version: 66.06
glider: 146
mission: 5
dive: 588
start: 11 6 110 18 7 30
data:
$ID,146
$MISSION,5
$DIVE,588
$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,-261899.03
$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,45
$R_STBD_OVSHOOT,52
$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
$GPS1,175452,2255.498,-15743.748,31,2.2,50,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.1
$GPS2,180637,2255.623,-15743.794,27,1.0,27,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.045,-0.230
$KALMAN_X,-282294.8,-210.7,-371.1,329018.8,459.6
$KALMAN_Y,-442391.8,535.1,-79.7,580907.2,2254.6
$MHEAD_RNG_PITCHd_Wd,181.0,12643,-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,-78.85,0.000,2,0.000,0.000,473,1744,3353,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.7,-7.2,10,126,12.02,2.65,-2.42,0.000,4,0.165,0.069,2688,215,3481,0,0,0,0,0,0
$GC,153,-1.05,-116.8,17.4,-20.8,16,163,0.35,2.42,0.00,0.000,6,0.094,0.023,2765,1783,3483,0,0,0,0,0,0
$GC,508,-1.05,-116.8,56.2,-10.4,55,512,0.00,2.45,0.00,0.000,4,0.000,0.026,2766,3337,3484,0,0,0,0,0,0
$GC,532,-1.09,-116.8,58.5,-9.9,56,536,0.00,2.45,0.00,0.000,6,0.000,0.027,2765,1786,3484,0,0,0,0,0,0
$GC,857,-1.19,-116.8,90.5,-8.6,86,862,0.10,2.42,0.00,0.000,4,0.082,0.031,2726,3330,3484,0,0,0,0,0,0
$GC,927,-1.25,-116.8,96.2,-8.6,91,931,0.00,2.42,0.00,0.000,6,0.000,0.028,2726,1802,3485,0,0,0,0,0,0
$GC,1256,-1.25,-116.8,124.6,-7.6,121,1260,0.00,2.72,0.00,0.000,4,0.000,0.062,2726,190,3485,0,0,0,0,0,0
$GC,1289,-1.25,-116.8,126.9,-7.9,123,1294,0.00,2.42,0.00,0.000,6,0.000,0.021,2726,1808,3485,0,0,0,0,0,0
$GC,1615,-1.29,-116.8,151.2,-7.9,153,1619,0.00,2.35,0.00,0.000,4,0.000,0.028,2726,3328,3486,0,0,0,0,0,0
$GC,1662,-1.38,-116.8,154.7,-7.0,156,1672,0.10,2.47,0.00,0.000,6,0.040,0.028,2680,1785,3486,0,0,0,0,0,0
$GC,1991,-1.34,-116.8,186.9,-9.9,187,1996,0.12,2.67,0.00,0.000,4,0.108,0.062,2707,197,3486,0,0,0,0,0,0
$GC,2010,-1.34,-116.8,189.1,-10.0,188,2014,0.00,2.40,0.00,0.000,6,0.000,0.017,2706,1787,3486,0,0,0,0,0,0
$GC,2347,-1.34,-116.8,218.2,-8.5,205,2351,0.00,2.40,0.00,0.000,4,0.000,0.033,2707,3317,3486,0,0,0,0,0,0
$GC,2370,-1.38,-116.8,220.2,-8.5,205,2375,0.00,2.45,0.00,0.000,6,0.000,0.032,2706,1779,3486,0,0,0,0,0,0
$GC,2707,-1.38,-116.8,248.9,-8.4,214,2711,0.00,2.42,0.00,0.000,4,0.000,0.030,2706,3321,3486,0,0,0,0,0,0
$GC,2723,-1.43,-116.8,250.3,-8.3,214,2727,0.00,2.45,0.00,0.000,6,0.000,0.029,2706,1780,3486,0,0,0,0,0,0
$GC,3067,-1.47,-116.8,277.5,-7.8,223,3072,0.12,2.45,0.00,0.000,4,0.073,0.028,2662,3325,3485,0,0,0,0,0,0
$GC,3117,-1.47,-116.8,282.2,-9.2,224,3121,0.00,2.45,0.00,0.000,6,0.000,0.036,2661,1798,3485,0,0,0,0,0,0
$GC,3430,-1.44,-116.8,312.3,-9.9,232,3435,0.12,2.85,0.00,0.000,4,0.110,0.084,2688,190,3484,0,0,0,0,0,0
$GC,3476,-1.44,-116.8,316.6,-9.8,233,3481,0.00,2.42,0.00,0.000,6,0.000,0.023,2688,1759,3483,0,0,0,0,0,0
$GC,3795,-1.44,-116.8,343.9,-8.7,241,3800,0.00,2.55,0.00,0.000,4,0.000,0.043,2688,3354,3482,0,0,0,0,0,0
$GC,3876,-1.50,-116.8,350.6,-8.4,242,3882,0.00,2.58,0.00,0.000,6,0.000,0.048,2688,1799,3482,0,0,0,0,0,0
$GC,4207,-1.50,-116.8,377.9,-8.4,251,4212,0.00,2.88,0.00,0.000,4,0.000,0.091,2688,186,3480,0,0,0,0,0,0
$GC,4240,-1.50,-116.8,381.2,-9.9,251,4246,0.00,2.53,0.00,0.000,6,0.000,0.023,2688,1801,3480,0,0,0,0,0,0
$GC,4574,-1.54,-116.8,408.8,-8.3,260,4578,0.00,2.55,0.00,0.000,4,0.000,0.048,2688,3350,3478,0,0,0,0,0,0
$GC,4618,-1.63,-116.8,412.8,-8.4,261,4623,0.17,2.58,0.00,0.000,6,0.054,0.054,2628,1809,3478,0,0,0,0,0,0
$GC,4938,-1.56,-116.8,446.7,-10.9,269,4944,0.15,2.53,0.00,0.000,4,0.110,0.043,2659,3347,3476,0,0,0,0,0,0
$GC,4960,-1.56,-116.8,449.4,-10.7,269,4964,0.00,2.60,0.00,0.000,6,0.000,0.055,2660,1821,3476,0,0,0,0,0,0
$GC,5297,-1.56,-116.8,481.8,-9.6,278,5301,0.00,2.50,0.00,0.000,4,0.000,0.047,2660,3346,3474,0,0,0,0,0,0
$GC,5321,-1.56,-116.8,483.9,-9.1,278,5325,0.00,2.58,0.00,0.000,6,0.000,0.059,2659,1830,3474,0,0,0,0,0,0
$STATE,5532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5532,begin apogee
$GC,5538,-0.31,0.0,503.6,9.2,284,5641,1.23,0.00,99.12,0.919,6,0.094,0.000,2931,1830,3001,0,0,0,0,0,0
$STATE,5642,end apogee,CONTROL_FINISHED_OK
$STATE,5642,begin climb
$GC,5644,1.38,116.8,505.8,0.0,286,5751,1.52,0.00,102.57,0.898,6,0.046,0.000,3308,1830,2523,0,0,0,0,0,0
$GC,6055,1.30,149.3,481.9,8.2,296,6086,0.12,0.00,28.52,0.864,6,0.130,0.000,3285,1830,2392,0,0,0,0,0,0
$GC,6377,1.29,192.8,456.5,7.5,304,6422,0.00,2.65,39.40,0.867,4,0.000,0.043,3285,3396,2215,0,0,0,0,0,0
$GC,6465,1.30,206.2,449.4,9.3,306,6485,0.00,2.75,13.50,0.804,6,0.000,0.064,3285,1824,2159,0,0,0,0,0,0
$GC,6793,1.31,209.1,417.5,9.9,314,6797,0.00,2.60,0.00,0.000,4,0.000,0.040,3285,3404,2153,0,0,0,0,0,0
$GC,6868,1.31,209.1,409.6,11.2,315,6873,0.00,2.70,0.00,0.000,6,0.000,0.054,3285,1834,2152,0,0,0,0,0,0
$GC,7199,1.31,209.1,374.2,10.3,323,7203,0.00,2.55,0.00,0.000,4,0.000,0.035,3285,3406,2150,0,0,0,0,0,0
$GC,7231,1.31,209.1,370.9,10.2,323,7237,0.00,2.62,0.00,0.000,6,0.000,0.048,3285,1850,2149,0,0,0,0,0,0
$GC,7564,1.33,228.0,341.0,8.9,332,7589,0.00,3.00,18.98,0.795,4,0.000,0.087,3284,229,2071,0,0,0,0,0,0
$GC,7617,1.26,228.0,335.5,11.1,333,7622,0.00,2.58,0.00,0.000,6,0.000,0.027,3285,1846,2069,0,0,0,0,0,0
$GC,7965,1.29,253.3,304.7,8.6,342,7995,0.00,2.58,24.10,0.782,4,0.000,0.035,3285,3399,1967,0,0,0,0,0,0
$GC,8026,1.35,253.3,299.1,10.0,343,8031,0.00,2.62,0.00,0.000,6,0.000,0.042,3285,1839,1965,0,0,0,0,0,0
$GC,8374,1.37,267.1,266.3,9.2,352,8394,0.00,2.92,13.10,0.722,4,0.000,0.078,3285,235,1911,0,0,0,0,0,0
$GC,8420,1.37,267.1,261.8,11.4,353,8424,0.00,2.58,0.00,0.000,6,0.000,0.023,3285,1849,1911,0,0,0,0,0,0
$GC,8744,1.42,270.6,230.0,9.8,361,8755,0.10,2.85,4.50,0.530,4,0.099,0.069,3312,236,1897,0,0,0,0,0,0
$GC,8786,1.35,270.6,225.5,11.4,362,8790,0.00,2.55,0.00,0.000,6,0.000,0.021,3312,1840,1896,0,0,0,0,0,0
$GC,9101,1.37,291.9,195.3,8.8,372,9128,0.00,2.58,20.62,0.693,4,0.000,0.033,3312,3392,1808,0,0,0,0,0,0
$GC,9140,1.42,298.5,191.7,9.7,375,9152,0.00,2.65,7.45,0.595,6,0.000,0.042,3312,1817,1783,0,0,0,0,0,0
$GC,9478,1.42,298.5,156.4,10.8,407,9482,0.00,2.75,0.00,0.000,4,0.000,0.073,3312,243,1779,0,0,0,0,0,0
$GC,9544,1.42,298.5,149.4,10.8,412,9548,0.00,2.45,0.00,0.000,6,0.000,0.026,3312,1822,1778,0,0,0,0,0,0
$GC,9869,1.47,298.5,117.6,10.2,442,9873,0.00,2.53,0.00,0.000,4,0.000,0.030,3312,3385,1777,0,0,0,0,0,0
$GC,9903,1.58,304.6,114.5,9.7,444,9916,0.10,2.65,6.12,0.521,6,0.054,0.038,3345,1793,1757,0,0,0,0,0,0
$GC,10241,1.59,318.1,79.5,9.3,476,10260,0.00,2.70,13.38,0.572,4,0.000,0.061,3344,241,1703,0,0,0,0,0,0
$GC,10277,1.59,318.1,76.5,10.3,478,10281,0.00,2.40,0.00,0.000,6,0.000,0.019,3344,1781,1702,0,0,0,0,0,0
$GC,10605,1.60,326.3,47.5,9.6,508,10620,0.00,2.58,8.90,0.509,4,0.000,0.028,3344,3385,1669,0,0,0,0,0,0
$GC,10726,1.70,345.4,36.6,8.9,517,10755,0.10,2.65,17.45,0.536,6,0.091,0.035,3373,1774,1592,0,0,0,0,0,0
$STATE,11025,end climb,SURFACE_DEPTH_REACHED
$STATE,11025,begin surface coast
$FINISH,0.4,1.010949
$STATE,11078,end surface coast,CONTROL_FINISHED_OK
$STATE,11078,begin surface
$SM_CCo,11099,45.88,0.522,0,0,1369,400.08
$SM_GC,0.99,0.00,0.00,45.88,0.000,0.000,0.522,474,1771,1369,-11.62,0.03,400.08
$IRIDIUM_FIX,2244.02,-15751.06,310100,181813
$TT8_MAMPS,0.026078
$HUMID,55.86
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.30
$XPDR_PINGS,183
$24V_AH,23.3,81.787
$10V_AH,9.8,76.519
$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,28.325,139.100,417.725,45.875,0.000,53.850,86.224,321.230,45.750,0.000,28.584,1132.639,7258.218,521.224,2131.081,805.125,33.373,1281.276,0.000,2122.868,0.000,0.533,0.000
$DEVICE_MAMPS,164.905,90.506,918.866,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.745,332.184,440.611,849.938,1284.467,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,44698,565
$CAP_FILE_SIZE,117019,0
$CFSIZE,260165632,147845120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061110,211446,2255.868,-15743.845,30,99.0,49,10.1