version: 66.06
glider: 146
mission: 5
dive: 623
start: 11 11 110 11 59 24
data:
$ID,146
$MISSION,5
$DIVE,623
$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,-262883.22
$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,51
$R_STBD_OVSHOOT,65
$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
$GPS1,114728,2251.882,-15742.116,18,99.0,37,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.3
$GPS2,115831,2251.994,-15742.089,60,1.5,60,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.025,-0.231
$KALMAN_X,-292347.7,-390.5,-14.7,341828.8,277.2
$KALMAN_Y,-372782.2,150.7,565.9,504310.2,1450.4
$MHEAD_RNG_PITCHd_Wd,176.2,5546,-20.0,-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,-1.39,-114.4,0.0,0.0,0,96,0.00,0.00,-78.03,0.000,2,0.000,0.000,476,1739,3292,0,0,0,0,0,0
$GC,99,-1.40,-116.8,3.2,-5.9,10,125,12.18,2.60,-3.75,0.000,4,0.170,0.061,2686,215,3480,0,0,0,0,0,0
$GC,171,-1.31,-116.8,19.5,-17.3,19,181,0.10,2.40,0.00,0.000,6,0.107,0.016,2709,1784,3482,0,0,0,0,0,0
$GC,518,-1.22,-116.8,67.3,-13.6,55,523,0.10,2.40,0.00,0.000,4,0.136,0.023,2730,3317,3482,0,0,0,0,0,0
$GC,542,-1.17,-116.8,70.5,-13.9,56,547,0.00,2.45,0.00,0.000,6,0.000,0.028,2730,1793,3483,0,0,0,0,0,0
$GC,868,-1.20,-116.8,104.4,-8.2,86,872,0.00,2.67,0.00,0.000,4,0.000,0.060,2730,194,3483,0,0,0,0,0,0
$GC,937,-1.25,-116.8,110.1,-8.9,91,942,0.00,2.40,0.00,0.000,6,0.000,0.017,2730,1791,3483,0,0,0,0,0,0
$GC,1266,-1.30,-116.8,137.6,-8.7,121,1270,0.00,2.38,0.00,0.000,4,0.000,0.028,2730,3310,3484,0,0,0,0,0,0
$GC,1286,-1.36,-116.8,139.5,-8.4,122,1291,0.12,2.45,0.00,0.000,6,0.068,0.031,2685,1762,3484,0,0,0,0,0,0
$GC,1610,-1.36,-116.8,173.1,-10.5,152,1615,0.00,2.40,0.00,0.000,4,0.000,0.030,2685,3306,3485,0,0,0,0,0,0
$GC,1635,-1.36,-116.8,175.5,-10.7,153,1645,0.00,2.50,0.00,0.000,6,0.000,0.034,2685,1762,3485,0,0,0,0,0,0
$GC,1969,-1.36,-116.8,208.0,-9.7,179,1973,0.00,2.45,0.00,0.000,4,0.000,0.028,2685,3308,3485,0,0,0,0,0,0
$GC,1996,-1.36,-116.8,210.8,-9.7,179,2000,0.00,2.42,0.00,0.000,6,0.000,0.031,2685,1779,3485,0,0,0,0,0,0
$GC,2329,-1.36,-116.8,240.6,-9.0,187,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1779,3485,0,0,0,0,0,0
$GC,2652,-1.36,-116.8,269.7,-8.9,195,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1779,3485,0,0,0,0,0,0
$GC,2977,-1.36,-116.8,297.1,-8.6,203,2981,0.00,2.45,0.00,0.000,4,0.000,0.031,2685,3303,3484,0,0,0,0,0,0
$GC,3019,-1.42,-116.8,300.6,-8.5,204,3023,0.00,2.45,0.00,0.000,6,0.000,0.035,2685,1791,3484,0,0,0,0,0,0
$GC,3343,-1.42,-116.8,328.4,-8.4,212,3347,0.00,2.83,0.00,0.000,4,0.000,0.084,2685,186,3483,0,0,0,0,0,0
$GC,3399,-1.42,-116.8,333.8,-9.9,213,3404,0.00,2.42,0.00,0.000,6,0.000,0.025,2685,1749,3482,0,0,0,0,0,0
$GC,3748,-1.42,-116.8,365.0,-9.2,222,3752,0.00,2.60,0.00,0.000,4,0.000,0.038,2685,3355,3481,0,0,0,0,0,0
$GC,3842,-1.48,-116.8,373.2,-8.3,224,3847,0.00,2.55,0.00,0.000,6,0.000,0.043,2685,1812,3481,0,0,0,0,0,0
$GC,4157,-1.48,-116.8,398.0,-7.9,232,4161,0.00,2.50,0.00,0.000,4,0.000,0.042,2685,3353,3478,0,0,0,0,0,0
$GC,4173,-1.53,-116.8,399.5,-7.6,232,4177,0.00,2.55,0.00,0.000,6,0.000,0.051,2685,1825,3479,0,0,0,0,0,0
$GC,4517,-1.56,-116.8,427.0,-8.4,241,4523,0.10,3.00,0.00,0.000,4,0.087,0.098,2647,187,3477,0,0,0,0,0,0
$GC,4551,-1.53,-116.8,430.5,-10.5,241,4556,0.00,2.60,0.00,0.000,6,0.000,0.030,2647,1817,3477,0,0,0,0,0,0
$GC,4882,-1.53,-116.8,463.4,-10.3,250,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1817,3475,0,0,0,0,0,0
$GC,5206,-1.53,-116.8,497.0,-10.3,258,5211,0.00,2.58,0.00,0.000,4,0.000,0.058,2647,3352,3473,0,0,0,0,0,0
$GC,5235,-1.53,-116.8,499.9,-10.3,258,5239,0.00,2.08,0.00,0.000,3,0.000,0.056,2647,2102,3472,0,0,0,0,0,0
$STATE,5240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5240,begin apogee
$GC,5246,-0.31,0.0,500.4,9.9,258,5349,1.27,0.00,98.82,0.910,6,0.088,0.000,2928,1820,3001,0,0,0,0,0,0
$STATE,5349,end apogee,CONTROL_FINISHED_OK
$STATE,5350,begin climb
$GC,5352,1.40,116.8,503.5,0.0,261,5466,1.55,2.75,102.62,0.891,4,0.037,0.052,3307,3410,2523,0,0,0,0,0,0
$GC,5489,1.34,169.0,501.5,7.0,264,5543,0.00,2.75,46.75,0.873,6,0.000,0.055,3307,1824,2311,0,0,0,0,0,0
$GC,5882,1.26,176.1,463.6,9.6,274,5896,0.15,2.72,6.47,0.695,4,0.121,0.041,3276,3410,2281,0,0,0,0,0,0
$GC,5959,1.28,197.1,456.8,8.8,275,5985,0.00,2.72,20.17,0.832,6,0.000,0.057,3277,1826,2197,0,0,0,0,0,0
$GC,6296,1.30,210.4,426.2,9.3,284,6315,0.00,2.70,12.60,0.792,4,0.000,0.041,3276,3406,2142,0,0,0,0,0,0
$GC,6366,1.31,216.7,419.0,9.7,285,6382,0.00,2.70,7.47,0.714,6,0.000,0.054,3276,1845,2116,0,0,0,0,0,0
$GC,6709,1.33,240.0,388.6,8.7,294,6738,0.00,3.08,22.15,0.818,4,0.000,0.093,3276,230,2022,0,0,0,0,0,0
$GC,6767,1.29,240.0,382.9,10.5,295,6772,0.00,2.58,0.00,0.000,6,0.000,0.028,3276,1838,2019,0,0,0,0,0,0
$GC,7117,1.32,264.4,352.5,8.6,304,7142,0.00,0.00,23.33,0.799,6,0.000,0.000,3276,1839,1922,0,0,0,0,0,0
$GC,7440,1.39,287.4,323.6,8.7,312,7465,0.10,0.00,22.05,0.780,6,0.097,0.000,3303,1839,1829,0,0,0,0,0,0
$GC,7765,1.39,287.4,288.6,11.2,320,7769,0.00,2.55,0.00,0.000,4,0.000,0.039,3303,3406,1823,0,0,0,0,0,0
$GC,7816,1.44,287.4,283.0,11.6,321,7820,0.00,2.67,0.00,0.000,6,0.000,0.046,3303,1810,1822,0,0,0,0,0,0
$GC,8128,1.44,288.3,250.8,10.0,329,8133,0.00,2.78,0.00,0.000,4,0.000,0.081,3304,240,1821,0,0,0,0,0,0
$GC,8177,1.44,288.3,245.3,10.9,330,8182,0.00,2.53,0.00,0.000,6,0.000,0.023,3303,1837,1820,0,0,0,0,0,0
$GC,8493,1.46,305.8,216.0,9.0,338,8517,0.00,2.90,16.58,0.693,4,0.000,0.071,3303,239,1753,0,0,0,0,0,0
$GC,8545,1.46,305.8,210.4,11.4,339,8550,0.00,2.45,0.00,0.000,6,0.000,0.025,3304,1806,1752,0,0,0,0,0,0
$GC,8872,1.51,305.8,177.7,10.6,362,8877,0.10,0.00,0.00,0.000,6,0.097,0.000,3332,1808,1750,0,0,0,0,0,0
$GC,9200,1.51,305.8,142.6,10.6,393,9204,0.00,2.67,0.00,0.000,4,0.000,0.063,3332,237,1749,0,0,0,0,0,0
$GC,9223,1.46,305.8,139.7,11.1,394,9232,0.00,2.47,0.00,0.000,6,0.000,0.026,3331,1803,1749,0,0,0,0,0,0
$GC,9551,1.50,340.2,106.2,8.0,425,9588,0.00,2.58,31.20,0.617,4,0.000,0.026,3331,3385,1613,0,0,0,0,0,0
$GC,9638,1.62,381.1,99.1,7.6,432,9680,0.00,2.60,36.83,0.606,6,0.000,0.035,3331,1805,1446,0,0,0,0,0,0
$GC,10005,1.74,402.9,69.3,8.8,465,10033,0.20,2.58,20.08,0.561,4,0.064,0.025,3385,3390,1357,0,0,0,0,0,0
$GC,10113,1.79,402.9,57.1,12.2,473,10117,0.00,2.62,0.00,0.000,6,0.000,0.036,3385,1790,1354,0,0,0,0,0,0
$GC,10477,1.79,402.9,10.9,14.8,513,10486,0.00,2.67,0.00,0.000,4,0.000,0.060,3385,237,1354,0,0,0,0,0,0
$GC,10531,1.73,402.9,4.0,13.2,520,10540,0.00,2.42,0.00,0.000,6,0.000,0.018,3385,1802,1353,0,0,0,0,0,0
$STATE,10548,end climb,SURFACE_DEPTH_REACHED
$STATE,10548,begin surface coast
$FINISH,0.4,1.009817
$STATE,10584,end surface coast,CONTROL_FINISHED_OK
$STATE,10584,begin surface
$SM_CCo,10668,0.00,0.000,0,0,1349,405.24
$SM_GC,1.10,11.88,0.00,0.00,0.027,0.000,0.000,469,1752,1349,-11.54,-0.51,405.24
$IRIDIUM_FIX,2241.69,-15739.35,050200,111141
$TT8_MAMPS,0.026078
$HUMID,56.57
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,20.70
$XPDR_PINGS,181
$24V_AH,23.3,86.721
$10V_AH,9.8,80.927
$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,27.850,119.175,467.125,0.000,0.000,56.166,70.136,265.143,45.250,0.000,61.481,1040.303,7071.774,495.962,2004.781,711.371,33.373,1244.857,0.000,1960.005,0.000,0.534,0.000
$DEVICE_MAMPS,170.274,161.070,909.662,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.886,290.554,404.026,746.565,1129.688,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,41611,527
$CAP_FILE_SIZE,107987,0
$CFSIZE,260165632,145780736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111110,145831,2251.854,-15742.079,41,1.1,41,10.1