version: 66.06
glider: 146
mission: 5
dive: 629
start: 11 12 110 7 26 13
data:
$ID,146
$MISSION,5
$DIVE,629
$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,-263077.72
$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,18
$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
$GPS1,071536,2251.278,-15742.386,36,1.1,41,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-63.1
$GPS2,072519,2251.306,-15742.367,10,1.4,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.071,-0.223
$KALMAN_X,-292737.4,-202.2,-29.2,341573.2,-612.3
$KALMAN_Y,-359468.4,-149.0,-207.4,490798.8,1550.4
$MHEAD_RNG_PITCHd_Wd,152.2,4316,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.38,-116.4,0.0,0.0,0,138,0.00,0.00,-117.60,0.000,2,0.000,0.000,471,1773,3476,0,0,0,0,0,0
$GC,142,-1.38,-116.8,4.3,-8.4,15,160,12.32,2.67,0.00,0.000,4,0.174,0.050,2688,183,3478,0,0,0,0,0,0
$GC,224,-1.30,-116.8,25.7,-17.8,26,234,0.10,2.45,0.00,0.000,6,0.107,0.016,2712,1773,3479,0,0,0,0,0,0
$GC,568,-1.20,-116.8,72.3,-13.8,59,577,0.12,0.00,0.00,0.000,6,0.125,0.000,2736,1774,3479,0,0,0,0,0,0
$GC,895,-1.20,-116.8,109.7,-8.5,90,899,0.00,2.45,0.00,0.000,4,0.000,0.031,2736,3335,3479,0,0,0,0,0,0
$GC,943,-1.30,-116.8,113.0,-7.9,93,948,0.00,2.55,0.00,0.000,6,0.000,0.032,2736,1741,3479,0,0,0,0,0,0
$GC,1272,-1.35,-116.8,137.7,-7.0,123,1278,0.12,2.60,0.00,0.000,4,0.073,0.059,2693,199,3480,0,0,0,0,0,0
$GC,1320,-1.35,-116.8,142.2,-9.8,126,1329,0.00,2.38,0.00,0.000,6,0.000,0.016,2693,1767,3479,0,0,0,0,0,0
$GC,1648,-1.35,-116.8,173.3,-10.3,157,1652,0.00,2.40,0.00,0.000,4,0.000,0.025,2693,3319,3480,0,0,0,0,0,0
$GC,1683,-1.35,-116.8,177.4,-10.6,159,1692,0.00,2.55,0.00,0.000,6,0.000,0.027,2693,1739,3480,0,0,0,0,0,0
$GC,2014,-1.35,-116.8,213.0,-10.6,182,2018,0.00,2.47,0.00,0.000,4,0.000,0.031,2693,3314,3480,0,0,0,0,0,0
$GC,2040,-1.35,-116.8,216.1,-10.9,182,2045,0.00,2.47,0.00,0.000,6,0.000,0.029,2693,1750,3480,0,0,0,0,0,0
$GC,2374,-1.35,-116.8,247.6,-9.0,190,2378,0.00,2.42,0.00,0.000,4,0.000,0.025,2693,3307,3479,0,0,0,0,0,0
$GC,2390,-1.35,-116.8,249.2,-8.5,190,2394,0.00,2.47,0.00,0.000,6,0.000,0.029,2693,1760,3479,0,0,0,0,0,0
$GC,2732,-1.35,-116.8,279.7,-9.2,199,2736,0.00,2.72,0.00,0.000,4,0.000,0.074,2693,190,3479,0,0,0,0,0,0
$GC,2761,-1.35,-116.8,282.3,-9.8,199,2765,0.00,2.38,0.00,0.000,6,0.000,0.018,2693,1744,3479,0,0,0,0,0,0
$GC,3092,-1.35,-116.8,310.1,-8.1,207,3096,0.00,2.53,0.00,0.000,4,0.000,0.038,2693,3338,3478,0,0,0,0,0,0
$GC,3132,-1.42,-116.8,313.2,-7.9,208,3136,0.00,2.55,0.00,0.000,6,0.000,0.035,2693,1778,3478,0,0,0,0,0,0
$GC,3457,-1.42,-116.8,337.4,-7.4,216,3462,0.00,2.50,0.00,0.000,4,0.000,0.034,2693,3334,3477,0,0,0,0,0,0
$GC,3536,-1.49,-116.8,344.3,-8.2,217,3542,0.00,2.47,0.00,0.000,6,0.000,0.045,2693,1820,3476,0,0,0,0,0,0
$GC,3869,-1.49,-116.8,374.6,-9.3,226,3874,0.00,2.90,0.00,0.000,4,0.000,0.087,2693,187,3474,0,0,0,0,0,0
$GC,3885,-1.49,-116.8,376.5,-9.6,226,3890,0.00,2.55,0.00,0.000,6,0.000,0.028,2693,1807,3474,0,0,0,0,0,0
$GC,4228,-1.53,-116.8,405.8,-8.1,235,4233,0.12,2.53,0.00,0.000,4,0.076,0.041,2653,3352,3472,0,0,0,0,0,0
$GC,4297,-1.53,-116.8,412.2,-9.5,236,4301,0.00,2.53,0.00,0.000,6,0.000,0.053,2653,1833,3472,0,0,0,0,0,0
$GC,4633,-1.53,-116.8,443.9,-9.4,245,4638,0.00,2.47,0.00,0.000,4,0.000,0.044,2653,3347,3470,0,0,0,0,0,0
$GC,4673,-1.53,-116.8,447.3,-8.6,246,4678,0.00,2.55,0.00,0.000,6,0.000,0.055,2653,1845,3470,0,0,0,0,0,0
$GC,5000,-1.53,-116.8,471.9,-7.6,254,5004,0.00,3.05,0.00,0.000,4,0.000,0.106,2653,187,3467,0,0,0,0,0,0
$GC,5015,-1.53,-116.8,473.4,-7.9,254,5020,0.00,2.70,0.00,0.000,6,0.000,0.033,2653,1846,3467,0,0,0,0,0,0
$STATE,5314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5314,begin apogee
$GC,5322,-0.31,0.0,502.3,10.2,262,5423,1.25,0.00,97.20,0.912,6,0.084,0.000,2928,1815,3001,0,0,0,0,0,0
$STATE,5424,end apogee,CONTROL_FINISHED_OK
$STATE,5424,begin climb
$GC,5426,1.38,116.8,506.3,0.0,264,5537,1.58,2.72,103.28,0.895,4,0.044,0.056,3311,3388,2523,0,0,0,0,0,0
$GC,5550,1.40,236.5,508.8,3.1,267,5665,0.00,2.67,104.97,0.890,6,0.000,0.052,3311,1829,2036,0,0,0,0,0,0
$GC,6003,1.31,236.5,461.0,11.8,279,6008,0.12,2.58,0.00,0.000,4,0.182,0.038,3288,3398,2025,0,0,0,0,0,0
$GC,6077,1.31,236.5,452.5,11.6,280,6081,0.00,2.70,0.00,0.000,6,0.000,0.056,3288,1833,2023,0,0,0,0,0,0
$GC,6408,1.31,236.5,418.4,10.2,288,6412,0.00,2.58,0.00,0.000,4,0.000,0.039,3288,3403,2021,0,0,0,0,0,0
$GC,6436,1.31,236.5,415.3,10.5,288,6440,0.00,2.62,0.00,0.000,6,0.000,0.054,3288,1868,2021,0,0,0,0,0,0
$GC,6769,1.32,247.9,383.1,9.4,296,6780,0.00,0.00,8.82,0.742,6,0.000,0.000,3288,1869,1990,0,0,0,0,0,0
$GC,7092,1.35,270.8,353.8,8.7,304,7121,0.00,3.08,22.17,0.802,4,0.000,0.091,3288,233,1895,0,0,0,0,0,0
$GC,7139,1.31,270.8,349.2,10.1,305,7144,0.00,2.65,0.00,0.000,6,0.000,0.028,3288,1871,1893,0,0,0,0,0,0
$GC,7459,1.32,281.1,319.6,9.4,313,7471,0.00,0.00,9.82,0.721,6,0.000,0.000,3288,1872,1855,0,0,0,0,0,0
$GC,7782,1.32,281.1,283.0,11.2,321,7787,0.00,2.90,0.00,0.000,4,0.000,0.074,3288,226,1851,0,0,0,0,0,0
$GC,7848,1.32,281.1,275.2,11.3,322,7852,0.00,2.65,0.00,0.000,6,0.000,0.025,3288,1895,1849,0,0,0,0,0,0
$GC,8193,1.38,297.6,242.9,9.1,331,8214,0.00,2.95,15.65,0.709,4,0.000,0.069,3288,230,1785,0,0,0,0,0,0
$GC,8298,1.38,297.6,231.8,10.3,333,8303,0.00,2.60,0.00,0.000,6,0.000,0.023,3288,1864,1782,0,0,0,0,0,0
$GC,8644,1.46,299.1,197.9,10.0,342,8649,0.12,2.88,0.00,0.000,4,0.081,0.065,3324,231,1781,0,0,0,0,0,0
$GC,8689,1.39,299.1,192.3,12.0,345,8698,0.00,2.53,0.00,0.000,6,0.000,0.027,3324,1811,1780,0,0,0,0,0,0
$GC,9018,1.39,302.6,159.2,9.8,376,9025,0.00,0.00,5.00,0.510,6,0.000,0.000,3324,1813,1767,0,0,0,0,0,0
$GC,9347,1.40,312.0,127.8,9.5,407,9362,0.00,2.78,10.07,0.588,4,0.000,0.061,3324,230,1728,0,0,0,0,0,0
$GC,9427,1.37,320.6,120.7,9.5,413,9442,0.12,2.50,8.85,0.567,6,0.117,0.019,3299,1828,1694,0,0,0,0,0,0
$GC,9774,1.50,348.0,91.6,8.4,445,9808,0.12,2.58,24.83,0.594,4,0.077,0.028,3335,3387,1581,0,0,0,0,0,0
$GC,9826,1.58,348.0,86.3,10.9,449,9830,0.00,2.62,0.00,0.000,6,0.000,0.035,3335,1797,1580,0,0,0,0,0,0
$GC,10156,1.68,375.8,61.3,8.4,479,10188,0.12,2.72,25.08,0.562,4,0.078,0.061,3371,238,1467,0,0,0,0,0,0
$GC,10231,1.62,375.8,53.7,12.6,484,10235,0.00,2.45,0.00,0.000,6,0.000,0.018,3371,1809,1465,0,0,0,0,0,0
$GC,10599,1.62,375.8,8.7,13.0,526,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1811,1465,0,0,0,0,0,0
$STATE,10649,end climb,SURFACE_DEPTH_REACHED
$STATE,10649,begin surface coast
$FINISH,0.4,1.011098
$STATE,10698,end surface coast,CONTROL_FINISHED_OK
$STATE,10699,begin surface
$SM_CCo,10721,195.90,0.516,0,0,476,619.14
$SM_GC,0.95,0.00,0.00,195.90,0.000,0.000,0.516,474,1742,476,-11.62,-0.79,619.14
$IRIDIUM_FIX,2241.69,-15741.52,060200,040409
$TT8_MAMPS,0.025311
$HUMID,54.17
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.90
$XPDR_PINGS,170
$24V_AH,23.3,87.642
$10V_AH,9.9,81.671
$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,28.075,120.200,435.750,195.900,0.000,28.629,38.720,366.522,42.500,0.000,12.075,1052.658,6999.477,701.429,2000.249,746.822,33.372,1442.012,0.000,2009.789,0.000,0.535,0.000
$DEVICE_MAMPS,181.779,162.604,911.963,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.358,299.820,419.450,798.797,1208.201,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,41411,540
$CAP_FILE_SIZE,108371,0
$CFSIZE,260165632,145436672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121110,102931,2251.306,-15742.329,39,1.1,39,10.1