version: 66.06
glider: 146
mission: 5
dive: 531
start: 10 30 110 3 51 37
data:
$ID,146
$MISSION,5
$DIVE,531
$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,-260476.2
$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,52
$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
$GPS1,034200,2253.186,-15743.617,38,1.8,43,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.0
$GPS2,035043,2253.292,-15743.604,10,1.7,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.111,-0.207
$KALMAN_X,-261097.7,517.5,121.8,306927.5,-326.6
$KALMAN_Y,-576436.4,789.1,399.4,709901.8,-160.2
$MHEAD_RNG_PITCHd_Wd,141.8,8408,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,106,0.00,0.00,-85.90,0.000,2,0.000,0.000,475,1788,3451,0,0,0,0,0,0
$GC,110,-1.38,-116.8,4.2,-8.4,11,129,12.07,2.70,-0.45,0.000,4,0.166,0.065,2692,189,3478,0,0,0,0,0,0
$GC,206,-1.30,-116.8,29.0,-17.3,24,214,0.08,2.47,0.00,0.000,6,0.103,0.018,2711,1761,3480,0,0,0,0,0,0
$GC,475,-1.22,-116.8,67.0,-13.6,49,480,0.10,2.53,0.00,0.000,4,0.135,0.026,2730,3343,3481,0,0,0,0,0,0
$GC,523,-1.22,-116.8,72.6,-9.8,52,528,0.00,2.55,0.00,0.000,6,0.000,0.027,2730,1762,3481,0,0,0,0,0,0
$GC,788,-1.27,-116.8,96.6,-8.8,76,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1762,3482,0,0,0,0,0,0
$GC,1054,-1.32,-116.8,120.2,-9.2,101,1058,0.00,2.53,0.00,0.000,4,0.000,0.027,2730,3349,3483,0,0,0,0,0,0
$GC,1089,-1.41,-116.8,123.6,-8.8,103,1096,0.17,2.50,0.00,0.000,6,0.056,0.029,2673,1781,3483,0,0,0,0,0,0
$GC,1352,-1.35,-116.8,150.5,-10.7,128,1358,0.15,2.70,0.00,0.000,4,0.106,0.062,2705,197,3483,0,0,0,0,0,0
$GC,1376,-1.35,-116.8,153.0,-10.1,129,1385,0.00,2.47,0.00,0.000,6,0.000,0.022,2705,1805,3483,0,0,0,0,0,0
$GC,1642,-1.35,-116.8,174.9,-8.5,154,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1806,3483,0,0,0,0,0,0
$GC,1905,-1.35,-116.8,196.6,-8.2,179,1909,0.00,2.38,0.00,0.000,4,0.000,0.027,2705,3319,3484,0,0,0,0,0,0
$GC,1938,-1.40,-116.8,199.5,-9.1,181,1943,0.00,2.42,0.00,0.000,6,0.000,0.028,2705,1809,3484,0,0,0,0,0,0
$GC,2188,-1.40,-116.8,223.9,-9.9,187,2193,0.00,2.78,0.00,0.000,4,0.000,0.070,2705,198,3483,0,0,0,0,0,0
$GC,2215,-1.40,-116.8,226.9,-10.2,187,2219,0.00,2.42,0.00,0.000,6,0.000,0.023,2705,1801,3483,0,0,0,0,0,0
$GC,2467,-1.40,-116.8,250.2,-9.2,193,2471,0.00,2.42,0.00,0.000,4,0.000,0.031,2705,3324,3483,0,0,0,0,0,0
$GC,2501,-1.45,-116.8,253.4,-9.3,193,2506,0.00,2.45,0.00,0.000,6,0.000,0.036,2705,1809,3483,0,0,0,0,0,0
$GC,2753,-1.49,-116.8,273.4,-7.9,200,2755,0.12,0.00,0.00,0.000,6,0.072,0.000,2662,1808,3482,0,0,0,0,0,0
$GC,2994,-1.45,-116.8,299.1,-10.8,206,2999,0.10,2.42,0.00,0.000,4,0.124,0.030,2682,3325,3482,0,0,0,0,0,0
$GC,3027,-1.49,-116.8,302.7,-11.0,206,3033,0.00,2.50,0.00,0.000,6,0.000,0.041,2682,1797,3482,0,0,0,0,0,0
$GC,3279,-1.49,-116.8,327.7,-10.0,213,3283,0.00,2.88,0.00,0.000,4,0.000,0.086,2682,187,3481,0,0,0,0,0,0
$GC,3305,-1.49,-116.8,330.7,-10.9,213,3310,0.00,2.47,0.00,0.000,6,0.000,0.027,2682,1763,3481,0,0,0,0,0,0
$GC,3556,-1.49,-116.8,353.9,-9.1,219,3560,0.00,2.58,0.00,0.000,4,0.000,0.039,2682,3349,3480,0,0,0,0,0,0
$GC,3607,-1.55,-116.8,358.5,-9.3,220,3612,0.00,2.55,0.00,0.000,6,0.000,0.045,2682,1814,3479,0,0,0,0,0,0
$GC,3879,-1.55,-116.8,382.5,-8.9,227,3884,0.00,2.95,0.00,0.000,4,0.000,0.091,2682,184,3478,0,0,0,0,0,0
$GC,3895,-1.55,-116.8,384.1,-9.0,227,3900,0.00,2.58,0.00,0.000,6,0.000,0.023,2682,1812,3478,0,0,0,0,0,0
$GC,4158,-1.55,-116.8,406.7,-8.6,234,4163,0.00,2.90,0.00,0.000,4,0.000,0.082,2682,180,3476,0,0,0,0,0,0
$GC,4185,-1.55,-116.8,409.3,-9.4,234,4189,0.00,2.60,0.00,0.000,6,0.000,0.031,2682,1804,3476,0,0,0,0,0,0
$GC,4435,-1.55,-116.8,430.8,-8.8,240,4439,0.00,2.55,0.00,0.000,4,0.000,0.051,2682,3358,3475,0,0,0,0,0,0
$GC,4458,-1.59,-116.8,432.9,-9.5,240,4464,0.12,2.62,0.00,0.000,6,0.076,0.057,2641,1807,3474,0,0,0,0,0,0
$GC,4714,-1.54,-116.8,460.1,-10.7,247,4719,0.10,2.55,0.00,0.000,4,0.126,0.048,2662,3355,3473,0,0,0,0,0,0
$GC,4759,-1.58,-116.8,464.5,-9.9,248,4763,0.00,2.62,0.00,0.000,6,0.000,0.056,2662,1820,3472,0,0,0,0,0,0
$GC,5038,-1.58,-116.8,488.7,-8.7,255,5042,0.00,2.53,0.00,0.000,4,0.000,0.048,2662,3352,3470,0,0,0,0,0,0
$GC,5065,-1.58,-116.8,491.2,-7.9,255,5070,0.00,2.60,0.00,0.000,6,0.000,0.064,2662,1834,3470,0,0,0,0,0,0
$STATE,5191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5191,begin apogee
$GC,5196,-0.31,0.0,502.7,9.0,258,5299,1.23,0.00,99.10,0.929,6,0.088,0.000,2930,1833,3001,0,0,0,0,0,0
$STATE,5300,end apogee,CONTROL_FINISHED_OK
$STATE,5300,begin climb
$GC,5304,1.38,116.8,505.2,0.0,260,5419,1.58,2.75,103.50,0.907,4,0.050,0.056,3309,3398,2522,0,0,0,0,0,0
$GC,5444,1.36,206.0,505.4,4.9,264,5529,0.00,2.75,79.10,0.894,6,0.000,0.058,3308,1821,2161,0,0,0,0,0,0
$GC,5804,1.27,206.0,468.2,11.0,273,5809,0.15,2.65,0.00,0.000,4,0.127,0.041,3280,3412,2151,0,0,0,0,0,0
$GC,5855,1.27,206.0,462.8,10.2,274,5859,0.00,2.75,0.00,0.000,6,0.000,0.063,3280,1827,2149,0,0,0,0,0,0
$GC,6127,1.29,222.8,437.7,9.1,281,6146,0.00,2.67,14.43,0.819,4,0.000,0.044,3280,3408,2092,0,0,0,0,0,0
$GC,6174,1.30,231.4,433.1,9.5,282,6189,0.00,2.72,9.40,0.765,6,0.000,0.054,3280,1831,2057,0,0,0,0,0,0
$GC,6447,1.30,231.4,406.2,10.3,289,6451,0.00,2.97,0.00,0.000,4,0.000,0.104,3279,230,2053,0,0,0,0,0,0
$GC,6468,1.24,231.4,403.3,11.9,289,6473,0.00,2.58,0.00,0.000,6,0.000,0.021,3280,1831,2051,0,0,0,0,0,0
$GC,6724,1.24,231.4,376.1,10.3,296,6729,0.00,2.85,0.00,0.000,4,0.000,0.076,3280,230,2050,0,0,0,0,0,0
$GC,6753,1.17,231.4,373.0,11.2,296,6758,0.12,2.55,0.00,0.000,6,0.130,0.027,3256,1824,2049,0,0,0,0,0,0
$GC,7003,1.24,255.4,350.6,8.7,302,7033,0.00,2.67,22.10,0.814,4,0.000,0.041,3256,3398,1960,0,0,0,0,0,0
$GC,7048,1.33,269.9,346.8,9.2,303,7069,0.15,2.70,15.00,0.776,6,0.080,0.044,3294,1810,1899,0,0,0,0,0,0
$GC,7332,1.33,269.9,315.0,11.1,310,7337,0.00,2.60,0.00,0.000,4,0.000,0.037,3294,3401,1895,0,0,0,0,0,0
$GC,7348,1.33,269.9,312.9,10.9,310,7352,0.00,2.65,0.00,0.000,6,0.000,0.047,3294,1825,1893,0,0,0,0,0,0
$GC,7608,1.33,269.9,285.0,10.8,317,7613,0.00,2.83,0.00,0.000,4,0.000,0.077,3294,232,1892,0,0,0,0,0,0
$GC,7635,1.27,269.9,281.9,11.7,317,7640,0.00,2.53,0.00,0.000,6,0.000,0.021,3294,1829,1892,0,0,0,0,0,0
$GC,7885,1.27,270.0,256.8,10.0,323,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1831,1892,0,0,0,0,0,0
$GC,8131,1.29,283.9,234.2,9.2,329,8150,0.00,2.60,12.48,0.708,4,0.000,0.038,3294,3387,1842,0,0,0,0,0,0
$GC,8207,1.36,285.9,226.6,9.9,330,8211,0.00,2.65,0.00,0.000,6,0.000,0.044,3294,1799,1841,0,0,0,0,0,0
$GC,8457,1.36,288.6,202.1,9.9,336,8467,0.00,2.75,5.32,0.565,4,0.000,0.077,3294,237,1824,0,0,0,0,0,0
$GC,8498,1.36,288.6,197.7,11.9,337,8502,0.00,2.47,0.00,0.000,6,0.000,0.025,3294,1800,1823,0,0,0,0,0,0
$GC,8764,1.37,295.8,171.8,9.6,361,8779,0.00,2.62,8.23,0.619,4,0.000,0.038,3294,3378,1794,0,0,0,0,0,0
$GC,8792,1.43,295.8,168.4,10.4,363,8802,0.00,2.67,0.00,0.000,6,0.000,0.040,3295,1788,1793,0,0,0,0,0,0
$GC,9055,1.43,295.8,141.2,10.1,388,9059,0.00,2.67,0.00,0.000,4,0.000,0.067,3294,239,1792,0,0,0,0,0,0
$GC,9077,1.43,295.8,138.6,11.0,389,9083,0.00,2.45,0.00,0.000,6,0.000,0.023,3294,1807,1791,0,0,0,0,0,0
$GC,9342,1.49,305.2,113.5,9.5,414,9357,0.12,2.75,9.32,0.588,4,0.086,0.064,3328,239,1756,0,0,0,0,0,0
$GC,9374,1.44,305.2,109.5,11.2,416,9384,0.00,2.47,0.00,0.000,6,0.000,0.021,3328,1788,1756,0,0,0,0,0,0
$GC,9642,1.44,305.2,81.2,10.4,441,9647,0.00,2.58,0.00,0.000,4,0.000,0.031,3328,3388,1755,0,0,0,0,0,0
$GC,9687,1.52,306.7,76.4,10.0,444,9692,0.00,2.62,0.00,0.000,6,0.000,0.037,3327,1799,1755,0,0,0,0,0,0
$GC,9957,1.64,339.7,54.9,8.1,468,9999,0.12,2.65,31.73,0.586,4,0.080,0.028,3362,3385,1614,0,0,0,0,0,0
$GC,10017,1.68,340.1,48.9,10.0,472,10022,0.00,2.62,0.00,0.000,6,0.000,0.036,3361,1798,1613,0,0,0,0,0,0
$GC,10308,1.76,404.9,20.5,6.3,503,10375,0.00,2.65,56.75,0.551,4,0.000,0.029,3361,3384,1348,0,0,0,0,0,0
$GC,10394,1.81,404.9,11.2,13.7,513,10403,0.10,2.67,0.00,0.000,6,0.048,0.042,3398,1799,1347,0,0,0,0,0,0
$STATE,10452,end climb,SURFACE_DEPTH_REACHED
$STATE,10452,begin surface coast
$FINISH,0.4,1.023756
$STATE,10498,end surface coast,CONTROL_FINISHED_OK
$STATE,10498,begin surface
$SM_CCo,10520,11.88,0.494,0,0,1288,420.20
$SM_GC,0.95,0.00,0.00,11.88,0.000,0.000,0.494,476,1795,1288,-11.62,0.71,420.20
$IRIDIUM_FIX,2244.02,-15746.73,240100,000039
$TT8_MAMPS,0.026078
$HUMID,56.77
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,20.10
$XPDR_PINGS,126
$24V_AH,23.3,73.701
$10V_AH,9.8,69.490
$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,28.575,162.375,466.450,11.875,0.000,29.904,33.959,299.361,31.500,0.000,17.977,1080.960,6768.258,514.262,1986.363,702.938,33.376,1330.112,0.000,1986.716,0.000,0.533,0.000
$DEVICE_MAMPS,166.439,103.545,928.837,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.216,308.823,411.370,772.344,1167.890,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,41622,527
$CAP_FILE_SIZE,122353,0
$CFSIZE,260165632,151285760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301010,064830,2252.671,-15742.954,39,1.8,39,10.1