version: 66.06
glider: 146
mission: 5
dive: 641
start: 11 14 110 0 8 16
data:
$ID,146
$MISSION,5
$DIVE,641
$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,-263352.22
$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,23
$R_STBD_OVSHOOT,72
$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
$GPS1,235007,2251.068,-15742.303,27,1.5,27,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-60.8
$GPS2,000722,2251.230,-15742.305,11,99.0,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.003,-0.234
$KALMAN_X,-294980.5,235.4,-137.8,343592.3,100.0
$KALMAN_Y,-333752.2,522.9,143.2,463916.9,1289.4
$MHEAD_RNG_PITCHd_Wd,169.1,4162,-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,-116.2,0.0,0.0,0,126,0.00,0.00,-107.00,0.000,2,0.000,0.000,474,1784,3142,0,0,0,0,0,0
$GC,131,-1.39,-116.8,3.0,-5.8,17,159,12.07,2.75,-7.07,0.000,4,0.167,0.065,2693,195,3479,0,0,0,0,0,0
$GC,187,-1.27,-116.8,15.4,-16.1,26,194,0.10,2.42,0.00,0.000,6,0.100,0.016,2718,1775,3480,0,0,0,0,0,0
$GC,454,-1.19,-116.8,47.0,-12.3,63,459,0.10,2.42,0.00,0.000,4,0.130,0.024,2737,3323,3480,0,0,0,0,0,0
$GC,475,-1.15,-116.8,49.6,-11.9,64,479,0.00,2.50,0.00,0.000,6,0.000,0.027,2737,1769,3480,0,0,0,0,0,0
$GC,742,-1.11,-116.8,78.9,-10.9,88,747,0.10,2.42,0.00,0.000,4,0.129,0.027,2758,3315,3480,0,0,0,0,0,0
$GC,760,-1.11,-116.8,81.3,-10.6,89,765,0.00,2.45,0.00,0.000,6,0.000,0.032,2758,1784,3480,0,0,0,0,0,0
$GC,1028,-1.18,-116.8,100.3,-6.1,113,1032,0.00,2.42,0.00,0.000,4,0.000,0.029,2758,3325,3480,0,0,0,0,0,0
$GC,1071,-1.30,-116.8,103.8,-7.4,116,1078,0.15,2.45,0.00,0.000,6,0.032,0.028,2700,1801,3480,0,0,0,0,0,0
$GC,1338,-1.30,-116.8,129.1,-10.0,141,1343,0.00,2.70,0.00,0.000,4,0.000,0.064,2699,193,3480,0,0,0,0,0,0
$GC,1355,-1.30,-116.8,131.3,-9.8,142,1359,0.00,2.42,0.00,0.000,6,0.000,0.021,2699,1820,3480,0,0,0,0,0,0
$GC,1618,-1.30,-116.8,156.8,-10.1,166,1622,0.00,2.30,0.00,0.000,4,0.000,0.031,2699,3313,3480,0,0,0,0,0,0
$GC,1671,-1.30,-116.8,161.8,-9.4,170,1675,0.00,2.33,0.00,0.000,6,0.000,0.025,2699,1839,3480,0,0,0,0,0,0
$GC,1941,-1.30,-116.8,185.8,-8.3,195,1945,0.00,2.78,0.00,0.000,4,0.000,0.066,2699,193,3481,0,0,0,0,0,0
$GC,1986,-1.30,-116.8,190.1,-9.4,198,1992,0.00,2.45,0.00,0.000,6,0.000,0.021,2699,1833,3481,0,0,0,0,0,0
$GC,2272,-1.30,-116.8,214.2,-8.3,214,2277,0.00,2.78,0.00,0.000,4,0.000,0.066,2699,194,3480,0,0,0,0,0,0
$GC,2299,-1.30,-116.8,216.8,-9.3,214,2304,0.00,2.42,0.00,0.000,6,0.000,0.016,2699,1802,3480,0,0,0,0,0,0
$GC,2551,-1.30,-116.8,239.7,-9.4,220,2555,0.00,2.38,0.00,0.000,4,0.000,0.025,2699,3323,3480,0,0,0,0,0,0
$GC,2601,-1.34,-116.8,244.6,-9.1,221,2605,0.00,2.40,0.00,0.000,6,0.000,0.033,2700,1820,3480,0,0,0,0,0,0
$GC,2873,-1.34,-116.8,265.9,-7.3,228,2877,0.00,2.35,0.00,0.000,4,0.000,0.025,2699,3328,3479,0,0,0,0,0,0
$GC,2890,-1.34,-116.8,267.2,-6.8,228,2894,0.00,2.38,0.00,0.000,6,0.000,0.032,2699,1842,3479,0,0,0,0,0,0
$GC,3157,-1.34,-116.8,287.2,-7.6,235,3162,0.00,2.83,0.00,0.000,4,0.000,0.074,2699,200,3479,0,0,0,0,0,0
$GC,3173,-1.34,-116.8,288.6,-8.3,235,3177,0.00,2.53,0.00,0.000,6,0.000,0.021,2699,1830,3478,0,0,0,0,0,0
$GC,3440,-1.34,-116.8,307.9,-7.2,242,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1830,3478,0,0,0,0,0,0
$GC,3678,-1.34,-116.8,325.2,-7.1,248,3682,0.00,2.35,0.00,0.000,4,0.000,0.039,2699,3322,3476,0,0,0,0,0,0
$GC,3700,-1.40,-116.8,326.8,-6.8,248,3704,0.00,2.42,0.00,0.000,6,0.000,0.041,2699,1836,3476,0,0,0,0,0,0
$GC,3958,-1.45,-116.8,345.6,-7.5,255,3963,0.00,2.88,0.00,0.000,4,0.000,0.081,2699,200,3475,0,0,0,0,0,0
$GC,4003,-1.50,-116.8,349.5,-8.2,256,4008,0.12,2.47,0.00,0.000,6,0.077,0.027,2660,1796,3475,0,0,0,0,0,0
$GC,4283,-1.50,-116.8,373.8,-8.8,263,4287,0.00,2.50,0.00,0.000,4,0.000,0.038,2659,3344,3473,0,0,0,0,0,0
$GC,4332,-1.50,-116.8,378.3,-8.6,264,4336,0.00,2.47,0.00,0.000,6,0.000,0.041,2659,1851,3473,0,0,0,0,0,0
$GC,4604,-1.50,-116.8,401.6,-8.8,271,4609,0.00,2.95,0.00,0.000,4,0.000,0.093,2660,200,3471,0,0,0,0,0,0
$GC,4627,-1.50,-116.8,403.8,-10.2,271,4631,0.00,2.60,0.00,0.000,6,0.000,0.025,2659,1831,3471,0,0,0,0,0,0
$GC,4882,-1.50,-116.8,427.7,-9.3,278,4886,0.00,2.45,0.00,0.000,4,0.000,0.047,2659,3340,3470,0,0,0,0,0,0
$GC,4921,-1.50,-116.8,431.3,-8.9,279,4925,0.00,2.47,0.00,0.000,6,0.000,0.054,2659,1864,3469,0,0,0,0,0,0
$GC,5205,-1.50,-116.8,454.4,-8.1,286,5210,0.00,3.03,0.00,0.000,4,0.000,0.104,2659,201,3468,0,0,0,0,0,0
$GC,5238,-1.50,-116.8,457.4,-8.9,286,5243,0.00,2.62,0.00,0.000,6,0.000,0.035,2659,1826,3467,0,0,0,0,0,0
$GC,5488,-1.50,-116.8,479.7,-9.2,293,5492,0.00,2.50,0.00,0.000,4,0.000,0.050,2659,3342,3466,0,0,0,0,0,0
$GC,5529,-1.55,-116.8,483.7,-10.4,294,5534,0.00,2.50,0.00,0.000,6,0.000,0.054,2659,1870,3465,0,0,0,0,0,0
$STATE,5729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5729,begin apogee
$GC,5735,-0.31,0.0,502.9,9.4,299,5837,1.23,0.00,97.60,0.914,6,0.081,0.000,2930,1830,3001,0,0,0,0,0,0
$STATE,5837,end apogee,CONTROL_FINISHED_OK
$STATE,5837,begin climb
$GC,5840,1.39,116.8,505.9,0.0,301,5956,1.52,2.65,104.12,0.904,4,0.040,0.052,3308,3382,2524,0,0,0,0,0,0
$GC,5984,1.32,164.0,504.5,7.3,304,6034,0.00,2.70,43.15,0.880,6,0.000,0.058,3308,1820,2331,0,0,0,0,0,0
$GC,6294,1.23,183.6,477.2,8.9,312,6319,0.20,2.70,17.88,0.832,4,0.117,0.047,3269,3390,2251,0,0,0,0,0,0
$GC,6395,1.29,226.6,468.9,7.5,314,6440,0.00,2.72,39.42,0.865,6,0.000,0.057,3269,1827,2077,0,0,0,0,0,0
$GC,6711,1.33,263.5,443.8,7.9,322,6753,0.10,3.10,33.70,0.854,4,0.101,0.110,3295,232,1925,0,0,0,0,0,0
$GC,6770,1.26,263.5,437.8,10.7,323,6775,0.10,2.58,0.00,0.000,6,0.135,0.028,3276,1810,1923,0,0,0,0,0,0
$GC,7038,1.26,268.5,412.4,9.7,330,7048,0.00,2.67,4.65,0.598,4,0.000,0.040,3276,3411,1906,0,0,0,0,0,0
$GC,7093,1.34,268.5,406.1,11.1,331,7098,0.00,2.72,0.00,0.000,6,0.000,0.051,3276,1826,1904,0,0,0,0,0,0
$GC,7361,1.34,268.5,376.5,11.3,338,7366,0.00,2.92,0.00,0.000,4,0.000,0.094,3276,229,1903,0,0,0,0,0,0
$GC,7400,1.29,268.5,371.5,12.7,339,7405,0.00,2.58,0.00,0.000,6,0.000,0.027,3276,1839,1901,0,0,0,0,0,0
$GC,7684,1.30,274.9,342.5,9.7,346,7697,0.00,2.62,6.62,0.679,4,0.000,0.033,3276,3408,1879,0,0,0,0,0,0
$GC,7716,1.40,309.5,339.9,8.0,346,7757,0.12,2.70,32.75,0.808,6,0.086,0.050,3308,1816,1738,0,0,0,0,0,0
$GC,8014,1.41,313.1,312.1,9.8,354,8019,0.00,2.83,0.00,0.000,4,0.000,0.080,3308,236,1731,0,0,0,0,0,0
$GC,8066,1.35,313.1,305.3,13.6,355,8070,0.00,2.53,0.00,0.000,6,0.000,0.027,3308,1820,1729,0,0,0,0,0,0
$GC,8337,1.35,313.1,269.9,13.0,362,8341,0.00,2.55,0.00,0.000,4,0.000,0.035,3308,3401,1728,0,0,0,0,0,0
$GC,8364,1.40,313.1,266.3,13.1,362,8369,0.00,2.65,0.00,0.000,6,0.000,0.040,3308,1811,1727,0,0,0,0,0,0
$GC,8614,1.40,313.1,236.7,11.4,368,8619,0.00,2.78,0.00,0.000,4,0.000,0.075,3308,234,1727,0,0,0,0,0,0
$GC,8653,1.36,313.1,232.2,11.8,369,8658,0.00,2.50,0.00,0.000,6,0.000,0.021,3308,1828,1726,0,0,0,0,0,0
$GC,8937,1.40,343.2,207.5,8.3,376,8971,0.00,2.85,28.95,0.711,4,0.000,0.068,3308,238,1600,0,0,0,0,0,0
$GC,9018,1.40,343.2,200.2,10.2,377,9023,0.00,2.47,0.00,0.000,6,0.000,0.020,3308,1801,1597,0,0,0,0,0,0
$GC,9281,1.45,343.2,174.8,10.5,402,9285,0.00,2.75,0.00,0.000,4,0.000,0.071,3308,233,1595,0,0,0,0,0,0
$GC,9348,1.45,343.2,166.4,12.1,407,9354,0.00,2.40,0.00,0.000,6,0.000,0.021,3308,1764,1593,0,0,0,0,0,0
$GC,9613,1.51,343.2,139.6,10.4,432,9618,0.00,2.65,0.00,0.000,4,0.000,0.064,3308,236,1594,0,0,0,0,0,0
$GC,9665,1.51,343.2,133.1,12.4,436,9669,0.00,2.33,0.00,0.000,6,0.000,0.026,3308,1741,1593,0,0,0,0,0,0
$GC,9928,1.60,356.6,106.8,9.3,460,9946,0.17,2.65,12.12,0.585,4,0.065,0.032,3354,3387,1546,0,0,0,0,0,0
$GC,9976,1.65,356.6,101.5,11.5,463,9981,0.00,2.78,0.00,0.000,6,0.000,0.038,3354,1726,1544,0,0,0,0,0,0
$GC,10242,1.65,362.6,75.3,9.7,488,10254,0.00,2.70,6.55,0.499,4,0.000,0.026,3354,3393,1523,0,0,0,0,0,0
$GC,10272,1.72,362.6,71.9,10.8,490,10280,0.00,2.72,0.00,0.000,6,0.000,0.039,3354,1765,1522,0,0,0,0,0,0
$GC,10537,1.77,373.1,46.3,9.4,515,10555,0.12,2.65,11.25,0.527,4,0.077,0.060,3389,237,1478,0,0,0,0,0,0
$GC,10628,1.66,373.1,35.5,13.0,522,10633,0.12,2.35,0.00,0.000,6,0.120,0.019,3363,1764,1476,0,0,0,0,0,0
$GC,10886,1.66,373.1,5.3,14.4,566,10893,0.00,2.60,0.00,0.000,4,0.000,0.024,3363,3398,1475,0,0,0,0,0,0
$STATE,10899,end climb,SURFACE_DEPTH_REACHED
$STATE,10899,begin surface coast
$FINISH,0.4,1.023512
$STATE,10928,end surface coast,CONTROL_FINISHED_OK
$STATE,10929,begin surface
$SM_CCo,10955,199.12,0.522,0,0,477,619.14
$SM_GC,0.89,0.00,0.00,199.12,0.000,0.000,0.522,475,1750,477,-11.62,-0.57,619.14
$IRIDIUM_FIX,2244.02,-15739.35,080200,000046
$TT8_MAMPS,0.026078
$HUMID,54.44
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,21.00
$XPDR_PINGS,132
$24V_AH,23.3,89.649
$10V_AH,9.9,83.023
$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,28.150,176.275,438.775,199.125,0.000,79.749,115.232,534.126,33.000,0.000,32.444,1175.782,7415.251,726.486,1770.085,1098.057,33.371,1569.875,0.000,1740.760,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,158.002,914.264,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.021,296.217,402.289,772.766,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355356
$DATA_FILE_SIZE,44575,573
$CAP_FILE_SIZE,139254,0
$CFSIZE,260165632,144683008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141110,031601,2250.792,-15742.443,68,1.5,68,10.1