version: 66.06
glider: 146
mission: 5
dive: 602
start: 11 8 110 15 50 14
data:
$ID,146
$MISSION,5
$DIVE,602
$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,400
$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,-262333.75
$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,55
$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
$GPS1,152607,2253.684,-15742.913,118,1.0,118,10.1
$_CALLS,3
$_XMS_NAKs,34
$_XMS_TOUTs,3
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.6
$GPS2,154919,2253.793,-15743.027,9,1.2,20,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.064,-0.226
$KALMAN_X,-288540.7,-417.5,112.1,336313.2,-387.0
$KALMAN_Y,-415138.4,204.4,-183.2,550694.8,1006.9
$MHEAD_RNG_PITCHd_Wd,154.2,9049,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-86.18,0.000,2,0.000,0.000,471,1784,3478,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.5,-9.6,11,126,12.00,2.67,0.00,0.000,4,0.163,0.053,2691,189,3481,0,0,0,0,0,0
$GC,158,-1.02,-116.8,19.9,-23.9,17,168,0.38,2.45,0.00,0.000,6,0.083,0.016,2776,1778,3481,0,0,0,0,0,0
$GC,508,-1.02,-116.8,56.9,-8.4,53,512,0.00,2.45,0.00,0.000,4,0.000,0.025,2776,3337,3481,0,0,0,0,0,0
$GC,542,-1.09,-116.8,60.0,-9.2,55,547,0.00,2.53,0.00,0.000,6,0.000,0.026,2776,1755,3481,0,0,0,0,0,0
$GC,872,-1.16,-116.8,92.5,-9.3,85,877,0.12,2.65,0.00,0.000,4,0.068,0.058,2732,197,3481,0,0,0,0,0,0
$GC,905,-1.16,-116.8,96.0,-10.9,87,909,0.00,2.38,0.00,0.000,6,0.000,0.021,2732,1784,3481,0,0,0,0,0,0
$GC,1236,-1.20,-116.8,125.3,-7.8,117,1240,0.00,2.38,0.00,0.000,4,0.000,0.026,2732,3320,3482,0,0,0,0,0,0
$GC,1269,-1.29,-116.8,128.0,-7.9,119,1273,0.00,2.50,0.00,0.000,6,0.000,0.033,2732,1748,3482,0,0,0,0,0,0
$GC,1596,-1.34,-116.8,155.8,-8.6,149,1601,0.00,2.62,0.00,0.000,4,0.000,0.061,2731,195,3482,0,0,0,0,0,0
$GC,1618,-1.39,-116.8,158.0,-8.8,150,1628,0.12,2.40,0.00,0.000,6,0.035,0.015,2682,1775,3482,0,0,0,0,0,0
$GC,1949,-1.35,-116.8,190.6,-9.1,181,1954,0.10,2.40,0.00,0.000,4,0.120,0.026,2704,3317,3482,0,0,0,0,0,0
$GC,1966,-1.35,-116.8,192.8,-9.2,182,1971,0.00,2.45,0.00,0.000,6,0.000,0.027,2704,1766,3483,0,0,0,0,0,0
$GC,2302,-1.35,-116.8,220.4,-8.5,196,2306,0.00,2.67,0.00,0.000,4,0.000,0.068,2704,197,3482,0,0,0,0,0,0
$GC,2319,-1.35,-116.8,221.9,-8.3,196,2323,0.00,2.35,0.00,0.000,6,0.000,0.016,2704,1758,3482,0,0,0,0,0,0
$GC,2667,-1.35,-116.8,250.5,-8.1,205,2671,0.00,2.45,0.00,0.000,4,0.000,0.028,2704,3318,3481,0,0,0,0,0,0
$GC,2753,-1.42,-116.8,257.6,-8.3,207,2758,0.00,2.50,0.00,0.000,6,0.000,0.033,2704,1769,3481,0,0,0,0,0,0
$GC,3078,-1.46,-116.8,286.3,-8.8,215,3083,0.00,2.72,0.00,0.000,4,0.000,0.077,2704,192,3480,0,0,0,0,0,0
$GC,3105,-1.51,-116.8,289.2,-10.5,215,3110,0.15,2.40,0.00,0.000,6,0.065,0.026,2656,1740,3480,0,0,0,0,0,0
$GC,3438,-1.45,-116.8,326.6,-11.7,223,3443,0.12,2.62,0.00,0.000,4,0.115,0.039,2681,3354,3479,0,0,0,0,0,0
$GC,3535,-1.50,-116.8,336.3,-9.5,225,3540,0.00,2.58,0.00,0.000,6,0.000,0.044,2681,1794,3478,0,0,0,0,0,0
$GC,3848,-1.50,-116.8,363.7,-8.5,233,3852,0.00,2.53,0.00,0.000,4,0.000,0.044,2681,3351,3477,0,0,0,0,0,0
$GC,3889,-1.54,-116.8,366.9,-7.9,234,3893,0.00,2.60,0.00,0.000,6,0.000,0.053,2681,1795,3476,0,0,0,0,0,0
$GC,4212,-1.54,-116.8,394.6,-8.9,242,4217,0.00,2.53,0.00,0.000,4,0.000,0.041,2681,3348,3474,0,0,0,0,0,0
$GC,4247,-1.61,-116.8,397.8,-9.6,242,4254,0.15,2.62,0.00,0.000,6,0.065,0.053,2633,1798,3474,0,0,0,0,0,0
$GC,4579,-1.54,-116.8,434.7,-11.5,251,4581,0.15,0.00,0.00,0.000,6,0.107,0.000,2665,1798,3472,0,0,0,0,0,0
$GC,4904,-1.54,-116.8,467.1,-9.6,259,4908,0.00,2.55,0.00,0.000,4,0.000,0.048,2665,3339,3469,0,0,0,0,0,0
$GC,4950,-1.59,-116.8,471.3,-9.8,260,4954,0.00,2.67,0.00,0.000,6,0.000,0.062,2665,1794,3469,0,0,0,0,0,0
$STATE,5265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5265,begin apogee
$GC,5271,-0.31,0.0,501.2,9.7,268,5371,1.20,0.00,96.80,0.913,6,0.082,0.000,2931,1794,3001,0,0,0,0,0,0
$STATE,5372,end apogee,CONTROL_FINISHED_OK
$STATE,5372,begin climb
$GC,5377,1.38,116.8,503.9,0.0,270,5489,1.52,3.10,101.40,0.887,4,0.046,0.119,3306,232,2523,0,0,0,0,0,0
$GC,5541,1.21,160.6,501.5,7.5,273,5590,0.17,2.55,38.50,0.863,6,0.104,0.033,3268,1798,2345,0,0,0,0,0,0
$GC,5914,1.26,195.4,472.2,8.0,283,5954,0.00,2.80,31.10,0.858,4,0.000,0.059,3268,3411,2202,0,0,0,0,0,0
$GC,6008,1.28,211.1,464.2,9.1,285,6028,0.00,2.72,14.90,0.809,6,0.000,0.059,3268,1827,2140,0,0,0,0,0,0
$GC,6366,1.31,238.9,432.8,8.4,294,6397,0.00,2.67,25.48,0.838,4,0.000,0.038,3268,3415,2025,0,0,0,0,0,0
$GC,6432,1.37,239.3,426.9,10.0,295,6438,0.12,2.72,0.00,0.000,6,0.089,0.059,3300,1838,2023,0,0,0,0,0,0
$GC,6770,1.34,245.0,394.2,9.7,304,6783,0.00,2.97,6.07,0.673,4,0.000,0.094,3300,233,2001,0,0,0,0,0,0
$GC,6817,1.25,245.0,388.6,11.5,305,6822,0.12,2.60,0.00,0.000,6,0.127,0.023,3276,1849,1999,0,0,0,0,0,0
$GC,7138,1.26,247.1,357.3,9.9,313,7142,0.00,2.53,0.00,0.000,4,0.000,0.037,3276,3407,1997,0,0,0,0,0,0
$GC,7170,1.31,247.1,353.5,11.1,313,7178,0.00,2.65,0.00,0.000,6,0.000,0.052,3276,1821,1996,0,0,0,0,0,0
$GC,7503,1.35,272.2,323.8,8.6,322,7531,0.00,0.00,25.50,0.790,6,0.000,0.000,3276,1822,1891,0,0,0,0,0,0
$GC,7826,1.36,280.7,293.6,9.5,330,7841,0.00,2.62,8.35,0.683,4,0.000,0.031,3276,3403,1855,0,0,0,0,0,0
$GC,7870,1.46,280.7,289.1,10.4,331,7876,0.17,2.67,0.00,0.000,6,0.073,0.042,3321,1809,1854,0,0,0,0,0,0
$GC,8196,1.46,280.7,250.2,12.0,339,8201,0.00,2.75,0.00,0.000,4,0.000,0.076,3321,237,1852,0,0,0,0,0,0
$GC,8219,1.38,280.7,246.9,13.0,339,8224,0.00,2.55,0.00,0.000,6,0.000,0.027,3321,1845,1851,0,0,0,0,0,0
$GC,8556,1.38,280.7,210.6,10.1,348,8560,0.00,2.50,0.00,0.000,4,0.000,0.038,3321,3404,1851,0,0,0,0,0,0
$GC,8579,1.39,286.4,208.5,9.7,348,8590,0.00,2.60,5.88,0.578,6,0.000,0.038,3321,1829,1833,0,0,0,0,0,0
$GC,8903,1.39,287.3,177.5,10.0,369,8908,0.00,2.75,0.00,0.000,4,0.000,0.067,3321,240,1831,0,0,0,0,0,0
$GC,9004,1.33,287.3,166.0,11.2,377,9009,0.15,2.47,0.00,0.000,6,0.122,0.023,3291,1824,1830,0,0,0,0,0,0
$GC,9333,1.40,301.2,134.5,9.2,407,9357,0.00,2.58,14.32,0.621,4,0.000,0.034,3291,3391,1772,0,0,0,0,0,0
$GC,9365,1.49,313.3,131.2,9.3,409,9386,0.15,2.62,12.43,0.601,6,0.072,0.038,3332,1801,1722,0,0,0,0,0,0
$GC,9706,1.49,313.3,95.2,10.9,441,9710,0.00,2.70,0.00,0.000,4,0.000,0.066,3332,236,1719,0,0,0,0,0,0
$GC,9808,1.49,313.3,83.5,11.4,449,9813,0.00,2.45,0.00,0.000,6,0.000,0.025,3333,1809,1718,0,0,0,0,0,0
$GC,10139,1.62,365.5,56.8,7.0,479,10193,0.00,2.78,45.00,0.574,4,0.000,0.060,3333,239,1511,0,0,0,0,0,0
$GC,10247,1.62,365.5,46.0,11.9,487,10251,0.00,2.40,0.00,0.000,6,0.000,0.020,3333,1797,1508,0,0,0,0,0,0
$GC,10625,1.71,380.7,8.2,9.2,532,10652,0.17,2.75,14.12,0.504,4,0.068,0.058,3380,241,1447,0,0,0,0,0,0
$STATE,10668,end climb,SURFACE_DEPTH_REACHED
$STATE,10668,begin surface coast
$FINISH,0.7,1.023767
$STATE,10706,end surface coast,CONTROL_FINISHED_OK
$STATE,10706,begin surface
$SM_CCo,10732,16.45,0.502,0,0,1369,400.08
$SM_GC,1.15,0.00,0.00,16.45,0.000,0.000,0.502,472,1799,1369,-11.63,0.79,400.08
$IRIDIUM_FIX,2246.36,-15743.68,020200,151542
$TT8_MAMPS,0.026078
$HUMID,57.79
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.30
$XPDR_PINGS,150
$24V_AH,23.3,83.792
$10V_AH,9.8,78.291
$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,28.975,134.600,439.850,16.450,0.000,84.628,116.759,874.872,37.500,0.000,23.418,1085.955,7018.908,493.996,2098.927,1441.432,33.368,1271.102,0.000,2098.771,0.000,0.536,0.000
$DEVICE_MAMPS,163.371,118.885,912.730,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.450,309.237,423.778,827.619,1251.656,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,44644,542
$CAP_FILE_SIZE,124634,0
$CFSIZE,260165632,147013632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,185100,2253.893,-15743.100,56,1.2,56,10.1