version: 66.06
glider: 146
mission: 5
dive: 636
start: 11 13 110 7 9 32
data:
$ID,146
$MISSION,5
$DIVE,636
$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,-263188.38
$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,22
$R_STBD_OVSHOOT,53
$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
$GPS1,065300,2251.194,-15742.123,34,1.5,34,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.4
$GPS2,070838,2251.305,-15742.091,13,1.3,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.079,-0.219
$KALMAN_X,-293894.0,104.2,116.2,342750.3,-731.2
$KALMAN_Y,-344575.4,337.0,95.8,475105.3,676.0
$MHEAD_RNG_PITCHd_Wd,150.1,4271,-20.0,-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,-1.39,-114.5,0.0,0.0,0,136,0.00,0.00,-116.95,0.000,2,0.000,0.000,474,1764,3466,0,0,0,0,0,0
$GC,139,-1.40,-116.8,4.2,-8.4,15,157,12.02,2.65,-0.20,0.000,4,0.166,0.058,2686,185,3479,0,0,0,0,0,0
$GC,197,-1.28,-116.8,18.6,-15.8,22,207,0.12,2.47,0.00,0.000,6,0.104,0.022,2715,1795,3479,0,0,0,0,0,0
$GC,547,-1.21,-116.8,60.3,-12.2,59,551,0.00,2.38,0.00,0.000,4,0.000,0.023,2715,3325,3479,0,0,0,0,0,0
$GC,582,-1.21,-116.8,64.5,-12.9,61,587,0.00,2.50,0.00,0.000,6,0.000,0.027,2715,1759,3480,0,0,0,0,0,0
$GC,911,-1.21,-116.8,102.6,-9.8,91,915,0.00,2.47,0.00,0.000,4,0.000,0.030,2715,3328,3479,0,0,0,0,0,0
$GC,1001,-1.26,-116.8,112.0,-9.8,98,1005,0.00,2.40,0.00,0.000,6,0.000,0.025,2715,1816,3479,0,0,0,0,0,0
$GC,1326,-1.26,-116.8,139.6,-8.8,128,1330,0.00,2.72,0.00,0.000,4,0.000,0.062,2715,197,3479,0,0,0,0,0,0
$GC,1380,-1.30,-116.8,144.8,-10.3,132,1384,0.00,2.42,0.00,0.000,6,0.000,0.018,2716,1828,3480,0,0,0,0,0,0
$GC,1704,-1.30,-116.8,176.5,-10.5,162,1708,0.00,2.30,0.00,0.000,4,0.000,0.022,2715,3324,3480,0,0,0,0,0,0
$GC,1762,-1.37,-116.8,181.7,-9.8,166,1767,0.00,2.40,0.00,0.000,6,0.000,0.026,2715,1809,3480,0,0,0,0,0,0
$GC,2113,-1.37,-116.8,213.7,-8.4,187,2118,0.00,2.38,0.00,0.000,4,0.000,0.031,2715,3325,3480,0,0,0,0,0,0
$GC,2158,-1.45,-116.8,217.6,-7.9,188,2163,0.15,2.35,0.00,0.000,6,0.063,0.030,2662,1840,3480,0,0,0,0,0,0
$GC,2479,-1.40,-116.8,248.1,-10.1,196,2484,0.15,2.83,0.00,0.000,4,0.105,0.070,2693,200,3479,0,0,0,0,0,0
$GC,2500,-1.40,-116.8,250.7,-10.4,196,2505,0.00,2.47,0.00,0.000,6,0.000,0.017,2693,1831,3479,0,0,0,0,0,0
$GC,2839,-1.40,-116.8,280.5,-8.3,205,2844,0.00,2.33,0.00,0.000,4,0.000,0.029,2693,3322,3479,0,0,0,0,0,0
$GC,2907,-1.45,-116.8,285.5,-6.5,206,2911,0.00,2.35,0.00,0.000,6,0.000,0.033,2693,1854,3479,0,0,0,0,0,0
$GC,3244,-1.45,-116.8,311.3,-8.6,215,3248,0.00,2.90,0.00,0.000,4,0.000,0.076,2693,200,3478,0,0,0,0,0,0
$GC,3261,-1.45,-116.8,312.9,-9.0,215,3266,0.00,2.50,0.00,0.000,6,0.000,0.027,2693,1813,3477,0,0,0,0,0,0
$GC,3604,-1.49,-116.8,343.5,-8.6,224,3608,0.00,2.45,0.00,0.000,4,0.000,0.041,2693,3346,3476,0,0,0,0,0,0
$GC,3654,-1.56,-116.8,347.6,-8.1,225,3659,0.15,2.42,0.00,0.000,6,0.064,0.041,2643,1851,3476,0,0,0,0,0,0
$GC,3969,-1.51,-116.8,377.9,-9.7,233,3975,0.12,2.95,0.00,0.000,4,0.116,0.086,2669,200,3474,0,0,0,0,0,0
$GC,4019,-1.51,-116.8,383.3,-10.2,234,4023,0.00,2.55,0.00,0.000,6,0.000,0.024,2669,1830,3474,0,0,0,0,0,0
$GC,4333,-1.51,-116.8,413.8,-10.0,242,4337,0.00,2.45,0.00,0.000,4,0.000,0.044,2669,3348,3472,0,0,0,0,0,0
$GC,4373,-1.56,-116.8,417.8,-9.8,243,4377,0.00,2.50,0.00,0.000,6,0.000,0.048,2669,1855,3472,0,0,0,0,0,0
$GC,4696,-1.56,-116.8,449.3,-9.4,251,4701,0.00,2.40,0.00,0.000,4,0.000,0.044,2669,3343,3469,0,0,0,0,0,0
$GC,4720,-1.56,-116.8,451.3,-8.8,251,4724,0.00,2.47,0.00,0.000,6,0.000,0.054,2669,1868,3469,0,0,0,0,0,0
$GC,5057,-1.56,-116.8,479.2,-8.4,260,5061,0.00,3.08,0.00,0.000,4,0.000,0.108,2669,203,3467,0,0,0,0,0,0
$GC,5117,-1.56,-116.8,484.6,-8.4,261,5122,0.00,2.62,0.00,0.000,6,0.000,0.038,2669,1819,3467,0,0,0,0,0,0
$STATE,5335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5335,begin apogee
$GC,5342,-0.31,0.0,502.7,8.4,267,5442,1.17,0.00,96.57,0.910,6,0.087,0.000,2929,1820,3001,0,0,0,0,0,0
$STATE,5443,end apogee,CONTROL_FINISHED_OK
$STATE,5443,begin climb
$GC,5446,1.40,116.8,505.3,0.0,269,5561,1.55,2.90,103.05,0.895,4,0.045,0.088,3310,254,2523,0,0,0,0,0,0
$GC,5578,1.29,188.6,504.7,5.8,272,5650,0.15,2.58,64.60,0.881,6,0.128,0.036,3282,1819,2231,0,0,0,0,0,0
$GC,5977,1.27,212.6,471.2,8.6,282,6003,0.00,2.70,20.98,0.838,4,0.000,0.054,3282,3404,2133,0,0,0,0,0,0
$GC,6042,1.28,222.0,464.9,9.5,283,6058,0.00,2.67,9.85,0.760,6,0.000,0.057,3282,1850,2095,0,0,0,0,0,0
$GC,6385,1.30,236.8,433.2,9.2,292,6403,0.00,0.00,14.00,0.802,6,0.000,0.000,3282,1850,2034,0,0,0,0,0,0
$GC,6712,1.30,236.8,399.8,10.3,300,6717,0.00,2.55,0.00,0.000,4,0.000,0.041,3282,3415,2029,0,0,0,0,0,0
$GC,6734,1.30,236.8,397.4,10.6,300,6738,0.00,2.67,0.00,0.000,6,0.000,0.054,3282,1839,2028,0,0,0,0,0,0
$GC,7072,1.33,254.8,365.7,9.0,309,7096,0.00,3.03,16.90,0.793,4,0.000,0.091,3282,233,1961,0,0,0,0,0,0
$GC,7126,1.27,256.8,360.7,9.9,310,7130,0.00,2.60,0.00,0.000,6,0.000,0.023,3282,1855,1959,0,0,0,0,0,0
$GC,7438,1.29,273.6,333.7,9.0,318,7462,0.00,2.58,17.92,0.784,4,0.000,0.034,3282,3398,1883,0,0,0,0,0,0
$GC,7483,1.36,274.0,329.4,10.0,319,7488,0.00,2.62,0.00,0.000,6,0.000,0.042,3282,1833,1882,0,0,0,0,0,0
$GC,7808,1.40,276.9,296.6,9.9,327,7813,0.10,2.85,0.00,0.000,4,0.095,0.082,3308,233,1879,0,0,0,0,0,0
$GC,7849,1.35,276.9,292.1,11.5,328,7854,0.00,2.53,0.00,0.000,6,0.000,0.027,3308,1829,1877,0,0,0,0,0,0
$GC,8175,1.39,309.3,263.4,8.1,336,8216,0.00,2.62,31.95,0.750,4,0.000,0.032,3308,3401,1738,0,0,0,0,0,0
$GC,8240,1.45,314.3,257.8,9.7,337,8251,0.00,2.65,5.78,0.587,6,0.000,0.044,3308,1812,1719,0,0,0,0,0,0
$GC,8583,1.45,314.3,222.1,11.5,346,8587,0.00,2.75,0.00,0.000,4,0.000,0.074,3308,240,1714,0,0,0,0,0,0
$GC,8671,1.45,314.3,210.0,14.0,348,8676,0.00,2.45,0.00,0.000,6,0.000,0.026,3308,1814,1713,0,0,0,0,0,0
$GC,9000,1.50,318.5,174.5,9.8,371,9009,0.00,0.00,4.38,0.484,6,0.000,0.000,3308,1816,1702,0,0,0,0,0,0
$GC,9329,1.57,338.9,146.0,8.8,402,9354,0.15,2.78,19.27,0.636,4,0.071,0.064,3348,240,1618,0,0,0,0,0,0
$GC,9407,1.50,338.9,136.9,11.4,408,9416,0.08,2.47,0.00,0.000,6,0.107,0.021,3330,1802,1615,0,0,0,0,0,0
$GC,9736,1.55,344.5,104.8,9.7,439,9747,0.00,2.70,6.03,0.502,4,0.000,0.065,3330,238,1595,0,0,0,0,0,0
$GC,9771,1.55,344.5,100.4,11.8,442,9775,0.00,2.38,0.00,0.000,6,0.000,0.020,3330,1763,1593,0,0,0,0,0,0
$GC,10100,1.67,370.9,72.0,8.5,472,10131,0.15,2.65,24.42,0.572,4,0.104,0.026,3370,3390,1487,0,0,0,0,0,0
$GC,10168,1.73,370.9,65.2,10.6,477,10172,0.00,2.67,0.00,0.000,6,0.000,0.036,3370,1755,1485,0,0,0,0,0,0
$GC,10507,1.73,370.9,24.5,10.7,510,10516,0.00,2.60,0.00,0.000,4,0.000,0.058,3370,233,1483,0,0,0,0,0,0
$GC,10561,1.70,370.9,18.9,10.2,517,10570,0.00,2.35,0.00,0.000,6,0.000,0.019,3370,1751,1482,0,0,0,0,0,0
$STATE,10707,end climb,SURFACE_DEPTH_REACHED
$STATE,10707,begin surface coast
$FINISH,0.3,1.010224
$STATE,10753,end surface coast,CONTROL_FINISHED_OK
$STATE,10753,begin surface
$SM_CCo,10774,200.48,0.518,0,0,476,619.14
$SM_GC,0.92,0.00,0.00,200.48,0.000,0.000,0.518,475,1754,476,-11.62,-0.45,619.14
$IRIDIUM_FIX,2241.69,-15757.16,070200,070747
$TT8_MAMPS,0.025311
$HUMID,54.17
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.80
$XPDR_PINGS,182
$24V_AH,23.3,88.800
$10V_AH,9.8,82.578
$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,27.925,134.075,435.700,200.475,0.000,134.689,400.401,0.000,45.500,0.000,14.897,1083.698,7184.281,685.101,2088.508,868.565,33.369,1479.534,0.000,2097.220,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,108.147,909.662,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.728,302.214,419.870,794.754,1202.184,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,41551,544
$CAP_FILE_SIZE,110788,0
$CFSIZE,260165632,144990208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131110,101337,2251.241,-15742.041,27,1.0,27,10.1