version: 66.06
glider: 146
mission: 5
dive: 594
start: 11 7 110 13 13 20
data:
$ID,146
$MISSION,5
$DIVE,594
$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,-262121
$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,32
$R_STBD_OVSHOOT,60
$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
$GPS1,125925,2254.934,-15743.865,49,99.0,68,10.1
$_CALLS,2
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.1
$GPS2,131225,2254.948,-15743.939,57,1.2,57,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.123,-0.200
$KALMAN_X,-285810.9,-481.2,346.6,331844.3,-855.0
$KALMAN_Y,-430312.4,-29.8,228.9,567838.7,753.0
$MHEAD_RNG_PITCHd_Wd,138.2,11503,-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,-78.32,0.000,2,0.000,0.000,472,1757,3344,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.7,-7.6,10,127,12.25,2.72,-2.60,0.000,4,0.172,0.075,2691,197,3481,0,0,0,0,0,0
$GC,158,-1.22,-116.8,18.4,-17.7,17,168,0.15,2.45,0.00,0.000,6,0.094,0.018,2726,1774,3482,0,0,0,0,0,0
$GC,516,-1.15,-116.8,63.4,-13.3,55,526,0.10,0.00,0.00,0.000,6,0.133,0.000,2746,1775,3482,0,0,0,0,0,0
$GC,844,-1.19,-116.8,102.8,-10.4,86,848,0.00,2.67,0.00,0.000,4,0.000,0.063,2746,200,3483,0,0,0,0,0,0
$GC,879,-1.24,-116.8,106.7,-10.9,88,888,0.00,2.42,0.00,0.000,6,0.000,0.023,2746,1787,3483,0,0,0,0,0,0
$GC,1208,-1.32,-116.8,133.6,-8.0,119,1213,0.15,2.40,0.00,0.000,4,0.064,0.031,2699,3322,3484,0,0,0,0,0,0
$GC,1278,-1.32,-116.8,140.5,-9.0,124,1287,0.00,2.45,0.00,0.000,6,0.000,0.032,2698,1796,3484,0,0,0,0,0,0
$GC,1602,-1.32,-116.8,169.4,-8.9,155,1607,0.00,2.40,0.00,0.000,4,0.000,0.030,2698,3324,3484,0,0,0,0,0,0
$GC,1626,-1.32,-116.8,171.5,-9.2,156,1635,0.00,2.45,0.00,0.000,6,0.000,0.028,2698,1800,3485,0,0,0,0,0,0
$GC,1954,-1.32,-116.8,200.3,-9.5,187,1959,0.00,2.72,0.00,0.000,4,0.000,0.069,2698,192,3485,0,0,0,0,0,0
$GC,1998,-1.32,-116.8,205.4,-11.4,188,2002,0.00,2.40,0.00,0.000,6,0.000,0.023,2698,1787,3485,0,0,0,0,0,0
$GC,2319,-1.32,-116.8,234.9,-8.9,196,2323,0.00,2.45,0.00,0.000,4,0.000,0.030,2698,3330,3485,0,0,0,0,0,0
$GC,2369,-1.39,-116.8,239.1,-8.4,197,2373,0.00,2.45,0.00,0.000,6,0.000,0.031,2698,1802,3485,0,0,0,0,0,0
$GC,2683,-1.39,-116.8,263.6,-8.0,205,2688,0.00,2.78,0.00,0.000,4,0.000,0.071,2698,189,3484,0,0,0,0,0,0
$GC,2715,-1.39,-116.8,266.9,-10.3,205,2721,0.00,2.50,0.00,0.000,6,0.000,0.025,2698,1799,3484,0,0,0,0,0,0
$GC,3047,-1.39,-116.8,295.9,-9.1,214,3051,0.00,2.47,0.00,0.000,4,0.000,0.041,2698,3352,3483,0,0,0,0,0,0
$GC,3093,-1.47,-116.8,299.8,-8.3,215,3098,0.00,2.53,0.00,0.000,6,0.000,0.037,2699,1800,3483,0,0,0,0,0,0
$GC,3411,-1.47,-116.8,324.8,-7.6,223,3416,0.00,2.83,0.00,0.000,4,0.000,0.087,2698,192,3481,0,0,0,0,0,0
$GC,3461,-1.52,-116.8,329.0,-8.2,224,3467,0.12,2.53,0.00,0.000,6,0.073,0.023,2654,1795,3481,0,0,0,0,0,0
$GC,3777,-1.47,-116.8,357.9,-9.8,232,3782,0.12,2.55,0.00,0.000,4,0.120,0.045,2679,3354,3480,0,0,0,0,0,0
$GC,3849,-1.53,-116.8,365.0,-8.6,233,3854,0.00,2.55,0.00,0.000,6,0.000,0.044,2679,1816,3480,0,0,0,0,0,0
$GC,4182,-1.53,-116.8,396.5,-9.9,241,4187,0.00,2.95,0.00,0.000,4,0.000,0.091,2679,188,3477,0,0,0,0,0,0
$GC,4198,-1.53,-116.8,398.5,-9.7,241,4203,0.00,2.58,0.00,0.000,6,0.000,0.029,2679,1816,3477,0,0,0,0,0,0
$GC,4540,-1.53,-116.8,432.2,-10.0,250,4544,0.00,2.55,0.00,0.000,4,0.000,0.049,2679,3355,3475,0,0,0,0,0,0
$GC,4581,-1.60,-116.8,436.3,-10.3,251,4587,0.12,2.62,0.00,0.000,6,0.073,0.061,2636,1808,3475,0,0,0,0,0,0
$GC,4906,-1.54,-116.8,469.3,-9.4,259,4912,0.12,3.05,0.00,0.000,4,0.117,0.114,2662,179,3473,0,0,0,0,0,0
$GC,4932,-1.51,-116.8,471.4,-9.1,259,4937,0.00,2.60,0.00,0.000,6,0.000,0.038,2662,1800,3473,0,0,0,0,0,0
$GC,5269,-1.51,-116.8,497.8,-7.9,268,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1800,3470,0,0,0,0,0,0
$STATE,5307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5307,begin apogee
$GC,5313,-0.31,0.0,501.2,8.1,269,5415,1.23,0.00,98.88,0.917,6,0.084,0.000,2931,1800,3001,0,0,0,0,0,0
$STATE,5416,end apogee,CONTROL_FINISHED_OK
$STATE,5416,begin climb
$GC,5420,1.38,116.8,503.2,0.0,271,5533,1.55,2.80,102.28,0.900,4,0.037,0.058,3309,3411,2523,0,0,0,0,0,0
$GC,5572,1.34,190.3,501.9,5.8,275,5643,0.00,2.72,65.18,0.884,6,0.000,0.054,3309,1818,2225,0,0,0,0,0,0
$GC,5956,1.26,202.3,467.3,9.3,285,5973,0.17,2.67,10.70,0.783,4,0.166,0.041,3275,3414,2176,0,0,0,0,0,0
$GC,6025,1.29,222.4,461.2,8.9,286,6050,0.00,2.72,19.62,0.833,6,0.000,0.057,3275,1829,2094,0,0,0,0,0,0
$GC,6366,1.30,228.4,428.9,9.7,295,6374,0.00,0.00,6.18,0.683,6,0.000,0.000,3275,1828,2069,0,0,0,0,0,0
$GC,6688,1.30,228.4,395.3,10.4,303,6693,0.00,2.60,0.00,0.000,4,0.000,0.038,3275,3414,2065,0,0,0,0,0,0
$GC,6734,1.35,228.4,390.7,10.8,304,6739,0.00,2.72,0.00,0.000,6,0.000,0.060,3275,1830,2064,0,0,0,0,0,0
$GC,7052,1.36,241.3,360.4,9.3,312,7071,0.00,3.00,12.57,0.778,4,0.000,0.090,3275,229,2017,0,0,0,0,0,0
$GC,7085,1.37,246.5,357.3,9.7,312,7099,0.10,2.60,6.32,0.665,6,0.100,0.021,3301,1850,1996,0,0,0,0,0,0
$GC,7426,1.39,258.8,324.8,9.3,321,7445,0.00,2.58,12.70,0.758,4,0.000,0.036,3301,3392,1945,0,0,0,0,0,0
$GC,7503,1.39,258.8,317.0,10.7,322,7507,0.00,2.60,0.00,0.000,6,0.000,0.049,3301,1847,1943,0,0,0,0,0,0
$GC,7834,1.39,258.8,280.6,11.6,330,7838,0.00,2.88,0.00,0.000,4,0.000,0.083,3301,229,1941,0,0,0,0,0,0
$GC,7883,1.33,258.8,273.7,13.5,331,7888,0.00,2.60,0.00,0.000,6,0.000,0.029,3301,1856,1940,0,0,0,0,0,0
$GC,8199,1.33,258.8,239.7,10.2,339,8203,0.00,2.50,0.00,0.000,4,0.000,0.040,3301,3404,1939,0,0,0,0,0,0
$GC,8243,1.40,272.5,235.5,9.2,340,8262,0.00,2.58,13.15,0.706,6,0.000,0.042,3301,1852,1889,0,0,0,0,0,0
$GC,8605,1.42,289.4,204.6,9.1,349,8629,0.00,2.88,16.17,0.691,4,0.000,0.076,3301,241,1820,0,0,0,0,0,0
$GC,8659,1.38,289.4,198.9,11.6,350,8664,0.00,2.58,0.00,0.000,6,0.000,0.021,3301,1860,1819,0,0,0,0,0,0
$GC,8991,1.42,291.4,164.7,9.9,379,8995,0.00,2.85,0.00,0.000,4,0.000,0.069,3301,234,1817,0,0,0,0,0,0
$GC,9034,1.42,291.4,159.8,10.9,382,9038,0.00,2.53,0.00,0.000,6,0.000,0.025,3301,1832,1815,0,0,0,0,0,0
$GC,9361,1.50,313.3,130.4,8.8,412,9389,0.10,2.58,21.92,0.642,4,0.095,0.031,3329,3386,1722,0,0,0,0,0,0
$GC,9457,1.56,313.3,120.6,10.4,420,9461,0.00,2.53,0.00,0.000,6,0.000,0.036,3329,1846,1720,0,0,0,0,0,0
$GC,9782,1.61,317.0,88.1,9.8,450,9797,0.00,2.83,4.30,0.434,4,0.000,0.071,3329,243,1707,0,0,0,0,0,0
$GC,9814,1.61,317.0,84.9,10.5,452,9823,0.00,2.55,0.00,0.000,6,0.000,0.027,3329,1854,1707,0,0,0,0,0,0
$GC,10142,1.71,356.8,59.1,7.7,483,10185,0.17,2.53,35.67,0.579,4,0.069,0.030,3377,3398,1545,0,0,0,0,0,0
$GC,10215,1.71,356.8,51.1,13.2,488,10224,0.00,2.60,0.00,0.000,6,0.000,0.035,3376,1841,1543,0,0,0,0,0,0
$GC,10585,1.66,356.8,7.1,12.7,532,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1841,1542,0,0,0,0,0,0
$STATE,10608,end climb,SURFACE_DEPTH_REACHED
$STATE,10609,begin surface coast
$FINISH,0.5,1.012626
$STATE,10651,end surface coast,CONTROL_FINISHED_OK
$STATE,10651,begin surface
$SM_CCo,10673,35.72,0.521,0,0,1369,400.08
$SM_GC,1.15,0.00,0.00,35.72,0.000,0.000,0.521,476,1750,1369,-11.62,-0.57,400.08
$IRIDIUM_FIX,2244.02,-15743.68,010200,131345
$TT8_MAMPS,0.026078
$HUMID,57.20
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.80
$XPDR_PINGS,160
$24V_AH,23.3,82.565
$10V_AH,9.8,77.249
$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,28.325,131.200,425.650,35.725,0.000,55.357,76.858,379.007,40.000,0.000,58.578,1081.371,6901.256,505.645,2149.580,854.406,33.370,1303.514,0.000,2112.085,0.000,0.534,0.000
$DEVICE_MAMPS,171.808,113.516,917.332,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.552,299.974,419.639,798.799,1208.125,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355436
$DATA_FILE_SIZE,41565,541
$CAP_FILE_SIZE,115636,0
$CFSIZE,260165632,147496960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071110,161407,2254.805,-15743.647,95,1.0,95,10.1