version: 66.06
glider: 146
mission: 5
dive: 646
start: 11 14 110 16 53 28
data:
$ID,146
$MISSION,5
$DIVE,646
$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,-263472.75
$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,67
$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
$GPS1,163707,2249.579,-15742.474,48,1.1,48,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-61.3
$GPS2,165232,2249.746,-15742.498,14,1.8,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.070,-0.218
$KALMAN_X,-297282.8,-596.0,-219.8,346481.4,149.1
$KALMAN_Y,-325328.3,87.6,363.4,452961.3,802.4
$MHEAD_RNG_PITCHd_Wd,152.0,1622,-20.4,-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,-1.41,-111.0,0.0,0.0,0,132,0.00,0.00,-113.22,0.000,2,0.000,0.000,472,1767,3329,0,0,0,0,0,0
$GC,135,-1.42,-116.8,3.6,-8.4,18,157,12.07,2.67,-3.05,0.000,4,0.169,0.061,2685,187,3479,0,0,0,0,0,0
$GC,196,-1.31,-116.8,18.3,-17.7,28,205,0.10,2.45,0.00,0.000,6,0.104,0.015,2709,1778,3479,0,0,0,0,0,0
$GC,467,-1.22,-116.8,51.5,-12.2,61,472,0.10,2.42,0.00,0.000,4,0.132,0.022,2729,3331,3480,0,0,0,0,0,0
$GC,490,-1.17,-116.8,54.0,-11.9,62,494,0.00,2.50,0.00,0.000,6,0.000,0.026,2729,1760,3479,0,0,0,0,0,0
$GC,753,-1.14,-116.8,87.0,-12.7,86,758,0.10,2.67,0.00,0.000,4,0.133,0.063,2749,190,3479,0,0,0,0,0,0
$GC,773,-1.14,-116.8,89.4,-12.7,87,778,0.00,2.38,0.00,0.000,6,0.000,0.015,2749,1783,3479,0,0,0,0,0,0
$GC,1039,-1.19,-116.8,112.7,-7.9,111,1043,0.00,2.38,0.00,0.000,4,0.000,0.023,2749,3317,3479,0,0,0,0,0,0
$GC,1071,-1.31,-116.8,115.8,-8.5,113,1078,0.15,2.47,0.00,0.000,6,0.060,0.032,2697,1770,3479,0,0,0,0,0,0
$GC,1336,-1.31,-116.8,140.6,-8.9,138,1341,0.00,2.65,0.00,0.000,4,0.000,0.062,2697,189,3480,0,0,0,0,0,0
$GC,1346,-1.31,-116.8,141.9,-9.1,138,1354,0.00,2.40,0.00,0.000,6,0.000,0.021,2697,1776,3480,0,0,0,0,0,0
$GC,1611,-1.31,-116.8,167.9,-9.9,163,1615,0.00,2.38,0.00,0.000,4,0.000,0.030,2696,3314,3480,0,0,0,0,0,0
$GC,1628,-1.31,-116.8,169.9,-10.0,164,1632,0.00,2.47,0.00,0.000,6,0.000,0.025,2697,1759,3480,0,0,0,0,0,0
$GC,1894,-1.31,-116.8,195.4,-9.2,188,1898,0.00,2.45,0.00,0.000,4,0.000,0.024,2697,3316,3480,0,0,0,0,0,0
$GC,1950,-1.36,-116.8,200.7,-8.0,192,1954,0.00,2.42,0.00,0.000,6,0.000,0.027,2697,1795,3480,0,0,0,0,0,0
$GC,2217,-1.36,-116.8,221.6,-7.6,199,2221,0.00,2.38,0.00,0.000,4,0.000,0.031,2697,3306,3480,0,0,0,0,0,0
$GC,2275,-1.41,-116.8,225.8,-7.6,200,2279,0.00,2.38,0.00,0.000,6,0.000,0.030,2697,1823,3480,0,0,0,0,0,0
$GC,2542,-1.41,-116.8,246.0,-7.8,207,2546,0.00,2.78,0.00,0.000,4,0.000,0.069,2697,196,3479,0,0,0,0,0,0
$GC,2598,-1.41,-116.8,250.9,-8.6,208,2603,0.00,2.40,0.00,0.000,6,0.000,0.019,2697,1775,3479,0,0,0,0,0,0
$GC,2865,-1.41,-116.8,273.8,-8.6,215,2870,0.00,2.45,0.00,0.000,4,0.000,0.036,2697,3337,3478,0,0,0,0,0,0
$GC,2907,-1.49,-116.8,277.6,-9.6,216,2912,0.00,2.47,0.00,0.000,6,0.000,0.033,2697,1804,3479,0,0,0,0,0,0
$GC,3193,-1.54,-116.8,304.4,-9.4,223,3199,0.12,2.85,0.00,0.000,4,0.069,0.074,2647,185,3478,0,0,0,0,0,0
$GC,3223,-1.49,-116.8,307.7,-10.7,223,3228,0.12,2.50,0.00,0.000,6,0.117,0.021,2673,1791,3478,0,0,0,0,0,0
$GC,3473,-1.49,-116.8,332.5,-9.7,229,3477,0.00,2.50,0.00,0.000,4,0.000,0.041,2673,3352,3476,0,0,0,0,0,0
$GC,3570,-1.53,-116.8,341.4,-8.9,231,3574,0.00,2.47,0.00,0.000,6,0.000,0.044,2673,1844,3476,0,0,0,0,0,0
$GC,3842,-1.53,-116.8,364.8,-8.5,238,3846,0.00,2.40,0.00,0.000,4,0.000,0.033,2673,3357,3474,0,0,0,0,0,0
$GC,3865,-1.53,-116.8,366.5,-7.9,238,3869,0.00,2.50,0.00,0.000,6,0.000,0.048,2673,1851,3474,0,0,0,0,0,0
$GC,4120,-1.53,-116.8,385.0,-7.3,245,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1851,3473,0,0,0,0,0,0
$GC,4363,-1.53,-116.8,407.0,-9.4,251,4368,0.00,2.97,0.00,0.000,4,0.000,0.088,2673,193,3471,0,0,0,0,0,0
$GC,4379,-1.53,-116.8,408.8,-10.0,251,4384,0.00,2.60,0.00,0.000,6,0.000,0.027,2673,1837,3471,0,0,0,0,0,0
$GC,4642,-1.53,-116.8,434.2,-9.7,258,4647,0.00,2.47,0.00,0.000,4,0.000,0.047,2673,3345,3470,0,0,0,0,0,0
$GC,4693,-1.60,-116.8,438.9,-8.5,259,4697,0.00,2.50,0.00,0.000,6,0.000,0.055,2673,1862,3470,0,0,0,0,0,0
$GC,4967,-1.64,-116.8,460.7,-7.9,266,4969,0.12,0.00,0.00,0.000,6,0.077,0.000,2634,1862,3468,0,0,0,0,0,0
$GC,5208,-1.64,-116.8,484.8,-10.2,272,5213,0.00,3.12,0.00,0.000,4,0.000,0.111,2634,190,3466,0,0,0,0,0,0
$GC,5224,-1.58,-116.8,486.6,-10.5,272,5229,0.00,2.65,0.00,0.000,6,0.000,0.036,2634,1835,3466,0,0,0,0,0,0
$STATE,5360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5360,begin apogee
$GC,5368,-0.31,0.0,500.2,9.9,276,5468,1.35,0.00,96.60,0.904,6,0.084,0.000,2931,1834,3001,0,0,0,0,0,0
$STATE,5469,end apogee,CONTROL_FINISHED_OK
$STATE,5469,begin climb
$GC,5471,1.42,116.8,502.5,0.0,278,5582,1.55,0.00,102.50,0.885,6,0.045,0.000,3315,1835,2524,0,0,0,0,0,0
$GC,5840,1.31,138.0,479.7,8.7,287,5865,0.15,2.70,18.23,0.826,4,0.123,0.056,3286,3385,2437,0,0,0,0,0,0
$GC,5884,1.30,166.6,475.9,8.3,288,5918,0.00,2.67,26.85,0.843,6,0.000,0.056,3286,1830,2321,0,0,0,0,0,0
$GC,6173,1.30,202.1,452.5,7.9,295,6214,0.00,2.70,31.77,0.847,4,0.000,0.043,3286,3401,2176,0,0,0,0,0,0
$GC,6242,1.33,229.3,446.8,8.4,296,6272,0.00,2.72,25.33,0.826,6,0.000,0.053,3286,1827,2066,0,0,0,0,0,0
$GC,6543,1.36,250.4,420.8,8.8,304,6567,0.00,2.62,19.17,0.811,4,0.000,0.036,3286,3394,1979,0,0,0,0,0,0
$GC,6591,1.36,255.3,415.8,9.7,305,6602,0.00,2.67,5.97,0.651,6,0.000,0.056,3286,1848,1960,0,0,0,0,0,0
$GC,6872,1.36,255.3,387.4,10.3,312,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1847,1954,0,0,0,0,0,0
$GC,7115,1.37,264.4,363.6,9.5,318,7125,0.00,0.00,8.65,0.722,6,0.000,0.000,3286,1847,1923,0,0,0,0,0,0
$GC,7358,1.38,268.6,339.9,9.8,324,7368,0.00,2.55,4.95,0.597,4,0.000,0.031,3286,3398,1906,0,0,0,0,0,0
$GC,7400,1.46,268.6,335.9,11.2,325,7405,0.12,2.62,0.00,0.000,6,0.088,0.051,3318,1838,1905,0,0,0,0,0,0
$GC,7685,1.46,268.6,305.6,10.5,332,7690,0.00,2.85,0.00,0.000,4,0.000,0.083,3319,236,1903,0,0,0,0,0,0
$GC,7718,1.38,268.6,301.6,11.2,332,7723,0.00,2.55,0.00,0.000,6,0.000,0.025,3318,1835,1902,0,0,0,0,0,0
$GC,7969,1.38,268.6,275.8,10.4,339,7973,0.00,2.53,0.00,0.000,4,0.000,0.031,3318,3408,1902,0,0,0,0,0,0
$GC,8002,1.41,268.6,272.0,10.7,339,8007,0.00,2.58,0.00,0.000,6,0.000,0.040,3318,1844,1901,0,0,0,0,0,0
$GC,8252,1.44,292.9,249.6,8.6,346,8281,0.00,2.92,22.42,0.728,4,0.000,0.077,3318,237,1806,0,0,0,0,0,0
$GC,8358,1.38,292.9,239.4,11.1,348,8362,0.00,2.55,0.00,0.000,6,0.000,0.021,3318,1844,1802,0,0,0,0,0,0
$GC,8624,1.38,292.9,212.3,10.3,355,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1845,1800,0,0,0,0,0,0
$GC,8873,1.38,292.9,184.5,11.0,370,8878,0.00,2.80,0.00,0.000,4,0.000,0.069,3318,234,1800,0,0,0,0,0,0
$GC,8892,1.38,292.9,182.6,11.1,371,8897,0.00,2.47,0.00,0.000,6,0.000,0.021,3318,1813,1799,0,0,0,0,0,0
$GC,9155,1.38,292.9,156.4,10.1,395,9159,0.00,2.50,0.00,0.000,4,0.000,0.034,3318,3386,1798,0,0,0,0,0,0
$GC,9219,1.46,305.4,150.4,9.3,400,9239,0.00,2.55,11.32,0.610,6,0.000,0.041,3319,1819,1755,0,0,0,0,0,0
$GC,9496,1.55,338.0,128.5,8.1,426,9531,0.00,2.78,29.38,0.629,4,0.000,0.068,3319,242,1621,0,0,0,0,0,0
$GC,9580,1.55,338.0,120.8,10.3,433,9584,0.00,2.47,0.00,0.000,6,0.000,0.025,3318,1829,1618,0,0,0,0,0,0
$GC,9846,1.65,358.4,96.4,8.8,457,9869,0.17,0.00,18.02,0.583,6,0.066,0.000,3365,1831,1539,0,0,0,0,0,0
$GC,10125,1.66,365.6,69.2,9.6,483,10139,0.00,2.78,7.68,0.504,4,0.000,0.058,3365,234,1509,0,0,0,0,0,0
$GC,10239,1.66,365.6,56.3,11.5,493,10244,0.00,2.47,0.00,0.000,6,0.000,0.019,3365,1826,1507,0,0,0,0,0,0
$GC,10505,1.66,365.6,28.4,10.7,518,10513,0.00,2.75,0.00,0.000,4,0.000,0.059,3365,243,1507,0,0,0,0,0,0
$GC,10528,1.66,365.6,25.0,12.7,521,10535,0.00,2.45,0.00,0.000,6,0.000,0.018,3365,1811,1506,0,0,0,0,0,0
$STATE,10707,end climb,SURFACE_DEPTH_REACHED
$STATE,10707,begin surface coast
$FINISH,0.3,1.023813
$STATE,10751,end surface coast,CONTROL_FINISHED_OK
$STATE,10751,begin surface
$SM_CCo,10773,204.88,0.516,0,0,476,619.14
$SM_GC,1.04,0.00,0.00,204.88,0.000,0.000,0.516,471,1749,476,-11.63,-0.57,619.14
$IRIDIUM_FIX,2239.35,-15744.57,080200,161634
$TT8_MAMPS,0.026078
$HUMID,54.44
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.10
$XPDR_PINGS,136
$24V_AH,23.3,90.448
$10V_AH,9.9,83.455
$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,28.125,144.475,428.850,204.875,0.000,136.000,400.414,0.000,34.000,0.000,19.424,1124.495,7534.187,713.726,1664.605,868.288,33.365,1506.547,0.000,1655.328,0.000,0.535,0.000
$DEVICE_MAMPS,168.740,123.487,903.526,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.172,286.010,394.799,763.612,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,44624,562
$CAP_FILE_SIZE,119544,0
$CFSIZE,260165632,144375808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141110,195736,2249.203,-15742.690,11,1.0,27,10.1