version: 66.06
glider: 146
mission: 5
dive: 589
start: 11 6 110 21 23 27
data:
$ID,146
$MISSION,5
$DIVE,589
$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,-261934.78
$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,24
$R_STBD_OVSHOOT,59
$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
$GPS1,211446,2255.868,-15743.845,30,99.0,49,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.6
$GPS2,212234,2255.947,-15743.814,13,4.9,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.012,-0.235
$KALMAN_X,-282664.9,117.8,89.7,328567.8,263.9
$KALMAN_Y,-440381.8,625.8,690.8,578636.2,741.5
$MHEAD_RNG_PITCHd_Wd,166.9,13232,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.18,0.000,2,0.000,0.000,474,1769,3292,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.2,-5.4,10,127,11.95,2.72,-3.60,0.000,4,0.163,0.073,2688,187,3481,0,0,0,0,0,0
$GC,177,-1.29,-116.8,22.1,-16.8,20,187,0.10,2.45,0.00,0.000,6,0.103,0.016,2712,1773,3482,0,0,0,0,0,0
$GC,525,-1.20,-116.8,69.4,-14.7,55,530,0.12,2.45,0.00,0.000,4,0.125,0.025,2737,3335,3483,0,0,0,0,0,0
$GC,537,-1.12,-116.8,71.8,-14.5,55,546,0.00,2.53,0.00,0.000,6,0.000,0.026,2736,1764,3483,0,0,0,0,0,0
$GC,865,-1.12,-116.8,105.8,-9.1,86,869,0.00,2.62,0.00,0.000,4,0.000,0.057,2736,196,3484,0,0,0,0,0,0
$GC,946,-1.17,-116.8,113.8,-8.9,92,956,0.00,2.45,0.00,0.000,6,0.000,0.022,2736,1803,3484,0,0,0,0,0,0
$GC,1275,-1.22,-116.8,139.6,-8.1,123,1280,0.00,2.72,0.00,0.000,4,0.000,0.062,2736,189,3485,0,0,0,0,0,0
$GC,1297,-1.28,-116.8,141.8,-8.3,124,1306,0.00,2.45,0.00,0.000,6,0.000,0.016,2736,1788,3485,0,0,0,0,0,0
$GC,1622,-1.35,-116.8,168.3,-8.1,155,1627,0.15,2.38,0.00,0.000,4,0.065,0.024,2689,3324,3486,0,0,0,0,0,0
$GC,1679,-1.35,-116.8,173.6,-9.3,159,1688,0.00,2.50,0.00,0.000,6,0.000,0.034,2688,1773,3486,0,0,0,0,0,0
$GC,2033,-1.35,-116.8,204.3,-8.8,190,2037,0.00,2.67,0.00,0.000,4,0.000,0.067,2689,199,3486,0,0,0,0,0,0
$GC,2049,-1.35,-116.8,205.8,-8.9,190,2053,0.00,2.40,0.00,0.000,6,0.000,0.015,2688,1788,3486,0,0,0,0,0,0
$GC,2391,-1.35,-116.8,237.8,-9.5,199,2395,0.00,2.40,0.00,0.000,4,0.000,0.031,2688,3316,3486,0,0,0,0,0,0
$GC,2419,-1.35,-116.8,240.4,-9.0,199,2424,0.00,2.42,0.00,0.000,6,0.000,0.029,2688,1792,3486,0,0,0,0,0,0
$GC,2751,-1.35,-116.8,271.3,-9.3,207,2755,0.00,2.40,0.00,0.000,4,0.000,0.030,2689,3317,3486,0,0,0,0,0,0
$GC,2772,-1.35,-116.8,273.4,-9.0,207,2776,0.00,2.45,0.00,0.000,6,0.000,0.036,2688,1798,3486,0,0,0,0,0,0
$GC,3110,-1.35,-116.8,300.2,-7.6,216,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1797,3485,0,0,0,0,0,0
$GC,3433,-1.35,-116.8,328.2,-8.7,224,3438,0.00,2.47,0.00,0.000,4,0.000,0.041,2688,3317,3484,0,0,0,0,0,0
$GC,3461,-1.40,-116.8,330.6,-8.7,224,3466,0.00,2.47,0.00,0.000,6,0.000,0.039,2688,1815,3484,0,0,0,0,0,0
$GC,3793,-1.40,-116.8,359.1,-8.9,232,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1814,3482,0,0,0,0,0,0
$GC,4117,-1.40,-116.8,389.4,-9.4,240,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1814,3481,0,0,0,0,0,0
$GC,4443,-1.43,-116.8,419.1,-9.1,248,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1814,3479,0,0,0,0,0,0
$GC,4770,-1.48,-116.8,449.4,-9.4,256,4774,0.00,2.47,0.00,0.000,4,0.000,0.053,2688,3313,3477,0,0,0,0,0,0
$GC,4797,-1.54,-116.8,452.2,-9.2,256,4802,0.10,2.53,0.00,0.000,6,0.084,0.058,2653,1825,3477,0,0,0,0,0,0
$GC,5128,-1.54,-116.8,486.0,-10.3,264,5132,0.00,2.47,0.00,0.000,4,0.000,0.048,2652,3312,3474,0,0,0,0,0,0
$GC,5145,-1.54,-116.8,487.8,-10.4,264,5149,0.00,2.50,0.00,0.000,6,0.000,0.058,2652,1838,3474,0,0,0,0,0,0
$STATE,5281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5281,begin apogee
$GC,5287,-0.31,0.0,501.6,10.0,268,5389,1.25,0.00,98.95,0.924,6,0.097,0.000,2928,1838,3001,0,0,0,0,0,0
$STATE,5390,end apogee,CONTROL_FINISHED_OK
$STATE,5390,begin climb
$GC,5393,1.38,116.8,504.4,0.0,270,5506,1.55,2.67,101.80,0.904,4,0.047,0.054,3308,3354,2523,0,0,0,0,0,0
$GC,5513,1.38,217.4,505.2,4.2,272,5612,0.00,2.67,89.35,0.884,6,0.000,0.062,3308,1827,2113,0,0,0,0,0,0
$GC,5931,1.30,217.4,460.0,11.1,283,5936,0.12,2.53,0.00,0.000,4,0.130,0.046,3284,3365,2104,0,0,0,0,0,0
$GC,5971,1.31,225.3,455.8,9.6,284,5985,0.00,2.67,6.60,0.695,6,0.000,0.067,3284,1832,2082,0,0,0,0,0,0
$GC,6301,1.33,239.3,424.2,9.2,292,6320,0.00,2.58,14.00,0.803,4,0.000,0.045,3284,3364,2024,0,0,0,0,0,0
$GC,6349,1.33,242.9,419.3,9.8,293,6359,0.00,2.65,4.85,0.607,6,0.000,0.056,3284,1832,2010,0,0,0,0,0,0
$GC,6668,1.35,258.0,389.9,9.2,301,6688,0.00,2.53,15.05,0.798,4,0.000,0.039,3284,3366,1949,0,0,0,0,0,0
$GC,6722,1.35,258.1,384.3,10.0,302,6726,0.00,2.60,0.00,0.000,6,0.000,0.051,3284,1838,1947,0,0,0,0,0,0
$GC,7070,1.35,261.3,350.8,9.9,311,7079,0.00,2.92,4.05,0.545,4,0.000,0.089,3284,234,1935,0,0,0,0,0,0
$GC,7131,1.31,261.3,343.6,12.6,312,7136,0.00,2.50,0.00,0.000,6,0.000,0.024,3284,1810,1934,0,0,0,0,0,0
$GC,7479,1.31,261.3,306.7,10.2,321,7484,0.00,2.55,0.00,0.000,4,0.000,0.032,3284,3404,1933,0,0,0,0,0,0
$GC,7495,1.31,263.5,304.9,9.9,321,7500,0.00,2.62,0.00,0.000,6,0.000,0.044,3284,1832,1932,0,0,0,0,0,0
$GC,7839,1.33,282.4,272.8,9.0,330,7865,0.00,2.88,20.45,0.757,4,0.000,0.076,3284,237,1848,0,0,0,0,0,0
$GC,7928,1.33,282.4,263.6,10.7,332,7932,0.00,2.53,0.00,0.000,6,0.000,0.027,3284,1822,1846,0,0,0,0,0,0
$GC,8249,1.39,293.2,233.9,9.4,340,8261,0.00,0.00,10.77,0.684,6,0.000,0.000,3284,1822,1805,0,0,0,0,0,0
$GC,8571,1.44,293.2,200.9,10.2,348,8573,0.12,0.00,0.00,0.000,6,0.086,0.000,3317,1823,1802,0,0,0,0,0,0
$GC,8891,1.45,303.3,168.7,9.5,375,8909,0.00,2.88,10.12,0.633,4,0.000,0.071,3317,230,1763,0,0,0,0,0,0
$GC,8943,1.40,303.3,163.7,11.4,379,8947,0.00,2.53,0.00,0.000,6,0.000,0.021,3317,1827,1762,0,0,0,0,0,0
$GC,9271,1.41,311.9,132.9,9.5,409,9285,0.00,2.55,9.02,0.591,4,0.000,0.031,3317,3399,1729,0,0,0,0,0,0
$GC,9298,1.44,311.9,129.7,10.1,411,9304,0.00,2.65,0.00,0.000,6,0.000,0.036,3317,1798,1728,0,0,0,0,0,0
$GC,9623,1.49,311.9,97.4,10.1,442,9627,0.00,2.67,0.00,0.000,4,0.000,0.071,3317,241,1727,0,0,0,0,0,0
$GC,9713,1.49,311.9,88.6,10.4,449,9718,0.00,2.47,0.00,0.000,6,0.000,0.021,3316,1827,1726,0,0,0,0,0,0
$GC,10043,1.62,351.7,64.5,7.7,479,10084,0.15,2.53,35.78,0.583,4,0.070,0.033,3359,3387,1565,0,0,0,0,0,0
$GC,10141,1.69,351.7,54.5,10.8,486,10150,0.00,2.62,0.00,0.000,6,0.000,0.036,3359,1813,1564,0,0,0,0,0,0
$GC,10496,1.69,351.7,18.5,11.2,525,10505,0.00,2.72,0.00,0.000,4,0.000,0.064,3359,242,1562,0,0,0,0,0,0
$GC,10570,1.64,351.7,9.1,12.3,535,10579,0.00,2.42,0.00,0.000,6,0.000,0.019,3359,1800,1560,0,0,0,0,0,0
$STATE,10615,end climb,SURFACE_DEPTH_REACHED
$STATE,10615,begin surface coast
$FINISH,0.4,1.017654
$STATE,10657,end surface coast,CONTROL_FINISHED_OK
$STATE,10658,begin surface
$SM_CCo,10681,40.25,0.522,0,0,1370,400.08
$SM_GC,0.94,0.00,0.00,40.25,0.000,0.000,0.522,474,1802,1370,-11.62,0.90,400.08
$IRIDIUM_FIX,2246.36,-15743.68,310100,181824
$TT8_MAMPS,0.026078
$HUMID,56.41
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.70
$XPDR_PINGS,171
$24V_AH,23.3,81.914
$10V_AH,9.9,76.640
$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,27.450,117.900,420.800,40.250,0.000,23.686,39.454,222.747,42.750,0.000,35.118,1059.413,7006.509,490.443,2028.616,599.544,33.370,1236.330,0.000,2011.978,0.000,0.534,0.000
$DEVICE_MAMPS,162.604,88.972,924.235,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.892,304.285,428.427,805.201,1217.856,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,44732,547
$CAP_FILE_SIZE,105157,0
$CFSIZE,260165632,147795968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071110,002337,2255.436,-15743.911,48,1.0,48,10.1