version: 66.06
glider: 146
mission: 5
dive: 608
start: 11 9 110 12 8 20
data:
$ID,146
$MISSION,5
$DIVE,608
$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,619.13721
$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,-262527.81
$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,23
$R_STBD_OVSHOOT,51
$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
$GPS1,114640,2254.074,-15742.219,8,99.0,27,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.8
$GPS2,120727,2254.171,-15742.109,42,99.0,61,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.024,-0.240
$KALMAN_X,-289826.8,104.5,87.4,338673.3,284.1
$KALMAN_Y,-402064.3,-212.3,751.0,537808.8,358.4
$MHEAD_RNG_PITCHd_Wd,175.7,9579,-19.3,-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,17,-1.35,-116.8,0.0,0.0,0,97,0.00,0.00,-77.38,0.000,2,0.000,0.000,473,1734,3347,0,0,0,0,0,0
$GC,100,-1.35,-116.8,4.0,-8.6,10,126,12.18,2.67,-2.50,0.000,4,0.169,0.070,2700,190,3480,0,0,0,0,0,0
$GC,151,-1.03,-116.8,17.4,-19.7,16,161,0.30,2.45,0.00,0.000,6,0.091,0.018,2768,1776,3481,0,0,0,0,0,0
$GC,507,-1.03,-116.8,58.4,-11.7,54,511,0.00,2.47,0.00,0.000,4,0.000,0.027,2768,3345,3482,0,0,0,0,0,0
$GC,541,-1.08,-116.8,62.8,-12.5,56,545,0.00,2.53,0.00,0.000,6,0.000,0.028,2768,1755,3482,0,0,0,0,0,0
$GC,866,-1.13,-116.8,95.3,-8.5,86,870,0.00,2.60,0.00,0.000,4,0.000,0.055,2767,196,3482,0,0,0,0,0,0
$GC,889,-1.20,-116.8,97.5,-9.4,87,895,0.12,2.38,0.00,0.000,6,0.065,0.016,2716,1782,3482,0,0,0,0,0,0
$GC,1213,-1.20,-116.8,129.0,-9.6,118,1218,0.10,2.40,0.00,0.000,4,0.116,0.025,2737,3322,3482,0,0,0,0,0,0
$GC,1332,-1.27,-116.8,138.4,-8.4,127,1337,0.00,2.47,0.00,0.000,6,0.000,0.031,2737,1764,3482,0,0,0,0,0,0
$GC,1661,-1.33,-116.8,166.5,-7.6,157,1666,0.12,2.47,0.00,0.000,4,0.071,0.031,2695,3330,3483,0,0,0,0,0,0
$GC,1715,-1.33,-116.8,171.6,-9.4,161,1720,0.00,2.42,0.00,0.000,6,0.000,0.032,2694,1798,3483,0,0,0,0,0,0
$GC,2070,-1.33,-116.8,204.2,-9.0,191,2075,0.00,2.72,0.00,0.000,4,0.000,0.067,2694,196,3483,0,0,0,0,0,0
$GC,2111,-1.33,-116.8,208.3,-10.1,192,2116,0.00,2.42,0.00,0.000,6,0.000,0.020,2694,1796,3483,0,0,0,0,0,0
$GC,2435,-1.33,-116.8,240.5,-10.3,200,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1797,3483,0,0,0,0,0,0
$GC,2761,-1.33,-116.8,271.4,-9.1,208,2765,0.00,2.40,0.00,0.000,4,0.000,0.032,2694,3320,3482,0,0,0,0,0,0
$GC,2789,-1.33,-116.8,273.8,-8.3,208,2794,0.00,2.47,0.00,0.000,6,0.000,0.031,2694,1785,3482,0,0,0,0,0,0
$GC,3121,-1.33,-116.8,299.5,-7.4,216,3125,0.00,2.80,0.00,0.000,4,0.000,0.083,2694,187,3481,0,0,0,0,0,0
$GC,3142,-1.33,-116.8,301.3,-8.2,216,3147,0.00,2.42,0.00,0.000,6,0.000,0.025,2694,1762,3481,0,0,0,0,0,0
$GC,3481,-1.33,-116.8,331.7,-9.9,225,3485,0.00,2.55,0.00,0.000,4,0.000,0.044,2694,3350,3480,0,0,0,0,0,0
$GC,3547,-1.37,-116.8,339.3,-10.2,226,3552,0.00,2.53,0.00,0.000,6,0.000,0.040,2694,1799,3480,0,0,0,0,0,0
$GC,3884,-1.37,-116.8,371.5,-9.3,235,3888,0.00,2.88,0.00,0.000,4,0.000,0.094,2694,185,3478,0,0,0,0,0,0
$GC,3901,-1.37,-116.8,373.1,-8.9,235,3906,0.00,2.55,0.00,0.000,6,0.000,0.029,2694,1802,3478,0,0,0,0,0,0
$GC,4243,-1.37,-116.8,400.8,-7.8,244,4247,0.00,2.53,0.00,0.000,4,0.000,0.044,2694,3350,3476,0,0,0,0,0,0
$GC,4322,-1.45,-116.8,406.6,-6.8,245,4327,0.00,2.55,0.00,0.000,6,0.000,0.049,2694,1816,3476,0,0,0,0,0,0
$GC,4655,-1.49,-116.8,429.7,-7.2,254,4660,0.00,2.97,0.00,0.000,4,0.000,0.097,2694,179,3473,0,0,0,0,0,0
$GC,4666,-1.54,-116.8,430.6,-7.3,254,4672,0.12,2.58,0.00,0.000,6,0.073,0.031,2653,1803,3473,0,0,0,0,0,0
$GC,5016,-1.54,-116.8,462.6,-9.4,263,5021,0.00,2.58,0.00,0.000,4,0.000,0.058,2653,3363,3471,0,0,0,0,0,0
$GC,5061,-1.54,-116.8,467.3,-9.9,264,5065,0.00,2.62,0.00,0.000,6,0.000,0.063,2653,1812,3470,0,0,0,0,0,0
$STATE,5376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5376,begin apogee
$GC,5382,-0.31,0.0,502.9,11.7,272,5484,1.25,0.00,98.03,0.919,6,0.087,0.000,2928,1812,3000,0,0,0,0,0,0
$STATE,5485,end apogee,CONTROL_FINISHED_OK
$STATE,5485,begin climb
$GC,5489,1.35,116.8,507.4,0.0,274,5602,1.50,2.78,102.65,0.902,4,0.038,0.052,3297,3396,2522,0,0,0,0,0,0
$GC,5627,1.36,222.8,510.0,4.2,277,5728,0.00,2.72,93.57,0.891,6,0.000,0.055,3297,1815,2092,0,0,0,0,0,0
$GC,6066,1.27,222.8,466.3,11.0,288,6070,0.00,2.65,0.00,0.000,4,0.000,0.039,3297,3411,2081,0,0,0,0,0,0
$GC,6095,1.23,222.8,463.3,11.0,288,6100,0.15,2.78,0.00,0.000,6,0.121,0.065,3268,1827,2080,0,0,0,0,0,0
$GC,6426,1.27,255.3,434.1,8.3,296,6460,0.00,2.70,28.65,0.851,4,0.000,0.044,3268,3407,1960,0,0,0,0,0,0
$GC,6496,1.34,267.6,428.1,9.4,297,6516,0.10,2.75,12.98,0.795,6,0.098,0.063,3294,1833,1907,0,0,0,0,0,0
$GC,6844,1.34,267.6,389.8,11.5,306,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1833,1901,0,0,0,0,0,0
$GC,7166,1.34,267.6,353.2,11.1,314,7170,0.00,2.92,0.00,0.000,4,0.000,0.092,3295,232,1899,0,0,0,0,0,0
$GC,7223,1.27,267.6,346.0,13.4,315,7227,0.00,2.60,0.00,0.000,6,0.000,0.023,3294,1857,1898,0,0,0,0,0,0
$GC,7570,1.27,267.6,308.5,10.6,324,7574,0.00,2.50,0.00,0.000,4,0.000,0.035,3294,3405,1897,0,0,0,0,0,0
$GC,7603,1.31,267.6,305.0,10.7,324,7608,0.00,2.60,0.00,0.000,6,0.000,0.049,3294,1840,1896,0,0,0,0,0,0
$GC,7936,1.32,279.9,272.7,9.4,333,7951,0.00,2.88,10.43,0.711,4,0.000,0.077,3294,238,1858,0,0,0,0,0,0
$GC,7996,1.27,279.9,266.2,11.0,334,8001,0.00,2.55,0.00,0.000,6,0.000,0.025,3294,1857,1856,0,0,0,0,0,0
$GC,8340,1.27,279.9,230.5,10.6,343,8345,0.00,2.47,0.00,0.000,4,0.000,0.037,3294,3394,1855,0,0,0,0,0,0
$GC,8369,1.32,279.9,227.3,10.4,343,8373,0.00,2.58,0.00,0.000,6,0.000,0.038,3294,1835,1854,0,0,0,0,0,0
$GC,8685,1.34,296.9,197.8,9.1,352,8706,0.00,2.85,15.98,0.687,4,0.000,0.070,3294,237,1790,0,0,0,0,0,0
$GC,8803,1.34,300.8,186.2,9.8,362,8814,0.00,2.50,5.00,0.532,6,0.000,0.025,3294,1824,1773,0,0,0,0,0,0
$GC,9133,1.39,309.8,155.0,9.6,393,9148,0.00,2.78,9.32,0.614,4,0.000,0.071,3294,240,1738,0,0,0,0,0,0
$GC,9201,1.39,309.8,148.0,10.4,398,9210,0.00,2.47,0.00,0.000,6,0.000,0.026,3294,1799,1736,0,0,0,0,0,0
$GC,9532,1.49,339.8,118.3,8.4,429,9567,0.12,2.75,28.08,0.631,4,0.221,0.065,3327,240,1614,0,0,0,0,0,0
$GC,9607,1.50,345.1,111.1,9.8,435,9618,0.00,2.35,5.70,0.500,6,0.000,0.026,3328,1759,1593,0,0,0,0,0,0
$GC,9937,1.63,393.3,84.3,7.4,466,9988,0.10,2.67,43.25,0.599,4,0.090,0.028,3356,3382,1396,0,0,0,0,0,0
$GC,10014,1.69,393.3,77.6,10.1,472,10018,0.00,2.72,0.00,0.000,6,0.000,0.038,3357,1740,1394,0,0,0,0,0,0
$GC,10342,1.69,393.3,41.1,11.9,502,10346,0.00,2.58,0.00,0.000,4,0.000,0.061,3356,231,1392,0,0,0,0,0,0
$GC,10400,1.69,393.3,34.4,10.5,506,10404,0.00,2.33,0.00,0.000,6,0.000,0.019,3356,1763,1391,0,0,0,0,0,0
$STATE,10646,end climb,SURFACE_DEPTH_REACHED
$STATE,10646,begin surface coast
$FINISH,0.4,1.011212
$STATE,10689,end surface coast,CONTROL_FINISHED_OK
$STATE,10689,begin surface
$SM_CCo,10710,180.62,0.519,0,0,476,619.14
$SM_GC,1.01,0.00,0.00,180.62,0.000,0.000,0.519,473,1765,476,-11.62,-0.14,619.14
$IRIDIUM_FIX,2248.70,-15745.85,030200,111159
$TT8_MAMPS,0.026078
$HUMID,54.72
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,20.60
$XPDR_PINGS,142
$24V_AH,23.3,84.774
$10V_AH,9.7,79.080
$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,27.975,129.925,453.625,180.625,0.000,156.121,208.835,413.682,35.500,0.000,63.702,1072.914,7175.593,657.401,2099.872,1129.094,33.368,1415.395,0.000,2057.490,0.000,0.535,0.000
$DEVICE_MAMPS,220.896,97.409,918.866,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.013,320.713,428.405,798.731,1208.146,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,44771,546
$CAP_FILE_SIZE,114876,0
$CFSIZE,260165632,146640896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,151107,2253.879,-15742.641,33,1.0,33,10.1