version: 66.06
glider: 146
mission: 5
dive: 639
start: 11 13 110 17 22 47
data:
$ID,146
$MISSION,5
$DIVE,639
$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,-263287.5
$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,22
$R_STBD_OVSHOOT,64
$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
$GPS1,171228,2251.213,-15742.285,10,99.0,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-62.6
$GPS2,172154,2251.292,-15742.289,30,1.9,47,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.005,-0.234
$KALMAN_X,-294472.2,-430.8,79.6,343560.6,230.8
$KALMAN_Y,-338019.3,233.6,281.4,468453.0,819.5
$MHEAD_RNG_PITCHd_Wd,171.2,4274,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.5,0.0,0.0,0,133,0.00,0.00,-113.00,0.000,2,0.000,0.000,475,1724,3310,0,0,0,0,0,0
$GC,136,-1.38,-116.8,3.4,-7.5,18,158,12.10,2.60,-3.47,0.000,4,0.169,0.063,2692,182,3478,0,0,0,0,0,0
$GC,196,-1.32,-116.8,15.9,-13.5,27,203,0.00,2.45,0.00,0.000,6,0.000,0.016,2692,1778,3480,0,0,0,0,0,0
$GC,465,-1.21,-116.8,56.8,-17.9,62,470,0.20,2.40,0.00,0.000,4,0.117,0.021,2732,3325,3480,0,0,0,0,0,0
$GC,478,-1.11,-116.8,59.2,-15.8,62,486,0.08,2.50,0.00,0.000,6,0.094,0.025,2753,1768,3480,0,0,0,0,0,0
$GC,742,-1.11,-116.8,87.3,-11.6,87,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1768,3480,0,0,0,0,0,0
$GC,1007,-1.17,-116.8,114.5,-8.7,112,1012,0.00,2.62,0.00,0.000,4,0.000,0.057,2753,197,3480,0,0,0,0,0,0
$GC,1036,-1.25,-116.8,117.4,-9.3,114,1041,0.10,2.40,0.00,0.000,6,0.082,0.016,2714,1803,3480,0,0,0,0,0,0
$GC,1299,-1.25,-116.8,137.7,-6.7,138,1304,0.00,2.72,0.00,0.000,4,0.000,0.056,2713,194,3481,0,0,0,0,0,0
$GC,1327,-1.25,-116.8,139.9,-7.5,140,1331,0.00,2.30,0.00,0.000,6,0.000,0.017,2714,1737,3481,0,0,0,0,0,0
$GC,1595,-1.25,-116.8,160.0,-9.2,165,1599,0.00,2.45,0.00,0.000,4,0.000,0.030,2714,3317,3481,0,0,0,0,0,0
$GC,1641,-1.31,-116.8,164.3,-9.1,168,1647,0.00,2.53,0.00,0.000,6,0.000,0.026,2714,1734,3481,0,0,0,0,0,0
$GC,1904,-1.31,-116.8,187.7,-9.3,193,1908,0.00,2.47,0.00,0.000,4,0.000,0.025,2714,3319,3481,0,0,0,0,0,0
$GC,1957,-1.38,-116.8,192.5,-8.9,197,1961,0.00,2.50,0.00,0.000,6,0.000,0.031,2714,1749,3481,0,0,0,0,0,0
$GC,2211,-1.38,-116.8,214.6,-8.6,209,2215,0.00,2.62,0.00,0.000,4,0.000,0.063,2713,193,3481,0,0,0,0,0,0
$GC,2223,-1.38,-116.8,215.6,-8.4,209,2227,0.00,2.35,0.00,0.000,6,0.000,0.021,2714,1774,3481,0,0,0,0,0,0
$GC,2491,-1.38,-116.8,237.1,-7.9,216,2495,0.00,2.40,0.00,0.000,4,0.000,0.025,2714,3310,3481,0,0,0,0,0,0
$GC,2553,-1.46,-116.8,242.2,-7.8,217,2558,0.15,2.42,0.00,0.000,6,0.060,0.026,2656,1780,3481,0,0,0,0,0,0
$GC,2822,-1.38,-116.8,269.4,-10.5,224,2824,0.20,0.00,0.00,0.000,6,0.098,0.000,2698,1779,3480,0,0,0,0,0,0
$GC,3064,-1.38,-116.8,293.0,-9.4,230,3068,0.00,2.42,0.00,0.000,4,0.000,0.032,2698,3313,3480,0,0,0,0,0,0
$GC,3119,-1.45,-116.8,297.8,-9.1,231,3124,0.00,2.47,0.00,0.000,6,0.000,0.038,2698,1782,3480,0,0,0,0,0,0
$GC,3388,-1.45,-116.8,319.1,-8.1,238,3393,0.00,2.80,0.00,0.000,4,0.000,0.083,2698,186,3479,0,0,0,0,0,0
$GC,3421,-1.49,-116.8,322.2,-9.5,238,3427,0.10,2.35,0.00,0.000,6,0.084,0.024,2662,1716,3479,0,0,0,0,0,0
$GC,3671,-1.49,-116.8,343.3,-8.2,245,3676,0.00,2.55,0.00,0.000,4,0.000,0.034,2662,3306,3478,0,0,0,0,0,0
$GC,3751,-1.49,-116.8,349.4,-8.0,246,3756,0.00,2.50,0.00,0.000,6,0.000,0.041,2662,1796,3478,0,0,0,0,0,0
$GC,4001,-1.49,-116.8,370.0,-8.4,253,4005,0.00,2.88,0.00,0.000,4,0.000,0.090,2662,183,3477,0,0,0,0,0,0
$GC,4028,-1.49,-116.8,372.5,-9.3,253,4032,0.00,2.45,0.00,0.000,6,0.000,0.029,2662,1754,3476,0,0,0,0,0,0
$GC,4280,-1.49,-116.8,394.6,-8.9,259,4284,0.00,2.58,0.00,0.000,4,0.000,0.044,2662,3355,3475,0,0,0,0,0,0
$GC,4346,-1.49,-116.8,400.8,-8.8,260,4350,0.00,2.58,0.00,0.000,6,0.000,0.045,2662,1808,3475,0,0,0,0,0,0
$GC,4601,-1.49,-116.8,422.3,-8.6,267,4606,0.00,2.90,0.00,0.000,4,0.000,0.091,2662,186,3473,0,0,0,0,0,0
$GC,4658,-1.49,-116.8,427.3,-8.8,268,4663,0.00,2.60,0.00,0.000,6,0.000,0.030,2662,1806,3472,0,0,0,0,0,0
$GC,4924,-1.49,-116.8,451.2,-9.4,275,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1807,3471,0,0,0,0,0,0
$GC,5168,-1.49,-116.8,477.6,-10.9,281,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1807,3469,0,0,0,0,0,0
$STATE,5409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5409,begin apogee
$GC,5417,-0.31,0.0,502.1,9.9,287,5518,1.23,0.00,98.18,0.908,6,0.088,0.000,2930,1807,3001,0,0,0,0,0,0
$STATE,5519,end apogee,CONTROL_FINISHED_OK
$STATE,5519,begin climb
$GC,5522,1.38,116.8,504.7,0.0,289,5637,1.52,2.75,103.65,0.894,4,0.038,0.060,3306,3398,2523,0,0,0,0,0,0
$GC,5644,1.34,177.2,503.8,6.5,292,5704,0.00,2.70,54.30,0.875,6,0.000,0.051,3306,1820,2278,0,0,0,0,0,0
$GC,5966,1.24,177.2,469.4,11.0,300,5971,0.17,2.65,0.00,0.000,4,0.216,0.041,3271,3403,2268,0,0,0,0,0,0
$GC,6057,1.27,201.6,461.2,8.6,302,6086,0.00,2.67,21.38,0.831,6,0.000,0.056,3272,1847,2179,0,0,0,0,0,0
$GC,6337,1.33,250.4,439.7,7.2,309,6387,0.00,2.65,44.47,0.853,4,0.000,0.044,3272,3415,1979,0,0,0,0,0,0
$GC,6424,1.42,268.1,432.8,9.0,311,6449,0.15,2.70,17.55,0.807,6,0.077,0.058,3310,1853,1907,0,0,0,0,0,0
$GC,6707,1.36,268.1,402.5,10.9,318,6712,0.00,3.03,0.00,0.000,4,0.000,0.099,3310,230,1899,0,0,0,0,0,0
$GC,6742,1.25,268.1,398.1,12.6,318,6748,0.17,2.60,0.00,0.000,6,0.117,0.027,3274,1845,1898,0,0,0,0,0,0
$GC,6991,1.25,268.1,372.4,10.1,325,6996,0.00,2.53,0.00,0.000,4,0.000,0.038,3275,3404,1897,0,0,0,0,0,0
$GC,7020,1.32,268.1,369.3,10.3,325,7024,0.00,2.67,0.00,0.000,6,0.000,0.054,3274,1817,1896,0,0,0,0,0,0
$GC,7272,1.32,272.4,344.8,9.8,331,7276,0.00,2.85,0.00,0.000,4,0.000,0.083,3274,229,1894,0,0,0,0,0,0
$GC,7315,1.32,272.4,340.1,10.9,332,7320,0.00,2.53,0.00,0.000,6,0.000,0.028,3274,1818,1894,0,0,0,0,0,0
$GC,7596,1.39,294.9,315.7,8.7,339,7626,0.12,2.88,23.27,0.779,4,0.086,0.076,3307,240,1797,0,0,0,0,0,0
$GC,7648,1.31,294.9,310.0,11.2,340,7652,0.00,2.50,0.00,0.000,6,0.000,0.025,3307,1803,1795,0,0,0,0,0,0
$GC,7920,1.31,294.9,279.9,11.5,347,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1805,1792,0,0,0,0,0,0
$GC,8165,1.31,294.9,253.7,10.5,353,8169,0.00,2.58,0.00,0.000,4,0.000,0.036,3306,3404,1791,0,0,0,0,0,0
$GC,8181,1.35,294.9,251.8,10.0,353,8185,0.00,2.67,0.00,0.000,6,0.000,0.039,3307,1791,1790,0,0,0,0,0,0
$GC,8441,1.38,319.4,228.5,8.6,360,8471,0.00,2.83,22.12,0.713,4,0.000,0.074,3307,234,1697,0,0,0,0,0,0
$GC,8507,1.38,319.9,222.6,10.0,361,8511,0.00,2.53,0.00,0.000,6,0.000,0.026,3307,1827,1695,0,0,0,0,0,0
$GC,8767,1.38,319.9,196.0,10.6,368,8771,0.00,2.72,0.00,0.000,4,0.000,0.063,3307,240,1693,0,0,0,0,0,0
$GC,8784,1.38,319.9,194.1,11.3,369,8788,0.00,2.45,0.00,0.000,6,0.000,0.021,3307,1807,1692,0,0,0,0,0,0
$GC,9049,1.44,332.4,166.9,9.3,393,9070,0.00,2.60,11.93,0.630,4,0.000,0.028,3306,3382,1645,0,0,0,0,0,0
$GC,9116,1.55,336.6,160.0,9.8,399,9128,0.12,2.58,5.28,0.514,6,0.077,0.035,3342,1809,1628,0,0,0,0,0,0
$GC,9382,1.55,336.6,131.0,10.9,424,9387,0.00,2.70,0.00,0.000,4,0.000,0.064,3342,241,1625,0,0,0,0,0,0
$GC,9446,1.49,336.6,124.0,11.5,429,9450,0.00,2.40,0.00,0.000,6,0.000,0.021,3342,1787,1623,0,0,0,0,0,0
$GC,9712,1.49,336.6,96.8,11.3,453,9717,0.00,2.65,0.00,0.000,4,0.000,0.061,3341,232,1623,0,0,0,0,0,0
$GC,9734,1.49,336.6,93.7,10.8,454,9741,0.00,2.38,0.00,0.000,6,0.000,0.019,3342,1757,1623,0,0,0,0,0,0
$GC,10001,1.55,351.0,68.6,9.2,479,10019,0.00,0.00,13.18,0.552,6,0.000,0.000,3342,1759,1571,0,0,0,0,0,0
$GC,10278,1.62,376.5,44.4,8.6,505,10313,0.00,2.70,23.75,0.548,4,0.000,0.058,3342,238,1464,0,0,0,0,0,0
$GC,10331,1.62,376.5,38.9,10.1,509,10338,0.00,2.38,0.00,0.000,6,0.000,0.019,3342,1758,1463,0,0,0,0,0,0
$GC,10596,1.67,383.3,12.7,9.6,549,10611,0.10,2.65,7.20,0.455,4,0.094,0.061,3371,238,1437,0,0,0,0,0,0
$GC,10628,1.67,383.3,8.9,12.7,553,10635,0.00,2.35,0.00,0.000,6,0.000,0.025,3371,1744,1436,0,0,0,0,0,0
$STATE,10661,end climb,SURFACE_DEPTH_REACHED
$STATE,10661,begin surface coast
$FINISH,0.5,1.023528
$STATE,10694,end surface coast,CONTROL_FINISHED_OK
$STATE,10694,begin surface
$SM_CCo,10715,190.62,0.518,0,0,477,619.14
$SM_GC,1.03,0.00,0.00,190.62,0.000,0.000,0.518,472,1747,477,-11.63,-0.65,619.14
$IRIDIUM_FIX,2244.02,-15741.52,070200,141441
$TT8_MAMPS,0.026078
$HUMID,54.92
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.50
$XPDR_PINGS,136
$24V_AH,23.3,89.311
$10V_AH,9.9,82.846
$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,28.300,149.675,446.250,190.625,0.000,27.415,47.310,301.389,34.000,0.000,48.786,1126.558,7209.072,714.177,1713.085,706.195,33.370,1526.078,0.000,1666.288,0.000,0.535,0.000
$DEVICE_MAMPS,215.527,98.943,908.128,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.568,293.322,398.786,785.634,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,44528,565
$CAP_FILE_SIZE,124292,0
$CFSIZE,260165632,144818176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131110,202614,2251.061,-15742.341,38,99.0,57,10.1