version: 66.06
glider: 146
mission: 5
dive: 58
start: 8 23 110 23 0 9
data:
$ID,146
$MISSION,5
$DIVE,58
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$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,208
$T_MISSION,400
$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,150
$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,420
$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,-248327.75
$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,23
$R_STBD_OVSHOOT,70
$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
$GPS1,225306,2251.315,-15752.041,23,1.5,23,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.8
$GPS2,225914,2251.305,-15752.078,11,1.5,11,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.209,-0.118
$KALMAN_X,-44738.2,-366.1,340.3,76654.2,-1293.5
$KALMAN_Y,20946.2,-82.1,50.5,110065.9,-1114.3
$MHEAD_RNG_PITCHd_Wd,230.4,6005,-14.1,-8.013
$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,15,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-85.90,0.000,2,0.000,0.000,476,1794,3488,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.3,-5.8,11,133,12.32,2.75,-1.88,0.000,4,0.166,0.065,2759,196,3600,0,0,0,0,0,0
$GC,259,-0.91,-146.0,40.1,-14.9,28,264,0.20,2.38,0.00,0.000,6,0.104,0.015,2801,1769,3601,0,0,0,0,0,0
$GC,527,-0.84,-146.0,73.7,-11.1,52,531,0.00,2.42,0.00,0.000,4,0.000,0.025,2802,3325,3602,0,0,0,0,0,0
$GC,584,-0.84,-146.0,79.5,-9.3,56,588,0.00,2.47,0.00,0.000,6,0.000,0.031,2802,1788,3602,0,0,0,0,0,0
$GC,847,-0.84,-146.0,101.9,-8.8,80,852,0.00,2.70,0.00,0.000,4,0.000,0.066,2802,195,3602,0,0,0,0,0,0
$GC,891,-0.84,-146.0,105.9,-10.2,83,895,0.00,2.42,0.00,0.000,6,0.000,0.023,2801,1802,3602,0,0,0,0,0,0
$GC,1157,-0.84,-146.0,130.1,-9.8,107,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,1804,3603,0,0,0,0,0,0
$GC,1419,-0.84,-146.0,153.4,-8.4,132,1424,0.00,2.78,0.00,0.000,4,0.000,0.068,2802,190,3603,0,0,0,0,0,0
$GC,1440,-0.84,-146.0,154.9,-8.4,133,1445,0.00,2.40,0.00,0.000,6,0.000,0.021,2802,1784,3603,0,0,0,0,0,0
$GC,1708,-0.84,-146.0,175.2,-8.3,157,1713,0.00,2.72,0.00,0.000,4,0.000,0.069,2802,187,3603,0,0,0,0,0,0
$GC,1736,-0.84,-146.0,178.3,-9.5,159,1740,0.00,2.40,0.00,0.000,6,0.000,0.024,2802,1781,3603,0,0,0,0,0,0
$GC,1998,-0.84,-146.0,199.5,-7.7,183,2003,0.00,2.42,0.00,0.000,4,0.000,0.034,2801,3314,3603,0,0,0,0,0,0
$GC,2022,-0.88,-146.0,201.5,-7.9,183,2026,0.00,2.45,0.00,0.000,6,0.000,0.031,2802,1784,3603,0,0,0,0,0,0
$GC,2277,-0.88,-146.0,220.6,-7.5,190,2281,0.00,2.75,0.00,0.000,4,0.000,0.074,2802,189,3603,0,0,0,0,0,0
$GC,2298,-0.88,-146.0,222.3,-7.6,190,2302,0.00,2.40,0.00,0.000,6,0.000,0.018,2802,1787,3603,0,0,0,0,0,0
$GC,2556,-0.92,-146.0,239.6,-6.6,197,2560,0.00,2.75,0.00,0.000,4,0.000,0.072,2801,196,3603,0,0,0,0,0,0
$GC,2583,-0.96,-146.0,241.7,-7.3,197,2587,0.00,2.38,0.00,0.000,6,0.000,0.016,2802,1773,3603,0,0,0,0,0,0
$GC,2835,-1.01,-146.0,259.5,-7.2,203,2839,0.00,2.42,0.00,0.000,4,0.000,0.029,2801,3328,3602,0,0,0,0,0,0
$GC,2868,-1.09,-146.0,262.4,-7.9,203,2874,0.17,2.50,0.00,0.000,6,0.058,0.037,2744,1783,3602,0,0,0,0,0,0
$GC,3118,-1.03,-146.0,287.1,-10.2,210,3120,0.15,0.00,0.00,0.000,6,0.104,0.000,2777,1783,3602,0,0,0,0,0,0
$GC,3363,-1.03,-146.0,306.8,-7.9,216,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1783,3602,0,0,0,0,0,0
$GC,3605,-1.03,-146.0,324.1,-7.1,222,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1783,3601,0,0,0,0,0,0
$GC,3849,-1.03,-146.0,341.4,-7.1,228,3853,0.00,2.85,0.00,0.000,4,0.000,0.093,2777,193,3600,0,0,0,0,0,0
$GC,3881,-1.03,-146.0,344.2,-8.6,228,3887,0.00,2.45,0.00,0.000,6,0.000,0.026,2777,1743,3600,0,0,0,0,0,0
$GC,4132,-1.03,-146.0,364.7,-8.2,235,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1743,3598,0,0,0,0,0,0
$GC,4375,-1.07,-146.0,383.3,-7.6,241,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1744,3597,0,0,0,0,0,0
$GC,4619,-1.12,-146.0,400.6,-7.1,247,4624,0.00,2.75,0.00,0.000,4,0.000,0.091,2777,194,3596,0,0,0,0,0,0
$GC,4643,-1.17,-146.0,402.3,-6.9,247,4648,0.15,2.55,0.00,0.000,6,0.067,0.038,2728,1771,3596,0,0,0,0,0,0
$GC,4899,-1.12,-146.0,426.0,-9.4,254,4904,0.12,2.70,0.00,0.000,4,0.113,0.065,2754,3358,3594,0,0,0,0,0,0
$GC,4939,-1.17,-146.0,429.6,-8.3,255,4943,0.00,2.70,0.00,0.000,6,0.000,0.061,2754,1778,3594,0,0,0,0,0,0
$GC,5223,-1.17,-146.0,453.7,-8.4,262,5227,0.00,3.00,0.00,0.000,4,0.000,0.114,2754,182,3592,0,0,0,0,0,0
$GC,5245,-1.17,-146.0,455.8,-8.9,262,5250,0.00,2.58,0.00,0.000,6,0.000,0.039,2754,1773,3592,0,0,0,0,0,0
$GC,5501,-1.17,-146.0,475.6,-7.5,269,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1773,3590,0,0,0,0,0,0
$GC,5746,-1.17,-146.0,492.1,-6.6,275,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1773,3588,0,0,0,0,0,0
$STATE,5864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5864,begin apogee
$GC,5870,-0.31,0.0,500.7,6.9,278,5992,0.77,0.00,118.70,0.923,6,0.080,0.000,2930,1826,3001,0,0,0,0,0,0
$STATE,5993,end apogee,CONTROL_FINISHED_OK
$STATE,5993,begin climb
$GC,5995,1.06,146.0,504.6,0.0,281,6130,1.25,2.83,123.30,0.896,4,0.059,0.074,3233,3397,2404,0,0,0,0,0,0
$GC,6175,0.95,170.9,501.5,7.1,285,6205,0.12,2.75,22.42,0.844,6,0.124,0.063,3210,1818,2302,0,0,0,0,0,0
$GC,6490,0.87,179.7,479.0,7.7,293,6504,0.00,2.72,7.88,0.742,4,0.000,0.051,3210,3397,2267,0,0,0,0,0,0
$GC,6533,0.80,179.7,475.3,8.7,294,6539,0.17,2.72,0.00,0.000,6,0.116,0.059,3175,1829,2266,0,0,0,0,0,0
$GC,6818,0.85,217.0,455.9,6.6,301,6856,0.00,0.00,33.95,0.863,6,0.000,0.000,3175,1829,2115,0,0,0,0,0,0
$GC,7101,0.87,237.3,435.7,7.3,308,7121,0.00,0.00,18.40,0.831,6,0.000,0.000,3175,1829,2033,0,0,0,0,0,0
$GC,7344,0.88,242.3,416.7,7.8,314,7352,0.00,0.00,5.43,0.655,6,0.000,0.000,3175,1829,2012,0,0,0,0,0,0
$GC,7590,0.92,279.3,399.8,6.6,320,7628,0.12,0.00,34.30,0.846,6,0.180,0.000,3206,1829,1862,0,0,0,0,0,0
$GC,7872,0.92,279.3,375.9,8.6,327,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1829,1856,0,0,0,0,0,0
$GC,8115,0.92,279.3,353.8,9.1,333,8120,0.00,2.88,0.00,0.000,4,0.000,0.092,3206,231,1854,0,0,0,0,0,0
$GC,8142,0.85,279.3,350.9,10.4,333,8147,0.00,2.55,0.00,0.000,6,0.000,0.025,3206,1836,1853,0,0,0,0,0,0
$GC,8393,0.85,279.3,327.1,9.2,339,8394,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1837,1852,0,0,0,0,0,0
$GC,8636,0.86,281.2,307.5,7.9,345,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1837,1852,0,0,0,0,0,0
$GC,8879,0.86,281.2,287.0,8.5,351,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1837,1851,0,0,0,0,0,0
$GC,9125,0.86,287.0,267.6,7.8,357,9138,0.00,2.58,6.53,0.630,4,0.000,0.033,3206,3398,1829,0,0,0,0,0,0
$GC,9167,0.91,287.0,263.8,8.7,358,9172,0.00,2.60,0.00,0.000,6,0.000,0.041,3206,1804,1828,0,0,0,0,0,0
$GC,9450,0.92,299.0,242.1,7.6,365,9469,0.00,2.75,11.73,0.680,4,0.000,0.074,3206,243,1781,0,0,0,0,0,0
$GC,9494,0.88,299.0,238.5,8.9,366,9499,0.00,2.50,0.00,0.000,6,0.000,0.025,3206,1836,1780,0,0,0,0,0,0
$GC,9777,0.88,299.0,214.4,8.4,373,9781,0.00,2.50,0.00,0.000,4,0.000,0.032,3206,3390,1779,0,0,0,0,0,0
$GC,9817,0.96,315.6,211.5,7.4,374,9838,0.00,2.55,15.70,0.669,6,0.000,0.033,3206,1819,1713,0,0,0,0,0,0
$GC,10096,0.96,315.6,191.3,8.1,386,10100,0.00,2.72,0.00,0.000,4,0.000,0.071,3206,241,1710,0,0,0,0,0,0
$GC,10127,0.96,315.6,188.4,9.8,388,10131,0.00,2.47,0.00,0.000,6,0.000,0.023,3206,1841,1710,0,0,0,0,0,0
$GC,10394,0.96,315.6,165.8,8.5,412,10399,0.00,2.45,0.00,0.000,4,0.000,0.035,3206,3385,1710,0,0,0,0,0,0
$GC,10416,1.00,315.6,163.3,8.2,413,10422,0.00,2.55,0.00,0.000,6,0.000,0.035,3206,1815,1709,0,0,0,0,0,0
$GC,10681,1.08,344.8,143.2,6.9,438,10719,0.12,2.80,25.95,0.620,4,0.081,0.065,3242,247,1594,0,0,0,0,0,0
$GC,10732,1.01,344.8,138.2,10.6,442,10737,0.10,2.45,0.00,0.000,6,0.123,0.024,3222,1825,1593,0,0,0,0,0,0
$GC,10992,1.01,344.8,116.3,8.7,466,10996,0.00,2.47,0.00,0.000,4,0.000,0.030,3221,3389,1592,0,0,0,0,0,0
$GC,11068,1.13,344.8,109.2,9.5,472,11073,0.10,2.53,0.00,0.000,6,0.092,0.037,3252,1840,1590,0,0,0,0,0,0
$GC,11328,1.13,344.8,82.0,10.1,496,11329,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1840,1590,0,0,0,0,0,0
$GC,11587,1.13,344.8,60.8,8.6,520,11591,0.00,2.45,0.00,0.000,4,0.000,0.026,3252,3390,1590,0,0,0,0,0,0
$GC,11611,1.16,344.8,58.4,8.7,521,11620,0.00,2.50,0.00,0.000,6,0.000,0.033,3252,1860,1590,0,0,0,0,0,0
$GC,11877,1.16,344.8,34.5,9.1,546,11881,0.00,2.72,0.00,0.000,4,0.000,0.059,3252,236,1591,0,0,0,0,0,0
$GC,11911,1.16,344.8,30.5,9.9,548,11920,0.00,2.50,0.00,0.000,6,0.000,0.018,3252,1858,1591,0,0,0,0,0,0
$STATE,12219,end climb,SURFACE_DEPTH_REACHED
$STATE,12220,begin surface coast
$FINISH,0.3,1.007407
$STATE,12280,end surface coast,CONTROL_FINISHED_OK
$STATE,12280,begin surface
$SM_CCo,12303,67.78,0.436,1,0,1288,420.20
$SM_GC,0.92,0.00,0.00,67.78,0.000,0.000,0.436,475,1727,1288,-11.62,-1.22,420.20
$IRIDIUM_FIX,2244.02,-15748.90,171199,191928
$TT8_MAMPS,0.025311
$HUMID,41.73
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.00
$XPDR_PINGS,47
$24V_AH,23.5,11.903
$10V_AH,10.5,10.964
$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,27.100,129.875,424.275,67.775,0.000,25.616,37.099,172.188,11.750,0.000,12.881,1189.008,8299.223,581.026,2132.769,541.697,33.372,1350.185,0.000,2142.417,0.000,0.537,0.000
$DEVICE_MAMPS,180.245,132.691,922.701,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,408.212,361.167,456.474,853.125,1290.466,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,47853,603
$CAP_FILE_SIZE,120145,0
$CFSIZE,260165632,179388416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240810,022736,2250.047,-15754.290,29,1.2,29,10.1