version: 66.06
glider: 146
mission: 5
dive: 577
start: 11 5 110 7 24 34
data:
$ID,146
$MISSION,5
$DIVE,577
$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,-261621.61
$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,23
$R_STBD_OVSHOOT,107
$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
$GPS1,070304,2255.047,-15744.042,29,99.0,48,10.1
$_CALLS,3
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-64.7
$GPS2,072338,2255.215,-15744.022,44,1.4,51,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.045,-0.230
$KALMAN_X,-275436.8,42.8,-127.1,321276.2,-43.3
$KALMAN_Y,-466802.8,148.9,710.0,604156.1,941.6
$MHEAD_RNG_PITCHd_Wd,158.7,12017,-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,-78.30,0.000,2,0.000,0.000,475,1813,3392,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.1,-8.2,10,126,12.02,2.80,-1.58,0.000,4,0.166,0.066,2687,184,3480,0,0,0,0,0,0
$GC,211,-1.30,-116.8,29.6,-14.3,25,221,0.10,2.38,0.00,0.000,6,0.104,0.023,2712,1720,3481,0,0,0,0,0,0
$GC,540,-1.21,-116.8,76.3,-13.6,56,545,0.12,2.55,0.00,0.000,4,0.127,0.032,2735,3342,3481,0,0,0,0,0,0
$GC,588,-1.27,-116.8,81.9,-11.0,59,593,0.00,2.53,0.00,0.000,6,0.000,0.026,2735,1759,3482,0,0,0,0,0,0
$GC,918,-1.32,-116.8,112.1,-7.2,89,923,0.10,2.65,0.00,0.000,4,0.086,0.062,2697,196,3482,0,0,0,0,0,0
$GC,964,-1.32,-116.8,116.5,-9.4,92,974,0.00,2.42,0.00,0.000,6,0.000,0.016,2697,1803,3482,0,0,0,0,0,0
$GC,1293,-1.32,-116.8,147.4,-9.7,123,1297,0.00,2.35,0.00,0.000,4,0.000,0.032,2697,3313,3482,0,0,0,0,0,0
$GC,1352,-1.37,-116.8,152.8,-9.6,127,1356,0.00,2.42,0.00,0.000,6,0.000,0.033,2697,1782,3483,0,0,0,0,0,0
$GC,1680,-1.37,-116.8,183.9,-9.0,157,1685,0.00,2.38,0.00,0.000,4,0.000,0.027,2697,3314,3483,0,0,0,0,0,0
$GC,1728,-1.41,-116.8,187.7,-9.0,160,1732,0.00,2.40,0.00,0.000,6,0.000,0.032,2697,1802,3483,0,0,0,0,0,0
$GC,2075,-1.41,-116.8,218.1,-9.0,178,2080,0.00,2.72,0.00,0.000,4,0.000,0.065,2697,199,3483,0,0,0,0,0,0
$GC,2108,-1.41,-116.8,221.3,-10.2,178,2113,0.00,2.40,0.00,0.000,6,0.000,0.023,2697,1802,3483,0,0,0,0,0,0
$GC,2441,-1.41,-116.8,252.1,-9.4,187,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1804,3482,0,0,0,0,0,0
$GC,2764,-1.41,-116.8,281.2,-8.6,195,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1804,3481,0,0,0,0,0,0
$GC,3089,-1.41,-116.8,307.0,-7.6,203,3093,0.00,2.42,0.00,0.000,4,0.000,0.033,2697,3326,3480,0,0,0,0,0,0
$GC,3131,-1.48,-116.8,309.8,-7.5,204,3135,0.00,2.50,0.00,0.000,6,0.000,0.038,2697,1796,3480,0,0,0,0,0,0
$GC,3455,-1.53,-116.8,336.6,-8.9,212,3460,0.12,2.42,0.00,0.000,4,0.075,0.036,2653,3317,3478,0,0,0,0,0,0
$GC,3471,-1.53,-116.8,338.4,-9.6,212,3475,0.00,2.47,0.00,0.000,6,0.000,0.047,2653,1807,3478,0,0,0,0,0,0
$GC,3815,-1.49,-116.8,376.8,-11.2,221,3820,0.10,2.42,0.00,0.000,4,0.122,0.036,2673,3313,3475,0,0,0,0,0,0
$GC,3859,-1.55,-116.8,381.7,-10.7,222,3863,0.00,2.50,0.00,0.000,6,0.000,0.056,2673,1824,3476,0,0,0,0,0,0
$GC,4179,-1.55,-116.8,409.4,-8.3,230,4184,0.00,2.97,0.00,0.000,4,0.000,0.097,2673,190,3474,0,0,0,0,0,0
$GC,4206,-1.55,-116.8,412.0,-8.7,230,4210,0.00,2.53,0.00,0.000,6,0.000,0.034,2673,1790,3474,0,0,0,0,0,0
$GC,4537,-1.55,-116.8,439.6,-8.5,238,4542,0.00,2.58,0.00,0.000,4,0.000,0.049,2674,3351,3472,0,0,0,0,0,0
$GC,4554,-1.55,-116.8,441.3,-9.2,238,4558,0.00,2.58,0.00,0.000,6,0.000,0.055,2674,1829,3472,0,0,0,0,0,0
$GC,4897,-1.55,-116.8,473.3,-9.7,247,4902,0.00,2.50,0.00,0.000,4,0.000,0.049,2673,3357,3469,0,0,0,0,0,0
$GC,4925,-1.59,-116.8,476.3,-10.1,247,4929,0.00,2.60,0.00,0.000,6,0.000,0.067,2674,1843,3468,0,0,0,0,0,0
$STATE,5213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5213,begin apogee
$GC,5220,-0.31,0.0,502.7,9.0,254,5321,1.17,0.00,97.57,0.923,6,0.091,0.000,2931,1842,3001,0,0,0,0,0,0
$STATE,5322,end apogee,CONTROL_FINISHED_OK
$STATE,5322,begin climb
$GC,5325,1.38,116.8,505.1,0.0,256,5437,1.55,2.70,102.55,0.903,4,0.041,0.057,3308,3401,2523,0,0,0,0,0,0
$GC,5462,1.33,182.3,504.2,6.3,259,5528,0.00,2.78,58.53,0.886,6,0.000,0.062,3308,1822,2256,0,0,0,0,0,0
$GC,5854,1.23,182.3,464.3,10.6,269,5859,0.20,2.65,0.00,0.000,4,0.128,0.041,3269,3410,2245,0,0,0,0,0,0
$GC,5872,1.17,182.3,462.5,10.3,269,5877,0.00,2.75,0.00,0.000,6,0.000,0.067,3269,1832,2244,0,0,0,0,0,0
$GC,6214,1.19,201.6,431.5,8.9,278,6237,0.00,2.62,16.33,0.828,4,0.000,0.038,3270,3407,2177,0,0,0,0,0,0
$GC,6278,1.20,207.0,425.4,9.7,279,6291,0.00,2.72,6.25,0.690,6,0.000,0.061,3269,1827,2156,0,0,0,0,0,0
$GC,6625,1.24,237.9,395.5,8.3,288,6659,0.00,3.00,28.77,0.843,4,0.000,0.105,3269,233,2030,0,0,0,0,0,0
$GC,6707,1.19,242.9,388.3,9.7,289,6718,0.00,2.58,5.97,0.664,6,0.000,0.025,3269,1838,2009,0,0,0,0,0,0
$GC,7039,1.22,265.9,359.6,8.7,298,7067,0.00,2.60,21.48,0.806,4,0.000,0.038,3269,3406,1917,0,0,0,0,0,0
$GC,7073,1.26,265.9,356.1,10.2,298,7079,0.00,2.67,0.00,0.000,6,0.000,0.051,3269,1820,1917,0,0,0,0,0,0
$GC,7407,1.30,265.9,322.2,10.3,307,7411,0.00,2.88,0.00,0.000,4,0.000,0.091,3269,231,1912,0,0,0,0,0,0
$GC,7467,1.30,265.9,315.0,12.0,308,7471,0.00,2.55,0.00,0.000,6,0.000,0.028,3269,1832,1911,0,0,0,0,0,0
$GC,7810,1.38,289.4,284.0,8.7,317,7835,0.12,0.00,22.02,0.765,6,0.081,0.000,3305,1833,1820,0,0,0,0,0,0
$GC,8136,1.38,289.4,250.7,10.8,325,8141,0.00,2.83,0.00,0.000,4,0.000,0.079,3305,233,1815,0,0,0,0,0,0
$GC,8220,1.38,289.4,240.2,12.7,327,8224,0.00,2.50,0.00,0.000,6,0.000,0.025,3305,1815,1814,0,0,0,0,0,0
$GC,8546,1.38,289.4,205.0,10.6,335,8551,0.00,2.53,0.00,0.000,4,0.000,0.032,3305,3394,1813,0,0,0,0,0,0
$GC,8573,1.44,289.4,201.9,10.4,335,8578,0.00,2.62,0.00,0.000,6,0.000,0.040,3305,1800,1812,0,0,0,0,0,0
$GC,8896,1.45,299.5,169.8,9.5,362,8911,0.00,2.72,9.15,0.622,4,0.000,0.075,3305,241,1779,0,0,0,0,0,0
$GC,8958,1.45,299.5,163.8,10.8,367,8962,0.00,2.47,0.00,0.000,6,0.000,0.022,3305,1815,1778,0,0,0,0,0,0
$GC,9287,1.47,314.2,130.9,9.2,397,9311,0.00,2.80,14.57,0.624,4,0.000,0.071,3305,243,1719,0,0,0,0,0,0
$GC,9353,1.47,317.8,124.2,9.8,402,9363,0.00,2.45,4.72,0.472,6,0.000,0.021,3305,1795,1705,0,0,0,0,0,0
$GC,9684,1.58,342.4,96.8,8.6,433,9713,0.17,2.58,22.90,0.609,4,0.068,0.029,3351,3385,1604,0,0,0,0,0,0
$GC,9749,1.63,342.4,89.9,10.9,438,9754,0.00,2.67,0.00,0.000,6,0.000,0.037,3351,1766,1602,0,0,0,0,0,0
$GC,10077,1.65,365.5,57.5,8.7,468,10103,0.00,2.65,21.17,0.567,4,0.000,0.063,3351,240,1509,0,0,0,0,0,0
$GC,10207,1.65,365.5,42.6,12.7,478,10211,0.00,2.33,0.00,0.000,6,0.000,0.019,3351,1760,1506,0,0,0,0,0,0
$GC,10600,1.65,365.5,6.2,11.6,528,10609,0.00,2.60,0.00,0.000,4,0.000,0.031,3351,3390,1505,0,0,0,0,0,0
$STATE,10617,end climb,SURFACE_DEPTH_REACHED
$STATE,10617,begin surface coast
$FINISH,0.6,1.023515
$STATE,10660,end surface coast,CONTROL_FINISHED_OK
$STATE,10660,begin surface
$SM_CCo,10686,28.60,0.518,0,0,1370,400.08
$SM_GC,0.92,0.00,0.00,28.60,0.000,0.000,0.518,475,1760,1370,-11.62,-0.28,400.08
$IRIDIUM_FIX,2248.70,-15745.85,300100,070714
$TT8_MAMPS,0.025311
$HUMID,57.00
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.20
$XPDR_PINGS,125
$24V_AH,23.3,80.326
$10V_AH,9.8,75.184
$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,27.450,129.400,432.000,28.600,0.000,101.965,109.518,680.786,31.250,0.000,52.451,1056.255,7111.354,500.592,2044.284,1236.986,33.369,1238.469,0.000,2006.121,0.000,0.537,0.000
$DEVICE_MAMPS,165.672,105.079,922.701,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.828,298.649,415.307,785.961,1187.321,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,41465,536
$CAP_FILE_SIZE,116379,0
$CFSIZE,260165632,148500480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051110,102430,2255.015,-15744.193,41,0.8,41,10.1