version: 66.06
glider: 146
mission: 5
dive: 389
start: 10 11 110 19 49 24
data:
$ID,146
$MISSION,5
$DIVE,389
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,4
$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,-255198.94
$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,36
$R_STBD_OVSHOOT,64
$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
$GPS1,193736,2257.644,-15755.007,8,2.0,24,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.5
$GPS2,194828,2257.601,-15754.989,14,1.6,22,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.164,-0.168
$KALMAN_X,-263582.8,-114.1,-260.5,290835.0,607.8
$KALMAN_Y,-557837.3,77.1,-345.2,700746.0,74.9
$MHEAD_RNG_PITCHd_Wd,125.6,27302,-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,-78.72,0.000,2,0.000,0.000,478,1750,3262,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.5,-7.0,10,126,11.65,2.65,-4.15,0.000,4,0.155,0.064,2689,204,3481,0,0,0,0,0,0
$GC,178,-1.23,-116.8,23.5,-19.3,20,188,0.17,2.42,0.00,0.000,6,0.100,0.015,2729,1771,3482,0,0,0,0,0,0
$GC,454,-1.17,-116.8,66.7,-14.4,47,459,0.00,2.42,0.00,0.000,4,0.000,0.024,2729,3332,3482,0,0,0,0,0,0
$GC,489,-1.17,-116.8,71.6,-13.4,49,494,0.00,2.50,0.00,0.000,6,0.000,0.031,2729,1779,3483,0,0,0,0,0,0
$GC,756,-1.17,-116.8,98.3,-8.1,73,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1778,3483,0,0,0,0,0,0
$GC,1019,-1.22,-116.8,120.9,-8.3,98,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1778,3484,0,0,0,0,0,0
$GC,1273,-1.27,-116.8,143.8,-9.9,122,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1778,3485,0,0,0,0,0,0
$GC,1527,-1.32,-116.8,171.1,-10.3,146,1532,0.00,2.42,0.00,0.000,4,0.000,0.026,2729,3333,3485,0,0,0,0,0,0
$GC,1562,-1.40,-116.8,174.1,-9.7,148,1567,0.15,2.47,0.00,0.000,6,0.062,0.035,2679,1775,3485,0,0,0,0,0,0
$GC,1846,-1.36,-116.8,205.6,-11.1,171,1850,0.10,2.47,0.00,0.000,4,0.120,0.032,2700,3332,3486,0,0,0,0,0,0
$GC,1867,-1.36,-116.8,208.3,-10.5,171,1871,0.00,2.47,0.00,0.000,6,0.000,0.028,2700,1782,3485,0,0,0,0,0,0
$GC,2122,-1.36,-116.8,237.3,-11.6,178,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1782,3485,0,0,0,0,0,0
$GC,2368,-1.36,-116.8,264.9,-11.2,184,2372,0.00,2.47,0.00,0.000,4,0.000,0.032,2700,3340,3484,0,0,0,0,0,0
$GC,2395,-1.40,-116.8,268.0,-10.4,184,2399,0.00,2.50,0.00,0.000,6,0.000,0.034,2700,1793,3484,0,0,0,0,0,0
$GC,2645,-1.40,-116.8,292.6,-9.7,190,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1790,3484,0,0,0,0,0,0
$GC,2888,-1.40,-116.8,314.3,-9.1,196,2893,0.00,2.78,0.00,0.000,4,0.000,0.081,2700,193,3483,0,0,0,0,0,0
$GC,2911,-1.40,-116.8,316.9,-11.0,196,2915,0.00,2.50,0.00,0.000,6,0.000,0.025,2700,1791,3483,0,0,0,0,0,0
$GC,3166,-1.45,-116.8,344.3,-10.7,203,3170,0.00,2.50,0.00,0.000,4,0.000,0.042,2700,3350,3482,0,0,0,0,0,0
$GC,3224,-1.54,-116.8,350.1,-9.8,204,3229,0.15,2.53,0.00,0.000,6,0.066,0.041,2651,1818,3482,0,0,0,0,0,0
$GC,3492,-1.50,-116.8,380.1,-11.5,211,3497,0.10,2.47,0.00,0.000,4,0.123,0.035,2672,3348,3481,0,0,0,0,0,0
$GC,3503,-1.50,-116.8,381.6,-11.4,211,3507,0.00,2.50,0.00,0.000,6,0.000,0.041,2672,1825,3481,0,0,0,0,0,0
$GC,3771,-1.50,-116.8,409.0,-10.6,218,3775,0.00,2.42,0.00,0.000,4,0.000,0.036,2672,3342,3479,0,0,0,0,0,0
$GC,3815,-1.54,-116.8,414.4,-11.8,219,3819,0.00,2.53,0.00,0.000,6,0.000,0.055,2672,1838,3479,0,0,0,0,0,0
$GC,4092,-1.54,-116.8,444.7,-10.5,226,4097,0.00,3.05,0.00,0.000,4,0.000,0.107,2672,186,3477,0,0,0,0,0,0
$GC,4109,-1.54,-116.8,446.5,-10.2,226,4114,0.00,2.60,0.00,0.000,6,0.000,0.029,2672,1814,3478,0,0,0,0,0,0
$GC,4371,-1.54,-116.8,471.3,-9.3,233,4375,0.00,2.55,0.00,0.000,4,0.000,0.054,2672,3360,3475,0,0,0,0,0,0
$GC,4387,-1.54,-116.8,472.9,-8.9,233,4391,0.00,2.58,0.00,0.000,6,0.000,0.054,2672,1834,3475,0,0,0,0,0,0
$GC,4647,-1.54,-116.8,499.3,-10.3,240,4651,0.00,2.53,0.00,0.000,4,0.000,0.047,2672,3361,3473,0,0,0,0,0,0
$STATE,4654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4654,begin apogee
$GC,4665,-0.31,0.0,500.5,10.7,240,4766,1.15,0.00,97.40,0.923,6,0.086,0.000,2929,1817,3000,0,0,0,0,0,0
$STATE,4766,end apogee,CONTROL_FINISHED_OK
$STATE,4767,begin climb
$GC,4769,1.38,116.8,504.0,0.0,242,4883,1.55,2.75,100.47,0.900,4,0.041,0.049,3307,3398,2523,0,0,0,0,0,0
$GC,4916,1.33,176.9,504.5,6.6,246,4976,0.00,2.72,53.00,0.884,6,0.000,0.057,3307,1822,2278,0,0,0,0,0,0
$GC,5227,1.24,176.9,471.4,11.5,254,5232,0.17,2.62,0.00,0.000,4,0.192,0.040,3272,3403,2269,0,0,0,0,0,0
$GC,5288,1.24,176.9,464.2,11.6,255,5292,0.00,2.72,0.00,0.000,6,0.000,0.058,3272,1816,2268,0,0,0,0,0,0
$GC,5548,1.24,176.9,436.1,10.8,262,5553,0.00,2.62,0.00,0.000,4,0.000,0.044,3272,3408,2265,0,0,0,0,0,0
$GC,5582,1.24,176.9,432.6,10.5,262,5588,0.00,2.70,0.00,0.000,6,0.000,0.056,3272,1824,2264,0,0,0,0,0,0
$GC,5832,1.26,195.7,409.4,9.0,269,5849,0.00,0.00,15.27,0.821,6,0.000,0.000,3272,1824,2203,0,0,0,0,0,0
$GC,6076,1.28,217.1,388.0,8.8,275,6098,0.00,0.00,20.25,0.825,6,0.000,0.000,3272,1824,2115,0,0,0,0,0,0
$GC,6321,1.28,217.1,363.5,10.1,281,6325,0.00,2.58,0.00,0.000,4,0.000,0.037,3271,3417,2110,0,0,0,0,0,0
$GC,6354,1.28,217.1,359.8,10.9,281,6360,0.00,2.70,0.00,0.000,6,0.000,0.050,3272,1818,2109,0,0,0,0,0,0
$GC,6604,1.28,217.1,332.8,10.8,288,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,1818,2108,0,0,0,0,0,0
$GC,6848,1.30,227.6,309.2,9.4,294,6863,0.00,2.60,9.43,0.728,4,0.000,0.036,3271,3409,2072,0,0,0,0,0,0
$GC,6881,1.36,249.2,306.4,8.8,294,6908,0.10,2.65,20.95,0.781,6,0.100,0.038,3297,1825,1985,0,0,0,0,0,0
$GC,7173,1.37,255.2,279.1,9.7,302,7184,0.00,2.80,6.00,0.634,4,0.000,0.071,3297,236,1961,0,0,0,0,0,0
$GC,7231,1.32,255.2,271.8,13.3,303,7235,0.00,2.58,0.00,0.000,6,0.000,0.025,3297,1850,1959,0,0,0,0,0,0
$GC,7497,1.32,255.2,242.3,11.0,310,7501,0.00,2.83,0.00,0.000,4,0.000,0.071,3297,231,1958,0,0,0,0,0,0
$GC,7512,1.32,255.2,240.5,10.8,310,7517,0.00,2.53,0.00,0.000,6,0.000,0.027,3297,1830,1957,0,0,0,0,0,0
$GC,7773,1.32,255.2,212.2,10.9,317,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1832,1957,0,0,0,0,0,0
$GC,8021,1.36,286.2,189.5,8.2,329,8051,0.00,0.00,28.40,0.702,6,0.000,0.000,3297,1832,1834,0,0,0,0,0,0
$GC,8305,1.36,286.2,160.2,11.5,356,8310,0.00,2.50,0.00,0.000,4,0.000,0.029,3297,3391,1829,0,0,0,0,0,0
$GC,8339,1.42,286.2,156.1,12.2,358,8345,0.00,2.60,0.00,0.000,6,0.000,0.036,3297,1814,1827,0,0,0,0,0,0
$GC,8606,1.42,286.2,126.6,10.2,383,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1814,1827,0,0,0,0,0,0
$GC,8869,1.53,345.8,106.2,6.6,408,8926,0.15,0.00,51.10,0.627,6,0.071,0.000,3337,1814,1590,0,0,0,0,0,0
$GC,9184,1.53,345.8,67.8,13.0,438,9189,0.00,2.55,0.00,0.000,4,0.000,0.026,3337,3401,1586,0,0,0,0,0,0
$GC,9207,1.58,345.8,64.4,12.6,439,9217,0.00,2.62,0.00,0.000,6,0.000,0.035,3337,1824,1585,0,0,0,0,0,0
$GC,9475,1.63,352.9,36.0,9.6,464,9489,0.00,0.00,6.38,0.470,6,0.000,0.000,3337,1824,1562,0,0,0,0,0,0
$STATE,9787,end climb,SURFACE_DEPTH_REACHED
$STATE,9787,begin surface coast
$FINISH,0.5,0.999884
$STATE,9829,end surface coast,CONTROL_FINISHED_OK
$STATE,9829,begin surface
$SM_CCo,9853,62.40,0.446,1,0,1288,420.20
$SM_GC,1.14,0.00,0.00,62.40,0.000,0.000,0.446,474,1742,1288,-11.62,-0.79,420.20
$IRIDIUM_FIX,2251.04,-15755.40,050100,161633
$TT8_MAMPS,0.025311
$HUMID,52.36
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.60
$XPDR_PINGS,52
$24V_AH,23.5,54.409
$10V_AH,10.1,52.369
$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,27.100,108.775,408.650,62.400,0.000,40.221,36.600,431.405,13.000,0.000,26.591,999.375,6399.102,521.202,1862.174,792.297,33.367,1199.944,0.000,1858.039,0.000,0.536,0.000
$DEVICE_MAMPS,191.750,106.613,922.701,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.479,304.229,402.193,754.046,1140.530,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,41534,513
$CAP_FILE_SIZE,103880,0
$CFSIZE,260165632,159444992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,111010,223625,2256.229,-15753.791,60,1.3,60,10.1