version: 66.06
glider: 146
mission: 5
dive: 628
start: 11 12 110 4 14 30
data:
$ID,146
$MISSION,5
$DIVE,628
$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,-263065.03
$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,64
$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
$GPS1,035746,2251.637,-15742.274,12,99.0,31,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-61.4
$GPS2,041337,2251.741,-15742.253,28,1.4,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.070,-0.223
$KALMAN_X,-292426.4,245.0,92.5,340891.7,-551.8
$KALMAN_Y,-361556.3,103.4,253.7,492975.8,496.8
$MHEAD_RNG_PITCHd_Wd,152.5,5095,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.39,-115.8,0.0,0.0,0,128,0.00,0.00,-109.45,0.000,2,0.000,0.000,472,1749,3227,0,0,0,0,0,0
$GC,131,-1.39,-116.8,3.1,-5.1,14,157,12.18,2.70,-5.18,0.000,4,0.170,0.070,2689,189,3478,0,0,0,0,0,0
$GC,190,-1.22,-116.8,15.7,-16.5,21,200,0.17,2.42,0.00,0.000,6,0.097,0.015,2730,1767,3479,0,0,0,0,0,0
$GC,550,-1.16,-116.8,59.0,-11.8,60,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1768,3479,0,0,0,0,0,0
$GC,882,-1.16,-116.8,95.2,-9.2,91,886,0.00,2.42,0.00,0.000,4,0.000,0.027,2730,3322,3479,0,0,0,0,0,0
$GC,928,-1.22,-116.8,99.5,-8.1,94,937,0.00,2.50,0.00,0.000,6,0.000,0.031,2730,1766,3479,0,0,0,0,0,0
$GC,1256,-1.26,-116.8,126.3,-8.0,125,1261,0.00,2.62,0.00,0.000,4,0.000,0.057,2730,196,3480,0,0,0,0,0,0
$GC,1314,-1.31,-116.8,131.3,-8.9,129,1318,0.00,2.33,0.00,0.000,6,0.000,0.017,2730,1768,3480,0,0,0,0,0,0
$GC,1639,-1.36,-116.8,159.4,-8.9,159,1644,0.12,2.40,0.00,0.000,4,0.070,0.024,2688,3307,3480,0,0,0,0,0,0
$GC,1704,-1.36,-116.8,165.6,-9.4,164,1708,0.00,2.50,0.00,0.000,6,0.000,0.031,2688,1733,3480,0,0,0,0,0,0
$GC,2028,-1.36,-116.8,195.9,-8.7,194,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1733,3480,0,0,0,0,0,0
$GC,2366,-1.36,-116.8,228.4,-10.2,206,2370,0.00,2.47,0.00,0.000,4,0.000,0.029,2688,3309,3480,0,0,0,0,0,0
$GC,2428,-1.40,-116.8,234.9,-10.5,207,2433,0.00,2.45,0.00,0.000,6,0.000,0.031,2687,1759,3480,0,0,0,0,0,0
$GC,2771,-1.40,-116.8,267.9,-9.4,216,2775,0.00,2.67,0.00,0.000,4,0.000,0.072,2688,197,3479,0,0,0,0,0,0
$GC,2798,-1.40,-116.8,270.5,-9.4,216,2802,0.00,2.35,0.00,0.000,6,0.000,0.023,2687,1741,3479,0,0,0,0,0,0
$GC,3131,-1.40,-116.8,298.3,-8.5,224,3135,0.00,2.67,0.00,0.000,4,0.000,0.073,2688,194,3478,0,0,0,0,0,0
$GC,3157,-1.40,-116.8,301.2,-10.3,224,3162,0.00,2.40,0.00,0.000,6,0.000,0.026,2687,1740,3477,0,0,0,0,0,0
$GC,3494,-1.40,-116.8,332.8,-9.4,233,3499,0.00,2.58,0.00,0.000,4,0.000,0.038,2687,3347,3476,0,0,0,0,0,0
$GC,3582,-1.46,-116.8,340.3,-9.0,235,3586,0.00,2.62,0.00,0.000,6,0.000,0.041,2687,1759,3476,0,0,0,0,0,0
$GC,3906,-1.46,-116.8,368.3,-8.5,243,3910,0.00,2.55,0.00,0.000,4,0.000,0.035,2688,3342,3474,0,0,0,0,0,0
$GC,3968,-1.53,-116.8,374.0,-8.9,244,3973,0.00,2.60,0.00,0.000,6,0.000,0.053,2688,1778,3474,0,0,0,0,0,0
$GC,4310,-1.53,-116.8,405.8,-8.9,253,4315,0.00,2.55,0.00,0.000,4,0.000,0.038,2687,3348,3472,0,0,0,0,0,0
$GC,4356,-1.61,-116.8,409.6,-8.3,254,4361,0.17,2.60,0.00,0.000,6,0.053,0.052,2627,1793,3471,0,0,0,0,0,0
$GC,4676,-1.54,-116.8,439.5,-9.7,262,4682,0.17,2.53,0.00,0.000,4,0.107,0.045,2664,3345,3469,0,0,0,0,0,0
$GC,4710,-1.59,-116.8,443.2,-10.0,262,4716,0.00,2.58,0.00,0.000,6,0.000,0.056,2664,1815,3469,0,0,0,0,0,0
$GC,5043,-1.59,-116.8,476.1,-10.2,271,5048,0.00,3.03,0.00,0.000,4,0.000,0.108,2663,181,3466,0,0,0,0,0,0
$GC,5086,-1.59,-116.8,481.4,-11.7,272,5091,0.00,2.60,0.00,0.000,6,0.000,0.039,2664,1796,3466,0,0,0,0,0,0
$STATE,5282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5282,begin apogee
$GC,5288,-0.31,0.0,501.2,10.1,277,5389,1.20,0.00,97.40,0.905,6,0.085,0.000,2928,1796,3001,0,0,0,0,0,0
$STATE,5390,end apogee,CONTROL_FINISHED_OK
$STATE,5390,begin climb
$GC,5394,1.39,116.8,504.5,0.0,279,5508,1.55,2.92,103.75,0.893,4,0.046,0.096,3309,232,2523,0,0,0,0,0,0
$GC,5525,1.28,192.7,505.2,5.6,282,5600,0.15,2.62,68.12,0.881,6,0.127,0.035,3281,1818,2214,0,0,0,0,0,0
$GC,5929,1.26,206.7,469.7,9.2,292,5948,0.00,2.80,12.18,0.796,4,0.000,0.054,3281,3407,2158,0,0,0,0,0,0
$GC,5973,1.26,206.7,465.1,10.7,293,5978,0.00,2.72,0.00,0.000,6,0.000,0.058,3281,1816,2156,0,0,0,0,0,0
$GC,6297,1.26,206.7,431.5,10.8,301,6302,0.00,2.92,0.00,0.000,4,0.000,0.096,3281,230,2152,0,0,0,0,0,0
$GC,6318,1.20,206.7,428.8,12.2,301,6323,0.00,2.60,0.00,0.000,6,0.000,0.026,3281,1840,2151,0,0,0,0,0,0
$GC,6656,1.22,218.6,395.7,9.4,310,6672,0.00,2.60,10.93,0.773,4,0.000,0.044,3281,3408,2110,0,0,0,0,0,0
$GC,6728,1.25,247.0,388.9,8.4,311,6763,0.00,2.65,27.65,0.824,6,0.000,0.048,3281,1834,1993,0,0,0,0,0,0
$GC,7110,1.28,274.7,357.3,8.4,321,7140,0.00,2.62,25.42,0.804,4,0.000,0.035,3281,3416,1881,0,0,0,0,0,0
$GC,7174,1.35,290.2,351.3,9.1,322,7195,0.00,2.67,15.32,0.765,6,0.000,0.049,3281,1838,1818,0,0,0,0,0,0
$GC,7518,1.39,290.2,317.2,10.4,331,7522,0.00,2.53,0.00,0.000,4,0.000,0.035,3281,3411,1812,0,0,0,0,0,0
$GC,7550,1.47,290.2,313.0,11.1,331,7557,0.17,2.58,0.00,0.000,6,0.068,0.046,3326,1860,1810,0,0,0,0,0,0
$GC,7881,1.47,290.2,275.5,11.1,340,7886,0.00,2.90,0.00,0.000,4,0.000,0.084,3326,234,1809,0,0,0,0,0,0
$GC,7972,1.39,290.2,264.5,12.4,342,7977,0.12,2.58,0.00,0.000,6,0.122,0.021,3302,1855,1808,0,0,0,0,0,0
$GC,8291,1.41,305.9,234.3,9.1,350,8310,0.00,2.90,13.95,0.696,4,0.000,0.072,3302,234,1753,0,0,0,0,0,0
$GC,8352,1.42,317.3,228.8,9.4,351,8371,0.00,2.50,11.75,0.673,6,0.000,0.027,3302,1825,1706,0,0,0,0,0,0
$GC,8704,1.49,337.0,199.6,8.9,360,8729,0.10,2.83,18.38,0.679,4,0.234,0.067,3329,236,1625,0,0,0,0,0,0
$GC,8796,1.44,337.0,188.4,13.2,367,8801,0.00,2.45,0.00,0.000,6,0.000,0.026,3330,1788,1623,0,0,0,0,0,0
$GC,9120,1.44,337.0,151.2,10.3,398,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,1790,1621,0,0,0,0,0,0
$GC,9442,1.44,337.0,122.5,10.2,428,9447,0.00,2.70,0.00,0.000,4,0.000,0.068,3330,229,1620,0,0,0,0,0,0
$GC,9522,1.44,337.0,112.8,11.4,434,9532,0.00,2.47,0.00,0.000,6,0.000,0.021,3330,1800,1619,0,0,0,0,0,0
$GC,9853,1.55,369.4,83.6,8.1,465,9887,0.00,2.58,28.73,0.588,4,0.000,0.031,3330,3382,1492,0,0,0,0,0,0
$GC,9917,1.71,392.1,78.4,8.7,470,9946,0.17,2.65,20.67,0.569,6,0.069,0.034,3378,1763,1402,0,0,0,0,0,0
$GC,10265,1.71,392.1,39.5,11.7,502,10269,0.00,2.62,0.00,0.000,4,0.000,0.062,3377,233,1399,0,0,0,0,0,0
$GC,10337,1.65,392.1,29.7,13.6,507,10347,0.00,2.40,0.00,0.000,6,0.000,0.019,3377,1770,1397,0,0,0,0,0,0
$STATE,10534,end climb,SURFACE_DEPTH_REACHED
$STATE,10534,begin surface coast
$FINISH,0.5,1.012845
$STATE,10577,end surface coast,CONTROL_FINISHED_OK
$STATE,10577,begin surface
$SM_CCo,10598,183.20,0.518,0,0,476,619.14
$SM_GC,0.93,0.00,0.00,183.20,0.000,0.000,0.518,472,1772,476,-11.63,0.06,619.14
$IRIDIUM_FIX,2244.02,-15739.35,060200,040433
$TT8_MAMPS,0.025311
$HUMID,54.21
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,21.10
$XPDR_PINGS,170
$24V_AH,23.3,87.482
$10V_AH,9.8,81.547
$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,28.200,124.975,454.250,183.200,0.000,135.020,400.406,0.000,42.500,0.000,29.816,1069.457,7015.840,675.042,2123.379,846.659,33.374,1478.918,0.000,2105.300,0.000,0.535,0.000
$DEVICE_MAMPS,233.935,108.147,905.060,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.033,304.872,421.237,801.939,1213.108,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41645,541
$CAP_FILE_SIZE,107613,0
$CFSIZE,260165632,145461248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121110,071536,2251.278,-15742.386,36,1.1,41,10.1