version: 66.06
glider: 146
mission: 5
dive: 580
start: 11 5 110 16 57 56
data:
$ID,146
$MISSION,5
$DIVE,580
$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,-261729.38
$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,54
$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
$GPS1,164954,2255.776,-15743.944,33,1.5,50,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-65.9
$GPS2,165701,2255.865,-15743.965,12,1.5,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.021,-0.234
$KALMAN_X,-277668.6,-327.9,-358.8,324204.8,115.8
$KALMAN_Y,-459090.1,426.7,-137.9,598210.2,2688.1
$MHEAD_RNG_PITCHd_Wd,175.1,13148,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.38,0.000,2,0.000,0.000,473,1788,3309,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.6,-6.8,10,125,12.05,2.75,-3.25,0.000,4,0.166,0.062,2689,185,3481,0,0,0,0,0,0
$GC,218,-1.27,-116.8,27.6,-16.1,26,228,0.12,2.47,0.00,0.000,6,0.100,0.017,2718,1785,3483,0,0,0,0,0,0
$GC,546,-1.23,-116.8,76.3,-12.0,57,550,0.00,2.42,0.00,0.000,4,0.000,0.025,2718,3332,3484,0,0,0,0,0,0
$GC,582,-1.23,-116.8,81.4,-12.2,59,587,0.00,2.53,0.00,0.000,6,0.000,0.029,2718,1762,3484,0,0,0,0,0,0
$GC,910,-1.23,-116.8,117.9,-10.5,90,914,0.00,2.45,0.00,0.000,4,0.000,0.028,2718,3334,3485,0,0,0,0,0,0
$GC,930,-1.23,-116.8,120.0,-10.2,91,934,0.00,2.40,0.00,0.000,6,0.000,0.033,2718,1807,3485,0,0,0,0,0,0
$GC,1259,-1.26,-116.8,150.4,-9.0,121,1264,0.00,2.70,0.00,0.000,4,0.000,0.060,2718,199,3486,0,0,0,0,0,0
$GC,1294,-1.26,-116.8,154.0,-10.2,123,1303,0.00,2.50,0.00,0.000,6,0.000,0.020,2718,1832,3487,0,0,0,0,0,0
$GC,1622,-1.31,-116.8,181.7,-8.4,154,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1834,3487,0,0,0,0,0,0
$GC,1965,-1.35,-116.8,211.4,-8.6,178,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1834,3487,0,0,0,0,0,0
$GC,2288,-1.39,-116.8,241.7,-9.7,186,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1834,3487,0,0,0,0,0,0
$GC,2613,-1.45,-116.8,273.1,-9.2,194,2618,0.15,2.38,0.00,0.000,4,0.065,0.029,2671,3330,3487,0,0,0,0,0,0
$GC,2670,-1.45,-116.8,278.8,-10.7,195,2674,0.00,2.40,0.00,0.000,6,0.000,0.033,2671,1825,3486,0,0,0,0,0,0
$GC,3017,-1.45,-116.8,314.2,-10.4,204,3022,0.00,2.85,0.00,0.000,4,0.000,0.082,2671,198,3486,0,0,0,0,0,0
$GC,3079,-1.45,-116.8,321.2,-11.5,205,3084,0.00,2.47,0.00,0.000,6,0.000,0.028,2671,1782,3486,0,0,0,0,0,0
$GC,3422,-1.45,-116.8,354.3,-9.3,214,3426,0.00,2.55,0.00,0.000,4,0.000,0.040,2671,3351,3485,0,0,0,0,0,0
$GC,3483,-1.45,-116.8,360.0,-9.3,215,3487,0.00,2.50,0.00,0.000,6,0.000,0.045,2671,1833,3485,0,0,0,0,0,0
$GC,3826,-1.45,-116.8,394.2,-10.5,224,3831,0.00,2.95,0.00,0.000,4,0.000,0.095,2671,198,3483,0,0,0,0,0,0
$GC,3859,-1.45,-116.8,398.3,-12.0,224,3865,0.00,2.53,0.00,0.000,6,0.000,0.031,2671,1812,3483,0,0,0,0,0,0
$GC,4190,-1.45,-116.8,430.3,-9.1,233,4194,0.00,2.55,0.00,0.000,4,0.000,0.051,2671,3350,3482,0,0,0,0,0,0
$GC,4208,-1.45,-116.8,431.8,-8.7,233,4213,0.00,2.55,0.00,0.000,6,0.000,0.055,2671,1831,3481,0,0,0,0,0,0
$GC,4551,-1.45,-116.8,460.1,-8.1,242,4555,0.00,2.53,0.00,0.000,4,0.000,0.051,2671,3351,3479,0,0,0,0,0,0
$GC,4584,-1.49,-116.8,462.7,-8.0,242,4589,0.00,2.58,0.00,0.000,6,0.000,0.058,2671,1841,3479,0,0,0,0,0,0
$GC,4917,-1.49,-116.8,489.9,-8.4,251,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1841,3477,0,0,0,0,0,0
$STATE,5034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5034,begin apogee
$GC,5040,-0.31,0.0,500.5,8.6,254,5143,1.17,0.00,99.90,0.917,6,0.084,0.000,2931,1841,3001,0,0,0,0,0,0
$STATE,5144,end apogee,CONTROL_FINISHED_OK
$STATE,5144,begin climb
$GC,5147,1.38,116.8,502.7,0.0,256,5259,1.58,0.00,102.65,0.897,6,0.044,0.000,3311,1841,2522,0,0,0,0,0,0
$GC,5567,1.32,174.9,484.7,6.7,267,5627,0.12,2.75,51.25,0.880,4,0.232,0.054,3288,3401,2285,0,0,0,0,0,0
$GC,5671,1.35,195.3,476.3,8.9,269,5695,0.00,2.72,19.25,0.834,6,0.000,0.068,3288,1854,2204,0,0,0,0,0,0
$GC,6024,1.30,195.3,440.3,10.6,278,6028,0.00,2.55,0.00,0.000,4,0.000,0.038,3288,3401,2196,0,0,0,0,0,0
$GC,6052,1.30,195.3,436.9,11.0,278,6057,0.00,2.70,0.00,0.000,6,0.000,0.064,3288,1830,2195,0,0,0,0,0,0
$GC,6384,1.26,195.3,403.2,10.3,286,6388,0.00,2.55,0.00,0.000,4,0.000,0.042,3288,3406,2193,0,0,0,0,0,0
$GC,6500,1.26,195.3,390.9,10.4,288,6505,0.00,2.62,0.00,0.000,6,0.000,0.051,3288,1855,2192,0,0,0,0,0,0
$GC,6834,1.27,206.0,359.7,9.4,296,6848,0.00,3.00,8.82,0.740,4,0.000,0.091,3288,235,2161,0,0,0,0,0,0
$GC,6871,1.19,206.0,355.9,10.5,296,6877,0.15,2.60,0.00,0.000,6,0.125,0.024,3259,1857,2159,0,0,0,0,0,0
$GC,7204,1.28,242.7,329.2,7.9,305,7245,0.00,2.58,34.47,0.813,4,0.000,0.039,3259,3407,2010,0,0,0,0,0,0
$GC,7287,1.37,246.6,321.7,9.8,306,7297,0.17,2.58,4.60,0.572,6,0.073,0.048,3305,1861,1995,0,0,0,0,0,0
$GC,7621,1.37,246.6,287.2,10.2,315,7626,0.00,2.88,0.00,0.000,4,0.000,0.079,3305,229,1991,0,0,0,0,0,0
$GC,7727,1.30,246.6,275.2,10.8,317,7732,0.10,2.55,0.00,0.000,6,0.137,0.026,3286,1855,1990,0,0,0,0,0,0
$GC,8069,1.35,283.3,247.7,7.9,326,8111,0.00,2.55,33.62,0.758,4,0.000,0.033,3286,3390,1844,0,0,0,0,0,0
$GC,8135,1.45,303.6,242.2,8.9,327,8160,0.12,2.55,18.92,0.728,6,0.083,0.044,3318,1842,1763,0,0,0,0,0,0
$GC,8488,1.45,303.6,206.0,10.2,336,8492,0.00,2.80,0.00,0.000,4,0.000,0.077,3318,236,1756,0,0,0,0,0,0
$GC,8543,1.40,303.6,199.7,10.9,337,8547,0.00,2.47,0.00,0.000,6,0.000,0.028,3318,1820,1755,0,0,0,0,0,0
$GC,8880,1.40,303.6,165.7,10.9,367,8885,0.00,2.72,0.00,0.000,4,0.000,0.067,3318,240,1754,0,0,0,0,0,0
$GC,8909,1.34,303.6,161.8,12.2,369,8914,0.12,2.47,0.00,0.000,6,0.123,0.022,3294,1823,1753,0,0,0,0,0,0
$GC,9240,1.44,326.0,131.8,8.7,399,9265,0.00,2.78,19.85,0.649,4,0.000,0.064,3293,240,1670,0,0,0,0,0,0
$GC,9316,1.44,326.2,124.4,10.0,405,9320,0.00,2.42,0.00,0.000,6,0.000,0.021,3293,1788,1668,0,0,0,0,0,0
$GC,9647,1.60,364.3,96.2,7.8,435,9686,0.22,2.72,33.35,0.624,4,0.061,0.063,3351,231,1515,0,0,0,0,0,0
$GC,9728,1.55,364.3,88.2,11.1,441,9732,0.00,2.42,0.00,0.000,6,0.000,0.020,3351,1782,1513,0,0,0,0,0,0
$GC,10056,1.59,364.3,54.9,11.3,471,10060,0.00,2.53,0.00,0.000,4,0.000,0.026,3351,3391,1512,0,0,0,0,0,0
$GC,10126,1.67,364.3,47.4,10.8,476,10131,0.00,2.65,0.00,0.000,6,0.000,0.035,3351,1761,1510,0,0,0,0,0,0
$STATE,10508,end climb,SURFACE_DEPTH_REACHED
$STATE,10508,begin surface coast
$FINISH,0.5,1.023503
$STATE,10559,end surface coast,CONTROL_FINISHED_OK
$STATE,10559,begin surface
$SM_CCo,10580,29.60,0.525,0,0,1370,400.08
$SM_GC,1.19,0.00,0.00,29.60,0.000,0.000,0.525,476,1758,1370,-11.61,-0.34,400.08
$IRIDIUM_FIX,2248.70,-15743.68,300100,131326
$TT8_MAMPS,0.026078
$HUMID,56.57
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.70
$XPDR_PINGS,182
$24V_AH,23.3,80.740
$10V_AH,9.9,75.545
$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,27.850,114.225,426.700,29.600,0.000,27.362,32.728,202.519,45.500,0.000,31.472,1039.430,6920.310,491.127,2019.006,570.367,33.373,1221.794,0.000,2003.669,0.000,0.536,0.000
$DEVICE_MAMPS,232.401,95.108,916.565,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.095,294.167,409.060,760.434,1150.164,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,41705,530
$CAP_FILE_SIZE,102750,0
$CFSIZE,260165632,148336640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051110,195621,2256.137,-15743.881,32,2.2,51,10.1