version: 66.06
glider: 146
mission: 5
dive: 59
start: 8 24 110 2 34 21
data:
$ID,146
$MISSION,5
$DIVE,59
$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,-248342.52
$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,63
$R_STBD_OVSHOOT,64
$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
$GPS1,022736,2250.047,-15754.290,29,1.2,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-67.4
$GPS2,023326,2250.052,-15754.305,12,1.3,12,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.071,-0.090
$KALMAN_X,-45529.0,-186.9,-272.9,74044.3,-416.0
$KALMAN_Y,20176.8,353.0,-459.3,108587.0,-26.7
$MHEAD_RNG_PITCHd_Wd,208.1,1566,-32.3,-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,-2.06,-32.0,0.0,0.0,0,95,0.00,0.00,-75.80,0.000,6,0.000,0.000,474,1726,3133,0,0,0,0,0,0
$GC,98,-2.09,-61.7,2.7,-3.0,10,124,11.07,2.55,-2.53,0.000,4,0.165,0.063,2532,232,3254,0,0,0,0,0,0
$GC,300,-2.00,-61.7,58.0,-27.4,32,305,0.15,2.35,0.00,0.000,6,0.160,0.015,2559,1795,3256,0,0,0,0,0,0
$GC,564,-2.06,-61.7,113.8,-17.2,56,568,0.00,2.38,0.00,0.000,4,0.000,0.032,2559,3314,3256,0,0,0,0,0,0
$GC,585,-2.11,-61.7,117.4,-16.7,57,589,0.00,2.38,0.00,0.000,6,0.000,0.028,2559,1805,3256,0,0,0,0,0,0
$GC,849,-2.19,-61.7,166.2,-18.9,81,854,0.15,2.40,0.00,0.000,4,0.067,0.031,2514,3322,3257,0,0,0,0,0,0
$GC,913,-2.23,-61.7,178.9,-18.7,86,917,0.00,2.45,0.00,0.000,6,0.000,0.032,2514,1780,3257,0,0,0,0,0,0
$GC,1198,-2.23,-61.7,232.9,-19.1,101,1203,0.00,2.40,0.00,0.000,4,0.000,0.031,2514,3317,3257,0,0,0,0,0,0
$GC,1289,-2.27,-61.7,249.3,-18.4,103,1293,0.00,2.45,0.00,0.000,6,0.000,0.038,2513,1791,3257,0,0,0,0,0,0
$GC,1566,-2.31,-61.7,299.2,-18.0,110,1571,0.00,2.42,0.00,0.000,4,0.000,0.038,2514,3316,3257,0,0,0,0,0,0
$GC,1578,-2.35,-61.7,301.4,-18.0,110,1583,0.10,2.47,0.00,0.000,6,0.084,0.035,2477,1792,3257,0,0,0,0,0,0
$GC,1845,-2.35,-61.7,347.7,-16.6,117,1849,0.00,2.45,0.00,0.000,4,0.000,0.044,2477,3305,3257,0,0,0,0,0,0
$GC,2003,-2.35,-61.7,372.3,-16.4,120,2008,0.00,2.55,0.00,0.000,6,0.000,0.057,2477,1804,3257,0,0,0,0,0,0
$GC,2259,-2.35,-61.7,416.3,-17.5,127,2263,0.00,2.50,0.00,0.000,4,0.000,0.058,2477,3296,3257,0,0,0,0,0,0
$GC,2285,-2.35,-61.7,420.9,-16.9,127,2290,0.00,2.55,0.00,0.000,6,0.000,0.063,2477,1802,3257,0,0,0,0,0,0
$GC,2535,-2.35,-61.7,459.1,-15.0,133,2540,0.00,2.55,0.00,0.000,4,0.000,0.064,2477,3293,3255,0,0,0,0,0,0
$GC,2569,-2.35,-61.7,464.1,-14.8,133,2575,0.00,2.58,0.00,0.000,6,0.000,0.070,2476,1805,3255,0,0,0,0,0,0
$STATE,2817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2817,begin apogee
$GC,2822,-0.31,0.0,501.3,14.6,140,2879,2.20,0.00,52.15,0.878,6,0.130,0.000,2929,1805,3001,0,0,0,0,0,0
$STATE,2880,end apogee,CONTROL_FINISHED_OK
$STATE,2880,begin climb
$GC,2882,2.09,61.7,503.5,0.0,141,2944,2.17,3.10,52.35,0.859,4,0.046,0.121,3469,233,2749,0,0,0,0,0,0
$GC,3033,1.92,70.7,497.0,6.5,144,3050,0.28,2.53,8.65,0.739,6,0.151,0.037,3420,1763,2711,0,0,0,0,0,0
$GC,3294,1.93,81.6,480.6,6.2,151,3310,0.00,2.83,10.02,0.769,4,0.000,0.070,3419,3354,2668,0,0,0,0,0,0
$GC,3450,1.98,90.0,470.3,6.6,154,3467,0.00,2.62,8.65,0.747,6,0.000,0.054,3419,1824,2633,0,0,0,0,0,0
$GC,3711,1.98,92.0,451.3,7.7,161,3715,0.00,2.53,0.00,0.000,4,0.000,0.047,3419,3359,2630,0,0,0,0,0,0
$GC,3751,2.03,93.3,448.0,7.8,162,3755,0.00,2.58,0.00,0.000,6,0.000,0.052,3419,1836,2629,0,0,0,0,0,0
$GC,4034,2.07,96.5,426.6,7.5,169,4048,0.12,2.53,6.25,0.689,4,0.121,0.045,3446,3361,2605,0,0,0,0,0,0
$GC,4078,2.07,96.9,423.2,8.0,170,4082,0.00,2.58,0.00,0.000,6,0.000,0.050,3446,1846,2605,0,0,0,0,0,0
$GC,4361,2.07,102.0,402.6,7.2,177,4372,0.00,2.47,6.12,0.682,4,0.000,0.041,3446,3365,2584,0,0,0,0,0,0
$GC,4396,2.09,113.0,400.5,6.2,177,4412,0.00,2.58,11.02,0.771,6,0.000,0.047,3447,1844,2540,0,0,0,0,0,0
$GC,4684,2.09,113.0,376.1,8.6,185,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1844,2536,0,0,0,0,0,0
$GC,4928,2.09,113.0,355.8,8.1,191,4932,0.00,2.45,0.00,0.000,4,0.000,0.035,3446,3360,2535,0,0,0,0,0,0
$GC,5185,2.09,113.4,334.6,7.9,196,5190,0.00,2.53,0.00,0.000,6,0.000,0.044,3446,1834,2533,0,0,0,0,0,0
$GC,5435,2.11,130.8,320.4,5.1,203,5455,0.00,2.47,15.20,0.759,4,0.000,0.038,3447,3359,2468,0,0,0,0,0,0
$GC,5685,2.17,130.8,301.5,8.0,208,5691,0.12,2.50,0.00,0.000,6,0.107,0.038,3474,1841,2464,0,0,0,0,0,0
$GC,5937,2.17,130.8,279.1,9.3,214,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,1840,2463,0,0,0,0,0,0
$GC,6179,2.17,132.7,259.5,7.7,220,6183,0.00,2.42,0.00,0.000,4,0.000,0.037,3474,3365,2462,0,0,0,0,0,0
$GC,6200,2.17,132.7,257.7,8.0,220,6205,0.00,2.50,0.00,0.000,6,0.000,0.042,3474,1839,2461,0,0,0,0,0,0
$GC,6456,2.17,132.7,235.9,8.8,227,6460,0.00,2.42,0.00,0.000,4,0.000,0.038,3474,3361,2462,0,0,0,0,0,0
$GC,6541,2.17,132.7,227.4,11.0,229,6545,0.00,2.47,0.00,0.000,6,0.000,0.041,3474,1841,2461,0,0,0,0,0,0
$GC,6824,2.17,132.7,200.4,8.8,236,6828,0.00,2.40,0.00,0.000,4,0.000,0.036,3474,3361,2461,0,0,0,0,0,0
$GC,6864,2.17,132.7,197.0,9.1,237,6868,0.00,2.45,0.00,0.000,6,0.000,0.039,3474,1845,2461,0,0,0,0,0,0
$GC,7126,2.17,132.7,174.7,9.1,261,7130,0.00,2.40,0.00,0.000,4,0.000,0.035,3474,3370,2461,0,0,0,0,0,0
$GC,7355,2.17,132.7,154.6,9.0,280,7359,0.00,2.45,0.00,0.000,6,0.000,0.035,3474,1860,2462,0,0,0,0,0,0
$GC,7617,2.19,143.7,132.8,6.2,304,7635,0.00,0.00,11.82,0.577,6,0.000,0.000,3474,1860,2415,0,0,0,0,0,0
$GC,7894,2.24,148.0,112.6,7.3,330,7908,0.00,2.42,5.22,0.463,4,0.000,0.028,3474,3358,2396,0,0,0,0,0,0
$GC,8178,2.32,149.7,90.0,7.7,353,8184,0.12,2.40,0.00,0.000,6,0.089,0.034,3506,1866,2396,0,0,0,0,0,0
$GC,8444,2.35,177.7,75.5,3.3,378,8476,0.00,2.40,26.67,0.560,4,0.000,0.027,3506,3362,2276,0,0,0,0,0,0
$GC,8545,2.41,181.3,69.7,7.4,385,8560,0.00,2.47,4.45,0.397,6,0.000,0.033,3505,1845,2261,0,0,0,0,0,0
$GC,8816,2.45,181.3,45.5,9.6,410,8821,0.12,2.42,0.00,0.000,4,0.091,0.028,3537,3362,2260,0,0,0,0,0,0
$GC,9095,2.45,181.3,16.0,8.9,440,9105,0.00,2.47,0.00,0.000,6,0.000,0.034,3537,1854,2259,0,0,0,0,0,0
$STATE,9201,end climb,SURFACE_DEPTH_REACHED
$STATE,9201,begin surface coast
$FINISH,0.2,1.014835
$STATE,9246,end surface coast,CONTROL_FINISHED_OK
$STATE,9246,begin surface
$SM_CCo,9269,203.02,0.482,1,0,1288,420.20
$SM_GC,0.85,0.00,0.00,203.02,0.000,0.000,0.482,477,1745,1288,-11.61,-0.71,420.20
$IRIDIUM_FIX,2244.02,-15748.90,171199,232305
$TT8_MAMPS,0.025311
$HUMID,40.39
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.90
$XPDR_PINGS,41
$24V_AH,23.6,11.991
$10V_AH,10.5,11.072
$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,29.125,109.950,218.600,203.025,0.000,29.337,31.976,153.861,10.250,0.000,14.141,984.344,5884.744,504.916,1967.812,486.709,33.364,1233.280,0.000,1971.962,0.000,0.537,0.000
$DEVICE_MAMPS,164.905,121.186,878.215,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,311.494,289.542,358.328,690.277,1044.017,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,35050,461
$CAP_FILE_SIZE,101810,0
$CFSIZE,260165632,179363840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240810,051328,2249.550,-15755.078,9,99.0,28,10.1