version: 66.06
glider: 146
mission: 5
dive: 576
start: 11 5 110 4 5 23
data:
$ID,146
$MISSION,5
$DIVE,576
$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,-261568.53
$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,22
$R_STBD_OVSHOOT,51
$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
$GPS1,034728,2254.716,-15743.833,14,99.0,33,10.1
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-62.7
$GPS2,040430,2254.871,-15743.941,47,1.5,47,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.026,-0.233
$KALMAN_X,-274774.3,108.3,-467.3,321029.6,-110.5
$KALMAN_Y,-469018.2,482.4,-309.0,606418.4,1828.9
$MHEAD_RNG_PITCHd_Wd,163.5,11368,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,100,0.00,0.00,-78.50,0.000,2,0.000,0.000,475,1756,3320,0,0,0,0,0,0
$GC,103,-1.38,-116.8,3.2,-5.0,10,129,11.98,2.70,-3.15,0.000,4,0.163,0.067,2691,196,3481,0,0,0,0,0,0
$GC,175,-1.30,-116.8,20.4,-15.5,19,183,0.08,2.45,0.00,0.000,6,0.105,0.023,2710,1771,3482,0,0,0,0,0,0
$GC,519,-1.20,-116.8,68.0,-14.5,54,524,0.12,2.47,0.00,0.000,4,0.125,0.025,2735,3352,3482,0,0,0,0,0,0
$GC,553,-1.20,-116.8,73.0,-12.6,56,557,0.00,2.55,0.00,0.000,6,0.000,0.027,2735,1758,3482,0,0,0,0,0,0
$GC,880,-1.27,-116.8,104.1,-8.5,86,884,0.00,2.62,0.00,0.000,4,0.000,0.059,2735,192,3483,0,0,0,0,0,0
$GC,957,-1.33,-116.8,111.6,-9.3,92,962,0.12,2.40,0.00,0.000,6,0.073,0.018,2691,1802,3483,0,0,0,0,0,0
$GC,1283,-1.33,-116.8,147.4,-11.7,122,1287,0.00,2.35,0.00,0.000,4,0.000,0.032,2691,3315,3483,0,0,0,0,0,0
$GC,1300,-1.33,-116.8,149.6,-11.7,123,1305,0.00,2.50,0.00,0.000,6,0.000,0.028,2691,1747,3484,0,0,0,0,0,0
$GC,1629,-1.33,-116.8,184.8,-9.9,154,1633,0.00,2.45,0.00,0.000,4,0.000,0.024,2691,3312,3484,0,0,0,0,0,0
$GC,1686,-1.33,-116.8,190.6,-9.9,158,1692,0.00,2.42,0.00,0.000,6,0.000,0.028,2691,1787,3484,0,0,0,0,0,0
$GC,2002,-1.33,-116.8,219.5,-9.3,174,2007,0.00,2.70,0.00,0.000,4,0.000,0.071,2691,195,3484,0,0,0,0,0,0
$GC,2053,-1.33,-116.8,224.7,-10.5,175,2057,0.00,2.38,0.00,0.000,6,0.000,0.020,2691,1767,3484,0,0,0,0,0,0
$GC,2366,-1.33,-116.8,255.6,-10.0,183,2370,0.00,2.70,0.00,0.000,4,0.000,0.066,2691,198,3483,0,0,0,0,0,0
$GC,2398,-1.33,-116.8,259.3,-11.5,183,2404,0.00,2.35,0.00,0.000,6,0.000,0.024,2691,1731,3483,0,0,0,0,0,0
$GC,2731,-1.33,-116.8,291.3,-9.3,192,2735,0.00,2.55,0.00,0.000,4,0.000,0.037,2691,3339,3482,0,0,0,0,0,0
$GC,2821,-1.33,-116.8,299.5,-9.3,194,2825,0.00,2.53,0.00,0.000,6,0.000,0.037,2691,1794,3482,0,0,0,0,0,0
$GC,3139,-1.33,-116.8,326.4,-8.3,202,3143,0.00,2.83,0.00,0.000,4,0.000,0.088,2691,190,3481,0,0,0,0,0,0
$GC,3162,-1.33,-116.8,328.4,-8.7,202,3167,0.00,2.45,0.00,0.000,6,0.000,0.029,2691,1766,3481,0,0,0,0,0,0
$GC,3499,-1.33,-116.8,356.0,-8.4,211,3503,0.00,2.55,0.00,0.000,4,0.000,0.044,2691,3353,3480,0,0,0,0,0,0
$GC,3538,-1.42,-116.8,359.5,-8.8,212,3543,0.00,2.60,0.00,0.000,6,0.000,0.047,2691,1786,3479,0,0,0,0,0,0
$GC,3864,-1.42,-116.8,387.8,-8.6,220,3868,0.00,2.53,0.00,0.000,4,0.000,0.043,2691,3356,3477,0,0,0,0,0,0
$GC,3897,-1.50,-116.8,390.9,-8.8,220,3903,0.00,2.62,0.00,0.000,6,0.000,0.051,2691,1795,3477,0,0,0,0,0,0
$GC,4230,-1.54,-116.8,418.8,-8.4,229,4236,0.12,2.97,0.00,0.000,4,0.077,0.104,2651,182,3475,0,0,0,0,0,0
$GC,4253,-1.54,-116.8,421.2,-9.3,229,4257,0.00,2.58,0.00,0.000,6,0.000,0.033,2651,1797,3475,0,0,0,0,0,0
$GC,4589,-1.54,-116.8,451.7,-8.9,238,4594,0.00,2.88,0.00,0.000,4,0.000,0.091,2651,186,3473,0,0,0,0,0,0
$GC,4613,-1.50,-116.8,453.8,-9.3,238,4618,0.10,2.58,0.00,0.000,6,0.127,0.036,2670,1792,3472,0,0,0,0,0,0
$GC,4950,-1.50,-116.8,482.3,-8.6,247,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1792,3470,0,0,0,0,0,0
$STATE,5150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5150,begin apogee
$GC,5156,-0.31,0.0,500.6,8.9,252,5257,1.17,0.00,97.53,0.917,6,0.084,0.000,2930,1792,3001,0,0,0,0,0,0
$STATE,5257,end apogee,CONTROL_FINISHED_OK
$STATE,5258,begin climb
$GC,5262,1.38,116.8,502.8,0.0,254,5374,1.55,2.92,102.38,0.899,4,0.047,0.096,3308,230,2523,0,0,0,0,0,0
$GC,5397,1.22,164.7,502.2,7.3,257,5448,0.20,2.60,43.03,0.876,6,0.121,0.034,3268,1815,2328,0,0,0,0,0,0
$GC,5790,1.25,189.2,469.2,8.6,267,5819,0.00,2.83,21.58,0.849,4,0.000,0.060,3269,3410,2228,0,0,0,0,0,0
$GC,5896,1.26,197.2,458.9,9.6,269,5911,0.00,2.72,8.48,0.749,6,0.000,0.062,3268,1832,2196,0,0,0,0,0,0
$GC,6249,1.29,221.5,426.4,8.6,278,6278,0.00,3.05,22.48,0.843,4,0.000,0.100,3268,243,2098,0,0,0,0,0,0
$GC,6332,1.22,221.5,418.7,10.3,279,6337,0.00,2.58,0.00,0.000,6,0.000,0.025,3268,1839,2093,0,0,0,0,0,0
$GC,6663,1.25,246.8,390.4,8.6,288,6688,0.00,0.00,23.58,0.830,6,0.000,0.000,3268,1840,1995,0,0,0,0,0,0
$GC,6988,1.26,254.4,359.9,9.6,296,7002,0.00,2.62,8.00,0.722,4,0.000,0.038,3268,3408,1963,0,0,0,0,0,0
$GC,7015,1.32,260.1,357.4,9.7,296,7031,0.00,2.70,6.90,0.686,6,0.000,0.051,3268,1817,1939,0,0,0,0,0,0
$GC,7357,1.38,274.5,325.5,9.2,305,7377,0.12,2.90,13.77,0.768,4,0.094,0.087,3301,231,1881,0,0,0,0,0,0
$GC,7418,1.30,274.5,318.5,12.4,306,7422,0.00,2.55,0.00,0.000,6,0.000,0.022,3301,1831,1881,0,0,0,0,0,0
$GC,7765,1.31,283.0,283.5,9.5,315,7780,0.00,2.58,8.95,0.701,4,0.000,0.034,3301,3399,1846,0,0,0,0,0,0
$GC,7792,1.32,288.9,280.7,9.7,315,7808,0.00,2.65,7.05,0.651,6,0.000,0.046,3301,1808,1822,0,0,0,0,0,0
$GC,8134,1.32,288.9,246.0,10.5,324,8139,0.00,2.78,0.00,0.000,4,0.000,0.082,3300,234,1819,0,0,0,0,0,0
$GC,8179,1.32,288.9,240.3,12.3,325,8184,0.00,2.47,0.00,0.000,6,0.000,0.022,3301,1802,1818,0,0,0,0,0,0
$GC,8498,1.32,288.9,207.2,10.4,333,8502,0.00,2.55,0.00,0.000,4,0.000,0.032,3301,3396,1817,0,0,0,0,0,0
$GC,8532,1.40,288.9,203.7,11.2,333,8538,0.00,2.65,0.00,0.000,6,0.000,0.044,3301,1780,1816,0,0,0,0,0,0
$GC,8861,1.40,288.9,168.4,11.0,361,8865,0.00,2.67,0.00,0.000,4,0.000,0.070,3301,237,1816,0,0,0,0,0,0
$GC,8905,1.40,288.9,163.1,12.2,364,8910,0.00,2.45,0.00,0.000,6,0.000,0.021,3301,1805,1815,0,0,0,0,0,0
$GC,9230,1.47,307.1,129.9,9.0,394,9254,0.00,2.60,16.42,0.633,4,0.000,0.035,3301,3387,1748,0,0,0,0,0,0
$GC,9262,1.55,325.9,127.1,9.0,396,9287,0.12,2.67,18.33,0.625,6,0.048,0.038,3340,1785,1672,0,0,0,0,0,0
$GC,9605,1.57,338.3,91.2,9.3,428,9623,0.00,2.72,11.73,0.575,4,0.000,0.064,3340,247,1620,0,0,0,0,0,0
$GC,9636,1.58,347.4,88.2,9.5,430,9650,0.00,2.47,9.32,0.547,6,0.000,0.020,3341,1820,1584,0,0,0,0,0,0
$GC,9975,1.65,357.9,57.9,9.4,461,9991,0.00,2.75,10.25,0.533,4,0.000,0.060,3340,233,1541,0,0,0,0,0,0
$GC,10057,1.67,377.4,49.1,8.9,467,10085,0.10,2.42,18.83,0.554,6,0.094,0.020,3369,1801,1461,0,0,0,0,0,0
$GC,10451,1.65,386.4,6.3,9.5,515,10469,0.00,2.72,9.00,0.476,4,0.000,0.057,3369,236,1423,0,0,0,0,0,0
$STATE,10478,end climb,SURFACE_DEPTH_REACHED
$STATE,10478,begin surface coast
$FINISH,0.5,1.015568
$STATE,10534,end surface coast,CONTROL_FINISHED_OK
$STATE,10534,begin surface
$SM_CCo,10560,11.50,0.488,0,0,1369,400.08
$SM_GC,1.00,0.00,0.00,11.50,0.000,0.000,0.488,476,1812,1369,-11.61,1.19,400.08
$IRIDIUM_FIX,2244.02,-15743.68,300100,030344
$TT8_MAMPS,0.026078
$HUMID,57.04
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.00
$XPDR_PINGS,126
$24V_AH,23.3,80.166
$10V_AH,9.7,75.055
$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,27.625,135.750,457.575,11.500,0.000,53.414,74.693,629.085,31.500,0.000,49.013,1049.222,6962.995,503.792,1990.398,1083.609,33.375,1255.848,0.000,1956.320,0.000,0.535,0.000
$DEVICE_MAMPS,163.371,103.545,916.565,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.324,313.345,402.035,765.284,1158.599,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,41514,526
$CAP_FILE_SIZE,116246,0
$CFSIZE,260165632,148561920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051110,070304,2255.047,-15744.042,29,99.0,48,10.1