version: 66.06
glider: 146
mission: 5
dive: 571
start: 11 4 110 11 18 44
data:
$ID,146
$MISSION,5
$DIVE,571
$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,-261442.16
$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,21
$R_STBD_OVSHOOT,55
$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
$GPS1,110101,2253.730,-15743.803,77,1.0,77,10.1
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-64.5
$GPS2,111750,2253.849,-15743.872,12,2.0,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.141,-0.188
$KALMAN_X,-271203.4,-166.3,83.2,317306.3,-960.7
$KALMAN_Y,-481398.2,158.7,105.6,616815.0,639.4
$MHEAD_RNG_PITCHd_Wd,133.1,9531,-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,-78.68,0.000,2,0.000,0.000,473,1763,3369,0,0,0,0,0,0
$GC,102,-1.38,-116.8,4.1,-9.0,10,128,12.00,2.70,-2.00,0.000,4,0.164,0.067,2690,194,3482,0,0,0,0,0,0
$GC,166,-1.28,-116.8,21.4,-15.8,18,176,0.12,2.45,0.00,0.000,6,0.103,0.023,2718,1785,3483,0,0,0,0,0,0
$GC,448,-1.20,-116.8,58.9,-12.8,47,453,0.10,2.42,0.00,0.000,4,0.137,0.026,2737,3325,3483,0,0,0,0,0,0
$GC,471,-1.20,-116.8,62.6,-11.8,48,481,0.00,2.53,0.00,0.000,6,0.000,0.028,2737,1766,3483,0,0,0,0,0,0
$GC,804,-1.24,-116.8,96.8,-9.7,79,809,0.00,2.65,0.00,0.000,4,0.000,0.062,2737,189,3484,0,0,0,0,0,0
$GC,860,-1.30,-116.8,102.2,-9.0,83,864,0.00,2.38,0.00,0.000,6,0.000,0.015,2737,1770,3484,0,0,0,0,0,0
$GC,1191,-1.36,-116.8,132.4,-9.3,113,1196,0.15,2.42,0.00,0.000,4,0.063,0.027,2688,3317,3485,0,0,0,0,0,0
$GC,1212,-1.36,-116.8,134.8,-9.0,114,1221,0.00,2.55,0.00,0.000,6,0.000,0.031,2688,1737,3484,0,0,0,0,0,0
$GC,1540,-1.36,-116.8,163.8,-8.4,145,1544,0.00,2.60,0.00,0.000,4,0.000,0.069,2688,197,3484,0,0,0,0,0,0
$GC,1585,-1.36,-116.8,167.5,-9.7,148,1589,0.00,2.33,0.00,0.000,6,0.000,0.016,2688,1745,3485,0,0,0,0,0,0
$GC,1914,-1.36,-116.8,198.5,-9.5,178,1918,0.00,2.50,0.00,0.000,4,0.000,0.028,2688,3321,3484,0,0,0,0,0,0
$GC,1987,-1.36,-116.8,205.5,-8.8,180,1992,0.00,2.50,0.00,0.000,6,0.000,0.028,2688,1758,3484,0,0,0,0,0,0
$GC,2319,-1.36,-116.8,235.8,-9.2,188,2323,0.00,2.50,0.00,0.000,4,0.000,0.031,2688,3322,3484,0,0,0,0,0,0
$GC,2340,-1.36,-116.8,237.8,-9.1,188,2345,0.00,2.50,0.00,0.000,6,0.000,0.031,2688,1772,3485,0,0,0,0,0,0
$GC,2678,-1.36,-116.8,269.6,-9.5,197,2683,0.00,2.72,0.00,0.000,4,0.000,0.077,2688,194,3484,0,0,0,0,0,0
$GC,2711,-1.36,-116.8,273.4,-10.9,197,2717,0.00,2.40,0.00,0.000,6,0.000,0.025,2688,1738,3484,0,0,0,0,0,0
$GC,3045,-1.36,-116.8,305.0,-9.1,206,3049,0.00,2.60,0.00,0.000,4,0.000,0.040,2688,3352,3482,0,0,0,0,0,0
$GC,3089,-1.43,-116.8,309.1,-9.2,207,3093,0.00,2.58,0.00,0.000,6,0.000,0.037,2688,1784,3482,0,0,0,0,0,0
$GC,3407,-1.43,-116.8,337.4,-9.1,215,3411,0.00,2.50,0.00,0.000,4,0.000,0.038,2688,3346,3481,0,0,0,0,0,0
$GC,3436,-1.48,-116.8,340.0,-9.1,215,3441,0.00,2.58,0.00,0.000,6,0.000,0.048,2688,1790,3480,0,0,0,0,0,0
$GC,3768,-1.48,-116.8,367.9,-8.4,223,3772,0.00,2.88,0.00,0.000,4,0.000,0.093,2688,184,3478,0,0,0,0,0,0
$GC,3795,-1.48,-116.8,370.5,-9.6,223,3799,0.00,2.50,0.00,0.000,6,0.000,0.029,2688,1777,3479,0,0,0,0,0,0
$GC,4127,-1.48,-116.8,400.7,-9.5,231,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1778,3476,0,0,0,0,0,0
$GC,4451,-1.52,-116.8,432.2,-9.5,239,4456,0.00,2.62,0.00,0.000,4,0.000,0.054,2688,3344,3474,0,0,0,0,0,0
$GC,4484,-1.59,-116.8,435.5,-9.6,239,4491,0.15,2.67,0.00,0.000,6,0.064,0.054,2641,1779,3474,0,0,0,0,0,0
$GC,4817,-1.54,-116.8,471.9,-11.4,248,4822,0.10,2.60,0.00,0.000,4,0.130,0.049,2662,3346,3472,0,0,0,0,0,0
$GC,4850,-1.54,-116.8,475.8,-10.9,248,4856,0.00,2.67,0.00,0.000,6,0.000,0.060,2662,1790,3472,0,0,0,0,0,0
$STATE,5097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5098,begin apogee
$GC,5103,-0.31,0.0,501.4,10.3,255,5204,1.23,0.00,97.18,0.931,6,0.094,0.000,2931,1790,3001,0,0,0,0,0,0
$STATE,5205,end apogee,CONTROL_FINISHED_OK
$STATE,5205,begin climb
$GC,5209,1.38,116.8,504.3,0.0,257,5321,1.55,3.08,100.95,0.903,4,0.040,0.117,3310,237,2523,0,0,0,0,0,0
$GC,5340,1.27,196.0,504.7,5.5,260,5417,0.17,2.60,69.10,0.890,6,0.122,0.035,3277,1803,2202,0,0,0,0,0,0
$GC,5749,1.30,223.2,470.7,8.5,271,5779,0.00,2.83,24.05,0.850,4,0.000,0.062,3277,3409,2091,0,0,0,0,0,0
$GC,5832,1.31,227.6,463.2,9.8,273,5843,0.00,2.75,5.10,0.636,6,0.000,0.058,3277,1824,2073,0,0,0,0,0,0
$GC,6156,1.31,227.6,430.3,10.2,281,6160,0.00,2.62,0.00,0.000,4,0.000,0.043,3277,3413,2069,0,0,0,0,0,0
$GC,6188,1.31,227.6,426.9,10.5,281,6194,0.00,2.72,0.00,0.000,6,0.000,0.056,3277,1829,2068,0,0,0,0,0,0
$GC,6521,1.32,235.6,394.6,9.6,290,6535,0.00,3.00,7.78,0.746,4,0.000,0.093,3277,233,2040,0,0,0,0,0,0
$GC,6548,1.28,236.9,391.7,10.0,290,6553,0.00,2.60,0.00,0.000,6,0.000,0.021,3277,1852,2039,0,0,0,0,0,0
$GC,6886,1.31,261.4,361.7,8.6,299,6916,0.00,2.97,24.73,0.818,4,0.000,0.076,3277,229,1934,0,0,0,0,0,0
$GC,6933,1.31,261.4,356.9,10.2,300,6937,0.00,2.58,0.00,0.000,6,0.000,0.026,3277,1824,1933,0,0,0,0,0,0
$GC,7246,1.33,281.6,329.0,8.9,308,7270,0.00,2.88,18.88,0.790,4,0.000,0.073,3277,229,1852,0,0,0,0,0,0
$GC,7294,1.33,281.6,323.9,11.0,309,7298,0.00,2.55,0.00,0.000,6,0.000,0.029,3277,1815,1850,0,0,0,0,0,0
$GC,7612,1.37,281.6,289.7,10.8,317,7617,0.10,2.60,0.00,0.000,4,0.098,0.037,3303,3400,1849,0,0,0,0,0,0
$GC,7654,1.41,281.6,285.1,12.3,318,7658,0.00,2.65,0.00,0.000,6,0.000,0.047,3303,1813,1847,0,0,0,0,0,0
$GC,7979,1.41,281.6,250.2,10.4,326,7983,0.00,2.80,0.00,0.000,4,0.000,0.083,3303,232,1846,0,0,0,0,0,0
$GC,8079,1.37,281.6,237.6,12.6,328,8083,0.00,2.50,0.00,0.000,6,0.000,0.028,3304,1807,1845,0,0,0,0,0,0
$GC,8428,1.39,296.5,203.7,9.2,337,8444,0.00,0.00,13.57,0.700,6,0.000,0.000,3304,1809,1791,0,0,0,0,0,0
$GC,8748,1.39,296.5,172.1,10.5,364,8753,0.00,2.75,0.00,0.000,4,0.000,0.071,3303,230,1788,0,0,0,0,0,0
$GC,8771,1.39,296.5,168.9,11.4,365,8777,0.00,2.47,0.00,0.000,6,0.000,0.021,3304,1804,1787,0,0,0,0,0,0
$GC,9096,1.40,304.5,136.6,9.6,396,9111,0.00,2.75,8.07,0.591,4,0.000,0.067,3304,233,1758,0,0,0,0,0,0
$GC,9153,1.40,304.5,130.6,11.0,400,9162,0.00,2.42,0.00,0.000,6,0.000,0.023,3303,1765,1758,0,0,0,0,0,0
$GC,9482,1.47,314.8,98.6,9.4,431,9498,0.00,2.65,10.82,0.584,4,0.000,0.066,3304,236,1716,0,0,0,0,0,0
$GC,9517,1.47,314.8,95.3,10.6,433,9521,0.00,2.38,0.00,0.000,6,0.000,0.020,3304,1756,1714,0,0,0,0,0,0
$GC,9845,1.59,354.5,67.7,7.7,463,9887,0.17,2.70,35.38,0.601,4,0.069,0.066,3350,230,1553,0,0,0,0,0,0
$GC,9918,1.59,354.5,61.5,10.1,468,9922,0.00,2.35,0.00,0.000,6,0.000,0.020,3350,1736,1552,0,0,0,0,0,0
$GC,10247,1.64,397.8,34.8,7.5,498,10290,0.00,2.70,37.83,0.564,4,0.000,0.025,3350,3394,1379,0,0,0,0,0,0
$GC,10317,1.73,397.8,27.0,12.4,504,10327,0.08,2.80,0.00,0.000,6,0.055,0.039,3379,1730,1377,0,0,0,0,0,0
$STATE,10493,end climb,SURFACE_DEPTH_REACHED
$STATE,10493,begin surface coast
$FINISH,0.4,1.011939
$STATE,10542,end surface coast,CONTROL_FINISHED_OK
$STATE,10542,begin surface
$SM_CCo,10626,0.00,0.000,0,0,1370,400.08
$SM_GC,1.15,11.95,0.00,0.00,0.031,0.000,0.000,477,1729,1370,-11.52,-1.16,400.08
$IRIDIUM_FIX,2246.36,-15745.85,290100,111113
$TT8_MAMPS,0.025311
$HUMID,57.67
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.20
$XPDR_PINGS,136
$24V_AH,23.3,79.364
$10V_AH,9.8,74.419
$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,27.875,136.050,453.425,0.000,0.000,56.017,78.936,643.531,34.000,0.000,13.520,1055.123,6979.180,480.748,2004.346,1111.979,33.375,1245.201,0.000,2011.894,0.000,0.535,0.000
$DEVICE_MAMPS,164.138,117.351,931.138,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.186,299.856,418.687,792.246,1198.052,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,41460,536
$CAP_FILE_SIZE,115564,0
$CFSIZE,260165632,148860928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041110,141710,2253.979,-15743.787,42,1.2,42,10.1