version: 66.06
glider: 146
mission: 5
dive: 505
start: 10 26 110 16 35 38
data:
$ID,146
$MISSION,5
$DIVE,505
$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,-259672.52
$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,31
$R_STBD_OVSHOOT,63
$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
$GPS1,161424,2250.791,-15753.995,40,1.5,40,10.1
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-58.7
$GPS2,163444,2251.019,-15754.140,13,1.3,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.071,-0.224
$KALMAN_X,-258218.6,-85.4,-83.0,286725.6,50.2
$KALMAN_Y,-601654.1,297.8,-231.4,732025.1,997.5
$MHEAD_RNG_PITCHd_Wd,187.4,3173,-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,-116.8,0.0,0.0,0,128,0.00,0.00,-108.18,0.000,2,0.000,0.000,473,1752,3246,0,0,0,0,0,0
$GC,131,-1.38,-116.8,3.2,-5.8,14,157,11.70,2.67,-4.60,0.000,4,0.154,0.064,2689,200,3478,0,0,0,0,0,0
$GC,263,-1.28,-116.8,26.2,-13.4,32,273,0.12,2.42,0.00,0.000,6,0.104,0.015,2718,1778,3479,0,0,0,0,0,0
$GC,537,-1.22,-116.8,61.8,-12.6,58,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1780,3479,0,0,0,0,0,0
$GC,803,-1.22,-116.8,89.3,-10.2,83,807,0.00,2.67,0.00,0.000,4,0.000,0.064,2717,193,3479,0,0,0,0,0,0
$GC,836,-1.22,-116.8,92.6,-10.4,85,840,0.00,2.40,0.00,0.000,6,0.000,0.016,2718,1778,3479,0,0,0,0,0,0
$GC,1104,-1.22,-116.8,116.6,-9.7,109,1108,0.00,2.40,0.00,0.000,4,0.000,0.031,2718,3314,3479,0,0,0,0,0,0
$GC,1114,-1.22,-116.8,118.4,-9.9,109,1120,0.00,2.47,0.00,0.000,6,0.000,0.031,2718,1765,3479,0,0,0,0,0,0
$GC,1377,-1.22,-116.8,142.8,-9.0,134,1382,0.00,2.67,0.00,0.000,4,0.000,0.067,2718,198,3479,0,0,0,0,0,0
$GC,1408,-1.26,-116.8,145.7,-9.8,136,1412,0.00,2.35,0.00,0.000,6,0.000,0.016,2718,1763,3479,0,0,0,0,0,0
$GC,1677,-1.30,-116.8,166.9,-7.4,161,1681,0.00,2.45,0.00,0.000,4,0.000,0.026,2718,3317,3479,0,0,0,0,0,0
$GC,1696,-1.35,-116.8,168.3,-7.7,162,1700,0.00,2.50,0.00,0.000,6,0.000,0.030,2718,1760,3479,0,0,0,0,0,0
$GC,1959,-1.39,-116.8,189.1,-8.6,186,1964,0.00,2.70,0.00,0.000,4,0.000,0.065,2718,189,3479,0,0,0,0,0,0
$GC,1984,-1.43,-116.8,190.7,-8.3,187,1989,0.12,2.38,0.00,0.000,6,0.074,0.016,2676,1746,3478,0,0,0,0,0,0
$GC,2237,-1.43,-116.8,219.1,-11.4,199,2241,0.00,2.50,0.00,0.000,4,0.000,0.030,2676,3328,3478,0,0,0,0,0,0
$GC,2269,-1.43,-116.8,222.7,-10.6,199,2275,0.00,2.58,0.00,0.000,6,0.000,0.038,2676,1737,3478,0,0,0,0,0,0
$GC,2521,-1.43,-116.8,248.7,-10.2,206,2525,0.00,2.53,0.00,0.000,4,0.000,0.033,2676,3326,3476,0,0,0,0,0,0
$GC,2537,-1.43,-116.8,250.4,-9.5,206,2542,0.00,2.53,0.00,0.000,6,0.000,0.037,2676,1764,3476,0,0,0,0,0,0
$GC,2798,-1.43,-116.8,275.6,-10.0,213,2802,0.00,2.72,0.00,0.000,4,0.000,0.078,2675,190,3475,0,0,0,0,0,0
$GC,2819,-1.39,-116.8,278.1,-11.4,213,2824,0.10,2.40,0.00,0.000,6,0.123,0.025,2696,1741,3475,0,0,0,0,0,0
$GC,3077,-1.39,-116.8,302.4,-9.5,220,3081,0.00,2.55,0.00,0.000,4,0.000,0.038,2697,3342,3474,0,0,0,0,0,0
$GC,3104,-1.45,-116.8,305.1,-9.3,220,3108,0.00,2.55,0.00,0.000,6,0.000,0.038,2696,1767,3474,0,0,0,0,0,0
$GC,3356,-1.49,-116.8,327.4,-9.0,226,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1767,3472,0,0,0,0,0,0
$GC,3600,-1.53,-116.8,348.1,-8.3,232,3602,0.12,0.00,0.00,0.000,6,0.070,0.000,2651,1767,3471,0,0,0,0,0,0
$GC,3841,-1.48,-116.8,373.0,-10.5,238,3847,0.12,2.58,0.00,0.000,4,0.114,0.036,2678,3339,3469,0,0,0,0,0,0
$GC,3865,-1.48,-116.8,375.5,-10.6,238,3869,0.00,2.62,0.00,0.000,6,0.000,0.046,2678,1772,3468,0,0,0,0,0,0
$GC,4119,-1.48,-116.8,402.0,-10.3,245,4124,0.00,2.88,0.00,0.000,4,0.000,0.096,2678,186,3467,0,0,0,0,0,0
$GC,4137,-1.48,-116.8,403.7,-9.9,245,4141,0.00,2.47,0.00,0.000,6,0.000,0.026,2678,1759,3467,0,0,0,0,0,0
$GC,4397,-1.48,-116.8,428.1,-9.0,252,4402,0.00,2.62,0.00,0.000,4,0.000,0.044,2678,3353,3465,0,0,0,0,0,0
$GC,4427,-1.53,-116.8,430.6,-8.8,252,4431,0.00,2.65,0.00,0.000,6,0.000,0.054,2678,1783,3465,0,0,0,0,0,0
$GC,4677,-1.53,-116.8,452.6,-8.9,258,4681,0.00,2.97,0.00,0.000,4,0.000,0.107,2678,181,3463,0,0,0,0,0,0
$GC,4716,-1.53,-116.8,456.7,-11.3,259,4720,0.00,2.55,0.00,0.000,6,0.000,0.037,2677,1763,3463,0,0,0,0,0,0
$GC,5001,-1.53,-116.8,484.5,-9.8,266,5005,0.00,2.67,0.00,0.000,4,0.000,0.056,2678,3352,3461,0,0,0,0,0,0
$GC,5041,-1.60,-116.8,488.4,-9.8,267,5046,0.12,2.67,0.00,0.000,6,0.072,0.058,2637,1776,3460,0,0,0,0,0,0
$STATE,5159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5159,begin apogee
$GC,5167,-0.31,0.0,500.9,10.6,270,5267,1.35,0.00,95.95,0.923,6,0.090,0.000,2931,1841,3001,0,0,0,0,0,0
$STATE,5268,end apogee,CONTROL_FINISHED_OK
$STATE,5268,begin climb
$GC,5270,1.38,116.8,503.3,0.0,272,5382,1.58,2.67,103.28,0.902,4,0.047,0.050,3311,3372,2523,0,0,0,0,0,0
$GC,5402,1.34,190.3,502.5,5.8,275,5473,0.00,2.72,65.12,0.886,6,0.000,0.061,3311,1813,2224,0,0,0,0,0,0
$GC,5729,1.24,190.3,467.6,11.5,284,5734,0.20,2.62,0.00,0.000,4,0.181,0.039,3272,3382,2214,0,0,0,0,0,0
$GC,5786,1.24,190.3,461.4,10.2,285,5791,0.00,2.72,0.00,0.000,6,0.000,0.057,3272,1813,2213,0,0,0,0,0,0
$GC,6052,1.25,195.7,435.4,9.7,292,6057,0.00,2.95,0.00,0.000,4,0.000,0.109,3272,233,2210,0,0,0,0,0,0
$GC,6092,1.15,195.7,431.3,10.5,293,6096,0.00,2.53,0.00,0.000,6,0.000,0.023,3272,1801,2208,0,0,0,0,0,0
$GC,6377,1.18,219.0,406.4,8.7,300,6406,0.00,2.70,24.25,0.841,4,0.000,0.044,3272,3401,2107,0,0,0,0,0,0
$GC,6462,1.18,219.0,397.7,10.4,302,6467,0.00,2.70,0.00,0.000,6,0.000,0.054,3271,1821,2104,0,0,0,0,0,0
$GC,6748,1.18,219.1,369.0,10.0,309,6753,0.00,2.90,0.00,0.000,4,0.000,0.089,3272,229,2101,0,0,0,0,0,0
$GC,6764,1.19,226.4,367.1,9.6,309,6778,0.00,2.55,7.07,0.706,6,0.000,0.026,3272,1833,2078,0,0,0,0,0,0
$GC,7029,1.22,251.6,343.5,8.6,316,7058,0.00,2.60,24.10,0.809,4,0.000,0.038,3271,3397,1975,0,0,0,0,0,0
$GC,7120,1.30,258.0,335.3,9.7,318,7134,0.00,2.65,7.20,0.687,6,0.000,0.050,3272,1831,1948,0,0,0,0,0,0
$GC,7407,1.30,258.0,304.8,10.7,325,7412,0.00,2.85,0.00,0.000,4,0.000,0.081,3272,231,1945,0,0,0,0,0,0
$GC,7424,1.30,258.0,302.9,10.5,325,7429,0.00,2.60,0.00,0.000,6,0.000,0.022,3272,1853,1943,0,0,0,0,0,0
$GC,7686,1.35,272.6,278.2,9.2,332,7705,0.10,2.58,13.95,0.743,4,0.094,0.038,3299,3403,1889,0,0,0,0,0,0
$GC,7756,1.39,272.6,271.2,10.2,333,7761,0.00,2.60,0.00,0.000,6,0.000,0.041,3299,1844,1886,0,0,0,0,0,0
$GC,8012,1.39,272.6,245.5,10.4,340,8017,0.00,2.53,0.00,0.000,4,0.000,0.035,3299,3400,1884,0,0,0,0,0,0
$GC,8039,1.39,272.6,242.4,10.8,340,8044,0.00,2.55,0.00,0.000,6,0.000,0.038,3299,1866,1884,0,0,0,0,0,0
$GC,8289,1.39,272.6,217.0,10.2,346,8294,0.00,2.85,0.00,0.000,4,0.000,0.076,3299,240,1883,0,0,0,0,0,0
$GC,8368,1.39,272.6,207.7,11.9,347,8374,0.00,2.58,0.00,0.000,6,0.000,0.021,3299,1864,1882,0,0,0,0,0,0
$GC,8626,1.40,275.5,180.1,9.9,366,8630,0.00,2.85,0.00,0.000,4,0.000,0.066,3299,232,1882,0,0,0,0,0,0
$GC,8647,1.40,275.5,178.3,10.1,367,8652,0.00,2.58,0.00,0.000,6,0.000,0.023,3299,1858,1881,0,0,0,0,0,0
$GC,8916,1.41,288.2,153.3,9.3,391,8937,0.00,2.88,13.98,0.647,4,0.000,0.064,3299,240,1825,0,0,0,0,0,0
$GC,8974,1.41,288.2,146.4,11.5,396,8978,0.00,2.55,0.00,0.000,6,0.000,0.022,3299,1842,1823,0,0,0,0,0,0
$GC,9239,1.48,313.1,122.4,8.6,420,9268,0.10,2.85,23.25,0.640,4,0.089,0.064,3327,234,1723,0,0,0,0,0,0
$GC,9292,1.42,313.1,116.3,12.6,424,9297,0.00,2.55,0.00,0.000,6,0.000,0.021,3326,1834,1720,0,0,0,0,0,0
$GC,9557,1.42,314.9,88.3,9.9,448,9561,0.00,2.50,0.00,0.000,4,0.000,0.028,3327,3393,1718,0,0,0,0,0,0
$GC,9586,1.47,314.9,85.1,10.4,450,9591,0.00,2.58,0.00,0.000,6,0.000,0.035,3327,1821,1717,0,0,0,0,0,0
$GC,9855,1.57,349.9,60.1,8.0,474,9896,0.00,2.80,31.70,0.587,4,0.000,0.061,3327,243,1573,0,0,0,0,0,0
$GC,9914,1.62,349.9,53.9,10.3,478,9919,0.10,2.50,0.00,0.000,6,0.087,0.019,3356,1828,1571,0,0,0,0,0,0
$GC,10193,1.62,349.9,23.2,11.9,505,10203,0.00,2.50,0.00,0.000,4,0.000,0.028,3356,3379,1568,0,0,0,0,0,0
$GC,10234,1.68,349.9,18.8,11.0,510,10243,0.00,2.60,0.00,0.000,6,0.000,0.041,3355,1815,1568,0,0,0,0,0,0
$STATE,10380,end climb,SURFACE_DEPTH_REACHED
$STATE,10380,begin surface coast
$FINISH,0.4,1.009051
$STATE,10426,end surface coast,CONTROL_FINISHED_OK
$STATE,10426,begin surface
$SM_CCo,10448,58.90,0.530,0,0,1288,420.20
$SM_GC,0.97,0.00,0.00,58.90,0.000,0.000,0.530,475,1741,1288,-11.62,-0.82,420.20
$IRIDIUM_FIX,2241.69,-15757.16,200100,161613
$TT8_MAMPS,0.025311
$HUMID,55.47
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.50
$XPDR_PINGS,106
$24V_AH,23.3,69.879
$10V_AH,9.9,66.250
$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,27.600,162.475,409.850,58.900,0.000,88.178,108.965,724.028,26.500,0.000,15.330,1102.272,6704.903,548.622,2073.156,1295.480,33.379,1346.840,0.000,2082.323,0.000,0.536,0.000
$DEVICE_MAMPS,181.012,113.516,923.468,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.962,306.274,422.956,811.500,1227.545,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,41367,537
$CAP_FILE_SIZE,130498,0
$CFSIZE,260165632,152850432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261010,193206,2250.425,-15754.066,35,1.4,40,10.1