version: 66.06
glider: 146
mission: 5
dive: 585
start: 11 6 110 8 45 8
data:
$ID,146
$MISSION,5
$DIVE,585
$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,-261834.94
$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,32
$R_STBD_OVSHOOT,60
$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
$GPS1,083655,2255.657,-15744.128,63,1.5,63,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-62.8
$GPS2,084414,2255.728,-15744.133,10,1.5,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.059,-0.227
$KALMAN_X,-280741.3,-106.1,70.8,326339.9,-284.3
$KALMAN_Y,-448528.7,-209.9,699.2,587202.4,1245.8
$MHEAD_RNG_PITCHd_Wd,155.4,12982,-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,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.68,0.000,2,0.000,0.000,475,1753,3330,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.6,-6.9,10,128,11.93,2.67,-2.75,0.000,4,0.162,0.071,2690,200,3481,0,0,0,0,0,0
$GC,198,-1.30,-116.8,25.7,-15.2,23,206,0.10,2.42,0.00,0.000,6,0.104,0.016,2713,1775,3482,0,0,0,0,0,0
$GC,539,-1.22,-116.8,72.0,-13.7,56,543,0.00,2.42,0.00,0.000,4,0.000,0.024,2713,3338,3483,0,0,0,0,0,0
$GC,550,-1.15,-116.8,74.5,-13.7,56,560,0.12,2.53,0.00,0.000,6,0.091,0.025,2744,1764,3483,0,0,0,0,0,0
$GC,878,-1.20,-116.8,110.1,-9.5,87,883,0.00,2.65,0.00,0.000,4,0.000,0.061,2743,194,3484,0,0,0,0,0,0
$GC,936,-1.26,-116.8,115.7,-10.1,91,940,0.00,2.38,0.00,0.000,6,0.000,0.021,2744,1783,3484,0,0,0,0,0,0
$GC,1265,-1.34,-116.8,143.8,-8.5,121,1270,0.15,2.40,0.00,0.000,4,0.065,0.030,2696,3321,3485,0,0,0,0,0,0
$GC,1333,-1.34,-116.8,150.7,-9.6,126,1343,0.00,2.50,0.00,0.000,6,0.000,0.028,2696,1765,3485,0,0,0,0,0,0
$GC,1661,-1.34,-116.8,183.5,-10.1,157,1666,0.00,2.42,0.00,0.000,4,0.000,0.024,2696,3321,3486,0,0,0,0,0,0
$GC,1679,-1.34,-116.8,185.5,-9.7,158,1683,0.00,2.47,0.00,0.000,6,0.000,0.031,2696,1768,3485,0,0,0,0,0,0
$GC,1998,-1.34,-116.8,214.9,-9.0,176,2003,0.00,2.67,0.00,0.000,4,0.000,0.068,2696,198,3486,0,0,0,0,0,0
$GC,2009,-1.34,-116.8,216.1,-9.0,176,2013,0.00,2.38,0.00,0.000,6,0.000,0.018,2696,1780,3486,0,0,0,0,0,0
$GC,2356,-1.34,-116.8,246.4,-8.6,185,2361,0.00,2.72,0.00,0.000,4,0.000,0.067,2696,198,3486,0,0,0,0,0,0
$GC,2378,-1.34,-116.8,248.3,-8.4,185,2382,0.00,2.38,0.00,0.000,6,0.000,0.021,2696,1758,3486,0,0,0,0,0,0
$GC,2716,-1.34,-116.8,275.1,-8.2,194,2720,0.00,2.50,0.00,0.000,4,0.000,0.031,2696,3346,3486,0,0,0,0,0,0
$GC,2760,-1.41,-116.8,279.1,-8.5,195,2765,0.00,2.50,0.00,0.000,6,0.000,0.038,2696,1784,3486,0,0,0,0,0,0
$GC,3080,-1.41,-116.8,309.6,-10.0,203,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1783,3485,0,0,0,0,0,0
$GC,3404,-1.45,-116.8,339.3,-9.0,211,3408,0.00,2.50,0.00,0.000,4,0.000,0.034,2696,3334,3483,0,0,0,0,0,0
$GC,3425,-1.51,-116.8,341.3,-9.0,211,3431,0.12,2.55,0.00,0.000,6,0.069,0.044,2650,1787,3484,0,0,0,0,0,0
$GC,3764,-1.47,-116.8,376.2,-10.5,220,3769,0.12,2.53,0.00,0.000,4,0.117,0.039,2677,3332,3482,0,0,0,0,0,0
$GC,3792,-1.47,-116.8,379.2,-9.6,220,3796,0.00,2.58,0.00,0.000,6,0.000,0.050,2677,1800,3482,0,0,0,0,0,0
$GC,4123,-1.47,-116.8,409.3,-9.3,228,4127,0.00,2.92,0.00,0.000,4,0.000,0.102,2677,185,3481,0,0,0,0,0,0
$GC,4140,-1.47,-116.8,411.0,-9.5,228,4145,0.00,2.50,0.00,0.000,6,0.000,0.029,2677,1783,3481,0,0,0,0,0,0
$GC,4483,-1.47,-116.8,445.3,-10.3,237,4487,0.00,2.58,0.00,0.000,4,0.000,0.054,2677,3352,3478,0,0,0,0,0,0
$GC,4510,-1.52,-116.8,448.5,-11.3,237,4514,0.00,2.62,0.00,0.000,6,0.000,0.061,2677,1805,3478,0,0,0,0,0,0
$GC,4843,-1.56,-116.8,483.5,-10.4,245,4848,0.00,3.03,0.00,0.000,4,0.000,0.116,2677,184,3476,0,0,0,0,0,0
$GC,4864,-1.56,-116.8,486.0,-10.0,245,4869,0.00,2.58,0.00,0.000,6,0.000,0.038,2677,1788,3475,0,0,0,0,0,0
$STATE,5036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5036,begin apogee
$GC,5042,-0.31,0.0,502.1,9.2,250,5145,1.15,0.00,99.45,0.917,6,0.082,0.000,2931,1828,3001,0,0,0,0,0,0
$STATE,5146,end apogee,CONTROL_FINISHED_OK
$STATE,5146,begin climb
$GC,5150,1.38,116.8,504.2,0.0,252,5258,1.52,0.00,103.00,0.898,6,0.044,0.000,3306,1828,2524,0,0,0,0,0,0
$GC,5559,1.32,165.5,482.6,7.2,262,5608,0.00,2.78,42.80,0.876,4,0.000,0.061,3306,3403,2325,0,0,0,0,0,0
$GC,5670,1.27,195.4,474.0,8.3,264,5705,0.15,2.70,27.92,0.858,6,0.124,0.059,3278,1820,2203,0,0,0,0,0,0
$GC,6022,1.32,234.8,446.4,7.8,273,6064,0.00,2.65,35.67,0.866,4,0.000,0.039,3278,3408,2042,0,0,0,0,0,0
$GC,6105,1.38,254.7,439.2,8.9,274,6130,0.10,2.72,19.25,0.828,6,0.098,0.058,3305,1836,1962,0,0,0,0,0,0
$GC,6478,1.33,254.7,400.3,10.7,284,6483,0.00,2.58,0.00,0.000,4,0.000,0.035,3305,3415,1955,0,0,0,0,0,0
$GC,6494,1.33,254.7,397.8,11.0,284,6499,0.00,2.70,0.00,0.000,6,0.000,0.055,3305,1838,1953,0,0,0,0,0,0
$GC,6837,1.29,254.7,363.0,10.1,293,6842,0.12,2.55,0.00,0.000,4,0.126,0.038,3281,3411,1952,0,0,0,0,0,0
$GC,6872,1.36,279.8,359.8,8.6,293,6901,0.00,2.65,22.33,0.811,6,0.000,0.048,3281,1844,1860,0,0,0,0,0,0
$GC,7246,1.36,279.8,323.2,10.1,303,7251,0.00,2.88,0.00,0.000,4,0.000,0.085,3281,234,1854,0,0,0,0,0,0
$GC,7295,1.36,279.8,317.1,12.8,304,7300,0.00,2.58,0.00,0.000,6,0.000,0.024,3281,1853,1853,0,0,0,0,0,0
$GC,7611,1.42,292.0,286.8,9.3,312,7625,0.12,0.00,11.45,0.727,6,0.080,0.000,3315,1854,1810,0,0,0,0,0,0
$GC,7933,1.42,292.0,252.8,10.9,320,7934,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1854,1807,0,0,0,0,0,0
$GC,8260,1.42,295.8,219.9,9.8,328,8270,0.00,2.83,4.53,0.528,4,0.000,0.067,3315,234,1794,0,0,0,0,0,0
$GC,8294,1.35,295.8,215.8,12.0,328,8300,0.10,2.55,0.00,0.000,6,0.131,0.022,3297,1849,1793,0,0,0,0,0,0
$GC,8614,1.41,310.2,185.6,9.2,347,8638,0.00,2.90,14.35,0.671,4,0.000,0.073,3296,240,1735,0,0,0,0,0,0
$GC,8656,1.41,310.2,181.1,10.5,350,8664,0.00,2.50,0.00,0.000,6,0.000,0.021,3296,1835,1734,0,0,0,0,0,0
$GC,8985,1.46,310.2,148.6,10.1,381,8990,0.10,2.50,0.00,0.000,4,0.094,0.031,3324,3393,1733,0,0,0,0,0,0
$GC,9004,1.50,310.6,146.5,10.0,382,9009,0.00,2.58,0.00,0.000,6,0.000,0.038,3324,1826,1731,0,0,0,0,0,0
$GC,9329,1.51,316.6,113.9,9.7,412,9344,0.00,2.80,6.82,0.544,4,0.000,0.066,3325,237,1709,0,0,0,0,0,0
$GC,9397,1.47,316.6,107.1,11.6,417,9401,0.00,2.53,0.00,0.000,6,0.000,0.020,3325,1854,1708,0,0,0,0,0,0
$GC,9726,1.57,349.1,77.2,8.2,447,9758,0.00,0.00,29.65,0.597,6,0.000,0.000,3325,1856,1577,0,0,0,0,0,0
$GC,10078,1.66,366.0,45.7,9.1,480,10107,0.15,2.88,15.73,0.545,4,0.092,0.061,3368,241,1508,0,0,0,0,0,0
$GC,10188,1.61,366.0,34.8,10.6,488,10193,0.00,2.50,0.00,0.000,6,0.000,0.019,3368,1844,1506,0,0,0,0,0,0
$STATE,10435,end climb,SURFACE_DEPTH_REACHED
$STATE,10435,begin surface coast
$FINISH,0.3,1.023613
$STATE,10478,end surface coast,CONTROL_FINISHED_OK
$STATE,10478,begin surface
$SM_CCo,10501,28.90,0.521,0,0,1370,400.08
$SM_GC,0.99,0.00,0.00,28.90,0.000,0.000,0.521,475,1747,1370,-11.62,-0.65,400.08
$IRIDIUM_FIX,2248.70,-15742.79,310100,050507
$TT8_MAMPS,0.026845
$HUMID,57.56
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.10
$XPDR_PINGS,159
$24V_AH,23.3,81.392
$10V_AH,9.9,76.152
$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,27.925,119.875,432.950,28.900,0.000,28.306,33.448,221.259,39.750,0.000,12.042,1039.542,6928.230,509.815,1892.389,596.637,33.377,1216.146,0.000,1899.190,0.000,0.534,0.000
$DEVICE_MAMPS,161.837,229.333,916.565,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.197,310.530,407.145,765.955,1158.618,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,41359,527
$CAP_FILE_SIZE,104341,0
$CFSIZE,260165632,148033536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061110,114152,2255.310,-15744.217,12,99.0,31,10.1