version: 66.06
glider: 146
mission: 5
dive: 587
start: 11 6 110 14 56 6
data:
$ID,146
$MISSION,5
$DIVE,587
$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,-261869.83
$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,46
$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
$GPS1,144607,2255.274,-15743.963,68,0.9,68,10.1
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-65.5
$GPS2,145508,2255.329,-15743.979,15,1.0,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.069,-0.225
$KALMAN_X,-282015.2,-415.3,-70.5,328325.9,-620.3
$KALMAN_Y,-444510.7,246.1,-430.8,583118.6,2018.2
$MHEAD_RNG_PITCHd_Wd,152.9,12198,-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,-78.38,0.000,2,0.000,0.000,475,1760,3307,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.3,-6.1,10,125,11.82,2.70,-3.42,0.000,4,0.158,0.067,2689,204,3480,0,0,0,0,0,0
$GC,163,-1.29,-116.8,17.6,-14.6,18,173,0.10,2.45,0.00,0.000,6,0.104,0.023,2713,1786,3481,0,0,0,0,0,0
$GC,512,-1.20,-116.8,66.9,-14.9,55,517,0.12,2.45,0.00,0.000,4,0.133,0.029,2737,3334,3482,0,0,0,0,0,0
$GC,535,-1.14,-116.8,69.1,-10.8,56,539,0.00,2.50,0.00,0.000,6,0.000,0.031,2736,1762,3482,0,0,0,0,0,0
$GC,860,-1.14,-116.8,102.8,-9.8,86,864,0.00,2.47,0.00,0.000,4,0.000,0.031,2736,3332,3483,0,0,0,0,0,0
$GC,906,-1.22,-116.8,106.9,-10.5,89,910,0.00,2.42,0.00,0.000,6,0.000,0.032,2737,1790,3483,0,0,0,0,0,0
$GC,1235,-1.28,-116.8,136.2,-8.6,119,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1788,3484,0,0,0,0,0,0
$GC,1564,-1.36,-116.8,160.6,-7.3,150,1569,0.15,2.42,0.00,0.000,4,0.064,0.030,2688,3332,3485,0,0,0,0,0,0
$GC,1586,-1.40,-116.8,162.4,-8.0,151,1591,0.00,2.40,0.00,0.000,6,0.000,0.031,2688,1807,3485,0,0,0,0,0,0
$GC,1915,-1.40,-116.8,193.6,-9.6,181,1919,0.00,2.72,0.00,0.000,4,0.000,0.064,2687,198,3485,0,0,0,0,0,0
$GC,1942,-1.40,-116.8,196.8,-10.5,183,1947,0.00,2.45,0.00,0.000,6,0.000,0.019,2688,1806,3485,0,0,0,0,0,0
$GC,2265,-1.40,-116.8,228.0,-9.8,193,2269,0.00,2.38,0.00,0.000,4,0.000,0.029,2687,3332,3485,0,0,0,0,0,0
$GC,2282,-1.40,-116.8,229.6,-9.9,193,2287,0.00,2.45,0.00,0.000,6,0.000,0.032,2688,1795,3485,0,0,0,0,0,0
$GC,2624,-1.40,-116.8,263.5,-9.7,202,2629,0.00,2.75,0.00,0.000,4,0.000,0.073,2688,196,3485,0,0,0,0,0,0
$GC,2640,-1.40,-116.8,265.2,-9.3,202,2644,0.00,2.42,0.00,0.000,6,0.000,0.018,2687,1780,3484,0,0,0,0,0,0
$GC,2984,-1.40,-116.8,294.9,-8.8,211,2988,0.00,2.53,0.00,0.000,4,0.000,0.035,2688,3346,3484,0,0,0,0,0,0
$GC,3034,-1.47,-116.8,299.6,-8.8,212,3038,0.00,2.50,0.00,0.000,6,0.000,0.040,2688,1795,3484,0,0,0,0,0,0
$GC,3346,-1.47,-116.8,325.4,-8.4,220,3351,0.00,2.45,0.00,0.000,4,0.000,0.033,2688,3338,3482,0,0,0,0,0,0
$GC,3376,-1.47,-116.8,327.7,-8.4,220,3380,0.00,2.47,0.00,0.000,6,0.000,0.042,2688,1822,3483,0,0,0,0,0,0
$GC,3707,-1.47,-116.8,355.3,-8.5,228,3712,0.00,2.88,0.00,0.000,4,0.000,0.086,2688,190,3481,0,0,0,0,0,0
$GC,3739,-1.47,-116.8,358.6,-10.3,228,3745,0.00,2.50,0.00,0.000,6,0.000,0.025,2688,1799,3480,0,0,0,0,0,0
$GC,4073,-1.47,-116.8,390.7,-9.8,237,4077,0.00,2.50,0.00,0.000,4,0.000,0.048,2688,3352,3479,0,0,0,0,0,0
$GC,4128,-1.55,-116.8,396.3,-9.4,238,4133,0.10,2.58,0.00,0.000,6,0.079,0.054,2645,1815,3479,0,0,0,0,0,0
$GC,4478,-1.50,-116.8,432.9,-10.4,247,4484,0.12,3.03,0.00,0.000,4,0.116,0.101,2671,181,3476,0,0,0,0,0,0
$GC,4500,-1.50,-116.8,435.7,-10.7,247,4505,0.00,2.58,0.00,0.000,6,0.000,0.032,2670,1806,3476,0,0,0,0,0,0
$GC,4838,-1.50,-116.8,465.6,-8.8,256,4842,0.00,2.55,0.00,0.000,4,0.000,0.060,2670,3352,3474,0,0,0,0,0,0
$GC,4872,-1.55,-116.8,468.5,-8.3,256,4878,0.00,2.60,0.00,0.000,6,0.000,0.058,2670,1815,3474,0,0,0,0,0,0
$GC,5204,-1.55,-116.8,498.4,-9.2,265,5208,0.00,3.05,0.00,0.000,4,0.000,0.111,2670,185,3472,0,0,0,0,0,0
$STATE,5217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5217,begin apogee
$GC,5226,-0.31,0.0,500.1,9.6,265,5328,1.15,0.00,98.72,0.915,6,0.085,0.000,2925,1813,3001,0,0,0,0,0,0
$STATE,5329,end apogee,CONTROL_FINISHED_OK
$STATE,5329,begin climb
$GC,5333,1.38,116.8,504.1,0.0,268,5441,1.58,0.00,103.32,0.896,6,0.045,0.000,3308,1813,2524,0,0,0,0,0,0
$GC,5732,1.34,182.9,488.1,6.2,278,5797,0.00,2.78,58.62,0.883,4,0.000,0.058,3308,3410,2255,0,0,0,0,0,0
$GC,5829,1.28,194.8,480.8,9.4,280,5848,0.15,2.72,11.55,0.789,6,0.126,0.059,3279,1830,2207,0,0,0,0,0,0
$GC,6188,1.26,210.8,448.4,9.1,289,6208,0.00,2.65,14.80,0.818,4,0.000,0.040,3279,3411,2141,0,0,0,0,0,0
$GC,6282,1.26,216.6,439.0,9.7,291,6296,0.00,2.70,6.57,0.700,6,0.000,0.061,3279,1838,2118,0,0,0,0,0,0
$GC,6639,1.30,250.1,408.2,8.1,300,6680,0.00,2.65,31.40,0.846,4,0.000,0.041,3279,3422,1979,0,0,0,0,0,0
$GC,6717,1.36,269.0,401.7,8.9,301,6742,0.00,2.67,18.75,0.808,6,0.000,0.057,3279,1847,1903,0,0,0,0,0,0
$GC,7058,1.38,280.3,369.9,9.4,310,7073,0.00,2.58,10.75,0.756,4,0.000,0.035,3279,3419,1857,0,0,0,0,0,0
$GC,7092,1.43,286.1,366.3,9.7,310,7107,0.12,2.67,6.93,0.681,6,0.083,0.053,3313,1853,1834,0,0,0,0,0,0
$GC,7428,1.38,286.1,329.7,11.1,319,7432,0.00,2.53,0.00,0.000,4,0.000,0.031,3313,3416,1829,0,0,0,0,0,0
$GC,7462,1.38,286.1,325.6,11.4,319,7467,0.00,2.58,0.00,0.000,6,0.000,0.050,3313,1872,1828,0,0,0,0,0,0
$GC,7793,1.38,286.1,288.8,11.1,328,7797,0.00,2.90,0.00,0.000,4,0.000,0.085,3313,230,1827,0,0,0,0,0,0
$GC,7820,1.30,286.1,285.3,12.5,328,7825,0.15,2.62,0.00,0.000,6,0.121,0.027,3284,1882,1826,0,0,0,0,0,0
$GC,8153,1.30,291.9,252.0,9.7,336,8163,0.00,2.50,5.32,0.586,4,0.000,0.032,3284,3425,1810,0,0,0,0,0,0
$GC,8193,1.40,299.3,248.1,9.6,337,8207,0.00,2.58,8.15,0.660,6,0.000,0.038,3284,1856,1782,0,0,0,0,0,0
$GC,8525,1.48,321.2,218.3,8.8,345,8554,0.17,2.95,21.58,0.713,4,0.071,0.077,3329,241,1691,0,0,0,0,0,0
$GC,8657,1.40,321.2,201.7,12.5,348,8662,0.12,2.58,0.00,0.000,6,0.127,0.027,3305,1864,1687,0,0,0,0,0,0
$GC,8987,1.40,321.2,165.3,10.9,376,8992,0.00,2.85,0.00,0.000,4,0.000,0.067,3305,234,1686,0,0,0,0,0,0
$GC,9030,1.40,321.2,160.4,12.1,379,9034,0.00,2.53,0.00,0.000,6,0.000,0.024,3305,1841,1685,0,0,0,0,0,0
$GC,9359,1.46,332.8,127.8,9.4,409,9375,0.00,2.53,11.00,0.602,4,0.000,0.036,3305,3400,1643,0,0,0,0,0,0
$GC,9414,1.57,332.8,122.3,10.9,413,9420,0.15,2.58,0.00,0.000,6,0.074,0.043,3344,1826,1642,0,0,0,0,0,0
$GC,9743,1.57,332.8,86.7,10.3,443,9747,0.00,2.75,0.00,0.000,4,0.000,0.068,3344,234,1641,0,0,0,0,0,0
$GC,9787,1.57,332.8,81.5,11.2,446,9797,0.00,2.53,0.00,0.000,6,0.000,0.020,3343,1835,1640,0,0,0,0,0,0
$GC,10116,1.61,363.3,52.7,8.3,477,10149,0.00,2.50,27.60,0.572,4,0.000,0.028,3344,3387,1518,0,0,0,0,0,0
$GC,10229,1.72,363.3,39.9,12.4,485,10239,0.10,2.58,0.00,0.000,6,0.045,0.035,3380,1836,1516,0,0,0,0,0,0
$STATE,10535,end climb,SURFACE_DEPTH_REACHED
$STATE,10535,begin surface coast
$FINISH,0.4,1.023551
$STATE,10578,end surface coast,CONTROL_FINISHED_OK
$STATE,10578,begin surface
$SM_CCo,10600,31.75,0.520,0,0,1369,400.08
$SM_GC,0.88,0.00,0.00,31.75,0.000,0.000,0.520,474,1746,1369,-11.62,-0.68,400.08
$IRIDIUM_FIX,2246.36,-15748.90,310100,111110
$TT8_MAMPS,0.026078
$HUMID,56.77
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.30
$XPDR_PINGS,166
$24V_AH,23.3,81.652
$10V_AH,9.7,76.389
$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,28.000,135.450,435.075,31.750,0.000,30.325,37.320,311.034,41.500,0.000,17.221,1066.144,6860.880,534.293,1997.566,717.795,33.370,1265.405,0.000,2004.799,0.000,0.534,0.000
$DEVICE_MAMPS,158.002,111.215,915.031,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.628,296.800,409.029,769.981,1164.651,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,41494,530
$CAP_FILE_SIZE,111249,0
$CFSIZE,260165632,147910656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061110,175452,2255.498,-15743.748,31,2.2,50,10.1