version: 66.06
glider: 146
mission: 5
dive: 579
start: 11 5 110 13 55 9
data:
$ID,146
$MISSION,5
$DIVE,579
$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,-261697.28
$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,21
$R_STBD_OVSHOOT,66
$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
$GPS1,134616,2255.180,-15744.143,29,3.4,48,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.8
$GPS2,135416,2255.252,-15744.181,37,2.1,56,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.103,-0.211
$KALMAN_X,-277234.3,-354.2,-91.2,323164.1,-870.3
$KALMAN_Y,-461860.1,101.3,-198.8,600230.2,1605.6
$MHEAD_RNG_PITCHd_Wd,143.8,12162,-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,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.00,0.000,2,0.000,0.000,474,1800,3326,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.9,-7.2,10,127,12.00,2.78,-2.75,0.000,4,0.164,0.066,2691,193,3481,0,0,0,0,0,0
$GC,190,-1.33,-116.8,28.9,-20.0,22,200,0.00,2.42,0.00,0.000,6,0.000,0.016,2691,1769,3482,0,0,0,0,0,0
$GC,523,-1.21,-116.8,77.9,-14.3,53,528,0.20,2.42,0.00,0.000,4,0.115,0.026,2733,3330,3484,0,0,0,0,0,0
$GC,557,-1.21,-116.8,82.6,-11.7,55,561,0.00,2.53,0.00,0.000,6,0.000,0.035,2733,1752,3484,0,0,0,0,0,0
$GC,886,-1.25,-116.8,112.0,-7.4,85,891,0.00,2.60,0.00,0.000,4,0.000,0.064,2733,197,3484,0,0,0,0,0,0
$GC,979,-1.31,-116.8,119.9,-8.0,92,988,0.00,2.38,0.00,0.000,6,0.000,0.021,2733,1760,3485,0,0,0,0,0,0
$GC,1307,-1.37,-116.8,146.1,-8.6,123,1312,0.15,2.42,0.00,0.000,4,0.063,0.025,2683,3330,3486,0,0,0,0,0,0
$GC,1339,-1.37,-116.8,149.2,-10.1,125,1343,0.00,2.53,0.00,0.000,6,0.000,0.031,2683,1750,3486,0,0,0,0,0,0
$GC,1663,-1.37,-116.8,182.3,-10.3,155,1667,0.00,2.45,0.00,0.000,4,0.000,0.028,2684,3324,3486,0,0,0,0,0,0
$GC,1695,-1.37,-116.8,185.0,-9.8,157,1699,0.00,2.47,0.00,0.000,6,0.000,0.034,2683,1770,3486,0,0,0,0,0,0
$GC,2023,-1.37,-116.8,215.8,-9.6,176,2027,0.00,2.45,0.00,0.000,4,0.000,0.025,2683,3324,3486,0,0,0,0,0,0
$GC,2052,-1.37,-116.8,218.7,-10.2,176,2056,0.00,2.47,0.00,0.000,6,0.000,0.035,2683,1782,3487,0,0,0,0,0,0
$GC,2383,-1.37,-116.8,250.6,-9.6,184,2388,0.00,2.40,0.00,0.000,4,0.000,0.035,2683,3320,3486,0,0,0,0,0,0
$GC,2401,-1.37,-116.8,252.3,-9.5,184,2406,0.00,2.47,0.00,0.000,6,0.000,0.035,2683,1772,3486,0,0,0,0,0,0
$GC,2746,-1.37,-116.8,283.5,-9.1,193,2750,0.00,2.72,0.00,0.000,4,0.000,0.078,2683,195,3486,0,0,0,0,0,0
$GC,2806,-1.37,-116.8,289.7,-9.8,194,2811,0.00,2.40,0.00,0.000,6,0.000,0.021,2683,1735,3485,0,0,0,0,0,0
$GC,3151,-1.37,-116.8,319.7,-8.8,203,3155,0.00,2.62,0.00,0.000,4,0.000,0.037,2683,3355,3484,0,0,0,0,0,0
$GC,3217,-1.42,-116.8,325.8,-8.1,204,3222,0.00,2.58,0.00,0.000,6,0.000,0.039,2683,1779,3484,0,0,0,0,0,0
$GC,3554,-1.42,-116.8,355.9,-9.0,213,3558,0.00,2.83,0.00,0.000,4,0.000,0.091,2683,182,3482,0,0,0,0,0,0
$GC,3601,-1.42,-116.8,360.1,-9.8,214,3605,0.00,2.50,0.00,0.000,6,0.000,0.030,2683,1769,3482,0,0,0,0,0,0
$GC,3919,-1.42,-116.8,389.7,-9.3,222,3924,0.00,2.60,0.00,0.000,4,0.000,0.046,2683,3359,3481,0,0,0,0,0,0
$GC,3953,-1.49,-116.8,392.9,-9.1,222,3959,0.00,2.67,0.00,0.000,6,0.000,0.057,2683,1768,3480,0,0,0,0,0,0
$GC,4286,-1.49,-116.8,424.3,-9.6,231,4290,0.00,2.58,0.00,0.000,4,0.000,0.044,2683,3347,3478,0,0,0,0,0,0
$GC,4302,-1.49,-116.8,426.1,-9.6,231,4306,0.00,2.65,0.00,0.000,6,0.000,0.053,2683,1772,3478,0,0,0,0,0,0
$GC,4644,-1.49,-116.8,458.0,-9.3,240,4648,0.00,2.60,0.00,0.000,4,0.000,0.044,2683,3346,3476,0,0,0,0,0,0
$GC,4678,-1.57,-116.8,461.1,-9.1,240,4685,0.10,2.67,0.00,0.000,6,0.088,0.066,2650,1782,3476,0,0,0,0,0,0
$GC,5009,-1.57,-116.8,498.3,-11.4,249,5014,0.00,3.03,0.00,0.000,4,0.000,0.118,2650,177,3473,0,0,0,0,0,0
$STATE,5023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5023,begin apogee
$GC,5033,-0.31,0.0,500.2,11.3,249,5136,1.25,0.00,99.32,0.919,6,0.089,0.000,2926,1803,3001,0,0,0,0,0,0
$STATE,5137,end apogee,CONTROL_FINISHED_OK
$STATE,5137,begin climb
$GC,5139,1.38,116.8,505.4,0.0,252,5248,1.60,0.00,104.05,0.901,6,0.048,0.000,3311,1803,2524,0,0,0,0,0,0
$GC,5539,1.31,165.8,486.9,7.2,262,5589,0.12,2.83,43.10,0.877,4,0.130,0.064,3288,3408,2325,0,0,0,0,0,0
$GC,5621,1.28,177.7,480.2,9.4,263,5640,0.00,2.75,12.23,0.795,6,0.000,0.061,3287,1812,2276,0,0,0,0,0,0
$GC,5958,1.23,188.4,448.4,9.4,272,5973,0.00,2.67,10.35,0.779,4,0.000,0.041,3288,3414,2231,0,0,0,0,0,0
$GC,6046,1.24,194.9,439.3,9.7,274,6060,0.00,2.72,7.18,0.719,6,0.000,0.058,3288,1830,2206,0,0,0,0,0,0
$GC,6369,1.23,215.4,410.3,8.9,282,6394,0.00,2.62,19.50,0.831,4,0.000,0.041,3288,3419,2123,0,0,0,0,0,0
$GC,6470,1.24,227.7,401.3,9.3,284,6490,0.00,2.70,12.62,0.788,6,0.000,0.054,3288,1842,2071,0,0,0,0,0,0
$GC,6822,1.28,258.2,371.1,8.3,293,6852,0.00,0.00,28.88,0.828,6,0.000,0.000,3288,1842,1948,0,0,0,0,0,0
$GC,7148,1.28,258.7,339.5,10.0,301,7153,0.00,2.90,0.00,0.000,4,0.000,0.084,3288,228,1942,0,0,0,0,0,0
$GC,7170,1.24,258.7,336.8,11.4,301,7174,0.00,2.62,0.00,0.000,6,0.000,0.025,3289,1876,1940,0,0,0,0,0,0
$GC,7506,1.24,265.8,303.8,9.6,310,7520,0.00,2.58,7.05,0.674,4,0.000,0.038,3288,3425,1916,0,0,0,0,0,0
$GC,7533,1.26,280.9,301.3,9.2,310,7554,0.00,2.65,15.65,0.755,6,0.000,0.046,3288,1840,1855,0,0,0,0,0,0
$GC,7875,1.29,304.7,270.1,8.7,319,7904,0.00,2.92,22.10,0.752,4,0.000,0.077,3288,240,1757,0,0,0,0,0,0
$GC,7992,1.30,309.4,258.9,9.8,321,8003,0.00,2.55,5.47,0.589,6,0.000,0.027,3288,1850,1739,0,0,0,0,0,0
$GC,8329,1.38,337.5,229.5,8.4,329,8360,0.00,2.50,26.08,0.724,4,0.000,0.029,3288,3393,1625,0,0,0,0,0,0
$GC,8385,1.50,346.5,224.2,9.5,330,8400,0.17,2.60,9.68,0.651,6,0.067,0.039,3334,1819,1588,0,0,0,0,0,0
$GC,8720,1.50,346.5,180.2,13.8,346,8724,0.00,2.75,0.00,0.000,4,0.000,0.075,3334,241,1583,0,0,0,0,0,0
$GC,8785,1.44,346.5,170.2,15.6,351,8789,0.00,2.47,0.00,0.000,6,0.000,0.026,3334,1814,1581,0,0,0,0,0,0
$GC,9113,1.44,346.5,128.8,11.5,381,9118,0.00,2.72,0.00,0.000,4,0.000,0.068,3334,232,1581,0,0,0,0,0,0
$GC,9148,1.39,346.5,125.0,13.1,383,9154,0.15,2.45,0.00,0.000,6,0.115,0.021,3304,1802,1580,0,0,0,0,0,0
$GC,9477,1.48,363.2,92.4,9.1,413,9496,0.00,0.00,14.93,0.597,6,0.000,0.000,3304,1804,1520,0,0,0,0,0,0
$GC,9816,1.65,387.1,60.8,8.7,445,9845,0.22,2.75,22.80,0.578,4,0.059,0.061,3362,232,1421,0,0,0,0,0,0
$GC,9925,1.65,387.1,47.5,14.2,453,9929,0.00,2.42,0.00,0.000,6,0.000,0.020,3362,1785,1419,0,0,0,0,0,0
$GC,10306,1.65,387.1,4.6,13.9,500,10314,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1788,1418,0,0,0,0,0,0
$STATE,10324,end climb,SURFACE_DEPTH_REACHED
$STATE,10324,begin surface coast
$FINISH,0.5,1.000765
$STATE,10360,end surface coast,CONTROL_FINISHED_OK
$STATE,10360,begin surface
$SM_CCo,10383,11.35,0.495,0,0,1370,400.08
$SM_GC,1.12,0.00,0.00,11.35,0.000,0.000,0.495,474,1788,1370,-11.62,0.51,400.08
$IRIDIUM_FIX,2248.70,-15742.79,300100,101022
$TT8_MAMPS,0.025311
$HUMID,58.15
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.20
$XPDR_PINGS,177
$24V_AH,23.3,80.615
$10V_AH,9.6,75.428
$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,27.750,125.125,460.975,11.350,0.000,23.244,33.321,220.333,44.250,0.000,58.542,1023.420,6778.289,530.925,1949.466,587.825,33.365,1237.166,0.000,1907.979,0.000,0.534,0.000
$DEVICE_MAMPS,164.138,118.118,918.866,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.224,276.547,384.440,725.301,1096.957,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,41473,507
$CAP_FILE_SIZE,104527,0
$CFSIZE,260165632,148389888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051110,164954,2255.776,-15743.944,33,1.5,50,10.1