version: 66.06
glider: 146
mission: 5
dive: 424
start: 10 16 110 5 39 50
data:
$ID,146
$MISSION,5
$DIVE,424
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$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,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,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,-257615.75
$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,55
$R_STBD_OVSHOOT,61
$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
$GPS1,053022,2251.366,-15755.041,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.4
$GPS2,053855,2251.312,-15755.020,41,1.5,41,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.005,0.285
$KALMAN_X,-260505.7,50.7,102.5,287177.4,52.8
$KALMAN_Y,-586300.4,5.8,-26.5,717317.0,-1337.0
$MHEAD_RNG_PITCHd_Wd,348.9,12385,-15.6,-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,-1.12,-116.8,0.0,0.0,0,96,0.00,0.00,-78.38,0.000,2,0.000,0.000,473,1736,3213,0,0,0,0,0,0
$GC,100,-1.12,-116.8,3.1,-5.3,10,126,11.90,2.58,-5.05,0.000,4,0.151,0.041,2745,3331,3480,0,0,0,0,0,0
$GC,210,-1.05,-116.8,25.4,-12.0,25,220,0.08,2.53,0.00,0.000,6,0.099,0.031,2766,1795,3481,0,0,0,0,0,0
$GC,487,-0.97,-116.8,58.7,-10.8,52,497,0.10,0.00,0.00,0.000,6,0.129,0.000,2786,1795,3482,0,0,0,0,0,0
$GC,753,-0.97,-116.8,83.5,-8.2,77,757,0.00,2.70,0.00,0.000,4,0.000,0.064,2786,196,3482,0,0,0,0,0,0
$GC,771,-0.97,-116.8,85.1,-7.7,78,776,0.00,2.42,0.00,0.000,6,0.000,0.018,2786,1812,3482,0,0,0,0,0,0
$GC,1034,-0.97,-116.8,102.0,-7.0,102,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1813,3483,0,0,0,0,0,0
$GC,1290,-1.01,-116.8,119.1,-6.2,126,1295,0.00,2.75,0.00,0.000,4,0.000,0.059,2786,196,3484,0,0,0,0,0,0
$GC,1324,-1.08,-116.8,121.7,-7.0,128,1333,0.00,2.40,0.00,0.000,6,0.000,0.016,2786,1776,3484,0,0,0,0,0,0
$GC,1594,-1.13,-116.8,137.0,-5.4,153,1599,0.12,2.40,0.00,0.000,4,0.070,0.033,2741,3306,3484,0,0,0,0,0,0
$GC,1635,-1.13,-116.8,140.4,-7.7,156,1639,0.00,2.47,0.00,0.000,6,0.000,0.029,2741,1768,3484,0,0,0,0,0,0
$GC,1898,-1.09,-116.8,161.2,-9.0,180,1900,0.10,0.00,0.00,0.000,6,0.117,0.000,2762,1768,3484,0,0,0,0,0,0
$GC,2154,-1.09,-116.8,181.1,-7.6,204,2158,0.00,2.42,0.00,0.000,4,0.000,0.032,2762,3310,3485,0,0,0,0,0,0
$GC,2183,-1.09,-116.8,183.4,-7.5,206,2187,0.00,2.42,0.00,0.000,6,0.000,0.028,2762,1784,3484,0,0,0,0,0,0
$GC,2447,-1.09,-116.8,200.6,-5.7,230,2452,0.00,2.70,0.00,0.000,4,0.000,0.065,2762,193,3485,0,0,0,0,0,0
$GC,2480,-1.09,-116.8,202.9,-6.8,230,2486,0.00,2.40,0.00,0.000,6,0.000,0.017,2762,1767,3484,0,0,0,0,0,0
$GC,2732,-1.09,-116.8,217.6,-6.0,237,2736,0.00,2.45,0.00,0.000,4,0.000,0.033,2763,3324,3483,0,0,0,0,0,0
$GC,2753,-1.09,-116.8,219.4,-7.4,237,2757,0.00,2.47,0.00,0.000,6,0.000,0.034,2762,1772,3483,0,0,0,0,0,0
$GC,3008,-1.09,-116.8,238.9,-8.0,244,3012,0.00,2.45,0.00,0.000,4,0.000,0.028,2762,3330,3483,0,0,0,0,0,0
$GC,3036,-1.13,-116.8,241.4,-8.8,244,3041,0.00,2.50,0.00,0.000,6,0.000,0.034,2762,1779,3483,0,0,0,0,0,0
$GC,3288,-1.13,-116.8,264.1,-9.3,250,3292,0.00,2.75,0.00,0.000,4,0.000,0.069,2762,190,3482,0,0,0,0,0,0
$GC,3303,-1.13,-116.8,265.9,-9.5,250,3308,0.00,2.42,0.00,0.000,6,0.000,0.018,2762,1785,3482,0,0,0,0,0,0
$GC,3564,-1.13,-116.8,285.7,-7.1,257,3569,0.00,2.72,0.00,0.000,4,0.000,0.071,2762,194,3482,0,0,0,0,0,0
$GC,3589,-1.17,-116.8,287.2,-6.4,257,3593,0.00,2.42,0.00,0.000,6,0.000,0.017,2762,1784,3481,0,0,0,0,0,0
$GC,3844,-1.22,-116.8,305.5,-7.4,264,3849,0.12,2.47,0.00,0.000,4,0.077,0.037,2720,3334,3480,0,0,0,0,0,0
$GC,3901,-1.22,-116.8,310.4,-8.5,265,3906,0.00,2.50,0.00,0.000,6,0.000,0.033,2720,1793,3480,0,0,0,0,0,0
$GC,4170,-1.18,-116.8,331.2,-7.4,272,4172,0.10,0.00,0.00,0.000,6,0.120,0.000,2741,1793,3479,0,0,0,0,0,0
$GC,4412,-1.18,-116.8,345.7,-5.7,278,4416,0.00,2.47,0.00,0.000,4,0.000,0.032,2741,3342,3478,0,0,0,0,0,0
$GC,4435,-1.18,-116.8,347.0,-6.1,278,4439,0.00,2.53,0.00,0.000,6,0.000,0.041,2740,1804,3478,0,0,0,0,0,0
$GC,4690,-1.18,-116.8,362.4,-6.1,285,4694,0.00,2.88,0.00,0.000,4,0.000,0.087,2740,186,3477,0,0,0,0,0,0
$GC,4717,-1.18,-116.8,364.6,-7.7,285,4721,0.00,2.53,0.00,0.000,6,0.000,0.025,2740,1797,3476,0,0,0,0,0,0
$GC,4968,-1.18,-116.8,384.3,-8.2,291,4973,0.00,2.53,0.00,0.000,4,0.000,0.041,2740,3354,3475,0,0,0,0,0,0
$GC,5019,-1.25,-116.8,389.2,-8.9,292,5023,0.00,2.55,0.00,0.000,6,0.000,0.044,2741,1818,3475,0,0,0,0,0,0
$GC,5291,-1.25,-116.8,414.7,-9.5,299,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1819,3473,0,0,0,0,0,0
$GC,5536,-1.25,-116.8,437.1,-9.1,305,5541,0.00,2.97,0.00,0.000,4,0.000,0.098,2740,182,3472,0,0,0,0,0,0
$GC,5563,-1.25,-116.8,440.1,-9.8,305,5567,0.00,2.60,0.00,0.000,6,0.000,0.028,2741,1808,3472,0,0,0,0,0,0
$GC,5813,-1.25,-116.8,461.1,-8.4,311,5817,0.00,2.55,0.00,0.000,4,0.000,0.051,2740,3357,3471,0,0,0,0,0,0
$GC,5847,-1.31,-116.8,463.9,-8.4,311,5854,0.12,2.58,0.00,0.000,6,0.073,0.055,2699,1817,3470,0,0,0,0,0,0
$GC,6098,-1.26,-116.8,485.6,-8.6,318,6103,0.12,2.53,0.00,0.000,4,0.113,0.047,2724,3350,3469,0,0,0,0,0,0
$GC,6125,-1.26,-116.8,487.7,-7.3,318,6130,0.00,2.60,0.00,0.000,6,0.000,0.058,2724,1814,3468,0,0,0,0,0,0
$STATE,6332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6332,begin apogee
$GC,6339,-0.31,0.0,500.5,6.1,323,6440,0.93,0.00,97.62,0.930,6,0.077,0.000,2933,1814,3001,0,0,0,0,0,0
$STATE,6441,end apogee,CONTROL_FINISHED_OK
$STATE,6441,begin climb
$GC,6444,1.12,116.8,501.0,0.0,325,6550,1.30,0.00,102.62,0.906,6,0.049,0.000,3251,1814,2524,0,0,0,0,0,0
$GC,6779,1.05,178.1,482.0,7.7,334,6836,0.10,0.00,53.70,0.889,6,0.134,0.000,3232,1814,2275,0,0,0,0,0,0
$GC,7068,1.04,237.2,459.9,7.8,341,7127,0.00,2.72,52.60,0.878,4,0.000,0.045,3232,3397,2032,0,0,0,0,0,0
$GC,7159,1.07,264.2,452.3,9.0,343,7190,0.00,2.72,25.00,0.843,6,0.000,0.053,3232,1827,1924,0,0,0,0,0,0
$GC,7435,1.06,285.7,426.9,9.2,349,7460,0.00,3.05,19.52,0.830,4,0.000,0.103,3231,233,1835,0,0,0,0,0,0
$GC,7488,0.95,285.7,421.5,11.3,350,7493,0.12,2.58,0.00,0.000,6,0.123,0.022,3208,1826,1833,0,0,0,0,0,0
$GC,7755,1.00,328.4,398.8,8.4,357,7799,0.00,2.92,38.72,0.848,4,0.000,0.082,3207,232,1661,0,0,0,0,0,0
$GC,7840,1.00,328.4,390.1,11.2,359,7845,0.00,2.55,0.00,0.000,6,0.000,0.022,3207,1816,1657,0,0,0,0,0,0
$GC,8126,1.06,345.3,363.2,9.4,366,8148,0.10,2.88,15.57,0.795,4,0.092,0.075,3233,227,1591,0,0,0,0,0,0
$GC,8200,1.02,345.3,354.6,12.6,367,8205,0.00,2.55,0.00,0.000,6,0.000,0.029,3234,1806,1589,0,0,0,0,0,0
$GC,8451,1.02,345.3,328.0,10.5,373,8456,0.00,2.80,0.00,0.000,4,0.000,0.077,3234,229,1587,0,0,0,0,0,0
$GC,8512,1.02,345.3,320.8,11.0,374,8516,0.00,2.45,0.00,0.000,6,0.000,0.028,3233,1781,1585,0,0,0,0,0,0
$GC,8773,1.02,348.5,294.8,9.9,381,8777,0.00,2.72,0.00,0.000,4,0.000,0.069,3234,230,1585,0,0,0,0,0,0
$GC,8790,1.02,348.5,292.9,10.1,381,8794,0.00,2.45,0.00,0.000,6,0.000,0.026,3234,1783,1584,0,0,0,0,0,0
$GC,9050,1.03,349.9,266.8,10.0,388,9059,0.00,2.75,4.12,0.530,4,0.000,0.073,3233,231,1574,0,0,0,0,0,0
$GC,9140,1.05,371.0,257.9,9.2,390,9166,0.00,2.35,20.80,0.751,6,0.000,0.021,3233,1741,1488,0,0,0,0,0,0
$GC,9423,1.10,411.5,233.4,8.5,397,9468,0.00,2.75,37.20,0.743,4,0.000,0.072,3234,230,1322,0,0,0,0,0,0
$GC,9490,1.10,411.5,226.9,10.5,398,9494,0.00,2.35,0.00,0.000,6,0.000,0.027,3234,1742,1321,0,0,0,0,0,0
$GC,9748,1.15,419.0,202.3,9.8,405,9762,0.00,2.70,7.43,0.611,4,0.000,0.068,3234,236,1291,0,0,0,0,0,0
$GC,9815,1.15,419.0,194.0,12.2,408,9819,0.00,2.30,0.00,0.000,6,0.000,0.025,3234,1712,1290,0,0,0,0,0,0
$GC,10089,1.19,419.0,163.5,11.5,433,10096,0.10,0.00,0.00,0.000,6,0.089,0.000,3262,1713,1290,0,0,0,0,0,0
$GC,10351,1.19,419.0,130.5,11.7,458,10355,0.00,2.58,0.00,0.000,4,0.000,0.065,3262,230,1289,0,0,0,0,0,0
$GC,10398,1.15,419.0,125.3,13.2,461,10402,0.00,2.30,0.00,0.000,6,0.000,0.025,3262,1712,1288,0,0,0,0,0,0
$GC,10665,1.20,460.8,98.9,8.5,485,10712,0.00,2.67,36.97,0.628,4,0.000,0.065,3262,226,1120,0,0,0,0,0,0
$GC,10743,1.21,473.2,91.7,9.6,491,10763,0.00,2.28,12.23,0.576,6,0.000,0.023,3262,1692,1069,0,0,0,0,0,0
$GC,11018,1.32,481.9,68.0,9.7,517,11033,0.10,2.53,8.40,0.530,4,0.087,0.061,3294,229,1035,0,0,0,0,0,0
$GC,11064,1.32,481.9,62.6,13.5,520,11068,0.00,2.25,0.00,0.000,6,0.000,0.020,3294,1694,1034,0,0,0,0,0,0
$GC,11331,1.32,481.9,32.0,12.2,544,11340,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1695,1034,0,0,0,0,0,0
$STATE,11583,end climb,SURFACE_DEPTH_REACHED
$STATE,11583,begin surface coast
$FINISH,0.3,1.023119
$STATE,11634,end surface coast,CONTROL_FINISHED_OK
$STATE,11634,begin surface
$SM_CCo,11716,0.00,0.000,0,0,1033,482.75
$SM_GC,1.18,11.43,0.00,0.00,0.026,0.000,0.000,477,1809,1033,-11.51,1.10,482.75
$IRIDIUM_FIX,2241.69,-15754.99,100100,020238
$TT8_MAMPS,0.025311
$HUMID,53.18
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,21.30
$XPDR_PINGS,82
$24V_AH,23.4,59.053
$10V_AH,10.0,56.484
$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,26.950,148.950,532.525,0.000,0.000,25.191,42.995,275.562,20.500,0.000,43.425,1180.227,7553.449,586.963,2228.323,678.203,33.372,1410.835,0.000,2205.286,0.000,0.534,0.000
$DEVICE_MAMPS,151.099,102.778,929.604,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,397.213,330.569,457.337,849.870,1285.578,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,47910,587
$CAP_FILE_SIZE,125774,0
$CFSIZE,260165632,157511680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161010,085630,2251.902,-15754.719,39,1.3,45,10.1