version: 66.06
glider: 146
mission: 5
dive: 630
start: 11 12 110 10 45 56
data:
$ID,146
$MISSION,5
$DIVE,630
$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,-263091.03
$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,46
$R_STBD_OVSHOOT,60
$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
$GPS1,102931,2251.306,-15742.329,39,1.1,39,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-61.6
$GPS2,104502,2251.391,-15742.278,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.001,-0.235
$KALMAN_X,-292851.7,-523.4,-158.9,342287.3,61.3
$KALMAN_Y,-357437.1,-127.0,80.8,488615.5,1863.5
$MHEAD_RNG_PITCHd_Wd,170.1,4454,-19.8,-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,14,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,136,0.00,0.00,-116.90,0.000,2,0.000,0.000,473,1742,3462,0,0,0,0,0,0
$GC,139,-1.38,-116.8,4.1,-8.0,15,157,12.10,2.60,-0.28,0.000,4,0.167,0.067,2690,206,3479,0,0,0,0,0,0
$GC,190,-1.08,-116.8,18.8,-24.3,21,200,0.30,2.42,0.00,0.000,6,0.088,0.015,2759,1788,3480,0,0,0,0,0,0
$GC,547,-1.08,-116.8,57.4,-11.9,59,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1789,3480,0,0,0,0,0,0
$GC,876,-1.13,-116.8,92.3,-10.0,90,880,0.00,2.67,0.00,0.000,4,0.000,0.054,2759,205,3480,0,0,0,0,0,0
$GC,933,-1.23,-116.8,98.9,-10.5,94,943,0.10,2.38,0.00,0.000,6,0.035,0.022,2712,1770,3480,0,0,0,0,0,0
$GC,1261,-1.23,-116.8,126.7,-7.6,125,1265,0.00,2.65,0.00,0.000,4,0.000,0.061,2712,212,3480,0,0,0,0,0,0
$GC,1293,-1.23,-116.8,129.4,-8.7,127,1297,0.00,2.30,0.00,0.000,6,0.000,0.021,2712,1749,3480,0,0,0,0,0,0
$GC,1621,-1.23,-116.8,159.8,-10.1,157,1625,0.00,2.45,0.00,0.000,4,0.000,0.029,2712,3318,3480,0,0,0,0,0,0
$GC,1700,-1.28,-116.8,167.6,-10.0,163,1705,0.00,2.50,0.00,0.000,6,0.000,0.026,2712,1750,3480,0,0,0,0,0,0
$GC,2031,-1.28,-116.8,197.0,-7.8,193,2035,0.00,2.42,0.00,0.000,4,0.000,0.026,2712,3310,3480,0,0,0,0,0,0
$GC,2059,-1.33,-116.8,199.6,-7.6,195,2063,0.00,2.47,0.00,0.000,6,0.000,0.033,2712,1757,3480,0,0,0,0,0,0
$GC,2392,-1.33,-116.8,224.4,-7.5,203,2396,0.00,2.42,0.00,0.000,4,0.000,0.031,2712,3312,3480,0,0,0,0,0,0
$GC,2408,-1.33,-116.8,225.8,-7.6,203,2413,0.00,2.45,0.00,0.000,6,0.000,0.028,2712,1768,3480,0,0,0,0,0,0
$GC,2751,-1.37,-116.8,256.1,-9.1,212,2755,0.00,2.42,0.00,0.000,4,0.000,0.031,2712,3309,3479,0,0,0,0,0,0
$GC,2774,-1.43,-116.8,258.1,-8.7,212,2779,0.10,2.47,0.00,0.000,6,0.083,0.035,2673,1766,3479,0,0,0,0,0,0
$GC,3111,-1.43,-116.8,287.4,-8.3,221,3116,0.00,2.70,0.00,0.000,4,0.000,0.070,2673,197,3479,0,0,0,0,0,0
$GC,3139,-1.43,-116.8,289.9,-8.7,221,3143,0.00,2.38,0.00,0.000,6,0.000,0.025,2673,1746,3478,0,0,0,0,0,0
$GC,3472,-1.43,-116.8,316.1,-8.3,229,3476,0.00,2.55,0.00,0.000,4,0.000,0.038,2673,3349,3477,0,0,0,0,0,0
$GC,3511,-1.43,-116.8,319.8,-9.2,230,3516,0.00,2.55,0.00,0.000,6,0.000,0.037,2673,1789,3477,0,0,0,0,0,0
$GC,3835,-1.43,-116.8,351.1,-9.8,238,3840,0.00,2.85,0.00,0.000,4,0.000,0.085,2673,186,3475,0,0,0,0,0,0
$GC,3869,-1.43,-116.8,354.6,-10.4,238,3875,0.00,2.47,0.00,0.000,6,0.000,0.026,2673,1759,3475,0,0,0,0,0,0
$GC,4201,-1.43,-116.8,386.2,-9.2,247,4205,0.00,2.58,0.00,0.000,4,0.000,0.045,2673,3353,3473,0,0,0,0,0,0
$GC,4240,-1.47,-116.8,389.9,-9.2,248,4245,0.00,2.65,0.00,0.000,6,0.000,0.048,2673,1769,3473,0,0,0,0,0,0
$GC,4566,-1.47,-116.8,417.9,-8.4,256,4571,0.00,2.88,0.00,0.000,4,0.000,0.093,2673,184,3471,0,0,0,0,0,0
$GC,4599,-1.47,-116.8,421.2,-9.4,256,4604,0.00,2.50,0.00,0.000,6,0.000,0.031,2673,1765,3471,0,0,0,0,0,0
$GC,4932,-1.47,-116.8,449.7,-9.2,265,4936,0.00,2.60,0.00,0.000,4,0.000,0.051,2673,3352,3468,0,0,0,0,0,0
$GC,4998,-1.54,-116.8,456.1,-9.3,266,5003,0.00,2.67,0.00,0.000,6,0.000,0.056,2673,1773,3468,0,0,0,0,0,0
$GC,5335,-1.54,-116.8,488.5,-9.9,275,5339,0.00,2.62,0.00,0.000,4,0.000,0.052,2673,3355,3466,0,0,0,0,0,0
$GC,5364,-1.59,-116.8,491.2,-10.0,275,5369,0.00,2.70,0.00,0.000,6,0.000,0.064,2673,1784,3465,0,0,0,0,0,0
$STATE,5489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5489,begin apogee
$GC,5495,-0.31,0.0,502.8,9.0,278,5596,1.17,0.00,96.97,0.907,6,0.085,0.000,2931,1784,3001,0,0,0,0,0,0
$STATE,5596,end apogee,CONTROL_FINISHED_OK
$STATE,5596,begin climb
$GC,5599,1.38,116.8,505.3,0.0,280,5713,1.52,2.80,102.20,0.891,4,0.040,0.053,3308,3403,2523,0,0,0,0,0,0
$GC,5719,1.36,197.7,504.4,5.4,282,5798,0.00,2.72,71.43,0.880,6,0.000,0.056,3308,1820,2194,0,0,0,0,0,0
$GC,6131,1.27,197.7,461.7,10.4,293,6136,0.15,2.65,0.00,0.000,4,0.150,0.041,3279,3405,2183,0,0,0,0,0,0
$GC,6226,1.28,208.5,452.5,9.4,295,6240,0.00,2.70,8.77,0.749,6,0.000,0.056,3278,1843,2151,0,0,0,0,0,0
$GC,6586,1.30,223.3,420.1,9.2,304,6606,0.00,2.62,14.75,0.805,4,0.000,0.043,3279,3403,2090,0,0,0,0,0,0
$GC,6640,1.30,223.8,414.6,10.0,305,6644,0.00,2.62,0.00,0.000,6,0.000,0.053,3279,1872,2088,0,0,0,0,0,0
$GC,6987,1.33,248.6,382.8,8.6,314,7016,0.00,3.08,23.55,0.816,4,0.000,0.093,3278,233,1987,0,0,0,0,0,0
$GC,7042,1.28,248.6,377.5,10.8,315,7046,0.00,2.67,0.00,0.000,6,0.000,0.025,3278,1885,1984,0,0,0,0,0,0
$GC,7354,1.31,272.0,349.4,8.7,323,7378,0.00,0.00,21.88,0.794,6,0.000,0.000,3279,1885,1892,0,0,0,0,0,0
$GC,7719,1.35,275.3,314.6,9.8,332,7724,0.00,2.92,0.00,0.000,4,0.000,0.070,3279,230,1885,0,0,0,0,0,0
$GC,7751,1.32,275.3,310.7,11.2,332,7757,0.00,2.65,0.00,0.000,6,0.000,0.024,3279,1880,1884,0,0,0,0,0,0
$GC,8083,1.38,285.7,278.7,9.4,341,8103,0.00,2.55,12.35,0.722,4,0.000,0.032,3279,3405,1835,0,0,0,0,0,0
$GC,8151,1.48,290.7,272.3,9.8,342,8163,0.17,2.58,5.85,0.607,6,0.067,0.044,3325,1860,1816,0,0,0,0,0,0
$GC,8495,1.50,302.9,238.5,9.3,351,8514,0.00,2.60,12.05,0.691,4,0.000,0.030,3325,3412,1765,0,0,0,0,0,0
$GC,8624,1.50,302.9,225.1,11.0,353,8630,0.00,2.60,0.00,0.000,6,0.000,0.041,3325,1846,1764,0,0,0,0,0,0
$GC,8938,1.50,302.9,189.6,11.7,366,8942,0.00,2.80,0.00,0.000,4,0.000,0.068,3325,238,1762,0,0,0,0,0,0
$GC,9008,1.43,302.9,180.7,13.0,371,9014,0.00,2.55,0.00,0.000,6,0.000,0.021,3325,1852,1760,0,0,0,0,0,0
$GC,9333,1.43,302.9,142.8,11.0,402,9337,0.00,2.42,0.00,0.000,4,0.000,0.027,3325,3394,1760,0,0,0,0,0,0
$GC,9354,1.43,302.9,140.9,11.7,403,9359,0.00,2.58,0.00,0.000,6,0.000,0.035,3325,1823,1760,0,0,0,0,0,0
$GC,9683,1.45,320.5,108.8,9.0,433,9708,0.00,2.80,16.35,0.601,4,0.000,0.064,3325,240,1692,0,0,0,0,0,0
$GC,9797,1.45,320.5,96.4,10.8,442,9806,0.00,2.50,0.00,0.000,6,0.000,0.019,3325,1827,1690,0,0,0,0,0,0
$GC,10126,1.64,408.7,71.5,4.9,473,10210,0.12,2.83,76.00,0.584,4,0.214,0.061,3361,247,1332,0,0,0,0,0,0
$GC,10238,1.64,410.0,63.0,10.0,481,10247,0.00,2.45,0.00,0.000,6,0.000,0.019,3361,1800,1330,0,0,0,0,0,0
$GC,10578,1.64,410.0,24.2,11.6,515,10587,0.00,2.70,0.00,0.000,4,0.000,0.059,3361,243,1328,0,0,0,0,0,0
$GC,10638,1.64,410.0,16.1,13.5,523,10647,0.00,2.38,0.00,0.000,6,0.000,0.018,3361,1769,1327,0,0,0,0,0,0
$STATE,10743,end climb,SURFACE_DEPTH_REACHED
$STATE,10744,begin surface coast
$FINISH,0.5,1.011280
$STATE,10788,end surface coast,CONTROL_FINISHED_OK
$STATE,10788,begin surface
$SM_CCo,10811,168.95,0.516,0,0,476,619.14
$SM_GC,0.88,0.00,0.00,168.95,0.000,0.000,0.516,475,1771,476,-11.62,0.03,619.14
$IRIDIUM_FIX,2241.69,-15744.57,060200,101006
$TT8_MAMPS,0.026078
$HUMID,54.72
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.90
$XPDR_PINGS,171
$24V_AH,23.3,87.799
$10V_AH,9.8,81.799
$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,27.550,135.125,462.150,168.950,0.000,134.937,400.411,0.000,42.750,0.000,12.696,1064.019,7212.131,666.668,2106.390,861.547,33.372,1484.923,0.000,2110.913,0.000,0.536,0.000
$DEVICE_MAMPS,213.993,92.807,906.594,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.665,299.950,421.494,818.008,1237.136,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,41659,544
$CAP_FILE_SIZE,108460,0
$CFSIZE,260165632,145354752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121110,135006,2251.448,-15742.251,29,1.1,29,10.1