version: 66.06
glider: 146
mission: 5
dive: 572
start: 11 4 110 14 41 32
data:
$ID,146
$MISSION,5
$DIVE,572
$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,-261456.31
$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,19
$R_STBD_OVSHOOT,52
$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
$GPS1,141710,2253.979,-15743.787,42,1.2,42,10.1
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.1
$GPS2,144038,2254.211,-15743.918,12,1.2,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.053,-0.229
$KALMAN_X,-272104.4,-292.4,-348.9,318682.7,-386.2
$KALMAN_Y,-478758.3,195.5,-130.0,615036.8,1867.5
$MHEAD_RNG_PITCHd_Wd,156.9,10190,-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,18,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-77.32,0.000,2,0.000,0.000,475,1725,3331,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.6,-6.4,10,126,11.88,2.65,-2.92,0.000,4,0.160,0.070,2692,187,3482,0,0,0,0,0,0
$GC,218,-1.30,-116.8,24.6,-12.5,26,228,0.08,2.47,0.00,0.000,6,0.105,0.023,2711,1785,3482,0,0,0,0,0,0
$GC,499,-1.21,-116.8,60.3,-13.8,54,504,0.12,2.42,0.00,0.000,4,0.127,0.025,2735,3332,3483,0,0,0,0,0,0
$GC,521,-1.16,-116.8,63.5,-14.7,55,525,0.00,2.50,0.00,0.000,6,0.000,0.026,2735,1754,3483,0,0,0,0,0,0
$GC,850,-1.22,-116.8,99.3,-9.8,85,855,0.00,2.47,0.00,0.000,4,0.000,0.025,2734,3337,3483,0,0,0,0,0,0
$GC,883,-1.29,-116.8,102.4,-9.2,87,887,0.00,2.45,0.00,0.000,6,0.000,0.033,2735,1784,3483,0,0,0,0,0,0
$GC,1212,-1.36,-116.8,129.1,-7.9,117,1217,0.12,2.67,0.00,0.000,4,0.073,0.063,2688,198,3484,0,0,0,0,0,0
$GC,1229,-1.36,-116.8,131.0,-8.5,118,1234,0.00,2.40,0.00,0.000,6,0.000,0.015,2688,1804,3484,0,0,0,0,0,0
$GC,1559,-1.36,-116.8,160.7,-8.8,148,1564,0.00,2.72,0.00,0.000,4,0.000,0.064,2688,192,3484,0,0,0,0,0,0
$GC,1606,-1.36,-116.8,165.8,-10.1,151,1612,0.00,2.35,0.00,0.000,6,0.000,0.021,2688,1762,3484,0,0,0,0,0,0
$GC,1931,-1.36,-116.8,194.5,-9.7,182,1935,0.00,2.45,0.00,0.000,4,0.000,0.032,2688,3320,3484,0,0,0,0,0,0
$GC,1972,-1.40,-116.8,198.7,-10.2,185,1976,0.00,2.50,0.00,0.000,6,0.000,0.028,2688,1758,3483,0,0,0,0,0,0
$GC,2315,-1.40,-116.8,235.0,-10.7,194,2319,0.00,2.67,0.00,0.000,4,0.000,0.071,2688,197,3483,0,0,0,0,0,0
$GC,2330,-1.40,-116.8,237.1,-10.4,194,2334,0.00,2.35,0.00,0.000,6,0.000,0.025,2688,1751,3482,0,0,0,0,0,0
$GC,2679,-1.40,-116.8,269.7,-9.0,203,2683,0.00,2.70,0.00,0.000,4,0.000,0.074,2688,194,3482,0,0,0,0,0,0
$GC,2694,-1.40,-116.8,271.4,-8.8,203,2698,0.00,2.35,0.00,0.000,6,0.000,0.019,2688,1725,3481,0,0,0,0,0,0
$GC,3044,-1.40,-116.8,301.9,-8.8,212,3049,0.00,2.58,0.00,0.000,4,0.000,0.041,2688,3337,3480,0,0,0,0,0,0
$GC,3072,-1.40,-116.8,304.5,-9.0,212,3076,0.00,2.60,0.00,0.000,6,0.000,0.044,2688,1750,3480,0,0,0,0,0,0
$GC,3403,-1.40,-116.8,334.4,-9.3,220,3407,0.00,2.58,0.00,0.000,4,0.000,0.041,2688,3344,3479,0,0,0,0,0,0
$GC,3473,-1.46,-116.8,340.6,-8.6,221,3478,0.00,2.62,0.00,0.000,6,0.000,0.044,2688,1768,3479,0,0,0,0,0,0
$GC,3810,-1.46,-116.8,368.3,-7.8,230,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1768,3476,0,0,0,0,0,0
$GC,4137,-1.50,-116.8,393.5,-7.8,238,4142,0.00,2.55,0.00,0.000,4,0.000,0.044,2688,3334,3474,0,0,0,0,0,0
$GC,4160,-1.55,-116.8,395.5,-8.4,238,4165,0.12,2.62,0.00,0.000,6,0.070,0.058,2643,1773,3474,0,0,0,0,0,0
$GC,4497,-1.51,-116.8,428.5,-9.9,247,4502,0.12,2.55,0.00,0.000,4,0.117,0.042,2668,3329,3471,0,0,0,0,0,0
$GC,4539,-1.55,-116.8,432.1,-8.8,248,4544,0.00,2.62,0.00,0.000,6,0.000,0.058,2669,1793,3472,0,0,0,0,0,0
$GC,4863,-1.55,-116.8,462.4,-9.6,256,4867,0.00,2.53,0.00,0.000,4,0.000,0.050,2669,3334,3469,0,0,0,0,0,0
$GC,4879,-1.55,-116.8,464.2,-9.8,256,4883,0.00,2.65,0.00,0.000,6,0.000,0.066,2668,1791,3469,0,0,0,0,0,0
$GC,5222,-1.55,-116.8,498.1,-10.0,265,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1791,3467,0,0,0,0,0,0
$STATE,5258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5258,begin apogee
$GC,5264,-0.31,0.0,502.1,10.0,266,5364,1.20,0.00,96.43,0.930,6,0.094,0.000,2932,1791,3001,0,0,0,0,0,0
$STATE,5365,end apogee,CONTROL_FINISHED_OK
$STATE,5365,begin climb
$GC,5367,1.38,116.8,505.1,0.0,268,5478,1.55,0.00,100.80,0.905,6,0.038,0.000,3314,1791,2524,0,0,0,0,0,0
$GC,5792,1.31,166.4,485.0,7.2,279,5838,0.15,0.00,43.30,0.890,6,0.123,0.000,3285,1791,2322,0,0,0,0,0,0
$GC,6158,1.29,198.0,455.3,8.2,288,6193,0.00,2.75,28.40,0.861,4,0.000,0.044,3285,3377,2193,0,0,0,0,0,0
$GC,6250,1.31,213.3,447.0,9.2,290,6270,0.00,2.72,14.68,0.818,6,0.000,0.065,3285,1810,2131,0,0,0,0,0,0
$GC,6609,1.33,228.4,414.6,9.2,299,6628,0.00,2.65,14.23,0.810,4,0.000,0.038,3285,3391,2068,0,0,0,0,0,0
$GC,6673,1.33,230.1,408.0,9.9,300,6678,0.00,2.70,0.00,0.000,6,0.000,0.054,3285,1824,2066,0,0,0,0,0,0
$GC,7015,1.33,230.1,373.0,10.5,309,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1824,2063,0,0,0,0,0,0
$GC,7342,1.35,244.6,341.9,9.2,317,7359,0.00,0.00,15.30,0.790,6,0.000,0.000,3286,1824,2003,0,0,0,0,0,0
$GC,7666,1.39,279.3,315.0,8.0,325,7700,0.00,0.00,32.35,0.801,6,0.000,0.000,3285,1824,1862,0,0,0,0,0,0
$GC,7991,1.40,282.2,284.5,9.9,333,7995,0.00,2.83,0.00,0.000,4,0.000,0.079,3285,229,1856,0,0,0,0,0,0
$GC,8036,1.40,282.2,279.4,11.8,334,8040,0.00,2.55,0.00,0.000,6,0.000,0.027,3285,1834,1854,0,0,0,0,0,0
$GC,8354,1.45,289.0,247.5,9.6,342,8369,0.12,2.85,8.85,0.679,4,0.174,0.069,3317,231,1821,0,0,0,0,0,0
$GC,8422,1.39,289.0,239.9,11.8,343,8426,0.00,2.55,0.00,0.000,6,0.000,0.026,3317,1834,1820,0,0,0,0,0,0
$GC,8765,1.40,299.8,205.7,9.4,352,8781,0.00,2.83,10.62,0.669,4,0.000,0.065,3317,229,1779,0,0,0,0,0,0
$GC,8792,1.40,299.8,202.9,10.3,352,8796,0.00,2.53,0.00,0.000,6,0.000,0.021,3317,1825,1777,0,0,0,0,0,0
$GC,9119,1.40,304.3,171.6,9.8,379,9130,0.00,2.53,5.30,0.540,4,0.000,0.034,3317,3389,1760,0,0,0,0,0,0
$GC,9142,1.40,304.3,168.8,10.0,381,9146,0.00,2.60,0.00,0.000,6,0.000,0.039,3317,1802,1759,0,0,0,0,0,0
$GC,9470,1.41,307.5,136.1,9.9,411,9481,0.00,2.75,4.53,0.479,4,0.000,0.068,3317,236,1747,0,0,0,0,0,0
$GC,9583,1.37,307.5,122.9,12.6,420,9592,0.00,2.47,0.00,0.000,6,0.000,0.025,3317,1801,1745,0,0,0,0,0,0
$GC,9911,1.40,307.5,88.3,10.5,451,9915,0.00,2.55,0.00,0.000,4,0.000,0.033,3317,3394,1745,0,0,0,0,0,0
$GC,9956,1.53,315.8,83.5,9.6,454,9970,0.00,2.67,8.88,0.553,6,0.000,0.041,3317,1792,1713,0,0,0,0,0,0
$GC,10292,1.66,351.7,58.0,8.0,485,10334,0.17,2.75,32.12,0.585,4,0.065,0.061,3365,244,1565,0,0,0,0,0,0
$GC,10366,1.61,351.7,50.5,12.8,490,10370,0.00,2.45,0.00,0.000,6,0.000,0.019,3364,1809,1564,0,0,0,0,0,0
$GC,10740,1.70,422.5,6.9,5.9,535,10767,0.00,0.00,24.20,0.528,2,0.000,0.000,3364,1811,1456,0,0,0,0,0,0
$STATE,10767,end climb,SURFACE_DEPTH_REACHED
$STATE,10768,begin surface coast
$FINISH,0.3,1.010469
$STATE,10810,end surface coast,CONTROL_FINISHED_OK
$STATE,10810,begin surface
$SM_CCo,10834,191.18,0.528,0,0,477,619.14
$SM_GC,0.90,0.00,0.00,191.18,0.000,0.000,0.528,475,1750,477,-11.62,-0.57,619.14
$IRIDIUM_FIX,2248.70,-15748.01,290100,141446
$TT8_MAMPS,0.026078
$HUMID,53.93
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,20.20
$XPDR_PINGS,133
$24V_AH,23.3,79.551
$10V_AH,9.8,74.549
$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,27.500,113.850,439.975,191.175,0.000,123.327,194.658,656.988,33.250,0.000,13.536,1067.398,7399.917,667.184,1976.836,1320.767,33.371,1375.530,0.000,1980.743,0.000,0.535,0.000
$DEVICE_MAMPS,174.109,123.487,930.371,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.546,307.903,419.388,795.590,1203.365,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,44609,544
$CAP_FILE_SIZE,118334,0
$CFSIZE,260165632,148791296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041110,174628,2254.879,-15743.779,10,99.0,29,10.1