version: 66.06
glider: 146
mission: 5
dive: 499
start: 10 25 110 21 31 59
data:
$ID,146
$MISSION,5
$DIVE,499
$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,-259470.45
$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,21
$R_STBD_OVSHOOT,55
$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
$GPS1,212143,2254.750,-15748.993,35,1.7,46,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.8
$GPS2,213106,2254.837,-15748.955,15,1.7,25,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.158,-0.173
$KALMAN_X,-259058.6,248.2,21.4,296047.9,514.4
$KALMAN_Y,-605508.0,302.8,397.9,742325.8,717.6
$MHEAD_RNG_PITCHd_Wd,212.3,14290,-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,17,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.10,0.000,2,0.000,0.000,473,1792,3441,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.1,-8.4,11,126,11.38,2.70,-0.68,0.000,4,0.143,0.064,2686,186,3478,0,0,0,0,0,0
$GC,237,-1.25,-116.8,31.1,-16.2,29,242,0.20,2.47,0.00,0.000,6,0.114,0.016,2726,1788,3481,0,0,0,0,0,0
$GC,505,-1.20,-116.8,65.7,-11.5,53,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1790,3481,0,0,0,0,0,0
$GC,767,-1.20,-116.8,91.9,-9.3,78,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1790,3482,0,0,0,0,0,0
$GC,1024,-1.24,-116.8,113.1,-7.4,102,1028,0.00,2.72,0.00,0.000,4,0.000,0.061,2726,182,3482,0,0,0,0,0,0
$GC,1044,-1.28,-116.8,114.7,-8.1,103,1049,0.00,2.42,0.00,0.000,6,0.000,0.016,2726,1774,3483,0,0,0,0,0,0
$GC,1313,-1.33,-116.8,136.3,-7.7,127,1317,0.00,2.45,0.00,0.000,4,0.000,0.027,2726,3324,3484,0,0,0,0,0,0
$GC,1348,-1.40,-116.8,138.9,-6.6,129,1353,0.15,2.50,0.00,0.000,6,0.064,0.030,2677,1755,3484,0,0,0,0,0,0
$GC,1610,-1.36,-116.8,165.6,-11.2,153,1615,0.12,2.70,0.00,0.000,4,0.113,0.064,2705,189,3484,0,0,0,0,0,0
$GC,1633,-1.36,-116.8,168.4,-10.5,154,1639,0.00,2.40,0.00,0.000,6,0.000,0.018,2704,1767,3484,0,0,0,0,0,0
$GC,1898,-1.36,-116.8,193.9,-9.3,179,1902,0.00,2.45,0.00,0.000,4,0.000,0.030,2704,3327,3484,0,0,0,0,0,0
$GC,1943,-1.43,-116.8,198.6,-9.3,182,1948,0.00,2.50,0.00,0.000,6,0.000,0.028,2704,1764,3484,0,0,0,0,0,0
$GC,2204,-1.43,-116.8,219.8,-7.9,190,2208,0.00,2.70,0.00,0.000,4,0.000,0.071,2704,192,3484,0,0,0,0,0,0
$GC,2226,-1.43,-116.8,221.5,-7.8,190,2231,0.00,2.40,0.00,0.000,6,0.000,0.016,2704,1762,3483,0,0,0,0,0,0
$GC,2482,-1.43,-116.8,243.9,-9.0,197,2486,0.00,2.47,0.00,0.000,4,0.000,0.029,2704,3324,3483,0,0,0,0,0,0
$GC,2543,-1.51,-116.8,249.7,-8.7,198,2548,0.15,2.50,0.00,0.000,6,0.064,0.035,2653,1778,3483,0,0,0,0,0,0
$GC,2806,-1.45,-116.8,277.1,-10.6,205,2811,0.12,2.80,0.00,0.000,4,0.115,0.081,2681,189,3482,0,0,0,0,0,0
$GC,2823,-1.40,-116.8,279.0,-10.1,205,2827,0.00,2.42,0.00,0.000,6,0.000,0.021,2681,1757,3482,0,0,0,0,0,0
$GC,3085,-1.40,-116.8,301.8,-8.9,212,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1757,3482,0,0,0,0,0,0
$GC,3327,-1.40,-116.8,322.8,-8.5,218,3331,0.00,2.58,0.00,0.000,4,0.000,0.035,2681,3347,3480,0,0,0,0,0,0
$GC,3360,-1.44,-116.8,325.6,-7.8,218,3366,0.00,2.58,0.00,0.000,6,0.000,0.043,2681,1773,3480,0,0,0,0,0,0
$GC,3612,-1.44,-116.8,345.5,-8.3,225,3616,0.00,2.53,0.00,0.000,4,0.000,0.039,2681,3341,3479,0,0,0,0,0,0
$GC,3627,-1.44,-116.8,347.1,-8.4,225,3632,0.00,2.58,0.00,0.000,6,0.000,0.039,2681,1780,3479,0,0,0,0,0,0
$GC,3888,-1.44,-116.8,370.9,-9.5,232,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1780,3477,0,0,0,0,0,0
$GC,4132,-1.44,-116.8,394.2,-9.5,238,4136,0.00,2.55,0.00,0.000,4,0.000,0.038,2681,3338,3476,0,0,0,0,0,0
$GC,4166,-1.49,-116.8,397.4,-9.4,238,4172,0.00,2.65,0.00,0.000,6,0.000,0.049,2681,1772,3476,0,0,0,0,0,0
$GC,4416,-1.49,-116.8,421.2,-9.4,245,4421,0.00,2.55,0.00,0.000,4,0.000,0.038,2681,3338,3474,0,0,0,0,0,0
$GC,4449,-1.56,-116.8,424.7,-9.8,245,4455,0.00,2.62,0.00,0.000,6,0.000,0.058,2681,1793,3474,0,0,0,0,0,0
$GC,4701,-1.56,-116.8,447.3,-9.0,252,4702,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1793,3472,0,0,0,0,0,0
$GC,4944,-1.60,-116.8,467.8,-8.4,258,4949,0.12,3.05,0.00,0.000,4,0.081,0.113,2643,177,3471,0,0,0,0,0,0
$GC,4977,-1.52,-116.8,471.5,-11.2,258,4984,0.12,2.60,0.00,0.000,6,0.120,0.035,2668,1774,3470,0,0,0,0,0,0
$GC,5228,-1.52,-116.8,496.6,-10.1,265,5233,0.00,2.90,0.00,0.000,4,0.000,0.092,2668,185,3469,0,0,0,0,0,0
$GC,5249,-1.52,-116.8,499.3,-11.3,265,5254,0.00,2.62,0.00,0.000,6,0.000,0.033,2668,1795,3468,0,0,0,0,0,0
$STATE,5258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5258,begin apogee
$GC,5264,-0.31,0.0,500.4,11.4,266,5365,1.17,0.00,97.85,0.929,6,0.097,0.000,2929,1795,3001,0,0,0,0,0,0
$STATE,5366,end apogee,CONTROL_FINISHED_OK
$STATE,5366,begin climb
$GC,5370,1.38,116.8,503.4,0.0,268,5483,1.58,2.85,102.05,0.907,4,0.049,0.066,3308,3407,2523,0,0,0,0,0,0
$GC,5501,1.36,205.5,504.4,4.9,272,5586,0.00,2.78,78.00,0.894,6,0.000,0.054,3308,1813,2162,0,0,0,0,0,0
$GC,5873,1.27,205.5,467.6,10.2,281,5879,0.15,2.97,0.00,0.000,4,0.128,0.107,3279,232,2153,0,0,0,0,0,0
$GC,5931,1.17,205.5,461.3,10.9,282,5936,0.12,2.60,0.00,0.000,6,0.130,0.034,3255,1816,2150,0,0,0,0,0,0
$GC,6198,1.20,225.7,437.4,8.9,289,6222,0.00,2.75,17.27,0.838,4,0.000,0.054,3255,3401,2080,0,0,0,0,0,0
$GC,6241,1.28,246.6,433.7,8.8,290,6267,0.10,2.78,20.42,0.838,6,0.097,0.058,3279,1802,1995,0,0,0,0,0,0
$GC,6525,1.28,246.6,404.1,10.4,297,6529,0.00,2.65,0.00,0.000,4,0.000,0.041,3279,3411,1989,0,0,0,0,0,0
$GC,6564,1.32,246.6,399.9,11.0,298,6569,0.00,2.72,0.00,0.000,6,0.000,0.051,3279,1825,1988,0,0,0,0,0,0
$GC,6850,1.34,260.7,373.2,9.2,305,6865,0.00,0.00,13.23,0.798,6,0.000,0.000,3279,1824,1938,0,0,0,0,0,0
$GC,7092,1.34,260.7,347.5,10.9,311,7097,0.00,2.88,0.00,0.000,4,0.000,0.084,3279,234,1933,0,0,0,0,0,0
$GC,7125,1.28,260.7,343.5,12.7,311,7131,0.00,2.60,0.00,0.000,6,0.000,0.021,3279,1854,1932,0,0,0,0,0,0
$GC,7375,1.28,260.7,316.5,10.6,318,7379,0.00,2.50,0.00,0.000,4,0.000,0.035,3279,3397,1931,0,0,0,0,0,0
$GC,7414,1.33,260.7,312.5,11.0,319,7419,0.00,2.62,0.00,0.000,6,0.000,0.044,3279,1835,1931,0,0,0,0,0,0
$GC,7697,1.33,260.7,283.2,10.1,326,7702,0.00,2.83,0.00,0.000,4,0.000,0.081,3279,236,1931,0,0,0,0,0,0
$GC,7743,1.29,260.7,278.3,11.0,327,7747,0.00,2.55,0.00,0.000,6,0.000,0.025,3279,1842,1930,0,0,0,0,0,0
$GC,8020,1.31,275.9,252.7,9.2,334,8036,0.00,0.00,14.23,0.738,6,0.000,0.000,3279,1843,1876,0,0,0,0,0,0
$GC,8264,1.37,288.7,230.6,9.3,340,8283,0.00,2.90,12.70,0.710,4,0.000,0.071,3278,244,1823,0,0,0,0,0,0
$GC,8314,1.37,288.7,225.0,11.6,341,8318,0.00,2.58,0.00,0.000,6,0.000,0.028,3279,1848,1821,0,0,0,0,0,0
$GC,8592,1.45,306.3,199.0,9.0,348,8616,0.15,2.90,16.88,0.701,4,0.073,0.073,3319,232,1751,0,0,0,0,0,0
$GC,8646,1.38,306.3,193.5,13.3,352,8650,0.00,2.58,0.00,0.000,6,0.000,0.021,3319,1836,1750,0,0,0,0,0,0
$GC,8912,1.38,306.3,165.4,10.4,376,8916,0.00,2.50,0.00,0.000,4,0.000,0.036,3319,3394,1748,0,0,0,0,0,0
$GC,8942,1.42,306.3,161.8,10.7,378,8946,0.00,2.62,0.00,0.000,6,0.000,0.044,3319,1817,1747,0,0,0,0,0,0
$GC,9206,1.42,306.3,132.8,10.1,402,9210,0.00,2.75,0.00,0.000,4,0.000,0.072,3319,238,1746,0,0,0,0,0,0
$GC,9250,1.35,306.3,128.0,12.1,405,9255,0.12,2.50,0.00,0.000,6,0.129,0.027,3296,1825,1745,0,0,0,0,0,0
$GC,9517,1.40,306.3,102.1,10.2,429,9522,0.00,2.50,0.00,0.000,4,0.000,0.030,3296,3387,1745,0,0,0,0,0,0
$GC,9550,1.49,306.3,98.4,11.0,431,9555,0.12,2.60,0.00,0.000,6,0.086,0.038,3330,1814,1745,0,0,0,0,0,0
$GC,9818,1.51,325.0,70.4,9.0,455,9842,0.00,0.00,17.25,0.591,6,0.000,0.000,3330,1815,1676,0,0,0,0,0,0
$GC,10101,1.59,337.0,46.1,9.3,481,10118,0.00,2.60,11.70,0.547,4,0.000,0.028,3330,3379,1626,0,0,0,0,0,0
$GC,10157,1.70,337.7,40.9,10.0,485,10162,0.17,2.60,0.00,0.000,6,0.085,0.036,3377,1813,1625,0,0,0,0,0,0
$STATE,10456,end climb,SURFACE_DEPTH_REACHED
$STATE,10456,begin surface coast
$FINISH,0.5,1.023464
$STATE,10492,end surface coast,CONTROL_FINISHED_OK
$STATE,10492,begin surface
$SM_CCo,10516,69.62,0.538,0,0,1288,420.20
$SM_GC,1.06,0.00,0.00,69.62,0.000,0.000,0.538,476,1744,1288,-11.62,-0.74,420.20
$IRIDIUM_FIX,2246.36,-15751.06,190100,181827
$TT8_MAMPS,0.026078
$HUMID,55.90
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,19.90
$XPDR_PINGS,112
$24V_AH,23.3,69.008
$10V_AH,9.8,65.513
$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,27.925,142.200,401.575,69.625,0.000,31.024,37.663,339.728,28.000,0.000,26.978,1082.436,6810.097,538.109,1990.731,724.418,33.371,1272.669,0.000,1981.414,0.000,0.534,0.000
$DEVICE_MAMPS,142.662,121.186,928.837,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.513,302.735,406.177,776.363,1174.371,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,41603,528
$CAP_FILE_SIZE,117834,0
$CFSIZE,260165632,153219072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261010,002954,2253.964,-15749.696,30,1.1,48,10.1