version: 66.06
glider: 146
mission: 5
dive: 627
start: 11 12 110 0 49 48
data:
$ID,146
$MISSION,5
$DIVE,627
$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,619.13721
$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,-263034.59
$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,21
$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
$GPS1,003037,2251.928,-15741.986,34,1.1,34,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.1
$GPS2,004855,2252.083,-15741.949,14,1.7,19,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.018,-0.246
$KALMAN_X,-292113.2,452.3,-107.7,341089.8,147.6
$KALMAN_Y,-363926.5,414.3,555.7,495374.4,536.5
$MHEAD_RNG_PITCHd_Wd,174.0,5711,-18.7,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.31,-116.8,0.0,0.0,0,97,0.00,0.00,-77.38,0.000,2,0.000,0.000,475,1749,3294,0,0,0,0,0,0
$GC,100,-1.31,-116.8,3.3,-5.9,10,126,12.25,2.70,-3.62,0.000,4,0.170,0.072,2703,187,3480,0,0,0,0,0,0
$GC,173,-1.24,-116.8,18.8,-13.5,19,183,0.08,2.45,0.00,0.000,6,0.108,0.016,2722,1776,3481,0,0,0,0,0,0
$GC,529,-1.13,-116.8,63.1,-13.0,56,538,0.15,0.00,0.00,0.000,6,0.120,0.000,2752,1778,3481,0,0,0,0,0,0
$GC,860,-1.13,-116.8,96.4,-7.8,87,864,0.00,2.67,0.00,0.000,4,0.000,0.057,2752,186,3482,0,0,0,0,0,0
$GC,877,-1.13,-116.8,98.0,-7.2,88,880,0.00,2.38,0.00,0.000,6,0.000,0.015,2752,1764,3482,0,0,0,0,0,0
$GC,1211,-1.17,-116.8,123.5,-8.0,119,1216,0.00,2.67,0.00,0.000,4,0.000,0.059,2752,188,3483,0,0,0,0,0,0
$GC,1269,-1.25,-116.8,128.7,-9.4,123,1274,0.10,2.33,0.00,0.000,6,0.083,0.015,2714,1762,3483,0,0,0,0,0,0
$GC,1593,-1.25,-116.8,157.6,-8.3,153,1597,0.00,2.40,0.00,0.000,4,0.000,0.028,2715,3312,3483,0,0,0,0,0,0
$GC,1657,-1.25,-116.8,162.5,-7.5,158,1661,0.00,2.50,0.00,0.000,6,0.000,0.031,2714,1732,3483,0,0,0,0,0,0
$GC,1981,-1.25,-116.8,187.4,-7.6,188,1986,0.00,2.45,0.00,0.000,4,0.000,0.030,2714,3303,3483,0,0,0,0,0,0
$GC,2014,-1.25,-116.8,189.6,-8.7,190,2018,0.00,2.47,0.00,0.000,6,0.000,0.028,2714,1737,3483,0,0,0,0,0,0
$GC,2363,-1.25,-116.8,217.5,-8.4,208,2368,0.00,2.45,0.00,0.000,4,0.000,0.031,2714,3305,3483,0,0,0,0,0,0
$GC,2419,-1.25,-116.8,222.4,-8.2,209,2423,0.00,2.45,0.00,0.000,6,0.000,0.034,2714,1760,3483,0,0,0,0,0,0
$GC,2768,-1.25,-116.8,247.7,-7.2,218,2773,0.00,2.45,0.00,0.000,4,0.000,0.030,2714,3302,3482,0,0,0,0,0,0
$GC,2813,-1.31,-116.8,251.4,-7.3,219,2818,0.00,2.45,0.00,0.000,6,0.000,0.027,2714,1770,3482,0,0,0,0,0,0
$GC,3132,-1.31,-116.8,279.3,-9.5,227,3136,0.00,2.42,0.00,0.000,4,0.000,0.029,2714,3307,3481,0,0,0,0,0,0
$GC,3161,-1.36,-116.8,282.1,-10.1,227,3165,0.00,2.47,0.00,0.000,6,0.000,0.032,2714,1770,3481,0,0,0,0,0,0
$GC,3492,-1.36,-116.8,312.9,-9.0,235,3497,0.00,2.78,0.00,0.000,4,0.000,0.075,2714,187,3481,0,0,0,0,0,0
$GC,3515,-1.36,-116.8,315.0,-8.7,235,3520,0.00,2.40,0.00,0.000,6,0.000,0.021,2714,1742,3480,0,0,0,0,0,0
$GC,3854,-1.41,-116.8,338.4,-6.7,244,3859,0.00,2.58,0.00,0.000,4,0.000,0.035,2714,3349,3479,0,0,0,0,0,0
$GC,3894,-1.51,-116.8,341.2,-6.9,245,3900,0.17,2.55,0.00,0.000,6,0.054,0.044,2651,1793,3479,0,0,0,0,0,0
$GC,4223,-1.44,-116.8,370.5,-9.4,253,4228,0.15,2.53,0.00,0.000,4,0.107,0.034,2683,3349,3477,0,0,0,0,0,0
$GC,4250,-1.44,-116.8,373.6,-9.6,253,4254,0.00,2.55,0.00,0.000,6,0.000,0.043,2683,1798,3476,0,0,0,0,0,0
$GC,4581,-1.44,-116.8,407.7,-10.7,261,4586,0.00,2.90,0.00,0.000,4,0.000,0.090,2683,187,3475,0,0,0,0,0,0
$GC,4600,-1.44,-116.8,409.5,-10.3,261,4604,0.00,2.53,0.00,0.000,6,0.000,0.026,2683,1789,3475,0,0,0,0,0,0
$GC,4942,-1.44,-116.8,439.8,-8.0,270,4946,0.00,2.58,0.00,0.000,4,0.000,0.049,2683,3349,3472,0,0,0,0,0,0
$GC,4975,-1.48,-116.8,442.6,-8.1,270,4981,0.00,2.60,0.00,0.000,6,0.000,0.048,2683,1800,3472,0,0,0,0,0,0
$GC,5308,-1.48,-116.8,468.7,-8.3,279,5313,0.00,2.95,0.00,0.000,4,0.000,0.105,2683,186,3470,0,0,0,0,0,0
$GC,5352,-1.48,-116.8,473.1,-9.9,280,5357,0.00,2.58,0.00,0.000,6,0.000,0.032,2683,1785,3470,0,0,0,0,0,0
$STATE,5668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5668,begin apogee
$GC,5676,-0.31,0.0,502.1,9.4,288,5777,1.12,0.00,97.95,0.917,6,0.083,0.000,2932,1832,3001,0,0,0,0,0,0
$STATE,5778,end apogee,CONTROL_FINISHED_OK
$STATE,5778,begin climb
$GC,5781,1.31,116.8,505.3,0.0,290,5893,1.45,2.70,102.25,0.901,4,0.038,0.058,3290,3393,2523,0,0,0,0,0,0
$GC,5940,1.28,188.8,504.5,6.3,293,6010,0.00,2.72,63.80,0.890,6,0.000,0.054,3290,1816,2230,0,0,0,0,0,0
$GC,6319,1.23,220.1,472.5,8.4,303,6354,0.10,2.72,27.98,0.855,4,0.139,0.042,3269,3401,2102,0,0,0,0,0,0
$GC,6378,1.27,258.6,467.7,8.0,304,6422,0.00,2.75,36.45,0.856,6,0.000,0.061,3269,1823,1945,0,0,0,0,0,0
$GC,6734,1.28,266.9,435.2,9.6,313,6744,0.00,0.00,7.68,0.732,6,0.000,0.000,3269,1823,1912,0,0,0,0,0,0
$GC,7057,1.28,266.9,401.7,10.3,321,7061,0.00,2.60,0.00,0.000,4,0.000,0.035,3269,3407,1909,0,0,0,0,0,0
$GC,7078,1.28,267.4,399.3,10.0,321,7083,0.00,2.72,0.00,0.000,6,0.000,0.054,3269,1820,1907,0,0,0,0,0,0
$GC,7415,1.28,267.4,364.5,10.9,330,7419,0.00,2.92,0.00,0.000,4,0.000,0.090,3269,226,1907,0,0,0,0,0,0
$GC,7449,1.22,267.4,360.6,11.7,330,7455,0.00,2.55,0.00,0.000,6,0.000,0.026,3269,1834,1905,0,0,0,0,0,0
$GC,7781,1.25,289.8,329.6,8.9,339,7809,0.00,2.60,21.35,0.793,4,0.000,0.035,3269,3404,1817,0,0,0,0,0,0
$GC,7886,1.34,315.6,320.6,8.7,341,7917,0.10,2.65,24.40,0.785,6,0.090,0.049,3297,1839,1714,0,0,0,0,0,0
$GC,8236,1.34,315.6,284.1,10.7,350,8240,0.00,2.85,0.00,0.000,4,0.000,0.077,3297,234,1709,0,0,0,0,0,0
$GC,8311,1.27,315.6,275.2,12.0,351,8316,0.00,2.58,0.00,0.000,6,0.000,0.028,3297,1842,1707,0,0,0,0,0,0
$GC,8642,1.28,323.9,241.3,9.6,359,8657,0.00,2.58,8.05,0.656,4,0.000,0.031,3297,3398,1679,0,0,0,0,0,0
$GC,8679,1.32,323.9,237.4,10.4,359,8685,0.00,2.60,0.00,0.000,6,0.000,0.043,3297,1841,1678,0,0,0,0,0,0
$GC,9012,1.32,324.8,204.9,10.0,368,9017,0.00,2.53,0.00,0.000,4,0.000,0.029,3297,3401,1677,0,0,0,0,0,0
$GC,9125,1.39,333.8,193.4,9.6,372,9143,0.00,2.65,9.80,0.645,6,0.000,0.038,3297,1815,1640,0,0,0,0,0,0
$GC,9462,1.40,338.6,160.5,9.8,404,9474,0.00,2.58,5.80,0.548,4,0.000,0.028,3297,3400,1619,0,0,0,0,0,0
$GC,9559,1.48,349.6,151.2,9.5,412,9580,0.10,2.65,11.30,0.621,6,0.088,0.041,3326,1780,1575,0,0,0,0,0,0
$GC,9898,1.48,353.5,116.3,9.8,444,9913,0.00,2.72,4.78,0.476,4,0.000,0.066,3326,240,1559,0,0,0,0,0,0
$GC,9944,1.42,353.5,111.6,10.4,447,9950,0.00,2.47,0.00,0.000,6,0.000,0.020,3326,1822,1558,0,0,0,0,0,0
$GC,10273,1.50,379.0,79.0,8.7,478,10304,0.00,2.55,24.12,0.589,4,0.000,0.033,3326,3373,1455,0,0,0,0,0,0
$GC,10393,1.64,402.1,68.0,8.8,487,10421,0.10,2.70,22.00,0.571,6,0.047,0.035,3360,1752,1360,0,0,0,0,0,0
$GC,10746,1.64,402.1,31.2,10.6,519,10751,0.00,2.55,0.00,0.000,4,0.000,0.058,3360,240,1357,0,0,0,0,0,0
$GC,10809,1.59,402.1,23.2,12.0,527,10819,0.00,2.35,0.00,0.000,6,0.000,0.018,3360,1748,1357,0,0,0,0,0,0
$STATE,10962,end climb,SURFACE_DEPTH_REACHED
$STATE,10962,begin surface coast
$FINISH,0.4,1.010212
$STATE,11007,end surface coast,CONTROL_FINISHED_OK
$STATE,11007,begin surface
$SM_CCo,11030,174.48,0.521,0,0,476,619.14
$SM_GC,0.92,0.00,0.00,174.48,0.000,0.000,0.521,473,1748,476,-11.62,-0.62,619.14
$IRIDIUM_FIX,2244.02,-15743.68,060200,000051
$TT8_MAMPS,0.025311
$HUMID,54.72
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,20.60
$XPDR_PINGS,165
$24V_AH,23.3,87.323
$10V_AH,9.7,81.420
$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,27.675,134.575,467.700,174.475,0.000,136.179,357.736,204.537,41.250,0.000,21.025,1102.170,7380.643,671.922,2116.870,1029.540,33.372,1469.803,0.000,2111.948,0.000,0.535,0.000
$DEVICE_MAMPS,170.274,162.604,917.332,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.979,314.760,430.590,802.035,1213.144,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,44567,555
$CAP_FILE_SIZE,117076,0
$CFSIZE,260165632,145539072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121110,035746,2251.637,-15742.274,12,99.0,31,10.1