version: 66.06
glider: 146
mission: 5
dive: 592
start: 11 7 110 6 49 44
data:
$ID,146
$MISSION,5
$DIVE,592
$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,-262007.61
$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,39
$R_STBD_OVSHOOT,58
$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
$GPS1,064037,2255.177,-15743.938,67,0.9,67,10.1
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.3
$GPS2,064850,2255.251,-15743.960,11,1.8,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.030,-0.233
$KALMAN_X,-284714.3,-36.3,-408.5,331020.8,-188.7
$KALMAN_Y,-434077.3,-34.9,-5.8,572398.1,1947.4
$MHEAD_RNG_PITCHd_Wd,162.6,12050,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,100,0.00,0.00,-78.57,0.000,2,0.000,0.000,473,1753,3313,0,0,0,0,0,0
$GC,103,-1.38,-116.8,3.3,-5.9,10,129,12.12,2.67,-3.22,0.000,4,0.169,0.071,2689,203,3481,0,0,0,0,0,0
$GC,154,-1.04,-116.8,17.4,-23.1,16,164,0.35,2.42,0.00,0.000,6,0.098,0.016,2765,1780,3482,0,0,0,0,0,0
$GC,507,-1.04,-116.8,56.7,-10.4,53,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1781,3483,0,0,0,0,0,0
$GC,836,-1.12,-116.8,88.9,-8.3,84,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1781,3484,0,0,0,0,0,0
$GC,1167,-1.23,-116.8,115.3,-8.0,115,1171,0.15,2.45,0.00,0.000,4,0.061,0.026,2715,3330,3485,0,0,0,0,0,0
$GC,1235,-1.27,-116.8,121.9,-9.1,120,1239,0.00,2.47,0.00,0.000,6,0.000,0.032,2715,1771,3485,0,0,0,0,0,0
$GC,1559,-1.27,-116.8,151.5,-10.1,150,1564,0.00,2.65,0.00,0.000,4,0.000,0.064,2715,197,3485,0,0,0,0,0,0
$GC,1589,-1.27,-116.8,154.5,-10.1,152,1593,0.00,2.38,0.00,0.000,6,0.000,0.022,2715,1782,3485,0,0,0,0,0,0
$GC,1913,-1.27,-116.8,183.7,-8.2,182,1917,0.00,2.40,0.00,0.000,4,0.000,0.033,2715,3326,3486,0,0,0,0,0,0
$GC,1945,-1.32,-116.8,186.0,-8.2,184,1950,0.00,2.47,0.00,0.000,6,0.000,0.028,2715,1775,3485,0,0,0,0,0,0
$GC,2298,-1.32,-116.8,213.0,-7.6,205,2302,0.00,2.45,0.00,0.000,4,0.000,0.027,2715,3328,3486,0,0,0,0,0,0
$GC,2338,-1.41,-116.8,216.3,-8.4,206,2342,0.00,2.47,0.00,0.000,6,0.000,0.028,2715,1782,3486,0,0,0,0,0,0
$GC,2664,-1.46,-116.8,244.6,-9.2,214,2666,0.15,0.00,0.00,0.000,6,0.065,0.000,2664,1781,3486,0,0,0,0,0,0
$GC,2987,-1.40,-116.8,278.8,-10.3,222,2992,0.15,2.75,0.00,0.000,4,0.107,0.071,2694,197,3485,0,0,0,0,0,0
$GC,3003,-1.40,-116.8,280.5,-9.5,222,3008,0.00,2.42,0.00,0.000,6,0.000,0.025,2695,1755,3485,0,0,0,0,0,0
$GC,3348,-1.40,-116.8,307.7,-7.9,231,3352,0.00,2.55,0.00,0.000,4,0.000,0.041,2695,3347,3484,0,0,0,0,0,0
$GC,3397,-1.48,-116.8,311.9,-7.9,232,3402,0.00,2.53,0.00,0.000,6,0.000,0.043,2695,1805,3484,0,0,0,0,0,0
$GC,3713,-1.51,-116.8,338.4,-9.0,240,3718,0.12,2.88,0.00,0.000,4,0.075,0.083,2653,185,3483,0,0,0,0,0,0
$GC,3724,-1.51,-116.8,339.8,-9.1,240,3728,0.00,2.55,0.00,0.000,6,0.000,0.027,2653,1812,3483,0,0,0,0,0,0
$GC,4072,-1.51,-116.8,374.3,-9.7,249,4076,0.00,2.53,0.00,0.000,4,0.000,0.043,2653,3346,3481,0,0,0,0,0,0
$GC,4128,-1.51,-116.8,379.7,-9.5,250,4133,0.00,2.58,0.00,0.000,6,0.000,0.054,2653,1817,3481,0,0,0,0,0,0
$GC,4476,-1.51,-116.8,413.5,-9.9,259,4481,0.00,3.00,0.00,0.000,4,0.000,0.104,2653,185,3479,0,0,0,0,0,0
$GC,4492,-1.47,-116.8,415.2,-10.0,259,4498,0.12,2.60,0.00,0.000,6,0.117,0.031,2679,1817,3479,0,0,0,0,0,0
$GC,4836,-1.47,-116.8,446.5,-9.3,268,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1817,3477,0,0,0,0,0,0
$GC,5162,-1.47,-116.8,476.3,-8.9,276,5166,0.00,2.58,0.00,0.000,4,0.000,0.062,2679,3359,3475,0,0,0,0,0,0
$GC,5178,-1.51,-116.8,478.0,-8.5,276,5182,0.00,2.60,0.00,0.000,6,0.000,0.055,2679,1821,3475,0,0,0,0,0,0
$STATE,5476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5477,begin apogee
$GC,5484,-0.31,0.0,502.4,8.1,284,5587,1.12,0.00,99.25,0.923,6,0.097,0.000,2929,1821,3000,0,0,0,0,0,0
$STATE,5588,end apogee,CONTROL_FINISHED_OK
$STATE,5588,begin climb
$GC,5590,1.38,116.8,504.0,0.0,286,5703,1.58,3.12,102.93,0.900,4,0.039,0.111,3312,235,2522,0,0,0,0,0,0
$GC,5729,1.17,143.9,500.6,8.5,290,5760,0.28,2.60,24.40,0.860,6,0.116,0.035,3258,1811,2413,0,0,0,0,0,0
$GC,6087,1.21,174.8,470.2,8.3,298,6122,0.00,2.83,27.77,0.865,4,0.000,0.061,3258,3410,2287,0,0,0,0,0,0
$GC,6198,1.25,203.7,461.2,8.4,300,6233,0.00,2.70,27.00,0.861,6,0.000,0.057,3258,1832,2169,0,0,0,0,0,0
$GC,6549,1.29,236.8,432.6,8.1,309,6586,0.10,3.03,30.35,0.857,4,0.100,0.101,3284,233,2033,0,0,0,0,0,0
$GC,6604,1.22,236.8,427.2,10.3,309,6609,0.00,2.60,0.00,0.000,6,0.000,0.026,3283,1836,2031,0,0,0,0,0,0
$GC,6952,1.22,236.8,391.0,10.6,318,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1836,2027,0,0,0,0,0,0
$GC,7278,1.22,236.8,355.7,10.7,326,7283,0.00,2.83,0.00,0.000,4,0.000,0.075,3284,229,2025,0,0,0,0,0,0
$GC,7288,1.22,236.8,354.4,10.6,326,7292,0.00,2.55,0.00,0.000,6,0.000,0.028,3284,1834,2024,0,0,0,0,0,0
$GC,7602,1.23,246.2,323.6,9.5,334,7616,0.00,2.60,7.88,0.711,4,0.000,0.041,3284,3392,1996,0,0,0,0,0,0
$GC,7664,1.29,253.3,317.6,9.6,335,7678,0.00,2.62,8.32,0.708,6,0.000,0.043,3284,1824,1967,0,0,0,0,0,0
$GC,8015,1.29,253.3,282.7,10.1,344,8020,0.00,2.83,0.00,0.000,4,0.000,0.077,3284,232,1964,0,0,0,0,0,0
$GC,8036,1.29,253.3,280.3,10.9,344,8041,0.00,2.58,0.00,0.000,6,0.000,0.023,3284,1854,1963,0,0,0,0,0,0
$GC,8375,1.35,273.8,248.5,8.9,353,8397,0.00,0.00,19.60,0.742,6,0.000,0.000,3284,1856,1884,0,0,0,0,0,0
$GC,8698,1.45,311.4,222.8,7.9,361,8740,0.12,2.90,34.30,0.732,4,0.103,0.068,3316,233,1730,0,0,0,0,0,0
$GC,8773,1.39,311.4,215.3,12.4,362,8778,0.00,2.55,0.00,0.000,6,0.000,0.022,3316,1827,1728,0,0,0,0,0,0
$GC,9096,1.39,313.5,181.1,9.9,381,9101,0.00,2.53,0.00,0.000,4,0.000,0.038,3316,3399,1725,0,0,0,0,0,0
$GC,9120,1.43,313.5,178.6,10.6,382,9125,0.00,2.62,0.00,0.000,6,0.000,0.043,3316,1815,1724,0,0,0,0,0,0
$GC,9448,1.43,313.5,144.9,10.5,413,9453,0.00,2.75,0.00,0.000,4,0.000,0.074,3316,235,1724,0,0,0,0,0,0
$GC,9553,1.38,313.5,133.9,10.7,421,9557,0.00,2.47,0.00,0.000,6,0.000,0.023,3316,1815,1722,0,0,0,0,0,0
$GC,9882,1.44,322.8,103.0,9.5,451,9901,0.00,2.78,10.35,0.581,4,0.000,0.065,3316,246,1683,0,0,0,0,0,0
$GC,9907,1.46,338.9,100.2,9.1,453,9930,0.00,2.42,15.65,0.597,6,0.000,0.024,3316,1795,1619,0,0,0,0,0,0
$GC,10260,1.60,371.4,66.7,8.2,486,10302,0.15,2.78,29.25,0.582,4,0.106,0.062,3358,242,1485,0,0,0,0,0,0
$GC,10321,1.60,371.4,60.6,11.4,490,10325,0.00,2.38,0.00,0.000,6,0.000,0.020,3358,1764,1483,0,0,0,0,0,0
$GC,10672,1.60,371.4,18.7,11.9,527,10681,0.00,2.60,0.00,0.000,4,0.000,0.032,3357,3380,1481,0,0,0,0,0,0
$GC,10700,1.65,371.4,15.6,11.5,530,10709,0.00,2.70,0.00,0.000,6,0.000,0.038,3358,1759,1481,0,0,0,0,0,0
$STATE,10792,end climb,SURFACE_DEPTH_REACHED
$STATE,10792,begin surface coast
$FINISH,0.7,1.023627
$STATE,10843,end surface coast,CONTROL_FINISHED_OK
$STATE,10843,begin surface
$SM_CCo,10865,23.65,0.518,0,0,1369,400.08
$SM_GC,1.00,0.00,0.00,23.65,0.000,0.000,0.518,473,1756,1369,-11.62,-0.40,400.08
$IRIDIUM_FIX,2246.36,-15743.68,010200,030334
$TT8_MAMPS,0.026078
$HUMID,57.95
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.20
$XPDR_PINGS,171
$24V_AH,23.3,82.302
$10V_AH,9.9,77.003
$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,28.325,120.750,437.050,23.650,0.000,27.445,33.540,272.357,42.750,0.000,13.392,1071.135,7125.275,513.343,2013.439,659.884,33.373,1250.303,0.000,2021.796,0.000,0.535,0.000
$DEVICE_MAMPS,168.740,111.215,923.468,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.220,303.923,426.415,805.139,1217.829,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,44778,550
$CAP_FILE_SIZE,106911,0
$CFSIZE,260165632,147619840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071110,095228,2255.400,-15743.811,13,2.4,32,10.1