version: 66.06
glider: 146
mission: 5
dive: 600
start: 11 8 110 9 0 31
data:
$ID,146
$MISSION,5
$DIVE,600
$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,-262274.66
$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,43
$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
$GPS1,083954,2254.545,-15743.236,31,1.4,48,10.1
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-61.0
$GPS2,085937,2254.699,-15743.210,10,1.3,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.015,-0.235
$KALMAN_X,-287964.7,-168.7,-168.7,335451.3,63.7
$KALMAN_Y,-418350.0,-18.4,442.4,555179.6,1264.8
$MHEAD_RNG_PITCHd_Wd,166.3,10754,-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,-116.8,0.0,0.0,0,128,0.00,0.00,-109.60,0.000,2,0.000,0.000,474,1745,3278,0,0,0,0,0,0
$GC,133,-1.38,-116.8,3.1,-5.1,14,159,12.10,2.65,-3.92,0.000,4,0.167,0.071,2691,211,3480,0,0,0,0,0,0
$GC,197,-1.28,-116.8,18.3,-15.0,22,205,0.10,2.42,0.00,0.000,6,0.104,0.016,2714,1783,3480,0,0,0,0,0,0
$GC,543,-1.19,-116.8,62.9,-11.2,59,552,0.12,0.00,0.00,0.000,6,0.126,0.000,2740,1785,3480,0,0,0,0,0,0
$GC,872,-1.23,-116.8,97.0,-9.9,90,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1785,3480,0,0,0,0,0,0
$GC,1203,-1.29,-116.8,124.3,-8.0,121,1207,0.00,2.40,0.00,0.000,4,0.000,0.030,2739,3329,3480,0,0,0,0,0,0
$GC,1244,-1.40,-116.8,128.2,-8.5,124,1249,0.20,2.47,0.00,0.000,6,0.051,0.028,2676,1770,3480,0,0,0,0,0,0
$GC,1573,-1.35,-116.8,163.1,-10.7,154,1578,0.12,2.67,0.00,0.000,4,0.111,0.061,2703,192,3480,0,0,0,0,0,0
$GC,1590,-1.31,-116.8,165.4,-10.6,155,1594,0.00,2.38,0.00,0.000,6,0.000,0.015,2703,1779,3480,0,0,0,0,0,0
$GC,1915,-1.31,-116.8,196.4,-8.9,185,1919,0.00,2.70,0.00,0.000,4,0.000,0.062,2703,189,3480,0,0,0,0,0,0
$GC,1960,-1.35,-116.8,200.9,-9.8,188,1964,0.00,2.33,0.00,0.000,6,0.000,0.019,2703,1742,3480,0,0,0,0,0,0
$GC,2280,-1.35,-116.8,226.0,-7.7,196,2284,0.00,2.47,0.00,0.000,4,0.000,0.033,2703,3321,3479,0,0,0,0,0,0
$GC,2330,-1.42,-116.8,230.7,-8.7,197,2334,0.00,2.53,0.00,0.000,6,0.000,0.035,2703,1749,3480,0,0,0,0,0,0
$GC,2644,-1.42,-116.8,259.2,-9.1,205,2649,0.00,2.50,0.00,0.000,4,0.000,0.034,2703,3325,3479,0,0,0,0,0,0
$GC,2689,-1.50,-116.8,263.4,-8.7,206,2694,0.12,2.47,0.00,0.000,6,0.070,0.036,2660,1784,3479,0,0,0,0,0,0
$GC,3010,-1.45,-116.8,294.1,-9.3,214,3015,0.10,2.80,0.00,0.000,4,0.123,0.081,2681,190,3477,0,0,0,0,0,0
$GC,3027,-1.41,-116.8,295.8,-8.9,214,3031,0.00,2.45,0.00,0.000,6,0.000,0.026,2682,1777,3477,0,0,0,0,0,0
$GC,3369,-1.41,-116.8,324.3,-8.1,223,3373,0.00,2.53,0.00,0.000,4,0.000,0.042,2682,3344,3475,0,0,0,0,0,0
$GC,3410,-1.46,-116.8,327.7,-8.8,224,3415,0.00,2.50,0.00,0.000,6,0.000,0.042,2682,1809,3475,0,0,0,0,0,0
$GC,3736,-1.46,-116.8,354.0,-8.1,232,3741,0.00,2.47,0.00,0.000,4,0.000,0.034,2682,3343,3473,0,0,0,0,0,0
$GC,3770,-1.52,-116.8,357.1,-8.4,232,3775,0.00,2.50,0.00,0.000,6,0.000,0.050,2682,1835,3473,0,0,0,0,0,0
$GC,4103,-1.52,-116.8,385.3,-8.8,241,4108,0.00,2.97,0.00,0.000,4,0.000,0.090,2682,189,3471,0,0,0,0,0,0
$GC,4136,-1.52,-116.8,388.5,-9.6,241,4141,0.00,2.60,0.00,0.000,6,0.000,0.031,2682,1826,3471,0,0,0,0,0,0
$GC,4467,-1.52,-116.8,416.8,-8.4,250,4471,0.00,2.50,0.00,0.000,4,0.000,0.051,2682,3343,3469,0,0,0,0,0,0
$GC,4498,-1.57,-116.8,419.2,-8.7,250,4503,0.10,2.53,0.00,0.000,6,0.089,0.049,2647,1832,3468,0,0,0,0,0,0
$GC,4829,-1.57,-116.8,450.5,-9.2,258,4834,0.00,3.03,0.00,0.000,4,0.000,0.107,2647,189,3466,0,0,0,0,0,0
$GC,4858,-1.53,-116.8,453.3,-10.2,258,4862,0.00,2.60,0.00,0.000,6,0.000,0.035,2647,1812,3465,0,0,0,0,0,0
$GC,5191,-1.53,-116.8,484.2,-9.1,266,5195,0.00,2.60,0.00,0.000,4,0.000,0.062,2647,3359,3463,0,0,0,0,0,0
$GC,5206,-1.53,-116.8,485.9,-9.3,266,5211,0.00,2.58,0.00,0.000,6,0.000,0.060,2647,1830,3463,0,0,0,0,0,0
$STATE,5384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5384,begin apogee
$GC,5389,-0.31,0.0,503.7,10.0,271,5489,1.30,0.00,96.07,0.923,6,0.089,0.000,2930,1830,3001,0,0,0,0,0,0
$STATE,5490,end apogee,CONTROL_FINISHED_OK
$STATE,5490,begin climb
$GC,5494,1.38,116.8,507.0,0.0,273,5601,1.58,0.00,102.95,0.903,6,0.038,0.000,3312,1830,2524,0,0,0,0,0,0
$GC,5912,1.33,188.4,492.9,5.9,284,5982,0.12,2.75,62.62,0.893,4,0.133,0.051,3289,3405,2231,0,0,0,0,0,0
$GC,6013,1.34,198.4,484.9,9.5,286,6029,0.00,2.75,9.75,0.775,6,0.000,0.058,3290,1833,2192,0,0,0,0,0,0
$GC,6360,1.29,198.4,448.7,11.1,295,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1833,2184,0,0,0,0,0,0
$GC,6687,1.26,207.4,415.7,9.5,303,6702,0.00,2.67,7.78,0.742,4,0.000,0.042,3290,3415,2154,0,0,0,0,0,0
$GC,6747,1.26,213.2,409.7,9.7,304,6760,0.00,2.72,6.85,0.714,6,0.000,0.055,3290,1824,2132,0,0,0,0,0,0
$GC,7101,1.28,230.8,377.2,9.0,313,7125,0.00,2.70,16.90,0.814,4,0.000,0.038,3290,3414,2058,0,0,0,0,0,0
$GC,7137,1.32,256.6,373.7,8.6,313,7167,0.00,2.72,24.77,0.820,6,0.000,0.053,3289,1823,1954,0,0,0,0,0,0
$GC,7508,1.34,273.2,339.3,9.1,323,7528,0.00,2.65,15.00,0.782,4,0.000,0.038,3290,3411,1886,0,0,0,0,0,0
$GC,7548,1.40,295.1,335.7,8.8,324,7574,0.00,2.70,20.98,0.788,6,0.000,0.049,3290,1834,1797,0,0,0,0,0,0
$GC,7911,1.40,295.1,297.6,10.7,333,7916,0.00,2.88,0.00,0.000,4,0.000,0.084,3289,234,1789,0,0,0,0,0,0
$GC,7956,1.40,295.1,292.1,12.9,334,7961,0.00,2.60,0.00,0.000,6,0.000,0.026,3289,1860,1787,0,0,0,0,0,0
$GC,8275,1.41,306.1,260.4,9.4,342,8289,0.00,2.55,9.40,0.696,4,0.000,0.035,3289,3408,1752,0,0,0,0,0,0
$GC,8325,1.52,315.3,255.6,9.5,343,8341,0.17,2.60,10.07,0.695,6,0.067,0.044,3335,1831,1715,0,0,0,0,0,0
$GC,8681,1.52,315.3,216.8,11.5,352,8686,0.00,2.55,0.00,0.000,4,0.000,0.033,3334,3401,1710,0,0,0,0,0,0
$GC,8709,1.52,315.3,213.1,12.2,352,8713,0.00,2.55,0.00,0.000,6,0.000,0.037,3335,1842,1709,0,0,0,0,0,0
$GC,9034,1.52,315.3,175.3,11.2,373,9038,0.00,2.80,0.00,0.000,4,0.000,0.071,3335,234,1709,0,0,0,0,0,0
$GC,9101,1.44,315.3,166.5,12.1,378,9111,0.08,2.53,0.00,0.000,6,0.104,0.028,3317,1827,1707,0,0,0,0,0,0
$GC,9429,1.44,317.5,135.7,9.9,409,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1828,1707,0,0,0,0,0,0
$GC,9756,1.53,346.9,104.0,8.3,440,9790,0.00,0.00,27.65,0.624,6,0.000,0.000,3316,1829,1584,0,0,0,0,0,0
$GC,10109,1.67,370.8,70.9,8.7,473,10138,0.20,2.80,20.95,0.578,4,0.060,0.060,3370,240,1489,0,0,0,0,0,0
$GC,10170,1.60,370.8,64.5,12.9,477,10175,0.10,2.47,0.00,0.000,6,0.130,0.026,3350,1811,1488,0,0,0,0,0,0
$GC,10508,1.64,370.8,24.1,12.2,510,10517,0.00,2.75,0.00,0.000,4,0.000,0.064,3350,245,1487,0,0,0,0,0,0
$GC,10527,1.64,370.8,22.4,10.2,512,10536,0.00,2.45,0.00,0.000,6,0.000,0.020,3350,1807,1486,0,0,0,0,0,0
$STATE,10731,end climb,SURFACE_DEPTH_REACHED
$STATE,10731,begin surface coast
$FINISH,0.6,1.023488
$STATE,10767,end surface coast,CONTROL_FINISHED_OK
$STATE,10767,begin surface
$SM_CCo,10789,24.80,0.515,0,0,1369,400.08
$SM_GC,1.06,0.00,0.00,24.80,0.000,0.000,0.515,476,1745,1369,-11.62,-0.71,400.08
$IRIDIUM_FIX,2246.36,-15743.68,020200,080816
$TT8_MAMPS,0.026078
$HUMID,58.19
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.70
$XPDR_PINGS,130
$24V_AH,23.3,83.474
$10V_AH,9.8,78.014
$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,28.250,119.925,431.750,24.800,0.000,58.277,73.917,822.451,32.500,0.000,12.070,1069.326,7109.143,530.328,2003.748,1281.790,33.366,1272.933,0.000,2011.047,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,120.419,923.468,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.980,309.212,421.400,807.233,1221.414,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,44745,546
$CAP_FILE_SIZE,115374,0
$CFSIZE,260165632,147144704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,120207,2254.218,-15743.114,39,1.0,39,10.1