version: 66.06
glider: 146
mission: 5
dive: 642
start: 11 14 110 3 32 31
data:
$ID,146
$MISSION,5
$DIVE,642
$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,-263364.84
$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,27
$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
$GPS1,031601,2250.792,-15742.443,68,1.5,68,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-59.2
$GPS2,033137,2250.929,-15742.435,10,1.2,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.045,-0.231
$KALMAN_X,-295357.2,385.6,-146.2,343605.8,-68.1
$KALMAN_Y,-332094.4,424.3,340.0,461610.3,468.3
$MHEAD_RNG_PITCHd_Wd,158.8,3649,-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,-116.8,0.0,0.0,0,119,0.00,0.00,-101.07,0.000,2,0.000,0.000,474,1749,3020,0,0,0,0,0,0
$GC,123,-1.38,-116.8,3.2,-6.9,16,151,11.82,2.67,-9.90,0.000,4,0.160,0.066,2692,193,3478,0,0,0,0,0,0
$GC,188,-1.27,-116.8,15.8,-17.9,26,195,0.10,2.45,0.00,0.000,6,0.107,0.019,2716,1801,3479,0,0,0,0,0,0
$GC,451,-1.22,-116.8,50.0,-14.3,60,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1803,3479,0,0,0,0,0,0
$GC,709,-1.13,-116.8,78.3,-11.4,84,714,0.17,2.38,0.00,0.000,4,0.113,0.024,2751,3318,3479,0,0,0,0,0,0
$GC,728,-1.09,-116.8,80.7,-11.4,85,733,0.00,2.50,0.00,0.000,6,0.000,0.027,2751,1757,3479,0,0,0,0,0,0
$GC,995,-1.16,-116.8,104.2,-8.0,109,1000,0.00,2.62,0.00,0.000,4,0.000,0.062,2751,189,3479,0,0,0,0,0,0
$GC,1006,-1.22,-116.8,105.6,-8.5,109,1012,0.00,2.38,0.00,0.000,6,0.000,0.015,2752,1789,3479,0,0,0,0,0,0
$GC,1271,-1.30,-116.8,127.9,-8.5,134,1276,0.15,2.38,0.00,0.000,4,0.063,0.028,2699,3304,3479,0,0,0,0,0,0
$GC,1313,-1.30,-116.8,132.0,-10.3,137,1317,0.00,2.42,0.00,0.000,6,0.000,0.033,2699,1771,3479,0,0,0,0,0,0
$GC,1579,-1.30,-116.8,156.6,-9.5,161,1583,0.00,2.40,0.00,0.000,4,0.000,0.024,2699,3303,3479,0,0,0,0,0,0
$GC,1622,-1.30,-116.8,161.1,-8.9,164,1628,0.00,2.40,0.00,0.000,6,0.000,0.026,2699,1798,3479,0,0,0,0,0,0
$GC,1885,-1.30,-116.8,183.6,-9.0,189,1890,0.00,2.72,0.00,0.000,4,0.000,0.061,2699,193,3479,0,0,0,0,0,0
$GC,1937,-1.30,-116.8,188.7,-10.0,193,1941,0.00,2.38,0.00,0.000,6,0.000,0.021,2699,1798,3480,0,0,0,0,0,0
$GC,2223,-1.30,-116.8,217.0,-9.9,208,2227,0.00,2.70,0.00,0.000,4,0.000,0.060,2699,200,3479,0,0,0,0,0,0
$GC,2255,-1.30,-116.8,220.2,-9.5,208,2261,0.00,2.35,0.00,0.000,6,0.000,0.015,2699,1777,3479,0,0,0,0,0,0
$GC,2507,-1.30,-116.8,242.0,-8.7,215,2511,0.00,2.40,0.00,0.000,4,0.000,0.028,2700,3313,3479,0,0,0,0,0,0
$GC,2541,-1.35,-116.8,245.3,-8.8,215,2547,0.00,2.45,0.00,0.000,6,0.000,0.035,2699,1786,3480,0,0,0,0,0,0
$GC,2791,-1.35,-116.8,268.0,-9.1,222,2795,0.00,2.40,0.00,0.000,4,0.000,0.031,2699,3312,3479,0,0,0,0,0,0
$GC,2831,-1.42,-116.8,271.9,-10.1,222,2837,0.00,2.40,0.00,0.000,6,0.000,0.031,2699,1819,3479,0,0,0,0,0,0
$GC,3081,-1.42,-116.8,296.1,-9.9,229,3085,0.00,2.38,0.00,0.000,4,0.000,0.031,2699,3320,3478,0,0,0,0,0,0
$GC,3125,-1.49,-116.8,300.9,-10.9,230,3130,0.10,2.38,0.00,0.000,6,0.086,0.035,2660,1851,3478,0,0,0,0,0,0
$GC,3405,-1.49,-116.8,330.4,-10.5,237,3409,0.00,2.92,0.00,0.000,4,0.000,0.078,2659,194,3477,0,0,0,0,0,0
$GC,3433,-1.44,-116.8,333.4,-10.6,237,3439,0.12,2.53,0.00,0.000,6,0.112,0.026,2687,1816,3477,0,0,0,0,0,0
$GC,3685,-1.44,-116.8,353.4,-7.6,243,3689,0.00,2.47,0.00,0.000,4,0.000,0.044,2687,3353,3475,0,0,0,0,0,0
$GC,3696,-1.44,-116.8,354.4,-7.4,243,3700,0.00,2.47,0.00,0.000,6,0.000,0.038,2687,1852,3475,0,0,0,0,0,0
$GC,3962,-1.44,-116.8,374.6,-7.9,250,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1852,3474,0,0,0,0,0,0
$GC,4206,-1.44,-116.8,395.6,-8.8,256,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1852,3472,0,0,0,0,0,0
$GC,4452,-1.44,-116.8,415.4,-7.9,262,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1852,3471,0,0,0,0,0,0
$GC,4694,-1.44,-116.8,434.9,-8.2,268,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1852,3469,0,0,0,0,0,0
$GC,4938,-1.48,-116.8,455.4,-8.4,274,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1852,3468,0,0,0,0,0,0
$GC,5183,-1.53,-116.8,473.9,-7.5,280,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1852,3466,0,0,0,0,0,0
$GC,5425,-1.58,-116.8,492.9,-7.9,286,5427,0.12,0.00,0.00,0.000,6,0.074,0.000,2644,1852,3464,0,0,0,0,0,0
$STATE,5505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5505,begin apogee
$GC,5511,-0.31,0.0,500.7,8.9,288,5611,1.30,0.00,96.62,0.915,6,0.085,0.000,2930,1852,3001,0,0,0,0,0,0
$STATE,5612,end apogee,CONTROL_FINISHED_OK
$STATE,5612,begin climb
$GC,5615,1.38,116.8,503.8,0.0,290,5729,1.55,2.70,103.10,0.899,4,0.035,0.058,3309,3391,2523,0,0,0,0,0,0
$GC,5769,1.34,183.8,502.8,6.2,294,5834,0.00,2.67,59.40,0.887,6,0.000,0.060,3308,1834,2251,0,0,0,0,0,0
$GC,6113,1.25,191.6,471.4,9.6,303,6127,0.17,2.67,6.75,0.703,4,0.137,0.043,3275,3392,2218,0,0,0,0,0,0
$GC,6215,1.27,209.8,462.4,9.0,305,6239,0.00,2.70,17.85,0.822,6,0.000,0.061,3275,1833,2144,0,0,0,0,0,0
$GC,6490,1.30,228.9,437.9,8.9,312,6510,0.00,0.00,17.70,0.816,6,0.000,0.000,3275,1833,2067,0,0,0,0,0,0
$GC,6734,1.30,235.2,414.5,9.7,318,6747,0.00,2.60,6.40,0.682,4,0.000,0.035,3275,3399,2042,0,0,0,0,0,0
$GC,6766,1.30,235.2,411.2,10.8,318,6770,0.00,2.67,0.00,0.000,6,0.000,0.056,3275,1841,2041,0,0,0,0,0,0
$GC,7016,1.32,248.3,387.5,9.3,324,7031,0.00,0.00,13.38,0.781,6,0.000,0.000,3275,1841,1988,0,0,0,0,0,0
$GC,7259,1.35,272.5,366.0,8.6,330,7289,0.00,3.03,22.83,0.798,4,0.000,0.088,3274,236,1889,0,0,0,0,0,0
$GC,7304,1.36,284.6,362.1,9.3,331,7325,0.10,2.58,12.48,0.751,6,0.099,0.021,3301,1852,1839,0,0,0,0,0,0
$GC,7593,1.36,284.6,331.6,10.8,338,7598,0.00,2.90,0.00,0.000,4,0.000,0.074,3301,224,1833,0,0,0,0,0,0
$GC,7633,1.29,284.6,326.8,12.3,339,7637,0.00,2.55,0.00,0.000,6,0.000,0.021,3301,1824,1832,0,0,0,0,0,0
$GC,7917,1.29,284.6,295.0,11.1,346,7922,0.00,2.55,0.00,0.000,4,0.000,0.035,3301,3400,1831,0,0,0,0,0,0
$GC,7933,1.29,284.6,292.9,10.9,346,7938,0.00,2.62,0.00,0.000,6,0.000,0.039,3301,1808,1830,0,0,0,0,0,0
$GC,8195,1.30,294.1,267.3,9.5,353,8209,0.00,2.62,7.85,0.663,4,0.000,0.030,3301,3390,1801,0,0,0,0,0,0
$GC,8234,1.37,307.4,263.9,9.3,353,8254,0.00,2.62,13.88,0.716,6,0.000,0.042,3301,1813,1746,0,0,0,0,0,0
$GC,8526,1.38,319.2,237.1,9.4,361,8545,0.00,2.80,11.38,0.678,4,0.000,0.070,3301,238,1698,0,0,0,0,0,0
$GC,8615,1.38,319.2,227.5,11.2,363,8620,0.00,2.47,0.00,0.000,6,0.000,0.021,3301,1805,1696,0,0,0,0,0,0
$GC,8900,1.45,333.9,200.4,9.2,370,8919,0.00,2.78,13.93,0.663,4,0.000,0.065,3301,240,1638,0,0,0,0,0,0
$GC,8983,1.47,349.3,192.8,9.1,374,9002,0.00,2.40,14.40,0.656,6,0.000,0.019,3301,1775,1577,0,0,0,0,0,0
$GC,9265,1.55,364.8,168.6,9.1,401,9287,0.15,2.72,14.80,0.637,4,0.075,0.064,3341,239,1512,0,0,0,0,0,0
$GC,9312,1.48,364.8,163.6,12.0,405,9316,0.00,2.35,0.00,0.000,6,0.000,0.021,3341,1746,1511,0,0,0,0,0,0
$GC,9576,1.48,364.8,135.6,10.8,429,9581,0.00,2.62,0.00,0.000,4,0.000,0.033,3341,3387,1510,0,0,0,0,0,0
$GC,9641,1.56,364.8,128.8,10.8,434,9645,0.00,2.72,0.00,0.000,6,0.000,0.038,3341,1729,1508,0,0,0,0,0,0
$GC,9904,1.60,394.8,102.2,8.3,458,9938,0.00,2.60,26.98,0.600,4,0.000,0.061,3341,239,1390,0,0,0,0,0,0
$GC,9987,1.60,395.2,94.2,10.0,465,9991,0.00,2.30,0.00,0.000,6,0.000,0.019,3341,1730,1389,0,0,0,0,0,0
$GC,10258,1.65,395.2,67.0,10.1,490,10262,0.00,2.55,0.00,0.000,4,0.000,0.058,3341,238,1388,0,0,0,0,0,0
$GC,10289,1.65,395.2,63.6,11.6,492,10293,0.00,2.25,0.00,0.000,6,0.000,0.019,3341,1714,1387,0,0,0,0,0,0
$GC,10555,1.70,395.2,35.6,10.5,516,10560,0.12,2.67,0.00,0.000,4,0.084,0.026,3377,3385,1386,0,0,0,0,0,0
$GC,10599,1.76,395.2,30.9,11.3,519,10604,0.00,2.78,0.00,0.000,6,0.000,0.037,3377,1706,1386,0,0,0,0,0,0
$STATE,10823,end climb,SURFACE_DEPTH_REACHED
$STATE,10824,begin surface coast
$FINISH,0.4,1.003919
$STATE,10856,end surface coast,CONTROL_FINISHED_OK
$STATE,10856,begin surface
$SM_CCo,10879,180.27,0.518,0,0,476,619.14
$SM_GC,1.05,0.00,0.00,180.27,0.000,0.000,0.518,475,1704,476,-11.62,-1.87,619.14
$IRIDIUM_FIX,2244.02,-15743.68,080200,030337
$TT8_MAMPS,0.026078
$HUMID,54.33
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.70
$XPDR_PINGS,133
$24V_AH,23.3,89.808
$10V_AH,9.9,83.109
$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,27.775,133.075,459.700,180.275,0.000,136.312,400.399,0.000,33.250,0.000,12.004,1123.422,7643.511,707.499,1640.839,875.274,33.366,1476.560,0.000,1635.065,0.000,0.535,0.000
$DEVICE_MAMPS,159.536,88.205,915.031,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.796,289.800,396.423,762.661,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,41576,567
$CAP_FILE_SIZE,116861,0
$CFSIZE,260165632,144617472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141110,063806,2250.299,-15742.346,34,1.5,34,10.1