version: 66.06
glider: 146
mission: 5
dive: 595
start: 11 7 110 16 22 28
data:
$ID,146
$MISSION,5
$DIVE,595
$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,-262138.19
$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,34
$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
$GPS1,161407,2254.805,-15743.647,95,1.0,95,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.5
$GPS2,162132,2254.878,-15743.678,15,1.1,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.034,-0.232
$KALMAN_X,-286198.5,-325.2,-209.0,333076.7,-220.4
$KALMAN_Y,-428168.4,229.5,-365.0,565891.0,1880.7
$MHEAD_RNG_PITCHd_Wd,161.6,11256,-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,-78.88,0.000,2,0.000,0.000,475,1748,3310,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.2,-5.6,10,128,12.18,2.65,-3.15,0.000,4,0.172,0.063,2685,201,3480,0,0,0,0,0,0
$GC,178,-1.24,-116.8,22.4,-17.6,20,187,0.17,2.45,0.00,0.000,6,0.104,0.016,2724,1799,3482,0,0,0,0,0,0
$GC,522,-1.17,-116.8,63.1,-12.3,55,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1801,3483,0,0,0,0,0,0
$GC,847,-1.17,-116.8,103.5,-10.6,86,851,0.00,2.38,0.00,0.000,4,0.000,0.025,2724,3316,3484,0,0,0,0,0,0
$GC,881,-1.24,-116.8,107.0,-10.0,88,890,0.00,2.50,0.00,0.000,6,0.000,0.031,2724,1772,3484,0,0,0,0,0,0
$GC,1209,-1.24,-116.8,137.1,-8.6,119,1214,0.00,2.67,0.00,0.000,4,0.000,0.064,2724,192,3485,0,0,0,0,0,0
$GC,1226,-1.24,-116.8,138.9,-8.9,120,1230,0.00,2.33,0.00,0.000,6,0.000,0.015,2724,1753,3485,0,0,0,0,0,0
$GC,1551,-1.28,-116.8,164.5,-7.6,150,1556,0.00,2.45,0.00,0.000,4,0.000,0.030,2724,3323,3485,0,0,0,0,0,0
$GC,1607,-1.37,-116.8,168.2,-7.3,154,1612,0.00,2.45,0.00,0.000,6,0.000,0.030,2724,1769,3485,0,0,0,0,0,0
$GC,1938,-1.42,-116.8,194.5,-9.1,184,1943,0.15,2.67,0.00,0.000,4,0.064,0.067,2672,193,3486,0,0,0,0,0,0
$GC,1955,-1.42,-116.8,196.8,-9.8,185,1960,0.00,2.40,0.00,0.000,6,0.000,0.017,2672,1786,3486,0,0,0,0,0,0
$GC,2280,-1.38,-116.8,227.7,-8.4,195,2285,0.12,2.72,0.00,0.000,4,0.112,0.063,2698,196,3486,0,0,0,0,0,0
$GC,2296,-1.38,-116.8,229.3,-8.3,195,2301,0.00,2.38,0.00,0.000,6,0.000,0.016,2698,1774,3486,0,0,0,0,0,0
$GC,2640,-1.38,-116.8,257.7,-8.6,204,2645,0.00,2.42,0.00,0.000,4,0.000,0.028,2698,3325,3486,0,0,0,0,0,0
$GC,2674,-1.43,-116.8,260.8,-8.7,204,2680,0.00,2.47,0.00,0.000,6,0.000,0.031,2697,1781,3486,0,0,0,0,0,0
$GC,3005,-1.43,-116.8,288.8,-8.3,213,3010,0.00,2.50,0.00,0.000,4,0.000,0.032,2698,3330,3485,0,0,0,0,0,0
$GC,3041,-1.51,-116.8,291.7,-8.3,213,3047,0.12,2.50,0.00,0.000,6,0.073,0.041,2652,1799,3485,0,0,0,0,0,0
$GC,3373,-1.46,-116.8,323.9,-9.9,222,3374,0.12,0.00,0.00,0.000,6,0.115,0.000,2679,1799,3484,0,0,0,0,0,0
$GC,3697,-1.46,-116.8,354.0,-9.7,230,3701,0.00,2.45,0.00,0.000,4,0.000,0.037,2679,3320,3482,0,0,0,0,0,0
$GC,3720,-1.46,-116.8,356.3,-10.2,230,3724,0.00,2.50,0.00,0.000,6,0.000,0.045,2679,1813,3482,0,0,0,0,0,0
$GC,4056,-1.46,-116.8,389.6,-10.0,239,4061,0.00,2.92,0.00,0.000,4,0.000,0.091,2679,186,3481,0,0,0,0,0,0
$GC,4072,-1.46,-116.8,391.3,-10.3,239,4076,0.00,2.50,0.00,0.000,6,0.000,0.029,2679,1786,3481,0,0,0,0,0,0
$GC,4417,-1.46,-116.8,425.5,-9.8,248,4421,0.00,2.58,0.00,0.000,4,0.000,0.049,2679,3355,3478,0,0,0,0,0,0
$GC,4438,-1.46,-116.8,427.8,-9.4,248,4442,0.00,2.60,0.00,0.000,6,0.000,0.058,2679,1819,3478,0,0,0,0,0,0
$GC,4774,-1.46,-116.8,458.5,-9.1,257,4779,0.00,3.05,0.00,0.000,4,0.000,0.110,2679,185,3476,0,0,0,0,0,0
$GC,4792,-1.46,-116.8,460.1,-9.3,257,4797,0.00,2.62,0.00,0.000,6,0.000,0.035,2679,1812,3477,0,0,0,0,0,0
$GC,5134,-1.46,-116.8,493.5,-9.9,266,5138,0.00,2.58,0.00,0.000,4,0.000,0.061,2679,3353,3474,0,0,0,0,0,0
$GC,5144,-1.46,-116.8,494.6,-9.9,266,5148,0.00,2.60,0.00,0.000,6,0.000,0.055,2679,1818,3474,0,0,0,0,0,0
$STATE,5204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5205,begin apogee
$GC,5212,-0.31,0.0,500.7,9.8,268,5313,1.15,0.00,97.88,0.922,6,0.085,0.000,2932,1818,3001,0,0,0,0,0,0
$STATE,5314,end apogee,CONTROL_FINISHED_OK
$STATE,5314,begin climb
$GC,5317,1.38,116.8,503.7,0.0,270,5429,1.55,2.75,101.75,0.899,4,0.044,0.051,3309,3403,2523,0,0,0,0,0,0
$GC,5487,1.32,166.4,501.9,7.2,274,5538,0.00,2.72,43.45,0.886,6,0.000,0.058,3309,1822,2322,0,0,0,0,0,0
$GC,5864,1.23,175.7,466.1,9.5,284,5879,0.20,2.70,8.32,0.759,4,0.114,0.046,3269,3404,2283,0,0,0,0,0,0
$GC,5972,1.25,192.7,456.3,9.1,286,5997,0.00,2.72,16.55,0.835,6,0.000,0.055,3269,1829,2214,0,0,0,0,0,0
$GC,6323,1.28,220.9,425.7,8.4,295,6354,0.00,2.65,26.12,0.846,4,0.000,0.037,3269,3407,2099,0,0,0,0,0,0
$GC,6384,1.32,221.8,420.2,10.0,296,6389,0.00,2.72,0.00,0.000,6,0.000,0.057,3269,1842,2097,0,0,0,0,0,0
$GC,6726,1.35,243.7,389.5,8.8,305,6755,0.10,2.62,21.30,0.819,4,0.093,0.034,3297,3418,2006,0,0,0,0,0,0
$GC,6790,1.35,243.7,383.1,10.7,306,6795,0.00,2.70,0.00,0.000,6,0.000,0.058,3296,1845,2004,0,0,0,0,0,0
$GC,7132,1.35,243.7,347.0,10.4,315,7136,0.00,2.95,0.00,0.000,4,0.000,0.091,3297,227,2001,0,0,0,0,0,0
$GC,7173,1.25,243.7,342.7,12.2,316,7179,0.12,2.60,0.00,0.000,6,0.123,0.027,3272,1848,1999,0,0,0,0,0,0
$GC,7499,1.28,268.4,313.3,8.6,324,7529,0.00,2.60,22.85,0.781,4,0.000,0.037,3272,3397,1905,0,0,0,0,0,0
$GC,7558,1.40,284.2,308.0,9.1,325,7580,0.15,2.62,15.62,0.749,6,0.075,0.049,3312,1831,1841,0,0,0,0,0,0
$GC,7906,1.40,284.2,270.2,11.3,333,7910,0.00,2.53,0.00,0.000,4,0.000,0.036,3312,3404,1837,0,0,0,0,0,0
$GC,7957,1.46,284.2,264.2,11.0,334,7961,0.00,2.55,0.00,0.000,6,0.000,0.046,3312,1853,1835,0,0,0,0,0,0
$GC,8271,1.46,286.6,232.8,9.9,342,8276,0.00,2.85,0.00,0.000,4,0.000,0.079,3312,236,1834,0,0,0,0,0,0
$GC,8321,1.40,286.6,226.7,12.3,343,8325,0.00,2.58,0.00,0.000,6,0.000,0.028,3312,1869,1833,0,0,0,0,0,0
$GC,8635,1.40,286.6,195.3,10.4,354,8640,0.00,2.85,0.00,0.000,4,0.000,0.073,3312,237,1833,0,0,0,0,0,0
$GC,8703,1.35,286.6,187.7,11.8,359,8707,0.00,2.53,0.00,0.000,6,0.000,0.025,3312,1839,1832,0,0,0,0,0,0
$GC,9028,1.38,309.0,157.6,8.7,389,9055,0.00,2.58,21.77,0.659,4,0.000,0.035,3312,3397,1740,0,0,0,0,0,0
$GC,9099,1.48,323.7,151.3,9.2,395,9124,0.00,2.60,14.60,0.629,6,0.000,0.037,3312,1826,1680,0,0,0,0,0,0
$GC,9445,1.52,323.7,116.8,10.4,427,9449,0.00,2.75,0.00,0.000,4,0.000,0.067,3312,241,1677,0,0,0,0,0,0
$GC,9488,1.52,323.7,111.0,12.0,430,9498,0.00,2.50,0.00,0.000,6,0.000,0.021,3312,1819,1676,0,0,0,0,0,0
$GC,9819,1.66,372.8,82.5,7.2,461,9870,0.20,2.78,42.60,0.606,4,0.064,0.063,3366,240,1480,0,0,0,0,0,0
$GC,9887,1.66,372.8,75.6,11.1,466,9892,0.00,2.45,0.00,0.000,6,0.000,0.020,3366,1793,1479,0,0,0,0,0,0
$GC,10216,1.66,372.8,37.5,10.3,496,10220,0.00,2.53,0.00,0.000,4,0.000,0.031,3365,3384,1478,0,0,0,0,0,0
$GC,10261,1.72,372.8,32.1,12.9,499,10266,0.00,2.62,0.00,0.000,6,0.000,0.037,3365,1790,1476,0,0,0,0,0,0
$STATE,10521,end climb,SURFACE_DEPTH_REACHED
$STATE,10521,begin surface coast
$FINISH,0.4,1.022455
$STATE,10564,end surface coast,CONTROL_FINISHED_OK
$STATE,10564,begin surface
$SM_CCo,10587,22.85,0.520,0,0,1370,400.08
$SM_GC,1.08,0.00,0.00,22.85,0.000,0.000,0.520,474,1787,1370,-11.62,0.48,400.08
$IRIDIUM_FIX,2246.36,-15745.85,010200,131343
$TT8_MAMPS,0.026078
$HUMID,57.71
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.30
$XPDR_PINGS,170
$24V_AH,23.3,82.692
$10V_AH,9.8,77.370
$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,28.200,135.400,432.825,22.850,0.000,28.956,34.889,216.903,42.500,0.000,16.569,1071.645,6851.522,496.826,2022.347,613.685,33.396,1258.388,0.000,2029.364,0.000,0.534,0.000
$DEVICE_MAMPS,171.808,110.448,921.934,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.676,309.855,420.451,781.697,1182.795,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,41642,541
$CAP_FILE_SIZE,109487,0
$CFSIZE,260165632,147443712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071110,192028,2255.076,-15743.393,9,3.0,28,10.1