version: 66.06
glider: 146
mission: 5
dive: 631
start: 11 12 110 14 6 32
data:
$ID,146
$MISSION,5
$DIVE,631
$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,-263107.72
$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,24
$R_STBD_OVSHOOT,67
$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
$GPS1,135006,2251.448,-15742.251,29,1.1,29,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-64.2
$GPS2,140538,2251.524,-15742.234,14,1.1,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.027,-0.233
$KALMAN_X,-292948.8,-537.6,36.8,342278.9,375.2
$KALMAN_Y,-355546.6,146.9,468.9,486311.2,1095.6
$MHEAD_RNG_PITCHd_Wd,176.5,4692,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,129,0.00,0.00,-109.18,0.000,2,0.000,0.000,474,1771,3239,0,0,0,0,0,0
$GC,134,-1.38,-116.8,3.4,-6.3,14,160,12.18,2.75,-4.60,0.000,4,0.170,0.067,2688,195,3478,0,0,0,0,0,0
$GC,198,-1.24,-116.8,18.7,-16.3,22,208,0.15,2.42,0.00,0.000,6,0.100,0.015,2723,1784,3479,0,0,0,0,0,0
$GC,547,-1.17,-116.8,64.9,-11.6,59,557,0.10,0.00,0.00,0.000,6,0.130,0.000,2742,1785,3479,0,0,0,0,0,0
$GC,875,-1.22,-116.8,100.7,-10.0,90,880,0.00,2.67,0.00,0.000,4,0.000,0.059,2742,190,3479,0,0,0,0,0,0
$GC,923,-1.28,-116.8,104.7,-9.9,93,927,0.00,2.38,0.00,0.000,6,0.000,0.015,2742,1777,3479,0,0,0,0,0,0
$GC,1252,-1.36,-116.8,130.8,-8.1,123,1257,0.17,2.70,0.00,0.000,4,0.058,0.061,2688,192,3479,0,0,0,0,0,0
$GC,1294,-1.36,-116.8,135.4,-11.2,126,1298,0.00,2.28,0.00,0.000,6,0.000,0.020,2688,1727,3479,0,0,0,0,0,0
$GC,1619,-1.36,-116.8,169.3,-10.1,156,1623,0.00,2.47,0.00,0.000,4,0.000,0.031,2688,3314,3480,0,0,0,0,0,0
$GC,1676,-1.36,-116.8,174.4,-9.2,160,1680,0.00,2.55,0.00,0.000,6,0.000,0.028,2688,1719,3479,0,0,0,0,0,0
$GC,2001,-1.36,-116.8,204.6,-9.2,187,2005,0.00,2.58,0.00,0.000,4,0.000,0.067,2688,193,3479,0,0,0,0,0,0
$GC,2018,-1.36,-116.8,206.3,-8.8,187,2022,0.00,2.28,0.00,0.000,6,0.000,0.015,2688,1725,3479,0,0,0,0,0,0
$GC,2361,-1.36,-116.8,237.9,-9.7,196,2365,0.00,2.60,0.00,0.000,4,0.000,0.067,2688,193,3479,0,0,0,0,0,0
$GC,2455,-1.36,-116.8,248.7,-10.8,198,2459,0.00,2.30,0.00,0.000,6,0.000,0.016,2688,1737,3479,0,0,0,0,0,0
$GC,2770,-1.36,-116.8,277.2,-8.8,206,2775,0.00,2.47,0.00,0.000,4,0.000,0.031,2688,3313,3478,0,0,0,0,0,0
$GC,2781,-1.36,-116.8,278.4,-8.6,206,2786,0.00,2.58,0.00,0.000,6,0.000,0.030,2688,1721,3478,0,0,0,0,0,0
$GC,3129,-1.36,-116.8,304.3,-7.4,215,3133,0.00,2.53,0.00,0.000,4,0.000,0.035,2688,3320,3476,0,0,0,0,0,0
$GC,3181,-1.40,-116.8,307.8,-7.3,216,3185,0.00,2.58,0.00,0.000,6,0.000,0.036,2688,1738,3476,0,0,0,0,0,0
$GC,3493,-1.40,-116.8,330.9,-7.4,224,3498,0.00,2.72,0.00,0.000,4,0.000,0.084,2688,189,3475,0,0,0,0,0,0
$GC,3510,-1.40,-116.8,332.5,-7.7,224,3514,0.00,2.38,0.00,0.000,6,0.000,0.028,2688,1722,3475,0,0,0,0,0,0
$GC,3854,-1.40,-116.8,359.5,-8.1,233,3858,0.00,2.60,0.00,0.000,4,0.000,0.042,2688,3346,3473,0,0,0,0,0,0
$GC,3908,-1.45,-116.8,364.2,-7.6,234,3913,0.00,2.62,0.00,0.000,6,0.000,0.048,2688,1765,3472,0,0,0,0,0,0
$GC,4258,-1.45,-116.8,392.1,-8.4,243,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1765,3471,0,0,0,0,0,0
$GC,4581,-1.45,-116.8,419.7,-8.6,251,4585,0.00,2.58,0.00,0.000,4,0.000,0.045,2688,3342,3469,0,0,0,0,0,0
$GC,4621,-1.53,-116.8,423.1,-9.0,252,4625,0.00,2.62,0.00,0.000,6,0.000,0.054,2688,1784,3468,0,0,0,0,0,0
$GC,4947,-1.57,-116.8,449.6,-8.1,260,4952,0.12,2.95,0.00,0.000,4,0.071,0.100,2643,183,3466,0,0,0,0,0,0
$GC,4975,-1.52,-116.8,452.6,-10.3,260,4980,0.12,2.53,0.00,0.000,6,0.118,0.029,2669,1766,3466,0,0,0,0,0,0
$GC,5306,-1.52,-116.8,482.3,-9.2,268,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1766,3464,0,0,0,0,0,0
$STATE,5506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5506,begin apogee
$GC,5515,-0.31,0.0,502.5,10.1,273,5615,1.17,0.00,96.57,0.913,6,0.083,0.000,2929,1832,3001,0,0,0,0,0,0
$STATE,5615,end apogee,CONTROL_FINISHED_OK
$STATE,5616,begin climb
$GC,5618,1.38,116.8,506.3,0.0,275,5733,1.52,3.00,102.97,0.900,4,0.044,0.089,3306,236,2523,0,0,0,0,0,0
$GC,5762,1.23,182.8,507.2,6.2,278,5829,0.17,2.60,58.83,0.887,6,0.121,0.037,3271,1807,2255,0,0,0,0,0,0
$GC,6155,1.26,207.4,475.5,8.6,288,6184,0.00,2.83,21.67,0.843,4,0.000,0.062,3271,3404,2154,0,0,0,0,0,0
$GC,6313,1.26,207.4,459.6,10.5,291,6318,0.00,2.70,0.00,0.000,6,0.000,0.059,3271,1840,2150,0,0,0,0,0,0
$GC,6652,1.28,224.6,428.1,9.0,300,6675,0.00,3.03,15.90,0.816,4,0.000,0.100,3271,233,2083,0,0,0,0,0,0
$GC,6687,1.26,244.2,424.6,8.9,300,6712,0.00,2.65,19.20,0.818,6,0.000,0.029,3271,1859,2005,0,0,0,0,0,0
$GC,7023,1.27,251.6,392.5,9.6,309,7037,0.00,2.97,7.12,0.705,4,0.000,0.077,3271,237,1974,0,0,0,0,0,0
$GC,7054,1.27,251.6,388.7,10.4,309,7058,0.00,2.55,0.00,0.000,6,0.000,0.028,3271,1829,1973,0,0,0,0,0,0
$GC,7386,1.31,286.1,360.9,8.0,317,7427,0.00,2.67,32.33,0.818,4,0.000,0.038,3271,3411,1832,0,0,0,0,0,0
$GC,7451,1.41,301.9,355.3,9.1,318,7473,0.15,2.70,15.32,0.771,6,0.077,0.047,3310,1830,1770,0,0,0,0,0,0
$GC,7798,1.41,302.9,320.5,10.0,327,7802,0.00,2.85,0.00,0.000,4,0.000,0.081,3309,234,1762,0,0,0,0,0,0
$GC,7832,1.32,302.9,316.6,12.5,327,7838,0.10,2.60,0.00,0.000,6,0.137,0.026,3290,1858,1760,0,0,0,0,0,0
$GC,8164,1.36,302.9,282.2,10.5,336,8168,0.00,2.47,0.00,0.000,4,0.000,0.035,3290,3408,1759,0,0,0,0,0,0
$GC,8185,1.41,302.9,279.8,10.8,336,8189,0.00,2.60,0.00,0.000,6,0.000,0.045,3290,1837,1758,0,0,0,0,0,0
$GC,8525,1.47,309.0,246.0,9.7,345,8537,0.12,2.55,5.95,0.604,4,0.212,0.028,3324,3400,1739,0,0,0,0,0,0
$GC,8643,1.48,321.1,234.3,9.3,347,8663,0.00,2.62,12.40,0.690,6,0.000,0.042,3325,1817,1691,0,0,0,0,0,0
$GC,8987,1.51,342.0,205.0,8.8,356,9011,0.00,2.83,19.42,0.686,4,0.000,0.071,3325,237,1605,0,0,0,0,0,0
$GC,9061,1.51,342.0,196.9,11.3,357,9067,0.00,2.53,0.00,0.000,6,0.000,0.026,3324,1828,1602,0,0,0,0,0,0
$GC,9390,1.51,342.0,165.5,10.1,388,9394,0.00,2.78,0.00,0.000,4,0.000,0.070,3324,234,1601,0,0,0,0,0,0
$GC,9441,1.46,342.0,158.8,12.8,392,9446,0.00,2.42,0.00,0.000,6,0.000,0.025,3324,1798,1599,0,0,0,0,0,0
$GC,9767,1.49,342.0,119.4,10.5,422,9771,0.00,2.70,0.00,0.000,4,0.000,0.064,3324,237,1599,0,0,0,0,0,0
$GC,9873,1.50,344.8,108.1,9.9,430,9882,0.00,2.38,0.00,0.000,6,0.000,0.021,3324,1752,1598,0,0,0,0,0,0
$GC,10202,1.60,360.0,81.2,9.2,461,10227,0.10,2.67,16.33,0.571,4,0.088,0.060,3354,236,1531,0,0,0,0,0,0
$GC,10246,1.60,360.0,76.2,10.2,464,10256,0.00,2.33,0.00,0.000,6,0.000,0.020,3354,1725,1530,0,0,0,0,0,0
$GC,10575,1.60,362.7,44.1,9.9,495,10579,0.00,2.62,0.00,0.000,4,0.000,0.026,3353,3389,1529,0,0,0,0,0,0
$GC,10596,1.64,362.7,41.8,10.7,496,10600,0.00,2.75,0.00,0.000,6,0.000,0.036,3354,1706,1528,0,0,0,0,0,0
$STATE,10937,end climb,SURFACE_DEPTH_REACHED
$STATE,10937,begin surface coast
$FINISH,0.5,1.021980
$STATE,10986,end surface coast,CONTROL_FINISHED_OK
$STATE,10987,begin surface
$SM_CCo,11008,210.15,0.516,0,0,476,619.14
$SM_GC,0.92,0.00,0.00,210.15,0.000,0.000,0.516,471,1703,476,-11.63,-1.89,619.14
$IRIDIUM_FIX,2241.69,-15739.35,060200,141433
$TT8_MAMPS,0.026078
$HUMID,53.78
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.10
$XPDR_PINGS,162
$24V_AH,23.3,87.970
$10V_AH,9.8,81.927
$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,27.950,130.600,424.025,210.150,0.000,86.381,103.200,450.531,40.500,0.000,16.066,1084.953,7295.413,692.267,2100.468,978.206,33.373,1484.429,0.000,2095.475,0.000,0.536,0.000
$DEVICE_MAMPS,212.459,121.186,912.730,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.113,301.335,417.426,797.171,1200.911,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355384
$DATA_FILE_SIZE,44657,546
$CAP_FILE_SIZE,119615,0
$CFSIZE,260165632,145309696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121110,171454,2251.205,-15742.407,25,1.8,41,10.1