version: 66.06
glider: 146
mission: 5
dive: 582
start: 11 5 110 23 10 44
data:
$ID,146
$MISSION,5
$DIVE,582
$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,-261786.09
$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,33
$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
$GPS1,230156,2255.758,-15743.973,58,99.0,77,10.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.6
$GPS2,230950,2255.780,-15743.996,13,1.2,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.114,-0.205
$KALMAN_X,-278600.9,131.8,347.0,323924.2,-682.3
$KALMAN_Y,-455186.2,581.5,317.1,593555.8,383.2
$MHEAD_RNG_PITCHd_Wd,140.8,13010,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.38,-116.8,0.0,0.0,0,101,0.00,0.00,-78.80,0.000,2,0.000,0.000,477,1757,3366,0,0,0,0,0,0
$GC,104,-1.38,-116.8,4.1,-8.7,10,130,12.15,2.70,-2.08,0.000,4,0.170,0.067,2689,197,3481,0,0,0,0,0,0
$GC,187,-1.30,-116.8,24.7,-14.9,21,197,0.08,2.45,0.00,0.000,6,0.110,0.016,2708,1782,3483,0,0,0,0,0,0
$GC,525,-1.21,-116.8,70.2,-14.2,54,530,0.12,2.42,0.00,0.000,4,0.128,0.025,2732,3335,3483,0,0,0,0,0,0
$GC,548,-1.15,-116.8,73.2,-13.6,55,552,0.00,2.50,0.00,0.000,6,0.000,0.027,2733,1776,3484,0,0,0,0,0,0
$GC,876,-1.15,-116.8,109.1,-9.6,85,881,0.00,2.67,0.00,0.000,4,0.000,0.064,2732,191,3484,0,0,0,0,0,0
$GC,894,-1.15,-116.8,111.1,-9.5,86,898,0.00,2.38,0.00,0.000,6,0.000,0.016,2732,1776,3484,0,0,0,0,0,0
$GC,1219,-1.21,-116.8,140.3,-9.4,116,1223,0.00,2.40,0.00,0.000,4,0.000,0.031,2732,3324,3486,0,0,0,0,0,0
$GC,1311,-1.32,-116.8,148.0,-7.8,123,1315,0.00,2.47,0.00,0.000,6,0.000,0.031,2732,1771,3486,0,0,0,0,0,0
$GC,1636,-1.39,-116.8,174.5,-7.6,153,1638,0.15,0.00,0.00,0.000,6,0.160,0.000,2684,1771,3487,0,0,0,0,0,0
$GC,1985,-1.39,-116.8,208.4,-10.2,180,1989,0.00,2.42,0.00,0.000,4,0.000,0.030,2684,3317,3486,0,0,0,0,0,0
$GC,2046,-1.39,-116.8,215.3,-10.3,181,2051,0.00,2.42,0.00,0.000,6,0.000,0.029,2684,1792,3487,0,0,0,0,0,0
$GC,2395,-1.39,-116.8,247.7,-9.1,190,2399,0.00,2.75,0.00,0.000,4,0.000,0.070,2684,194,3486,0,0,0,0,0,0
$GC,2440,-1.39,-116.8,251.7,-8.8,191,2444,0.00,2.40,0.00,0.000,6,0.000,0.018,2683,1763,3486,0,0,0,0,0,0
$GC,2765,-1.39,-116.8,279.0,-8.5,199,2769,0.00,2.47,0.00,0.000,4,0.000,0.038,2683,3339,3486,0,0,0,0,0,0
$GC,2806,-1.43,-116.8,282.3,-8.6,200,2811,0.00,2.53,0.00,0.000,6,0.000,0.038,2683,1783,3486,0,0,0,0,0,0
$GC,3132,-1.43,-116.8,309.2,-8.5,208,3136,0.00,2.80,0.00,0.000,4,0.000,0.087,2684,186,3485,0,0,0,0,0,0
$GC,3181,-1.43,-116.8,314.0,-9.6,209,3186,0.00,2.45,0.00,0.000,6,0.000,0.023,2684,1751,3484,0,0,0,0,0,0
$GC,3496,-1.43,-116.8,342.0,-9.2,217,3501,0.00,2.62,0.00,0.000,4,0.000,0.041,2683,3354,3483,0,0,0,0,0,0
$GC,3552,-1.50,-116.8,347.5,-9.5,218,3557,0.00,2.60,0.00,0.000,6,0.000,0.045,2684,1787,3483,0,0,0,0,0,0
$GC,3900,-1.50,-116.8,377.2,-8.5,227,3904,0.00,2.53,0.00,0.000,4,0.000,0.037,2683,3354,3481,0,0,0,0,0,0
$GC,3923,-1.53,-116.8,379.2,-8.7,227,3928,0.00,2.60,0.00,0.000,6,0.000,0.046,2683,1793,3481,0,0,0,0,0,0
$GC,4260,-1.53,-116.8,409.1,-9.3,236,4264,0.00,2.53,0.00,0.000,4,0.000,0.038,2683,3349,3479,0,0,0,0,0,0
$GC,4287,-1.59,-116.8,411.7,-8.9,236,4293,0.12,2.62,0.00,0.000,6,0.073,0.058,2643,1792,3479,0,0,0,0,0,0
$GC,4620,-1.54,-116.8,446.8,-10.8,244,4625,0.00,2.95,0.00,0.000,4,0.000,0.110,2643,184,3477,0,0,0,0,0,0
$GC,4653,-1.48,-116.8,451.2,-12.9,244,4659,0.17,2.58,0.00,0.000,6,0.110,0.029,2679,1787,3477,0,0,0,0,0,0
$GC,4986,-1.48,-116.8,484.1,-10.0,253,4991,0.00,2.60,0.00,0.000,4,0.000,0.060,2679,3353,3475,0,0,0,0,0,0
$GC,5008,-1.52,-116.8,486.6,-10.2,253,5012,0.00,2.62,0.00,0.000,6,0.000,0.060,2679,1799,3474,0,0,0,0,0,0
$STATE,5138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5138,begin apogee
$GC,5144,-0.31,0.0,500.4,10.4,257,5247,1.12,0.00,99.60,0.923,6,0.081,0.000,2929,1798,3001,0,0,0,0,0,0
$STATE,5248,end apogee,CONTROL_FINISHED_OK
$STATE,5248,begin climb
$GC,5252,1.38,116.8,504.1,0.0,259,5366,1.58,2.83,102.50,0.903,4,0.040,0.051,3310,3408,2523,0,0,0,0,0,0
$GC,5434,1.34,179.1,503.3,6.4,264,5495,0.00,2.75,55.22,0.883,6,0.000,0.061,3310,1819,2270,0,0,0,0,0,0
$GC,5833,1.24,179.1,465.4,10.1,274,5838,0.20,2.65,0.00,0.000,4,0.189,0.040,3271,3413,2260,0,0,0,0,0,0
$GC,5924,1.27,202.9,457.1,8.7,276,5952,0.00,2.75,21.12,0.844,6,0.000,0.058,3271,1823,2172,0,0,0,0,0,0
$GC,6284,1.29,224.8,425.6,8.8,285,6306,0.00,0.00,20.58,0.834,6,0.000,0.000,3271,1823,2084,0,0,0,0,0,0
$GC,6609,1.31,238.3,395.8,9.3,293,6628,0.00,2.67,13.18,0.792,4,0.000,0.036,3271,3406,2028,0,0,0,0,0,0
$GC,6655,1.32,249.7,391.8,9.4,294,6674,0.00,2.70,12.05,0.774,6,0.000,0.052,3271,1833,1983,0,0,0,0,0,0
$GC,6982,1.33,257.0,360.0,9.6,302,6996,0.00,2.62,7.80,0.712,4,0.000,0.032,3271,3405,1952,0,0,0,0,0,0
$GC,7044,1.42,264.5,354.1,9.6,303,7059,0.15,2.65,8.60,0.719,6,0.077,0.048,3311,1832,1922,0,0,0,0,0,0
$GC,7400,1.38,264.5,315.5,11.0,312,7404,0.00,2.55,0.00,0.000,4,0.000,0.037,3311,3411,1918,0,0,0,0,0,0
$GC,7432,1.38,264.5,311.3,10.9,312,7438,0.00,2.62,0.00,0.000,6,0.000,0.050,3312,1836,1917,0,0,0,0,0,0
$GC,7765,1.38,264.5,275.9,10.6,321,7769,0.00,2.83,0.00,0.000,4,0.000,0.085,3311,233,1916,0,0,0,0,0,0
$GC,7798,1.30,264.5,272.0,10.8,321,7804,0.15,2.58,0.00,0.000,6,0.123,0.022,3282,1854,1915,0,0,0,0,0,0
$GC,8129,1.33,295.0,243.5,8.3,330,8163,0.00,2.58,27.85,0.742,4,0.000,0.038,3282,3397,1798,0,0,0,0,0,0
$GC,8220,1.45,309.7,236.2,9.2,332,8241,0.15,2.58,14.40,0.700,6,0.076,0.038,3321,1837,1737,0,0,0,0,0,0
$GC,8589,1.46,313.2,200.9,9.8,341,8598,0.00,2.80,4.00,0.474,4,0.000,0.074,3321,240,1724,0,0,0,0,0,0
$GC,8610,1.42,313.2,197.9,11.0,341,8614,0.00,2.58,0.00,0.000,6,0.000,0.025,3321,1870,1723,0,0,0,0,0,0
$GC,8936,1.42,313.2,163.7,10.3,371,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,1872,1722,0,0,0,0,0,0
$GC,9259,1.42,313.2,133.5,10.3,401,9263,0.00,2.83,0.00,0.000,4,0.000,0.067,3321,236,1721,0,0,0,0,0,0
$GC,9303,1.36,313.2,127.9,12.0,404,9313,0.08,2.58,0.00,0.000,6,0.104,0.022,3302,1858,1721,0,0,0,0,0,0
$GC,9632,1.47,320.4,97.0,9.6,435,9646,0.00,2.85,7.88,0.548,4,0.000,0.063,3301,244,1694,0,0,0,0,0,0
$GC,9689,1.54,320.4,91.1,10.2,440,9694,0.15,2.53,0.00,0.000,6,0.073,0.027,3342,1859,1693,0,0,0,0,0,0
$GC,10017,1.56,336.1,63.9,9.1,470,10045,0.00,2.85,15.32,0.564,4,0.000,0.060,3342,243,1629,0,0,0,0,0,0
$GC,10064,1.56,336.1,58.6,11.6,473,10074,0.00,2.53,0.00,0.000,6,0.000,0.020,3342,1838,1627,0,0,0,0,0,0
$GC,10403,1.56,336.1,25.1,10.8,507,10412,0.00,2.78,0.00,0.000,4,0.000,0.061,3342,237,1627,0,0,0,0,0,0
$GC,10422,1.56,336.1,22.8,11.1,509,10432,0.00,2.50,0.00,0.000,6,0.000,0.020,3341,1833,1627,0,0,0,0,0,0
$STATE,10633,end climb,SURFACE_DEPTH_REACHED
$STATE,10633,begin surface coast
$FINISH,0.6,1.023503
$STATE,10689,end surface coast,CONTROL_FINISHED_OK
$STATE,10689,begin surface
$SM_CCo,10711,53.50,0.523,0,0,1369,400.08
$SM_GC,1.16,0.00,0.00,53.50,0.000,0.000,0.523,472,1735,1369,-11.63,-0.99,400.08
$IRIDIUM_FIX,2248.70,-15742.79,300100,202047
$TT8_MAMPS,0.026078
$HUMID,55.04
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.20
$XPDR_PINGS,167
$24V_AH,23.3,80.996
$10V_AH,9.8,75.789
$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,28.050,130.775,410.100,53.500,0.000,28.346,38.398,250.187,41.750,0.000,15.296,1090.742,6893.562,521.285,2085.354,649.158,33.370,1281.400,0.000,2091.221,0.000,0.533,0.000
$DEVICE_MAMPS,189.449,109.681,922.701,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.470,308.485,425.735,811.570,1227.477,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,44656,547
$CAP_FILE_SIZE,111220,0
$CFSIZE,260165632,148209664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061110,021206,2255.229,-15743.953,74,1.0,74,10.1