version: 66.06
glider: 146
mission: 5
dive: 495
start: 10 25 110 8 56 15
data:
$ID,146
$MISSION,5
$DIVE,495
$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,-259319.86
$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,41
$R_STBD_OVSHOOT,53
$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
$GPS1,084254,2256.400,-15746.516,64,1.1,64,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.4
$GPS2,085519,2256.568,-15746.493,8,1.1,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.130,-0.195
$KALMAN_X,-259962.3,-101.6,37.2,301522.5,147.9
$KALMAN_Y,-609304.3,-61.4,294.4,749790.6,916.1
$MHEAD_RNG_PITCHd_Wd,203.6,19550,-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,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.78,0.000,2,0.000,0.000,475,1746,3267,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.4,-6.3,10,128,11.38,2.67,-4.03,0.000,4,0.143,0.071,2688,204,3481,0,0,0,0,0,0
$GC,225,-1.24,-116.8,29.3,-15.4,27,235,0.17,2.45,0.00,0.000,6,0.102,0.015,2727,1789,3482,0,0,0,0,0,0
$GC,493,-1.24,-116.8,61.4,-11.1,52,497,0.00,2.42,0.00,0.000,4,0.000,0.023,2726,3327,3482,0,0,0,0,0,0
$GC,504,-1.24,-116.8,63.5,-10.7,52,513,0.00,2.50,0.00,0.000,6,0.000,0.026,2728,1784,3482,0,0,0,0,0,0
$GC,772,-1.24,-116.8,89.7,-10.0,77,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1784,3484,0,0,0,0,0,0
$GC,1034,-1.28,-116.8,115.2,-9.0,102,1038,0.00,2.67,0.00,0.000,4,0.000,0.058,2727,195,3484,0,0,0,0,0,0
$GC,1087,-1.34,-116.8,120.3,-9.8,106,1091,0.00,2.42,0.00,0.000,6,0.000,0.019,2727,1806,3484,0,0,0,0,0,0
$GC,1352,-1.39,-116.8,144.5,-9.0,130,1357,0.12,2.38,0.00,0.000,4,0.074,0.030,2685,3318,3485,0,0,0,0,0,0
$GC,1372,-1.39,-116.8,146.5,-9.2,131,1377,0.00,2.42,0.00,0.000,6,0.000,0.034,2685,1789,3485,0,0,0,0,0,0
$GC,1637,-1.39,-116.8,173.5,-9.8,155,1641,0.00,2.42,0.00,0.000,4,0.000,0.025,2685,3324,3485,0,0,0,0,0,0
$GC,1655,-1.39,-116.8,175.6,-10.3,156,1660,0.00,2.42,0.00,0.000,6,0.000,0.035,2685,1797,3485,0,0,0,0,0,0
$GC,1939,-1.39,-116.8,204.3,-10.3,179,1943,0.00,2.72,0.00,0.000,4,0.000,0.064,2685,198,3485,0,0,0,0,0,0
$GC,1982,-1.39,-116.8,209.4,-10.6,180,1987,0.00,2.40,0.00,0.000,6,0.000,0.021,2685,1781,3485,0,0,0,0,0,0
$GC,2261,-1.39,-116.8,236.8,-9.8,187,2265,0.00,2.45,0.00,0.000,4,0.000,0.028,2685,3327,3484,0,0,0,0,0,0
$GC,2284,-1.39,-116.8,239.1,-10.7,187,2288,0.00,2.47,0.00,0.000,6,0.000,0.036,2684,1796,3484,0,0,0,0,0,0
$GC,2539,-1.39,-116.8,265.0,-10.0,194,2543,0.00,2.78,0.00,0.000,4,0.000,0.074,2685,194,3484,0,0,0,0,0,0
$GC,2588,-1.39,-116.8,269.9,-10.0,195,2593,0.00,2.42,0.00,0.000,6,0.000,0.025,2685,1753,3483,0,0,0,0,0,0
$GC,2862,-1.39,-116.8,292.2,-7.9,202,2867,0.00,2.55,0.00,0.000,4,0.000,0.032,2685,3350,3483,0,0,0,0,0,0
$GC,2903,-1.46,-116.8,295.5,-7.8,203,2907,0.00,2.58,0.00,0.000,6,0.000,0.039,2685,1779,3483,0,0,0,0,0,0
$GC,3188,-1.46,-116.8,320.1,-9.0,210,3192,0.00,2.80,0.00,0.000,4,0.000,0.083,2685,189,3481,0,0,0,0,0,0
$GC,3227,-1.46,-116.8,324.2,-10.3,211,3231,0.00,2.45,0.00,0.000,6,0.000,0.023,2684,1759,3481,0,0,0,0,0,0
$GC,3510,-1.46,-116.8,350.9,-9.5,218,3514,0.00,2.72,0.00,0.000,4,0.000,0.074,2684,189,3479,0,0,0,0,0,0
$GC,3538,-1.46,-116.8,353.7,-9.7,218,3543,0.00,2.47,0.00,0.000,6,0.000,0.028,2685,1756,3479,0,0,0,0,0,0
$GC,3789,-1.46,-116.8,376.7,-9.1,224,3793,0.00,2.60,0.00,0.000,4,0.000,0.047,2684,3359,3478,0,0,0,0,0,0
$GC,3828,-1.54,-116.8,380.4,-9.5,225,3833,0.00,2.65,0.00,0.000,6,0.000,0.049,2685,1765,3478,0,0,0,0,0,0
$GC,4113,-1.54,-116.8,405.0,-8.5,232,4118,0.00,2.85,0.00,0.000,4,0.000,0.098,2685,185,3476,0,0,0,0,0,0
$GC,4140,-1.54,-116.8,407.7,-8.9,232,4145,0.00,2.50,0.00,0.000,6,0.000,0.023,2685,1759,3475,0,0,0,0,0,0
$GC,4390,-1.54,-116.8,430.6,-9.5,238,4395,0.00,2.80,0.00,0.000,4,0.000,0.084,2685,183,3474,0,0,0,0,0,0
$GC,4402,-1.54,-116.8,431.7,-10.0,238,4406,0.00,2.53,0.00,0.000,6,0.000,0.029,2684,1763,3474,0,0,0,0,0,0
$GC,4668,-1.58,-116.8,458.8,-10.1,245,4674,0.12,2.67,0.00,0.000,4,0.074,0.057,2645,3354,3472,0,0,0,0,0,0
$GC,4724,-1.58,-116.8,464.9,-11.5,246,4728,0.00,2.70,0.00,0.000,6,0.000,0.054,2644,1771,3472,0,0,0,0,0,0
$GC,4992,-1.54,-116.8,494.1,-10.9,253,4997,0.00,2.62,0.00,0.000,4,0.000,0.053,2644,3347,3469,0,0,0,0,0,0
$GC,5047,-1.54,-116.8,499.9,-9.7,254,5051,0.00,2.08,0.00,0.000,3,0.000,0.057,2644,2101,3469,0,0,0,0,0,0
$STATE,5052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5052,begin apogee
$GC,5058,-0.31,0.0,500.4,9.9,254,5160,1.27,0.00,98.00,0.927,6,0.105,0.000,2924,1822,3001,0,0,0,0,0,0
$STATE,5161,end apogee,CONTROL_FINISHED_OK
$STATE,5161,begin climb
$GC,5165,1.38,116.8,503.2,0.0,257,5281,1.60,2.70,102.65,0.904,4,0.050,0.052,3308,3395,2521,0,0,0,0,0,0
$GC,5334,1.31,149.8,498.0,8.1,261,5370,0.12,2.72,28.98,0.867,6,0.136,0.054,3286,1813,2390,0,0,0,0,0,0
$GC,5616,1.28,180.0,473.8,8.3,268,5650,0.00,2.75,27.55,0.864,4,0.000,0.047,3286,3401,2266,0,0,0,0,0,0
$GC,5732,1.29,189.4,463.2,9.5,270,5748,0.00,2.72,9.30,0.767,6,0.000,0.058,3286,1828,2228,0,0,0,0,0,0
$GC,5993,1.26,199.9,438.2,9.4,277,6009,0.00,2.62,10.68,0.789,4,0.000,0.037,3286,3400,2184,0,0,0,0,0,0
$GC,6072,1.27,210.8,430.5,9.4,278,6088,0.00,2.67,11.10,0.789,6,0.000,0.049,3286,1840,2141,0,0,0,0,0,0
$GC,6361,1.27,210.8,400.4,10.8,286,6365,0.00,2.97,0.00,0.000,4,0.000,0.094,3285,227,2136,0,0,0,0,0,0
$GC,6393,1.16,210.8,396.4,12.1,286,6400,0.15,2.58,0.00,0.000,6,0.128,0.024,3257,1840,2135,0,0,0,0,0,0
$GC,6645,1.18,219.9,372.2,9.5,293,6659,0.00,2.62,8.68,0.747,4,0.000,0.041,3257,3401,2103,0,0,0,0,0,0
$GC,6705,1.26,225.1,366.2,9.7,294,6718,0.00,2.65,6.30,0.682,6,0.000,0.045,3257,1836,2083,0,0,0,0,0,0
$GC,6977,1.32,238.2,341.2,9.3,301,6997,0.12,2.65,13.07,0.779,4,0.087,0.034,3288,3405,2029,0,0,0,0,0,0
$GC,7013,1.32,238.2,337.2,10.5,301,7019,0.00,2.65,0.00,0.000,6,0.000,0.048,3288,1839,2027,0,0,0,0,0,0
$GC,7263,1.32,241.7,312.1,9.8,308,7273,0.00,2.88,4.38,0.567,4,0.000,0.080,3288,234,2015,0,0,0,0,0,0
$GC,7314,1.26,241.7,306.7,11.0,309,7318,0.00,2.58,0.00,0.000,6,0.000,0.025,3288,1843,2014,0,0,0,0,0,0
$GC,7591,1.29,262.8,281.1,8.8,316,7617,0.00,2.58,20.73,0.772,4,0.000,0.032,3287,3393,1928,0,0,0,0,0,0
$GC,7682,1.34,262.8,272.4,10.4,318,7687,0.00,2.60,0.00,0.000,6,0.000,0.041,3288,1831,1925,0,0,0,0,0,0
$GC,7960,1.34,262.8,243.7,10.4,325,7964,0.00,2.80,0.00,0.000,4,0.000,0.077,3288,235,1924,0,0,0,0,0,0
$GC,8009,1.34,262.8,237.8,12.2,326,8013,0.00,2.53,0.00,0.000,6,0.000,0.027,3288,1841,1922,0,0,0,0,0,0
$GC,8283,1.34,263.5,210.7,10.0,333,8287,0.00,2.50,0.00,0.000,4,0.000,0.039,3288,3390,1922,0,0,0,0,0,0
$GC,8322,1.43,266.3,206.7,9.9,334,8327,0.10,2.58,0.00,0.000,6,0.093,0.038,3314,1836,1921,0,0,0,0,0,0
$GC,8584,1.43,266.3,180.5,10.2,353,8589,0.00,2.78,0.00,0.000,4,0.000,0.073,3315,243,1921,0,0,0,0,0,0
$GC,8625,1.35,266.3,175.8,11.6,356,8630,0.00,2.53,0.00,0.000,6,0.000,0.027,3315,1837,1919,0,0,0,0,0,0
$GC,8888,1.35,267.2,149.4,10.0,380,8893,0.00,2.50,0.00,0.000,4,0.000,0.035,3315,3391,1919,0,0,0,0,0,0
$GC,8958,1.35,267.2,142.8,10.3,385,8962,0.00,2.55,0.00,0.000,6,0.000,0.036,3314,1841,1919,0,0,0,0,0,0
$GC,9224,1.35,267.2,115.8,10.1,409,9228,0.00,2.78,0.00,0.000,4,0.000,0.064,3314,236,1919,0,0,0,0,0,0
$GC,9257,1.29,267.2,112.2,11.8,411,9263,0.15,2.53,0.00,0.000,6,0.119,0.021,3283,1852,1918,0,0,0,0,0,0
$GC,9523,1.46,334.1,90.4,6.2,435,9589,0.15,0.00,61.62,0.624,6,0.072,0.000,3324,1854,1638,0,0,0,0,0,0
$GC,9847,1.54,334.1,57.9,10.3,466,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1854,1633,0,0,0,0,0,0
$GC,10113,1.64,347.5,36.2,9.3,491,10131,0.12,2.53,11.80,0.528,4,0.081,0.029,3360,3386,1583,0,0,0,0,0,0
$GC,10169,1.70,347.5,30.4,11.9,495,10173,0.00,2.55,0.00,0.000,6,0.000,0.035,3360,1833,1582,0,0,0,0,0,0
$STATE,10415,end climb,SURFACE_DEPTH_REACHED
$STATE,10415,begin surface coast
$FINISH,0.5,1.023416
$STATE,10458,end surface coast,CONTROL_FINISHED_OK
$STATE,10458,begin surface
$SM_CCo,10482,60.62,0.532,0,0,1287,420.20
$SM_GC,0.93,0.00,0.00,60.62,0.000,0.000,0.532,474,1754,1287,-11.62,-0.45,420.20
$IRIDIUM_FIX,2248.70,-15740.63,190100,080802
$TT8_MAMPS,0.026078
$HUMID,55.55
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.30
$XPDR_PINGS,120
$24V_AH,23.3,68.443
$10V_AH,9.9,65.025
$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,27.375,156.300,414.825,60.625,0.000,54.381,78.945,394.179,30.000,0.000,15.309,1112.855,6619.234,544.783,2142.846,869.428,33.376,1346.903,0.000,2140.465,0.000,0.533,0.000
$DEVICE_MAMPS,142.662,99.710,927.303,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.703,303.187,419.458,811.561,1227.496,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,41499,536
$CAP_FILE_SIZE,125901,0
$CFSIZE,260165632,153452544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251010,115306,2255.896,-15746.909,12,1.1,27,10.1