version: 66.06
glider: 146
mission: 5
dive: 501
start: 10 26 110 3 49 22
data:
$ID,146
$MISSION,5
$DIVE,501
$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,-259519.78
$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,23
$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
$GPS1,033955,2252.863,-15750.828,38,1.4,38,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-63.2
$GPS2,034826,2252.855,-15750.871,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.140,-0.189
$KALMAN_X,-258769.0,60.0,11.3,292660.2,-375.5
$KALMAN_Y,-604680.8,-108.6,-455.8,739096.8,333.1
$MHEAD_RNG_PITCHd_Wd,206.4,9396,-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,12,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,-78.18,0.000,2,0.000,0.000,473,1801,3190,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.0,-5.3,10,125,11.45,2.80,-5.78,0.000,4,0.145,0.076,2690,190,3480,0,0,0,0,0,0
$GC,196,-1.30,-116.8,25.5,-20.1,23,204,0.10,2.47,0.00,0.000,6,0.117,0.016,2713,1795,3481,0,0,0,0,0,0
$GC,470,-1.26,-116.8,63.3,-12.1,49,474,0.00,2.40,0.00,0.000,4,0.000,0.025,2713,3316,3482,0,0,0,0,0,0
$GC,517,-1.30,-116.8,68.4,-9.3,52,522,0.00,2.47,0.00,0.000,6,0.000,0.028,2713,1769,3482,0,0,0,0,0,0
$GC,782,-1.30,-116.8,91.8,-7.8,76,786,0.00,2.67,0.00,0.000,4,0.000,0.058,2713,193,3483,0,0,0,0,0,0
$GC,826,-1.34,-116.8,95.1,-7.8,79,830,0.00,2.40,0.00,0.000,6,0.000,0.015,2713,1777,3483,0,0,0,0,0,0
$GC,1094,-1.34,-116.8,120.0,-10.0,103,1098,0.00,2.42,0.00,0.000,4,0.000,0.026,2713,3318,3484,0,0,0,0,0,0
$GC,1128,-1.41,-116.8,124.4,-10.3,105,1133,0.00,2.47,0.00,0.000,6,0.000,0.028,2713,1761,3485,0,0,0,0,0,0
$GC,1390,-1.41,-116.8,148.4,-9.1,130,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1761,3485,0,0,0,0,0,0
$GC,1651,-1.44,-116.8,170.9,-8.7,154,1656,0.12,2.67,0.00,0.000,4,0.073,0.063,2671,190,3485,0,0,0,0,0,0
$GC,1684,-1.40,-116.8,175.1,-11.0,156,1693,0.08,2.42,0.00,0.000,6,0.088,0.021,2691,1767,3485,0,0,0,0,0,0
$GC,1949,-1.40,-116.8,199.5,-9.1,181,1953,0.00,2.45,0.00,0.000,4,0.000,0.033,2691,3328,3484,0,0,0,0,0,0
$GC,1971,-1.40,-116.8,202.1,-9.9,181,1976,0.00,2.47,0.00,0.000,6,0.000,0.028,2691,1782,3485,0,0,0,0,0,0
$GC,2228,-1.40,-116.8,227.3,-10.0,188,2232,0.00,2.42,0.00,0.000,4,0.000,0.031,2691,3327,3485,0,0,0,0,0,0
$GC,2244,-1.40,-116.8,229.1,-9.8,188,2248,0.00,2.45,0.00,0.000,6,0.000,0.035,2691,1783,3485,0,0,0,0,0,0
$GC,2505,-1.40,-116.8,252.7,-9.0,195,2509,0.00,2.72,0.00,0.000,4,0.000,0.074,2691,195,3484,0,0,0,0,0,0
$GC,2522,-1.40,-116.8,254.4,-9.0,195,2526,0.00,2.42,0.00,0.000,6,0.000,0.023,2691,1771,3484,0,0,0,0,0,0
$GC,2783,-1.40,-116.8,278.8,-9.3,202,2787,0.00,2.50,0.00,0.000,4,0.000,0.037,2691,3344,3483,0,0,0,0,0,0
$GC,2810,-1.45,-116.8,281.4,-9.4,202,2815,0.00,2.50,0.00,0.000,6,0.000,0.031,2691,1780,3483,0,0,0,0,0,0
$GC,3062,-1.45,-116.8,304.2,-9.1,208,3067,0.00,2.78,0.00,0.000,4,0.000,0.077,2691,190,3483,0,0,0,0,0,0
$GC,3090,-1.45,-116.8,307.1,-9.3,208,3094,0.00,2.45,0.00,0.000,6,0.000,0.024,2691,1752,3483,0,0,0,0,0,0
$GC,3340,-1.45,-116.8,330.4,-9.5,214,3344,0.00,2.58,0.00,0.000,4,0.000,0.041,2691,3350,3481,0,0,0,0,0,0
$GC,3397,-1.53,-116.8,335.7,-9.0,215,3402,0.10,2.55,0.00,0.000,6,0.087,0.042,2654,1783,3482,0,0,0,0,0,0
$GC,3664,-1.49,-116.8,364.0,-10.6,222,3669,0.10,2.55,0.00,0.000,4,0.125,0.034,2674,3356,3479,0,0,0,0,0,0
$GC,3691,-1.49,-116.8,366.8,-9.6,222,3696,0.00,2.60,0.00,0.000,6,0.000,0.043,2675,1793,3479,0,0,0,0,0,0
$GC,3943,-1.49,-116.8,390.7,-9.9,228,3948,0.00,2.90,0.00,0.000,4,0.000,0.095,2674,182,3478,0,0,0,0,0,0
$GC,3958,-1.49,-116.8,392.8,-10.5,228,3963,0.00,2.55,0.00,0.000,6,0.000,0.027,2675,1793,3478,0,0,0,0,0,0
$GC,4219,-1.49,-116.8,421.6,-11.1,235,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1793,3476,0,0,0,0,0,0
$GC,4465,-1.49,-116.8,447.6,-10.5,241,4469,0.00,2.58,0.00,0.000,4,0.000,0.052,2674,3347,3475,0,0,0,0,0,0
$GC,4486,-1.49,-116.8,449.8,-9.6,241,4490,0.00,2.65,0.00,0.000,6,0.000,0.062,2675,1796,3475,0,0,0,0,0,0
$GC,4741,-1.49,-116.8,471.3,-8.1,248,4745,0.00,2.58,0.00,0.000,4,0.000,0.044,2675,3350,3473,0,0,0,0,0,0
$GC,4762,-1.49,-116.8,473.1,-7.9,248,4767,0.00,2.65,0.00,0.000,6,0.000,0.061,2675,1801,3473,0,0,0,0,0,0
$GC,5020,-1.49,-116.8,495.5,-9.2,255,5024,0.00,2.58,0.00,0.000,4,0.000,0.050,2675,3348,3472,0,0,0,0,0,0
$GC,5053,-1.54,-116.8,498.9,-9.0,255,5058,0.00,2.62,0.00,0.000,6,0.000,0.058,2675,1814,3471,0,0,0,0,0,0
$STATE,5097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5097,begin apogee
$GC,5104,-0.31,0.0,503.2,9.4,257,5206,1.17,0.00,98.20,0.927,6,0.090,0.000,2931,1813,3001,0,0,0,0,0,0
$STATE,5207,end apogee,CONTROL_FINISHED_OK
$STATE,5207,begin climb
$GC,5209,1.38,116.8,506.0,0.0,259,5321,1.58,2.75,101.90,0.904,4,0.041,0.050,3311,3394,2523,0,0,0,0,0,0
$GC,5436,1.31,152.4,499.9,8.0,265,5475,0.12,2.75,31.42,0.875,6,0.135,0.058,3288,1817,2379,0,0,0,0,0,0
$GC,5760,1.27,171.1,471.5,9.0,273,5784,0.00,2.72,16.92,0.841,4,0.000,0.046,3288,3393,2302,0,0,0,0,0,0
$GC,5883,1.28,179.5,459.3,9.6,275,5899,0.00,2.72,9.07,0.770,6,0.000,0.057,3288,1823,2268,0,0,0,0,0,0
$GC,6186,1.25,199.5,430.7,8.9,283,6210,0.00,2.67,18.62,0.838,4,0.000,0.043,3288,3396,2187,0,0,0,0,0,0
$GC,6231,1.28,219.7,426.5,8.9,284,6256,0.00,2.70,19.52,0.831,6,0.000,0.054,3288,1827,2105,0,0,0,0,0,0
$GC,6512,1.28,219.7,398.2,10.2,291,6516,0.00,2.95,0.00,0.000,4,0.000,0.096,3288,233,2099,0,0,0,0,0,0
$GC,6542,1.18,219.7,394.7,12.8,291,6547,0.15,2.55,0.00,0.000,6,0.125,0.022,3259,1825,2097,0,0,0,0,0,0
$GC,6792,1.18,219.7,368.4,10.5,297,6796,0.00,2.58,0.00,0.000,4,0.000,0.035,3259,3405,2096,0,0,0,0,0,0
$GC,6831,1.25,219.7,364.2,10.9,298,6836,0.00,2.65,0.00,0.000,6,0.000,0.048,3259,1835,2095,0,0,0,0,0,0
$GC,7116,1.32,245.8,338.3,8.5,305,7142,0.12,0.00,23.17,0.806,6,0.087,0.000,3290,1835,1999,0,0,0,0,0,0
$GC,7398,1.35,271.0,313.9,8.6,312,7427,0.00,2.92,23.73,0.788,4,0.000,0.078,3290,230,1895,0,0,0,0,0,0
$GC,7464,1.28,271.0,307.1,12.2,313,7468,0.00,2.62,0.00,0.000,6,0.000,0.025,3291,1860,1893,0,0,0,0,0,0
$GC,7724,1.28,271.0,278.7,10.9,320,7728,0.00,2.50,0.00,0.000,4,0.000,0.040,3291,3398,1891,0,0,0,0,0,0
$GC,7796,1.32,271.0,270.5,11.2,321,7801,0.00,2.58,0.00,0.000,6,0.000,0.039,3291,1856,1889,0,0,0,0,0,0
$GC,8047,1.32,271.0,242.9,11.3,327,8052,0.00,2.85,0.00,0.000,4,0.000,0.074,3291,241,1889,0,0,0,0,0,0
$GC,8076,1.28,271.0,239.2,12.7,327,8080,0.00,2.60,0.00,0.000,6,0.000,0.023,3290,1875,1888,0,0,0,0,0,0
$GC,8326,1.29,276.5,213.8,9.7,333,8336,0.00,2.47,5.35,0.575,4,0.000,0.034,3290,3397,1872,0,0,0,0,0,0
$GC,8355,1.36,291.0,211.1,9.2,333,8375,0.00,2.55,14.62,0.697,6,0.000,0.044,3291,1866,1814,0,0,0,0,0,0
$GC,8629,1.40,291.0,183.6,10.3,350,8634,0.00,2.88,0.00,0.000,4,0.000,0.075,3290,233,1810,0,0,0,0,0,0
$GC,8671,1.40,291.0,179.1,11.1,353,8675,0.00,2.55,0.00,0.000,6,0.000,0.025,3290,1856,1808,0,0,0,0,0,0
$GC,8934,1.45,291.0,153.1,10.2,377,8939,0.10,2.85,0.00,0.000,4,0.092,0.067,3317,240,1808,0,0,0,0,0,0
$GC,8968,1.39,291.0,149.4,12.6,379,8973,0.00,2.53,0.00,0.000,6,0.000,0.027,3317,1838,1808,0,0,0,0,0,0
$GC,9234,1.39,291.0,118.5,11.9,403,9239,0.00,2.50,0.00,0.000,4,0.000,0.031,3318,3392,1807,0,0,0,0,0,0
$GC,9267,1.43,291.0,114.5,12.5,405,9271,0.00,2.58,0.00,0.000,6,0.000,0.037,3317,1833,1807,0,0,0,0,0,0
$GC,9535,1.46,313.4,88.9,8.7,429,9560,0.00,2.80,20.25,0.614,4,0.000,0.068,3317,241,1722,0,0,0,0,0,0
$GC,9611,1.46,313.4,81.0,11.1,435,9616,0.00,2.53,0.00,0.000,6,0.000,0.021,3317,1836,1720,0,0,0,0,0,0
$GC,9880,1.61,356.5,56.5,7.5,459,9926,0.12,2.80,38.28,0.590,4,0.078,0.058,3351,230,1545,0,0,0,0,0,0
$GC,9975,1.61,356.5,47.4,11.4,466,9980,0.00,2.45,0.00,0.000,6,0.000,0.020,3351,1787,1543,0,0,0,0,0,0
$GC,10272,1.62,365.4,13.4,9.5,500,10290,0.00,2.72,8.35,0.487,4,0.000,0.059,3351,241,1511,0,0,0,0,0,0
$GC,10312,1.63,378.0,9.9,9.3,504,10330,0.00,2.45,12.80,0.511,6,0.000,0.027,3352,1790,1459,0,0,0,0,0,0
$STATE,10365,end climb,SURFACE_DEPTH_REACHED
$STATE,10365,begin surface coast
$FINISH,0.4,1.009501
$STATE,10409,end surface coast,CONTROL_FINISHED_OK
$STATE,10410,begin surface
$SM_CCo,10431,35.08,0.531,0,0,1287,420.20
$SM_GC,1.15,0.00,0.00,35.08,0.000,0.000,0.531,474,1790,1287,-11.62,0.57,420.20
$IRIDIUM_FIX,2246.36,-15751.06,200100,000026
$TT8_MAMPS,0.026078
$HUMID,56.18
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,20.00
$XPDR_PINGS,121
$24V_AH,23.3,69.289
$10V_AH,9.7,65.754
$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,27.150,161.550,442.225,35.075,0.000,27.823,35.570,301.846,30.250,0.000,13.166,1090.687,6674.026,511.628,1999.868,699.731,33.371,1311.159,0.000,1999.983,0.000,0.533,0.000
$DEVICE_MAMPS,144.963,95.875,926.536,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.958,299.390,401.108,756.880,1146.624,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,41589,517
$CAP_FILE_SIZE,122765,0
$CFSIZE,260165632,153096192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261010,064602,2252.300,-15751.558,93,1.1,93,10.1