version: 66.06
glider: 146
mission: 5
dive: 622
start: 11 11 110 8 39 29
data:
$ID,146
$MISSION,5
$DIVE,622
$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,-262821.12
$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,61
$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
$GPS1,083156,2251.404,-15742.389,46,2.5,65,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-66.7
$GPS2,083836,2251.485,-15742.375,11,1.1,27,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.034,-0.232
$KALMAN_X,-292490.2,-196.1,-200.9,341477.9,-290.8
$KALMAN_Y,-375159.9,-85.2,-28.8,506574.5,1999.8
$MHEAD_RNG_PITCHd_Wd,161.7,4646,-19.9,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.4,0.0,0.0,0,98,0.00,0.00,-78.40,0.000,2,0.000,0.000,475,1769,3327,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.8,-7.2,10,127,12.25,2.70,-2.85,0.000,4,0.173,0.066,2687,189,3481,0,0,0,0,0,0
$GC,141,-0.45,-116.8,16.0,-31.7,14,151,0.95,2.47,0.00,0.000,6,0.081,0.017,2899,1774,3481,0,0,0,0,0,0
$GC,522,-0.91,-116.8,39.7,-4.7,59,528,0.38,2.67,0.00,0.000,4,0.044,0.052,2791,189,3483,0,0,0,0,0,0
$GC,570,-1.02,-116.8,43.1,-8.0,62,574,0.00,2.53,0.00,0.000,6,0.000,0.016,2791,1853,3483,0,0,0,0,0,0
$GC,904,-1.09,-116.8,72.3,-10.4,92,909,0.12,2.85,0.00,0.000,4,0.071,0.054,2749,187,3484,0,0,0,0,0,0
$GC,949,-1.09,-116.8,78.2,-12.6,95,953,0.00,2.47,0.00,0.000,6,0.000,0.015,2749,1825,3484,0,0,0,0,0,0
$GC,1280,-1.16,-116.8,111.3,-8.1,125,1284,0.00,2.38,0.00,0.000,4,0.000,0.029,2749,3338,3485,0,0,0,0,0,0
$GC,1321,-1.29,-116.8,115.4,-9.3,128,1326,0.15,2.45,0.00,0.000,6,0.061,0.025,2698,1793,3485,0,0,0,0,0,0
$GC,1647,-1.29,-116.8,148.2,-9.4,158,1652,0.00,2.67,0.00,0.000,4,0.000,0.059,2697,197,3486,0,0,0,0,0,0
$GC,1688,-1.29,-116.8,152.4,-9.8,161,1693,0.00,2.42,0.00,0.000,6,0.000,0.017,2697,1812,3486,0,0,0,0,0,0
$GC,2013,-1.29,-116.8,181.5,-9.2,191,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1813,3487,0,0,0,0,0,0
$GC,2347,-1.29,-116.8,209.9,-8.1,214,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1813,3487,0,0,0,0,0,0
$GC,2672,-1.29,-116.8,234.0,-7.2,222,2677,0.00,2.78,0.00,0.000,4,0.000,0.067,2697,198,3487,0,0,0,0,0,0
$GC,2684,-1.29,-116.8,234.8,-7.0,222,2688,0.00,2.38,0.00,0.000,6,0.000,0.016,2697,1760,3487,0,0,0,0,0,0
$GC,2997,-1.29,-116.8,256.4,-7.0,230,3002,0.00,2.45,0.00,0.000,4,0.000,0.030,2697,3327,3487,0,0,0,0,0,0
$GC,3076,-1.36,-116.8,263.0,-8.5,231,3084,0.00,2.45,0.00,0.000,6,0.000,0.031,2697,1793,3487,0,0,0,0,0,0
$GC,3409,-1.36,-116.8,293.4,-9.3,240,3413,0.00,2.40,0.00,0.000,4,0.000,0.032,2697,3326,3486,0,0,0,0,0,0
$GC,3431,-1.40,-116.8,295.7,-9.2,240,3435,0.00,2.47,0.00,0.000,6,0.000,0.034,2697,1794,3486,0,0,0,0,0,0
$GC,3769,-1.40,-116.8,324.6,-8.2,249,3773,0.00,2.83,0.00,0.000,4,0.000,0.084,2697,186,3485,0,0,0,0,0,0
$GC,3796,-1.40,-116.8,326.9,-7.6,249,3800,0.00,2.50,0.00,0.000,6,0.000,0.021,2697,1774,3485,0,0,0,0,0,0
$GC,4128,-1.44,-116.8,352.6,-8.6,257,4132,0.00,2.58,0.00,0.000,4,0.000,0.039,2697,3354,3484,0,0,0,0,0,0
$GC,4169,-1.53,-116.8,356.4,-9.6,258,4174,0.12,2.55,0.00,0.000,6,0.071,0.041,2653,1811,3483,0,0,0,0,0,0
$GC,4493,-1.49,-116.8,390.8,-10.4,266,4499,0.10,2.92,0.00,0.000,4,0.123,0.094,2674,183,3482,0,0,0,0,0,0
$GC,4521,-1.49,-116.8,393.7,-10.3,266,4525,0.00,2.58,0.00,0.000,6,0.000,0.029,2674,1816,3482,0,0,0,0,0,0
$GC,4855,-1.49,-116.8,423.2,-9.2,274,4859,0.00,2.90,0.00,0.000,4,0.000,0.084,2674,189,3480,0,0,0,0,0,0
$GC,4865,-1.49,-116.8,424.6,-9.2,274,4869,0.00,2.60,0.00,0.000,6,0.000,0.028,2674,1809,3480,0,0,0,0,0,0
$GC,5212,-1.49,-116.8,457.7,-9.7,283,5217,0.00,2.58,0.00,0.000,4,0.000,0.051,2674,3361,3478,0,0,0,0,0,0
$GC,5230,-1.49,-116.8,459.5,-9.6,283,5235,0.00,2.62,0.00,0.000,6,0.000,0.051,2674,1810,3478,0,0,0,0,0,0
$GC,5572,-1.49,-116.8,491.4,-9.0,292,5577,0.00,2.55,0.00,0.000,4,0.000,0.051,2674,3358,3476,0,0,0,0,0,0
$GC,5588,-1.49,-116.8,492.9,-8.9,292,5593,0.00,2.62,0.00,0.000,6,0.000,0.059,2674,1812,3476,0,0,0,0,0,0
$STATE,5683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5684,begin apogee
$GC,5691,-0.31,0.0,501.3,8.6,295,5794,1.15,0.00,98.95,0.911,6,0.077,0.000,2930,1812,3001,0,0,0,0,0,0
$STATE,5794,end apogee,CONTROL_FINISHED_OK
$STATE,5794,begin climb
$GC,5797,1.38,116.8,503.9,0.0,297,5904,1.58,0.00,103.43,0.892,6,0.035,0.000,3314,1812,2524,0,0,0,0,0,0
$GC,6212,1.30,161.5,482.4,7.4,308,6258,0.15,2.72,39.40,0.870,4,0.123,0.050,3286,3400,2341,0,0,0,0,0,0
$GC,6320,1.30,194.5,474.0,8.1,310,6356,0.00,2.72,30.55,0.854,6,0.000,0.054,3286,1827,2208,0,0,0,0,0,0
$GC,6702,1.28,218.2,440.9,8.7,320,6731,0.00,2.72,21.65,0.836,4,0.000,0.045,3286,3404,2110,0,0,0,0,0,0
$GC,6828,1.28,218.2,428.2,10.3,322,6834,0.00,2.70,0.00,0.000,6,0.000,0.061,3286,1849,2107,0,0,0,0,0,0
$GC,7161,1.28,218.2,393.7,10.5,331,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1849,2104,0,0,0,0,0,0
$GC,7484,1.30,230.9,362.5,9.3,339,7503,0.00,2.65,11.60,0.771,4,0.000,0.039,3286,3414,2059,0,0,0,0,0,0
$GC,7515,1.31,238.8,359.6,9.6,339,7529,0.00,2.70,8.88,0.726,6,0.000,0.054,3286,1838,2027,0,0,0,0,0,0
$GC,7856,1.31,238.8,323.8,10.8,348,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1838,2023,0,0,0,0,0,0
$GC,8179,1.34,266.7,294.1,8.4,356,8212,0.00,2.62,26.30,0.775,4,0.000,0.031,3286,3413,1912,0,0,0,0,0,0
$GC,8224,1.40,282.7,290.0,9.1,357,8246,0.00,2.67,15.82,0.739,6,0.000,0.046,3286,1838,1848,0,0,0,0,0,0
$GC,8588,1.46,298.8,256.4,9.1,366,8610,0.12,2.60,15.27,0.723,4,0.085,0.034,3319,3408,1780,0,0,0,0,0,0
$GC,8632,1.46,298.8,251.7,11.2,367,8636,0.00,2.60,0.00,0.000,6,0.000,0.039,3319,1859,1779,0,0,0,0,0,0
$GC,8952,1.46,298.8,219.8,10.3,375,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1859,1776,0,0,0,0,0,0
$GC,9259,1.46,300.2,188.9,10.0,390,9264,0.00,2.83,0.00,0.000,4,0.000,0.067,3319,240,1776,0,0,0,0,0,0
$GC,9317,1.41,300.2,183.1,11.8,394,9321,0.00,2.62,0.00,0.000,6,0.000,0.025,3319,1897,1774,0,0,0,0,0,0
$GC,9641,1.41,300.2,148.2,10.4,424,9646,0.00,2.88,0.00,0.000,4,0.000,0.064,3319,240,1774,0,0,0,0,0,0
$GC,9670,1.41,300.2,144.7,12.3,426,9674,0.00,2.60,0.00,0.000,6,0.000,0.021,3319,1892,1773,0,0,0,0,0,0
$GC,9994,1.44,325.4,113.3,8.6,456,10024,0.00,2.92,23.90,0.621,4,0.000,0.066,3319,237,1673,0,0,0,0,0,0
$GC,10099,1.44,325.4,103.0,11.2,464,10103,0.00,2.55,0.00,0.000,6,0.000,0.025,3319,1854,1670,0,0,0,0,0,0
$GC,10428,1.54,340.9,70.8,9.1,494,10455,0.00,2.85,14.38,0.562,4,0.000,0.058,3319,233,1609,0,0,0,0,0,0
$GC,10475,1.61,363.2,67.0,8.8,497,10504,0.12,2.47,20.77,0.568,6,0.145,0.019,3353,1816,1519,0,0,0,0,0,0
$GC,10824,1.62,370.1,33.9,9.6,529,10833,0.00,0.00,7.05,0.474,6,0.000,0.000,3353,1816,1491,0,0,0,0,0,0
$STATE,11108,end climb,SURFACE_DEPTH_REACHED
$STATE,11108,begin surface coast
$FINISH,0.3,1.016586
$STATE,11150,end surface coast,CONTROL_FINISHED_OK
$STATE,11151,begin surface
$SM_CCo,11173,25.40,0.517,0,0,1370,400.08
$SM_GC,0.97,0.00,0.00,25.40,0.000,0.000,0.517,477,1739,1370,-11.61,-0.88,400.08
$IRIDIUM_FIX,2241.69,-15739.35,050200,050520
$TT8_MAMPS,0.026078
$HUMID,57.32
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.60
$XPDR_PINGS,196
$24V_AH,23.3,86.588
$10V_AH,9.8,80.809
$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,28.950,120.900,437.950,25.400,0.000,30.420,37.404,166.031,49.000,0.000,29.105,1123.778,7252.134,513.613,2153.927,552.783,33.366,1249.740,0.000,2150.009,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,112.749,911.196,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.087,349.262,450.270,901.036,1362.845,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,44730,576
$CAP_FILE_SIZE,107286,0
$CFSIZE,260165632,145838080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111110,114728,2251.882,-15742.116,18,99.0,37,10.1