version: 66.06
glider: 146
mission: 5
dive: 609
start: 11 9 110 15 25 38
data:
$ID,146
$MISSION,5
$DIVE,609
$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,-262542.28
$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,22
$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
$GPS1,151107,2253.879,-15742.641,33,1.0,33,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.2
$GPS2,152444,2253.937,-15742.615,12,1.1,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.086,-0.219
$KALMAN_X,-290321.7,-133.7,256.5,338381.7,-704.1
$KALMAN_Y,-399781.1,-133.4,246.5,535508.7,840.4
$MHEAD_RNG_PITCHd_Wd,148.4,9204,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,139,0.00,0.00,-117.22,0.000,2,0.000,0.000,472,1766,3454,0,0,0,0,0,0
$GC,142,-1.38,-116.8,4.2,-8.4,15,161,12.10,2.65,-0.45,0.000,4,0.166,0.061,2690,188,3479,0,0,0,0,0,0
$GC,211,-1.30,-116.8,22.8,-18.5,24,220,0.10,2.47,0.00,0.000,6,0.102,0.016,2713,1783,3481,0,0,0,0,0,0
$GC,550,-1.22,-116.8,70.0,-12.2,58,555,0.00,2.42,0.00,0.000,4,0.000,0.031,2713,3342,3480,0,0,0,0,0,0
$GC,572,-1.15,-116.8,73.1,-12.4,59,578,0.17,2.55,0.00,0.000,6,0.104,0.028,2750,1755,3481,0,0,0,0,0,0
$GC,902,-1.20,-116.8,109.0,-9.9,89,906,0.00,2.47,0.00,0.000,4,0.000,0.023,2750,3342,3481,0,0,0,0,0,0
$GC,912,-1.26,-116.8,110.2,-8.3,89,919,0.10,2.53,0.00,0.000,6,0.077,0.031,2706,1751,3481,0,0,0,0,0,0
$GC,1237,-1.26,-116.8,143.1,-10.5,120,1242,0.10,2.53,0.00,0.000,4,0.112,0.031,2728,3343,3481,0,0,0,0,0,0
$GC,1329,-1.36,-116.8,151.2,-9.3,127,1333,0.00,2.53,0.00,0.000,6,0.000,0.026,2728,1755,3481,0,0,0,0,0,0
$GC,1658,-1.41,-116.8,177.5,-7.8,157,1663,0.15,0.00,0.00,0.000,6,0.174,0.000,2679,1754,3481,0,0,0,0,0,0
$GC,1982,-1.38,-116.8,209.3,-10.4,182,1987,0.10,2.50,0.00,0.000,4,0.116,0.031,2700,3335,3481,0,0,0,0,0,0
$GC,2032,-1.44,-116.8,214.8,-10.1,183,2037,0.00,2.50,0.00,0.000,6,0.000,0.028,2700,1768,3481,0,0,0,0,0,0
$GC,2345,-1.44,-116.8,244.1,-9.1,191,2349,0.00,2.47,0.00,0.000,4,0.000,0.027,2701,3339,3480,0,0,0,0,0,0
$GC,2363,-1.44,-116.8,245.6,-8.7,191,2367,0.00,2.47,0.00,0.000,6,0.000,0.035,2700,1786,3480,0,0,0,0,0,0
$GC,2704,-1.44,-116.8,274.7,-8.4,200,2709,0.00,2.75,0.00,0.000,4,0.000,0.074,2701,190,3480,0,0,0,0,0,0
$GC,2737,-1.44,-116.8,277.6,-9.3,200,2743,0.00,2.45,0.00,0.000,6,0.000,0.018,2700,1776,3480,0,0,0,0,0,0
$GC,3070,-1.44,-116.8,305.3,-8.4,209,3074,0.00,2.50,0.00,0.000,4,0.000,0.034,2700,3345,3479,0,0,0,0,0,0
$GC,3104,-1.51,-116.8,308.5,-9.0,209,3110,0.12,2.55,0.00,0.000,6,0.072,0.034,2656,1778,3479,0,0,0,0,0,0
$GC,3437,-1.47,-116.8,344.5,-11.1,218,3442,0.12,2.50,0.00,0.000,4,0.111,0.039,2681,3337,3476,0,0,0,0,0,0
$GC,3458,-1.47,-116.8,347.2,-10.9,218,3463,0.00,2.55,0.00,0.000,6,0.000,0.045,2681,1794,3476,0,0,0,0,0,0
$GC,3795,-1.47,-116.8,377.4,-8.5,227,3799,0.00,2.47,0.00,0.000,4,0.000,0.041,2681,3334,3475,0,0,0,0,0,0
$GC,3825,-1.51,-116.8,379.8,-8.1,227,3829,0.00,2.55,0.00,0.000,6,0.000,0.052,2682,1803,3475,0,0,0,0,0,0
$GC,4156,-1.51,-116.8,406.9,-8.5,235,4161,0.00,2.92,0.00,0.000,4,0.000,0.098,2681,182,3472,0,0,0,0,0,0
$GC,4196,-1.51,-116.8,410.6,-9.7,236,4200,0.00,2.55,0.00,0.000,6,0.000,0.025,2681,1781,3472,0,0,0,0,0,0
$GC,4521,-1.51,-116.8,439.4,-9.0,244,4526,0.00,2.60,0.00,0.000,4,0.000,0.050,2681,3356,3470,0,0,0,0,0,0
$GC,4572,-1.59,-116.8,444.2,-9.0,245,4577,0.12,2.62,0.00,0.000,6,0.075,0.057,2641,1803,3469,0,0,0,0,0,0
$GC,4887,-1.55,-116.8,478.1,-11.3,253,4892,0.10,2.58,0.00,0.000,4,0.126,0.046,2662,3352,3468,0,0,0,0,0,0
$GC,4927,-1.59,-116.8,482.5,-10.4,254,4931,0.00,2.62,0.00,0.000,6,0.000,0.063,2662,1821,3467,0,0,0,0,0,0
$STATE,5126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5126,begin apogee
$GC,5132,-0.31,0.0,502.6,10.0,259,5234,1.23,0.00,98.18,0.912,6,0.082,0.000,2932,1821,3001,0,0,0,0,0,0
$STATE,5234,end apogee,CONTROL_FINISHED_OK
$STATE,5234,begin climb
$GC,5239,1.38,116.8,505.3,0.0,261,5352,1.52,2.72,103.00,0.894,4,0.035,0.055,3311,3398,2523,0,0,0,0,0,0
$GC,5375,1.33,184.1,504.3,6.2,264,5442,0.10,2.72,60.12,0.877,6,0.139,0.061,3292,1820,2250,0,0,0,0,0,0
$GC,5768,1.28,202.2,468.2,9.0,274,5792,0.00,2.65,16.15,0.822,4,0.000,0.045,3292,3402,2175,0,0,0,0,0,0
$GC,5851,1.30,213.8,460.5,9.4,275,5869,0.00,2.72,11.57,0.787,6,0.000,0.063,3292,1838,2129,0,0,0,0,0,0
$GC,6183,1.26,213.8,427.2,10.1,284,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1837,2123,0,0,0,0,0,0
$GC,6509,1.23,220.1,395.3,9.7,292,6520,0.12,2.58,5.70,0.659,4,0.130,0.034,3268,3406,2104,0,0,0,0,0,0
$GC,6551,1.29,233.6,391.5,9.3,293,6571,0.00,2.67,14.27,0.793,6,0.000,0.055,3268,1841,2048,0,0,0,0,0,0
$GC,6916,1.32,261.9,360.4,8.4,302,6950,0.00,3.05,26.48,0.812,4,0.000,0.092,3267,234,1931,0,0,0,0,0,0
$GC,6997,1.33,266.2,353.0,9.8,303,7007,0.00,2.60,4.90,0.594,6,0.000,0.026,3268,1843,1915,0,0,0,0,0,0
$GC,7326,1.40,283.8,324.1,9.0,312,7346,0.15,0.00,16.92,0.772,6,0.080,0.000,3306,1844,1844,0,0,0,0,0,0
$GC,7653,1.41,288.4,291.7,9.8,320,7663,0.00,2.88,4.95,0.584,4,0.000,0.075,3306,233,1824,0,0,0,0,0,0
$GC,7685,1.35,288.4,288.0,10.5,320,7691,0.00,2.58,0.00,0.000,6,0.000,0.028,3306,1837,1823,0,0,0,0,0,0
$GC,8016,1.36,293.3,254.6,9.8,329,8024,0.00,0.00,5.75,0.607,6,0.000,0.000,3306,1838,1804,0,0,0,0,0,0
$GC,8343,1.36,296.4,223.4,9.9,337,8353,0.00,2.85,4.20,0.505,4,0.000,0.074,3306,232,1791,0,0,0,0,0,0
$GC,8400,1.32,296.4,217.0,11.1,338,8404,0.00,2.53,0.00,0.000,6,0.000,0.025,3306,1822,1790,0,0,0,0,0,0
$GC,8724,1.33,301.1,185.6,9.8,356,8732,0.00,0.00,5.72,0.563,6,0.000,0.000,3306,1824,1773,0,0,0,0,0,0
$GC,9052,1.37,301.1,152.6,10.1,387,9056,0.00,2.53,0.00,0.000,4,0.000,0.031,3306,3399,1771,0,0,0,0,0,0
$GC,9083,1.44,303.0,149.6,9.9,389,9087,0.00,2.62,0.00,0.000,6,0.000,0.041,3306,1798,1769,0,0,0,0,0,0
$GC,9412,1.52,326.2,118.4,8.7,419,9441,0.10,2.75,23.58,0.627,4,0.090,0.065,3335,240,1669,0,0,0,0,0,0
$GC,9555,1.47,326.2,101.5,11.3,430,9564,0.00,2.45,0.00,0.000,6,0.000,0.021,3335,1786,1665,0,0,0,0,0,0
$GC,9884,1.55,356.5,70.0,8.3,461,9917,0.00,2.75,26.52,0.579,4,0.000,0.065,3335,242,1545,0,0,0,0,0,0
$GC,9953,1.55,356.5,63.6,10.0,466,9957,0.00,2.38,0.00,0.000,6,0.000,0.027,3335,1758,1543,0,0,0,0,0,0
$GC,10282,1.64,383.7,32.9,8.5,496,10313,0.00,2.67,24.40,0.541,4,0.000,0.031,3335,3383,1435,0,0,0,0,0,0
$GC,10339,1.74,387.5,27.7,9.8,501,10350,0.15,2.72,4.62,0.395,6,0.044,0.037,3382,1755,1421,0,0,0,0,0,0
$STATE,10540,end climb,SURFACE_DEPTH_REACHED
$STATE,10540,begin surface coast
$FINISH,0.4,1.011669
$STATE,10583,end surface coast,CONTROL_FINISHED_OK
$STATE,10583,begin surface
$SM_CCo,10604,10.52,0.481,0,0,1370,400.08
$SM_GC,0.74,0.00,0.00,10.52,0.000,0.000,0.481,474,1752,1370,-11.62,-0.51,400.08
$IRIDIUM_FIX,2244.02,-15743.68,030200,151519
$TT8_MAMPS,0.026078
$HUMID,57.83
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.50
$XPDR_PINGS,159
$24V_AH,23.3,84.918
$10V_AH,9.8,79.203
$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,28.550,119.750,457.050,10.525,0.000,54.004,74.331,469.587,39.750,0.000,13.846,1059.270,6957.938,499.734,1982.936,930.527,33.370,1260.949,0.000,1994.681,0.000,0.535,0.000
$DEVICE_MAMPS,174.109,98.176,911.963,480.909,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.694,317.052,415.905,778.111,1177.887,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,41623,536
$CAP_FILE_SIZE,113994,0
$CFSIZE,260165632,146595840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,182355,2253.921,-15742.422,41,1.7,41,10.1