version: 66.06
glider: 146
mission: 5
dive: 637
start: 11 13 110 10 39 51
data:
$ID,146
$MISSION,5
$DIVE,637
$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,-263203.97
$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,22
$R_STBD_OVSHOOT,56
$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
$GPS1,101337,2251.241,-15742.041,27,1.0,27,10.1
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-58.8
$GPS2,103855,2251.377,-15742.063,13,2.0,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.023,-0.238
$KALMAN_X,-293978.8,-285.1,-149.6,343536.2,-200.7
$KALMAN_Y,-342110.0,123.6,66.4,473019.3,1406.7
$MHEAD_RNG_PITCHd_Wd,164.5,4404,-19.4,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.36,-116.8,0.0,0.0,0,125,0.00,0.00,-106.62,0.000,2,0.000,0.000,474,1754,3188,0,0,0,0,0,0
$GC,130,-1.36,-116.8,3.3,-7.6,17,158,12.15,2.70,-5.82,0.000,4,0.170,0.071,2696,185,3480,0,0,0,0,0,0
$GC,197,-1.26,-116.8,20.0,-17.1,28,204,0.10,2.47,0.00,0.000,6,0.099,0.016,2721,1786,3481,0,0,0,0,0,0
$GC,465,-1.18,-116.8,56.2,-13.7,59,471,0.10,2.72,0.00,0.000,4,0.135,0.052,2740,183,3481,0,0,0,0,0,0
$GC,487,-1.12,-116.8,59.0,-13.0,60,491,0.00,2.38,0.00,0.000,6,0.000,0.015,2740,1767,3481,0,0,0,0,0,0
$GC,752,-1.08,-116.8,85.8,-10.0,84,757,0.10,2.45,0.00,0.000,4,0.127,0.025,2762,3321,3481,0,0,0,0,0,0
$GC,807,-1.18,-116.8,90.2,-6.9,88,814,0.00,2.53,0.00,0.000,6,0.000,0.027,2762,1754,3481,0,0,0,0,0,0
$GC,1074,-1.25,-116.8,109.5,-8.7,113,1079,0.15,2.62,0.00,0.000,4,0.062,0.054,2712,195,3481,0,0,0,0,0,0
$GC,1095,-1.25,-116.8,112.6,-10.8,114,1103,0.00,2.38,0.00,0.000,6,0.000,0.017,2712,1765,3481,0,0,0,0,0,0
$GC,1362,-1.25,-116.8,139.8,-8.2,139,1367,0.00,2.38,0.00,0.000,4,0.000,0.028,2712,3310,3481,0,0,0,0,0,0
$GC,1417,-1.29,-116.8,143.8,-5.6,143,1423,0.00,2.40,0.00,0.000,6,0.000,0.031,2712,1796,3481,0,0,0,0,0,0
$GC,1682,-1.29,-116.8,160.3,-6.9,168,1686,0.00,2.70,0.00,0.000,4,0.000,0.063,2712,192,3481,0,0,0,0,0,0
$GC,1715,-1.29,-116.8,163.3,-8.7,170,1720,0.00,2.42,0.00,0.000,6,0.000,0.018,2713,1807,3481,0,0,0,0,0,0
$GC,1977,-1.29,-116.8,185.8,-8.8,195,1981,0.00,2.33,0.00,0.000,4,0.000,0.023,2712,3312,3481,0,0,0,0,0,0
$GC,2030,-1.35,-116.8,190.1,-8.2,199,2036,0.00,2.38,0.00,0.000,6,0.000,0.025,2712,1809,3481,0,0,0,0,0,0
$GC,2316,-1.35,-116.8,215.1,-9.1,215,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1809,3480,0,0,0,0,0,0
$GC,2559,-1.35,-116.8,238.3,-9.5,221,2563,0.00,2.38,0.00,0.000,4,0.000,0.028,2712,3318,3480,0,0,0,0,0,0
$GC,2612,-1.43,-116.8,243.3,-9.2,222,2616,0.10,2.38,0.00,0.000,6,0.081,0.035,2674,1821,3480,0,0,0,0,0,0
$GC,2884,-1.38,-116.8,270.0,-9.7,229,2890,0.12,2.80,0.00,0.000,4,0.111,0.071,2700,196,3479,0,0,0,0,0,0
$GC,2953,-1.38,-116.8,276.0,-8.3,230,2957,0.00,2.42,0.00,0.000,6,0.000,0.023,2700,1785,3479,0,0,0,0,0,0
$GC,3208,-1.38,-116.8,294.4,-7.2,237,3212,0.00,2.45,0.00,0.000,4,0.000,0.036,2700,3338,3478,0,0,0,0,0,0
$GC,3253,-1.44,-116.8,297.8,-7.6,238,3258,0.00,2.45,0.00,0.000,6,0.000,0.037,2700,1816,3478,0,0,0,0,0,0
$GC,3531,-1.44,-116.8,319.0,-8.1,245,3535,0.00,2.85,0.00,0.000,4,0.000,0.077,2699,192,3476,0,0,0,0,0,0
$GC,3586,-1.44,-116.8,324.0,-9.0,246,3590,0.00,2.47,0.00,0.000,6,0.000,0.027,2700,1795,3476,0,0,0,0,0,0
$GC,3854,-1.44,-116.8,344.7,-7.6,253,3858,0.00,2.50,0.00,0.000,4,0.000,0.041,2700,3356,3475,0,0,0,0,0,0
$GC,3894,-1.52,-116.8,348.1,-8.0,254,3899,0.12,2.50,0.00,0.000,6,0.076,0.044,2655,1820,3475,0,0,0,0,0,0
$GC,4178,-1.47,-116.8,374.3,-9.2,261,4183,0.12,2.92,0.00,0.000,4,0.113,0.092,2681,183,3473,0,0,0,0,0,0
$GC,4196,-1.47,-116.8,376.0,-9.1,261,4201,0.00,2.55,0.00,0.000,6,0.000,0.028,2681,1814,3473,0,0,0,0,0,0
$GC,4457,-1.47,-116.8,397.1,-7.9,268,4461,0.00,2.47,0.00,0.000,4,0.000,0.041,2681,3354,3472,0,0,0,0,0,0
$GC,4491,-1.51,-116.8,399.7,-7.5,268,4497,0.00,2.55,0.00,0.000,6,0.000,0.047,2681,1811,3471,0,0,0,0,0,0
$GC,4743,-1.51,-116.8,420.0,-8.3,275,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1811,3469,0,0,0,0,0,0
$GC,4985,-1.51,-116.8,441.5,-8.9,281,4989,0.00,2.50,0.00,0.000,4,0.000,0.041,2681,3345,3468,0,0,0,0,0,0
$GC,5046,-1.56,-116.8,447.0,-8.3,282,5050,0.00,2.60,0.00,0.000,6,0.000,0.054,2680,1816,3468,0,0,0,0,0,0
$GC,5308,-1.56,-116.8,470.3,-9.1,289,5313,0.00,3.03,0.00,0.000,4,0.000,0.108,2681,183,3466,0,0,0,0,0,0
$GC,5341,-1.56,-116.8,473.8,-10.6,289,5347,0.00,2.60,0.00,0.000,6,0.000,0.031,2680,1801,3465,0,0,0,0,0,0
$GC,5591,-1.56,-116.8,497.7,-9.7,296,5596,0.00,2.60,0.00,0.000,4,0.000,0.061,2681,3364,3464,0,0,0,0,0,0
$STATE,5615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5616,begin apogee
$GC,5626,-0.31,0.0,500.2,9.4,296,5726,1.10,0.00,96.70,0.907,6,0.079,0.000,2928,1815,3001,0,0,0,0,0,0
$STATE,5727,end apogee,CONTROL_FINISHED_OK
$STATE,5727,begin climb
$GC,5729,1.36,116.8,504.4,0.0,299,5844,1.52,3.05,102.78,0.893,4,0.047,0.109,3303,237,2523,0,0,0,0,0,0
$GC,5873,1.18,170.7,502.8,7.0,302,5928,0.22,2.60,48.45,0.876,6,0.117,0.031,3259,1825,2304,0,0,0,0,0,0
$GC,6180,1.20,188.4,476.3,9.1,310,6197,0.00,0.00,15.65,0.817,6,0.000,0.000,3259,1825,2233,0,0,0,0,0,0
$GC,6422,1.22,202.3,453.5,9.3,316,6441,0.00,2.92,13.60,0.802,4,0.000,0.081,3259,229,2175,0,0,0,0,0,0
$GC,6503,1.15,202.3,445.1,10.6,317,6509,0.00,2.58,0.00,0.000,6,0.000,0.028,3259,1809,2172,0,0,0,0,0,0
$GC,6755,1.18,227.4,423.6,8.6,324,6780,0.00,0.00,23.27,0.831,6,0.000,0.000,3259,1809,2074,0,0,0,0,0,0
$GC,6997,1.19,231.5,400.2,9.8,330,7007,0.00,2.83,4.55,0.589,4,0.000,0.080,3259,230,2057,0,0,0,0,0,0
$GC,7029,1.14,231.5,396.7,10.9,330,7035,0.00,2.55,0.00,0.000,6,0.000,0.030,3259,1809,2056,0,0,0,0,0,0
$GC,7281,1.19,265.6,375.9,8.1,337,7322,0.00,2.67,32.35,0.821,4,0.000,0.042,3259,3397,1916,0,0,0,0,0,0
$GC,7334,1.29,297.4,371.4,8.3,338,7369,0.00,2.75,29.58,0.804,6,0.000,0.053,3259,1792,1788,0,0,0,0,0,0
$GC,7651,1.36,303.3,341.8,9.7,346,7663,0.15,2.83,5.45,0.618,4,0.079,0.086,3297,233,1763,0,0,0,0,0,0
$GC,7749,1.30,303.3,329.4,13.2,348,7753,0.00,2.45,0.00,0.000,6,0.000,0.027,3297,1782,1761,0,0,0,0,0,0
$GC,8022,1.30,303.3,300.1,10.4,355,8026,0.00,2.60,0.00,0.000,4,0.000,0.035,3297,3394,1759,0,0,0,0,0,0
$GC,8037,1.30,303.3,298.3,10.1,355,8042,0.00,2.72,0.00,0.000,6,0.000,0.047,3297,1769,1758,0,0,0,0,0,0
$GC,8299,1.30,303.3,271.7,10.2,362,8303,0.00,2.70,0.00,0.000,4,0.000,0.080,3297,233,1757,0,0,0,0,0,0
$GC,8401,1.26,303.3,261.1,10.4,364,8405,0.12,2.38,0.00,0.000,6,0.123,0.027,3272,1748,1756,0,0,0,0,0,0
$GC,8668,1.36,333.0,238.4,8.4,371,8702,0.10,2.75,26.65,0.726,4,0.093,0.069,3300,233,1642,0,0,0,0,0,0
$GC,8750,1.36,333.0,230.5,10.3,372,8756,0.00,2.33,0.00,0.000,6,0.000,0.027,3300,1713,1639,0,0,0,0,0,0
$GC,9000,1.38,344.2,206.9,9.4,379,9016,0.00,2.72,10.38,0.650,4,0.000,0.032,3300,3393,1597,0,0,0,0,0,0
$GC,9039,1.46,344.2,202.9,10.1,380,9044,0.00,2.83,0.00,0.000,6,0.000,0.042,3300,1694,1596,0,0,0,0,0,0
$GC,9306,1.52,354.8,176.9,9.4,402,9322,0.12,2.58,10.82,0.630,4,0.089,0.073,3333,231,1552,0,0,0,0,0,0
$GC,9357,1.45,354.8,170.6,12.3,406,9362,0.00,2.30,0.00,0.000,6,0.000,0.027,3333,1705,1550,0,0,0,0,0,0
$GC,9622,1.45,354.8,141.8,10.9,430,9626,0.00,2.55,0.00,0.000,4,0.000,0.070,3333,227,1549,0,0,0,0,0,0
$GC,9640,1.45,354.8,139.5,10.9,431,9644,0.00,2.28,0.00,0.000,6,0.000,0.021,3333,1701,1548,0,0,0,0,0,0
$GC,9911,1.45,355.0,111.0,10.0,456,9915,0.00,2.72,0.00,0.000,4,0.000,0.028,3333,3405,1548,0,0,0,0,0,0
$GC,9998,1.55,355.0,101.8,10.8,463,10004,0.00,2.80,0.00,0.000,6,0.000,0.036,3333,1696,1547,0,0,0,0,0,0
$GC,10265,1.59,355.0,77.2,10.8,488,10269,0.00,2.72,0.00,0.000,4,0.000,0.028,3333,3400,1547,0,0,0,0,0,0
$GC,10307,1.70,355.0,71.7,11.1,491,10315,0.12,2.80,0.00,0.000,6,0.048,0.035,3375,1709,1547,0,0,0,0,0,0
$GC,10574,1.71,396.9,47.5,7.7,516,10617,0.00,2.78,37.25,0.557,4,0.000,0.027,3375,3401,1381,0,0,0,0,0,0
$GC,10631,1.71,396.9,41.5,11.0,521,10635,0.00,2.80,0.00,0.000,6,0.000,0.036,3375,1719,1380,0,0,0,0,0,0
$GC,10891,1.71,396.9,11.9,11.3,560,10898,0.00,2.55,0.00,0.000,4,0.000,0.062,3375,230,1378,0,0,0,0,0,0
$GC,10928,1.62,396.9,6.5,15.0,566,10935,0.08,2.35,0.00,0.000,6,0.097,0.018,3356,1747,1377,0,0,0,0,0,0
$STATE,10947,end climb,SURFACE_DEPTH_REACHED
$STATE,10947,begin surface coast
$FINISH,0.5,1.003861
$STATE,10979,end surface coast,CONTROL_FINISHED_OK
$STATE,10979,begin surface
$SM_CCo,11002,179.77,0.517,0,0,476,619.14
$SM_GC,1.04,0.00,0.00,179.77,0.000,0.000,0.517,475,1749,476,-11.62,-0.57,619.14
$IRIDIUM_FIX,2244.02,-15743.68,070200,101044
$TT8_MAMPS,0.026078
$HUMID,54.80
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,21.20
$XPDR_PINGS,117
$24V_AH,23.3,88.996
$10V_AH,9.9,82.671
$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,28.350,166.025,457.475,179.775,0.000,143.183,171.468,764.993,29.250,0.000,14.980,1160.858,7612.180,729.171,1725.460,1473.523,33.395,1567.241,0.000,1713.365,0.000,0.535,0.000
$DEVICE_MAMPS,169.507,108.914,906.594,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.388,294.462,399.949,752.121,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355384
$DATA_FILE_SIZE,44592,575
$CAP_FILE_SIZE,146083,0
$CFSIZE,260165632,144916480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131110,134728,2251.320,-15742.216,12,99.0,31,10.1