version: 66.06
glider: 146
mission: 5
dive: 638
start: 11 13 110 14 4 2
data:
$ID,146
$MISSION,5
$DIVE,638
$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,619.13721
$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,-263238.09
$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,14
$R_STBD_OVSHOOT,45
$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
$GPS1,134728,2251.320,-15742.216,12,99.0,31,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-63.0
$GPS2,140306,2251.458,-15742.227,12,1.0,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.017,-0.233
$KALMAN_X,-294229.1,-518.8,-149.7,343742.8,275.4
$KALMAN_Y,-339990.6,96.0,429.5,470718.3,1078.5
$MHEAD_RNG_PITCHd_Wd,174.1,4568,-19.9,-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,-1.39,-115.7,0.0,0.0,0,132,0.00,0.00,-113.30,0.000,2,0.000,0.000,474,1750,3316,0,0,0,0,0,0
$GC,135,-1.39,-116.8,3.4,-6.9,18,156,11.93,2.70,-3.35,0.000,4,0.163,0.072,2690,178,3479,0,0,0,0,0,0
$GC,177,-0.96,-116.8,14.3,-23.4,24,184,0.43,2.50,0.00,0.000,6,0.086,0.016,2786,1810,3480,0,0,0,0,0,0
$GC,440,-1.02,-116.8,41.4,-11.3,62,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1811,3480,0,0,0,0,0,0
$GC,697,-1.10,-116.8,68.8,-10.7,86,702,0.10,2.75,0.00,0.000,4,0.081,0.052,2747,176,3480,0,0,0,0,0,0
$GC,717,-1.14,-116.8,71.1,-10.5,87,721,0.00,2.38,0.00,0.000,6,0.000,0.015,2747,1773,3480,0,0,0,0,0,0
$GC,983,-1.14,-116.8,97.3,-8.9,111,987,0.00,2.38,0.00,0.000,4,0.000,0.028,2747,3309,3480,0,0,0,0,0,0
$GC,1046,-1.23,-116.8,101.7,-6.2,116,1051,0.00,2.47,0.00,0.000,6,0.000,0.026,2747,1757,3480,0,0,0,0,0,0
$GC,1312,-1.29,-116.8,119.8,-7.2,140,1317,0.12,2.62,0.00,0.000,4,0.070,0.062,2704,189,3480,0,0,0,0,0,0
$GC,1331,-1.29,-116.8,121.5,-7.5,141,1335,0.00,2.33,0.00,0.000,6,0.000,0.019,2705,1745,3480,0,0,0,0,0,0
$GC,1601,-1.29,-116.8,145.1,-9.0,166,1605,0.00,2.42,0.00,0.000,4,0.000,0.029,2704,3326,3480,0,0,0,0,0,0
$GC,1677,-1.33,-116.8,152.4,-8.7,172,1683,0.00,2.45,0.00,0.000,6,0.000,0.027,2704,1779,3480,0,0,0,0,0,0
$GC,1942,-1.33,-116.8,177.9,-10.7,197,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1778,3480,0,0,0,0,0,0
$GC,2231,-1.33,-116.8,208.7,-10.2,219,2235,0.00,2.40,0.00,0.000,4,0.000,0.024,2704,3323,3480,0,0,0,0,0,0
$GC,2264,-1.38,-116.8,211.8,-9.1,219,2269,0.00,2.42,0.00,0.000,6,0.000,0.027,2704,1788,3480,0,0,0,0,0,0
$GC,2516,-1.38,-116.8,232.8,-8.2,226,2520,0.00,2.40,0.00,0.000,4,0.000,0.027,2704,3328,3480,0,0,0,0,0,0
$GC,2537,-1.38,-116.8,234.6,-7.7,226,2541,0.00,2.42,0.00,0.000,6,0.000,0.028,2704,1811,3480,0,0,0,0,0,0
$GC,2792,-1.38,-116.8,254.7,-8.2,233,2796,0.00,2.35,0.00,0.000,4,0.000,0.025,2704,3322,3480,0,0,0,0,0,0
$GC,2804,-1.38,-116.8,255.5,-8.3,233,2808,0.00,2.40,0.00,0.000,6,0.000,0.032,2705,1809,3480,0,0,0,0,0,0
$GC,3070,-1.38,-116.8,278.4,-8.6,240,3075,0.00,2.80,0.00,0.000,4,0.000,0.075,2705,188,3479,0,0,0,0,0,0
$GC,3114,-1.42,-116.8,282.6,-9.8,241,3119,0.00,2.45,0.00,0.000,6,0.000,0.019,2704,1792,3479,0,0,0,0,0,0
$GC,3394,-1.42,-116.8,305.0,-7.9,248,3399,0.00,2.45,0.00,0.000,4,0.000,0.031,2704,3342,3478,0,0,0,0,0,0
$GC,3450,-1.50,-116.8,309.5,-7.5,249,3455,0.15,2.45,0.00,0.000,6,0.063,0.038,2652,1828,3479,0,0,0,0,0,0
$GC,3719,-1.45,-116.8,334.1,-9.7,256,3725,0.15,2.88,0.00,0.000,4,0.105,0.084,2684,197,3477,0,0,0,0,0,0
$GC,3764,-1.45,-116.8,338.5,-9.3,257,3768,0.00,2.50,0.00,0.000,6,0.000,0.021,2684,1810,3476,0,0,0,0,0,0
$GC,4041,-1.45,-116.8,362.2,-8.6,264,4046,0.00,2.45,0.00,0.000,4,0.000,0.040,2684,3346,3475,0,0,0,0,0,0
$GC,4105,-1.50,-116.8,367.5,-8.4,265,4109,0.00,2.47,0.00,0.000,6,0.000,0.045,2684,1849,3475,0,0,0,0,0,0
$GC,4366,-1.50,-116.8,390.4,-8.8,272,4370,0.00,2.97,0.00,0.000,4,0.000,0.089,2684,197,3474,0,0,0,0,0,0
$GC,4393,-1.50,-116.8,392.9,-9.4,272,4397,0.00,2.58,0.00,0.000,6,0.000,0.028,2684,1822,3474,0,0,0,0,0,0
$GC,4645,-1.50,-116.8,411.9,-7.5,278,4649,0.00,2.47,0.00,0.000,4,0.000,0.046,2683,3345,3472,0,0,0,0,0,0
$GC,4684,-1.57,-116.8,414.9,-7.5,279,4689,0.12,2.50,0.00,0.000,6,0.071,0.049,2642,1837,3472,0,0,0,0,0,0
$GC,4970,-1.53,-116.8,440.8,-9.2,286,4975,0.10,2.97,0.00,0.000,4,0.122,0.095,2664,198,3470,0,0,0,0,0,0
$GC,5020,-1.53,-116.8,445.9,-9.9,287,5024,0.00,2.58,0.00,0.000,6,0.000,0.034,2664,1810,3470,0,0,0,0,0,0
$GC,5292,-1.53,-116.8,470.3,-9.0,294,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1810,3467,0,0,0,0,0,0
$GC,5537,-1.53,-116.8,492.1,-8.9,300,5542,0.00,2.92,0.00,0.000,4,0.000,0.099,2664,200,3467,0,0,0,0,0,0
$GC,5558,-1.53,-116.8,494.6,-9.8,300,5563,0.00,2.62,0.00,0.000,6,0.000,0.034,2664,1807,3466,0,0,0,0,0,0
$STATE,5648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5648,begin apogee
$GC,5654,-0.31,0.0,502.9,9.2,303,5755,1.20,0.00,97.43,0.908,6,0.085,0.000,2930,1808,3001,0,0,0,0,0,0
$STATE,5756,end apogee,CONTROL_FINISHED_OK
$STATE,5756,begin climb
$GC,5760,1.39,116.8,505.6,0.0,305,5872,1.58,2.78,104.05,0.895,4,0.037,0.056,3314,3408,2522,0,0,0,0,0,0
$GC,5885,1.34,195.6,504.9,5.4,308,5961,0.00,2.70,70.22,0.885,6,0.000,0.057,3314,1830,2203,0,0,0,0,0,0
$GC,6215,1.24,195.6,469.3,11.3,317,6220,0.20,2.62,0.00,0.000,4,0.131,0.037,3273,3420,2193,0,0,0,0,0,0
$GC,6248,1.24,199.3,465.9,9.8,317,6254,0.00,2.75,0.00,0.000,6,0.000,0.056,3273,1821,2191,0,0,0,0,0,0
$GC,6498,1.27,222.6,443.7,8.7,324,6528,0.00,3.10,23.58,0.837,4,0.000,0.117,3273,234,2092,0,0,0,0,0,0
$GC,6543,1.25,233.7,439.8,9.4,325,6561,0.00,2.60,11.52,0.771,6,0.000,0.026,3273,1829,2047,0,0,0,0,0,0
$GC,6830,1.26,247.5,412.9,9.2,332,6846,0.00,0.00,13.52,0.791,6,0.000,0.000,3273,1829,1991,0,0,0,0,0,0
$GC,7076,1.27,249.6,388.8,9.9,338,7080,0.00,2.60,0.00,0.000,4,0.000,0.038,3273,3415,1986,0,0,0,0,0,0
$GC,7126,1.33,250.8,383.5,10.0,339,7130,0.00,2.72,0.00,0.000,6,0.000,0.053,3273,1804,1984,0,0,0,0,0,0
$GC,7397,1.35,266.9,357.9,9.1,346,7422,0.00,2.92,17.73,0.792,4,0.000,0.090,3273,237,1913,0,0,0,0,0,0
$GC,7430,1.37,283.9,354.9,9.0,346,7455,0.10,2.55,17.33,0.775,6,0.097,0.023,3299,1826,1842,0,0,0,0,0,0
$GC,7730,1.37,285.9,325.7,9.9,354,7734,0.00,2.55,0.00,0.000,4,0.000,0.034,3299,3398,1836,0,0,0,0,0,0
$GC,7753,1.37,285.9,323.1,10.6,354,7757,0.00,2.72,0.00,0.000,6,0.000,0.044,3299,1787,1834,0,0,0,0,0,0
$GC,8008,1.37,286.7,297.1,10.0,361,8012,0.00,2.75,0.00,0.000,4,0.000,0.083,3299,231,1833,0,0,0,0,0,0
$GC,8079,1.37,286.7,289.2,10.2,362,8084,0.00,2.42,0.00,0.000,6,0.000,0.024,3299,1770,1832,0,0,0,0,0,0
$GC,8335,1.38,294.7,265.6,9.6,368,8350,0.00,2.67,9.35,0.684,4,0.000,0.038,3299,3398,1799,0,0,0,0,0,0
$GC,8412,1.48,300.0,257.5,9.7,369,8426,0.10,2.72,6.25,0.614,6,0.092,0.045,3326,1767,1778,0,0,0,0,0,0
$GC,8706,1.48,300.0,226.9,10.5,377,8710,0.00,2.62,0.00,0.000,4,0.000,0.030,3326,3392,1775,0,0,0,0,0,0
$GC,8732,1.48,300.0,223.8,10.8,377,8737,0.00,2.65,0.00,0.000,6,0.000,0.041,3326,1790,1773,0,0,0,0,0,0
$GC,8983,1.49,308.0,199.7,9.6,383,8997,0.00,2.78,8.30,0.620,4,0.000,0.074,3326,236,1744,0,0,0,0,0,0
$GC,9028,1.41,308.0,195.2,10.8,387,9033,0.00,2.45,0.00,0.000,6,0.000,0.021,3326,1802,1743,0,0,0,0,0,0
$GC,9291,1.41,308.0,168.6,10.5,411,9295,0.00,2.70,0.00,0.000,4,0.000,0.069,3326,240,1742,0,0,0,0,0,0
$GC,9307,1.41,308.0,166.7,10.4,412,9312,0.00,2.42,0.00,0.000,6,0.000,0.025,3326,1802,1741,0,0,0,0,0,0
$GC,9572,1.44,328.1,143.3,8.9,436,9602,0.00,2.60,19.05,0.635,4,0.000,0.033,3326,3379,1661,0,0,0,0,0,0
$GC,9614,1.48,329.2,138.7,10.0,440,9619,0.00,2.65,0.00,0.000,6,0.000,0.038,3326,1776,1660,0,0,0,0,0,0
$GC,9879,1.48,329.2,110.6,10.1,464,9883,0.00,2.65,0.00,0.000,4,0.000,0.064,3326,237,1660,0,0,0,0,0,0
$GC,9964,1.48,334.8,102.1,9.7,471,9977,0.00,2.38,6.82,0.522,6,0.000,0.019,3326,1772,1634,0,0,0,0,0,0
$GC,10242,1.58,351.8,78.3,9.0,497,10261,0.00,0.00,16.08,0.568,6,0.000,0.000,3326,1772,1565,0,0,0,0,0,0
$GC,10522,1.71,387.4,55.3,8.0,523,10560,0.20,2.67,31.95,0.561,4,0.123,0.058,3380,238,1420,0,0,0,0,0,0
$GC,10608,1.66,387.4,45.5,12.4,530,10612,0.00,2.33,0.00,0.000,6,0.000,0.019,3379,1740,1418,0,0,0,0,0,0
$GC,10870,1.66,387.4,16.5,12.7,563,10878,0.00,2.62,0.00,0.000,4,0.000,0.030,3379,3386,1416,0,0,0,0,0,0
$GC,10896,1.71,387.4,13.0,12.9,567,10904,0.00,2.78,0.00,0.000,6,0.000,0.044,3380,1728,1416,0,0,0,0,0,0
$STATE,10972,end climb,SURFACE_DEPTH_REACHED
$STATE,10972,begin surface coast
$FINISH,0.3,1.001358
$STATE,11025,end surface coast,CONTROL_FINISHED_OK
$STATE,11025,begin surface
$SM_CCo,11046,187.07,0.517,0,0,476,619.14
$SM_GC,0.98,0.00,0.00,187.07,0.000,0.000,0.517,475,1724,476,-11.62,-1.30,619.14
$IRIDIUM_FIX,2241.69,-15741.52,070200,141455
$TT8_MAMPS,0.025311
$HUMID,54.37
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.10
$XPDR_PINGS,155
$24V_AH,23.3,89.154
$10V_AH,9.9,82.761
$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,28.300,160.975,453.175,187.075,0.000,134.679,400.411,0.000,38.750,0.000,33.484,1177.111,7614.287,741.330,1767.129,868.316,33.368,1558.284,0.000,1737.224,0.000,0.535,0.000
$DEVICE_MAMPS,163.371,116.584,908.128,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,395.590,306.080,420.162,829.247,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,44773,590
$CAP_FILE_SIZE,125564,0
$CFSIZE,260165632,144855040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131110,171228,2251.213,-15742.285,10,99.0,29,10.1