0
$GC,7032,1.32,279.1,331.9,8.6,304,7062,0.10,2.70,24.27,0.803,4,0.094,0.044,3290,3414,1862,0,0,0,0,0,0
$GC,7092,1.37,279.4,326.3,10.0,305,7097,0.00,2.72,0.00,0.000,6,0.000,0.050,3290,1800,1860,0,0,0,0,0,0
$GC,7353,1.37,280.2,300.7,10.0,312,7357,0.00,2.80,0.00,0.000,4,0.000,0.080,3290,236,1857,0,0,0,0,0,0
$GC,7394,1.32,280.2,296.0,11.7,313,7398,0.00,2.53,0.00,0.000,6,0.000,0.025,3290,1822,1856,0,0,0,0,0,0
$GC,7676,1.32,280.2,267.2,10.1,320,7681,0.00,2.55,0.00,0.000,4,0.000,0.039,3290,3394,1856,0,0,0,0,0,0
$GC,7703,1.37,280.2,264.4,10.1,320,7708,0.00,2.65,0.00,0.000,6,0.000,0.040,3290,1796,1855,0,0,0,0,0,0
$GC,7955,1.37,280.2,237.4,11.1,326,7959,0.00,2.75,0.00,0.000,4,0.000,0.076,3290,239,1854,0,0,0,0,0,0
$GC,7998,1.37,280.2,231.5,12.6,327,8003,0.00,2.47,0.00,0.000,6,0.000,0.027,3290,1801,1854,0,0,0,0,0,0
$GC,8278,1.37,280.2,202.0,10.4,334,8283,0.00,2.58,0.00,0.000,4,0.000,0.038,3290,3391,1853,0,0,0,0,0,0
$GC,8306,1.44,280.2,198.8,10.2,334,8311,0.10,2.65,0.00,0.000,6,0.091,0.045,3317,1789,1853,0,0,0,0,0,0
$GC,8571,1.44,280.2,171.5,10.5,358,8575,0.00,2.72,0.00,0.000,4,0.000,0.077,3317,233,1853,0,0,0,0,0,0
$GC,8601,1.37,280.2,168.0,12.1,360,8605,0.00,2.50,0.00,0.000,6,0.000,0.025,3317,1815,1852,0,0,0,0,0,0
$GC,8864,1.38,287.3,141.4,9.6,384,8877,0.00,2.55,7.35,0.584,4,0.000,0.031,3318,3396,1828,0,0,0,0,0,0
$GC,8932,1.44,287.3,134.2,10.4,389,8938,0.00,2.58,0.00,0.000,6,0.000,0.036,3317,1822,1828,0,0,0,0,0,0
$GC,9195,1.44,287.3,108.6,10.4,414,9199,0.00,2.72,0.00,0.000,4,0.000,0.065,3317,241,1827,0,0,0,0,0,0
$GC,9241,1.41,287.3,104.0,11.5,417,9245,0.00,2.50,0.00,0.000,6,0.000,0.021,3317,1828,1826,0,0,0,0,0,0
$GC,9507,1.43,308.8,77.2,8.8,441,9533,0.00,2.55,20.05,0.598,4,0.000,0.035,3317,3396,1743,0,0,0,0,0,0
$GC,9601,1.56,314.1,68.7,9.7,448,9616,0.00,2.62,6.68,0.505,6,0.000,0.035,3317,1808,1718,0,0,0,0,0,0
$GC,9873,1.69,355.0,48.1,7.7,473,9917,0.20,2.83,36.47,0.574,4,0.060,0.063,3372,236,1553,0,0,0,0,0,0
$GC,9969,1.62,355.0,38.6,11.5,480,9973,0.00,2.45,0.00,0.000,6,0.000,0.020,3372,1809,1550,0,0,0,0,0,0
$STATE,10275,end climb,SURFACE_DEPTH_REACHED
$STATE,10275,begin surface coast
$FINISH,0.3,1.023263
$STATE,10318,end surface coast,CONTROL_FINISHED_OK
$STATE,10318,begin surface
$SM_CCo,10342,37.60,0.528,0,0,1369,400.08
$SM_GC,1.22,0.00,0.00,37.60,0.000,0.000,0.528,474,1741,1369,-11.62,-0.82,400.08
$IRIDIUM_FIX,2248.70,-15743.68,270100,171757
$TT8_MAMPS,0.026078
$HUMID,56.81
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.00
$XPDR_PINGS,152
$24V_AH,23.3,77.615
$10V_AH,9.7,72.948
$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,27.525,152.025,418.750,37.600,0.000,28.453,34.788,357.509,38.000,0.000,15.443,1076.310,6636.239,505.351,1976.466,754.118,33.372,1261.205,0.000,1979.403,0.000,0.534,0.000
$DEVICE_MAMPS,155.701,115.817,921.167,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.057,307.250,409.125,780.079,1180.398,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,41451,526
$CAP_FILE_SIZE,117076,0
$CFSIZE,260165632,149590016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021110,234506,2254.025,-15743.018,8,1.6,24,10.1