version: 66.06
glider: 146
mission: 5
dive: 591
start: 11 7 110 3 45 0
data:
$ID,146
$MISSION,5
$DIVE,591
$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,-261993.59
$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,43
$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
$GPS1,033524,2255.093,-15743.913,38,1.5,38,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.3
$GPS2,034407,2255.146,-15743.957,21,1.5,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.107,-0.209
$KALMAN_X,-284108.7,260.6,-245.7,329963.0,-849.9
$KALMAN_Y,-436208.1,202.6,-352.9,574442.1,1348.0
$MHEAD_RNG_PITCHd_Wd,142.8,11863,-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,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.12,0.000,2,0.000,0.000,474,1748,3301,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.4,-6.1,10,127,12.02,2.62,-3.35,0.000,4,0.165,0.066,2690,215,3481,0,0,0,0,0,0
$GC,171,-1.27,-116.8,22.3,-19.0,19,181,0.12,2.45,0.00,0.000,6,0.099,0.017,2719,1794,3483,0,0,0,0,0,0
$GC,519,-1.19,-116.8,69.2,-13.2,54,524,0.10,2.67,0.00,0.000,4,0.137,0.054,2738,210,3483,0,0,0,0,0,0
$GC,531,-1.10,-116.8,71.6,-13.3,54,541,0.05,2.40,0.00,0.000,6,0.112,0.016,2751,1783,3483,0,0,0,0,0,0
$GC,860,-1.16,-116.8,105.5,-8.1,85,864,0.00,2.40,0.00,0.000,4,0.000,0.026,2752,3315,3484,0,0,0,0,0,0
$GC,894,-1.26,-116.8,108.7,-7.9,87,900,0.12,2.45,0.00,0.000,6,0.070,0.033,2706,1768,3484,0,0,0,0,0,0
$GC,1218,-1.26,-116.8,140.8,-10.9,118,1222,0.00,2.42,0.00,0.000,4,0.000,0.024,2706,3311,3485,0,0,0,0,0,0
$GC,1285,-1.33,-116.8,147.7,-10.5,123,1290,0.00,2.42,0.00,0.000,6,0.000,0.033,2706,1785,3485,0,0,0,0,0,0
$GC,1611,-1.33,-116.8,177.9,-7.7,153,1615,0.00,2.70,0.00,0.000,4,0.000,0.067,2705,194,3487,0,0,0,0,0,0
$GC,1631,-1.33,-116.8,179.2,-7.7,154,1636,0.00,2.40,0.00,0.000,6,0.000,0.021,2705,1797,3487,0,0,0,0,0,0
$GC,1984,-1.33,-116.8,208.3,-9.0,181,1988,0.00,2.38,0.00,0.000,4,0.000,0.028,2705,3323,3486,0,0,0,0,0,0
$GC,2029,-1.40,-116.8,212.7,-9.8,182,2033,0.00,2.45,0.00,0.000,6,0.000,0.035,2705,1792,3486,0,0,0,0,0,0
$GC,2347,-1.40,-116.8,246.5,-11.2,190,2352,0.00,2.75,0.00,0.000,4,0.000,0.067,2705,194,3487,0,0,0,0,0,0
$GC,2364,-1.40,-116.8,248.4,-11.1,190,2368,0.00,2.45,0.00,0.000,6,0.000,0.020,2705,1784,3486,0,0,0,0,0,0
$GC,2707,-1.44,-116.8,279.9,-8.4,199,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1784,3486,0,0,0,0,0,0
$GC,3031,-1.49,-116.8,306.3,-8.5,207,3036,0.12,2.50,0.00,0.000,4,0.069,0.035,2658,3337,3486,0,0,0,0,0,0
$GC,3066,-1.49,-116.8,310.0,-11.5,207,3071,0.00,2.53,0.00,0.000,6,0.000,0.044,2658,1796,3485,0,0,0,0,0,0
$GC,3397,-1.49,-116.8,347.2,-11.5,216,3401,0.00,2.88,0.00,0.000,4,0.000,0.090,2658,181,3484,0,0,0,0,0,0
$GC,3429,-1.49,-116.8,351.3,-12.5,216,3435,0.00,2.50,0.00,0.000,6,0.000,0.023,2658,1771,3484,0,0,0,0,0,0
$GC,3762,-1.49,-116.8,384.8,-9.6,225,3766,0.00,2.60,0.00,0.000,4,0.000,0.044,2658,3357,3482,0,0,0,0,0,0
$GC,3783,-1.49,-116.8,387.2,-10.0,225,3788,0.00,2.65,0.00,0.000,6,0.000,0.055,2658,1790,3482,0,0,0,0,0,0
$GC,4119,-1.49,-116.8,421.7,-10.6,234,4124,0.00,2.92,0.00,0.000,4,0.000,0.102,2658,181,3481,0,0,0,0,0,0
$GC,4153,-1.49,-116.8,425.7,-12.1,234,4159,0.00,2.55,0.00,0.000,6,0.000,0.032,2658,1779,3481,0,0,0,0,0,0
$GC,4484,-1.49,-116.8,461.0,-10.5,243,4489,0.00,2.65,0.00,0.000,4,0.000,0.053,2658,3350,3478,0,0,0,0,0,0
$GC,4524,-1.53,-116.8,465.2,-10.6,244,4528,0.00,2.67,0.00,0.000,6,0.000,0.055,2658,1783,3478,0,0,0,0,0,0
$GC,4849,-1.53,-116.8,496.3,-9.6,252,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1783,3476,0,0,0,0,0,0
$STATE,4885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4885,begin apogee
$GC,4891,-0.31,0.0,500.1,9.5,253,4994,1.25,0.00,99.40,0.917,6,0.086,0.000,2932,1783,3001,0,0,0,0,0,0
$STATE,4995,end apogee,CONTROL_FINISHED_OK
$STATE,4995,begin climb
$GC,4997,1.38,116.8,502.4,0.0,255,5105,1.52,0.00,102.53,0.891,6,0.036,0.000,3307,1783,2524,0,0,0,0,0,0
$GC,5405,1.32,173.4,483.6,6.8,265,5460,0.00,2.80,49.33,0.882,4,0.000,0.050,3307,3404,2294,0,0,0,0,0,0
$GC,5517,1.25,176.4,474.1,9.9,267,5523,0.17,2.72,0.00,0.000,6,0.120,0.062,3273,1823,2289,0,0,0,0,0,0
$GC,5848,1.28,199.0,445.1,8.7,275,5873,0.00,0.00,23.20,0.854,6,0.000,0.000,3273,1823,2189,0,0,0,0,0,0
$GC,6173,1.30,216.8,415.3,9.0,283,6197,0.00,2.72,16.52,0.827,4,0.000,0.042,3273,3415,2116,0,0,0,0,0,0
$GC,6210,1.33,245.0,412.0,8.4,283,6245,0.00,2.78,27.08,0.833,6,0.000,0.055,3273,1816,2002,0,0,0,0,0,0
$GC,6584,1.33,245.0,374.5,10.3,293,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,1816,1995,0,0,0,0,0,0
$GC,6909,1.34,248.2,342.6,9.9,301,6914,0.00,2.60,0.00,0.000,4,0.000,0.031,3273,3413,1993,0,0,0,0,0,0
$GC,6942,1.39,248.2,339.1,10.2,301,6948,0.12,2.70,0.00,0.000,6,0.087,0.046,3305,1817,1992,0,0,0,0,0,0
$GC,7273,1.40,253.9,305.3,9.7,310,7288,0.00,2.90,7.95,0.692,4,0.000,0.085,3305,237,1965,0,0,0,0,0,0
$GC,7313,1.32,253.9,301.3,10.9,310,7318,0.00,2.53,0.00,0.000,6,0.000,0.021,3305,1828,1964,0,0,0,0,0,0
$GC,7644,1.33,262.0,269.7,9.6,319,7658,0.00,2.60,8.50,0.678,4,0.000,0.040,3305,3394,1933,0,0,0,0,0,0
$GC,7720,1.36,280.3,262.2,9.0,320,7745,0.00,2.60,18.27,0.732,6,0.000,0.044,3305,1830,1858,0,0,0,0,0,0
$GC,8063,1.36,283.6,228.8,9.9,329,8067,0.00,2.80,0.00,0.000,4,0.000,0.075,3305,236,1853,0,0,0,0,0,0
$GC,8095,1.29,283.6,224.8,11.1,329,8102,0.12,2.55,0.00,0.000,6,0.123,0.026,3281,1849,1852,0,0,0,0,0,0
$GC,8409,1.38,304.0,196.8,8.9,339,8436,0.00,2.55,21.73,0.691,4,0.000,0.038,3281,3387,1761,0,0,0,0,0,0
$GC,8449,1.51,334.4,193.3,8.3,342,8484,0.15,2.60,28.62,0.686,6,0.044,0.044,3326,1845,1637,0,0,0,0,0,0
$GC,8802,1.51,334.4,155.8,11.9,375,8807,0.00,2.80,0.00,0.000,4,0.000,0.074,3327,240,1631,0,0,0,0,0,0
$GC,8846,1.51,334.4,150.0,13.0,378,8856,0.00,2.53,0.00,0.000,6,0.000,0.026,3326,1831,1630,0,0,0,0,0,0
$GC,9175,1.51,334.4,114.8,10.9,409,9180,0.00,2.50,0.00,0.000,4,0.000,0.029,3327,3390,1629,0,0,0,0,0,0
$GC,9208,1.57,334.4,111.1,11.7,411,9212,0.00,2.55,0.00,0.000,6,0.000,0.038,3326,1841,1628,0,0,0,0,0,0
$GC,9536,1.63,334.4,73.2,10.5,441,9542,0.12,2.75,0.00,0.000,4,0.077,0.064,3361,241,1628,0,0,0,0,0,0
$GC,9606,1.56,334.4,65.9,10.1,446,9611,0.10,2.50,0.00,0.000,6,0.133,0.020,3341,1849,1628,0,0,0,0,0,0
$GC,9935,1.57,346.8,38.4,9.3,476,9953,0.00,2.83,10.70,0.520,4,0.000,0.058,3341,241,1586,0,0,0,0,0,0
$GC,9965,1.57,348.1,35.5,10.0,478,9969,0.00,2.50,0.00,0.000,6,0.000,0.019,3341,1842,1585,0,0,0,0,0,0
$STATE,10317,end climb,SURFACE_DEPTH_REACHED
$STATE,10317,begin surface coast
$FINISH,0.5,1.010988
$STATE,10360,end surface coast,CONTROL_FINISHED_OK
$STATE,10360,begin surface
$SM_CCo,10382,45.28,0.525,0,0,1370,400.08
$SM_GC,0.88,0.00,0.00,45.28,0.000,0.000,0.525,473,1753,1370,-11.62,-0.48,400.08
$IRIDIUM_FIX,2244.02,-15745.85,010200,000054
$TT8_MAMPS,0.025311
$HUMID,56.77
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.80
$XPDR_PINGS,176
$24V_AH,23.3,82.171
$10V_AH,9.8,76.880
$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,27.800,119.950,413.825,45.275,0.000,22.416,37.860,281.090,44.000,0.000,33.738,1031.950,6771.044,512.227,1969.467,664.302,33.378,1208.352,0.000,1962.599,0.000,0.534,0.000
$DEVICE_MAMPS,164.905,102.011,917.332,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.798,309.093,415.873,797.769,1208.200,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,41494,531
$CAP_FILE_SIZE,102973,0
$CFSIZE,260165632,147681280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071110,064037,2255.177,-15743.938,67,0.9,67,10.1