version: 66.06
glider: 146
mission: 5
dive: 574
start: 11 4 110 21 32 1
data:
$ID,146
$MISSION,5
$DIVE,574
$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,-261505.78
$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,28
$R_STBD_OVSHOOT,57
$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
$GPS1,205931,2255.186,-15743.833,75,1.3,75,10.1
$_CALLS,5
$_XMS_NAKs,24
$_XMS_TOUTs,2
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.8
$GPS2,213107,2255.373,-15743.879,9,1.4,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.089,-0.218
$KALMAN_X,-273303.6,-158.1,299.8,319164.4,-393.8
$KALMAN_Y,-473408.5,665.8,671.4,610574.6,377.5
$MHEAD_RNG_PITCHd_Wd,147.7,12231,-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,-78.62,0.000,2,0.000,0.000,478,1759,3410,0,0,0,0,0,0
$GC,102,-1.38,-116.8,4.2,-8.3,10,120,11.77,2.65,-1.20,0.000,4,0.156,0.070,2692,196,3478,0,0,0,0,0,0
$GC,230,-1.31,-116.8,33.1,-14.8,27,236,0.10,2.40,0.00,0.000,6,0.139,0.015,2710,1788,3479,0,0,0,0,0,0
$GC,559,-1.23,-116.8,77.0,-12.0,57,564,0.10,2.72,0.00,0.000,4,0.139,0.062,2730,193,3479,0,0,0,0,0,0
$GC,594,-1.18,-116.8,81.3,-12.3,59,598,0.00,2.35,0.00,0.000,6,0.000,0.015,2730,1773,3479,0,0,0,0,0,0
$GC,923,-1.24,-116.8,108.0,-7.5,89,927,0.00,2.40,0.00,0.000,4,0.000,0.032,2730,3323,3479,0,0,0,0,0,0
$GC,955,-1.32,-116.8,110.5,-7.8,91,959,0.00,2.47,0.00,0.000,6,0.000,0.032,2730,1766,3479,0,0,0,0,0,0
$GC,1284,-1.38,-116.8,138.7,-8.6,121,1289,0.12,2.42,0.00,0.000,4,0.071,0.028,2687,3314,3480,0,0,0,0,0,0
$GC,1301,-1.38,-116.8,140.6,-8.5,122,1305,0.00,2.45,0.00,0.000,6,0.000,0.027,2687,1773,3480,0,0,0,0,0,0
$GC,1626,-1.38,-116.8,171.3,-9.9,152,1630,0.00,2.40,0.00,0.000,4,0.000,0.028,2687,3320,3480,0,0,0,0,0,0
$GC,1643,-1.38,-116.8,173.0,-9.9,153,1647,0.00,2.47,0.00,0.000,6,0.000,0.029,2687,1769,3480,0,0,0,0,0,0
$GC,1990,-1.38,-116.8,209.4,-10.8,179,1994,0.00,2.67,0.00,0.000,4,0.000,0.064,2687,191,3480,0,0,0,0,0,0
$GC,2061,-1.38,-116.8,217.8,-10.7,180,2066,0.00,2.38,0.00,0.000,6,0.000,0.017,2687,1768,3479,0,0,0,0,0,0
$GC,2393,-1.38,-116.8,249.5,-9.5,188,2398,0.00,2.45,0.00,0.000,4,0.000,0.028,2687,3324,3479,0,0,0,0,0,0
$GC,2428,-1.38,-116.8,252.7,-9.7,188,2434,0.00,2.50,0.00,0.000,6,0.000,0.031,2687,1776,3479,0,0,0,0,0,0
$GC,2760,-1.38,-116.8,283.2,-9.4,197,2764,0.00,2.42,0.00,0.000,4,0.000,0.030,2687,3319,3477,0,0,0,0,0,0
$GC,2776,-1.38,-116.8,284.9,-10.0,197,2780,0.00,2.50,0.00,0.000,6,0.000,0.036,2687,1768,3478,0,0,0,0,0,0
$GC,3119,-1.38,-116.8,316.6,-9.0,206,3124,0.00,2.80,0.00,0.000,4,0.000,0.087,2687,182,3476,0,0,0,0,0,0
$GC,3135,-1.38,-116.8,318.2,-8.9,206,3139,0.00,2.40,0.00,0.000,6,0.000,0.027,2687,1734,3475,0,0,0,0,0,0
$GC,3477,-1.38,-116.8,346.8,-8.4,215,3481,0.00,2.60,0.00,0.000,4,0.000,0.041,2687,3354,3474,0,0,0,0,0,0
$GC,3500,-1.42,-116.8,348.8,-9.0,215,3505,0.00,2.65,0.00,0.000,6,0.000,0.044,2687,1760,3473,0,0,0,0,0,0
$GC,3837,-1.42,-116.8,379.1,-8.8,224,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1760,3471,0,0,0,0,0,0
$GC,4162,-1.42,-116.8,409.2,-9.6,232,4166,0.00,2.55,0.00,0.000,4,0.000,0.044,2687,3343,3469,0,0,0,0,0,0
$GC,4203,-1.50,-116.8,413.2,-9.9,233,4208,0.00,2.67,0.00,0.000,6,0.000,0.056,2687,1767,3469,0,0,0,0,0,0
$GC,4527,-1.54,-116.8,446.1,-9.8,241,4533,0.10,2.92,0.00,0.000,4,0.084,0.104,2651,182,3467,0,0,0,0,0,0
$GC,4563,-1.48,-116.8,450.0,-11.5,241,4569,0.12,2.50,0.00,0.000,6,0.119,0.033,2677,1752,3466,0,0,0,0,0,0
$GC,4894,-1.48,-116.8,479.6,-8.4,250,4898,0.00,2.67,0.00,0.000,4,0.000,0.060,2677,3353,3464,0,0,0,0,0,0
$GC,4921,-1.52,-116.8,482.0,-8.5,250,4926,0.00,2.67,0.00,0.000,6,0.000,0.057,2677,1769,3464,0,0,0,0,0,0
$STATE,5168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5169,begin apogee
$GC,5177,-0.31,0.0,503.3,8.8,256,5276,1.15,0.00,95.28,0.921,6,0.085,0.000,2930,1856,3000,0,0,0,0,0,0
$STATE,5276,end apogee,CONTROL_FINISHED_OK
$STATE,5276,begin climb
$GC,5279,1.38,116.8,505.9,0.0,258,5385,1.55,0.00,101.68,0.901,6,0.049,0.000,3306,1857,2524,0,0,0,0,0,0
$GC,5723,1.36,193.9,489.5,5.6,269,5797,0.00,2.62,66.90,0.890,4,0.000,0.053,3307,3372,2209,0,0,0,0,0,0
$GC,5865,1.31,196.4,478.5,9.9,272,5871,0.10,2.67,0.00,0.000,6,0.136,0.058,3288,1833,2204,0,0,0,0,0,0
$GC,6215,1.27,197.0,445.2,10.0,281,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1833,2199,0,0,0,0,0,0
$GC,6539,1.25,210.4,414.1,9.3,289,6558,0.00,3.00,13.98,0.812,4,0.000,0.100,3288,227,2143,0,0,0,0,0,0
$GC,6584,1.15,210.4,409.7,10.7,290,6589,0.17,2.55,0.00,0.000,6,0.117,0.029,3252,1814,2140,0,0,0,0,0,0
$GC,6908,1.23,245.9,382.5,8.0,298,6950,0.00,2.70,32.75,0.838,4,0.000,0.043,3252,3402,1997,0,0,0,0,0,0
$GC,6974,1.35,276.7,377.2,8.3,299,7009,0.17,2.65,28.77,0.818,6,0.068,0.048,3297,1836,1873,0,0,0,0,0,0
$GC,7322,1.35,276.7,339.7,10.7,308,7327,0.00,2.88,0.00,0.000,4,0.000,0.085,3297,234,1865,0,0,0,0,0,0
$GC,7355,1.28,276.7,335.6,12.0,308,7361,0.00,2.55,0.00,0.000,6,0.000,0.027,3297,1831,1863,0,0,0,0,0,0
$GC,7688,1.28,276.7,300.5,10.5,317,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1832,1862,0,0,0,0,0,0
$GC,8011,1.28,276.7,265.1,11.0,325,8015,0.00,2.55,0.00,0.000,4,0.000,0.035,3297,3413,1860,0,0,0,0,0,0
$GC,8037,1.28,276.7,262.2,10.1,325,8042,0.00,2.65,0.00,0.000,6,0.000,0.043,3297,1810,1859,0,0,0,0,0,0
$GC,8371,1.29,287.7,230.7,9.4,333,8381,0.00,0.00,8.77,0.666,6,0.000,0.000,3296,1810,1828,0,0,0,0,0,0
$GC,8694,1.32,308.0,200.7,8.9,341,8719,0.00,2.80,19.38,0.700,4,0.000,0.072,3297,241,1744,0,0,0,0,0,0
$GC,8782,1.32,308.0,192.2,10.9,346,8786,0.00,2.50,0.00,0.000,6,0.000,0.026,3297,1826,1741,0,0,0,0,0,0
$GC,9111,1.40,328.5,162.8,8.9,376,9136,0.00,2.83,19.15,0.664,4,0.000,0.070,3297,236,1660,0,0,0,0,0,0
$GC,9227,1.41,339.1,151.5,9.4,386,9243,0.00,2.42,10.30,0.612,6,0.000,0.028,3297,1796,1618,0,0,0,0,0,0
$GC,9567,1.49,342.8,120.1,9.8,417,9578,0.12,2.72,4.20,0.445,4,0.079,0.070,3333,238,1603,0,0,0,0,0,0
$GC,9628,1.43,342.8,112.9,12.0,422,9632,0.00,2.35,0.00,0.000,6,0.000,0.026,3333,1750,1602,0,0,0,0,0,0
$GC,9955,1.53,366.3,82.1,8.7,452,9986,0.00,0.00,22.25,0.594,6,0.000,0.000,3333,1752,1505,0,0,0,0,0,0
$GC,10307,1.61,379.1,49.7,9.3,485,10324,0.00,2.65,12.12,0.536,4,0.000,0.061,3333,234,1454,0,0,0,0,0,0
$GC,10362,1.61,379.1,43.5,11.4,489,10372,0.00,2.35,0.00,0.000,6,0.000,0.020,3333,1738,1453,0,0,0,0,0,0
$STATE,10734,end climb,SURFACE_DEPTH_REACHED
$STATE,10734,begin surface coast
$FINISH,0.4,1.013069
$STATE,10797,end surface coast,CONTROL_FINISHED_OK
$STATE,10797,begin surface
$SM_CCo,10820,18.40,0.508,0,0,1370,400.08
$SM_GC,1.20,0.00,0.00,18.40,0.000,0.000,0.508,474,1740,1370,-11.62,-0.85,400.08
$IRIDIUM_FIX,2246.36,-15743.68,290100,212118
$TT8_MAMPS,0.026078
$HUMID,57.48
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.10
$XPDR_PINGS,113
$24V_AH,23.3,79.879
$10V_AH,9.9,74.808
$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,27.275,113.675,435.525,18.400,0.000,137.403,174.901,1143.508,28.250,0.000,15.731,1060.277,7378.397,493.400,1992.109,1810.058,33.368,1193.947,0.000,1993.362,0.000,0.535,0.000
$DEVICE_MAMPS,155.701,111.982,921.167,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.192,312.926,422.278,795.586,1203.373,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,44795,545
$CAP_FILE_SIZE,124934,0
$CFSIZE,260165632,148672512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051110,003425,2254.820,-15743.783,64,1.0,64,10.1