version: 66.06
glider: 146
mission: 5
dive: 614
start: 11 10 110 7 22 57
data:
$ID,146
$MISSION,5
$DIVE,614
$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,-262645
$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,20
$R_STBD_OVSHOOT,52
$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
$GPS1,071143,2252.537,-15742.760,12,2.0,17,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.0
$GPS2,072204,2252.615,-15742.750,11,99.0,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.031,-0.233
$KALMAN_X,-291479.4,50.9,-350.9,339724.9,-96.0
$KALMAN_Y,-391029.7,-7.6,29.1,524402.9,1230.8
$MHEAD_RNG_PITCHd_Wd,162.4,6816,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.70,0.000,2,0.000,0.000,472,1755,3336,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.5,-6.5,10,126,12.20,2.72,-2.78,0.000,4,0.171,0.068,2688,193,3481,0,0,0,0,0,0
$GC,166,-1.25,-116.8,19.6,-17.1,18,176,0.15,2.47,0.00,0.000,6,0.099,0.018,2723,1792,3482,0,0,0,0,0,0
$GC,513,-1.18,-116.8,61.6,-11.8,54,518,0.10,2.75,0.00,0.000,4,0.133,0.054,2742,185,3483,0,0,0,0,0,0
$GC,537,-1.12,-116.8,64.4,-12.4,55,542,0.00,2.40,0.00,0.000,6,0.000,0.016,2742,1775,3482,0,0,0,0,0,0
$GC,866,-1.12,-116.8,99.8,-9.2,85,870,0.00,2.45,0.00,0.000,4,0.000,0.025,2742,3323,3483,0,0,0,0,0,0
$GC,913,-1.19,-116.8,104.1,-8.4,88,922,0.00,2.55,0.00,0.000,6,0.000,0.028,2742,1746,3483,0,0,0,0,0,0
$GC,1242,-1.26,-116.8,131.0,-7.8,119,1246,0.00,2.60,0.00,0.000,4,0.000,0.057,2742,190,3484,0,0,0,0,0,0
$GC,1265,-1.34,-116.8,133.2,-8.1,120,1274,0.12,2.38,0.00,0.000,6,0.035,0.018,2693,1760,3484,0,0,0,0,0,0
$GC,1594,-1.34,-116.8,164.7,-10.3,151,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1761,3485,0,0,0,0,0,0
$GC,1922,-1.34,-116.8,198.4,-9.9,182,1926,0.00,2.40,0.00,0.000,4,0.000,0.031,2692,3308,3485,0,0,0,0,0,0
$GC,1949,-1.34,-116.8,201.6,-9.7,183,1954,0.00,2.53,0.00,0.000,6,0.000,0.031,2692,1721,3486,0,0,0,0,0,0
$GC,2281,-1.34,-116.8,230.0,-7.7,191,2285,0.00,2.62,0.00,0.000,4,0.000,0.064,2692,186,3486,0,0,0,0,0,0
$GC,2304,-1.34,-116.8,232.0,-8.5,191,2308,0.00,2.28,0.00,0.000,6,0.000,0.020,2692,1701,3486,0,0,0,0,0,0
$GC,2646,-1.34,-116.8,258.6,-8.3,200,2651,0.00,2.50,0.00,0.000,4,0.000,0.027,2692,3306,3485,0,0,0,0,0,0
$GC,2743,-1.39,-116.8,266.9,-8.2,202,2748,0.00,2.50,0.00,0.000,6,0.000,0.031,2692,1754,3486,0,0,0,0,0,0
$GC,3056,-1.39,-116.8,294.1,-8.6,210,3057,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1754,3485,0,0,0,0,0,0
$GC,3381,-1.39,-116.8,320.1,-7.4,218,3385,0.00,2.47,0.00,0.000,4,0.000,0.031,2692,3302,3484,0,0,0,0,0,0
$GC,3433,-1.46,-116.8,324.0,-8.0,219,3437,0.00,2.58,0.00,0.000,6,0.000,0.040,2692,1746,3484,0,0,0,0,0,0
$GC,3745,-1.46,-116.8,349.5,-8.6,227,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1746,3482,0,0,0,0,0,0
$GC,4070,-1.46,-116.8,377.8,-8.6,235,4074,0.00,2.50,0.00,0.000,4,0.000,0.040,2692,3298,3481,0,0,0,0,0,0
$GC,4116,-1.55,-116.8,381.8,-8.6,236,4121,0.12,2.62,0.00,0.000,6,0.073,0.055,2651,1741,3481,0,0,0,0,0,0
$GC,4435,-1.51,-116.8,412.8,-9.6,244,4440,0.00,2.83,0.00,0.000,4,0.000,0.099,2651,178,3478,0,0,0,0,0,0
$GC,4448,-1.47,-116.8,414.0,-9.6,244,4453,0.12,2.38,0.00,0.000,6,0.117,0.025,2678,1690,3478,0,0,0,0,0,0
$GC,4796,-1.47,-116.8,446.3,-9.4,253,4800,0.00,2.65,0.00,0.000,4,0.000,0.051,2678,3294,3477,0,0,0,0,0,0
$GC,4829,-1.53,-116.8,449.7,-10.6,253,4834,0.00,2.65,0.00,0.000,6,0.000,0.063,2678,1745,3476,0,0,0,0,0,0
$GC,5162,-1.53,-116.8,479.9,-8.8,262,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1746,3474,0,0,0,0,0,0
$STATE,5401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5401,begin apogee
$GC,5407,-0.31,0.0,500.1,8.1,268,5508,1.12,0.00,98.25,0.913,6,0.080,0.000,2929,1745,3001,0,0,0,0,0,0
$STATE,5509,end apogee,CONTROL_FINISHED_OK
$STATE,5509,begin climb
$GC,5512,1.38,116.8,502.3,0.0,270,5621,1.55,0.00,101.28,0.894,6,0.048,0.000,3311,1745,2524,0,0,0,0,0,0
$GC,5959,1.33,187.5,483.3,6.0,281,6028,0.00,2.83,61.97,0.884,4,0.000,0.049,3311,3350,2235,0,0,0,0,0,0
$GC,6108,1.27,192.2,470.2,9.8,284,6119,0.17,2.67,4.78,0.615,6,0.121,0.058,3277,1816,2217,0,0,0,0,0,0
$GC,6451,1.29,207.8,438.7,9.1,293,6468,0.00,0.00,15.27,0.828,6,0.000,0.000,3277,1816,2153,0,0,0,0,0,0
$GC,6777,1.31,225.9,408.7,9.0,301,6801,0.00,2.62,16.77,0.826,4,0.000,0.041,3277,3353,2079,0,0,0,0,0,0
$GC,6869,1.35,225.9,399.3,10.4,303,6874,0.00,2.62,0.00,0.000,6,0.000,0.058,3277,1820,2077,0,0,0,0,0,0
$GC,7189,1.37,243.0,369.3,9.0,311,7207,0.00,0.00,16.48,0.805,6,0.000,0.000,3277,1820,2010,0,0,0,0,0,0
$GC,7512,1.40,267.2,341.2,8.6,319,7538,0.12,0.00,23.08,0.804,6,0.087,0.000,3308,1819,1911,0,0,0,0,0,0
$GC,7837,1.40,267.2,307.1,10.3,327,7841,0.00,2.50,0.00,0.000,4,0.000,0.031,3308,3352,1906,0,0,0,0,0,0
$GC,7882,1.40,267.2,302.6,10.3,328,7887,0.00,2.58,0.00,0.000,6,0.000,0.047,3308,1819,1904,0,0,0,0,0,0
$GC,8200,1.40,267.2,269.1,10.9,336,8204,0.00,2.47,0.00,0.000,4,0.000,0.035,3308,3351,1904,0,0,0,0,0,0
$GC,8255,1.41,277.3,263.7,9.5,337,8270,0.00,2.47,9.55,0.696,6,0.000,0.044,3308,1845,1870,0,0,0,0,0,0
$GC,8603,1.43,295.0,231.7,9.0,346,8622,0.00,0.00,17.12,0.716,6,0.000,0.000,3307,1844,1797,0,0,0,0,0,0
$GC,8926,1.43,295.0,197.7,10.8,354,8931,0.00,2.83,0.00,0.000,4,0.000,0.076,3308,231,1793,0,0,0,0,0,0
$GC,9000,1.40,295.0,188.8,11.2,360,9005,0.00,2.47,0.00,0.000,6,0.000,0.020,3308,1805,1792,0,0,0,0,0,0
$GC,9325,1.44,327.0,160.2,8.2,390,9360,0.00,2.55,29.35,0.670,4,0.000,0.034,3308,3392,1665,0,0,0,0,0,0
$GC,9378,1.51,340.1,156.0,9.3,394,9399,0.00,2.60,12.65,0.622,6,0.000,0.042,3308,1830,1613,0,0,0,0,0,0
$GC,9719,1.57,342.0,120.1,9.9,426,9724,0.15,2.50,0.00,0.000,4,0.147,0.028,3348,3389,1609,0,0,0,0,0,0
$GC,9848,1.57,346.7,106.7,9.8,436,9862,0.00,2.60,6.57,0.528,6,0.000,0.035,3348,1808,1585,0,0,0,0,0,0
$GC,10182,1.65,363.6,74.2,9.1,467,10204,0.00,2.78,15.98,0.574,4,0.000,0.067,3348,244,1517,0,0,0,0,0,0
$GC,10230,1.65,363.6,69.7,10.2,471,10235,0.00,2.47,0.00,0.000,6,0.000,0.019,3348,1822,1516,0,0,0,0,0,0
$GC,10559,1.65,363.6,35.2,10.2,501,10563,0.00,2.70,0.00,0.000,4,0.000,0.059,3348,238,1516,0,0,0,0,0,0
$GC,10593,1.65,363.6,31.6,11.6,503,10597,0.00,2.42,0.00,0.000,6,0.000,0.019,3348,1800,1515,0,0,0,0,0,0
$STATE,10856,end climb,SURFACE_DEPTH_REACHED
$STATE,10856,begin surface coast
$FINISH,0.4,1.016891
$STATE,10912,end surface coast,CONTROL_FINISHED_OK
$STATE,10912,begin surface
$SM_CCo,10936,30.52,0.521,0,0,1369,400.08
$SM_GC,1.12,0.00,0.00,30.52,0.000,0.000,0.521,473,1746,1369,-11.62,-0.68,400.08
$IRIDIUM_FIX,2244.02,-15746.73,040200,070748
$TT8_MAMPS,0.026078
$HUMID,57.32
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.30
$XPDR_PINGS,149
$24V_AH,23.3,85.582
$10V_AH,9.8,79.825
$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,27.625,102.575,429.100,30.525,0.000,53.942,85.601,249.246,37.250,0.000,33.211,1067.871,7292.583,501.924,2026.016,698.246,33.370,1215.139,0.000,2016.419,0.000,0.534,0.000
$DEVICE_MAMPS,171.041,161.837,913.497,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.691,316.629,421.672,800.988,1211.780,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,44747,549
$CAP_FILE_SIZE,104767,0
$CFSIZE,260165632,146309120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,102700,2252.853,-15742.913,35,2.0,35,10.1