version: 66.06
glider: 146
mission: 5
dive: 598
start: 11 8 110 1 55 49
data:
$ID,146
$MISSION,5
$DIVE,598
$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,-262230.47
$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,21
$R_STBD_OVSHOOT,54
$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
$GPS1,014355,2254.540,-15743.621,39,1.6,39,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-65.4
$GPS2,015455,2254.594,-15743.632,10,1.1,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.148,-0.182
$KALMAN_X,-287425.5,407.3,223.7,333223.2,-1072.8
$KALMAN_Y,-422529.4,425.2,67.4,559103.4,336.0
$MHEAD_RNG_PITCHd_Wd,130.8,10729,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.18,0.000,2,0.000,0.000,480,1784,3367,0,0,0,0,0,0
$GC,101,-1.38,-116.8,4.2,-8.3,10,127,12.12,2.75,-2.00,0.000,4,0.169,0.064,2690,189,3480,0,0,0,0,0,0
$GC,141,-0.52,-116.8,18.0,-35.5,14,149,0.85,2.47,0.00,0.000,6,0.079,0.018,2881,1782,3481,0,0,0,0,0,0
$GC,506,-0.78,-116.8,45.1,-6.7,56,511,0.22,2.42,0.00,0.000,4,0.049,0.023,2813,3333,3482,0,0,0,0,0,0
$GC,529,-1.00,-116.8,46.8,-6.1,57,534,0.12,2.50,0.00,0.000,6,0.067,0.028,2765,1765,3482,0,0,0,0,0,0
$GC,861,-1.05,-116.8,80.2,-9.8,87,865,0.00,2.65,0.00,0.000,4,0.000,0.056,2766,190,3483,0,0,0,0,0,0
$GC,871,-1.10,-116.8,81.8,-9.2,87,877,0.00,2.42,0.00,0.000,6,0.000,0.015,2766,1802,3483,0,0,0,0,0,0
$GC,1199,-1.20,-116.8,106.5,-7.6,118,1203,0.12,2.35,0.00,0.000,4,0.070,0.028,2724,3307,3484,0,0,0,0,0,0
$GC,1245,-1.27,-116.8,110.6,-8.7,121,1251,0.00,2.42,0.00,0.000,6,0.000,0.029,2723,1788,3483,0,0,0,0,0,0
$GC,1570,-1.27,-116.8,141.1,-10.4,152,1574,0.00,2.40,0.00,0.000,4,0.000,0.023,2724,3315,3484,0,0,0,0,0,0
$GC,1627,-1.37,-116.8,146.9,-9.8,156,1636,0.08,2.40,0.00,0.000,6,0.042,0.031,2683,1820,3485,0,0,0,0,0,0
$GC,1958,-1.37,-116.8,179.9,-9.5,187,1962,0.00,2.75,0.00,0.000,4,0.000,0.062,2682,198,3485,0,0,0,0,0,0
$GC,2035,-1.37,-116.8,188.5,-10.6,193,2039,0.00,2.40,0.00,0.000,6,0.000,0.019,2683,1785,3485,0,0,0,0,0,0
$GC,2361,-1.37,-116.8,220.0,-9.8,209,2365,0.00,2.40,0.00,0.000,4,0.000,0.031,2682,3328,3485,0,0,0,0,0,0
$GC,2390,-1.37,-116.8,222.8,-9.6,209,2395,0.00,2.45,0.00,0.000,6,0.000,0.035,2682,1802,3485,0,0,0,0,0,0
$GC,2722,-1.37,-116.8,253.3,-9.0,217,2726,0.00,2.42,0.00,0.000,4,0.000,0.028,2682,3328,3486,0,0,0,0,0,0
$GC,2761,-1.37,-116.8,256.9,-9.1,218,2766,0.00,2.45,0.00,0.000,6,0.000,0.034,2682,1804,3485,0,0,0,0,0,0
$GC,3087,-1.37,-116.8,284.3,-8.3,226,3091,0.00,2.83,0.00,0.000,4,0.000,0.073,2682,186,3484,0,0,0,0,0,0
$GC,3142,-1.37,-116.8,289.8,-9.7,227,3146,0.00,2.47,0.00,0.000,6,0.000,0.021,2682,1778,3484,0,0,0,0,0,0
$GC,3491,-1.37,-116.8,319.7,-8.6,236,3496,0.00,2.53,0.00,0.000,4,0.000,0.042,2682,3350,3482,0,0,0,0,0,0
$GC,3513,-1.37,-116.8,322.0,-9.0,236,3518,0.00,2.55,0.00,0.000,6,0.000,0.043,2682,1796,3482,0,0,0,0,0,0
$GC,3850,-1.37,-116.8,352.5,-9.5,245,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1796,3481,0,0,0,0,0,0
$GC,4176,-1.37,-116.8,384.2,-9.5,253,4180,0.00,2.53,0.00,0.000,4,0.000,0.041,2682,3350,3479,0,0,0,0,0,0
$GC,4192,-1.37,-116.8,385.8,-9.2,253,4196,0.00,2.60,0.00,0.000,6,0.000,0.050,2682,1804,3479,0,0,0,0,0,0
$GC,4534,-1.37,-116.8,415.3,-8.6,262,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1803,3477,0,0,0,0,0,0
$GC,4860,-1.37,-116.8,443.4,-8.6,270,4865,0.00,2.97,0.00,0.000,4,0.000,0.106,2682,182,3475,0,0,0,0,0,0
$GC,4876,-1.37,-116.8,445.0,-8.6,270,4881,0.00,2.58,0.00,0.000,6,0.000,0.030,2682,1792,3475,0,0,0,0,0,0
$GC,5219,-1.41,-116.8,472.9,-8.2,279,5224,0.00,2.60,0.00,0.000,4,0.000,0.054,2682,3353,3473,0,0,0,0,0,0
$GC,5254,-1.48,-116.8,475.7,-8.2,279,5260,0.00,2.62,0.00,0.000,6,0.000,0.058,2682,1810,3472,0,0,0,0,0,0
$STATE,5583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5583,begin apogee
$GC,5589,-0.31,0.0,502.3,7.9,288,5690,1.12,0.00,97.88,0.925,6,0.078,0.000,2932,1809,3001,0,0,0,0,0,0
$STATE,5691,end apogee,CONTROL_FINISHED_OK
$STATE,5691,begin climb
$GC,5694,1.38,116.8,504.2,0.0,290,5801,1.55,0.00,103.10,0.904,6,0.035,0.000,3313,1809,2524,0,0,0,0,0,0
$GC,6113,1.28,149.3,478.9,8.2,301,6148,0.17,2.78,28.08,0.873,4,0.120,0.045,3279,3404,2391,0,0,0,0,0,0
$GC,6195,1.27,177.7,472.3,8.4,302,6229,0.00,2.75,26.73,0.862,6,0.000,0.054,3279,1820,2276,0,0,0,0,0,0
$GC,6571,1.27,212.3,441.7,8.0,312,6611,0.00,2.67,31.20,0.864,4,0.000,0.041,3279,3409,2133,0,0,0,0,0,0
$GC,6674,1.30,237.4,432.7,8.6,314,6704,0.00,2.72,23.58,0.843,6,0.000,0.059,3279,1830,2033,0,0,0,0,0,0
$GC,7035,1.32,252.8,399.9,9.2,323,7053,0.00,0.00,14.62,0.806,6,0.000,0.000,3279,1830,1969,0,0,0,0,0,0
$GC,7362,1.32,252.8,365.2,10.8,331,7367,0.00,2.58,0.00,0.000,4,0.000,0.036,3279,3409,1965,0,0,0,0,0,0
$GC,7408,1.37,252.8,360.4,10.8,332,7413,0.00,2.70,0.00,0.000,6,0.000,0.051,3279,1827,1963,0,0,0,0,0,0
$GC,7726,1.37,252.8,327.8,10.2,340,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,1827,1962,0,0,0,0,0,0
$GC,8051,1.39,264.9,297.2,9.3,348,8066,0.10,0.00,11.10,0.737,6,0.092,0.000,3306,1827,1920,0,0,0,0,0,0
$GC,8382,1.40,275.4,265.6,9.4,356,8398,0.00,2.85,10.62,0.711,4,0.000,0.081,3306,233,1879,0,0,0,0,0,0
$GC,8443,1.34,275.4,258.6,11.3,357,8447,0.00,2.60,0.00,0.000,6,0.000,0.021,3306,1857,1877,0,0,0,0,0,0
$GC,8786,1.34,275.4,220.7,11.2,366,8791,0.00,2.50,0.00,0.000,4,0.000,0.039,3306,3399,1876,0,0,0,0,0,0
$GC,8861,1.34,275.4,212.4,10.4,367,8865,0.00,2.58,0.00,0.000,6,0.000,0.038,3306,1845,1875,0,0,0,0,0,0
$GC,9187,1.36,294.5,181.2,8.9,388,9212,0.00,2.60,18.20,0.682,4,0.000,0.033,3307,3400,1799,0,0,0,0,0,0
$GC,9232,1.43,305.8,176.5,9.4,392,9256,0.00,2.55,11.45,0.642,6,0.000,0.038,3306,1867,1753,0,0,0,0,0,0
$GC,9572,1.47,333.8,146.6,8.4,424,9612,0.00,2.92,25.73,0.659,4,0.000,0.067,3307,239,1638,0,0,0,0,0,0
$GC,9648,1.47,333.8,139.3,10.2,430,9652,0.00,2.58,0.00,0.000,6,0.000,0.021,3306,1864,1637,0,0,0,0,0,0
$GC,9973,1.55,341.5,109.2,9.6,460,9986,0.12,0.00,7.97,0.555,6,0.077,0.000,3342,1866,1607,0,0,0,0,0,0
$GC,10305,1.63,368.0,76.6,8.5,491,10336,0.00,2.53,24.15,0.591,4,0.000,0.028,3342,3396,1499,0,0,0,0,0,0
$GC,10362,1.74,371.9,71.5,9.8,495,10378,0.15,2.60,5.12,0.449,6,0.073,0.035,3382,1822,1482,0,0,0,0,0,0
$GC,10700,1.70,371.9,30.5,12.4,526,10704,0.00,2.70,0.00,0.000,4,0.000,0.060,3382,232,1480,0,0,0,0,0,0
$GC,10742,1.61,371.9,24.2,14.8,531,10752,0.15,2.53,0.00,0.000,6,0.091,0.020,3347,1835,1479,0,0,0,0,0,0
$STATE,10911,end climb,SURFACE_DEPTH_REACHED
$STATE,10911,begin surface coast
$FINISH,0.4,1.023612
$STATE,10954,end surface coast,CONTROL_FINISHED_OK
$STATE,10954,begin surface
$SM_CCo,10978,23.60,0.515,0,0,1369,400.08
$SM_GC,1.01,0.00,0.00,23.60,0.000,0.000,0.515,474,1751,1369,-11.62,-0.51,400.08
$IRIDIUM_FIX,2244.02,-15743.68,020200,010107
$TT8_MAMPS,0.025311
$HUMID,57.91
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.60
$XPDR_PINGS,161
$24V_AH,23.3,83.095
$10V_AH,9.8,77.740
$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,28.675,113.800,439.525,23.600,0.000,48.970,72.178,305.931,40.250,0.000,17.409,1090.153,7260.763,518.618,2033.062,757.166,33.372,1252.448,0.000,2041.035,0.000,0.534,0.000
$DEVICE_MAMPS,168.740,105.846,925.002,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.210,340.717,437.983,828.963,1254.152,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355436
$DATA_FILE_SIZE,44662,561
$CAP_FILE_SIZE,109013,0
$CFSIZE,260165632,147271680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,050030,2254.321,-15743.354,38,1.7,38,10.1