version: 66.06
glider: 146
mission: 5
dive: 578
start: 11 5 110 10 44 19
data:
$ID,146
$MISSION,5
$DIVE,578
$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,-261638.11
$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
$GPS1,102430,2255.015,-15744.193,41,0.8,41,10.1
$_CALLS,3
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-64.8
$GPS2,104325,2255.135,-15744.224,9,1.5,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.151,-0.180
$KALMAN_X,-276388.2,-163.8,277.5,321687.8,-944.6
$KALMAN_Y,-464530.6,-46.9,713.5,601926.6,138.6
$MHEAD_RNG_PITCHd_Wd,130.0,11980,-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,-116.8,0.0,0.0,0,99,0.00,0.00,-77.30,0.000,2,0.000,0.000,474,1758,3291,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.2,-5.7,10,128,12.10,2.67,-3.75,0.000,4,0.167,0.061,2689,190,3481,0,0,0,0,0,0
$GC,174,-1.31,-116.8,18.3,-13.8,19,182,0.08,2.45,0.00,0.000,6,0.108,0.020,2708,1786,3481,0,0,0,0,0,0
$GC,518,-1.22,-116.8,64.1,-12.5,55,523,0.12,2.42,0.00,0.000,4,0.126,0.024,2732,3328,3481,0,0,0,0,0,0
$GC,555,-1.22,-116.8,68.4,-11.8,57,559,0.00,2.50,0.00,0.000,6,0.000,0.028,2732,1760,3481,0,0,0,0,0,0
$GC,885,-1.22,-116.8,100.7,-8.3,87,890,0.00,2.62,0.00,0.000,4,0.000,0.060,2732,192,3482,0,0,0,0,0,0
$GC,919,-1.27,-116.8,103.6,-8.7,89,923,0.00,2.38,0.00,0.000,6,0.000,0.021,2733,1774,3482,0,0,0,0,0,0
$GC,1248,-1.33,-116.8,129.9,-8.1,119,1253,0.00,2.67,0.00,0.000,4,0.000,0.064,2732,195,3483,0,0,0,0,0,0
$GC,1329,-1.41,-116.8,136.8,-8.7,125,1334,0.17,2.38,0.00,0.000,6,0.056,0.017,2678,1783,3483,0,0,0,0,0,0
$GC,1654,-1.37,-116.8,168.3,-9.6,155,1656,0.10,0.00,0.00,0.000,6,0.123,0.000,2700,1784,3482,0,0,0,0,0,0
$GC,1972,-1.37,-116.8,195.1,-8.5,185,1976,0.00,2.38,0.00,0.000,4,0.000,0.025,2700,3317,3483,0,0,0,0,0,0
$GC,1994,-1.37,-116.8,197.1,-8.6,186,2003,0.00,2.47,0.00,0.000,6,0.000,0.034,2700,1783,3483,0,0,0,0,0,0
$GC,2318,-1.37,-116.8,226.0,-9.4,197,2322,0.00,2.38,0.00,0.000,4,0.000,0.028,2699,3310,3482,0,0,0,0,0,0
$GC,2368,-1.42,-116.8,230.7,-8.4,198,2372,0.00,2.42,0.00,0.000,6,0.000,0.036,2700,1796,3482,0,0,0,0,0,0
$GC,2681,-1.42,-116.8,257.9,-8.9,206,2685,0.00,2.75,0.00,0.000,4,0.000,0.072,2700,196,3481,0,0,0,0,0,0
$GC,2704,-1.42,-116.8,260.0,-8.9,206,2708,0.00,2.42,0.00,0.000,6,0.000,0.018,2700,1771,3481,0,0,0,0,0,0
$GC,3040,-1.42,-116.8,290.8,-9.2,215,3045,0.00,2.47,0.00,0.000,4,0.000,0.039,2700,3341,3480,0,0,0,0,0,0
$GC,3074,-1.47,-116.8,293.9,-8.7,215,3080,0.00,2.50,0.00,0.000,6,0.000,0.038,2700,1802,3480,0,0,0,0,0,0
$GC,3408,-1.51,-116.8,319.3,-7.5,224,3413,0.12,2.47,0.00,0.000,4,0.077,0.038,2661,3345,3478,0,0,0,0,0,0
$GC,3465,-1.51,-116.8,324.6,-9.3,225,3469,0.00,2.53,0.00,0.000,6,0.000,0.039,2661,1802,3479,0,0,0,0,0,0
$GC,3814,-1.51,-116.8,357.9,-9.9,234,3819,0.00,2.85,0.00,0.000,4,0.000,0.087,2661,189,3476,0,0,0,0,0,0
$GC,3830,-1.51,-116.8,359.9,-10.2,234,3834,0.00,2.50,0.00,0.000,6,0.000,0.022,2661,1790,3476,0,0,0,0,0,0
$GC,4171,-1.51,-116.8,395.1,-10.3,243,4176,0.00,2.50,0.00,0.000,4,0.000,0.044,2661,3345,3475,0,0,0,0,0,0
$GC,4193,-1.51,-116.8,397.4,-10.5,243,4197,0.00,2.58,0.00,0.000,6,0.000,0.057,2661,1809,3474,0,0,0,0,0,0
$GC,4532,-1.51,-116.8,431.7,-10.2,252,4536,0.00,2.50,0.00,0.000,4,0.000,0.046,2660,3342,3472,0,0,0,0,0,0
$GC,4581,-1.55,-116.8,437.0,-10.0,253,4586,0.00,2.60,0.00,0.000,6,0.000,0.061,2661,1815,3471,0,0,0,0,0,0
$GC,4896,-1.55,-116.8,467.3,-9.5,261,4900,0.00,2.50,0.00,0.000,4,0.000,0.050,2661,3348,3469,0,0,0,0,0,0
$GC,4923,-1.55,-116.8,470.1,-9.6,261,4927,0.00,2.62,0.00,0.000,6,0.000,0.067,2661,1818,3469,0,0,0,0,0,0
$STATE,5251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5251,begin apogee
$GC,5257,-0.31,0.0,502.5,9.9,269,5359,1.23,0.00,97.70,0.919,6,0.089,0.000,2929,1818,3001,0,0,0,0,0,0
$STATE,5359,end apogee,CONTROL_FINISHED_OK
$STATE,5359,begin climb
$GC,5364,1.38,116.8,505.2,0.0,271,5477,1.55,2.72,103.00,0.900,4,0.049,0.054,3308,3392,2523,0,0,0,0,0,0
$GC,5516,1.33,168.3,504.1,7.1,274,5569,0.00,2.78,46.17,0.878,6,0.000,0.064,3308,1815,2313,0,0,0,0,0,0
$GC,5896,1.24,182.7,469.6,9.2,284,5915,0.17,2.70,12.75,0.806,4,0.120,0.043,3274,3396,2256,0,0,0,0,0,0
$GC,5934,1.27,204.4,466.2,8.8,284,5962,0.00,2.75,21.12,0.841,6,0.000,0.067,3274,1823,2167,0,0,0,0,0,0
$GC,6307,1.30,230.3,433.3,8.5,294,6336,0.00,2.65,23.90,0.842,4,0.000,0.044,3274,3401,2060,0,0,0,0,0,0
$GC,6371,1.32,243.0,427.5,9.3,295,6392,0.00,2.72,12.50,0.792,6,0.000,0.060,3274,1828,2011,0,0,0,0,0,0
$GC,6719,1.33,253.8,394.9,9.4,304,6732,0.00,0.00,10.98,0.775,6,0.000,0.000,3274,1828,1966,0,0,0,0,0,0
$GC,7042,1.34,260.1,363.7,9.7,312,7057,0.00,3.00,6.88,0.693,4,0.000,0.097,3274,231,1939,0,0,0,0,0,0
$GC,7109,1.30,260.1,356.5,10.8,313,7114,0.00,2.55,0.00,0.000,6,0.000,0.023,3274,1828,1937,0,0,0,0,0,0
$GC,7452,1.32,279.0,324.8,9.0,322,7476,0.00,2.90,18.42,0.785,4,0.000,0.075,3274,233,1862,0,0,0,0,0,0
$GC,7504,1.32,279.0,319.7,10.7,323,7509,0.00,2.55,0.00,0.000,6,0.000,0.029,3274,1829,1860,0,0,0,0,0,0
$GC,7820,1.39,297.2,290.6,9.0,331,7844,0.12,2.62,17.12,0.758,4,0.087,0.039,3306,3400,1788,0,0,0,0,0,0
$GC,7862,1.39,297.2,286.1,11.2,332,7867,0.00,2.65,0.00,0.000,6,0.000,0.042,3306,1819,1787,0,0,0,0,0,0
$GC,8187,1.39,297.2,251.4,10.7,340,8192,0.00,2.83,0.00,0.000,4,0.000,0.079,3306,237,1785,0,0,0,0,0,0
$GC,8261,1.33,297.2,242.6,11.4,341,8266,0.00,2.47,0.00,0.000,6,0.000,0.027,3305,1806,1783,0,0,0,0,0,0
$GC,8592,1.34,301.3,209.1,9.8,349,8602,0.00,2.58,4.28,0.508,4,0.000,0.038,3305,3398,1772,0,0,0,0,0,0
$GC,8627,1.39,301.3,205.7,10.3,349,8631,0.00,2.65,0.00,0.000,6,0.000,0.044,3306,1797,1771,0,0,0,0,0,0
$GC,8953,1.39,301.3,172.7,10.4,373,8958,0.00,2.72,0.00,0.000,4,0.000,0.073,3306,233,1770,0,0,0,0,0,0
$GC,9034,1.39,301.3,162.7,11.7,379,9040,0.00,2.45,0.00,0.000,6,0.000,0.028,3306,1797,1769,0,0,0,0,0,0
$GC,9360,1.45,317.4,131.2,9.1,410,9384,0.00,2.78,15.77,0.637,4,0.000,0.067,3305,244,1706,0,0,0,0,0,0
$GC,9438,1.45,317.4,123.3,10.5,416,9447,0.00,2.40,0.00,0.000,6,0.000,0.022,3306,1763,1704,0,0,0,0,0,0
$GC,9767,1.54,343.2,94.0,8.5,447,9793,0.12,0.00,23.52,0.613,6,0.080,0.000,3341,1764,1601,0,0,0,0,0,0
$GC,10112,1.61,357.0,64.8,9.2,479,10130,0.00,2.62,13.23,0.559,4,0.000,0.027,3341,3390,1544,0,0,0,0,0,0
$GC,10150,1.72,358.5,60.7,10.0,481,10160,0.10,2.70,0.00,0.000,6,0.053,0.037,3377,1776,1543,0,0,0,0,0,0
$GC,10478,1.77,402.2,29.1,7.5,512,10529,0.00,2.70,40.47,0.551,4,0.000,0.062,3377,245,1360,0,0,0,0,0,0
$GC,10575,1.68,402.2,18.5,12.6,524,10585,0.00,2.42,0.00,0.000,6,0.000,0.019,3377,1796,1358,0,0,0,0,0,0
$STATE,10687,end climb,SURFACE_DEPTH_REACHED
$STATE,10688,begin surface coast
$FINISH,0.5,1.010351
$STATE,10746,end surface coast,CONTROL_FINISHED_OK
$STATE,10746,begin surface
$SM_CCo,10828,0.00,0.000,0,0,1351,404.74
$SM_GC,1.18,11.95,0.00,0.00,0.031,0.000,0.000,474,1798,1351,-11.52,0.79,404.74
$IRIDIUM_FIX,2246.36,-15743.68,300100,101038
$TT8_MAMPS,0.025311
$HUMID,56.73
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.60
$XPDR_PINGS,135
$24V_AH,23.3,80.485
$10V_AH,9.8,75.314
$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,27.950,129.475,467.825,0.000,0.000,89.424,101.390,655.471,33.750,0.000,15.877,1075.527,7147.242,486.065,2070.434,1181.151,33.366,1271.367,0.000,2075.943,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,97.409,918.866,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.289,316.867,429.767,813.298,1231.089,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,44792,548
$CAP_FILE_SIZE,119123,0
$CFSIZE,260165632,148434944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051110,134616,2255.180,-15744.143,29,3.4,48,10.1