version: 66.06
glider: 146
mission: 5
dive: 596
start: 11 7 110 19 35 57
data:
$ID,146
$MISSION,5
$DIVE,596
$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,-262180.66
$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,55
$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
$GPS1,192028,2255.076,-15743.393,9,3.0,28,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.6
$GPS2,193503,2255.323,-15743.435,20,99.0,39,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.063,-0.226
$KALMAN_X,-286359.6,26.8,-330.8,333424.5,670.3
$KALMAN_Y,-425847.2,514.6,116.5,563625.4,2056.1
$MHEAD_RNG_PITCHd_Wd,185.5,11962,-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,-78.38,0.000,2,0.000,0.000,474,1785,3338,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.5,-6.4,10,128,12.20,2.75,-2.62,0.000,4,0.171,0.066,2690,197,3480,0,0,0,0,0,0
$GC,172,-1.28,-116.8,20.3,-13.2,19,181,0.10,2.45,0.00,0.000,6,0.107,0.023,2714,1775,3481,0,0,0,0,0,0
$GC,518,-1.18,-116.8,66.1,-13.8,55,528,0.12,0.00,0.00,0.000,6,0.127,0.000,2739,1777,3482,0,0,0,0,0,0
$GC,846,-1.23,-116.8,99.1,-7.5,86,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1777,3482,0,0,0,0,0,0
$GC,1166,-1.29,-116.8,127.3,-8.9,116,1170,0.00,2.70,0.00,0.000,4,0.000,0.064,2739,187,3483,0,0,0,0,0,0
$GC,1199,-1.37,-116.8,130.9,-10.4,118,1208,0.12,2.42,0.00,0.000,6,0.035,0.015,2690,1773,3484,0,0,0,0,0,0
$GC,1524,-1.37,-116.8,163.7,-9.5,149,1528,0.00,2.42,0.00,0.000,4,0.000,0.025,2690,3320,3483,0,0,0,0,0,0
$GC,1601,-1.37,-116.8,170.5,-8.5,155,1605,0.00,2.45,0.00,0.000,6,0.000,0.027,2690,1771,3483,0,0,0,0,0,0
$GC,1925,-1.37,-116.8,198.5,-8.9,185,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1771,3484,0,0,0,0,0,0
$GC,2231,-1.37,-116.8,226.9,-9.5,194,2235,0.00,2.72,0.00,0.000,4,0.000,0.067,2690,194,3483,0,0,0,0,0,0
$GC,2252,-1.37,-116.8,229.1,-10.1,194,2256,0.00,2.38,0.00,0.000,6,0.000,0.018,2690,1774,3483,0,0,0,0,0,0
$GC,2590,-1.37,-116.8,263.0,-10.1,203,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1774,3483,0,0,0,0,0,0
$GC,2913,-1.37,-116.8,290.0,-8.1,211,2918,0.00,2.50,0.00,0.000,4,0.000,0.037,2690,3327,3483,0,0,0,0,0,0
$GC,2964,-1.43,-116.8,294.2,-8.4,212,2968,0.00,2.53,0.00,0.000,6,0.000,0.035,2690,1771,3482,0,0,0,0,0,0
$GC,3278,-1.43,-116.8,322.9,-9.5,220,3282,0.00,2.47,0.00,0.000,4,0.000,0.038,2690,3331,3481,0,0,0,0,0,0
$GC,3306,-1.48,-116.8,325.6,-9.3,220,3310,0.00,2.58,0.00,0.000,6,0.000,0.043,2690,1771,3481,0,0,0,0,0,0
$GC,3639,-1.48,-116.8,351.7,-7.5,228,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1770,3480,0,0,0,0,0,0
$GC,3962,-1.48,-116.8,381.3,-9.8,236,3966,0.00,2.50,0.00,0.000,4,0.000,0.036,2690,3317,3478,0,0,0,0,0,0
$GC,3989,-1.54,-116.8,384.2,-10.3,236,3994,0.12,2.58,0.00,0.000,6,0.072,0.052,2646,1775,3478,0,0,0,0,0,0
$GC,4322,-1.50,-116.8,423.8,-12.2,244,4327,0.12,2.55,0.00,0.000,4,0.117,0.044,2671,3314,3475,0,0,0,0,0,0
$GC,4362,-1.57,-116.8,428.6,-10.7,245,4367,0.00,2.60,0.00,0.000,6,0.000,0.057,2671,1780,3475,0,0,0,0,0,0
$GC,4686,-1.57,-116.8,458.8,-8.7,253,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1780,3474,0,0,0,0,0,0
$GC,5013,-1.57,-116.8,485.1,-8.0,261,5017,0.00,2.58,0.00,0.000,4,0.000,0.055,2671,3317,3471,0,0,0,0,0,0
$GC,5034,-1.57,-116.8,487.1,-8.3,261,5039,0.00,2.60,0.00,0.000,6,0.000,0.062,2671,1793,3471,0,0,0,0,0,0
$STATE,5206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5206,begin apogee
$GC,5212,-0.31,0.0,500.6,7.8,266,5313,1.17,0.00,97.53,0.926,6,0.086,0.000,2928,1793,3001,0,0,0,0,0,0
$STATE,5313,end apogee,CONTROL_FINISHED_OK
$STATE,5314,begin climb
$GC,5318,1.38,116.8,501.6,0.0,268,5430,1.55,2.75,101.82,0.901,4,0.047,0.055,3308,3386,2523,0,0,0,0,0,0
$GC,5458,1.30,150.1,497.8,8.1,271,5494,0.12,2.75,29.65,0.868,6,0.132,0.063,3285,1814,2389,0,0,0,0,0,0
$GC,5808,1.26,165.6,465.6,9.1,280,5827,0.00,2.62,13.90,0.824,4,0.000,0.043,3285,3362,2325,0,0,0,0,0,0
$GC,5869,1.28,184.0,460.1,9.0,281,5895,0.00,2.67,17.98,0.837,6,0.000,0.064,3285,1827,2250,0,0,0,0,0,0
$GC,6221,1.26,200.7,427.6,9.1,290,6242,0.00,2.60,15.40,0.824,4,0.000,0.042,3285,3372,2182,0,0,0,0,0,0
$GC,6292,1.27,207.7,421.0,9.6,291,6306,0.00,2.67,7.47,0.727,6,0.000,0.058,3285,1834,2154,0,0,0,0,0,0
$GC,6634,1.29,229.8,391.3,8.8,300,6660,0.00,2.55,20.65,0.831,4,0.000,0.039,3285,3372,2064,0,0,0,0,0,0
$GC,6717,1.31,244.4,383.3,9.2,302,6737,0.00,2.60,14.70,0.799,6,0.000,0.057,3285,1847,2004,0,0,0,0,0,0
$GC,7083,1.32,254.1,348.4,9.5,311,7098,0.00,3.00,9.38,0.746,4,0.000,0.096,3285,233,1965,0,0,0,0,0,0
$GC,7137,1.26,254.1,342.4,10.7,312,7142,0.00,2.53,0.00,0.000,6,0.000,0.028,3284,1813,1963,0,0,0,0,0,0
$GC,7487,1.26,255.6,308.7,10.0,321,7491,0.00,2.58,0.00,0.000,4,0.000,0.041,3285,3405,1961,0,0,0,0,0,0
$GC,7553,1.32,255.6,301.3,11.1,322,7558,0.00,2.62,0.00,0.000,6,0.000,0.046,3285,1841,1960,0,0,0,0,0,0
$GC,7891,1.34,266.2,268.5,9.4,331,7910,0.00,2.62,11.62,0.729,4,0.000,0.033,3285,3403,1915,0,0,0,0,0,0
$GC,7939,1.44,283.3,264.2,9.1,332,7963,0.12,2.60,16.92,0.742,6,0.085,0.041,3317,1847,1845,0,0,0,0,0,0
$GC,8304,1.46,298.9,232.5,9.1,341,8324,0.00,2.90,14.62,0.714,4,0.000,0.079,3316,241,1781,0,0,0,0,0,0
$GC,8404,1.39,298.9,220.7,11.6,343,8409,0.00,2.60,0.00,0.000,6,0.000,0.026,3316,1872,1779,0,0,0,0,0,0
$GC,8732,1.39,298.9,186.3,10.2,358,8736,0.00,2.85,0.00,0.000,4,0.000,0.068,3317,239,1778,0,0,0,0,0,0
$GC,8776,1.34,298.9,181.1,11.0,361,8782,0.12,2.55,0.00,0.000,6,0.122,0.026,3291,1848,1777,0,0,0,0,0,0
$GC,9108,1.44,331.0,153.0,8.2,391,9143,0.10,2.88,28.73,0.670,4,0.091,0.070,3320,236,1651,0,0,0,0,0,0
$GC,9160,1.44,332.3,148.2,10.0,395,9165,0.00,2.53,0.00,0.000,6,0.000,0.025,3320,1826,1649,0,0,0,0,0,0
$GC,9489,1.50,348.8,116.8,9.1,425,9515,0.00,2.58,16.30,0.617,4,0.000,0.028,3320,3395,1577,0,0,0,0,0,0
$GC,9543,1.61,361.4,111.6,9.3,429,9569,0.12,2.60,12.30,0.590,6,0.081,0.038,3353,1820,1526,0,0,0,0,0,0
$GC,9887,1.61,361.4,72.5,10.2,461,9891,0.00,2.72,0.00,0.000,4,0.000,0.062,3352,237,1524,0,0,0,0,0,0
$GC,9921,1.61,361.4,68.7,11.4,463,9925,0.00,2.53,0.00,0.000,6,0.000,0.020,3353,1846,1523,0,0,0,0,0,0
$GC,10250,1.61,361.4,34.7,10.8,493,10254,0.00,2.45,0.00,0.000,4,0.000,0.027,3353,3390,1522,0,0,0,0,0,0
$GC,10296,1.71,361.4,29.7,10.1,496,10306,0.00,2.58,0.00,0.000,6,0.000,0.035,3353,1830,1522,0,0,0,0,0,0
$STATE,10529,end climb,SURFACE_DEPTH_REACHED
$STATE,10529,begin surface coast
$FINISH,0.5,1.023537
$STATE,10572,end surface coast,CONTROL_FINISHED_OK
$STATE,10572,begin surface
$SM_CCo,10594,32.28,0.530,0,0,1370,400.08
$SM_GC,1.15,0.00,0.00,32.28,0.000,0.000,0.530,479,1754,1370,-11.60,-0.45,400.08
$IRIDIUM_FIX,2246.36,-15745.85,010200,191949
$TT8_MAMPS,0.026078
$HUMID,56.61
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.50
$XPDR_PINGS,157
$24V_AH,23.3,82.831
$10V_AH,9.8,77.493
$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,27.875,114.800,428.975,32.275,0.000,90.900,156.676,313.658,39.250,0.000,41.828,1054.962,7040.105,495.986,2026.728,882.625,33.375,1234.006,0.000,1997.941,0.000,0.534,0.000
$DEVICE_MAMPS,171.041,104.312,925.769,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.224,313.833,414.196,777.806,1175.860,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355440
$DATA_FILE_SIZE,41613,535
$CAP_FILE_SIZE,109676,0
$CFSIZE,260165632,147386368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071110,223431,2255.119,-15743.573,47,1.4,47,10.1