version: 66.06
glider: 146
mission: 5
dive: 573
start: 11 4 110 17 58 45
data:
$ID,146
$MISSION,5
$DIVE,573
$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,-261489.42
$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,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
$GPS1,174628,2254.879,-15743.779,10,99.0,29,10.1
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-60.3
$GPS2,175752,2255.078,-15743.805,11,99.0,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.003,-0.235
$KALMAN_X,-272636.9,-282.4,-165.9,319212.0,211.8
$KALMAN_Y,-475907.8,419.5,579.9,612857.5,1693.7
$MHEAD_RNG_PITCHd_Wd,170.7,11670,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,136,0.00,0.00,-116.85,0.000,6,0.000,0.000,474,1750,3479,0,0,0,0,0,0
$GC,141,-1.38,-116.8,4.3,-8.6,15,159,12.07,2.65,0.00,0.000,4,0.167,0.053,2690,201,3481,0,0,0,0,0,0
$GC,229,-1.31,-116.8,29.6,-20.6,27,239,0.08,2.45,0.00,0.000,6,0.109,0.022,2709,1776,3482,0,0,0,0,0,0
$GC,497,-1.20,-116.8,63.1,-13.8,52,507,0.12,0.00,0.00,0.000,6,0.130,0.000,2734,1778,3482,0,0,0,0,0,0
$GC,829,-1.24,-116.8,99.6,-9.6,83,833,0.00,2.67,0.00,0.000,4,0.000,0.059,2734,198,3482,0,0,0,0,0,0
$GC,864,-1.30,-116.8,103.1,-10.1,85,868,0.00,2.38,0.00,0.000,6,0.000,0.021,2734,1785,3482,0,0,0,0,0,0
$GC,1193,-1.36,-116.8,133.6,-8.7,115,1198,0.12,2.42,0.00,0.000,4,0.073,0.027,2690,3319,3483,0,0,0,0,0,0
$GC,1217,-1.40,-116.8,136.2,-9.8,116,1226,0.00,2.55,0.00,0.000,6,0.000,0.035,2690,1745,3483,0,0,0,0,0,0
$GC,1541,-1.40,-116.8,167.5,-9.2,147,1545,0.00,2.65,0.00,0.000,4,0.000,0.068,2690,189,3483,0,0,0,0,0,0
$GC,1563,-1.40,-116.8,169.2,-9.6,148,1567,0.00,2.30,0.00,0.000,6,0.000,0.022,2690,1735,3483,0,0,0,0,0,0
$GC,1891,-1.40,-116.8,200.6,-9.4,178,1895,0.00,2.45,0.00,0.000,4,0.000,0.031,2690,3314,3483,0,0,0,0,0,0
$GC,1946,-1.40,-116.8,206.1,-8.6,179,1951,0.00,2.50,0.00,0.000,6,0.000,0.028,2690,1754,3483,0,0,0,0,0,0
$GC,2295,-1.40,-116.8,236.4,-8.6,188,2300,0.00,2.67,0.00,0.000,4,0.000,0.069,2690,197,3482,0,0,0,0,0,0
$GC,2305,-1.40,-116.8,237.5,-8.6,188,2310,0.00,2.35,0.00,0.000,6,0.000,0.023,2690,1764,3482,0,0,0,0,0,0
$GC,2654,-1.40,-116.8,267.0,-8.2,197,2658,0.00,2.45,0.00,0.000,4,0.000,0.036,2690,3322,3481,0,0,0,0,0,0
$GC,2665,-1.40,-116.8,267.9,-7.9,197,2670,0.00,2.55,0.00,0.000,6,0.000,0.038,2690,1750,3481,0,0,0,0,0,0
$GC,3013,-1.40,-116.8,296.0,-8.5,206,3018,0.00,2.75,0.00,0.000,4,0.000,0.084,2690,187,3480,0,0,0,0,0,0
$GC,3029,-1.40,-116.8,297.6,-8.8,206,3033,0.00,2.38,0.00,0.000,6,0.000,0.025,2690,1725,3480,0,0,0,0,0,0
$GC,3372,-1.40,-116.8,330.3,-10.2,215,3377,0.00,2.60,0.00,0.000,4,0.000,0.041,2690,3345,3478,0,0,0,0,0,0
$GC,3434,-1.48,-116.8,336.6,-9.9,216,3439,0.00,2.62,0.00,0.000,6,0.000,0.044,2690,1753,3478,0,0,0,0,0,0
$GC,3778,-1.52,-116.8,364.3,-7.5,225,3783,0.00,2.58,0.00,0.000,4,0.000,0.041,2690,3353,3476,0,0,0,0,0,0
$GC,3806,-1.58,-116.8,366.5,-7.5,225,3811,0.15,2.65,0.00,0.000,6,0.065,0.052,2642,1758,3476,0,0,0,0,0,0
$GC,4137,-1.53,-116.8,399.6,-10.6,233,4142,0.12,2.60,0.00,0.000,4,0.114,0.043,2668,3344,3473,0,0,0,0,0,0
$GC,4171,-1.53,-116.8,403.3,-10.3,233,4177,0.00,2.67,0.00,0.000,6,0.000,0.061,2668,1773,3473,0,0,0,0,0,0
$GC,4502,-1.53,-116.8,437.3,-10.4,242,4507,0.00,2.60,0.00,0.000,4,0.000,0.050,2668,3348,3471,0,0,0,0,0,0
$GC,4543,-1.58,-116.8,441.3,-10.0,243,4547,0.00,2.67,0.00,0.000,6,0.000,0.064,2667,1790,3471,0,0,0,0,0,0
$GC,4868,-1.58,-116.8,473.5,-9.8,251,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1790,3468,0,0,0,0,0,0
$STATE,5189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5189,begin apogee
$GC,5195,-0.31,0.0,501.2,8.2,259,5295,1.20,0.00,96.25,0.928,6,0.098,0.000,2931,1790,3002,0,0,0,0,0,0
$STATE,5295,end apogee,CONTROL_FINISHED_OK
$STATE,5295,begin climb
$GC,5300,1.38,116.8,502.7,0.0,261,5406,1.52,0.00,102.18,0.904,6,0.040,0.000,3306,1790,2524,0,0,0,0,0,0
$GC,5708,1.30,149.7,477.8,8.1,271,5743,0.12,2.80,28.25,0.866,4,0.148,0.052,3283,3378,2390,0,0,0,0,0,0
$GC,5877,1.34,187.8,464.1,7.8,274,5917,0.00,2.75,34.65,0.867,6,0.000,0.067,3283,1816,2235,0,0,0,0,0,0
$GC,6245,1.35,195.4,430.8,9.6,283,6259,0.00,2.70,6.82,0.722,4,0.000,0.044,3283,3390,2204,0,0,0,0,0,0
$GC,6294,1.35,195.4,425.6,10.7,284,6299,0.00,2.72,0.00,0.000,6,0.000,0.061,3283,1823,2202,0,0,0,0,0,0
$GC,6612,1.36,203.7,394.9,9.6,292,6626,0.00,2.62,8.60,0.758,4,0.000,0.043,3283,3385,2169,0,0,0,0,0,0
$GC,6650,1.37,211.6,391.3,9.6,292,6664,0.00,2.65,8.88,0.746,6,0.000,0.058,3283,1825,2137,0,0,0,0,0,0
$GC,6985,1.39,225.5,360.0,9.2,301,7001,0.00,0.00,13.30,0.788,6,0.000,0.000,3283,1825,2080,0,0,0,0,0,0
$GC,7309,1.41,244.4,329.9,8.9,309,7333,0.10,2.62,17.90,0.793,4,0.099,0.035,3308,3392,2003,0,0,0,0,0,0
$GC,7346,1.41,244.4,326.2,10.5,309,7352,0.00,2.65,0.00,0.000,6,0.000,0.048,3308,1835,2001,0,0,0,0,0,0
$GC,7677,1.43,260.2,294.9,9.1,318,7697,0.00,2.55,14.85,0.762,4,0.000,0.037,3308,3394,1939,0,0,0,0,0,0
$GC,7725,1.44,264.9,290.2,9.8,319,7736,0.00,2.58,5.65,0.617,6,0.000,0.044,3308,1847,1921,0,0,0,0,0,0
$GC,8080,1.44,264.9,255.0,10.3,328,8084,0.00,2.50,0.00,0.000,4,0.000,0.030,3308,3403,1917,0,0,0,0,0,0
$GC,8221,1.47,264.9,240.0,10.6,331,8226,0.00,2.62,0.00,0.000,6,0.000,0.041,3308,1822,1915,0,0,0,0,0,0
$GC,8535,1.49,276.2,210.5,9.4,339,8552,0.00,2.80,10.82,0.680,4,0.000,0.072,3308,240,1874,0,0,0,0,0,0
$GC,8587,1.43,276.2,205.1,11.5,340,8591,0.00,2.50,0.00,0.000,6,0.000,0.026,3308,1817,1872,0,0,0,0,0,0
$GC,8911,1.44,285.0,173.9,9.5,366,8923,0.00,0.00,8.88,0.630,6,0.000,0.000,3308,1818,1839,0,0,0,0,0,0
$GC,9243,1.44,285.0,141.1,10.9,397,9247,0.00,2.75,0.00,0.000,4,0.000,0.067,3308,238,1835,0,0,0,0,0,0
$GC,9336,1.44,285.0,129.8,11.0,404,9345,0.00,2.50,0.00,0.000,6,0.000,0.025,3308,1814,1834,0,0,0,0,0,0
$GC,9665,1.54,326.3,102.1,7.7,435,9713,0.10,2.60,36.70,0.628,4,0.088,0.030,3337,3390,1669,0,0,0,0,0,0
$GC,9744,1.59,326.3,94.4,11.1,441,9749,0.00,2.58,0.00,0.000,6,0.000,0.042,3338,1823,1667,0,0,0,0,0,0
$GC,10073,1.66,335.4,61.8,9.5,471,10088,0.10,2.72,8.55,0.524,4,0.092,0.066,3366,240,1632,0,0,0,0,0,0
$GC,10118,1.60,335.4,56.8,12.1,474,10123,0.00,2.50,0.00,0.000,6,0.000,0.020,3366,1840,1630,0,0,0,0,0,0
$GC,10475,1.60,335.4,17.5,10.8,512,10485,0.00,2.47,0.00,0.000,4,0.000,0.034,3366,3382,1629,0,0,0,0,0,0
$GC,10509,1.61,336.0,14.1,10.0,516,10518,0.00,2.55,0.00,0.000,6,0.000,0.032,3366,1831,1628,0,0,0,0,0,0
$STATE,10607,end climb,SURFACE_DEPTH_REACHED
$STATE,10607,begin surface coast
$FINISH,0.6,1.023522
$STATE,10653,end surface coast,CONTROL_FINISHED_OK
$STATE,10653,begin surface
$SM_CCo,10675,54.20,0.529,0,0,1369,400.08
$SM_GC,1.25,0.00,0.00,54.20,0.000,0.000,0.529,479,1762,1369,-11.60,-0.25,400.08
$IRIDIUM_FIX,2244.02,-15741.52,290100,141444
$TT8_MAMPS,0.026078
$HUMID,56.73
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.40
$XPDR_PINGS,142
$24V_AH,23.3,79.688
$10V_AH,9.8,74.671
$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,27.575,119.025,402.275,54.200,0.000,24.113,30.531,454.729,35.500,0.000,32.491,1054.538,6990.385,530.699,2014.565,819.954,33.370,1280.139,0.000,1998.409,0.000,0.534,0.000
$DEVICE_MAMPS,167.206,111.215,928.070,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.299,299.142,414.501,779.627,1179.266,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,41502,536
$CAP_FILE_SIZE,109005,0
$CFSIZE,260165632,148746240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041110,205931,2255.186,-15743.833,75,1.3,75,10.1