version: 66.06
glider: 146
mission: 5
dive: 640
start: 11 13 110 20 43 0
data:
$ID,146
$MISSION,5
$DIVE,640
$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,-263319.16
$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,24
$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
$GPS1,202614,2251.061,-15742.341,38,99.0,57,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-62.4
$GPS2,204207,2251.163,-15742.313,12,1.4,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.011,-0.235
$KALMAN_X,-294745.8,-122.8,68.8,343494.5,33.1
$KALMAN_Y,-335865.1,412.4,-32.2,466190.7,1315.4
$MHEAD_RNG_PITCHd_Wd,167.3,4042,-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,15,-1.38,-116.8,0.0,0.0,0,131,0.00,0.00,-112.72,0.000,2,0.000,0.000,471,1748,3324,0,0,0,0,0,0
$GC,134,-1.38,-116.8,3.5,-7.2,18,155,12.07,2.65,-3.12,0.000,4,0.169,0.070,2692,192,3479,0,0,0,0,0,0
$GC,186,-1.26,-116.8,15.9,-14.8,26,193,0.10,2.45,0.00,0.000,6,0.104,0.016,2717,1783,3480,0,0,0,0,0,0
$GC,456,-1.18,-116.8,49.6,-12.7,61,458,0.12,0.00,0.00,0.000,6,0.127,0.000,2741,1785,3480,0,0,0,0,0,0
$GC,714,-1.18,-116.8,78.4,-11.1,85,718,0.00,2.67,0.00,0.000,4,0.000,0.061,2741,189,3479,0,0,0,0,0,0
$GC,734,-1.18,-116.8,81.2,-11.4,86,742,0.00,2.40,0.00,0.000,6,0.000,0.015,2741,1762,3479,0,0,0,0,0,0
$GC,1001,-1.18,-116.8,108.7,-9.4,111,1005,0.00,2.42,0.00,0.000,4,0.000,0.025,2741,3319,3479,0,0,0,0,0,0
$GC,1040,-1.27,-116.8,112.5,-8.7,114,1045,0.00,2.47,0.00,0.000,6,0.000,0.032,2741,1767,3479,0,0,0,0,0,0
$GC,1305,-1.32,-116.8,133.0,-7.2,138,1312,0.12,0.00,0.00,0.000,6,0.068,0.000,2696,1765,3479,0,0,0,0,0,0
$GC,1568,-1.32,-116.8,154.9,-8.7,163,1572,0.00,2.65,0.00,0.000,4,0.000,0.061,2696,197,3480,0,0,0,0,0,0
$GC,1596,-1.28,-116.8,158.0,-10.7,165,1601,0.12,2.40,0.00,0.000,6,0.107,0.021,2723,1808,3480,0,0,0,0,0,0
$GC,1858,-1.32,-116.8,180.7,-7.7,189,1862,0.00,2.35,0.00,0.000,4,0.000,0.024,2723,3318,3480,0,0,0,0,0,0
$GC,1891,-1.39,-116.8,183.4,-7.9,191,1897,0.10,2.42,0.00,0.000,6,0.077,0.030,2679,1790,3480,0,0,0,0,0,0
$GC,2173,-1.34,-116.8,208.8,-10.0,212,2178,0.12,2.38,0.00,0.000,4,0.106,0.028,2706,3313,3480,0,0,0,0,0,0
$GC,2240,-1.40,-116.8,216.0,-9.7,213,2244,0.00,2.38,0.00,0.000,6,0.000,0.032,2706,1815,3479,0,0,0,0,0,0
$GC,2498,-1.40,-116.8,237.8,-8.2,220,2502,0.00,2.78,0.00,0.000,4,0.000,0.068,2706,190,3480,0,0,0,0,0,0
$GC,2530,-1.40,-116.8,240.7,-8.1,220,2536,0.00,2.42,0.00,0.000,6,0.000,0.017,2706,1798,3479,0,0,0,0,0,0
$GC,2780,-1.40,-116.8,257.6,-6.8,227,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1800,3479,0,0,0,0,0,0
$GC,3026,-1.40,-116.8,278.7,-9.0,233,3030,0.00,2.38,0.00,0.000,4,0.000,0.034,2706,3327,3479,0,0,0,0,0,0
$GC,3042,-1.45,-116.8,280.5,-9.3,233,3046,0.00,2.47,0.00,0.000,6,0.000,0.034,2706,1793,3479,0,0,0,0,0,0
$GC,3303,-1.49,-116.8,301.6,-7.6,240,3308,0.15,2.42,0.00,0.000,4,0.065,0.028,2656,3326,3478,0,0,0,0,0,0
$GC,3327,-1.49,-116.8,303.4,-7.8,240,3331,0.00,2.50,0.00,0.000,6,0.000,0.040,2656,1787,3478,0,0,0,0,0,0
$GC,3582,-1.43,-116.8,325.7,-9.1,247,3587,0.15,2.83,0.00,0.000,4,0.106,0.082,2687,186,3477,0,0,0,0,0,0
$GC,3617,-1.43,-116.8,328.7,-8.7,247,3623,0.00,2.47,0.00,0.000,6,0.000,0.025,2687,1770,3477,0,0,0,0,0,0
$GC,3867,-1.43,-116.8,349.7,-8.4,254,3872,0.00,2.75,0.00,0.000,4,0.000,0.071,2687,192,3475,0,0,0,0,0,0
$GC,3962,-1.43,-116.8,358.8,-9.7,256,3967,0.00,2.58,0.00,0.000,6,0.000,0.022,2687,1835,3475,0,0,0,0,0,0
$GC,4237,-1.43,-116.8,381.4,-8.1,263,4241,0.00,2.45,0.00,0.000,4,0.000,0.046,2687,3350,3474,0,0,0,0,0,0
$GC,4281,-1.51,-116.8,384.9,-7.4,264,4285,0.00,2.50,0.00,0.000,6,0.000,0.042,2687,1843,3474,0,0,0,0,0,0
$GC,4559,-1.51,-116.8,404.5,-6.9,271,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1843,3471,0,0,0,0,0,0
$GC,4804,-1.55,-116.8,421.6,-7.1,277,4810,0.10,3.03,0.00,0.000,4,0.083,0.094,2650,190,3470,0,0,0,0,0,0
$GC,4827,-1.55,-116.8,423.5,-7.9,277,4831,0.00,2.60,0.00,0.000,6,0.000,0.025,2650,1832,3470,0,0,0,0,0,0
$GC,5084,-1.55,-116.8,447.4,-9.6,284,5088,0.00,2.47,0.00,0.000,4,0.000,0.051,2650,3339,3468,0,0,0,0,0,0
$GC,5112,-1.55,-116.8,450.4,-9.7,284,5117,0.00,2.50,0.00,0.000,6,0.000,0.058,2650,1861,3468,0,0,0,0,0,0
$GC,5362,-1.55,-116.8,475.6,-10.1,290,5367,0.00,3.08,0.00,0.000,4,0.000,0.102,2649,187,3466,0,0,0,0,0,0
$GC,5378,-1.51,-116.8,477.6,-10.5,290,5383,0.10,2.67,0.00,0.000,6,0.128,0.035,2670,1839,3466,0,0,0,0,0,0
$STATE,5596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5596,begin apogee
$GC,5603,-0.31,0.0,501.3,10.8,296,5704,1.17,0.00,97.30,0.910,6,0.088,0.000,2929,1839,3001,0,0,0,0,0,0
$STATE,5705,end apogee,CONTROL_FINISHED_OK
$STATE,5705,begin climb
$GC,5708,1.38,116.8,506.1,0.0,298,5817,1.58,0.00,104.95,0.900,6,0.038,0.000,3313,1839,2523,0,0,0,0,0,0
$GC,6043,1.31,171.3,495.8,6.9,307,6098,0.15,2.70,48.22,0.881,4,0.120,0.056,3284,3379,2301,0,0,0,0,0,0
$GC,6166,1.29,190.7,485.3,8.9,309,6191,0.00,2.62,18.40,0.834,6,0.000,0.054,3284,1847,2222,0,0,0,0,0,0
$GC,6460,1.25,190.7,455.0,10.4,317,6465,0.00,3.03,0.00,0.000,4,0.000,0.104,3284,230,2214,0,0,0,0,0,0
$GC,6476,1.17,190.7,453.0,10.3,317,6481,0.12,2.58,0.00,0.000,6,0.130,0.032,3258,1828,2214,0,0,0,0,0,0
$GC,6737,1.22,227.8,431.2,7.9,324,6781,0.00,2.70,33.15,0.851,4,0.000,0.044,3259,3401,2070,0,0,0,0,0,0
$GC,6830,1.31,256.9,424.3,8.4,326,6866,0.12,2.65,27.65,0.834,6,0.088,0.051,3290,1847,1951,0,0,0,0,0,0
$GC,7120,1.32,264.7,397.5,9.6,333,7134,0.00,3.05,7.10,0.701,4,0.000,0.094,3290,233,1920,0,0,0,0,0,0
$GC,7198,1.24,264.7,388.1,12.5,334,7203,0.00,2.58,0.00,0.000,6,0.000,0.024,3290,1844,1918,0,0,0,0,0,0
$GC,7448,1.24,264.7,360.1,11.1,340,7452,0.00,2.55,0.00,0.000,4,0.000,0.038,3290,3414,1917,0,0,0,0,0,0
$GC,7469,1.24,264.7,357.6,11.7,340,7473,0.00,2.67,0.00,0.000,6,0.000,0.052,3290,1833,1916,0,0,0,0,0,0
$GC,7731,1.24,264.7,328.5,11.2,347,7736,0.00,2.85,0.00,0.000,4,0.000,0.081,3290,237,1915,0,0,0,0,0,0
$GC,7771,1.18,264.7,323.4,13.0,348,7776,0.17,2.58,0.00,0.000,6,0.114,0.027,3254,1851,1914,0,0,0,0,0,0
$GC,8056,1.27,280.3,296.5,9.1,355,8077,0.10,2.90,14.32,0.746,4,0.090,0.072,3281,236,1858,0,0,0,0,0,0
$GC,8111,1.23,280.3,290.3,11.8,356,8115,0.00,2.55,0.00,0.000,6,0.000,0.021,3281,1826,1855,0,0,0,0,0,0
$GC,8377,1.31,303.8,265.9,8.7,363,8402,0.00,0.00,22.35,0.746,6,0.000,0.000,3281,1827,1762,0,0,0,0,0,0
$GC,8623,1.41,338.2,246.4,8.0,369,8664,0.10,2.85,31.10,0.736,4,0.091,0.069,3309,234,1620,0,0,0,0,0,0
$GC,8731,1.41,338.2,234.0,12.6,371,8735,0.00,2.53,0.00,0.000,6,0.000,0.023,3309,1819,1616,0,0,0,0,0,0
$GC,8994,1.41,338.2,205.9,10.7,378,8998,0.00,2.78,0.00,0.000,4,0.000,0.071,3309,234,1613,0,0,0,0,0,0
$GC,9037,1.41,338.2,200.4,12.6,379,9042,0.00,2.42,0.00,0.000,6,0.000,0.027,3309,1786,1612,0,0,0,0,0,0
$GC,9306,1.45,338.2,172.1,10.5,402,9310,0.00,2.67,0.00,0.000,4,0.000,0.069,3309,236,1612,0,0,0,0,0,0
$GC,9346,1.45,338.2,167.9,10.7,405,9351,0.00,2.42,0.00,0.000,6,0.000,0.021,3309,1783,1611,0,0,0,0,0,0
$GC,9614,1.52,348.2,142.9,9.5,429,9628,0.00,2.62,8.62,0.584,4,0.000,0.034,3309,3387,1580,0,0,0,0,0,0
$GC,9639,1.60,352.0,139.9,9.8,431,9650,0.17,2.72,5.18,0.496,6,0.066,0.038,3354,1748,1565,0,0,0,0,0,0
$GC,9908,1.60,352.0,109.7,10.6,456,9913,0.00,2.62,0.00,0.000,4,0.000,0.069,3354,232,1562,0,0,0,0,0,0
$GC,9971,1.53,352.0,102.4,11.7,461,9976,0.00,2.40,0.00,0.000,6,0.000,0.020,3354,1786,1561,0,0,0,0,0,0
$GC,10238,1.56,373.3,77.5,8.8,485,10262,0.00,2.60,19.58,0.581,4,0.000,0.028,3354,3389,1478,0,0,0,0,0,0
$GC,10298,1.66,373.3,71.3,10.1,490,10303,0.00,2.65,0.00,0.000,6,0.000,0.035,3353,1785,1477,0,0,0,0,0,0
$GC,10566,1.66,373.3,44.5,10.5,514,10570,0.00,2.62,0.00,0.000,4,0.000,0.061,3354,240,1476,0,0,0,0,0,0
$GC,10640,1.66,373.3,35.6,11.5,520,10644,0.00,2.38,0.00,0.000,6,0.000,0.019,3353,1776,1475,0,0,0,0,0,0
$GC,10899,1.66,373.3,6.9,10.9,564,10907,0.00,2.65,0.00,0.000,4,0.000,0.058,3353,240,1474,0,0,0,0,0,0
$STATE,10923,end climb,SURFACE_DEPTH_REACHED
$STATE,10924,begin surface coast
$FINISH,3.1,1.023505
$STATE,10932,end surface coast,CONTROL_FINISHED_OK
$STATE,10932,begin surface
$SM_CCo,10956,200.70,0.522,0,0,477,619.14
$SM_GC,0.88,0.00,0.00,200.70,0.000,0.000,0.522,475,1782,477,-11.62,0.37,619.14
$IRIDIUM_FIX,2244.02,-15743.68,070200,202056
$TT8_MAMPS,0.025311
$HUMID,54.52
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,21.00
$XPDR_PINGS,129
$24V_AH,23.3,89.471
$10V_AH,9.8,82.933
$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,29.075,155.900,437.925,200.700,0.000,136.990,400.412,0.000,32.250,0.000,31.036,1153.315,7637.289,755.371,1690.022,873.159,33.370,1540.270,0.000,1657.134,0.000,0.535,0.000
$DEVICE_MAMPS,168.740,104.312,910.429,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.148,288.667,394.535,758.809,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,44552,569
$CAP_FILE_SIZE,123511,0
$CFSIZE,260165632,144732160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131110,235007,2251.068,-15742.303,27,1.5,27,10.1