version: 66.06
glider: 146
mission: 5
dive: 621
start: 11 11 110 5 26 52
data:
$ID,146
$MISSION,5
$DIVE,621
$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,-262791.41
$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,29
$R_STBD_OVSHOOT,58
$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
$GPS1,051906,2251.313,-15742.209,32,1.6,36,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.7
$GPS2,052556,2251.386,-15742.208,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.061,-0.226
$KALMAN_X,-292140.0,122.9,15.9,340880.5,-514.1
$KALMAN_Y,-377519.0,-35.9,-103.6,508778.1,1039.7
$MHEAD_RNG_PITCHd_Wd,154.7,4433,-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,15,-1.38,-116.5,0.0,0.0,0,96,0.00,0.00,-78.03,0.000,2,0.000,0.000,474,1759,3271,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.3,-6.3,10,126,12.25,2.72,-3.92,0.000,4,0.172,0.066,2691,194,3478,0,0,0,0,0,0
$GC,171,-1.29,-116.8,21.2,-18.1,19,181,0.08,2.45,0.00,0.000,6,0.110,0.017,2709,1776,3480,0,0,0,0,0,0
$GC,521,-1.19,-116.8,68.1,-12.9,54,530,0.15,0.00,0.00,0.000,6,0.123,0.000,2739,1778,3481,0,0,0,0,0,0
$GC,852,-1.19,-116.8,103.5,-9.5,85,856,0.00,2.45,0.00,0.000,4,0.000,0.025,2739,3333,3482,0,0,0,0,0,0
$GC,887,-1.28,-116.8,107.3,-9.3,87,893,0.00,2.53,0.00,0.000,6,0.000,0.031,2739,1753,3482,0,0,0,0,0,0
$GC,1214,-1.33,-116.8,131.8,-7.4,118,1219,0.12,2.65,0.00,0.000,4,0.071,0.059,2697,197,3483,0,0,0,0,0,0
$GC,1273,-1.33,-116.8,137.2,-9.4,122,1283,0.00,2.38,0.00,0.000,6,0.000,0.015,2698,1750,3484,0,0,0,0,0,0
$GC,1598,-1.33,-116.8,163.1,-7.8,153,1602,0.00,2.45,0.00,0.000,4,0.000,0.025,2697,3328,3484,0,0,0,0,0,0
$GC,1647,-1.38,-116.8,167.1,-8.6,156,1656,0.00,2.58,0.00,0.000,6,0.000,0.028,2697,1739,3484,0,0,0,0,0,0
$GC,1975,-1.38,-116.8,195.2,-8.7,187,1979,0.00,2.65,0.00,0.000,4,0.000,0.067,2697,189,3484,0,0,0,0,0,0
$GC,1996,-1.38,-116.8,197.6,-8.8,188,2002,0.00,2.35,0.00,0.000,6,0.000,0.017,2697,1757,3484,0,0,0,0,0,0
$GC,2321,-1.38,-116.8,224.8,-8.6,199,2325,0.00,2.42,0.00,0.000,4,0.000,0.028,2697,3317,3484,0,0,0,0,0,0
$GC,2336,-1.38,-116.8,226.4,-8.9,199,2341,0.00,2.45,0.00,0.000,6,0.000,0.034,2697,1786,3485,0,0,0,0,0,0
$GC,2680,-1.38,-116.8,257.1,-8.8,208,2684,0.00,2.42,0.00,0.000,4,0.000,0.029,2697,3320,3484,0,0,0,0,0,0
$GC,2770,-1.43,-116.8,265.2,-9.0,210,2774,0.00,2.45,0.00,0.000,6,0.000,0.034,2697,1789,3484,0,0,0,0,0,0
$GC,3088,-1.43,-116.8,293.2,-8.8,218,3093,0.00,2.78,0.00,0.000,4,0.000,0.074,2697,187,3484,0,0,0,0,0,0
$GC,3100,-1.43,-116.8,294.2,-8.5,218,3104,0.00,2.45,0.00,0.000,6,0.000,0.021,2697,1764,3484,0,0,0,0,0,0
$GC,3447,-1.43,-116.8,320.6,-7.7,227,3452,0.00,2.53,0.00,0.000,4,0.000,0.040,2697,3345,3483,0,0,0,0,0,0
$GC,3489,-1.51,-116.8,323.7,-7.9,228,3494,0.12,2.50,0.00,0.000,6,0.073,0.040,2653,1800,3483,0,0,0,0,0,0
$GC,3817,-1.46,-116.8,353.4,-9.1,236,3823,0.12,2.88,0.00,0.000,4,0.118,0.083,2679,190,3482,0,0,0,0,0,0
$GC,3834,-1.46,-116.8,355.2,-8.4,236,3838,0.00,2.50,0.00,0.000,6,0.000,0.028,2679,1796,3482,0,0,0,0,0,0
$GC,4177,-1.46,-116.8,381.0,-7.3,245,4182,0.00,2.50,0.00,0.000,4,0.000,0.038,2679,3345,3480,0,0,0,0,0,0
$GC,4264,-1.51,-116.8,387.3,-6.8,247,4269,0.00,2.53,0.00,0.000,6,0.000,0.049,2679,1812,3480,0,0,0,0,0,0
$GC,4590,-1.51,-116.8,414.7,-8.9,255,4595,0.00,2.92,0.00,0.000,4,0.000,0.094,2679,189,3478,0,0,0,0,0,0
$GC,4633,-1.51,-116.8,419.1,-10.3,256,4638,0.00,2.55,0.00,0.000,6,0.000,0.030,2680,1796,3478,0,0,0,0,0,0
$GC,4952,-1.51,-116.8,446.7,-8.4,264,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1797,3476,0,0,0,0,0,0
$GC,5279,-1.51,-116.8,471.3,-7.5,272,5283,0.00,2.90,0.00,0.000,4,0.000,0.093,2679,189,3474,0,0,0,0,0,0
$GC,5294,-1.51,-116.8,472.7,-7.9,272,5299,0.00,2.58,0.00,0.000,6,0.000,0.029,2679,1792,3474,0,0,0,0,0,0
$GC,5637,-1.55,-116.8,498.8,-7.7,281,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1792,3472,0,0,0,0,0,0
$STATE,5674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5674,begin apogee
$GC,5682,-0.31,0.0,502.1,7.8,282,5784,1.12,0.00,98.82,0.917,6,0.084,0.000,2929,1792,3000,0,0,0,0,0,0
$STATE,5785,end apogee,CONTROL_FINISHED_OK
$STATE,5785,begin climb
$GC,5787,1.38,116.8,504.2,0.0,284,5900,1.58,2.80,102.60,0.899,4,0.045,0.056,3313,3405,2523,0,0,0,0,0,0
$GC,5924,1.34,189.4,503.4,5.8,288,5996,0.10,2.75,64.40,0.885,6,0.149,0.053,3294,1818,2227,0,0,0,0,0,0
$GC,6322,1.28,205.0,467.4,9.1,297,6341,0.00,2.70,13.77,0.815,4,0.000,0.045,3294,3408,2165,0,0,0,0,0,0
$GC,6388,1.30,215.8,461.2,9.4,298,6408,0.00,2.70,11.30,0.790,6,0.000,0.054,3294,1833,2121,0,0,0,0,0,0
$GC,6733,1.26,215.8,425.1,10.6,307,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1833,2115,0,0,0,0,0,0
$GC,7060,1.25,238.8,395.0,8.7,315,7084,0.10,0.00,21.10,0.828,6,0.140,0.000,3274,1833,2027,0,0,0,0,0,0
$GC,7383,1.30,285.3,371.0,7.3,323,7432,0.00,2.67,43.53,0.834,4,0.000,0.040,3274,3423,1836,0,0,0,0,0,0
$GC,7443,1.38,309.3,366.0,8.6,324,7473,0.10,2.75,22.88,0.797,6,0.097,0.056,3301,1823,1739,0,0,0,0,0,0
$GC,7790,1.38,309.3,327.7,11.6,333,7794,0.00,2.90,0.00,0.000,4,0.000,0.091,3301,230,1732,0,0,0,0,0,0
$GC,7811,1.38,309.3,324.6,12.0,333,7815,0.00,2.58,0.00,0.000,6,0.000,0.021,3301,1835,1730,0,0,0,0,0,0
$GC,8148,1.38,309.3,289.8,10.1,342,8152,0.00,2.83,0.00,0.000,4,0.000,0.072,3301,233,1730,0,0,0,0,0,0
$GC,8193,1.38,309.3,284.7,11.6,343,8198,0.00,2.50,0.00,0.000,6,0.000,0.028,3301,1802,1728,0,0,0,0,0,0
$GC,8512,1.38,309.3,249.7,11.3,351,8517,0.00,2.58,0.00,0.000,4,0.000,0.034,3301,3396,1728,0,0,0,0,0,0
$GC,8534,1.44,309.3,247.0,11.6,351,8539,0.00,2.67,0.00,0.000,6,0.000,0.041,3301,1782,1726,0,0,0,0,0,0
$GC,8872,1.44,309.3,211.3,10.1,360,8877,0.00,2.72,0.00,0.000,4,0.000,0.074,3301,231,1727,0,0,0,0,0,0
$GC,8915,1.44,309.3,206.2,11.0,361,8920,0.00,2.47,0.00,0.000,6,0.000,0.028,3301,1801,1725,0,0,0,0,0,0
$GC,9245,1.51,328.0,175.6,9.0,387,9270,0.12,2.62,15.85,0.660,4,0.137,0.031,3334,3384,1663,0,0,0,0,0,0
$GC,9287,1.55,328.0,171.1,10.9,390,9297,0.00,2.70,0.00,0.000,6,0.000,0.044,3334,1783,1662,0,0,0,0,0,0
$GC,9615,1.55,328.0,136.3,11.2,421,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,1783,1660,0,0,0,0,0,0
$GC,9942,1.56,333.3,99.5,9.7,452,9956,0.00,2.72,5.43,0.490,4,0.000,0.067,3334,237,1643,0,0,0,0,0,0
$GC,10056,1.58,351.7,88.3,9.0,461,10081,0.00,2.45,17.92,0.589,6,0.000,0.020,3334,1810,1566,0,0,0,0,0,0
$GC,10402,1.68,367.5,58.8,9.1,493,10431,0.12,2.83,15.15,0.550,4,0.078,0.061,3370,230,1501,0,0,0,0,0,0
$GC,10461,1.63,367.5,51.8,11.9,497,10470,0.00,2.42,0.00,0.000,6,0.000,0.019,3370,1766,1500,0,0,0,0,0,0
$GC,10825,1.63,367.5,11.8,11.1,539,10834,0.00,2.58,0.00,0.000,4,0.000,0.025,3370,3376,1499,0,0,0,0,0,0
$GC,10872,1.73,392.2,7.5,8.6,545,10907,0.00,2.65,23.12,0.517,6,0.000,0.041,3370,1773,1398,0,0,0,0,0,0
$STATE,10916,end climb,SURFACE_DEPTH_REACHED
$STATE,10916,begin surface coast
$FINISH,0.4,1.006233
$STATE,10969,end surface coast,CONTROL_FINISHED_OK
$STATE,10969,begin surface
$SM_CCo,10990,5.85,0.421,0,0,1369,400.08
$SM_GC,1.18,0.00,0.00,5.85,0.000,0.000,0.421,475,1770,1369,-11.62,0.00,400.08
$IRIDIUM_FIX,2244.02,-15741.52,050200,020237
$TT8_MAMPS,0.026078
$HUMID,57.08
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.00
$XPDR_PINGS,193
$24V_AH,23.3,86.464
$10V_AH,9.8,80.678
$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,27.875,125.150,455.875,5.850,0.000,30.445,38.916,195.237,48.250,0.000,14.167,1085.910,7168.696,510.726,2062.984,580.368,33.366,1292.439,0.000,2067.624,0.000,0.535,0.000
$DEVICE_MAMPS,171.808,94.341,917.332,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,375.523,304.448,429.653,805.172,1217.855,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,44736,557
$CAP_FILE_SIZE,108707,0
$CFSIZE,260165632,145895424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111110,083156,2251.404,-15742.389,46,2.5,65,10.1