version: 66.06
glider: 146
mission: 5
dive: 634
start: 11 13 110 0 19 31
data:
$ID,146
$MISSION,5
$DIVE,634
$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,-263154.97
$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,23
$R_STBD_OVSHOOT,78
$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
$GPS1,000237,2251.486,-15742.274,39,1.3,39,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-61.2
$GPS2,001838,2251.648,-15742.255,14,1.2,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.002,-0.235
$KALMAN_X,-293668.3,467.7,-129.8,342123.8,106.5
$KALMAN_Y,-349104.3,789.1,390.4,479525.0,984.5
$MHEAD_RNG_PITCHd_Wd,169.5,4924,-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,13,begin dive
$GC,15,-1.38,-116.6,0.0,0.0,0,135,0.00,0.00,-116.80,0.000,2,0.000,0.000,473,1801,3446,0,0,0,0,0,0
$GC,138,-1.38,-116.8,4.0,-7.7,15,156,12.15,2.72,-0.60,0.000,4,0.170,0.060,2690,188,3479,0,0,0,0,0,0
$GC,190,-1.06,-116.8,18.3,-22.3,21,199,0.32,2.42,0.00,0.000,6,0.093,0.016,2763,1763,3480,0,0,0,0,0,0
$GC,543,-1.06,-116.8,55.6,-9.9,59,547,0.00,2.67,0.00,0.000,4,0.000,0.052,2763,182,3479,0,0,0,0,0,0
$GC,566,-1.06,-116.8,57.9,-10.1,60,570,0.00,2.40,0.00,0.000,6,0.000,0.015,2763,1779,3480,0,0,0,0,0,0
$GC,891,-1.11,-116.8,89.4,-7.8,90,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1780,3480,0,0,0,0,0,0
$GC,1213,-1.19,-116.8,114.6,-6.6,120,1217,0.00,2.67,0.00,0.000,4,0.000,0.058,2763,182,3480,0,0,0,0,0,0
$GC,1294,-1.31,-116.8,121.4,-8.3,126,1303,0.17,2.40,0.00,0.000,6,0.033,0.015,2701,1768,3480,0,0,0,0,0,0
$GC,1623,-1.31,-116.8,148.4,-8.5,157,1627,0.00,2.38,0.00,0.000,4,0.000,0.025,2700,3303,3480,0,0,0,0,0,0
$GC,1652,-1.31,-116.8,151.5,-9.3,159,1656,0.00,2.50,0.00,0.000,6,0.000,0.027,2700,1740,3479,0,0,0,0,0,0
$GC,1977,-1.31,-116.8,184.7,-10.0,189,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1740,3480,0,0,0,0,0,0
$GC,2309,-1.31,-116.8,215.0,-8.9,209,2313,0.00,2.45,0.00,0.000,4,0.000,0.025,2700,3303,3480,0,0,0,0,0,0
$GC,2322,-1.31,-116.8,216.0,-9.0,209,2326,0.00,2.53,0.00,0.000,6,0.000,0.031,2700,1732,3480,0,0,0,0,0,0
$GC,2669,-1.31,-116.8,247.7,-9.4,218,2673,0.00,2.47,0.00,0.000,4,0.000,0.025,2700,3302,3479,0,0,0,0,0,0
$GC,2725,-1.36,-116.8,252.7,-9.1,219,2730,0.00,2.45,0.00,0.000,6,0.000,0.028,2700,1768,3479,0,0,0,0,0,0
$GC,3075,-1.36,-116.8,281.0,-8.2,228,3079,0.00,2.42,0.00,0.000,4,0.000,0.033,2700,3298,3479,0,0,0,0,0,0
$GC,3109,-1.43,-116.8,284.3,-9.1,228,3114,0.00,2.47,0.00,0.000,6,0.000,0.038,2700,1772,3479,0,0,0,0,0,0
$GC,3440,-1.43,-116.8,311.2,-7.7,237,3445,0.00,2.75,0.00,0.000,4,0.000,0.078,2700,193,3477,0,0,0,0,0,0
$GC,3503,-1.43,-116.8,316.4,-8.0,238,3507,0.00,2.38,0.00,0.000,6,0.000,0.025,2700,1719,3477,0,0,0,0,0,0
$GC,3851,-1.47,-116.8,340.2,-6.8,247,3856,0.00,2.50,0.00,0.000,4,0.000,0.040,2700,3298,3475,0,0,0,0,0,0
$GC,3898,-1.56,-116.8,343.7,-7.2,248,3903,0.17,2.53,0.00,0.000,6,0.061,0.040,2644,1760,3475,0,0,0,0,0,0
$GC,4217,-1.50,-116.8,373.9,-9.8,256,4223,0.12,2.83,0.00,0.000,4,0.115,0.084,2670,186,3474,0,0,0,0,0,0
$GC,4234,-1.47,-116.8,375.6,-10.0,256,4239,0.00,2.40,0.00,0.000,6,0.000,0.021,2670,1710,3473,0,0,0,0,0,0
$GC,4579,-1.47,-116.8,405.4,-8.8,265,4583,0.00,2.60,0.00,0.000,4,0.000,0.048,2670,3300,3471,0,0,0,0,0,0
$GC,4629,-1.52,-116.8,410.3,-9.1,266,4633,0.00,2.55,0.00,0.000,6,0.000,0.050,2670,1770,3471,0,0,0,0,0,0
$GC,4941,-1.52,-116.8,439.4,-9.4,274,4946,0.00,2.90,0.00,0.000,4,0.000,0.093,2670,186,3469,0,0,0,0,0,0
$GC,4957,-1.52,-116.8,441.1,-9.3,274,4961,0.00,2.42,0.00,0.000,6,0.000,0.032,2670,1704,3469,0,0,0,0,0,0
$GC,5299,-1.52,-116.8,467.1,-7.2,283,5303,0.00,2.65,0.00,0.000,4,0.000,0.051,2670,3291,3466,0,0,0,0,0,0
$GC,5373,-1.57,-116.8,472.8,-8.1,284,5377,0.00,2.58,0.00,0.000,6,0.000,0.056,2670,1776,3466,0,0,0,0,0,0
$STATE,5661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5661,begin apogee
$GC,5667,-0.31,0.0,500.8,10.4,291,5768,1.17,0.00,97.25,0.907,6,0.084,0.000,2930,1776,3000,0,0,0,0,0,0
$STATE,5768,end apogee,CONTROL_FINISHED_OK
$STATE,5768,begin climb
$GC,5771,1.38,116.8,505.0,0.0,293,5879,1.55,0.00,103.95,0.898,6,0.040,0.000,3308,1776,2524,0,0,0,0,0,0
$GC,6193,1.33,175.4,489.5,6.6,304,6252,0.00,2.75,52.08,0.877,4,0.000,0.045,3308,3342,2283,0,0,0,0,0,0
$GC,6317,1.25,175.4,477.5,10.2,306,6324,0.17,2.62,0.00,0.000,6,0.122,0.057,3274,1835,2279,0,0,0,0,0,0
$GC,6648,1.27,190.2,446.3,9.2,315,6668,0.00,2.58,12.98,0.803,4,0.000,0.041,3274,3341,2224,0,0,0,0,0,0
$GC,6742,1.30,218.4,438.1,8.4,317,6777,0.00,2.55,26.75,0.841,6,0.000,0.054,3274,1848,2109,0,0,0,0,0,0
$GC,7104,1.35,259.6,408.6,7.7,326,7149,0.00,3.10,37.25,0.841,4,0.000,0.097,3274,233,1940,0,0,0,0,0,0
$GC,7184,1.31,259.6,401.4,10.4,327,7190,0.00,2.50,0.00,0.000,6,0.000,0.022,3274,1786,1938,0,0,0,0,0,0
$GC,7517,1.31,259.6,367.9,10.5,336,7522,0.00,2.65,0.00,0.000,4,0.000,0.040,3274,3407,1934,0,0,0,0,0,0
$GC,7567,1.38,259.6,361.8,11.3,337,7573,0.10,2.65,0.00,0.000,6,0.100,0.045,3301,1841,1931,0,0,0,0,0,0
$GC,7882,1.38,259.6,325.9,11.1,345,7886,0.00,2.88,0.00,0.000,4,0.000,0.081,3301,236,1930,0,0,0,0,0,0
$GC,7926,1.31,259.6,320.8,11.3,346,7930,0.00,2.60,0.00,0.000,6,0.000,0.025,3301,1861,1929,0,0,0,0,0,0
$GC,8244,1.33,273.0,291.0,9.3,354,8262,0.00,2.53,11.38,0.724,4,0.000,0.035,3301,3401,1886,0,0,0,0,0,0
$GC,8275,1.33,273.0,287.9,10.2,354,8280,0.00,2.62,0.00,0.000,6,0.000,0.041,3301,1844,1885,0,0,0,0,0,0
$GC,8606,1.34,281.4,254.3,9.6,362,8620,0.00,2.88,8.70,0.672,4,0.000,0.077,3301,238,1852,0,0,0,0,0,0
$GC,8672,1.30,289.4,247.9,9.6,363,8687,0.00,2.55,8.65,0.663,6,0.000,0.026,3301,1853,1820,0,0,0,0,0,0
$GC,9021,1.31,296.6,216.6,9.6,372,9035,0.00,2.90,7.38,0.624,4,0.000,0.073,3301,243,1791,0,0,0,0,0,0
$GC,9074,1.31,296.6,209.9,12.2,373,9079,0.00,2.50,0.00,0.000,6,0.000,0.026,3301,1824,1789,0,0,0,0,0,0
$GC,9401,1.36,307.1,174.8,9.4,396,9418,0.00,2.85,10.48,0.631,4,0.000,0.067,3301,233,1748,0,0,0,0,0,0
$GC,9506,1.37,317.4,164.6,9.4,405,9523,0.00,2.45,10.62,0.620,6,0.000,0.027,3301,1793,1707,0,0,0,0,0,0
$GC,9853,1.45,337.1,136.3,8.9,437,9878,0.00,2.58,18.05,0.627,4,0.000,0.028,3301,3385,1627,0,0,0,0,0,0
$GC,9892,1.56,359.7,132.6,8.7,440,9920,0.17,2.65,21.27,0.621,6,0.069,0.035,3346,1790,1533,0,0,0,0,0,0
$GC,10250,1.56,359.7,95.0,10.0,473,10254,0.00,2.67,0.00,0.000,4,0.000,0.064,3345,240,1528,0,0,0,0,0,0
$GC,10291,1.56,359.7,90.2,11.8,476,10296,0.00,2.42,0.00,0.000,6,0.000,0.026,3346,1796,1527,0,0,0,0,0,0
$GC,10620,1.62,368.8,58.3,9.5,506,10636,0.00,2.55,8.75,0.513,4,0.000,0.025,3346,3386,1495,0,0,0,0,0,0
$GC,10668,1.74,373.6,53.5,9.8,509,10681,0.10,2.70,5.78,0.455,6,0.053,0.036,3379,1770,1477,0,0,0,0,0,0
$GC,11033,1.74,373.6,12.9,12.3,551,11042,0.00,2.62,0.00,0.000,4,0.000,0.065,3380,245,1474,0,0,0,0,0,0
$STATE,11098,end climb,SURFACE_DEPTH_REACHED
$STATE,11098,begin surface coast
$FINISH,2.2,1.023508
$STATE,11113,end surface coast,CONTROL_FINISHED_OK
$STATE,11113,begin surface
$SM_CCo,11137,198.80,0.520,0,0,476,619.14
$SM_GC,0.88,0.00,0.00,198.80,0.000,0.000,0.520,476,1788,476,-11.61,0.51,619.14
$IRIDIUM_FIX,2241.69,-15741.52,070200,000035
$TT8_MAMPS,0.026078
$HUMID,54.05
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.70
$XPDR_PINGS,169
$24V_AH,23.3,88.473
$10V_AH,9.9,82.316
$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,28.025,134.800,441.300,198.800,0.000,156.885,400.408,0.000,42.250,0.000,15.709,1107.467,7475.640,700.093,2122.817,888.218,33.365,1497.723,0.000,2133.080,0.000,0.538,0.000
$DEVICE_MAMPS,169.507,96.642,907.361,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.659,328.557,437.250,825.899,1250.552,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,44711,562
$CAP_FILE_SIZE,111285,0
$CFSIZE,260165632,145113088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131110,032936,2251.369,-15742.222,11,1.2,26,10.1