version: 66.06
glider: 146
mission: 5
dive: 494
start: 10 25 110 5 48 45
data:
$ID,146
$MISSION,5
$DIVE,494
$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,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,-259303.92
$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,40
$R_STBD_OVSHOOT,59
$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
$GPS1,053752,2256.546,-15745.906,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.5
$GPS2,054752,2256.685,-15745.942,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.131,-0.195
$KALMAN_X,-260118.4,-36.4,-204.6,302812.4,-90.2
$KALMAN_Y,-610606.6,-23.5,-144.5,751707.3,756.7
$MHEAD_RNG_PITCHd_Wd,203.7,20399,-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,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-77.97,0.000,2,0.000,0.000,476,1744,3243,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.3,-5.6,10,125,11.65,2.65,-4.57,0.000,4,0.153,0.064,2691,210,3480,0,0,0,0,0,0
$GC,184,-1.23,-116.8,22.3,-15.2,21,192,0.15,2.42,0.00,0.000,6,0.107,0.016,2725,1783,3481,0,0,0,0,0,0
$GC,460,-1.19,-116.8,59.3,-12.8,49,464,0.00,2.70,0.00,0.000,4,0.000,0.056,2725,207,3482,0,0,0,0,0,0
$GC,505,-1.19,-116.8,65.7,-13.2,52,510,0.00,2.38,0.00,0.000,6,0.000,0.015,2725,1770,3482,0,0,0,0,0,0
$GC,770,-1.23,-116.8,90.9,-8.7,76,775,0.00,2.62,0.00,0.000,4,0.000,0.055,2725,207,3483,0,0,0,0,0,0
$GC,795,-1.27,-116.8,92.6,-8.0,77,799,0.00,2.33,0.00,0.000,6,0.000,0.015,2725,1745,3482,0,0,0,0,0,0
$GC,1064,-1.31,-116.8,119.7,-10.4,101,1068,0.00,2.45,0.00,0.000,4,0.000,0.027,2725,3308,3484,0,0,0,0,0,0
$GC,1108,-1.41,-116.8,125.1,-10.3,104,1117,0.10,2.50,0.00,0.000,6,0.039,0.034,2679,1772,3483,0,0,0,0,0,0
$GC,1369,-1.41,-116.8,153.0,-10.1,129,1373,0.00,2.45,0.00,0.000,4,0.000,0.031,2679,3317,3484,0,0,0,0,0,0
$GC,1391,-1.41,-116.8,154.7,-10.4,130,1395,0.00,2.50,0.00,0.000,6,0.000,0.032,2679,1753,3484,0,0,0,0,0,0
$GC,1659,-1.41,-116.8,181.8,-10.5,154,1663,0.00,2.67,0.00,0.000,4,0.000,0.069,2679,197,3484,0,0,0,0,0,0
$GC,1703,-1.41,-116.8,187.8,-11.8,157,1709,0.00,2.35,0.00,0.000,6,0.000,0.015,2679,1741,3484,0,0,0,0,0,0
$GC,1990,-1.41,-116.8,216.4,-9.6,173,1994,0.00,2.50,0.00,0.000,4,0.000,0.030,2679,3325,3484,0,0,0,0,0,0
$GC,2018,-1.41,-116.8,219.0,-9.1,173,2022,0.00,2.53,0.00,0.000,6,0.000,0.030,2679,1751,3484,0,0,0,0,0,0
$GC,2268,-1.41,-116.8,243.8,-10.6,179,2272,0.00,2.67,0.00,0.000,4,0.000,0.071,2679,198,3484,0,0,0,0,0,0
$GC,2289,-1.41,-116.8,246.4,-11.5,179,2293,0.00,2.38,0.00,0.000,6,0.000,0.021,2679,1738,3484,0,0,0,0,0,0
$GC,2551,-1.41,-116.8,274.3,-10.5,186,2555,0.00,2.55,0.00,0.000,4,0.000,0.036,2679,3335,3483,0,0,0,0,0,0
$GC,2583,-1.41,-116.8,278.0,-10.5,186,2589,0.00,2.55,0.00,0.000,6,0.000,0.038,2679,1761,3483,0,0,0,0,0,0
$GC,2834,-1.41,-116.8,302.0,-9.7,193,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1760,3482,0,0,0,0,0,0
$GC,3077,-1.41,-116.8,325.2,-9.6,199,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1761,3481,0,0,0,0,0,0
$GC,3323,-1.41,-116.8,348.8,-9.9,205,3327,0.00,2.83,0.00,0.000,4,0.000,0.091,2679,190,3480,0,0,0,0,0,0
$GC,3338,-1.41,-116.8,350.7,-10.1,205,3343,0.00,2.45,0.00,0.000,6,0.000,0.021,2679,1744,3480,0,0,0,0,0,0
$GC,3600,-1.41,-116.8,375.9,-9.4,212,3604,0.00,2.62,0.00,0.000,4,0.000,0.048,2679,3353,3478,0,0,0,0,0,0
$GC,3617,-1.41,-116.8,377.5,-9.3,212,3622,0.00,2.62,0.00,0.000,6,0.000,0.044,2679,1771,3478,0,0,0,0,0,0
$GC,3878,-1.41,-116.8,400.3,-8.8,219,3882,0.00,2.88,0.00,0.000,4,0.000,0.092,2679,186,3476,0,0,0,0,0,0
$GC,3893,-1.41,-116.8,402.0,-9.0,219,3898,0.00,2.53,0.00,0.000,6,0.000,0.023,2679,1773,3477,0,0,0,0,0,0
$GC,4156,-1.41,-116.8,427.5,-9.9,226,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1773,3475,0,0,0,0,0,0
$GC,4398,-1.41,-116.8,452.2,-10.1,232,4402,0.00,2.60,0.00,0.000,4,0.000,0.051,2680,3354,3473,0,0,0,0,0,0
$GC,4448,-1.49,-116.8,457.3,-9.4,233,4452,0.00,2.72,0.00,0.000,6,0.000,0.057,2679,1761,3473,0,0,0,0,0,0
$GC,4721,-1.49,-116.8,482.7,-9.2,240,4726,0.00,2.65,0.00,0.000,4,0.000,0.046,2679,3353,3471,0,0,0,0,0,0
$GC,4771,-1.57,-116.8,487.4,-9.2,241,4776,0.00,2.67,0.00,0.000,6,0.000,0.061,2679,1783,3471,0,0,0,0,0,0
$STATE,4959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4959,begin apogee
$GC,4965,-0.31,0.0,502.5,8.0,246,5067,1.12,0.00,98.40,0.926,6,0.092,0.000,2929,1782,3001,0,0,0,0,0,0
$STATE,5068,end apogee,CONTROL_FINISHED_OK
$STATE,5068,begin climb
$GC,5072,1.38,116.8,503.5,0.0,248,5184,1.55,3.00,102.55,0.904,4,0.041,0.108,3307,233,2523,0,0,0,0,0,0
$GC,5209,1.21,153.4,500.5,7.9,251,5249,0.22,2.60,33.03,0.874,6,0.123,0.037,3264,1810,2374,0,0,0,0,0,0
$GC,5522,1.27,199.4,475.6,7.4,259,5568,0.00,2.78,40.50,0.875,4,0.000,0.054,3264,3411,2187,0,0,0,0,0,0
$GC,5657,1.29,221.7,464.4,8.8,262,5683,0.00,2.72,20.67,0.844,6,0.000,0.058,3264,1829,2097,0,0,0,0,0,0
$GC,5927,1.30,227.4,439.0,9.7,268,5938,0.00,2.65,5.62,0.667,4,0.000,0.035,3264,3416,2073,0,0,0,0,0,0
$GC,5969,1.35,227.4,434.7,10.7,269,5974,0.12,2.72,0.00,0.000,6,0.091,0.051,3295,1832,2072,0,0,0,0,0,0
$GC,6253,1.31,227.4,402.7,11.0,276,6258,0.00,2.95,0.00,0.000,4,0.000,0.097,3295,234,2070,0,0,0,0,0,0
$GC,6280,1.20,227.4,399.6,11.4,276,6285,0.15,2.60,0.00,0.000,6,0.127,0.028,3265,1854,2068,0,0,0,0,0,0
$GC,6532,1.23,250.2,377.2,8.7,282,6561,0.00,3.00,21.67,0.825,4,0.000,0.078,3264,233,1979,0,0,0,0,0,0
$GC,6578,1.23,250.2,372.5,10.2,283,6582,0.00,2.55,0.00,0.000,6,0.000,0.026,3265,1820,1976,0,0,0,0,0,0
$GC,6859,1.23,252.9,345.5,9.9,290,6863,0.00,2.83,0.00,0.000,4,0.000,0.072,3265,232,1974,0,0,0,0,0,0
$GC,6880,1.23,252.9,342.9,10.8,290,6884,0.00,2.53,0.00,0.000,6,0.000,0.025,3265,1819,1973,0,0,0,0,0,0
$GC,7135,1.23,252.9,316.8,10.3,297,7139,0.00,2.83,0.00,0.000,4,0.000,0.074,3265,231,1973,0,0,0,0,0,0
$GC,7167,1.23,252.9,313.2,11.2,297,7173,0.00,2.50,0.00,0.000,6,0.000,0.028,3265,1802,1972,0,0,0,0,0,0
$GC,7419,1.30,269.0,289.9,9.1,304,7438,0.00,0.00,17.27,0.765,6,0.000,0.000,3264,1804,1904,0,0,0,0,0,0
$GC,7661,1.35,274.3,266.5,9.7,310,7673,0.12,2.60,5.90,0.623,4,0.086,0.036,3297,3401,1881,0,0,0,0,0,0
$GC,7697,1.35,274.3,262.7,10.6,310,7702,0.00,2.70,0.00,0.000,6,0.000,0.041,3297,1784,1881,0,0,0,0,0,0
$GC,7946,1.35,274.3,235.6,10.6,317,7951,0.00,2.70,0.00,0.000,4,0.000,0.072,3297,240,1880,0,0,0,0,0,0
$GC,7973,1.31,274.3,232.4,12.0,317,7978,0.00,2.47,0.00,0.000,6,0.000,0.026,3297,1803,1879,0,0,0,0,0,0
$GC,8223,1.32,281.7,208.1,9.6,323,8237,0.00,2.65,7.82,0.644,4,0.000,0.038,3296,3389,1851,0,0,0,0,0,0
$GC,8262,1.37,281.7,204.0,10.6,323,8268,0.00,2.67,0.00,0.000,6,0.000,0.038,3297,1790,1850,0,0,0,0,0,0
$GC,8522,1.40,301.9,179.4,8.9,345,8549,0.00,2.83,19.33,0.690,4,0.000,0.075,3296,237,1768,0,0,0,0,0,0
$GC,8592,1.35,301.9,172.3,11.3,351,8596,0.00,2.45,0.00,0.000,6,0.000,0.021,3297,1786,1766,0,0,0,0,0,0
$GC,8859,1.35,301.9,143.3,11.5,375,8863,0.00,2.60,0.00,0.000,4,0.000,0.033,3297,3390,1765,0,0,0,0,0,0
$GC,8924,1.45,301.9,135.3,11.4,380,8929,0.00,2.65,0.00,0.000,6,0.000,0.043,3296,1793,1763,0,0,0,0,0,0
$GC,9187,1.51,306.6,107.9,9.8,404,9203,0.12,2.75,5.12,0.500,4,0.081,0.065,3333,237,1748,0,0,0,0,0,0
$GC,9234,1.43,306.6,102.2,12.6,407,9240,0.10,2.47,0.00,0.000,6,0.133,0.021,3313,1807,1748,0,0,0,0,0,0
$GC,9500,1.48,315.4,76.5,9.5,432,9522,0.00,2.55,9.20,0.559,4,0.000,0.036,3313,3386,1713,0,0,0,0,0,0
$GC,9553,1.60,337.8,71.9,8.7,436,9582,0.15,2.62,21.00,0.594,6,0.077,0.035,3351,1802,1622,0,0,0,0,0,0
$GC,9838,1.62,358.4,45.6,8.9,462,9866,0.00,2.78,18.58,0.563,4,0.000,0.061,3351,238,1539,0,0,0,0,0,0
$GC,9910,1.62,358.4,37.4,12.1,467,9919,0.00,2.53,0.00,0.000,6,0.000,0.019,3351,1823,1537,0,0,0,0,0,0
$STATE,10219,end climb,SURFACE_DEPTH_REACHED
$STATE,10219,begin surface coast
$FINISH,0.4,1.023361
$STATE,10268,end surface coast,CONTROL_FINISHED_OK
$STATE,10268,begin surface
$SM_CCo,10292,51.55,0.534,0,0,1288,420.20
$SM_GC,1.22,0.00,0.00,51.55,0.000,0.000,0.534,476,1746,1288,-11.61,-0.68,420.20
$IRIDIUM_FIX,2246.36,-15743.68,190100,020229
$TT8_MAMPS,0.026078
$HUMID,56.37
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.30
$XPDR_PINGS,101
$24V_AH,23.3,68.304
$10V_AH,10.0,64.897
$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,27.275,152.150,426.675,51.550,0.000,30.280,41.440,360.167,25.250,0.000,31.500,1055.340,6624.476,536.601,1968.774,756.713,33.375,1299.085,0.000,1952.623,0.000,0.533,0.000
$DEVICE_MAMPS,152.633,108.147,925.769,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.307,304.414,399.717,769.851,1159.864,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,41563,515
$CAP_FILE_SIZE,117341,0
$CFSIZE,260165632,153522176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251010,084254,2256.400,-15746.516,64,1.1,64,10.1