version: 66.06
glider: 146
mission: 5
dive: 611
start: 11 9 110 21 57 20
data:
$ID,146
$MISSION,5
$DIVE,611
$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,-262576.69
$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,24
$R_STBD_OVSHOOT,63
$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
$GPS1,214554,2253.960,-15742.221,22,1.3,39,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-66.8
$GPS2,215626,2254.085,-15742.190,14,1.3,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.069,-0.225
$KALMAN_X,-290165.3,-216.8,-219.3,339502.0,706.7
$KALMAN_Y,-395640.3,585.3,86.6,531092.9,1717.0
$MHEAD_RNG_PITCHd_Wd,187.0,9422,-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,17,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-77.38,0.000,2,0.000,0.000,476,1799,3267,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.2,-5.9,10,126,12.18,2.78,-4.20,0.000,4,0.169,0.064,2692,194,3479,0,0,0,0,0,0
$GC,166,-1.29,-116.8,17.6,-15.1,18,176,0.08,2.45,0.00,0.000,6,0.106,0.021,2711,1775,3481,0,0,0,0,0,0
$GC,517,-1.19,-116.8,62.2,-12.0,55,522,0.12,2.47,0.00,0.000,4,0.124,0.025,2737,3338,3482,0,0,0,0,0,0
$GC,530,-1.10,-116.8,64.4,-12.1,55,539,0.08,2.53,0.00,0.000,6,0.093,0.025,2757,1769,3482,0,0,0,0,0,0
$GC,854,-1.16,-116.8,95.2,-9.6,86,859,0.00,2.45,0.00,0.000,4,0.000,0.023,2757,3339,3482,0,0,0,0,0,0
$GC,950,-1.29,-116.8,103.8,-8.7,93,957,0.17,2.55,0.00,0.000,6,0.055,0.030,2698,1733,3483,0,0,0,0,0,0
$GC,1275,-1.29,-116.8,133.7,-8.3,124,1280,0.00,2.58,0.00,0.000,4,0.000,0.061,2698,197,3483,0,0,0,0,0,0
$GC,1301,-1.26,-116.8,135.9,-8.9,125,1307,0.12,2.30,0.00,0.000,6,0.110,0.015,2724,1748,3483,0,0,0,0,0,0
$GC,1628,-1.30,-116.8,165.9,-9.6,156,1632,0.00,2.42,0.00,0.000,4,0.000,0.027,2725,3316,3484,0,0,0,0,0,0
$GC,1708,-1.37,-116.8,172.7,-7.4,162,1717,0.08,2.55,0.00,0.000,6,0.040,0.031,2681,1733,3484,0,0,0,0,0,0
$GC,2064,-1.33,-116.8,204.4,-9.5,193,2069,0.12,2.47,0.00,0.000,4,0.107,0.025,2709,3311,3484,0,0,0,0,0,0
$GC,2080,-1.33,-116.8,206.3,-9.6,193,2085,0.00,2.50,0.00,0.000,6,0.000,0.033,2709,1752,3484,0,0,0,0,0,0
$GC,2422,-1.33,-116.8,239.5,-9.8,202,2427,0.00,2.45,0.00,0.000,4,0.000,0.031,2709,3306,3484,0,0,0,0,0,0
$GC,2446,-1.33,-116.8,241.8,-9.4,202,2450,0.00,2.45,0.00,0.000,6,0.000,0.031,2709,1774,3484,0,0,0,0,0,0
$GC,2782,-1.33,-116.8,272.1,-9.1,211,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1773,3484,0,0,0,0,0,0
$GC,3108,-1.38,-116.8,296.4,-7.1,219,3112,0.00,2.75,0.00,0.000,4,0.000,0.075,2709,190,3483,0,0,0,0,0,0
$GC,3143,-1.44,-116.8,299.2,-8.7,219,3149,0.10,2.38,0.00,0.000,6,0.086,0.024,2674,1726,3483,0,0,0,0,0,0
$GC,3474,-1.44,-116.8,332.3,-10.3,228,3478,0.00,2.60,0.00,0.000,4,0.000,0.037,2674,3349,3482,0,0,0,0,0,0
$GC,3518,-1.48,-116.8,336.6,-9.4,229,3522,0.00,2.60,0.00,0.000,6,0.000,0.045,2674,1779,3482,0,0,0,0,0,0
$GC,3838,-1.48,-116.8,362.6,-8.1,237,3842,0.00,2.53,0.00,0.000,4,0.000,0.040,2674,3343,3481,0,0,0,0,0,0
$GC,3871,-1.53,-116.8,365.6,-9.1,237,3876,0.00,2.60,0.00,0.000,6,0.000,0.045,2673,1785,3481,0,0,0,0,0,0
$GC,4204,-1.53,-116.8,398.6,-10.2,246,4208,0.00,2.90,0.00,0.000,4,0.000,0.099,2673,186,3479,0,0,0,0,0,0
$GC,4236,-1.53,-116.8,402.5,-11.5,246,4242,0.00,2.50,0.00,0.000,6,0.000,0.025,2673,1760,3478,0,0,0,0,0,0
$GC,4567,-1.53,-116.8,432.8,-8.8,255,4572,0.00,2.60,0.00,0.000,4,0.000,0.052,2673,3352,3477,0,0,0,0,0,0
$GC,4619,-1.59,-116.8,437.1,-7.9,256,4624,0.00,2.65,0.00,0.000,6,0.000,0.054,2673,1773,3477,0,0,0,0,0,0
$GC,4931,-1.59,-116.8,463.6,-8.8,264,4936,0.00,2.92,0.00,0.000,4,0.000,0.107,2673,180,3474,0,0,0,0,0,0
$GC,4953,-1.59,-116.8,465.8,-9.5,264,4957,0.00,2.58,0.00,0.000,6,0.000,0.037,2673,1782,3474,0,0,0,0,0,0
$GC,5291,-1.59,-116.8,495.2,-8.7,273,5295,0.00,2.65,0.00,0.000,4,0.000,0.062,2673,3356,3472,0,0,0,0,0,0
$GC,5324,-1.65,-116.8,498.3,-8.7,273,5332,0.10,2.65,0.00,0.000,6,0.044,0.063,2633,1783,3472,0,0,0,0,0,0
$STATE,5370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5370,begin apogee
$GC,5376,-0.31,0.0,502.5,9.0,275,5478,1.35,0.00,97.80,0.919,6,0.084,0.000,2930,1865,3001,0,0,0,0,0,0
$STATE,5478,end apogee,CONTROL_FINISHED_OK
$STATE,5478,begin climb
$GC,5483,1.38,116.8,505.1,0.0,277,5595,1.52,2.60,101.62,0.901,4,0.046,0.051,3305,3364,2523,0,0,0,0,0,0
$GC,5601,1.38,219.9,506.5,4.1,279,5700,0.00,2.65,90.12,0.884,6,0.000,0.053,3305,1820,2104,0,0,0,0,0,0
$GC,6014,1.31,223.8,467.6,9.8,290,6019,0.00,2.60,0.00,0.000,4,0.000,0.046,3305,3372,2094,0,0,0,0,0,0
$GC,6056,1.27,223.8,463.2,11.5,291,6061,0.12,2.67,0.00,0.000,6,0.128,0.058,3281,1832,2092,0,0,0,0,0,0
$GC,6380,1.27,223.8,428.1,11.2,299,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1832,2091,0,0,0,0,0,0
$GC,6705,1.29,232.5,395.3,9.5,307,6720,0.00,2.55,9.93,0.764,4,0.000,0.035,3281,3372,2052,0,0,0,0,0,0
$GC,6745,1.29,240.1,391.5,9.6,308,6760,0.00,2.65,8.50,0.733,6,0.000,0.058,3281,1834,2023,0,0,0,0,0,0
$GC,7074,1.30,241.2,359.3,10.0,316,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1833,2019,0,0,0,0,0,0
$GC,7399,1.32,263.3,329.6,8.8,324,7428,0.00,2.60,22.15,0.790,4,0.000,0.031,3281,3373,1927,0,0,0,0,0,0
$GC,7490,1.41,286.0,321.8,8.7,326,7519,0.10,2.60,21.77,0.776,6,0.092,0.048,3307,1834,1833,0,0,0,0,0,0
$GC,7858,1.42,297.6,287.3,9.4,335,7877,0.00,2.90,11.07,0.715,4,0.000,0.081,3307,231,1786,0,0,0,0,0,0
$GC,7930,1.37,297.6,278.6,12.7,336,7935,0.00,2.55,0.00,0.000,6,0.000,0.022,3308,1821,1783,0,0,0,0,0,0
$GC,8268,1.37,297.6,238.7,11.8,345,8272,0.00,2.55,0.00,0.000,4,0.000,0.038,3308,3407,1782,0,0,0,0,0,0
$GC,8313,1.43,297.6,233.6,10.9,346,8318,0.00,2.60,0.00,0.000,6,0.000,0.041,3308,1840,1780,0,0,0,0,0,0
$GC,8633,1.45,315.5,203.5,9.0,354,8657,0.00,2.90,16.50,0.691,4,0.000,0.074,3307,241,1712,0,0,0,0,0,0
$GC,8712,1.45,315.5,195.2,11.2,358,8717,0.00,2.53,0.00,0.000,6,0.000,0.025,3307,1847,1711,0,0,0,0,0,0
$GC,9043,1.49,315.5,161.4,10.3,388,9047,0.00,2.47,0.00,0.000,4,0.000,0.036,3307,3393,1710,0,0,0,0,0,0
$GC,9060,1.54,315.5,159.0,10.5,389,9065,0.12,2.58,0.00,0.000,6,0.079,0.041,3341,1815,1709,0,0,0,0,0,0
$GC,9388,1.54,315.5,121.4,11.5,419,9393,0.00,2.72,0.00,0.000,4,0.000,0.069,3342,234,1708,0,0,0,0,0,0
$GC,9410,1.49,315.5,118.5,10.6,420,9419,0.00,2.50,0.00,0.000,6,0.000,0.020,3342,1809,1708,0,0,0,0,0,0
$GC,9738,1.53,353.4,87.9,7.9,451,9777,0.00,2.58,33.33,0.607,4,0.000,0.027,3342,3395,1558,0,0,0,0,0,0
$GC,9822,1.67,385.5,81.4,8.2,457,9857,0.10,2.62,28.98,0.590,6,0.095,0.041,3369,1807,1429,0,0,0,0,0,0
$GC,10188,1.67,385.5,42.4,11.7,491,10192,0.00,2.70,0.00,0.000,4,0.000,0.060,3369,233,1424,0,0,0,0,0,0
$GC,10235,1.62,385.5,36.5,14.1,494,10240,0.00,2.47,0.00,0.000,6,0.000,0.019,3369,1820,1423,0,0,0,0,0,0
$STATE,10506,end climb,SURFACE_DEPTH_REACHED
$STATE,10506,begin surface coast
$FINISH,0.5,1.006720
$STATE,10549,end surface coast,CONTROL_FINISHED_OK
$STATE,10549,begin surface
$SM_CCo,10573,12.30,0.491,0,0,1369,400.08
$SM_GC,0.66,0.00,0.00,12.30,0.000,0.000,0.491,474,1739,1369,-11.62,-0.88,400.08
$IRIDIUM_FIX,2244.02,-15743.68,030200,181859
$TT8_MAMPS,0.026078
$HUMID,58.74
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.40
$XPDR_PINGS,168
$24V_AH,23.3,85.195
$10V_AH,9.8,79.465
$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,28.250,129.625,441.775,12.300,0.000,31.050,36.418,409.379,42.000,0.000,15.503,1065.099,6855.298,488.626,2010.377,793.445,33.370,1242.512,0.000,2008.504,0.000,0.536,0.000
$DEVICE_MAMPS,168.740,108.914,918.866,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.307,310.028,415.538,786.036,1186.465,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,41578,536
$CAP_FILE_SIZE,112385,0
$CFSIZE,260165632,146472960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,005530,2253.475,-15742.541,64,1.2,64,10.1