version: 66.06
glider: 146
mission: 5
dive: 645
start: 11 14 110 13 32 44
data:
$ID,146
$MISSION,5
$DIVE,645
$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,-263452.69
$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,12
$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
$GPS1,132159,2249.766,-15742.301,41,1.3,43,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-61.2
$GPS2,133150,2249.840,-15742.335,11,1.8,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.067,-0.225
$KALMAN_X,-296566.4,-457.4,-165.0,345848.6,-244.3
$KALMAN_Y,-327046.5,-71.3,226.3,455150.5,1091.7
$MHEAD_RNG_PITCHd_Wd,153.3,1657,-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,-116.8,0.0,0.0,0,132,0.00,0.00,-113.22,0.000,2,0.000,0.000,475,1792,3337,0,0,0,0,0,0
$GC,135,-1.38,-116.8,3.8,-8.4,18,157,11.93,2.78,-2.83,0.000,4,0.163,0.064,2692,174,3479,0,0,0,0,0,0
$GC,194,-1.26,-116.8,17.5,-16.3,27,202,0.12,2.50,0.00,0.000,6,0.103,0.022,2722,1780,3480,0,0,0,0,0,0
$GC,464,-1.19,-116.8,48.0,-11.0,62,468,0.00,2.42,0.00,0.000,4,0.000,0.024,2722,3335,3480,0,0,0,0,0,0
$GC,496,-1.19,-116.8,51.9,-11.9,64,501,0.00,2.55,0.00,0.000,6,0.000,0.028,2722,1754,3480,0,0,0,0,0,0
$GC,759,-1.13,-116.8,85.8,-13.7,88,764,0.15,2.65,0.00,0.000,4,0.117,0.057,2752,196,3480,0,0,0,0,0,0
$GC,782,-1.13,-116.8,89.0,-13.2,89,788,0.00,2.40,0.00,0.000,6,0.000,0.016,2752,1790,3480,0,0,0,0,0,0
$GC,1045,-1.18,-116.8,116.0,-9.7,114,1050,0.00,2.67,0.00,0.000,4,0.000,0.061,2752,196,3481,0,0,0,0,0,0
$GC,1065,-1.23,-116.8,117.9,-9.2,115,1069,0.00,2.35,0.00,0.000,6,0.000,0.022,2752,1772,3481,0,0,0,0,0,0
$GC,1332,-1.32,-116.8,137.2,-7.4,139,1338,0.17,2.67,0.00,0.000,4,0.058,0.056,2697,192,3481,0,0,0,0,0,0
$GC,1420,-1.32,-116.8,146.9,-11.0,146,1428,0.00,2.42,0.00,0.000,6,0.000,0.015,2697,1786,3481,0,0,0,0,0,0
$GC,1685,-1.32,-116.8,171.3,-9.1,171,1689,0.00,2.38,0.00,0.000,4,0.000,0.024,2697,3325,3481,0,0,0,0,0,0
$GC,1702,-1.32,-116.8,172.9,-8.3,172,1706,0.00,2.45,0.00,0.000,6,0.000,0.032,2697,1775,3481,0,0,0,0,0,0
$GC,1967,-1.32,-116.8,193.6,-7.5,196,1971,0.00,2.40,0.00,0.000,4,0.000,0.023,2697,3318,3481,0,0,0,0,0,0
$GC,2000,-1.32,-116.8,196.8,-8.2,198,2005,0.00,2.42,0.00,0.000,6,0.000,0.027,2697,1798,3481,0,0,0,0,0,0
$GC,2253,-1.32,-116.8,218.8,-9.0,208,2258,0.00,2.38,0.00,0.000,4,0.000,0.025,2697,3321,3481,0,0,0,0,0,0
$GC,2275,-1.32,-116.8,221.0,-9.0,208,2279,0.00,2.35,0.00,0.000,6,0.000,0.034,2697,1834,3481,0,0,0,0,0,0
$GC,2531,-1.32,-116.8,243.3,-8.8,215,2536,0.00,2.80,0.00,0.000,4,0.000,0.065,2697,198,3481,0,0,0,0,0,0
$GC,2570,-1.32,-116.8,247.1,-10.2,216,2574,0.00,2.45,0.00,0.000,6,0.000,0.018,2697,1812,3481,0,0,0,0,0,0
$GC,2855,-1.32,-116.8,271.7,-8.6,223,2859,0.00,2.38,0.00,0.000,4,0.000,0.031,2697,3333,3481,0,0,0,0,0,0
$GC,2876,-1.32,-116.8,273.8,-8.5,223,2881,0.00,2.42,0.00,0.000,6,0.000,0.029,2697,1826,3481,0,0,0,0,0,0
$GC,3134,-1.32,-116.8,294.3,-7.9,230,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1825,3480,0,0,0,0,0,0
$GC,3376,-1.32,-116.8,315.1,-8.8,236,3380,0.00,2.38,0.00,0.000,4,0.000,0.028,2697,3331,3479,0,0,0,0,0,0
$GC,3397,-1.36,-116.8,317.2,-9.2,236,3402,0.00,2.40,0.00,0.000,6,0.000,0.035,2697,1845,3479,0,0,0,0,0,0
$GC,3653,-1.36,-116.8,339.0,-8.4,243,3658,0.00,2.92,0.00,0.000,4,0.000,0.079,2697,193,3478,0,0,0,0,0,0
$GC,3665,-1.36,-116.8,339.9,-8.3,243,3670,0.00,2.58,0.00,0.000,6,0.000,0.025,2697,1830,3478,0,0,0,0,0,0
$GC,3932,-1.41,-116.8,361.9,-8.3,250,3936,0.00,2.42,0.00,0.000,4,0.000,0.041,2697,3333,3477,0,0,0,0,0,0
$GC,3982,-1.50,-116.8,366.3,-8.5,251,3987,0.10,2.42,0.00,0.000,6,0.081,0.041,2655,1866,3477,0,0,0,0,0,0
$GC,4256,-1.50,-116.8,391.8,-9.4,258,4261,0.00,2.97,0.00,0.000,4,0.000,0.092,2655,200,3475,0,0,0,0,0,0
$GC,4300,-1.50,-116.8,396.4,-10.5,259,4304,0.00,2.58,0.00,0.000,6,0.000,0.028,2655,1825,3475,0,0,0,0,0,0
$GC,4579,-1.50,-116.8,421.0,-8.9,266,4584,0.00,2.45,0.00,0.000,4,0.000,0.044,2655,3332,3473,0,0,0,0,0,0
$GC,4624,-1.50,-116.8,425.1,-8.4,267,4628,0.00,2.42,0.00,0.000,6,0.000,0.050,2655,1879,3473,0,0,0,0,0,0
$GC,4901,-1.50,-116.8,447.6,-8.3,274,4906,0.00,3.08,0.00,0.000,4,0.000,0.101,2655,202,3471,0,0,0,0,0,0
$GC,4919,-1.50,-116.8,449.1,-8.6,274,4923,0.00,2.60,0.00,0.000,6,0.000,0.031,2655,1827,3471,0,0,0,0,0,0
$GC,5180,-1.50,-116.8,472.3,-9.0,281,5184,0.00,2.47,0.00,0.000,4,0.000,0.052,2655,3328,3469,0,0,0,0,0,0
$GC,5212,-1.50,-116.8,475.5,-9.6,281,5218,0.00,2.45,0.00,0.000,6,0.000,0.056,2654,1885,3469,0,0,0,0,0,0
$STATE,5460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5460,begin apogee
$GC,5468,-0.31,0.0,501.0,10.5,288,5568,1.25,0.00,97.03,0.913,6,0.084,0.000,2930,1831,3001,0,0,0,0,0,0
$STATE,5569,end apogee,CONTROL_FINISHED_OK
$STATE,5569,begin climb
$GC,5572,1.38,116.8,505.0,0.0,290,5686,1.52,2.62,102.82,0.904,4,0.037,0.051,3306,3367,2523,0,0,0,0,0,0
$GC,5743,1.35,184.6,504.6,6.1,294,5809,0.00,2.65,60.15,0.890,6,0.000,0.059,3306,1824,2248,0,0,0,0,0,0
$GC,6061,1.27,209.4,478.6,8.6,302,6091,0.12,2.67,21.83,0.857,4,0.128,0.040,3281,3372,2146,0,0,0,0,0,0
$GC,6119,1.30,229.9,473.5,8.9,303,6145,0.00,2.70,19.52,0.843,6,0.000,0.056,3281,1813,2062,0,0,0,0,0,0
$GC,6389,1.33,257.5,451.1,8.4,310,6420,0.00,3.08,25.25,0.844,4,0.000,0.110,3281,230,1950,0,0,0,0,0,0
$GC,6444,1.26,257.5,445.6,10.4,311,6449,0.00,2.53,0.00,0.000,6,0.000,0.028,3280,1779,1947,0,0,0,0,0,0
$GC,6712,1.26,257.5,417.9,10.2,318,6716,0.00,2.67,0.00,0.000,4,0.000,0.046,3280,3413,1943,0,0,0,0,0,0
$GC,6763,1.31,257.5,412.5,10.8,319,6768,0.00,2.75,0.00,0.000,6,0.000,0.058,3281,1817,1942,0,0,0,0,0,0
$GC,7037,1.31,257.5,383.8,10.5,326,7042,0.00,2.88,0.00,0.000,4,0.000,0.093,3281,236,1941,0,0,0,0,0,0
$GC,7081,1.25,257.5,378.5,11.8,327,7085,0.00,2.55,0.00,0.000,6,0.000,0.025,3280,1826,1939,0,0,0,0,0,0
$GC,7360,1.25,257.5,350.2,10.2,334,7364,0.00,2.83,0.00,0.000,4,0.000,0.078,3280,234,1939,0,0,0,0,0,0
$GC,7404,1.20,257.5,345.0,11.6,335,7408,0.00,2.50,0.00,0.000,6,0.000,0.022,3280,1804,1937,0,0,0,0,0,0
$GC,7681,1.21,267.3,318.4,9.5,342,7696,0.00,2.65,7.82,0.696,4,0.000,0.033,3281,3399,1910,0,0,0,0,0,0
$GC,7743,1.31,293.8,313.1,8.5,343,7774,0.00,2.67,25.27,0.782,6,0.000,0.044,3281,1796,1802,0,0,0,0,0,0
$GC,8054,1.40,328.2,287.4,8.1,351,8095,0.10,2.83,31.20,0.766,4,0.091,0.078,3308,234,1661,0,0,0,0,0,0
$GC,8186,1.35,328.2,272.7,12.1,354,8191,0.00,2.47,0.00,0.000,6,0.000,0.021,3308,1796,1657,0,0,0,0,0,0
$GC,8471,1.35,328.2,242.3,10.6,361,8475,0.00,2.75,0.00,0.000,4,0.000,0.074,3308,234,1654,0,0,0,0,0,0
$GC,8531,1.32,328.2,235.0,11.5,362,8536,0.10,2.40,0.00,0.000,6,0.134,0.021,3288,1763,1653,0,0,0,0,0,0
$GC,8793,1.41,348.3,211.5,8.9,369,8817,0.00,2.72,17.12,0.686,4,0.000,0.035,3288,3397,1580,0,0,0,0,0,0
$GC,8848,1.55,350.6,206.4,9.9,370,8853,0.20,2.75,0.00,0.000,6,0.060,0.044,3342,1755,1579,0,0,0,0,0,0
$GC,9110,1.55,350.6,175.6,12.2,390,9111,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1755,1577,0,0,0,0,0,0
$GC,9364,1.55,350.6,145.7,11.9,414,9369,0.00,2.65,0.00,0.000,4,0.000,0.072,3342,230,1576,0,0,0,0,0,0
$GC,9397,1.47,350.6,141.3,13.5,416,9404,0.00,2.47,0.00,0.000,6,0.000,0.021,3342,1793,1575,0,0,0,0,0,0
$GC,9664,1.48,352.9,112.4,9.9,441,9675,0.00,2.58,4.88,0.472,4,0.000,0.028,3342,3390,1562,0,0,0,0,0,0
$GC,9691,1.52,352.9,109.4,10.5,443,9696,0.00,2.62,0.00,0.000,6,0.000,0.036,3342,1801,1561,0,0,0,0,0,0
$GC,9958,1.60,365.9,84.3,9.3,467,9981,0.00,2.75,13.12,0.567,4,0.000,0.062,3342,244,1507,0,0,0,0,0,0
$GC,10073,1.60,365.9,73.4,10.1,477,10078,0.00,2.40,0.00,0.000,6,0.000,0.018,3342,1806,1506,0,0,0,0,0,0
$GC,10340,1.64,365.9,45.8,11.7,501,10347,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1808,1505,0,0,0,0,0,0
$GC,10605,1.68,394.8,19.4,8.4,537,10639,0.10,2.72,26.35,0.529,4,0.093,0.063,3371,241,1389,0,0,0,0,0,0
$GC,10709,1.62,394.8,8.4,11.7,554,10716,0.00,2.40,0.00,0.000,6,0.000,0.021,3371,1765,1387,0,0,0,0,0,0
$STATE,10737,end climb,SURFACE_DEPTH_REACHED
$STATE,10738,begin surface coast
$FINISH,0.5,1.023507
$STATE,10770,end surface coast,CONTROL_FINISHED_OK
$STATE,10770,begin surface
$SM_CCo,10792,180.20,0.518,0,0,477,619.14
$SM_GC,0.83,0.00,0.00,180.20,0.000,0.000,0.518,473,1767,477,-11.62,-0.08,619.14
$IRIDIUM_FIX,2241.69,-15744.57,080200,101041
$TT8_MAMPS,0.026078
$HUMID,54.68
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,21.30
$XPDR_PINGS,150
$24V_AH,23.3,90.294
$10V_AH,9.9,83.370
$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,27.650,160.375,452.375,180.200,0.000,23.467,51.049,359.858,37.500,0.000,13.178,1140.823,7203.225,713.361,1730.186,773.479,33.371,1552.628,0.000,1714.944,0.000,0.534,0.000
$DEVICE_MAMPS,162.604,295.295,913.497,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.925,291.544,393.896,769.955,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,44612,565
$CAP_FILE_SIZE,128395,0
$CFSIZE,260165632,144449536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141110,163707,2249.579,-15742.474,48,1.1,48,10.1