version: 66.06
glider: 146
mission: 5
dive: 560
start: 11 2 110 23 55 38
data:
$ID,146
$MISSION,5
$DIVE,560
$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,400
$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,-261149.91
$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,48
$R_STBD_OVSHOOT,56
$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
$GPS1,234506,2254.025,-15743.018,8,1.6,24,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.7
$GPS2,235444,2254.124,-15743.001,14,1.1,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.054,-0.229
$KALMAN_X,-264258.3,52.2,-122.8,311842.2,-432.0
$KALMAN_Y,-505276.8,397.5,-229.1,641302.1,1694.6
$MHEAD_RNG_PITCHd_Wd,156.6,9642,-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,18,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-77.30,0.000,2,0.000,0.000,474,1739,3289,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.4,-6.2,10,126,11.82,2.62,-3.70,0.000,4,0.158,0.066,2688,216,3482,0,0,0,0,0,0
$GC,205,-1.28,-116.8,25.2,-15.2,24,215,0.10,2.42,0.00,0.000,6,0.108,0.016,2712,1781,3483,0,0,0,0,0,0
$GC,485,-1.19,-116.8,63.7,-12.5,51,494,0.12,0.00,0.00,0.000,6,0.129,0.000,2736,1783,3484,0,0,0,0,0,0
$GC,749,-1.19,-116.8,89.0,-7.9,76,753,0.00,2.42,0.00,0.000,4,0.000,0.026,2737,3334,3484,0,0,0,0,0,0
$GC,802,-1.29,-116.8,93.6,-7.9,80,806,0.00,2.47,0.00,0.000,6,0.000,0.031,2736,1775,3485,0,0,0,0,0,0
$GC,1067,-1.35,-116.8,115.7,-8.8,104,1072,0.15,2.45,0.00,0.000,4,0.064,0.025,2688,3330,3485,0,0,0,0,0,0
$GC,1089,-1.39,-116.8,118.4,-10.1,105,1095,0.00,2.50,0.00,0.000,6,0.000,0.029,2688,1768,3486,0,0,0,0,0,0
$GC,1354,-1.35,-116.8,147.4,-10.9,130,1358,0.00,2.65,0.00,0.000,4,0.000,0.065,2688,197,3486,0,0,0,0,0,0
$GC,1398,-1.35,-116.8,152.6,-12.7,133,1402,0.00,2.38,0.00,0.000,6,0.000,0.022,2688,1787,3486,0,0,0,0,0,0
$GC,1665,-1.35,-116.8,178.2,-9.1,157,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1788,3487,0,0,0,0,0,0
$GC,1936,-1.35,-116.8,204.3,-10.0,180,1940,0.00,2.38,0.00,0.000,4,0.000,0.025,2688,3314,3486,0,0,0,0,0,0
$GC,1963,-1.35,-116.8,207.4,-10.2,180,1968,0.00,2.53,0.00,0.000,6,0.000,0.030,2688,1744,3486,0,0,0,0,0,0
$GC,2214,-1.35,-116.8,230.7,-9.4,186,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1744,3486,0,0,0,0,0,0
$GC,2459,-1.35,-116.8,254.2,-9.6,192,2464,0.00,2.50,0.00,0.000,4,0.000,0.029,2688,3317,3486,0,0,0,0,0,0
$GC,2470,-1.35,-116.8,255.6,-9.6,192,2474,0.00,2.55,0.00,0.000,6,0.000,0.035,2688,1737,3486,0,0,0,0,0,0
$GC,2736,-1.35,-116.8,282.4,-10.3,199,2741,0.00,2.70,0.00,0.000,4,0.000,0.074,2688,189,3486,0,0,0,0,0,0
$GC,2759,-1.35,-116.8,285.0,-11.1,199,2763,0.00,2.38,0.00,0.000,6,0.000,0.019,2688,1722,3485,0,0,0,0,0,0
$GC,3020,-1.35,-116.8,311.6,-9.9,206,3024,0.00,2.60,0.00,0.000,4,0.000,0.036,2688,3342,3485,0,0,0,0,0,0
$GC,3081,-1.40,-116.8,317.2,-8.8,207,3085,0.00,2.58,0.00,0.000,6,0.000,0.035,2688,1763,3485,0,0,0,0,0,0
$GC,3343,-1.40,-116.8,339.6,-8.7,214,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1764,3483,0,0,0,0,0,0
$GC,3585,-1.40,-116.8,360.7,-8.8,220,3589,0.00,2.58,0.00,0.000,4,0.000,0.040,2688,3346,3482,0,0,0,0,0,0
$GC,3618,-1.46,-116.8,363.6,-8.8,220,3624,0.00,2.62,0.00,0.000,6,0.000,0.048,2688,1765,3482,0,0,0,0,0,0
$GC,3870,-1.46,-116.8,386.7,-9.3,227,3875,0.00,2.85,0.00,0.000,4,0.000,0.094,2688,183,3481,0,0,0,0,0,0
$GC,3902,-1.46,-116.8,390.1,-10.2,227,3908,0.00,2.45,0.00,0.000,6,0.000,0.027,2688,1741,3481,0,0,0,0,0,0
$GC,4153,-1.46,-116.8,412.8,-8.9,234,4157,0.00,2.65,0.00,0.000,4,0.000,0.045,2688,3354,3479,0,0,0,0,0,0
$GC,4176,-1.50,-116.8,414.8,-9.2,234,4181,0.00,2.70,0.00,0.000,6,0.000,0.049,2688,1742,3479,0,0,0,0,0,0
$GC,4432,-1.54,-116.8,436.8,-8.7,241,4437,0.10,2.88,0.00,0.000,4,0.085,0.104,2652,185,3478,0,0,0,0,0,0
$GC,4448,-1.54,-116.8,438.5,-8.7,241,4453,0.00,2.47,0.00,0.000,6,0.000,0.031,2651,1743,3477,0,0,0,0,0,0
$GC,4711,-1.51,-116.8,466.6,-10.9,248,4715,0.00,2.67,0.00,0.000,4,0.000,0.057,2651,3356,3476,0,0,0,0,0,0
$GC,4737,-1.51,-116.8,470.0,-11.5,248,4742,0.00,2.75,0.00,0.000,6,0.000,0.057,2652,1745,3476,0,0,0,0,0,0
$GC,4987,-1.51,-116.8,498.3,-11.4,254,4992,0.00,2.90,0.00,0.000,4,0.000,0.110,2652,186,3474,0,0,0,0,0,0
$STATE,5001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5001,begin apogee
$GC,5011,-0.31,0.0,500.2,11.5,254,5114,1.25,0.00,99.65,0.920,6,0.087,0.000,2928,1820,3000,0,0,0,0,0,0
$STATE,5115,end apogee,CONTROL_FINISHED_OK
$STATE,5115,begin climb
$GC,5118,1.38,116.8,505.3,0.0,257,5226,1.58,0.00,103.82,0.900,6,0.038,0.000,3309,1820,2524,0,0,0,0,0,0
$GC,5436,1.31,166.1,492.3,7.2,265,5486,0.12,2.78,43.70,0.881,4,0.131,0.061,3286,3405,2322,0,0,0,0,0,0
$GC,5506,1.29,190.6,486.9,8.6,266,5536,0.00,2.78,23.12,0.848,6,0.000,0.061,3286,1814,2223,0,0,0,0,0,0
$GC,5812,1.23,190.6,456.1,10.2,274,5816,0.00,2.65,0.00,0.000,4,0.000,0.040,3286,3414,2216,0,0,0,0,0,0
$GC,5833,1.20,190.6,453.6,10.0,274,5838,0.12,2.75,0.00,0.000,6,0.130,0.057,3262,1820,2215,0,0,0,0,0,0
$GC,6089,1.21,204.1,430.1,9.3,281,6108,0.00,2.72,12.00,0.798,4,0.000,0.036,3263,3416,2167,0,0,0,0,0,0
$GC,6156,1.25,205.4,423.7,10.0,282,6160,0.00,2.70,0.00,0.000,6,0.000,0.056,3262,1835,2166,0,0,0,0,0,0
$GC,6416,1.27,216.3,399.1,9.4,289,6436,0.00,3.03,12.27,0.792,4,0.000,0.092,3262,233,2118,0,0,0,0,0,0
$GC,6447,1.27,216.3,395.9,10.3,289,6451,0.00,2.60,0.00,0.000,6,0.000,0.026,3262,1849,2116,0,0,0,0,0,0
$GC,6699,1.28,228.1,372.3,9.4,295,6717,0.00,2.65,11.55,0.776,4,0.000,0.041,3262,3411,2070,0,0,0,0,0,0
$GC,6725,1.34,241.1,369.7,9.3,295,6745,0.12,2.67,13.65,0.779,6,0.083,0.050,3296,1838,2018,0,0,0,0,0,0
$GC,7032,1.34,241.1,337.4,10.6,303,7037,0.00,2.55,0.00,0.000,4,0.000,0.038,3296,3401,2013,0,0,0,0,0,0
$GC,7065,1.34,241.1,333.5,10.8,303,7071,0.00,2.62,0.00,0.000,6,0.000,0.045,3296,1844,2012,0,0,0,0,0,0
$GC,7315,1.34,241.1,307.1,10.6,310,7319,0.00,2.55,0.00,0.000,4,0.000,0.036,3296,3410,2010,0,0,0,0,0,0
$GC,7330,1.34,241.1,305.2,10.7,310,7334,0.00,2.60,0.00,0.000,6,0.000,0.041,3296,1860,2010,0,0,0,0,0,0
$GC,7593,1.35,255.8,280.2,9.2,317,7609,0.00,0.00,13.75,0.744,6,0.000,0.000,3296,1860,1958,0,0,0,0,0,0
$GC,7876,1.37,266.2,253.4,9.4,324,7892,0.00,2.92,10.65,0.703,4,0.000,0.077,3296,234,1914,0,0,0,0,0,0
$GC,7933,1.31,266.2,247.3,11.4,325,7938,0.00,2.62,0.00,0.000,6,0.000,0.022,3296,1870,1913,0,0,0,0,0,0
$GC,8200,1.34,287.1,223.2,8.8,332,8222,0.00,0.00,20.15,0.719,6,0.000,0.000,3296,1872,1830,0,0,0,0,0,0
$GC,8443,1.35,295.7,200.2,9.5,338,8458,0.00,2.92,8.75,0.641,4,0.000,0.072,3296,236,1795,0,0,0,0,0,0
$GC,8489,1.35,295.7,195.5,10.6,339,8494,0.00,2.55,0.00,0.000,6,0.000,0.028,3296,1851,1793,0,0,0,0,0,0
$GC,8752,1.39,295.7,169.3,10.4,363,8756,0.00,2.50,0.00,0.000,4,0.000,0.036,3296,3402,1791,0,0,0,0,0,0
$GC,8844,1.48,295.7,160.3,10.1,370,8849,0.10,2.55,0.00,0.000,6,0.093,0.038,3324,1858,1790,0,0,0,0,0,0
$GC,9105,1.48,295.7,131.2,10.7,394,9109,0.00,2.80,0.00,0.000,4,0.000,0.070,3325,243,1790,0,0,0,0,0,0
$GC,9163,1.43,295.7,124.5,11.7,398,9173,0.00,2.58,0.00,0.000,6,0.000,0.021,3324,1859,1788,0,0,0,0,0,0
$GC,9429,1.43,299.2,98.5,9.8,423,9434,0.00,2.45,0.00,0.000,4,0.000,0.029,3324,3396,1788,0,0,0,0,0,0
$GC,9462,1.48,299.2,95.0,10.3,425,9466,0.00,2.53,0.00,0.000,6,0.000,0.036,3324,1847,1788,0,0,0,0,0,0
$GC,9730,1.51,324.0,70.8,8.6,449,9761,0.00,2.53,25.65,0.595,4,0.000,0.028,3324,3391,1680,0,0,0,0,0,0
$GC,9774,1.62,338.8,66.8,9.2,452,9801,0.12,2.50,14.48,0.562,6,0.170,0.035,3360,1869,1617,0,0,0,0,0,0
$GC,10058,1.63,344.4,41.0,9.7,478,10073,0.00,2.85,5.88,0.462,4,0.000,0.060,3360,240,1595,0,0,0,0,0,0
$GC,10102,1.58,344.4,36.3,11.3,481,10107,0.00,2.55,0.00,0.000,6,0.000,0.019,3360,1876,1594,0,0,0,0,0,0
$STATE,10406,end climb,SURFACE_DEPTH_REACHED
$STATE,10406,begin surface coast
$FINISH,0.4,1.011774
$STATE,10455,end surface coast,CONTROL_FINISHED_OK
$STATE,10455,begin surface
$SM_CCo,10479,46.62,0.532,0,0,1370,400.08
$SM_GC,1.07,0.00,0.00,46.62,0.000,0.000,0.532,477,1747,1370,-11.61,-0.65,400.08
$IRIDIUM_FIX,2244.02,-15743.68,270100,202044
$TT8_MAMPS,0.026078
$HUMID,56.14
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.30
$XPDR_PINGS,158
$24V_AH,23.3,77.750
$10V_AH,9.8,73.069
$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,27.525,147.025,419.075,46.625,0.000,29.814,33.896,364.762,39.500,0.000,15.636,1073.169,6746.550,548.554,1975.474,759.094,33.372,1279.961,0.000,1983.086,0.000,0.534,0.000
$DEVICE_MAMPS,169.507,109.681,919.633,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.019,301.789,409.571,789.143,1193.658,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,41401,528
$CAP_FILE_SIZE,116143,0
$CFSIZE,260165632,149528576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031110,025225,2254.260,-15742.949,40,1.1,40,10.1