version: 66.06
glider: 146
mission: 5
dive: 581
start: 11 5 110 20 4 33
data:
$ID,146
$MISSION,5
$DIVE,581
$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,-261770.17
$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,58
$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
$GPS1,195621,2256.137,-15743.881,32,2.2,51,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.6
$GPS2,200338,2256.208,-15743.856,37,1.9,38,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.007,-0.235
$KALMAN_X,-277947.2,-126.1,102.6,324005.4,260.6
$KALMAN_Y,-456984.0,636.5,512.7,595892.6,1522.3
$MHEAD_RNG_PITCHd_Wd,171.5,13719,-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,-78.45,0.000,2,0.000,0.000,476,1757,3310,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.4,-5.9,10,125,12.00,2.72,-3.30,0.000,4,0.163,0.070,2693,190,3480,0,0,0,0,0,0
$GC,171,-1.29,-116.8,20.8,-16.4,19,181,0.08,2.45,0.00,0.000,6,0.110,0.018,2712,1768,3481,0,0,0,0,0,0
$GC,517,-1.20,-116.8,65.8,-13.9,54,522,0.12,2.50,0.00,0.000,4,0.133,0.025,2736,3350,3483,0,0,0,0,0,0
$GC,552,-1.20,-116.8,70.9,-12.9,56,556,0.00,2.55,0.00,0.000,6,0.000,0.030,2735,1768,3483,0,0,0,0,0,0
$GC,878,-1.20,-116.8,109.5,-9.1,86,883,0.00,2.45,0.00,0.000,4,0.000,0.029,2735,3340,3484,0,0,0,0,0,0
$GC,984,-1.30,-116.8,117.7,-7.3,94,993,0.00,2.47,0.00,0.000,6,0.000,0.026,2736,1797,3484,0,0,0,0,0,0
$GC,1312,-1.37,-116.8,145.6,-8.9,125,1318,0.15,2.72,0.00,0.000,4,0.065,0.061,2688,196,3485,0,0,0,0,0,0
$GC,1346,-1.37,-116.8,149.0,-10.7,127,1350,0.00,2.42,0.00,0.000,6,0.000,0.019,2688,1819,3485,0,0,0,0,0,0
$GC,1677,-1.37,-116.8,182.5,-9.7,157,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1820,3485,0,0,0,0,0,0
$GC,2026,-1.37,-116.8,216.8,-9.8,179,2030,0.00,2.33,0.00,0.000,4,0.000,0.031,2687,3318,3486,0,0,0,0,0,0
$GC,2048,-1.37,-116.8,219.0,-9.4,179,2052,0.00,2.47,0.00,0.000,6,0.000,0.035,2687,1768,3486,0,0,0,0,0,0
$GC,2391,-1.37,-116.8,252.3,-10.1,188,2395,0.00,2.45,0.00,0.000,4,0.000,0.028,2687,3321,3485,0,0,0,0,0,0
$GC,2424,-1.40,-116.8,255.9,-10.3,188,2430,0.00,2.42,0.00,0.000,6,0.000,0.038,2687,1800,3486,0,0,0,0,0,0
$GC,2755,-1.40,-116.8,285.4,-8.4,197,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1800,3486,0,0,0,0,0,0
$GC,3082,-1.40,-116.8,314.8,-9.3,205,3086,0.00,2.83,0.00,0.000,4,0.000,0.084,2687,193,3485,0,0,0,0,0,0
$GC,3132,-1.45,-116.8,320.0,-10.2,206,3136,0.00,2.40,0.00,0.000,6,0.000,0.022,2687,1739,3484,0,0,0,0,0,0
$GC,3444,-1.45,-116.8,346.9,-8.5,214,3449,0.00,2.62,0.00,0.000,4,0.000,0.040,2687,3359,3483,0,0,0,0,0,0
$GC,3531,-1.51,-116.8,354.2,-8.2,216,3536,0.00,2.58,0.00,0.000,6,0.000,0.048,2688,1795,3483,0,0,0,0,0,0
$GC,3856,-1.54,-116.8,381.5,-8.3,224,3861,0.10,2.90,0.00,0.000,4,0.082,0.095,2644,186,3481,0,0,0,0,0,0
$GC,3874,-1.54,-116.8,383.2,-8.6,224,3878,0.00,2.50,0.00,0.000,6,0.000,0.023,2644,1792,3481,0,0,0,0,0,0
$GC,4216,-1.50,-116.8,417.7,-10.5,233,4221,0.12,2.58,0.00,0.000,4,0.114,0.046,2670,3350,3479,0,0,0,0,0,0
$GC,4292,-1.56,-116.8,425.0,-9.9,234,4297,0.00,2.60,0.00,0.000,6,0.000,0.058,2670,1811,3479,0,0,0,0,0,0
$GC,4623,-1.56,-116.8,458.9,-10.4,242,4628,0.00,3.00,0.00,0.000,4,0.000,0.111,2670,186,3477,0,0,0,0,0,0
$GC,4644,-1.56,-116.8,461.3,-11.2,242,4649,0.00,2.60,0.00,0.000,6,0.000,0.030,2670,1814,3477,0,0,0,0,0,0
$GC,4987,-1.56,-116.8,495.3,-9.6,251,4992,0.00,2.60,0.00,0.000,4,0.000,0.061,2670,3362,3475,0,0,0,0,0,0
$GC,5011,-1.56,-116.8,497.6,-9.9,251,5015,0.00,2.62,0.00,0.000,6,0.000,0.059,2670,1823,3474,0,0,0,0,0,0
$STATE,5060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5060,begin apogee
$GC,5066,-0.31,0.0,502.3,9.1,253,5169,1.17,0.00,99.47,0.923,6,0.098,0.000,2929,1823,3001,0,0,0,0,0,0
$STATE,5170,end apogee,CONTROL_FINISHED_OK
$STATE,5170,begin climb
$GC,5172,1.38,116.8,505.1,0.0,255,5286,1.55,2.72,102.15,0.909,4,0.048,0.054,3307,3406,2523,0,0,0,0,0,0
$GC,5370,1.31,149.4,499.8,8.2,259,5406,0.10,2.75,28.92,0.874,6,0.140,0.058,3288,1819,2391,0,0,0,0,0,0
$GC,5751,1.28,178.3,467.7,8.4,269,5782,0.00,2.67,26.10,0.864,4,0.000,0.045,3287,3409,2273,0,0,0,0,0,0
$GC,5888,1.29,185.4,454.2,9.6,272,5902,0.00,2.72,7.12,0.717,6,0.000,0.064,3288,1835,2245,0,0,0,0,0,0
$GC,6247,1.26,200.0,421.4,9.2,281,6267,0.00,2.62,14.43,0.814,4,0.000,0.044,3288,3408,2184,0,0,0,0,0,0
$GC,6289,1.28,215.7,417.3,9.1,282,6310,0.00,2.70,16.02,0.810,6,0.000,0.059,3288,1836,2121,0,0,0,0,0,0
$GC,6649,1.29,226.8,383.1,9.4,291,6665,0.00,2.60,10.68,0.770,4,0.000,0.038,3288,3411,2075,0,0,0,0,0,0
$GC,6756,1.29,229.9,372.7,9.9,293,6765,0.00,2.65,4.07,0.549,6,0.000,0.054,3288,1852,2063,0,0,0,0,0,0
$GC,7106,1.32,253.3,342.3,8.7,302,7135,0.00,2.60,22.85,0.810,4,0.000,0.034,3288,3403,1968,0,0,0,0,0,0
$GC,7186,1.37,260.6,334.6,9.6,303,7200,0.00,2.62,8.05,0.711,6,0.000,0.053,3288,1851,1938,0,0,0,0,0,0
$GC,7525,1.37,260.6,301.0,10.3,312,7530,0.00,2.90,0.00,0.000,4,0.000,0.087,3288,229,1933,0,0,0,0,0,0
$GC,7591,1.37,260.6,292.7,12.0,313,7596,0.00,2.58,0.00,0.000,6,0.000,0.028,3288,1865,1931,0,0,0,0,0,0
$GC,7930,1.38,274.7,260.2,9.2,322,7949,0.00,2.53,13.52,0.734,4,0.000,0.035,3288,3390,1880,0,0,0,0,0,0
$GC,8036,1.48,305.3,250.5,8.3,324,8071,0.15,2.55,28.52,0.752,6,0.073,0.038,3326,1849,1755,0,0,0,0,0,0
$GC,8391,1.48,305.3,211.5,11.6,333,8396,0.00,2.83,0.00,0.000,4,0.000,0.074,3326,241,1748,0,0,0,0,0,0
$GC,8432,1.41,305.3,206.0,13.3,334,8437,0.00,2.58,0.00,0.000,6,0.000,0.025,3326,1868,1748,0,0,0,0,0,0
$GC,8757,1.41,305.3,170.3,10.8,359,8761,0.00,2.85,0.00,0.000,4,0.000,0.074,3326,236,1748,0,0,0,0,0,0
$GC,8791,1.31,305.3,166.1,12.9,361,8797,0.20,2.55,0.00,0.000,6,0.107,0.021,3286,1855,1746,0,0,0,0,0,0
$GC,9116,1.43,336.3,138.8,8.2,392,9154,0.10,2.90,27.05,0.660,4,0.094,0.071,3314,241,1628,0,0,0,0,0,0
$GC,9183,1.43,336.3,131.6,11.5,397,9189,0.00,2.53,0.00,0.000,6,0.000,0.026,3315,1849,1627,0,0,0,0,0,0
$GC,9509,1.50,345.6,99.2,9.5,428,9521,0.00,0.00,9.02,0.567,6,0.000,0.000,3315,1851,1591,0,0,0,0,0,0
$GC,9841,1.66,389.7,73.5,7.5,459,9887,0.20,2.85,39.72,0.600,4,0.141,0.061,3368,234,1411,0,0,0,0,0,0
$GC,9906,1.66,389.7,66.9,10.8,463,9915,0.00,2.58,0.00,0.000,6,0.000,0.021,3368,1849,1410,0,0,0,0,0,0
$GC,10239,1.66,389.7,28.1,13.2,495,10251,0.00,2.80,0.00,0.000,4,0.000,0.061,3368,238,1408,0,0,0,0,0,0
$GC,10261,1.62,389.7,24.9,13.0,497,10271,0.00,2.53,0.00,0.000,6,0.000,0.020,3368,1840,1408,0,0,0,0,0,0
$STATE,10436,end climb,SURFACE_DEPTH_REACHED
$STATE,10436,begin surface coast
$FINISH,0.4,1.023331
$STATE,10493,end surface coast,CONTROL_FINISHED_OK
$STATE,10493,begin surface
$SM_CCo,10516,7.82,0.466,0,0,1369,400.08
$SM_GC,0.94,0.00,0.00,7.82,0.000,0.000,0.466,478,1757,1369,-11.60,-0.37,400.08
$IRIDIUM_FIX,2246.36,-15741.52,300100,171757
$TT8_MAMPS,0.026078
$HUMID,57.04
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.60
$XPDR_PINGS,170
$24V_AH,23.3,80.867
$10V_AH,9.9,75.665
$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,27.875,126.125,457.725,7.825,0.000,36.093,36.584,184.914,42.500,0.000,40.173,1064.979,6732.754,487.878,2095.050,581.908,33.376,1283.829,0.000,2075.147,0.000,0.534,0.000
$DEVICE_MAMPS,163.371,111.215,922.701,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.090,296.008,411.598,766.844,1159.852,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,41469,530
$CAP_FILE_SIZE,108154,0
$CFSIZE,260165632,148275200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,051110,230156,2255.758,-15743.973,58,99.0,77,10.1