version: 66.06
glider: 146
mission: 5
dive: 511
start: 10 27 110 11 28 51
data:
$ID,146
$MISSION,5
$DIVE,511
$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,-259863.47
$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,12
$R_STBD_OVSHOOT,112
$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
$GPS1,112026,2254.723,-15755.129,37,2.6,56,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-65.9
$GPS2,112758,2254.782,-15755.147,11,2.5,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.026,0.234
$KALMAN_X,-257260.9,-381.6,170.0,284080.0,-152.5
$KALMAN_Y,-599832.5,-641.4,187.4,737713.4,134.7
$MHEAD_RNG_PITCHd_Wd,356.2,5965,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,111,0.00,0.00,-93.70,0.000,2,0.000,0.000,475,1667,3259,0,0,0,0,0,0
$GC,116,-1.38,-116.8,3.5,-6.8,12,142,11.55,2.62,-4.18,0.000,4,0.149,0.038,2691,3292,3481,0,0,0,0,0,0
$GC,154,-0.52,-116.8,15.4,-30.0,16,162,0.85,2.55,0.00,0.000,6,0.087,0.035,2878,1752,3482,0,0,0,0,0,0
$GC,471,-0.77,-116.8,36.0,-6.0,58,476,0.20,2.65,0.00,0.000,4,0.052,0.056,2814,186,3483,0,0,0,0,0,0
$GC,494,-0.97,-116.8,38.0,-6.9,59,499,0.10,2.35,0.00,0.000,6,0.082,0.016,2776,1746,3483,0,0,0,0,0,0
$GC,764,-1.01,-116.8,65.5,-11.4,83,768,0.00,2.47,0.00,0.000,4,0.000,0.024,2776,3313,3484,0,0,0,0,0,0
$GC,812,-1.15,-116.8,70.6,-8.6,86,822,0.08,2.50,0.00,0.000,6,0.044,0.028,2737,1769,3484,0,0,0,0,0,0
$GC,1081,-1.22,-116.8,96.5,-8.4,111,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1769,3485,0,0,0,0,0,0
$GC,1344,-1.30,-116.8,117.4,-7.5,136,1348,0.00,2.67,0.00,0.000,4,0.000,0.064,2737,196,3486,0,0,0,0,0,0
$GC,1390,-1.39,-116.8,120.7,-8.0,139,1395,0.17,2.40,0.00,0.000,6,0.058,0.017,2682,1793,3486,0,0,0,0,0,0
$GC,1655,-1.39,-116.8,145.9,-9.8,163,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1795,3486,0,0,0,0,0,0
$GC,1918,-1.39,-116.8,171.4,-9.6,188,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1795,3486,0,0,0,0,0,0
$GC,2171,-1.39,-116.8,197.4,-10.0,212,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1796,3486,0,0,0,0,0,0
$GC,2448,-1.39,-116.8,222.4,-9.0,221,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1796,3486,0,0,0,0,0,0
$GC,2690,-1.39,-116.8,245.7,-9.7,227,2694,0.00,2.75,0.00,0.000,4,0.000,0.072,2681,199,3486,0,0,0,0,0,0
$GC,2705,-1.39,-116.8,247.5,-10.5,227,2710,0.00,2.38,0.00,0.000,6,0.000,0.017,2681,1764,3486,0,0,0,0,0,0
$GC,2968,-1.39,-116.8,274.5,-10.4,234,2973,0.00,2.50,0.00,0.000,4,0.000,0.032,2681,3331,3485,0,0,0,0,0,0
$GC,3010,-1.44,-116.8,278.6,-9.9,235,3015,0.00,2.47,0.00,0.000,6,0.000,0.033,2681,1794,3485,0,0,0,0,0,0
$GC,3294,-1.44,-116.8,305.9,-9.7,242,3298,0.00,2.83,0.00,0.000,4,0.000,0.077,2681,193,3484,0,0,0,0,0,0
$GC,3321,-1.44,-116.8,308.7,-10.0,242,3325,0.00,2.47,0.00,0.000,6,0.000,0.024,2681,1774,3483,0,0,0,0,0,0
$GC,3572,-1.44,-116.8,331.6,-9.1,248,3577,0.00,2.55,0.00,0.000,4,0.000,0.037,2681,3349,3482,0,0,0,0,0,0
$GC,3594,-1.44,-116.8,334.0,-9.3,248,3599,0.00,2.55,0.00,0.000,6,0.000,0.038,2681,1794,3482,0,0,0,0,0,0
$GC,3850,-1.44,-116.8,357.4,-9.3,255,3854,0.00,2.50,0.00,0.000,4,0.000,0.038,2681,3349,3481,0,0,0,0,0,0
$GC,3879,-1.48,-116.8,360.3,-9.4,255,3883,0.00,2.58,0.00,0.000,6,0.000,0.048,2681,1800,3480,0,0,0,0,0,0
$GC,4129,-1.48,-116.8,384.9,-9.8,261,4134,0.00,2.90,0.00,0.000,4,0.000,0.097,2681,189,3479,0,0,0,0,0,0
$GC,4150,-1.48,-116.8,387.1,-10.0,261,4155,0.00,2.55,0.00,0.000,6,0.000,0.024,2681,1793,3479,0,0,0,0,0,0
$GC,4407,-1.48,-116.8,409.0,-8.5,268,4412,0.00,2.58,0.00,0.000,4,0.000,0.051,2682,3356,3477,0,0,0,0,0,0
$GC,4441,-1.55,-116.8,412.2,-9.0,268,4447,0.00,2.62,0.00,0.000,6,0.000,0.051,2681,1807,3477,0,0,0,0,0,0
$GC,4691,-1.55,-116.8,434.3,-9.0,275,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1808,3475,0,0,0,0,0,0
$GC,4936,-1.55,-116.8,457.8,-9.8,281,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1807,3474,0,0,0,0,0,0
$GC,5178,-1.59,-116.8,484.5,-11.0,287,5180,0.12,0.00,0.00,0.000,6,0.078,0.000,2642,1807,3472,0,0,0,0,0,0
$STATE,5338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5338,begin apogee
$GC,5344,-0.31,0.0,505.0,12.6,291,5447,1.30,0.00,99.32,0.936,6,0.085,0.000,2929,1807,3001,0,0,0,0,0,0
$STATE,5448,end apogee,CONTROL_FINISHED_OK
$STATE,5448,begin climb
$GC,5452,1.38,116.8,509.2,0.0,293,5565,1.58,2.83,104.05,0.916,4,0.044,0.057,3308,3389,2523,0,0,0,0,0,0
$GC,5578,1.39,222.4,511.9,3.9,296,5681,0.00,2.78,93.43,0.904,6,0.000,0.061,3308,1817,2094,0,0,0,0,0,0
$GC,5954,1.30,222.4,470.7,12.2,306,5959,0.12,2.65,0.00,0.000,4,0.131,0.047,3285,3398,2083,0,0,0,0,0,0
$GC,5976,1.30,222.4,467.9,11.8,306,5980,0.00,2.72,0.00,0.000,6,0.000,0.059,3285,1820,2082,0,0,0,0,0,0
$GC,6232,1.30,222.4,440.8,10.5,313,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1820,2080,0,0,0,0,0,0
$GC,6474,1.30,222.4,416.0,10.1,319,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1820,2078,0,0,0,0,0,0
$GC,6718,1.30,222.4,389.7,11.0,325,6723,0.00,2.60,0.00,0.000,4,0.000,0.035,3285,3403,2077,0,0,0,0,0,0
$GC,6762,1.30,222.4,384.8,11.4,326,6767,0.00,2.65,0.00,0.000,6,0.000,0.053,3285,1834,2076,0,0,0,0,0,0
$GC,7042,1.32,238.0,358.4,9.1,333,7056,0.00,0.00,12.25,0.792,6,0.000,0.000,3285,1834,2030,0,0,0,0,0,0
$GC,7324,1.36,271.8,334.2,8.1,340,7365,0.00,2.67,32.15,0.822,4,0.000,0.031,3285,3407,1891,0,0,0,0,0,0
$GC,7389,1.42,282.5,328.5,9.4,341,7410,0.10,2.70,11.15,0.745,6,0.101,0.048,3310,1830,1849,0,0,0,0,0,0
$GC,7653,1.42,282.5,298.4,11.6,348,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1830,1843,0,0,0,0,0,0
$GC,7897,1.42,282.5,268.0,12.3,354,7901,0.00,2.85,0.00,0.000,4,0.000,0.077,3310,232,1841,0,0,0,0,0,0
$GC,7914,1.36,282.5,265.8,12.4,354,7919,0.00,2.60,0.00,0.000,6,0.000,0.028,3310,1854,1840,0,0,0,0,0,0
$GC,8175,1.36,282.5,235.9,11.1,361,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1856,1840,0,0,0,0,0,0
$GC,8418,1.37,289.3,211.8,9.6,367,8427,0.00,0.00,6.22,0.611,6,0.000,0.000,3311,1856,1820,0,0,0,0,0,0
$GC,8684,1.39,303.2,186.7,9.2,383,8705,0.00,0.00,13.98,0.685,6,0.000,0.000,3310,1856,1763,0,0,0,0,0,0
$GC,8963,1.40,311.3,159.5,9.6,409,8974,0.00,0.00,8.10,0.613,6,0.000,0.000,3310,1856,1732,0,0,0,0,0,0
$GC,9232,1.40,311.3,131.9,10.1,434,9237,0.00,2.83,0.00,0.000,4,0.000,0.065,3310,227,1730,0,0,0,0,0,0
$GC,9277,1.33,311.3,126.6,12.4,437,9281,0.00,2.55,0.00,0.000,6,0.000,0.021,3310,1845,1728,0,0,0,0,0,0
$GC,9544,1.33,311.3,97.7,10.4,461,9549,0.00,2.80,0.00,0.000,4,0.000,0.071,3310,230,1728,0,0,0,0,0,0
$GC,9565,1.33,311.3,94.4,11.5,462,9575,0.00,2.53,0.00,0.000,6,0.000,0.021,3311,1817,1728,0,0,0,0,0,0
$GC,9834,1.40,324.4,68.2,9.3,487,9849,0.00,0.00,13.07,0.581,6,0.000,0.000,3310,1818,1678,0,0,0,0,0,0
$GC,10107,1.58,374.5,47.1,7.2,512,10162,0.15,2.60,44.28,0.582,4,0.090,0.028,3350,3387,1473,0,0,0,0,0,0
$GC,10181,1.67,374.5,39.5,11.0,517,10186,0.00,2.67,0.00,0.000,6,0.000,0.035,3350,1783,1472,0,0,0,0,0,0
$GC,10492,1.67,374.5,5.3,13.8,556,10502,0.00,2.67,0.00,0.000,4,0.000,0.061,3350,240,1469,0,0,0,0,0,0
$STATE,10509,end climb,SURFACE_DEPTH_REACHED
$STATE,10510,begin surface coast
$FINISH,0.9,1.023468
$STATE,10525,end surface coast,CONTROL_FINISHED_OK
$STATE,10525,begin surface
$SM_CCo,10551,37.62,0.533,0,0,1288,420.20
$SM_GC,1.06,0.00,0.00,37.62,0.000,0.000,0.533,474,1795,1288,-11.62,0.74,420.20
$IRIDIUM_FIX,2244.02,-15756.28,210100,080801
$TT8_MAMPS,0.025311
$HUMID,56.77
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,19.80
$XPDR_PINGS,111
$24V_AH,23.3,70.682
$10V_AH,9.9,66.991
$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,28.150,104.600,438.000,37.625,0.000,29.821,35.134,215.966,27.750,0.000,32.599,1068.793,6792.806,521.933,2058.566,592.610,33.373,1250.533,0.000,2053.591,0.000,0.534,0.000
$DEVICE_MAMPS,148.798,96.642,935.740,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.692,342.417,446.295,884.197,1337.416,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,44824,560
$CAP_FILE_SIZE,105197,0
$CFSIZE,260165632,152514560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271010,142636,2256.277,-15755.261,35,1.1,35,10.1