version: 66.06
glider: 146
mission: 5
dive: 651
start: 11 15 110 9 37 38
data:
$ID,146
$MISSION,5
$DIVE,651
$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,-263591.94
$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,20
$R_STBD_OVSHOOT,65
$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
$GPS1,092800,2255.094,-15742.391,29,1.1,39,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-61.5
$GPS2,093643,2255.122,-15742.382,11,1.1,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.077,0.222
$KALMAN_X,-301024.9,364.4,-58.3,349291.0,-451.7
$KALMAN_Y,-321407.9,-467.2,111.8,459809.0,344.5
$MHEAD_RNG_PITCHd_Wd,9.0,5370,-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,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,131,0.00,0.00,-112.97,0.000,2,0.000,0.000,475,1780,3332,0,0,0,0,0,0
$GC,134,-1.38,-116.8,3.8,-7.9,18,155,12.23,2.47,-2.95,0.000,4,0.172,0.039,2693,3339,3479,0,0,0,0,0,0
$GC,205,-1.38,-116.8,18.8,-13.1,30,213,0.00,2.58,0.00,0.000,6,0.000,0.028,2693,1768,3481,0,0,0,0,0,0
$GC,475,-1.26,-116.8,55.8,-13.6,63,480,0.15,2.70,0.00,0.000,4,0.124,0.057,2722,194,3481,0,0,0,0,0,0
$GC,520,-1.21,-116.8,60.8,-12.0,66,524,0.00,2.38,0.00,0.000,6,0.000,0.015,2722,1790,3481,0,0,0,0,0,0
$GC,783,-1.15,-116.8,90.1,-10.7,90,787,0.12,2.38,0.00,0.000,4,0.130,0.021,2747,3313,3481,0,0,0,0,0,0
$GC,801,-1.15,-116.8,92.2,-10.3,91,806,0.00,2.47,0.00,0.000,6,0.000,0.026,2747,1758,3481,0,0,0,0,0,0
$GC,1068,-1.19,-116.8,115.8,-10.1,115,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1757,3482,0,0,0,0,0,0
$GC,1335,-1.26,-116.8,138.9,-6.6,140,1339,0.00,2.65,0.00,0.000,4,0.000,0.064,2747,193,3482,0,0,0,0,0,0
$GC,1363,-1.35,-116.8,141.3,-7.4,142,1368,0.17,2.35,0.00,0.000,6,0.058,0.021,2692,1772,3482,0,0,0,0,0,0
$GC,1626,-1.35,-116.8,162.3,-8.5,166,1630,0.00,2.40,0.00,0.000,4,0.000,0.023,2691,3320,3482,0,0,0,0,0,0
$GC,1705,-1.35,-116.8,168.8,-7.4,172,1711,0.00,2.47,0.00,0.000,6,0.000,0.032,2691,1759,3482,0,0,0,0,0,0
$GC,1970,-1.35,-116.8,192.2,-9.7,197,1974,0.00,2.67,0.00,0.000,4,0.000,0.062,2691,194,3482,0,0,0,0,0,0
$GC,1993,-1.35,-116.8,194.8,-10.0,198,1999,0.00,2.38,0.00,0.000,6,0.000,0.018,2691,1784,3482,0,0,0,0,0,0
$GC,2256,-1.35,-116.8,219.0,-9.1,209,2259,0.00,2.40,0.00,0.000,4,0.000,0.031,2691,3310,3482,0,0,0,0,0,0
$GC,2294,-1.35,-116.8,222.7,-9.3,209,2300,0.00,2.42,0.00,0.000,6,0.000,0.027,2691,1784,3482,0,0,0,0,0,0
$GC,2546,-1.35,-116.8,246.0,-9.4,216,2551,0.00,2.75,0.00,0.000,4,0.000,0.067,2691,192,3482,0,0,0,0,0,0
$GC,2624,-1.35,-116.8,254.1,-9.2,217,2630,0.00,2.38,0.00,0.000,6,0.000,0.018,2691,1738,3482,0,0,0,0,0,0
$GC,2874,-1.35,-116.8,275.3,-8.6,224,2878,0.00,2.53,0.00,0.000,4,0.000,0.032,2691,3342,3482,0,0,0,0,0,0
$GC,2920,-1.40,-116.8,278.9,-7.6,225,2925,0.00,2.55,0.00,0.000,6,0.000,0.035,2691,1762,3481,0,0,0,0,0,0
$GC,3199,-1.40,-116.8,303.5,-9.3,232,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1762,3481,0,0,0,0,0,0
$GC,3442,-1.40,-116.8,326.1,-9.2,238,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1762,3480,0,0,0,0,0,0
$GC,3688,-1.40,-116.8,345.3,-7.7,244,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1762,3479,0,0,0,0,0,0
$GC,3930,-1.40,-116.8,364.4,-8.1,250,3934,0.00,2.53,0.00,0.000,4,0.000,0.039,2691,3328,3478,0,0,0,0,0,0
$GC,3980,-1.48,-116.8,368.5,-7.7,251,3984,0.00,2.58,0.00,0.000,6,0.000,0.046,2691,1778,3478,0,0,0,0,0,0
$GC,4253,-1.48,-116.8,390.4,-8.1,258,4258,0.00,2.88,0.00,0.000,4,0.000,0.090,2691,183,3476,0,0,0,0,0,0
$GC,4281,-1.52,-116.8,392.8,-8.5,258,4285,0.00,2.47,0.00,0.000,6,0.000,0.029,2691,1758,3476,0,0,0,0,0,0
$GC,4531,-1.56,-116.8,412.7,-8.1,264,4537,0.12,2.62,0.00,0.000,4,0.079,0.044,2652,3357,3475,0,0,0,0,0,0
$GC,4594,-1.56,-116.8,418.4,-9.4,265,4599,0.00,2.67,0.00,0.000,6,0.000,0.057,2651,1780,3474,0,0,0,0,0,0
$GC,4855,-1.56,-116.8,441.8,-8.8,272,4860,0.00,2.92,0.00,0.000,4,0.000,0.099,2651,185,3473,0,0,0,0,0,0
$GC,4871,-1.51,-116.8,443.4,-8.8,272,4876,0.00,2.58,0.00,0.000,6,0.000,0.028,2651,1786,3473,0,0,0,0,0,0
$GC,5134,-1.51,-116.8,465.7,-8.5,279,5138,0.00,2.60,0.00,0.000,4,0.000,0.056,2651,3355,3471,0,0,0,0,0,0
$GC,5173,-1.51,-116.8,469.3,-8.2,280,5178,0.00,2.65,0.00,0.000,6,0.000,0.058,2651,1784,3471,0,0,0,0,0,0
$GC,5459,-1.51,-116.8,495.6,-9.7,287,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1784,3469,0,0,0,0,0,0
$STATE,5535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5535,begin apogee
$GC,5541,-0.31,0.0,503.7,10.1,289,5642,1.27,0.00,97.38,0.913,6,0.087,0.000,2931,1784,3001,0,0,0,0,0,0
$STATE,5642,end apogee,CONTROL_FINISHED_OK
$STATE,5643,begin climb
$GC,5645,1.38,116.8,506.8,0.0,291,5759,1.52,2.97,102.15,0.897,4,0.041,0.103,3306,235,2523,0,0,0,0,0,0
$GC,5827,1.18,129.1,502.3,9.3,295,5846,0.25,2.62,11.12,0.792,6,0.112,0.031,3256,1820,2474,0,0,0,0,0,0
$GC,6104,1.23,169.7,481.3,7.7,302,6148,0.00,2.83,36.60,0.869,4,0.000,0.063,3256,3404,2308,0,0,0,0,0,0
$GC,6227,1.25,192.8,470.8,8.7,304,6256,0.00,2.72,21.55,0.842,6,0.000,0.051,3256,1822,2213,0,0,0,0,0,0
$GC,6520,1.30,231.4,447.6,7.8,312,6562,0.12,3.05,34.58,0.858,4,0.086,0.104,3288,232,2056,0,0,0,0,0,0
$GC,6579,1.22,231.4,441.7,10.6,313,6584,0.10,2.62,0.00,0.000,6,0.133,0.031,3269,1829,2054,0,0,0,0,0,0
$GC,6847,1.24,245.9,416.7,9.2,320,6863,0.00,0.00,13.50,0.797,6,0.000,0.000,3268,1830,1998,0,0,0,0,0,0
$GC,7089,1.28,279.3,396.4,8.1,326,7132,0.00,2.92,31.20,0.833,4,0.000,0.079,3268,233,1859,0,0,0,0,0,0
$GC,7160,1.28,279.3,389.6,10.4,327,7164,0.00,2.60,0.00,0.000,6,0.000,0.022,3268,1831,1857,0,0,0,0,0,0
$GC,7417,1.32,279.3,362.7,10.9,334,7421,0.00,2.83,0.00,0.000,4,0.000,0.073,3268,233,1853,0,0,0,0,0,0
$GC,7468,1.32,279.3,356.5,12.2,335,7472,0.00,2.53,0.00,0.000,6,0.000,0.025,3268,1795,1852,0,0,0,0,0,0
$GC,7740,1.38,287.7,329.2,9.6,342,7750,0.12,0.00,7.10,0.683,6,0.088,0.000,3303,1796,1827,0,0,0,0,0,0
$GC,7985,1.38,287.7,304.4,10.1,348,7989,0.00,2.75,0.00,0.000,4,0.000,0.072,3303,232,1825,0,0,0,0,0,0
$GC,8024,1.31,287.7,299.7,11.6,349,8028,0.00,2.50,0.00,0.000,6,0.000,0.027,3303,1797,1824,0,0,0,0,0,0
$GC,8307,1.33,303.8,272.6,9.1,356,8325,0.00,0.00,15.65,0.739,6,0.000,0.000,3303,1799,1762,0,0,0,0,0,0
$GC,8552,1.34,319.6,250.3,9.1,362,8573,0.00,2.80,14.98,0.716,4,0.000,0.066,3302,233,1697,0,0,0,0,0,0
$GC,8601,1.30,319.6,245.2,11.3,363,8605,0.00,2.47,0.00,0.000,6,0.000,0.028,3302,1786,1695,0,0,0,0,0,0
$GC,8874,1.30,319.6,217.6,10.2,370,8879,0.00,2.70,0.00,0.000,4,0.000,0.069,3302,231,1694,0,0,0,0,0,0
$GC,8918,1.25,319.6,212.8,10.4,371,8923,0.15,2.42,0.00,0.000,6,0.119,0.025,3273,1766,1692,0,0,0,0,0,0
$GC,9181,1.37,337.6,191.2,9.0,382,9205,0.10,2.72,16.45,0.674,4,0.260,0.035,3301,3397,1623,0,0,0,0,0,0
$GC,9218,1.45,341.6,187.5,9.8,385,9228,0.00,2.78,4.90,0.512,6,0.000,0.038,3301,1740,1608,0,0,0,0,0,0
$GC,9487,1.54,366.4,160.8,8.6,410,9518,0.15,2.72,23.08,0.658,4,0.156,0.069,3341,233,1506,0,0,0,0,0,0
$GC,9589,1.49,366.4,149.8,11.9,419,9593,0.00,2.35,0.00,0.000,6,0.000,0.020,3341,1737,1503,0,0,0,0,0,0
$GC,9857,1.49,366.4,122.2,10.9,443,9861,0.00,2.62,0.00,0.000,4,0.000,0.063,3341,228,1501,0,0,0,0,0,0
$GC,9921,1.45,366.4,113.4,12.9,448,9929,0.10,2.33,0.00,0.000,6,0.098,0.020,3317,1709,1500,0,0,0,0,0,0
$GC,10189,1.60,400.0,88.9,8.1,473,10225,0.12,2.62,29.88,0.596,4,0.076,0.061,3352,238,1369,0,0,0,0,0,0
$GC,10270,1.60,400.0,80.5,10.4,480,10278,0.00,2.28,0.00,0.000,6,0.000,0.020,3352,1685,1367,0,0,0,0,0,0
$GC,10538,1.68,425.0,59.3,8.6,505,10568,0.00,2.80,22.35,0.558,4,0.000,0.028,3352,3386,1267,0,0,0,0,0,0
$GC,10574,1.76,445.2,55.4,8.9,508,10605,0.10,2.92,18.60,0.542,6,0.052,0.038,3388,1659,1184,0,0,0,0,0,0
$GC,10857,1.76,445.2,18.4,14.2,542,10864,0.00,2.47,0.00,0.000,4,0.000,0.062,3387,230,1182,0,0,0,0,0,0
$GC,10904,1.71,445.2,11.2,15.3,550,10912,0.00,2.22,0.00,0.000,6,0.000,0.019,3387,1672,1181,0,0,0,0,0,0
$STATE,10953,end climb,SURFACE_DEPTH_REACHED
$STATE,10954,begin surface coast
$FINISH,0.4,1.023516
$STATE,10986,end surface coast,CONTROL_FINISHED_OK
$STATE,10987,begin surface
$SM_CCo,11010,140.20,0.518,0,0,476,619.14
$SM_GC,0.91,0.00,0.00,140.20,0.000,0.000,0.518,473,1833,476,-11.62,1.78,619.14
$IRIDIUM_FIX,2246.36,-15743.68,090200,060658
$TT8_MAMPS,0.025311
$HUMID,56.26
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,21.00
$XPDR_PINGS,138
$24V_AH,23.3,91.266
$10V_AH,9.9,83.890
$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,28.850,145.750,501.050,140.200,0.000,28.134,32.160,317.722,34.500,0.000,12.942,1120.623,7449.483,715.507,1685.557,700.888,33.366,1541.151,0.000,1672.107,0.000,0.534,0.000
$DEVICE_MAMPS,260.013,103.545,912.730,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.949,280.552,389.507,740.089,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,44679,565
$CAP_FILE_SIZE,125975,0
$CFSIZE,260165632,144089088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151110,124437,2256.501,-15742.019,27,1.7,27,10.1