version: 66.06
glider: 146
mission: 5
dive: 643
start: 11 14 110 6 50 51
data:
$ID,146
$MISSION,5
$DIVE,643
$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,-263399.44
$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,61
$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
$GPS1,063806,2250.299,-15742.346,34,1.5,34,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-61.7
$GPS2,064958,2250.383,-15742.354,12,2.2,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.087,-0.218
$KALMAN_X,-295701.1,232.2,53.9,344042.1,-481.2
$KALMAN_Y,-330394.5,218.5,81.6,459359.3,545.0
$MHEAD_RNG_PITCHd_Wd,148.1,2631,-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,12,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,-112.80,0.000,2,0.000,0.000,474,1702,3307,0,0,0,0,0,0
$GC,134,-1.38,-116.8,3.4,-7.5,18,156,12.10,2.55,-3.55,0.000,4,0.168,0.061,2692,185,3479,0,0,0,0,0,0
$GC,183,-1.18,-116.8,14.3,-16.0,25,190,0.20,2.47,0.00,0.000,6,0.091,0.021,2746,1771,3480,0,0,0,0,0,0
$GC,450,-1.18,-116.8,39.8,-10.8,66,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1773,3480,0,0,0,0,0,0
$GC,713,-1.18,-116.8,69.3,-11.0,91,717,0.00,2.45,0.00,0.000,4,0.000,0.021,2746,3342,3480,0,0,0,0,0,0
$GC,723,-1.18,-116.8,71.0,-11.8,91,732,0.00,2.58,0.00,0.000,6,0.000,0.025,2745,1750,3480,0,0,0,0,0,0
$GC,988,-1.18,-116.8,101.7,-11.5,116,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1750,3480,0,0,0,0,0,0
$GC,1254,-1.24,-116.8,128.2,-9.2,141,1258,0.00,2.47,0.00,0.000,4,0.000,0.028,2745,3335,3480,0,0,0,0,0,0
$GC,1299,-1.35,-116.8,132.4,-8.4,144,1307,0.15,2.53,0.00,0.000,6,0.032,0.031,2688,1766,3480,0,0,0,0,0,0
$GC,1562,-1.30,-116.8,157.8,-9.5,169,1568,0.12,2.67,0.00,0.000,4,0.108,0.062,2714,192,3481,0,0,0,0,0,0
$GC,1593,-1.30,-116.8,160.6,-9.2,171,1597,0.00,2.40,0.00,0.000,6,0.000,0.019,2714,1802,3480,0,0,0,0,0,0
$GC,1855,-1.30,-116.8,184.6,-10.7,195,1859,0.00,2.35,0.00,0.000,4,0.000,0.025,2714,3311,3481,0,0,0,0,0,0
$GC,1886,-1.35,-116.8,187.9,-10.7,197,1890,0.00,2.47,0.00,0.000,6,0.000,0.026,2714,1762,3481,0,0,0,0,0,0
$GC,2172,-1.35,-116.8,214.9,-8.8,212,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1761,3481,0,0,0,0,0,0
$GC,2415,-1.35,-116.8,234.1,-7.6,218,2419,0.00,2.42,0.00,0.000,4,0.000,0.024,2714,3314,3481,0,0,0,0,0,0
$GC,2439,-1.40,-116.8,236.0,-8.2,218,2444,0.00,2.42,0.00,0.000,6,0.000,0.033,2714,1785,3481,0,0,0,0,0,0
$GC,2696,-1.44,-116.8,256.3,-8.1,225,2697,0.12,0.00,0.00,0.000,6,0.070,0.000,2665,1785,3480,0,0,0,0,0,0
$GC,2939,-1.38,-116.8,279.9,-9.8,231,2944,0.15,2.78,0.00,0.000,4,0.105,0.075,2697,190,3480,0,0,0,0,0,0
$GC,2957,-1.38,-116.8,281.8,-10.0,231,2962,0.00,2.42,0.00,0.000,6,0.000,0.018,2697,1765,3480,0,0,0,0,0,0
$GC,3224,-1.38,-116.8,305.6,-9.2,238,3229,0.00,2.47,0.00,0.000,4,0.000,0.036,2697,3339,3479,0,0,0,0,0,0
$GC,3292,-1.44,-116.8,311.9,-8.3,239,3296,0.00,2.47,0.00,0.000,6,0.000,0.039,2697,1815,3479,0,0,0,0,0,0
$GC,3547,-1.48,-116.8,332.0,-7.8,246,3552,0.00,2.85,0.00,0.000,4,0.000,0.077,2697,191,3479,0,0,0,0,0,0
$GC,3575,-1.52,-116.8,334.2,-7.9,246,3580,0.12,2.50,0.00,0.000,6,0.068,0.020,2647,1799,3478,0,0,0,0,0,0
$GC,3827,-1.46,-116.8,357.2,-9.5,252,3832,0.15,2.50,0.00,0.000,4,0.107,0.040,2679,3351,3477,0,0,0,0,0,0
$GC,3849,-1.46,-116.8,359.5,-9.1,252,3853,0.00,2.53,0.00,0.000,6,0.000,0.048,2679,1818,3477,0,0,0,0,0,0
$GC,4104,-1.46,-116.8,380.7,-8.2,259,4108,0.00,2.92,0.00,0.000,4,0.000,0.089,2679,182,3476,0,0,0,0,0,0
$GC,4119,-1.46,-116.8,382.0,-7.9,259,4124,0.00,2.58,0.00,0.000,6,0.000,0.025,2679,1805,3476,0,0,0,0,0,0
$GC,4382,-1.46,-116.8,404.4,-8.7,266,4386,0.00,2.53,0.00,0.000,4,0.000,0.048,2679,3352,3474,0,0,0,0,0,0
$GC,4426,-1.53,-116.8,408.7,-9.2,267,4431,0.00,2.55,0.00,0.000,6,0.000,0.049,2679,1819,3474,0,0,0,0,0,0
$GC,4706,-1.53,-116.8,432.7,-8.5,274,4711,0.00,3.00,0.00,0.000,4,0.000,0.097,2679,180,3472,0,0,0,0,0,0
$GC,4722,-1.53,-116.8,434.3,-8.1,274,4727,0.00,2.60,0.00,0.000,6,0.000,0.031,2679,1816,3472,0,0,0,0,0,0
$GC,4983,-1.53,-116.8,454.1,-7.5,281,4987,0.00,2.55,0.00,0.000,4,0.000,0.054,2679,3362,3470,0,0,0,0,0,0
$GC,5012,-1.58,-116.8,456.2,-7.7,281,5017,0.10,2.62,0.00,0.000,6,0.080,0.054,2641,1822,3470,0,0,0,0,0,0
$GC,5265,-1.54,-116.8,477.9,-8.9,287,5270,0.10,2.53,0.00,0.000,4,0.123,0.048,2664,3357,3468,0,0,0,0,0,0
$GC,5286,-1.54,-116.8,480.2,-8.6,287,5291,0.00,2.60,0.00,0.000,6,0.000,0.055,2663,1835,3468,0,0,0,0,0,0
$STATE,5539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5539,begin apogee
$GC,5547,-0.31,0.0,503.4,9.5,294,5647,1.20,0.00,96.93,0.910,6,0.082,0.000,2929,1834,3001,0,0,0,0,0,0
$STATE,5648,end apogee,CONTROL_FINISHED_OK
$STATE,5648,begin climb
$GC,5650,1.38,116.8,506.9,0.0,296,5765,1.55,2.70,102.82,0.900,4,0.038,0.054,3307,3399,2523,0,0,0,0,0,0
$GC,5822,1.38,217.9,508.5,4.2,300,5918,0.00,2.72,88.90,0.893,6,0.000,0.058,3307,1819,2112,0,0,0,0,0,0
$GC,6182,1.34,252.3,481.7,8.0,309,6218,0.00,2.70,30.85,0.858,4,0.000,0.039,3308,3409,1971,0,0,0,0,0,0
$GC,6289,1.35,260.6,472.0,9.6,310,6303,0.00,2.75,8.27,0.739,6,0.000,0.058,3308,1835,1938,0,0,0,0,0,0
$GC,6556,1.28,260.6,442.8,11.4,317,6558,0.12,0.00,0.00,0.000,6,0.127,0.000,3283,1835,1933,0,0,0,0,0,0
$GC,6797,1.28,260.6,413.2,12.4,323,6802,0.00,2.58,0.00,0.000,4,0.000,0.037,3283,3409,1931,0,0,0,0,0,0
$GC,6819,1.28,260.6,410.4,12.6,323,6823,0.00,2.70,0.00,0.000,6,0.000,0.054,3283,1834,1930,0,0,0,0,0,0
$GC,7079,1.28,260.6,382.8,10.3,330,7084,0.00,2.95,0.00,0.000,4,0.000,0.092,3282,225,1929,0,0,0,0,0,0
$GC,7112,1.22,260.6,379.2,10.2,330,7118,0.00,2.58,0.00,0.000,6,0.000,0.024,3282,1836,1927,0,0,0,0,0,0
$GC,7362,1.25,282.4,357.0,8.8,337,7383,0.00,0.00,19.70,0.801,6,0.000,0.000,3283,1836,1849,0,0,0,0,0,0
$GC,7605,1.25,282.4,331.0,10.9,343,7610,0.00,2.85,0.00,0.000,4,0.000,0.077,3282,231,1844,0,0,0,0,0,0
$GC,7673,1.25,282.4,323.2,11.4,344,7678,0.00,2.55,0.00,0.000,6,0.000,0.028,3282,1824,1843,0,0,0,0,0,0
$GC,7929,1.30,299.4,299.7,9.1,351,7946,0.00,0.00,15.82,0.753,6,0.000,0.000,3282,1825,1780,0,0,0,0,0,0
$GC,8174,1.38,319.6,277.8,8.9,357,8199,0.00,2.85,19.05,0.743,4,0.000,0.067,3282,231,1697,0,0,0,0,0,0
$GC,8221,1.38,319.6,272.8,10.6,358,8225,0.00,2.53,0.00,0.000,6,0.000,0.021,3282,1821,1695,0,0,0,0,0,0
$GC,8499,1.48,342.8,248.1,8.7,365,8528,0.17,2.85,21.10,0.723,4,0.070,0.067,3327,231,1601,0,0,0,0,0,0
$GC,8595,1.44,342.8,237.6,12.1,367,8599,0.00,2.47,0.00,0.000,6,0.000,0.021,3327,1785,1598,0,0,0,0,0,0
$GC,8873,1.44,342.8,207.1,10.6,374,8878,0.00,2.72,0.00,0.000,4,0.000,0.066,3327,230,1596,0,0,0,0,0,0
$GC,8902,1.39,342.8,203.8,12.5,374,8907,0.12,2.40,0.00,0.000,6,0.120,0.025,3302,1761,1595,0,0,0,0,0,0
$GC,9163,1.46,349.3,178.3,9.7,395,9175,0.00,2.67,6.00,0.557,4,0.000,0.064,3302,228,1576,0,0,0,0,0,0
$GC,9215,1.46,349.3,172.6,11.6,399,9221,0.00,2.35,0.00,0.000,6,0.000,0.025,3303,1734,1575,0,0,0,0,0,0
$GC,9479,1.55,365.2,148.8,9.1,424,9497,0.15,0.00,15.57,0.627,6,0.074,0.000,3342,1736,1512,0,0,0,0,0,0
$GC,9751,1.55,365.2,116.5,12.2,450,9756,0.00,2.67,0.00,0.000,4,0.000,0.033,3342,3401,1509,0,0,0,0,0,0
$GC,9794,1.66,365.2,111.4,13.4,453,9799,0.00,2.83,0.00,0.000,6,0.000,0.036,3342,1697,1507,0,0,0,0,0,0
$GC,10061,1.76,399.1,84.8,8.1,477,10098,0.17,2.60,30.60,0.589,4,0.066,0.067,3389,222,1373,0,0,0,0,0,0
$GC,10127,1.69,399.1,76.5,14.6,482,10133,0.08,2.42,0.00,0.000,6,0.097,0.021,3370,1759,1371,0,0,0,0,0,0
$GC,10390,1.69,399.1,46.8,12.2,507,10394,0.00,2.60,0.00,0.000,4,0.000,0.025,3370,3396,1370,0,0,0,0,0,0
$GC,10410,1.73,399.1,44.8,11.3,508,10415,0.00,2.75,0.00,0.000,6,0.000,0.033,3370,1724,1368,0,0,0,0,0,0
$GC,10675,1.73,399.1,15.0,10.7,543,10682,0.00,2.60,0.00,0.000,4,0.000,0.063,3370,224,1368,0,0,0,0,0,0
$GC,10718,1.65,404.8,10.2,9.7,550,10732,0.00,2.38,5.80,0.428,6,0.000,0.021,3370,1747,1350,0,0,0,0,0,0
$STATE,10765,end climb,SURFACE_DEPTH_REACHED
$STATE,10765,begin surface coast
$FINISH,0.5,1.016785
$STATE,10802,end surface coast,CONTROL_FINISHED_OK
$STATE,10802,begin surface
$SM_CCo,10823,173.88,0.517,0,0,476,619.14
$SM_GC,0.92,0.00,0.00,173.88,0.000,0.000,0.517,470,1747,476,-11.64,-0.65,619.14
$IRIDIUM_FIX,2241.69,-15744.57,080200,060611
$TT8_MAMPS,0.026078
$HUMID,54.41
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.20
$XPDR_PINGS,133
$24V_AH,23.3,89.972
$10V_AH,9.9,83.194
$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,28.775,145.575,461.425,173.875,0.000,45.468,111.022,330.799,33.250,0.000,33.958,1127.482,7395.335,712.610,1655.421,816.738,33.367,1499.450,0.000,1626.438,0.000,0.536,0.000
$DEVICE_MAMPS,167.973,96.642,909.662,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.199,287.643,393.082,771.322,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,41533,564
$CAP_FILE_SIZE,125332,0
$CFSIZE,260165632,144576512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141110,095524,2249.841,-15742.256,34,1.7,34,10.1