version: 66.06
glider: 146
mission: 5
dive: 620
start: 11 11 110 2 24 16
data:
$ID,146
$MISSION,5
$DIVE,620
$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,-262776.62
$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,85
$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
$GPS1,021625,2251.841,-15741.939,40,1.3,40,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.2
$GPS2,022320,2251.866,-15741.935,11,1.4,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.005,-0.228
$KALMAN_X,-291871.6,305.0,63.4,340851.5,-90.8
$KALMAN_Y,-379555.6,181.2,394.3,511000.1,161.7
$MHEAD_RNG_PITCHd_Wd,168.8,5310,-20.5,-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,15,-1.42,-109.4,0.0,0.0,0,96,0.00,0.00,-78.10,0.000,2,0.000,0.000,474,1801,3250,0,0,0,0,0,0
$GC,101,-1.43,-116.8,3.2,-5.4,10,127,12.15,2.78,-4.35,0.000,4,0.171,0.064,2678,198,3479,0,0,0,0,0,0
$GC,171,-1.30,-116.8,19.9,-15.1,19,179,0.15,2.40,0.00,0.000,6,0.103,0.023,2712,1754,3480,0,0,0,0,0,0
$GC,517,-1.23,-116.8,66.3,-14.2,55,521,0.00,2.47,0.00,0.000,4,0.000,0.030,2712,3331,3482,0,0,0,0,0,0
$GC,539,-1.17,-116.8,69.7,-13.2,56,544,0.15,2.50,0.00,0.000,6,0.114,0.028,2742,1766,3482,0,0,0,0,0,0
$GC,866,-1.24,-116.8,103.7,-9.1,86,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1765,3483,0,0,0,0,0,0
$GC,1184,-1.32,-116.8,129.8,-8.3,116,1189,0.12,2.65,0.00,0.000,4,0.070,0.058,2697,194,3484,0,0,0,0,0,0
$GC,1277,-1.32,-116.8,139.1,-10.3,123,1281,0.00,2.38,0.00,0.000,6,0.000,0.016,2697,1787,3483,0,0,0,0,0,0
$GC,1602,-1.32,-116.8,170.8,-9.3,153,1606,0.00,2.38,0.00,0.000,4,0.000,0.025,2697,3324,3484,0,0,0,0,0,0
$GC,1661,-1.39,-116.8,176.0,-8.4,157,1667,0.00,2.45,0.00,0.000,6,0.000,0.025,2697,1785,3484,0,0,0,0,0,0
$GC,2016,-1.39,-116.8,203.4,-7.6,188,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1785,3485,0,0,0,0,0,0
$GC,2343,-1.39,-116.8,230.9,-8.7,196,2347,0.00,2.40,0.00,0.000,4,0.000,0.025,2697,3321,3485,0,0,0,0,0,0
$GC,2365,-1.43,-116.8,233.1,-9.1,196,2369,0.00,2.42,0.00,0.000,6,0.000,0.034,2697,1808,3484,0,0,0,0,0,0
$GC,2702,-1.47,-116.8,262.5,-8.7,205,2706,0.00,2.38,0.00,0.000,4,0.000,0.028,2697,3312,3484,0,0,0,0,0,0
$GC,2731,-1.54,-116.8,265.1,-8.8,205,2736,0.15,2.38,0.00,0.000,6,0.063,0.031,2644,1826,3484,0,0,0,0,0,0
$GC,3062,-1.49,-116.8,298.1,-10.3,213,3068,0.12,2.85,0.00,0.000,4,0.116,0.073,2671,193,3484,0,0,0,0,0,0
$GC,3112,-1.49,-116.8,303.5,-10.0,214,3117,0.00,2.47,0.00,0.000,6,0.000,0.021,2671,1781,3483,0,0,0,0,0,0
$GC,3427,-1.49,-116.8,333.4,-9.8,222,3432,0.00,2.50,0.00,0.000,4,0.000,0.043,2671,3352,3483,0,0,0,0,0,0
$GC,3443,-1.49,-116.8,335.5,-10.1,222,3447,0.00,2.50,0.00,0.000,6,0.000,0.036,2671,1808,3483,0,0,0,0,0,0
$GC,3788,-1.49,-116.8,368.4,-9.3,231,3792,0.00,2.47,0.00,0.000,4,0.000,0.034,2671,3348,3481,0,0,0,0,0,0
$GC,3834,-1.56,-116.8,372.9,-9.8,232,3838,0.00,2.53,0.00,0.000,6,0.000,0.043,2671,1815,3482,0,0,0,0,0,0
$GC,4152,-1.56,-116.8,403.9,-9.9,240,4157,0.00,2.95,0.00,0.000,4,0.000,0.092,2671,189,3479,0,0,0,0,0,0
$GC,4169,-1.56,-116.8,405.7,-10.2,240,4174,0.00,2.58,0.00,0.000,6,0.000,0.030,2671,1805,3480,0,0,0,0,0,0
$GC,4512,-1.56,-116.8,438.0,-9.1,249,4516,0.00,2.55,0.00,0.000,4,0.000,0.046,2671,3357,3477,0,0,0,0,0,0
$GC,4528,-1.60,-116.8,439.5,-8.8,249,4533,0.00,2.60,0.00,0.000,6,0.000,0.054,2671,1814,3477,0,0,0,0,0,0
$GC,4872,-1.60,-116.8,468.9,-8.7,258,4877,0.00,3.03,0.00,0.000,4,0.000,0.107,2671,185,3475,0,0,0,0,0,0
$GC,4899,-1.60,-116.8,471.6,-9.7,258,4904,0.00,2.62,0.00,0.000,6,0.000,0.032,2671,1812,3474,0,0,0,0,0,0
$STATE,5228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5228,begin apogee
$GC,5234,-0.31,0.0,501.3,8.9,266,5336,1.17,0.00,98.57,0.913,6,0.087,0.000,2929,1812,3000,0,0,0,0,0,0
$STATE,5337,end apogee,CONTROL_FINISHED_OK
$STATE,5337,begin climb
$GC,5341,1.43,116.8,503.9,0.0,268,5453,1.58,2.80,101.93,0.894,4,0.047,0.057,3317,3412,2523,0,0,0,0,0,0
$GC,5470,1.39,191.7,503.9,5.4,271,5548,0.00,2.72,66.38,0.881,6,0.000,0.051,3317,1820,2218,0,0,0,0,0,0
$GC,5872,1.30,191.7,462.5,10.8,281,5877,0.15,2.65,0.00,0.000,4,0.125,0.040,3287,3409,2209,0,0,0,0,0,0
$GC,5911,1.30,191.7,458.1,10.9,282,5916,0.00,2.70,0.00,0.000,6,0.000,0.058,3287,1824,2208,0,0,0,0,0,0
$GC,6237,1.31,198.0,425.7,9.6,290,6243,0.00,0.00,4.90,0.622,6,0.000,0.000,3287,1824,2193,0,0,0,0,0,0
$GC,6560,1.35,231.9,398.4,7.9,298,6601,0.00,2.72,31.98,0.839,4,0.000,0.041,3287,3414,2054,0,0,0,0,0,0
$GC,6619,1.38,249.8,393.4,8.9,299,6645,0.00,2.75,17.77,0.803,6,0.000,0.054,3287,1816,1981,0,0,0,0,0,0
$GC,6970,1.38,249.8,358.5,10.5,308,6975,0.00,2.62,0.00,0.000,4,0.000,0.038,3287,3422,1975,0,0,0,0,0,0
$GC,6997,1.42,249.8,355.4,11.7,308,7002,0.00,2.72,0.00,0.000,6,0.000,0.053,3286,1822,1974,0,0,0,0,0,0
$GC,7330,1.45,274.1,324.6,8.5,316,7360,0.12,2.70,22.02,0.785,4,0.089,0.031,3319,3415,1883,0,0,0,0,0,0
$GC,7405,1.45,274.1,316.9,10.2,317,7409,0.00,2.67,0.00,0.000,6,0.000,0.044,3319,1836,1881,0,0,0,0,0,0
$GC,7738,1.45,274.1,279.7,11.7,325,7742,0.00,2.83,0.00,0.000,4,0.000,0.082,3320,236,1878,0,0,0,0,0,0
$GC,7765,1.38,274.1,275.8,13.5,325,7769,0.00,2.60,0.00,0.000,6,0.000,0.022,3319,1878,1877,0,0,0,0,0,0
$GC,8096,1.38,274.1,240.0,10.5,333,8100,0.00,2.50,0.00,0.000,4,0.000,0.039,3318,3425,1876,0,0,0,0,0,0
$GC,8147,1.42,274.1,234.7,10.6,334,8152,0.00,2.60,0.00,0.000,6,0.000,0.044,3319,1849,1875,0,0,0,0,0,0
$GC,8461,1.45,298.9,205.7,8.5,342,8490,0.00,2.90,22.40,0.706,4,0.000,0.069,3319,247,1781,0,0,0,0,0,0
$GC,8508,1.48,320.4,201.7,8.7,343,8534,0.00,2.65,20.80,0.690,6,0.000,0.025,3319,1904,1694,0,0,0,0,0,0
$GC,8860,1.52,320.4,167.7,10.8,374,8864,0.00,2.92,0.00,0.000,4,0.000,0.071,3319,238,1688,0,0,0,0,0,0
$GC,8893,1.52,320.4,164.3,12.5,376,8897,0.00,2.62,0.00,0.000,6,0.000,0.023,3319,1896,1688,0,0,0,0,0,0
$GC,9217,1.58,330.0,128.7,9.4,406,9234,0.10,2.95,8.98,0.584,4,0.094,0.069,3347,245,1654,0,0,0,0,0,0
$GC,9245,1.58,330.0,125.6,10.7,408,9254,0.00,2.62,0.00,0.000,6,0.000,0.021,3346,1888,1654,0,0,0,0,0,0
$GC,9574,1.66,342.4,90.9,9.3,439,9598,0.00,2.53,12.23,0.574,4,0.000,0.032,3346,3418,1603,0,0,0,0,0,0
$GC,9685,1.79,356.1,80.7,9.2,448,9705,0.17,2.65,13.20,0.566,6,0.070,0.035,3394,1809,1548,0,0,0,0,0,0
$GC,10028,1.79,356.1,36.7,13.1,479,10032,0.00,2.70,0.00,0.000,4,0.000,0.061,3394,236,1545,0,0,0,0,0,0
$GC,10063,1.70,356.1,32.0,13.9,481,10068,0.12,2.53,0.00,0.000,6,0.121,0.019,3370,1853,1544,0,0,0,0,0,0
$STATE,10309,end climb,SURFACE_DEPTH_REACHED
$STATE,10309,begin surface coast
$FINISH,0.5,1.011938
$STATE,10351,end surface coast,CONTROL_FINISHED_OK
$STATE,10352,begin surface
$SM_CCo,10375,36.83,0.524,0,0,1369,400.08
$SM_GC,1.10,0.00,0.00,36.83,0.000,0.000,0.524,474,1758,1369,-11.62,-0.31,400.08
$IRIDIUM_FIX,2241.69,-15741.52,040200,232320
$TT8_MAMPS,0.026078
$HUMID,57.28
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.40
$XPDR_PINGS,169
$24V_AH,23.3,86.336
$10V_AH,9.8,80.556
$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,28.150,126.050,421.150,36.825,0.000,29.268,36.838,198.015,42.250,0.000,12.761,1033.869,6814.357,505.743,1900.988,571.261,33.392,1218.273,0.000,1906.706,0.000,0.534,0.000
$DEVICE_MAMPS,171.041,106.613,912.730,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.800,309.968,404.087,743.565,1124.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,41520,521
$CAP_FILE_SIZE,104415,0
$CFSIZE,260165632,145956864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111110,051906,2251.313,-15742.209,32,1.6,36,10.1