version: 66.06
glider: 146
mission: 5
dive: 597
start: 11 7 110 22 43 30
data:
$ID,146
$MISSION,5
$DIVE,597
$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,-262212.44
$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,53
$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
$GPS1,223431,2255.119,-15743.573,47,1.4,47,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.7
$GPS2,224237,2255.185,-15743.563,20,1.4,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.046,-0.230
$KALMAN_X,-286781.7,325.3,215.6,332785.1,-40.6
$KALMAN_Y,-424345.1,544.1,598.2,561370.8,511.0
$MHEAD_RNG_PITCHd_Wd,158.6,11762,-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,-78.18,0.000,2,0.000,0.000,479,1753,3313,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.6,-6.8,10,118,12.02,0.00,-3.08,0.000,6,0.166,0.000,2687,1753,3480,0,0,0,0,0,0
$GC,468,-1.24,-116.8,62.5,-13.6,51,473,0.20,2.53,0.00,0.000,4,0.123,0.021,2726,3350,3483,0,0,0,0,0,0
$GC,515,-1.24,-116.8,68.3,-11.4,54,520,0.00,2.53,0.00,0.000,6,0.000,0.028,2726,1778,3483,0,0,0,0,0,0
$GC,840,-1.24,-116.8,101.0,-10.3,84,844,0.00,2.67,0.00,0.000,4,0.000,0.061,2726,192,3484,0,0,0,0,0,0
$GC,875,-1.28,-116.8,104.8,-11.6,86,884,0.00,2.47,0.00,0.000,6,0.000,0.018,2726,1805,3484,0,0,0,0,0,0
$GC,1205,-1.32,-116.8,132.5,-7.4,117,1209,0.00,2.72,0.00,0.000,4,0.000,0.059,2726,193,3485,0,0,0,0,0,0
$GC,1228,-1.36,-116.8,134.8,-8.6,118,1238,0.08,2.40,0.00,0.000,6,0.045,0.019,2690,1762,3485,0,0,0,0,0,0
$GC,1553,-1.36,-116.8,166.3,-9.4,149,1557,0.00,2.45,0.00,0.000,4,0.000,0.032,2690,3322,3485,0,0,0,0,0,0
$GC,1623,-1.36,-116.8,172.2,-8.6,154,1628,0.00,2.47,0.00,0.000,6,0.000,0.028,2689,1759,3485,0,0,0,0,0,0
$GC,1957,-1.36,-116.8,204.2,-9.3,182,1961,0.00,2.45,0.00,0.000,4,0.000,0.025,2689,3328,3486,0,0,0,0,0,0
$GC,1986,-1.36,-116.8,206.7,-9.1,182,1990,0.00,2.47,0.00,0.000,6,0.000,0.032,2689,1770,3486,0,0,0,0,0,0
$GC,2317,-1.36,-116.8,236.2,-9.0,190,2321,0.00,2.45,0.00,0.000,4,0.000,0.028,2690,3320,3486,0,0,0,0,0,0
$GC,2334,-1.36,-116.8,237.7,-8.8,190,2338,0.00,2.45,0.00,0.000,6,0.000,0.033,2689,1797,3486,0,0,0,0,0,0
$GC,2677,-1.36,-116.8,264.9,-7.8,199,2682,0.00,2.78,0.00,0.000,4,0.000,0.075,2689,194,3486,0,0,0,0,0,0
$GC,2694,-1.36,-116.8,266.4,-8.0,199,2699,0.00,2.45,0.00,0.000,6,0.000,0.021,2689,1778,3485,0,0,0,0,0,0
$GC,3037,-1.36,-116.8,296.4,-8.9,208,3041,0.00,2.53,0.00,0.000,4,0.000,0.035,2689,3349,3485,0,0,0,0,0,0
$GC,3128,-1.41,-116.8,304.4,-8.8,210,3132,0.00,2.45,0.00,0.000,6,0.000,0.041,2689,1827,3485,0,0,0,0,0,0
$GC,3446,-1.41,-116.8,333.0,-9.0,218,3451,0.00,2.88,0.00,0.000,4,0.000,0.087,2689,195,3483,0,0,0,0,0,0
$GC,3473,-1.41,-116.8,335.7,-9.7,218,3478,0.00,2.53,0.00,0.000,6,0.000,0.021,2689,1813,3483,0,0,0,0,0,0
$GC,3806,-1.41,-116.8,365.1,-9.2,226,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1813,3482,0,0,0,0,0,0
$GC,4130,-1.41,-116.8,394.6,-8.7,234,4134,0.00,2.50,0.00,0.000,4,0.000,0.049,2689,3354,3480,0,0,0,0,0,0
$GC,4157,-1.47,-116.8,397.1,-8.7,234,4161,0.00,2.58,0.00,0.000,6,0.000,0.054,2689,1826,3480,0,0,0,0,0,0
$GC,4490,-1.51,-116.8,426.4,-9.3,242,4495,0.00,2.97,0.00,0.000,4,0.000,0.104,2689,196,3478,0,0,0,0,0,0
$GC,4512,-1.51,-116.8,428.9,-9.8,242,4516,0.00,2.58,0.00,0.000,6,0.000,0.031,2689,1814,3478,0,0,0,0,0,0
$GC,4850,-1.57,-116.8,459.4,-8.8,251,4852,0.12,0.00,0.00,0.000,6,0.075,0.000,2645,1814,3476,0,0,0,0,0,0
$GC,5173,-1.57,-116.8,490.9,-9.5,259,5177,0.00,2.62,0.00,0.000,4,0.000,0.059,2645,3356,3474,0,0,0,0,0,0
$GC,5200,-1.57,-116.8,493.6,-9.8,259,5204,0.00,2.58,0.00,0.000,6,0.000,0.063,2645,1838,3474,0,0,0,0,0,0
$STATE,5285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5285,begin apogee
$GC,5292,-0.31,0.0,502.1,9.8,261,5394,1.30,0.00,98.57,0.926,6,0.091,0.000,2928,1838,3001,0,0,0,0,0,0
$STATE,5395,end apogee,CONTROL_FINISHED_OK
$STATE,5395,begin climb
$GC,5398,1.38,116.8,505.0,0.0,263,5510,1.58,2.67,102.47,0.904,4,0.049,0.051,3309,3402,2523,0,0,0,0,0,0
$GC,5568,1.34,185.5,503.8,6.1,267,5635,0.00,2.72,60.60,0.890,6,0.000,0.061,3309,1834,2244,0,0,0,0,0,0
$GC,5978,1.25,197.6,466.7,9.3,278,5995,0.17,2.65,10.85,0.794,4,0.119,0.044,3274,3402,2194,0,0,0,0,0,0
$GC,6077,1.27,213.7,457.8,9.1,280,6098,0.00,2.72,15.50,0.828,6,0.000,0.060,3274,1830,2129,0,0,0,0,0,0
$GC,6429,1.29,225.5,424.7,9.4,289,6448,0.00,3.10,11.50,0.797,4,0.000,0.100,3274,227,2080,0,0,0,0,0,0
$GC,6462,1.24,225.5,421.4,10.4,289,6467,0.00,2.60,0.00,0.000,6,0.000,0.027,3274,1831,2079,0,0,0,0,0,0
$GC,6794,1.25,229.8,388.7,9.8,297,6803,0.00,2.62,4.50,0.597,4,0.000,0.045,3274,3406,2064,0,0,0,0,0,0
$GC,6839,1.30,234.4,384.2,9.8,298,6852,0.00,2.70,6.15,0.684,6,0.000,0.051,3274,1829,2045,0,0,0,0,0,0
$GC,7160,1.30,239.2,352.9,9.8,306,7168,0.00,0.00,5.88,0.668,6,0.000,0.000,3274,1829,2025,0,0,0,0,0,0
$GC,7485,1.32,256.1,321.7,9.1,314,7509,0.00,2.97,16.88,0.784,4,0.000,0.085,3274,233,1955,0,0,0,0,0,0
$GC,7523,1.34,271.3,318.3,9.2,314,7544,0.00,2.58,15.43,0.764,6,0.000,0.025,3274,1840,1893,0,0,0,0,0,0
$GC,7860,1.43,302.8,289.7,8.2,323,7892,0.15,0.00,28.83,0.777,6,0.078,0.000,3313,1842,1766,0,0,0,0,0,0
$GC,8184,1.43,302.8,252.4,11.8,331,8188,0.00,2.53,0.00,0.000,4,0.000,0.039,3314,3400,1760,0,0,0,0,0,0
$GC,8205,1.43,302.8,249.6,11.9,331,8209,0.00,2.62,0.00,0.000,6,0.000,0.045,3314,1816,1758,0,0,0,0,0,0
$GC,8542,1.43,302.8,213.5,10.4,340,8547,0.00,2.78,0.00,0.000,4,0.000,0.079,3314,240,1758,0,0,0,0,0,0
$GC,8633,1.38,302.8,202.9,11.5,342,8638,0.00,2.50,0.00,0.000,6,0.000,0.026,3313,1818,1757,0,0,0,0,0,0
$GC,8965,1.39,307.2,169.2,9.8,371,8976,0.00,2.58,3.88,0.456,4,0.000,0.038,3314,3392,1747,0,0,0,0,0,0
$GC,8983,1.39,307.2,167.3,10.2,372,8993,0.00,2.67,0.00,0.000,6,0.000,0.038,3314,1793,1747,0,0,0,0,0,0
$GC,9312,1.39,307.2,134.3,10.4,403,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1793,1746,0,0,0,0,0,0
$GC,9641,1.47,334.3,102.3,8.5,434,9670,0.00,0.00,25.45,0.624,6,0.000,0.000,3314,1793,1636,0,0,0,0,0,0
$GC,9990,1.61,371.9,73.0,7.9,467,10030,0.15,2.75,33.38,0.594,4,0.121,0.064,3353,231,1482,0,0,0,0,0,0
$GC,10074,1.61,371.9,65.3,10.7,473,10078,0.00,2.50,0.00,0.000,6,0.000,0.020,3353,1818,1480,0,0,0,0,0,0
$GC,10404,1.61,371.9,30.7,12.2,503,10408,0.00,2.55,0.00,0.000,4,0.000,0.030,3353,3395,1479,0,0,0,0,0,0
$GC,10426,1.67,371.9,28.1,11.6,505,10435,0.00,2.67,0.00,0.000,6,0.000,0.036,3353,1789,1478,0,0,0,0,0,0
$STATE,10648,end climb,SURFACE_DEPTH_REACHED
$STATE,10648,begin surface coast
$FINISH,0.4,1.023631
$STATE,10698,end surface coast,CONTROL_FINISHED_OK
$STATE,10698,begin surface
$SM_CCo,10721,23.65,0.518,0,0,1370,400.08
$SM_GC,1.03,0.00,0.00,23.65,0.000,0.000,0.518,480,1786,1370,-11.59,0.45,400.08
$IRIDIUM_FIX,2248.70,-15745.85,010200,191915
$TT8_MAMPS,0.026078
$HUMID,57.24
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.60
$XPDR_PINGS,173
$24V_AH,23.3,82.961
$10V_AH,9.9,77.614
$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,27.550,115.000,439.850,23.650,0.000,28.834,33.228,249.587,43.250,0.000,31.158,1059.967,7022.941,495.828,2023.491,627.230,33.374,1225.779,0.000,2012.547,0.000,0.534,0.000
$DEVICE_MAMPS,166.439,104.312,925.769,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.168,310.201,423.369,797.848,1207.046,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,44726,544
$CAP_FILE_SIZE,104505,0
$CFSIZE,260165632,147333120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,014355,2254.540,-15743.621,39,1.6,39,10.1