version: 66.06
glider: 146
mission: 5
dive: 566
start: 11 3 110 19 4 21
data:
$ID,146
$MISSION,5
$DIVE,566
$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,-261329.22
$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,20
$R_STBD_OVSHOOT,62
$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
$GPS1,185500,2254.207,-15743.560,36,1.2,41,10.1
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,2
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-65.9
$GPS2,190325,2254.298,-15743.561,14,1.2,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.053,-0.229
$KALMAN_X,-267513.9,-124.8,91.0,314096.7,-166.6
$KALMAN_Y,-492015.1,198.1,629.8,627705.8,957.3
$MHEAD_RNG_PITCHd_Wd,156.8,10167,-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,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.35,0.000,2,0.000,0.000,473,1783,3317,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.6,-6.5,10,126,12.07,2.78,-3.10,0.000,4,0.166,0.074,2691,192,3481,0,0,0,0,0,0
$GC,151,-1.04,-116.8,18.1,-24.5,16,161,0.35,2.45,0.00,0.000,6,0.093,0.020,2768,1777,3482,0,0,0,0,0,0
$GC,436,-1.04,-116.8,50.7,-10.7,47,441,0.00,2.45,0.00,0.000,4,0.000,0.025,2768,3331,3483,0,0,0,0,0,0
$GC,458,-1.04,-116.8,53.1,-10.4,48,462,0.00,2.55,0.00,0.000,6,0.000,0.028,2768,1749,3483,0,0,0,0,0,0
$GC,722,-1.10,-116.8,82.4,-11.1,72,727,0.00,2.62,0.00,0.000,4,0.000,0.062,2767,194,3483,0,0,0,0,0,0
$GC,746,-1.18,-116.8,85.0,-9.8,73,752,0.12,2.38,0.00,0.000,6,0.068,0.015,2722,1789,3484,0,0,0,0,0,0
$GC,1010,-1.18,-116.8,112.5,-9.4,98,1014,0.00,2.35,0.00,0.000,4,0.000,0.031,2722,3307,3484,0,0,0,0,0,0
$GC,1045,-1.25,-116.8,116.0,-9.5,100,1054,0.00,2.45,0.00,0.000,6,0.000,0.032,2722,1790,3484,0,0,0,0,0,0
$GC,1314,-1.29,-116.8,136.7,-7.4,125,1318,0.00,2.38,0.00,0.000,4,0.000,0.024,2722,3314,3485,0,0,0,0,0,0
$GC,1335,-1.34,-116.8,138.9,-7.1,126,1344,0.00,2.45,0.00,0.000,6,0.000,0.032,2722,1796,3486,0,0,0,0,0,0
$GC,1606,-1.38,-116.8,160.5,-9.0,151,1611,0.10,2.70,0.00,0.000,4,0.083,0.061,2686,198,3487,0,0,0,0,0,0
$GC,1624,-1.38,-116.8,163.2,-9.7,152,1628,0.00,2.38,0.00,0.000,6,0.000,0.021,2686,1787,3486,0,0,0,0,0,0
$GC,1887,-1.38,-116.8,192.0,-10.6,176,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1789,3486,0,0,0,0,0,0
$GC,2164,-1.38,-116.8,220.8,-10.0,188,2169,0.00,2.72,0.00,0.000,4,0.000,0.063,2686,193,3487,0,0,0,0,0,0
$GC,2180,-1.38,-116.8,222.5,-9.5,188,2184,0.00,2.40,0.00,0.000,6,0.000,0.015,2686,1770,3487,0,0,0,0,0,0
$GC,2446,-1.38,-116.8,244.8,-8.3,195,2451,0.00,2.45,0.00,0.000,4,0.000,0.030,2686,3328,3486,0,0,0,0,0,0
$GC,2504,-1.38,-116.8,249.3,-8.0,196,2508,0.00,2.47,0.00,0.000,6,0.000,0.037,2686,1797,3486,0,0,0,0,0,0
$GC,2770,-1.38,-116.8,272.6,-9.0,203,2775,0.00,2.78,0.00,0.000,4,0.000,0.079,2686,196,3486,0,0,0,0,0,0
$GC,2802,-1.38,-116.8,276.0,-10.6,203,2808,0.00,2.42,0.00,0.000,6,0.000,0.021,2686,1766,3486,0,0,0,0,0,0
$GC,3055,-1.38,-116.8,297.6,-8.5,210,3059,0.00,2.58,0.00,0.000,4,0.000,0.035,2686,3356,3485,0,0,0,0,0,0
$GC,3082,-1.38,-116.8,300.3,-8.4,210,3086,0.00,2.60,0.00,0.000,6,0.000,0.042,2686,1772,3485,0,0,0,0,0,0
$GC,3332,-1.38,-116.8,321.1,-8.3,216,3336,0.00,2.83,0.00,0.000,4,0.000,0.089,2686,186,3484,0,0,0,0,0,0
$GC,3349,-1.38,-116.8,322.5,-8.3,216,3354,0.00,2.50,0.00,0.000,6,0.000,0.020,2686,1784,3485,0,0,0,0,0,0
$GC,3610,-1.38,-116.8,345.9,-9.0,223,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1784,3483,0,0,0,0,0,0
$GC,3853,-1.38,-116.8,369.6,-9.7,229,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1784,3482,0,0,0,0,0,0
$GC,4099,-1.38,-116.8,391.2,-8.8,235,4103,0.00,2.60,0.00,0.000,4,0.000,0.046,2685,3350,3480,0,0,0,0,0,0
$GC,4126,-1.43,-116.8,393.5,-8.0,235,4131,0.00,2.65,0.00,0.000,6,0.000,0.052,2686,1785,3480,0,0,0,0,0,0
$GC,4376,-1.43,-116.8,412.4,-7.7,241,4381,0.00,2.95,0.00,0.000,4,0.000,0.104,2686,179,3479,0,0,0,0,0,0
$GC,4394,-1.43,-116.8,413.9,-8.2,241,4398,0.00,2.50,0.00,0.000,6,0.000,0.028,2686,1766,3479,0,0,0,0,0,0
$GC,4655,-1.47,-116.8,437.9,-9.5,248,4659,0.00,2.62,0.00,0.000,4,0.000,0.051,2686,3357,3477,0,0,0,0,0,0
$GC,4671,-1.51,-116.8,439.7,-9.8,248,4676,0.00,2.67,0.00,0.000,6,0.000,0.055,2686,1775,3477,0,0,0,0,0,0
$GC,4934,-1.56,-116.8,465.9,-10.1,255,4939,0.10,2.62,0.00,0.000,4,0.086,0.045,2652,3349,3475,0,0,0,0,0,0
$GC,4949,-1.56,-116.8,468.2,-10.6,255,4954,0.00,2.70,0.00,0.000,6,0.000,0.063,2651,1774,3475,0,0,0,0,0,0
$GC,5210,-1.56,-116.8,497.2,-11.1,262,5215,0.00,2.65,0.00,0.000,4,0.000,0.054,2652,3354,3474,0,0,0,0,0,0
$GC,5233,-1.56,-116.8,499.7,-11.3,262,5237,0.00,2.10,0.00,0.000,3,0.000,0.054,2651,2113,3474,0,0,0,0,0,0
$STATE,5238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5238,begin apogee
$GC,5246,-0.31,0.0,500.4,11.6,262,5349,1.25,0.00,99.20,0.921,6,0.089,0.000,2927,1813,3001,0,0,0,0,0,0
$STATE,5350,end apogee,CONTROL_FINISHED_OK
$STATE,5350,begin climb
$GC,5352,1.38,116.8,504.4,0.0,265,5466,1.55,2.75,102.38,0.902,4,0.047,0.051,3307,3394,2523,0,0,0,0,0,0
$GC,5483,1.36,196.3,504.1,5.4,268,5560,0.00,2.75,70.22,0.886,6,0.000,0.066,3307,1820,2200,0,0,0,0,0,0
$GC,5806,1.27,196.3,470.7,11.1,276,5811,0.15,2.65,0.00,0.000,4,0.122,0.043,3278,3404,2191,0,0,0,0,0,0
$GC,5838,1.27,196.3,466.8,10.2,276,5844,0.00,2.75,0.00,0.000,6,0.000,0.067,3278,1820,2189,0,0,0,0,0,0
$GC,6088,1.27,196.3,440.5,10.6,283,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1820,2188,0,0,0,0,0,0
$GC,6332,1.27,196.3,416.0,10.1,289,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1820,2186,0,0,0,0,0,0
$GC,6578,1.29,210.7,393.1,9.2,295,6597,0.00,3.00,11.65,0.787,4,0.000,0.097,3278,225,2141,0,0,0,0,0,0
$GC,6609,1.23,212.4,389.9,9.9,295,6614,0.00,2.60,0.00,0.000,6,0.000,0.026,3278,1836,2140,0,0,0,0,0,0
$GC,6859,1.24,224.2,366.2,9.4,301,6878,0.00,2.65,13.55,0.790,4,0.000,0.047,3278,3398,2086,0,0,0,0,0,0
$GC,6920,1.28,224.2,359.9,10.7,302,6925,0.00,2.67,0.00,0.000,6,0.000,0.054,3278,1824,2085,0,0,0,0,0,0
$GC,7187,1.29,230.4,333.7,9.7,309,7201,0.00,2.95,6.75,0.685,4,0.000,0.088,3278,234,2060,0,0,0,0,0,0
$GC,7232,1.23,230.4,329.0,11.8,310,7236,0.00,2.58,0.00,0.000,6,0.000,0.022,3278,1836,2060,0,0,0,0,0,0
$GC,7515,1.25,241.4,301.4,9.4,317,7531,0.00,2.58,11.20,0.741,4,0.000,0.041,3278,3400,2017,0,0,0,0,0,0
$GC,7600,1.31,241.4,292.9,10.3,319,7605,0.00,2.62,0.00,0.000,6,0.000,0.041,3278,1836,2015,0,0,0,0,0,0
$GC,7886,1.31,244.1,265.2,9.9,326,7890,0.00,2.85,0.00,0.000,4,0.000,0.081,3278,233,2014,0,0,0,0,0,0
$GC,7901,1.32,248.2,263.4,9.8,326,7916,0.00,2.58,7.28,0.665,6,0.000,0.028,3278,1851,1989,0,0,0,0,0,0
$GC,8169,1.38,272.4,239.8,8.6,333,8195,0.10,0.00,23.55,0.742,6,0.095,0.000,3306,1852,1890,0,0,0,0,0,0
$GC,8411,1.40,285.5,217.0,9.3,339,8430,0.00,2.58,12.75,0.694,4,0.000,0.034,3306,3390,1836,0,0,0,0,0,0
$GC,8454,1.45,285.5,212.7,10.2,340,8458,0.00,2.60,0.00,0.000,6,0.000,0.041,3306,1827,1835,0,0,0,0,0,0
$GC,8713,1.46,298.4,188.3,9.3,353,8738,0.00,2.85,12.77,0.673,4,0.000,0.076,3306,234,1783,0,0,0,0,0,0
$GC,8797,1.42,298.4,179.3,11.4,360,8801,0.00,2.55,0.00,0.000,6,0.000,0.021,3305,1836,1781,0,0,0,0,0,0
$GC,9061,1.43,300.5,153.0,9.9,384,9066,0.00,2.53,0.00,0.000,4,0.000,0.032,3306,3402,1780,0,0,0,0,0,0
$GC,9091,1.51,300.5,149.6,10.8,386,9096,0.10,2.58,0.00,0.000,6,0.091,0.038,3334,1828,1779,0,0,0,0,0,0
$GC,9352,1.51,300.5,120.5,11.2,410,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1828,1778,0,0,0,0,0,0
$GC,9607,1.51,300.5,93.5,10.4,434,9611,0.00,2.53,0.00,0.000,4,0.000,0.030,3334,3394,1778,0,0,0,0,0,0
$GC,9700,1.61,325.0,85.2,8.6,441,9729,0.00,2.55,23.98,0.614,6,0.000,0.037,3334,1841,1675,0,0,0,0,0,0
$GC,9988,1.70,351.3,62.0,8.5,467,10020,0.15,2.85,23.52,0.584,4,0.070,0.063,3377,242,1566,0,0,0,0,0,0
$GC,10045,1.63,351.3,56.2,12.1,471,10051,0.10,2.53,0.00,0.000,6,0.132,0.019,3358,1846,1565,0,0,0,0,0,0
$GC,10313,1.63,351.4,27.6,10.0,496,10323,0.00,2.80,0.00,0.000,4,0.000,0.060,3357,240,1564,0,0,0,0,0,0
$GC,10348,1.63,351.4,23.9,10.9,500,10358,0.00,2.47,0.00,0.000,6,0.000,0.025,3357,1809,1563,0,0,0,0,0,0
$STATE,10530,end climb,SURFACE_DEPTH_REACHED
$STATE,10530,begin surface coast
$FINISH,0.5,1.023554
$STATE,10580,end surface coast,CONTROL_FINISHED_OK
$STATE,10580,begin surface
$SM_CCo,10603,41.17,0.533,0,0,1370,400.08
$SM_GC,0.98,0.00,0.00,41.17,0.000,0.000,0.533,477,1750,1370,-11.61,-0.57,400.08
$IRIDIUM_FIX,2244.02,-15743.68,280100,161609
$TT8_MAMPS,0.025311
$HUMID,56.45
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.40
$XPDR_PINGS,167
$24V_AH,23.3,78.624
$10V_AH,9.9,73.804
$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,27.950,151.750,418.800,41.175,0.000,27.959,33.080,271.079,41.750,0.000,33.113,1087.770,6827.441,520.492,2039.308,672.526,33.366,1291.361,0.000,2027.124,0.000,0.534,0.000
$DEVICE_MAMPS,166.439,122.720,921.167,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.565,305.654,414.218,801.912,1213.054,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,41569,533
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