version: 66.06
glider: 146
mission: 5
dive: 500
start: 10 26 110 0 46 12
data:
$ID,146
$MISSION,5
$DIVE,500
$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,-259505.98
$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,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
$GPS1,002954,2253.964,-15749.696,30,1.1,48,10.1
$_CALLS,2
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.5
$GPS2,004519,2253.891,-15749.715,14,1.1,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.182,-0.149
$KALMAN_X,-259042.9,176.5,361.4,294462.3,-433.3
$KALMAN_Y,-605240.2,127.3,316.6,740573.1,-528.7
$MHEAD_RNG_PITCHd_Wd,220.7,12145,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-77.35,0.000,2,0.000,0.000,475,1743,3232,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.4,-6.2,10,126,11.68,2.65,-4.85,0.000,4,0.153,0.066,2690,208,3479,0,0,0,0,0,0
$GC,211,-1.26,-116.8,26.9,-17.9,25,221,0.15,2.45,0.00,0.000,6,0.103,0.015,2724,1792,3481,0,0,0,0,0,0
$GC,488,-1.26,-116.8,65.8,-10.9,51,492,0.00,2.42,0.00,0.000,4,0.000,0.025,2724,3329,3481,0,0,0,0,0,0
$GC,521,-1.26,-116.8,69.1,-9.4,53,526,0.00,2.45,0.00,0.000,6,0.000,0.027,2724,1790,3481,0,0,0,0,0,0
$GC,790,-1.30,-116.8,92.6,-8.0,77,795,0.00,2.70,0.00,0.000,4,0.000,0.063,2724,189,3482,0,0,0,0,0,0
$GC,847,-1.37,-116.8,97.8,-8.2,81,851,0.00,2.42,0.00,0.000,6,0.000,0.015,2724,1785,3482,0,0,0,0,0,0
$GC,1115,-1.41,-116.8,120.7,-9.3,105,1120,0.15,2.42,0.00,0.000,4,0.066,0.029,2675,3317,3482,0,0,0,0,0,0
$GC,1147,-1.41,-116.8,124.4,-11.2,107,1152,0.00,2.47,0.00,0.000,6,0.000,0.035,2675,1767,3482,0,0,0,0,0,0
$GC,1414,-1.36,-116.8,151.4,-10.6,131,1419,0.12,2.70,0.00,0.000,4,0.113,0.064,2702,187,3483,0,0,0,0,0,0
$GC,1454,-1.36,-116.8,156.5,-11.2,134,1458,0.00,2.40,0.00,0.000,6,0.000,0.022,2702,1762,3483,0,0,0,0,0,0
$GC,1723,-1.36,-116.8,184.0,-10.7,159,1728,0.00,2.45,0.00,0.000,4,0.000,0.028,2701,3324,3483,0,0,0,0,0,0
$GC,1769,-1.43,-116.8,189.0,-9.8,162,1778,0.00,2.50,0.00,0.000,6,0.000,0.029,2702,1791,3483,0,0,0,0,0,0
$GC,2056,-1.43,-116.8,216.5,-9.7,178,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1791,3482,0,0,0,0,0,0
$GC,2298,-1.43,-116.8,239.2,-9.4,184,2302,0.00,2.72,0.00,0.000,4,0.000,0.070,2702,197,3482,0,0,0,0,0,0
$GC,2313,-1.43,-116.8,240.9,-9.8,184,2318,0.00,2.47,0.00,0.000,6,0.000,0.021,2702,1804,3482,0,0,0,0,0,0
$GC,2576,-1.43,-116.8,267.4,-10.0,191,2580,0.00,2.42,0.00,0.000,4,0.000,0.037,2702,3330,3481,0,0,0,0,0,0
$GC,2599,-1.47,-116.8,269.7,-8.8,191,2603,0.00,2.47,0.00,0.000,6,0.000,0.036,2702,1798,3481,0,0,0,0,0,0
$GC,2860,-1.51,-116.8,288.7,-7.1,198,2866,0.12,2.83,0.00,0.000,4,0.075,0.081,2661,189,3480,0,0,0,0,0,0
$GC,2878,-1.51,-116.8,290.4,-7.3,198,2883,0.00,2.50,0.00,0.000,6,0.000,0.020,2661,1787,3480,0,0,0,0,0,0
$GC,3139,-1.51,-116.8,316.1,-10.4,205,3143,0.00,2.78,0.00,0.000,4,0.000,0.074,2661,189,3479,0,0,0,0,0,0
$GC,3166,-1.46,-116.8,319.4,-12.4,205,3171,0.10,2.50,0.00,0.000,6,0.127,0.020,2681,1785,3479,0,0,0,0,0,0
$GC,3417,-1.46,-116.8,346.4,-10.7,211,3422,0.00,2.50,0.00,0.000,4,0.000,0.036,2681,3351,3478,0,0,0,0,0,0
$GC,3467,-1.52,-116.8,351.9,-10.2,212,3472,0.00,2.55,0.00,0.000,6,0.000,0.046,2681,1809,3477,0,0,0,0,0,0
$GC,3740,-1.52,-116.8,377.3,-9.1,219,3745,0.00,2.90,0.00,0.000,4,0.000,0.091,2682,187,3476,0,0,0,0,0,0
$GC,3769,-1.52,-116.8,380.0,-9.3,219,3773,0.00,2.53,0.00,0.000,6,0.000,0.028,2681,1785,3476,0,0,0,0,0,0
$GC,4019,-1.52,-116.8,401.6,-8.6,225,4023,0.00,2.55,0.00,0.000,4,0.000,0.047,2681,3356,3474,0,0,0,0,0,0
$GC,4052,-1.57,-116.8,404.6,-8.8,225,4058,0.10,2.62,0.00,0.000,6,0.087,0.048,2647,1801,3474,0,0,0,0,0,0
$GC,4303,-1.52,-116.8,429.9,-10.5,232,4309,0.10,2.55,0.00,0.000,4,0.133,0.045,2668,3353,3472,0,0,0,0,0,0
$GC,4338,-1.52,-116.8,433.6,-10.0,232,4346,0.00,2.60,0.00,0.000,6,0.000,0.055,2668,1823,3472,0,0,0,0,0,0
$GC,4588,-1.52,-116.8,458.4,-10.2,239,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1823,3471,0,0,0,0,0,0
$GC,4834,-1.52,-116.8,481.1,-9.1,245,4838,0.00,2.53,0.00,0.000,4,0.000,0.048,2668,3345,3469,0,0,0,0,0,0
$GC,4849,-1.52,-116.8,482.8,-8.5,245,4854,0.00,2.60,0.00,0.000,6,0.000,0.058,2668,1830,3469,0,0,0,0,0,0
$STATE,5067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5067,begin apogee
$GC,5073,-0.31,0.0,500.2,7.8,251,5174,1.20,0.00,97.57,0.923,6,0.088,0.000,2931,1830,3001,0,0,0,0,0,0
$STATE,5175,end apogee,CONTROL_FINISHED_OK
$STATE,5175,begin climb
$GC,5179,1.38,116.8,501.7,0.0,253,5291,1.52,2.70,102.15,0.900,4,0.041,0.054,3303,3388,2522,0,0,0,0,0,0
$GC,5342,1.32,150.4,497.8,8.1,256,5378,0.00,2.75,29.92,0.867,6,0.000,0.064,3303,1823,2387,0,0,0,0,0,0
$GC,5632,1.24,171.1,472.5,8.8,264,5657,0.15,2.70,18.50,0.844,4,0.126,0.046,3273,3390,2302,0,0,0,0,0,0
$GC,5702,1.26,182.5,466.2,9.4,265,5720,0.00,2.72,11.52,0.795,6,0.000,0.061,3272,1826,2257,0,0,0,0,0,0
$GC,6007,1.28,203.0,439.6,8.9,273,6031,0.00,2.65,19.20,0.841,4,0.000,0.042,3273,3397,2172,0,0,0,0,0,0
$GC,6053,1.28,203.0,434.9,10.1,274,6057,0.00,2.72,0.00,0.000,6,0.000,0.054,3272,1824,2170,0,0,0,0,0,0
$GC,6332,1.28,204.0,407.1,10.0,281,6337,0.00,2.60,0.00,0.000,4,0.000,0.038,3272,3408,2167,0,0,0,0,0,0
$GC,6360,1.28,204.7,404.1,10.0,281,6364,0.00,2.67,0.00,0.000,6,0.000,0.049,3272,1836,2167,0,0,0,0,0,0
$GC,6610,1.29,214.3,380.3,9.5,287,6626,0.00,2.58,10.65,0.776,4,0.000,0.031,3272,3403,2126,0,0,0,0,0,0
$GC,6646,1.31,226.8,376.9,9.3,287,6665,0.00,2.65,12.80,0.786,6,0.000,0.046,3273,1845,2075,0,0,0,0,0,0
$GC,6938,1.32,232.3,348.3,9.7,295,6950,0.00,2.95,5.85,0.660,4,0.000,0.089,3272,232,2053,0,0,0,0,0,0
$GC,6990,1.27,232.3,342.7,11.6,296,6995,0.00,2.60,0.00,0.000,6,0.000,0.026,3272,1852,2052,0,0,0,0,0,0
$GC,7262,1.31,266.1,319.6,8.1,303,7303,0.00,2.62,31.60,0.808,4,0.000,0.037,3272,3404,1915,0,0,0,0,0,0
$GC,7340,1.39,274.8,312.9,9.5,304,7355,0.12,2.65,9.30,0.714,6,0.088,0.043,3305,1839,1880,0,0,0,0,0,0
$GC,7641,1.39,274.8,279.5,11.1,312,7645,0.00,2.85,0.00,0.000,4,0.000,0.080,3304,237,1875,0,0,0,0,0,0
$GC,7680,1.32,274.8,274.4,13.1,313,7685,0.00,2.58,0.00,0.000,6,0.000,0.021,3304,1848,1874,0,0,0,0,0,0
$GC,7965,1.32,274.8,242.8,11.2,320,7969,0.00,2.50,0.00,0.000,4,0.000,0.038,3305,3392,1873,0,0,0,0,0,0
$GC,8014,1.37,274.8,236.6,12.3,321,8019,0.00,2.60,0.00,0.000,6,0.000,0.044,3304,1833,1872,0,0,0,0,0,0
$GC,8286,1.37,274.8,203.0,12.5,328,8290,0.00,2.53,0.00,0.000,4,0.000,0.036,3304,3393,1872,0,0,0,0,0,0
$GC,8327,1.42,274.8,198.3,12.2,329,8331,0.00,2.55,0.00,0.000,6,0.000,0.038,3305,1849,1870,0,0,0,0,0,0
$GC,8589,1.45,292.2,170.7,9.0,353,8614,0.00,2.90,15.18,0.676,4,0.000,0.070,3304,238,1808,0,0,0,0,0,0
$GC,8628,1.45,296.7,166.9,9.8,356,8639,0.00,2.58,5.62,0.549,6,0.000,0.021,3305,1859,1791,0,0,0,0,0,0
$GC,8898,1.45,296.7,140.0,10.1,381,8903,0.00,2.83,0.00,0.000,4,0.000,0.066,3304,240,1788,0,0,0,0,0,0
$GC,8916,1.45,296.7,137.7,10.5,382,8920,0.00,2.53,0.00,0.000,6,0.000,0.027,3305,1847,1787,0,0,0,0,0,0
$GC,9179,1.45,296.7,109.6,10.2,406,9183,0.00,2.80,0.00,0.000,4,0.000,0.064,3305,239,1787,0,0,0,0,0,0
$GC,9207,1.45,296.7,106.3,11.5,408,9212,0.00,2.53,0.00,0.000,6,0.000,0.021,3305,1848,1786,0,0,0,0,0,0
$GC,9472,1.52,305.0,81.9,9.6,432,9487,0.10,2.83,8.57,0.559,4,0.097,0.067,3334,230,1755,0,0,0,0,0,0
$GC,9527,1.45,305.0,75.8,12.2,436,9531,0.00,2.53,0.00,0.000,6,0.000,0.021,3333,1828,1754,0,0,0,0,0,0
$GC,9796,1.54,321.5,51.2,9.1,460,9824,0.00,2.58,15.90,0.568,4,0.000,0.029,3333,3387,1688,0,0,0,0,0,0
$GC,9842,1.66,347.0,46.9,8.6,463,9871,0.12,2.62,23.23,0.570,6,0.091,0.036,3368,1803,1586,0,0,0,0,0,0
$GC,10161,1.68,363.3,13.9,9.1,501,10188,0.00,2.78,14.85,0.525,4,0.000,0.069,3368,234,1519,0,0,0,0,0,0
$GC,10208,1.64,363.3,8.6,12.1,506,10217,0.00,2.47,0.00,0.000,6,0.000,0.019,3368,1799,1518,0,0,0,0,0,0
$STATE,10239,end climb,SURFACE_DEPTH_REACHED
$STATE,10239,begin surface coast
$FINISH,0.4,1.023717
$STATE,10275,end surface coast,CONTROL_FINISHED_OK
$STATE,10275,begin surface
$SM_CCo,10296,47.97,0.535,0,0,1288,420.20
$SM_GC,0.99,0.00,0.00,47.97,0.000,0.000,0.535,474,1801,1288,-11.62,0.88,420.20
$IRIDIUM_FIX,2244.02,-15751.06,200100,000009
$TT8_MAMPS,0.026078
$HUMID,56.34
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,19.80
$XPDR_PINGS,101
$24V_AH,23.3,69.156
$10V_AH,9.8,65.636
$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,27.650,161.800,432.425,47.975,0.000,62.608,77.477,523.848,25.250,0.000,34.912,1072.053,6630.851,526.691,2000.833,1037.163,33.376,1324.341,0.000,1987.094,0.000,0.534,0.000
$DEVICE_MAMPS,153.400,90.506,922.701,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.031,303.329,401.408,757.174,1144.270,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41391,515
$CAP_FILE_SIZE,126395,0
$CFSIZE,260165632,153149440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261010,033955,2252.863,-15750.828,38,1.4,38,10.1