version: 66.06
glider: 146
mission: 5
dive: 565
start: 11 3 110 15 58 13
data:
$ID,146
$MISSION,5
$DIVE,565
$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,-261295.48
$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,47
$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
$GPS1,152757,2253.941,-15743.346,16,3.1,35,10.1
$_CALLS,4
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.2
$GPS2,155717,2254.184,-15743.464,35,2.5,54,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.000,-0.235
$KALMAN_X,-266900.3,-178.1,-314.7,314111.3,103.1
$KALMAN_Y,-493928.7,82.1,129.3,630018.4,1956.4
$MHEAD_RNG_PITCHd_Wd,170.0,9921,-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,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.85,0.000,2,0.000,0.000,473,1741,3333,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.0,-4.6,10,128,11.90,2.62,-2.83,0.000,4,0.160,0.068,2689,219,3481,0,0,0,0,0,0
$GC,219,-1.28,-116.8,28.7,-16.0,26,229,0.10,2.42,0.00,0.000,6,0.098,0.016,2714,1774,3481,0,0,0,0,0,0
$GC,487,-1.20,-116.8,66.0,-14.1,51,492,0.12,2.50,0.00,0.000,4,0.123,0.027,2739,3341,3482,0,0,0,0,0,0
$GC,522,-1.20,-116.8,71.0,-12.3,53,526,0.00,2.50,0.00,0.000,6,0.000,0.029,2739,1787,3482,0,0,0,0,0,0
$GC,791,-1.24,-116.8,96.8,-9.6,77,795,0.00,2.70,0.00,0.000,4,0.000,0.057,2738,194,3482,0,0,0,0,0,0
$GC,827,-1.30,-116.8,100.8,-9.8,79,832,0.00,2.40,0.00,0.000,6,0.000,0.021,2738,1798,3482,0,0,0,0,0,0
$GC,1090,-1.37,-116.8,122.1,-7.3,104,1095,0.15,2.38,0.00,0.000,4,0.063,0.025,2688,3311,3483,0,0,0,0,0,0
$GC,1112,-1.37,-116.8,123.7,-8.1,105,1117,0.00,2.45,0.00,0.000,6,0.000,0.031,2688,1779,3483,0,0,0,0,0,0
$GC,1379,-1.37,-116.8,149.3,-10.2,129,1383,0.00,2.67,0.00,0.000,4,0.000,0.064,2688,197,3483,0,0,0,0,0,0
$GC,1401,-1.33,-116.8,151.6,-10.4,130,1406,0.10,2.35,0.00,0.000,6,0.117,0.018,2708,1769,3483,0,0,0,0,0,0
$GC,1666,-1.33,-116.8,176.0,-8.9,154,1670,0.00,2.45,0.00,0.000,4,0.000,0.028,2708,3325,3483,0,0,0,0,0,0
$GC,1694,-1.36,-116.8,178.8,-8.5,156,1699,0.00,2.47,0.00,0.000,6,0.000,0.028,2708,1772,3483,0,0,0,0,0,0
$GC,1959,-1.36,-116.8,200.2,-8.0,180,1963,0.00,2.67,0.00,0.000,4,0.000,0.064,2708,196,3482,0,0,0,0,0,0
$GC,1998,-1.36,-116.8,203.9,-8.8,181,2003,0.00,2.38,0.00,0.000,6,0.000,0.022,2708,1762,3482,0,0,0,0,0,0
$GC,2284,-1.36,-116.8,226.4,-7.8,188,2288,0.00,2.45,0.00,0.000,4,0.000,0.034,2708,3331,3482,0,0,0,0,0,0
$GC,2306,-1.41,-116.8,228.1,-7.2,188,2310,0.00,2.55,0.00,0.000,6,0.000,0.036,2708,1750,3482,0,0,0,0,0,0
$GC,2561,-1.45,-116.8,247.5,-7.8,195,2566,0.10,2.53,0.00,0.000,4,0.088,0.029,2671,3333,3481,0,0,0,0,0,0
$GC,2613,-1.45,-116.8,252.0,-8.9,196,2617,0.00,2.50,0.00,0.000,6,0.000,0.031,2671,1787,3481,0,0,0,0,0,0
$GC,2885,-1.45,-116.8,276.9,-9.4,203,2889,0.00,2.78,0.00,0.000,4,0.000,0.074,2671,196,3479,0,0,0,0,0,0
$GC,2908,-1.41,-116.8,279.0,-9.8,203,2913,0.10,2.47,0.00,0.000,6,0.119,0.028,2691,1774,3479,0,0,0,0,0,0
$GC,3164,-1.41,-116.8,302.1,-9.0,210,3168,0.00,2.53,0.00,0.000,4,0.000,0.035,2691,3348,3479,0,0,0,0,0,0
$GC,3191,-1.47,-116.8,304.7,-9.3,210,3196,0.00,2.55,0.00,0.000,6,0.000,0.042,2691,1790,3479,0,0,0,0,0,0
$GC,3443,-1.47,-116.8,327.0,-9.1,216,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1789,3477,0,0,0,0,0,0
$GC,3685,-1.47,-116.8,347.5,-8.5,222,3690,0.00,2.88,0.00,0.000,4,0.000,0.091,2691,189,3475,0,0,0,0,0,0
$GC,3701,-1.47,-116.8,349.0,-8.5,222,3705,0.00,2.53,0.00,0.000,6,0.000,0.022,2691,1786,3476,0,0,0,0,0,0
$GC,3963,-1.50,-116.8,372.4,-9.1,229,3968,0.00,2.55,0.00,0.000,4,0.000,0.041,2691,3351,3474,0,0,0,0,0,0
$GC,4013,-1.59,-116.8,377.1,-8.8,230,4019,0.15,2.55,0.00,0.000,6,0.064,0.050,2642,1813,3474,0,0,0,0,0,0
$GC,4286,-1.53,-116.8,404.5,-10.2,237,4291,0.10,2.53,0.00,0.000,4,0.121,0.046,2663,3357,3472,0,0,0,0,0,0
$GC,4309,-1.53,-116.8,406.6,-9.7,237,4314,0.00,2.58,0.00,0.000,6,0.000,0.051,2663,1824,3472,0,0,0,0,0,0
$GC,4564,-1.53,-116.8,430.5,-9.3,244,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1823,3470,0,0,0,0,0,0
$GC,4808,-1.53,-116.8,453.3,-9.3,250,4813,0.00,3.03,0.00,0.000,4,0.000,0.107,2663,187,3469,0,0,0,0,0,0
$GC,4826,-1.53,-116.8,455.0,-9.0,250,4831,0.00,2.62,0.00,0.000,6,0.000,0.033,2663,1810,3469,0,0,0,0,0,0
$GC,5087,-1.53,-116.8,478.4,-9.0,257,5091,0.00,2.60,0.00,0.000,4,0.000,0.057,2663,3356,3467,0,0,0,0,0,0
$GC,5148,-1.58,-116.8,484.3,-9.1,258,5152,0.00,2.60,0.00,0.000,6,0.000,0.061,2663,1829,3466,0,0,0,0,0,0
$STATE,5324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5325,begin apogee
$GC,5332,-0.31,0.0,500.9,9.4,263,5433,1.23,0.00,97.28,0.921,6,0.085,0.000,2932,1829,3001,0,0,0,0,0,0
$STATE,5434,end apogee,CONTROL_FINISHED_OK
$STATE,5434,begin climb
$GC,5436,1.38,116.8,503.6,0.0,265,5550,1.55,2.75,102.53,0.900,4,0.038,0.052,3310,3407,2523,0,0,0,0,0,0
$GC,5590,1.29,151.3,501.4,8.0,269,5629,0.12,2.78,30.92,0.867,6,0.128,0.058,3286,1820,2383,0,0,0,0,0,0
$GC,5899,1.25,177.2,475.6,8.5,277,5928,0.00,2.75,23.42,0.857,4,0.000,0.044,3286,3407,2277,0,0,0,0,0,0
$GC,5962,1.26,185.0,469.6,9.6,278,5976,0.00,2.72,8.05,0.741,6,0.000,0.058,3286,1830,2247,0,0,0,0,0,0
$GC,6227,1.25,211.5,446.7,8.5,285,6258,0.00,2.67,24.85,0.850,4,0.000,0.039,3286,3408,2137,0,0,0,0,0,0
$GC,6282,1.27,230.3,442.2,9.0,286,6308,0.00,2.75,18.35,0.825,6,0.000,0.058,3285,1835,2060,0,0,0,0,0,0
$GC,6552,1.29,244.3,417.4,9.2,293,6571,0.00,3.10,13.07,0.798,4,0.000,0.103,3285,229,2005,0,0,0,0,0,0
$GC,6591,1.21,244.3,413.4,10.7,293,6597,0.10,2.62,0.00,0.000,6,0.140,0.029,3267,1845,2003,0,0,0,0,0,0
$GC,6841,1.23,263.9,390.8,8.9,300,6865,0.00,2.62,19.08,0.815,4,0.000,0.046,3266,3404,1924,0,0,0,0,0,0
$GC,6896,1.32,283.0,386.1,8.9,301,6921,0.00,2.70,18.73,0.805,6,0.000,0.058,3266,1831,1847,0,0,0,0,0,0
$GC,7172,1.36,283.0,358.7,10.1,308,7178,0.12,2.95,0.00,0.000,4,0.088,0.095,3298,229,1841,0,0,0,0,0,0
$GC,7223,1.28,283.0,351.9,13.8,309,7227,0.00,2.60,0.00,0.000,6,0.000,0.021,3298,1849,1840,0,0,0,0,0,0
$GC,7494,1.28,283.0,318.8,12.1,316,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,1849,1839,0,0,0,0,0,0
$GC,7738,1.28,283.0,290.2,11.6,322,7742,0.00,2.85,0.00,0.000,4,0.000,0.069,3298,229,1838,0,0,0,0,0,0
$GC,7789,1.24,283.0,284.0,12.4,323,7794,0.15,2.58,0.00,0.000,6,0.119,0.025,3269,1837,1837,0,0,0,0,0,0
$GC,8064,1.32,294.4,257.6,9.4,330,8079,0.00,2.88,10.05,0.693,4,0.000,0.074,3268,229,1799,0,0,0,0,0,0
$GC,8129,1.32,294.4,250.3,10.5,331,8134,0.00,2.53,0.00,0.000,6,0.000,0.022,3268,1813,1798,0,0,0,0,0,0
$GC,8387,1.41,302.9,226.1,9.6,338,8402,0.15,2.62,8.90,0.663,4,0.081,0.035,3308,3405,1765,0,0,0,0,0,0
$GC,8419,1.41,302.9,222.1,12.2,338,8423,0.00,2.72,0.00,0.000,6,0.000,0.043,3308,1781,1764,0,0,0,0,0,0
$GC,8671,1.41,302.9,193.4,11.4,347,8675,0.00,2.72,0.00,0.000,4,0.000,0.076,3308,233,1763,0,0,0,0,0,0
$GC,8713,1.36,302.9,188.5,13.0,350,8717,0.00,2.47,0.00,0.000,6,0.000,0.021,3309,1800,1762,0,0,0,0,0,0
$GC,8975,1.36,302.9,158.9,11.5,374,8980,0.00,2.72,0.00,0.000,4,0.000,0.071,3309,237,1761,0,0,0,0,0,0
$GC,9009,1.32,302.9,155.4,12.2,376,9014,0.00,2.42,0.00,0.000,6,0.000,0.021,3308,1783,1761,0,0,0,0,0,0
$GC,9272,1.34,313.5,127.2,9.4,400,9287,0.00,2.67,10.43,0.600,4,0.000,0.034,3308,3393,1722,0,0,0,0,0,0
$GC,9317,1.42,327.7,122.9,9.2,403,9337,0.00,2.70,14.38,0.617,6,0.000,0.042,3309,1769,1665,0,0,0,0,0,0
$GC,9592,1.50,348.4,98.3,8.8,429,9617,0.00,2.70,19.30,0.607,4,0.000,0.066,3309,238,1578,0,0,0,0,0,0
$GC,9645,1.50,348.4,93.3,10.2,433,9650,0.00,2.45,0.00,0.000,6,0.000,0.020,3308,1796,1577,0,0,0,0,0,0
$GC,9912,1.67,396.6,71.9,7.3,457,9969,0.22,2.80,42.83,0.594,4,0.058,0.062,3369,240,1383,0,0,0,0,0,0
$GC,9988,1.67,396.6,64.0,12.4,462,9992,0.00,2.45,0.00,0.000,6,0.000,0.020,3369,1799,1382,0,0,0,0,0,0
$GC,10254,1.67,396.6,31.6,12.2,486,10259,0.00,2.72,0.00,0.000,4,0.000,0.061,3369,229,1381,0,0,0,0,0,0
$GC,10275,1.63,396.6,28.8,12.2,487,10284,0.00,2.42,0.00,0.000,6,0.000,0.020,3369,1781,1381,0,0,0,0,0,0
$STATE,10459,end climb,SURFACE_DEPTH_REACHED
$STATE,10460,begin surface coast
$FINISH,0.3,1.013682
$STATE,10501,end surface coast,CONTROL_FINISHED_OK
$STATE,10501,begin surface
$SM_CCo,10522,2.83,0.262,0,0,1369,400.08
$SM_GC,1.30,0.00,0.00,2.83,0.000,0.000,0.262,474,1782,1369,-11.62,0.34,400.08
$IRIDIUM_FIX,2246.36,-15743.68,280100,151514
$TT8_MAMPS,0.026078
$HUMID,58.07
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.10
$XPDR_PINGS,121
$24V_AH,23.3,78.495
$10V_AH,9.9,73.681
$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,28.300,162.250,462.150,2.825,0.000,105.956,161.453,1083.795,30.250,0.000,56.758,1086.804,6966.366,503.297,2001.198,1728.452,33.367,1294.371,0.000,1957.736,0.000,0.535,0.000
$DEVICE_MAMPS,160.303,107.380,921.167,262.314,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.799,292.078,399.220,739.658,1113.427,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,41560,520
$CAP_FILE_SIZE,139088,0
$CFSIZE,260165632,149209088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031110,185500,2254.207,-15743.560,36,1.2,41,10.1