version: 66.06
glider: 146
mission: 5
dive: 653
start: 11 15 110 16 5 14
data:
$ID,146
$MISSION,5
$DIVE,653
$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,619.13721
$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,-263623.69
$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,41
$R_STBD_OVSHOOT,23
$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
$GPS1,155524,2257.906,-15741.898,51,1.5,51,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-62.4
$GPS2,160419,2257.924,-15741.922,11,1.4,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.127,-0.198
$KALMAN_X,-301307.7,-85.6,137.2,350621.7,-554.0
$KALMAN_Y,-320618.2,-47.2,-97.3,464003.6,709.7
$MHEAD_RNG_PITCHd_Wd,202.6,27236,-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,-116.8,0.0,0.0,0,131,0.00,0.00,-112.55,0.000,2,0.000,0.000,473,1737,3293,0,0,0,0,0,0
$GC,134,-1.38,-116.8,3.3,-6.9,18,156,12.05,2.60,-3.88,0.000,4,0.166,0.062,2692,205,3479,0,0,0,0,0,0
$GC,228,-1.28,-116.8,20.7,-14.6,34,237,0.10,2.50,0.00,0.000,6,0.105,0.015,2716,1822,3481,0,0,0,0,0,0
$GC,498,-1.21,-116.8,57.8,-11.5,64,503,0.00,2.72,0.00,0.000,4,0.000,0.052,2716,207,3480,0,0,0,0,0,0
$GC,521,-1.13,-116.8,60.2,-11.5,65,526,0.17,2.45,0.00,0.000,6,0.107,0.015,2752,1816,3481,0,0,0,0,0,0
$GC,785,-1.13,-116.8,89.3,-10.1,89,789,0.00,2.35,0.00,0.000,4,0.000,0.031,2752,3314,3481,0,0,0,0,0,0
$GC,811,-1.13,-116.8,92.6,-10.6,91,817,0.00,2.50,0.00,0.000,6,0.000,0.026,2752,1748,3481,0,0,0,0,0,0
$GC,1077,-1.21,-116.8,116.9,-8.6,116,1081,0.00,2.62,0.00,0.000,4,0.000,0.055,2752,193,3481,0,0,0,0,0,0
$GC,1129,-1.29,-116.8,121.6,-8.9,120,1134,0.15,2.33,0.00,0.000,6,0.064,0.018,2703,1776,3481,0,0,0,0,0,0
$GC,1390,-1.29,-116.8,143.6,-8.3,144,1394,0.00,2.33,0.00,0.000,4,0.000,0.031,2702,3278,3481,0,0,0,0,0,0
$GC,1409,-1.29,-116.8,145.1,-8.8,145,1413,0.00,2.47,0.00,0.000,6,0.000,0.033,2702,1721,3482,0,0,0,0,0,0
$GC,1674,-1.29,-116.8,168.1,-8.9,169,1678,0.00,2.45,0.00,0.000,4,0.000,0.028,2702,3280,3482,0,0,0,0,0,0
$GC,1702,-1.29,-116.8,170.9,-8.5,171,1706,0.00,2.45,0.00,0.000,6,0.000,0.031,2702,1735,3482,0,0,0,0,0,0
$GC,1967,-1.29,-116.8,193.4,-8.6,195,1971,0.00,2.40,0.00,0.000,4,0.000,0.029,2702,3274,3482,0,0,0,0,0,0
$GC,1983,-1.29,-116.8,195.2,-8.7,196,1988,0.00,2.40,0.00,0.000,6,0.000,0.027,2702,1758,3482,0,0,0,0,0,0
$GC,2246,-1.29,-116.8,218.8,-9.2,206,2251,0.00,2.65,0.00,0.000,4,0.000,0.063,2702,198,3482,0,0,0,0,0,0
$GC,2282,-1.29,-116.8,221.9,-9.4,206,2288,0.00,2.30,0.00,0.000,6,0.000,0.022,2702,1731,3482,0,0,0,0,0,0
$GC,2532,-1.29,-116.8,243.6,-8.7,213,2537,0.00,2.45,0.00,0.000,4,0.000,0.026,2702,3306,3482,0,0,0,0,0,0
$GC,2566,-1.34,-116.8,246.6,-8.7,213,2572,0.00,2.47,0.00,0.000,6,0.000,0.035,2702,1771,3482,0,0,0,0,0,0
$GC,2818,-1.34,-116.8,269.8,-9.5,220,2822,0.00,2.45,0.00,0.000,4,0.000,0.033,2702,3310,3481,0,0,0,0,0,0
$GC,2876,-1.39,-116.8,274.8,-7.7,221,2880,0.00,2.45,0.00,0.000,6,0.000,0.031,2702,1793,3481,0,0,0,0,0,0
$GC,3148,-1.39,-116.8,298.6,-8.7,228,3152,0.00,2.80,0.00,0.000,4,0.000,0.074,2702,189,3481,0,0,0,0,0,0
$GC,3189,-1.43,-116.8,302.1,-9.4,229,3194,0.00,2.40,0.00,0.000,6,0.000,0.018,2702,1741,3480,0,0,0,0,0,0
$GC,3479,-1.47,-116.8,324.2,-7.4,236,3484,0.10,2.58,0.00,0.000,4,0.087,0.033,2668,3344,3480,0,0,0,0,0,0
$GC,3548,-1.47,-116.8,329.8,-8.4,237,3552,0.00,2.53,0.00,0.000,6,0.000,0.036,2668,1799,3480,0,0,0,0,0,0
$GC,3803,-1.47,-116.8,351.3,-8.5,244,3808,0.00,2.88,0.00,0.000,4,0.000,0.083,2667,186,3478,0,0,0,0,0,0
$GC,3830,-1.47,-116.8,354.0,-10.0,244,3835,0.00,2.53,0.00,0.000,6,0.000,0.026,2668,1785,3478,0,0,0,0,0,0
$GC,4082,-1.47,-116.8,378.1,-9.8,250,4086,0.00,2.53,0.00,0.000,4,0.000,0.039,2668,3351,3477,0,0,0,0,0,0
$GC,4143,-1.47,-116.8,384.0,-9.0,251,4147,0.00,2.62,0.00,0.000,6,0.000,0.051,2667,1787,3477,0,0,0,0,0,0
$GC,4404,-1.47,-116.8,406.2,-8.4,258,4408,0.00,2.53,0.00,0.000,4,0.000,0.035,2668,3346,3476,0,0,0,0,0,0
$GC,4427,-1.47,-116.8,408.0,-8.3,258,4431,0.00,2.60,0.00,0.000,6,0.000,0.055,2668,1801,3475,0,0,0,0,0,0
$GC,4682,-1.47,-116.8,429.1,-8.3,265,4686,0.00,2.53,0.00,0.000,4,0.000,0.044,2668,3345,3474,0,0,0,0,0,0
$GC,4714,-1.47,-116.8,431.9,-8.5,265,4720,0.00,2.58,0.00,0.000,6,0.000,0.056,2667,1817,3474,0,0,0,0,0,0
$GC,4966,-1.47,-116.8,452.6,-8.4,272,4971,0.00,3.00,0.00,0.000,4,0.000,0.102,2668,180,3471,0,0,0,0,0,0
$GC,4993,-1.47,-116.8,455.4,-9.0,272,4998,0.00,2.62,0.00,0.000,6,0.000,0.035,2667,1803,3472,0,0,0,0,0,0
$GC,5243,-1.47,-116.8,477.4,-8.9,278,5248,0.00,2.60,0.00,0.000,4,0.000,0.056,2668,3363,3470,0,0,0,0,0,0
$GC,5273,-1.51,-116.8,480.0,-9.4,278,5277,0.00,2.60,0.00,0.000,6,0.000,0.055,2668,1825,3470,0,0,0,0,0,0
$STATE,5520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5520,begin apogee
$GC,5526,-0.31,0.0,502.8,9.1,284,5627,1.20,0.00,97.35,0.912,6,0.087,0.000,2931,1825,3000,0,0,0,0,0,0
$STATE,5628,end apogee,CONTROL_FINISHED_OK
$STATE,5628,begin climb
$GC,5630,1.38,116.8,506.1,0.0,286,5746,1.52,2.75,101.88,0.899,4,0.047,0.053,3306,3394,2523,0,0,0,0,0,0
$GC,5819,1.34,169.6,502.8,7.0,290,5873,0.00,2.72,46.58,0.880,6,0.000,0.054,3306,1820,2309,0,0,0,0,0,0
$GC,6134,1.28,207.2,478.6,7.9,298,6170,0.12,0.00,33.47,0.862,6,0.127,0.000,3282,1820,2156,0,0,0,0,0,0
$GC,6414,1.32,235.0,455.4,8.4,304,6441,0.00,0.00,25.50,0.846,6,0.000,0.000,3283,1820,2042,0,0,0,0,0,0
$GC,6659,1.32,235.4,431.5,10.0,310,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1820,2035,0,0,0,0,0,0
$GC,6901,1.32,236.1,407.2,10.0,316,6905,0.00,2.65,0.00,0.000,4,0.000,0.043,3283,3412,2033,0,0,0,0,0,0
$GC,6928,1.32,239.3,404.4,9.9,316,6933,0.00,2.75,0.00,0.000,6,0.000,0.056,3283,1805,2032,0,0,0,0,0,0
$GC,7180,1.33,247.2,380.3,9.6,322,7192,0.00,0.00,10.55,0.765,6,0.000,0.000,3282,1805,1993,0,0,0,0,0,0
$GC,7424,1.36,266.8,358.8,8.9,328,7448,0.00,2.70,19.12,0.799,4,0.000,0.034,3282,3405,1912,0,0,0,0,0,0
$GC,7477,1.43,281.1,353.8,9.2,329,7497,0.12,2.72,14.20,0.769,6,0.085,0.052,3314,1815,1855,0,0,0,0,0,0
$GC,7755,1.43,281.1,325.0,10.5,336,7760,0.00,2.83,0.00,0.000,4,0.000,0.081,3314,233,1849,0,0,0,0,0,0
$GC,7810,1.35,281.1,317.7,13.0,337,7815,0.00,2.55,0.00,0.000,6,0.000,0.026,3314,1822,1847,0,0,0,0,0,0
$GC,8078,1.35,281.1,287.5,11.1,344,8083,0.00,2.80,0.00,0.000,4,0.000,0.072,3314,230,1846,0,0,0,0,0,0
$GC,8111,1.24,281.1,283.4,11.8,344,8117,0.20,2.50,0.00,0.000,6,0.112,0.023,3274,1799,1845,0,0,0,0,0,0
$GC,8361,1.34,308.4,261.4,8.5,351,8390,0.00,2.65,24.05,0.742,4,0.000,0.031,3274,3394,1742,0,0,0,0,0,0
$GC,8406,1.47,329.0,257.7,8.9,352,8432,0.20,2.70,19.50,0.719,6,0.064,0.044,3324,1790,1659,0,0,0,0,0,0
$GC,8689,1.47,329.0,227.3,10.6,359,8694,0.00,2.72,0.00,0.000,4,0.000,0.077,3324,234,1653,0,0,0,0,0,0
$GC,8699,1.47,329.0,225.9,10.5,359,8703,0.00,2.40,0.00,0.000,6,0.000,0.026,3324,1773,1652,0,0,0,0,0,0
$GC,8973,1.47,332.7,199.0,9.8,366,8977,0.00,2.58,0.00,0.000,4,0.000,0.035,3324,3377,1651,0,0,0,0,0,0
$GC,9080,1.54,336.4,187.8,9.8,375,9093,0.00,2.72,6.38,0.572,6,0.000,0.042,3325,1738,1629,0,0,0,0,0,0
$GC,9355,1.54,336.4,158.2,10.1,401,9359,0.00,2.60,0.00,0.000,4,0.000,0.067,3325,237,1627,0,0,0,0,0,0
$GC,9400,1.50,336.4,152.8,12.6,404,9406,0.00,2.33,0.00,0.000,6,0.000,0.021,3324,1732,1626,0,0,0,0,0,0
$GC,9667,1.50,336.4,124.0,10.5,429,9672,0.00,2.62,0.00,0.000,4,0.000,0.028,3325,3378,1626,0,0,0,0,0,0
$GC,9751,1.61,357.1,115.8,8.8,436,9777,0.10,2.67,19.12,0.610,6,0.090,0.041,3352,1751,1544,0,0,0,0,0,0
$GC,10041,1.67,370.9,89.8,9.2,463,10064,0.00,2.67,13.27,0.568,4,0.000,0.063,3352,240,1486,0,0,0,0,0,0
$GC,10125,1.67,370.9,80.5,11.7,470,10132,0.00,2.35,0.00,0.000,6,0.000,0.021,3353,1738,1485,0,0,0,0,0,0
$GC,10392,1.67,370.9,52.8,10.7,495,10396,0.00,2.62,0.00,0.000,4,0.000,0.026,3353,3383,1484,0,0,0,0,0,0
$GC,10411,1.72,375.1,50.6,9.8,496,10424,0.10,2.78,4.78,0.423,6,0.091,0.038,3381,1712,1470,0,0,0,0,0,0
$GC,10683,1.72,375.1,23.0,11.3,527,10690,0.00,2.53,0.00,0.000,4,0.000,0.064,3381,237,1470,0,0,0,0,0,0
$GC,10725,1.64,375.1,18.6,10.8,534,10733,0.08,2.28,0.00,0.000,6,0.100,0.018,3362,1706,1469,0,0,0,0,0,0
$STATE,10855,end climb,SURFACE_DEPTH_REACHED
$STATE,10855,begin surface coast
$FINISH,0.4,0.999121
$STATE,10894,end surface coast,CONTROL_FINISHED_OK
$STATE,10894,begin surface
$SM_CCo,10915,196.55,0.518,0,0,476,619.14
$SM_GC,0.96,0.00,0.00,196.55,0.000,0.000,0.518,473,1708,476,-11.62,-1.75,619.14
$IRIDIUM_FIX,2251.04,-15740.63,090200,131355
$TT8_MAMPS,0.026078
$HUMID,54.44
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.10
$XPDR_PINGS,153
$24V_AH,23.2,91.578
$10V_AH,9.9,84.058
$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,28.025,159.450,435.750,196.550,0.000,30.906,33.064,326.614,38.250,0.000,14.799,1142.770,7382.181,722.182,1670.113,731.972,33.374,1529.022,0.000,1662.068,0.000,0.534,0.000
$DEVICE_MAMPS,166.439,102.011,911.963,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.270,293.466,398.058,769.885,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,44719,565
$CAP_FILE_SIZE,127267,0
$CFSIZE,260165632,143970304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151110,191136,2257.638,-15742.556,25,1.0,25,10.1