version: 66.06
glider: 146
mission: 5
dive: 569
start: 11 4 110 4 44 37
data:
$ID,146
$MISSION,5
$DIVE,569
$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,-261412.45
$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,23
$R_STBD_OVSHOOT,59
$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
$GPS1,042206,2254.055,-15743.452,54,1.0,54,10.1
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-64.0
$GPS2,044343,2254.279,-15743.501,12,1.7,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.013,-0.234
$KALMAN_X,-269463.7,9.5,-296.1,316399.8,48.5
$KALMAN_Y,-485428.0,451.2,191.6,621262.4,1652.2
$MHEAD_RNG_PITCHd_Wd,166.7,10107,-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,-78.78,0.000,2,0.000,0.000,475,1783,3337,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.3,-5.4,10,126,11.77,2.50,-2.75,0.000,4,0.156,0.044,2691,3332,3480,0,0,0,0,0,0
$GC,205,-1.32,-116.8,24.0,-12.8,24,214,0.00,2.55,0.00,0.000,6,0.000,0.028,2691,1767,3481,0,0,0,0,0,0
$GC,487,-1.19,-116.8,66.1,-15.2,52,493,0.22,2.67,0.00,0.000,4,0.110,0.058,2737,186,3482,0,0,0,0,0,0
$GC,524,-1.14,-116.8,71.4,-13.7,54,528,0.00,2.42,0.00,0.000,6,0.000,0.015,2737,1778,3481,0,0,0,0,0,0
$GC,849,-1.19,-116.8,107.5,-7.6,84,854,0.00,2.40,0.00,0.000,4,0.000,0.025,2737,3324,3481,0,0,0,0,0,0
$GC,872,-1.26,-116.8,108.9,-7.6,85,877,0.00,2.53,0.00,0.000,6,0.000,0.034,2737,1750,3481,0,0,0,0,0,0
$GC,1202,-1.32,-116.8,134.3,-8.2,115,1207,0.10,2.67,0.00,0.000,4,0.084,0.061,2697,189,3482,0,0,0,0,0,0
$GC,1244,-1.32,-116.8,138.6,-9.7,118,1249,0.00,2.35,0.00,0.000,6,0.000,0.015,2697,1766,3482,0,0,0,0,0,0
$GC,1573,-1.32,-116.8,168.9,-9.3,148,1577,0.00,2.42,0.00,0.000,4,0.000,0.028,2697,3322,3483,0,0,0,0,0,0
$GC,1639,-1.32,-116.8,174.9,-7.8,153,1644,0.00,2.47,0.00,0.000,6,0.000,0.027,2697,1761,3483,0,0,0,0,0,0
$GC,1963,-1.32,-116.8,203.9,-8.8,180,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1760,3483,0,0,0,0,0,0
$GC,2289,-1.32,-116.8,231.5,-8.4,188,2293,0.00,2.47,0.00,0.000,4,0.000,0.026,2697,3320,3482,0,0,0,0,0,0
$GC,2340,-1.37,-116.8,236.2,-8.6,189,2344,0.00,2.53,0.00,0.000,6,0.000,0.030,2698,1754,3482,0,0,0,0,0,0
$GC,2652,-1.37,-116.8,262.3,-8.3,197,2657,0.00,2.72,0.00,0.000,4,0.000,0.077,2697,188,3481,0,0,0,0,0,0
$GC,2687,-1.37,-116.8,265.4,-9.2,197,2693,0.00,2.35,0.00,0.000,6,0.000,0.020,2697,1717,3481,0,0,0,0,0,0
$GC,3019,-1.37,-116.8,295.4,-9.5,206,3023,0.00,2.55,0.00,0.000,4,0.000,0.035,2697,3309,3480,0,0,0,0,0,0
$GC,3091,-1.44,-116.8,302.2,-9.2,207,3095,0.00,2.53,0.00,0.000,6,0.000,0.041,2697,1768,3479,0,0,0,0,0,0
$GC,3425,-1.48,-116.8,331.0,-8.5,215,3429,0.00,2.45,0.00,0.000,4,0.000,0.040,2698,3307,3479,0,0,0,0,0,0
$GC,3441,-1.52,-116.8,332.6,-8.2,215,3446,0.12,2.53,0.00,0.000,6,0.073,0.039,2653,1765,3478,0,0,0,0,0,0
$GC,3785,-1.48,-116.8,366.8,-10.4,224,3790,0.10,2.50,0.00,0.000,4,0.124,0.040,2674,3311,3476,0,0,0,0,0,0
$GC,3830,-1.54,-116.8,371.4,-9.1,225,3835,0.00,2.58,0.00,0.000,6,0.000,0.051,2674,1780,3476,0,0,0,0,0,0
$GC,4148,-1.54,-116.8,399.5,-8.7,233,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1780,3474,0,0,0,0,0,0
$GC,4475,-1.54,-116.8,427.5,-8.7,241,4480,0.00,2.92,0.00,0.000,4,0.000,0.103,2674,183,3471,0,0,0,0,0,0
$GC,4491,-1.54,-116.8,429.2,-8.7,241,4495,0.00,2.45,0.00,0.000,6,0.000,0.028,2674,1735,3471,0,0,0,0,0,0
$GC,4833,-1.54,-116.8,459.2,-8.8,250,4837,0.00,2.70,0.00,0.000,4,0.000,0.055,2674,3356,3469,0,0,0,0,0,0
$GC,4862,-1.59,-116.8,461.6,-8.2,250,4866,0.00,2.67,0.00,0.000,6,0.000,0.057,2674,1783,3469,0,0,0,0,0,0
$GC,5193,-1.59,-116.8,488.7,-8.1,258,5198,0.00,2.62,0.00,0.000,4,0.000,0.049,2674,3354,3467,0,0,0,0,0,0
$GC,5215,-1.59,-116.8,490.6,-8.5,258,5220,0.00,2.67,0.00,0.000,6,0.000,0.064,2674,1787,3466,0,0,0,0,0,0
$STATE,5346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5346,begin apogee
$GC,5353,-0.31,0.0,501.5,8.3,262,5453,1.15,0.00,96.50,0.935,6,0.084,0.000,2929,1787,3001,0,0,0,0,0,0
$STATE,5454,end apogee,CONTROL_FINISHED_OK
$STATE,5454,begin climb
$GC,5457,1.38,116.8,503.5,0.0,264,5570,1.55,3.05,101.15,0.913,4,0.050,0.114,3307,233,2523,0,0,0,0,0,0
$GC,5599,1.20,165.0,501.6,7.2,267,5649,0.22,2.60,42.62,0.884,6,0.118,0.034,3263,1809,2327,0,0,0,0,0,0
$GC,5992,1.24,197.2,469.6,8.2,277,6027,0.00,2.83,28.48,0.861,4,0.000,0.061,3263,3405,2196,0,0,0,0,0,0
$GC,6063,1.26,210.8,463.7,9.3,278,6082,0.00,2.75,13.60,0.811,6,0.000,0.060,3263,1821,2141,0,0,0,0,0,0
$GC,6409,1.27,223.0,431.6,9.3,287,6427,0.00,3.00,11.32,0.812,4,0.000,0.097,3262,233,2091,0,0,0,0,0,0
$GC,6481,1.23,223.0,424.0,11.1,288,6485,0.00,2.58,0.00,0.000,6,0.000,0.028,3263,1824,2089,0,0,0,0,0,0
$GC,6817,1.25,239.6,392.5,9.1,297,6835,0.00,0.00,16.10,0.832,6,0.000,0.000,3262,1824,2024,0,0,0,0,0,0
$GC,7144,1.26,254.4,362.4,9.2,305,7160,0.00,0.00,14.55,0.806,6,0.000,0.000,3263,1824,1964,0,0,0,0,0,0
$GC,7467,1.33,274.3,333.3,8.9,313,7493,0.12,2.90,19.23,0.811,4,0.081,0.073,3296,232,1881,0,0,0,0,0,0
$GC,7510,1.29,274.3,328.5,11.7,314,7514,0.00,2.58,0.00,0.000,6,0.000,0.028,3296,1822,1880,0,0,0,0,0,0
$GC,7829,1.29,274.3,294.7,10.7,322,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1822,1878,0,0,0,0,0,0
$GC,8153,1.29,275.0,261.5,10.0,330,8157,0.00,2.80,0.00,0.000,4,0.000,0.071,3296,226,1876,0,0,0,0,0,0
$GC,8180,1.23,275.0,258.5,11.4,330,8185,0.12,2.53,0.00,0.000,6,0.127,0.025,3271,1814,1875,0,0,0,0,0,0
$GC,8514,1.34,305.4,229.6,8.3,338,8548,0.00,2.88,27.75,0.749,4,0.000,0.071,3270,233,1755,0,0,0,0,0,0
$GC,8614,1.39,315.6,220.7,9.5,340,8630,0.15,2.45,10.38,0.683,6,0.074,0.021,3309,1780,1714,0,0,0,0,0,0
$GC,8946,1.39,315.6,186.2,11.2,355,8951,0.00,2.60,0.00,0.000,4,0.000,0.031,3309,3389,1710,0,0,0,0,0,0
$GC,8975,1.45,315.6,182.4,11.0,357,8979,0.00,2.70,0.00,0.000,6,0.000,0.041,3309,1755,1708,0,0,0,0,0,0
$GC,9303,1.45,315.6,146.0,10.9,387,9308,0.00,2.65,0.00,0.000,4,0.000,0.067,3309,230,1708,0,0,0,0,0,0
$GC,9324,1.45,315.6,143.1,11.0,388,9334,0.00,2.42,0.00,0.000,6,0.000,0.021,3309,1769,1707,0,0,0,0,0,0
$GC,9654,1.52,338.1,112.6,8.7,419,9681,0.00,2.78,20.20,0.636,4,0.000,0.064,3310,230,1621,0,0,0,0,0,0
$GC,9716,1.52,338.1,106.0,10.8,424,9725,0.00,2.45,0.00,0.000,6,0.000,0.027,3309,1774,1620,0,0,0,0,0,0
$GC,10044,1.69,379.2,77.5,7.7,455,10089,0.25,2.67,36.85,0.603,4,0.109,0.029,3379,3389,1453,0,0,0,0,0,0
$GC,10139,1.76,379.2,67.9,11.7,462,10143,0.00,2.70,0.00,0.000,6,0.000,0.037,3379,1754,1451,0,0,0,0,0,0
$GC,10467,1.72,379.2,30.9,11.7,492,10471,0.00,2.60,0.00,0.000,4,0.000,0.063,3379,225,1450,0,0,0,0,0,0
$GC,10489,1.65,379.2,27.9,12.6,494,10499,0.00,2.45,0.00,0.000,6,0.000,0.020,3378,1775,1449,0,0,0,0,0,0
$STATE,10658,end climb,SURFACE_DEPTH_REACHED
$STATE,10661,begin surface coast
$FINISH,0.3,1.012479
$STATE,10697,end surface coast,CONTROL_FINISHED_OK
$STATE,10697,begin surface
$SM_CCo,10718,16.88,0.512,0,0,1369,400.08
$SM_GC,1.24,0.00,0.00,16.88,0.000,0.000,0.512,473,1778,1369,-11.62,0.23,400.08
$IRIDIUM_FIX,2244.02,-15702.83,290100,040425
$TT8_MAMPS,0.025311
$HUMID,57.79
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.10
$XPDR_PINGS,114
$24V_AH,23.3,79.064
$10V_AH,9.8,74.172
$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,27.725,125.200,438.725,16.875,0.000,90.500,123.673,795.578,28.500,0.000,13.924,1044.736,7238.919,492.805,1914.561,1339.577,33.368,1221.702,0.000,1918.457,0.000,0.536,0.000
$DEVICE_MAMPS,155.701,113.516,934.973,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.344,288.337,398.970,728.576,1102.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,41618,523
$CAP_FILE_SIZE,118195,0
$CFSIZE,260165632,148979712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041110,074436,2254.088,-15743.610,22,2.0,22,10.1