version: 66.06
glider: 146
mission: 5
dive: 648
start: 11 14 110 23 33 51
data:
$ID,146
$MISSION,5
$DIVE,648
$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,-263536.88
$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,13
$R_STBD_OVSHOOT,57
$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
$GPS1,231657,2250.925,-15742.879,59,2.7,78,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-60.1
$GPS2,233258,2251.072,-15742.900,9,2.2,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.047,0.230
$KALMAN_X,-299348.3,-245.0,-79.4,347360.4,-80.3
$KALMAN_Y,-322751.1,384.6,-226.9,453142.3,966.4
$MHEAD_RNG_PITCHd_Wd,1.6,12923,-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,-116.8,0.0,0.0,0,126,0.00,0.00,-107.07,0.000,2,0.000,0.000,474,1722,3185,0,0,0,0,0,0
$GC,129,-1.38,-116.8,3.2,-7.2,17,157,12.15,2.60,-6.35,0.000,4,0.170,0.038,2692,3331,3480,0,0,0,0,0,0
$GC,221,-1.32,-116.8,17.7,-10.3,32,228,0.00,2.58,0.00,0.000,6,0.000,0.031,2692,1750,3480,0,0,0,0,0,0
$GC,489,-1.19,-116.8,56.8,-14.4,65,494,0.22,2.65,0.00,0.000,4,0.110,0.057,2738,194,3481,0,0,0,0,0,0
$GC,522,-1.19,-116.8,61.2,-13.3,67,527,0.00,2.40,0.00,0.000,6,0.000,0.015,2738,1796,3481,0,0,0,0,0,0
$GC,787,-1.19,-116.8,90.3,-10.3,91,791,0.00,2.40,0.00,0.000,4,0.000,0.031,2738,3329,3481,0,0,0,0,0,0
$GC,804,-1.19,-116.8,92.4,-10.0,92,808,0.00,2.50,0.00,0.000,6,0.000,0.026,2738,1755,3481,0,0,0,0,0,0
$GC,1069,-1.23,-116.8,114.4,-7.6,116,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1755,3481,0,0,0,0,0,0
$GC,1336,-1.29,-116.8,137.8,-9.1,141,1340,0.00,2.47,0.00,0.000,4,0.000,0.030,2738,3327,3481,0,0,0,0,0,0
$GC,1432,-1.37,-116.8,147.2,-9.0,149,1437,0.15,2.47,0.00,0.000,6,0.061,0.025,2688,1761,3481,0,0,0,0,0,0
$GC,1697,-1.37,-116.8,172.5,-9.4,173,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1759,3480,0,0,0,0,0,0
$GC,1958,-1.37,-116.8,196.6,-9.2,198,1963,0.00,2.65,0.00,0.000,4,0.000,0.061,2687,193,3481,0,0,0,0,0,0
$GC,1975,-1.37,-116.8,198.3,-9.2,199,1979,0.00,2.38,0.00,0.000,6,0.000,0.021,2687,1786,3481,0,0,0,0,0,0
$GC,2248,-1.37,-116.8,223.4,-9.3,207,2253,0.00,2.70,0.00,0.000,4,0.000,0.063,2687,194,3480,0,0,0,0,0,0
$GC,2271,-1.37,-116.8,225.8,-9.7,207,2275,0.00,2.35,0.00,0.000,6,0.000,0.016,2687,1748,3481,0,0,0,0,0,0
$GC,2526,-1.37,-116.8,247.4,-8.5,214,2530,0.00,2.65,0.00,0.000,4,0.000,0.062,2687,200,3480,0,0,0,0,0,0
$GC,2560,-1.37,-116.8,250.6,-9.6,214,2566,0.00,2.30,0.00,0.000,6,0.000,0.017,2687,1723,3480,0,0,0,0,0,0
$GC,2810,-1.37,-116.8,272.7,-8.9,221,2815,0.00,2.53,0.00,0.000,4,0.000,0.030,2687,3335,3480,0,0,0,0,0,0
$GC,2900,-1.42,-116.8,281.4,-9.5,223,2905,0.00,2.55,0.00,0.000,6,0.000,0.033,2687,1758,3479,0,0,0,0,0,0
$GC,3179,-1.42,-116.8,307.1,-9.3,230,3184,0.00,2.50,0.00,0.000,4,0.000,0.032,2687,3330,3479,0,0,0,0,0,0
$GC,3213,-1.47,-116.8,310.4,-9.6,230,3219,0.00,2.55,0.00,0.000,6,0.000,0.041,2687,1768,3479,0,0,0,0,0,0
$GC,3465,-1.47,-116.8,333.1,-9.2,237,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1768,3478,0,0,0,0,0,0
$GC,3707,-1.47,-116.8,353.0,-8.0,243,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1768,3477,0,0,0,0,0,0
$GC,3950,-1.47,-116.8,371.7,-7.7,249,3955,0.00,2.53,0.00,0.000,4,0.000,0.042,2687,3325,3475,0,0,0,0,0,0
$GC,4038,-1.54,-116.8,378.1,-7.3,251,4043,0.10,2.60,0.00,0.000,6,0.082,0.046,2645,1765,3475,0,0,0,0,0,0
$GC,4322,-1.49,-116.8,405.3,-9.9,258,4327,0.15,2.55,0.00,0.000,4,0.109,0.043,2676,3323,3473,0,0,0,0,0,0
$GC,4349,-1.49,-116.8,408.3,-10.1,258,4353,0.00,2.58,0.00,0.000,6,0.000,0.058,2677,1785,3473,0,0,0,0,0,0
$GC,4601,-1.49,-116.8,432.5,-9.7,264,4606,0.00,2.90,0.00,0.000,4,0.000,0.102,2677,185,3472,0,0,0,0,0,0
$GC,4617,-1.49,-116.8,434.3,-9.3,264,4621,0.00,2.50,0.00,0.000,6,0.000,0.027,2677,1753,3472,0,0,0,0,0,0
$GC,4878,-1.49,-116.8,455.7,-7.8,271,4882,0.00,2.65,0.00,0.000,4,0.000,0.050,2677,3362,3470,0,0,0,0,0,0
$GC,4952,-1.55,-116.8,460.9,-7.1,272,4956,0.00,2.65,0.00,0.000,6,0.000,0.052,2677,1797,3469,0,0,0,0,0,0
$GC,5202,-1.55,-116.8,478.2,-7.1,278,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1797,3468,0,0,0,0,0,0
$GC,5446,-1.55,-116.8,496.7,-7.7,284,5450,0.00,2.58,0.00,0.000,4,0.000,0.046,2677,3354,3466,0,0,0,0,0,0
$STATE,5487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5487,begin apogee
$GC,5497,-0.31,0.0,500.4,8.0,285,5597,1.12,0.00,96.38,0.910,6,0.084,0.000,2928,1821,3001,0,0,0,0,0,0
$STATE,5598,end apogee,CONTROL_FINISHED_OK
$STATE,5598,begin climb
$GC,5601,1.38,116.8,503.3,0.0,287,5715,1.55,2.70,102.60,0.892,4,0.045,0.052,3308,3397,2523,0,0,0,0,0,0
$GC,5760,1.33,178.7,501.7,6.5,290,5821,0.00,2.75,54.78,0.878,6,0.000,0.055,3308,1817,2272,0,0,0,0,0,0
$GC,6088,1.26,202.2,473.9,8.7,299,6115,0.17,2.70,20.92,0.837,4,0.133,0.042,3274,3410,2175,0,0,0,0,0,0
$GC,6149,1.28,217.3,468.5,9.2,300,6170,0.00,2.75,14.48,0.804,6,0.000,0.056,3274,1819,2115,0,0,0,0,0,0
$GC,6416,1.28,223.2,443.5,9.7,307,6423,0.00,0.00,5.80,0.665,6,0.000,0.000,3274,1819,2091,0,0,0,0,0,0
$GC,6658,1.28,223.2,418.2,10.5,313,6662,0.00,2.92,0.00,0.000,4,0.000,0.098,3274,233,2088,0,0,0,0,0,0
$GC,6691,1.21,223.2,414.3,11.5,313,6696,0.00,2.55,0.00,0.000,6,0.000,0.028,3274,1813,2087,0,0,0,0,0,0
$GC,6942,1.21,223.2,388.6,10.3,320,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1813,2085,0,0,0,0,0,0
$GC,7184,1.23,241.5,366.0,9.0,326,7203,0.00,0.00,17.33,0.798,6,0.000,0.000,3274,1813,2016,0,0,0,0,0,0
$GC,7428,1.27,271.0,345.4,8.3,332,7462,0.00,2.90,27.33,0.805,4,0.000,0.073,3274,233,1895,0,0,0,0,0,0
$GC,7493,1.27,271.0,339.1,11.1,333,7497,0.00,2.55,0.00,0.000,6,0.000,0.028,3274,1818,1892,0,0,0,0,0,0
$GC,7754,1.32,277.7,313.4,9.7,340,7768,0.00,2.88,6.85,0.664,4,0.000,0.072,3274,231,1867,0,0,0,0,0,0
$GC,7797,1.32,277.7,309.0,10.5,341,7802,0.00,2.53,0.00,0.000,6,0.000,0.023,3274,1805,1866,0,0,0,0,0,0
$GC,8083,1.44,325.3,286.5,7.3,348,8133,0.17,2.88,42.97,0.772,4,0.072,0.067,3318,227,1673,0,0,0,0,0,0
$GC,8163,1.39,325.3,278.4,12.0,349,8169,0.00,2.45,0.00,0.000,6,0.000,0.025,3318,1777,1670,0,0,0,0,0,0
$GC,8414,1.39,325.3,250.7,11.3,356,8419,0.00,2.60,0.00,0.000,4,0.000,0.029,3318,3392,1666,0,0,0,0,0,0
$GC,8424,1.39,325.3,249.3,11.6,356,8429,0.00,2.72,0.00,0.000,6,0.000,0.042,3318,1740,1665,0,0,0,0,0,0
$GC,8693,1.40,327.8,222.5,9.9,363,8698,0.00,2.62,0.00,0.000,4,0.000,0.077,3318,230,1664,0,0,0,0,0,0
$GC,8795,1.36,327.8,210.3,12.2,365,8800,0.10,2.33,0.00,0.000,6,0.133,0.020,3298,1717,1661,0,0,0,0,0,0
$GC,9060,1.43,327.8,181.1,10.5,383,9065,0.00,2.65,0.00,0.000,4,0.000,0.028,3298,3392,1661,0,0,0,0,0,0
$GC,9077,1.51,329.4,179.2,9.9,384,9083,0.15,2.83,0.00,0.000,6,0.071,0.042,3338,1673,1661,0,0,0,0,0,0
$GC,9342,1.52,337.5,153.2,9.6,408,9357,0.00,2.83,9.55,0.597,4,0.000,0.029,3338,3398,1625,0,0,0,0,0,0
$GC,9392,1.58,337.5,147.9,10.4,412,9396,0.00,2.80,0.00,0.000,6,0.000,0.038,3338,1700,1623,0,0,0,0,0,0
$GC,9658,1.58,337.5,120.6,10.3,436,9662,0.00,2.53,0.00,0.000,4,0.000,0.065,3338,230,1623,0,0,0,0,0,0
$GC,9676,1.58,337.5,118.3,10.8,437,9681,0.00,2.30,0.00,0.000,6,0.000,0.019,3339,1733,1621,0,0,0,0,0,0
$GC,9943,1.63,341.7,90.7,9.8,461,9955,0.00,2.60,5.32,0.469,4,0.000,0.059,3338,222,1606,0,0,0,0,0,0
$GC,9977,1.63,341.7,86.7,10.5,464,9981,0.00,2.28,0.00,0.000,6,0.000,0.019,3338,1711,1605,0,0,0,0,0,0
$GC,10249,1.73,375.3,63.2,8.1,489,10286,0.17,2.60,30.33,0.567,4,0.078,0.060,3385,224,1469,0,0,0,0,0,0
$GC,10300,1.68,378.4,58.2,9.9,493,10313,0.00,2.25,4.35,0.396,6,0.000,0.018,3385,1689,1456,0,0,0,0,0,0
$GC,10570,1.63,378.4,29.8,11.4,518,10580,0.15,2.78,0.00,0.000,4,0.117,0.027,3355,3396,1453,0,0,0,0,0,0
$GC,10606,1.71,378.4,25.7,10.8,523,10613,0.00,2.88,0.00,0.000,6,0.000,0.035,3355,1669,1453,0,0,0,0,0,0
$STATE,10825,end climb,SURFACE_DEPTH_REACHED
$STATE,10825,begin surface coast
$FINISH,1.0,1.023502
$STATE,10864,end surface coast,CONTROL_FINISHED_OK
$STATE,10864,begin surface
$SM_CCo,10886,193.77,0.514,0,0,476,619.14
$SM_GC,0.80,0.00,0.00,193.77,0.000,0.000,0.514,474,1792,476,-11.62,0.62,619.14
$IRIDIUM_FIX,2239.35,-15746.73,080200,232350
$TT8_MAMPS,0.026078
$HUMID,54.41
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,21.60
$XPDR_PINGS,129
$24V_AH,23.3,90.775
$10V_AH,9.8,83.630
$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,28.100,145.650,438.975,193.775,0.000,138.399,400.408,0.000,32.250,0.000,31.228,1131.105,7612.102,706.750,1704.982,883.512,33.366,1511.925,0.000,1675.236,0.000,0.535,0.000
$DEVICE_MAMPS,169.507,102.011,909.662,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.821,301.393,401.282,792.269,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,44692,572
$CAP_FILE_SIZE,119660,0
$CFSIZE,260165632,144252928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151110,023937,2252.382,-15742.701,23,1.9,23,10.1