version: 66.06
glider: 146
mission: 5
dive: 603
start: 11 8 110 19 22 44
data:
$ID,146
$MISSION,5
$DIVE,603
$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,-262348.59
$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,87
$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
$GPS1,185100,2253.893,-15743.100,56,1.2,56,10.1
$_CALLS,5
$_XMS_NAKs,27
$_XMS_TOUTs,7
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.4
$GPS2,192150,2254.321,-15743.369,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.026,-0.233
$KALMAN_X,-289245.1,-263.2,-505.9,336898.0,389.1
$KALMAN_Y,-412684.3,589.8,63.5,548576.5,1798.4
$MHEAD_RNG_PITCHd_Wd,176.4,10128,-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,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.82,0.000,2,0.000,0.000,470,1799,3427,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.4,-9.3,10,119,12.02,2.70,-0.93,0.000,4,0.163,0.058,2688,189,3479,0,0,0,0,0,0
$GC,158,-1.22,-116.8,21.7,-21.5,17,167,0.17,2.40,0.00,0.000,6,0.096,0.016,2728,1743,3480,0,0,0,0,0,0
$GC,504,-1.16,-116.8,67.7,-12.7,51,508,0.00,2.50,0.00,0.000,4,0.000,0.023,2729,3337,3480,0,0,0,0,0,0
$GC,526,-1.12,-116.8,71.1,-13.2,52,531,0.12,2.50,0.00,0.000,6,0.113,0.025,2754,1771,3480,0,0,0,0,0,0
$GC,851,-1.20,-116.8,103.2,-9.4,82,855,0.00,2.62,0.00,0.000,4,0.000,0.058,2754,197,3480,0,0,0,0,0,0
$GC,874,-1.29,-116.8,104.9,-9.6,83,879,0.15,2.47,0.00,0.000,6,0.186,0.015,2705,1837,3481,0,0,0,0,0,0
$GC,1203,-1.29,-116.8,138.1,-8.7,113,1207,0.00,2.78,0.00,0.000,4,0.000,0.062,2704,192,3481,0,0,0,0,0,0
$GC,1238,-1.29,-116.8,141.7,-10.0,115,1244,0.00,2.45,0.00,0.000,6,0.000,0.019,2705,1813,3481,0,0,0,0,0,0
$GC,1563,-1.29,-116.8,169.9,-9.2,146,1567,0.00,2.35,0.00,0.000,4,0.000,0.031,2705,3319,3481,0,0,0,0,0,0
$GC,1601,-1.33,-116.8,172.6,-9.3,148,1605,0.00,2.42,0.00,0.000,6,0.000,0.027,2705,1795,3481,0,0,0,0,0,0
$GC,1945,-1.33,-116.8,204.2,-8.3,177,1950,0.00,2.70,0.00,0.000,4,0.000,0.067,2705,196,3480,0,0,0,0,0,0
$GC,1986,-1.33,-116.8,208.0,-9.6,178,1991,0.00,2.40,0.00,0.000,6,0.000,0.016,2704,1781,3480,0,0,0,0,0,0
$GC,2311,-1.33,-116.8,236.8,-9.1,186,2315,0.00,2.40,0.00,0.000,4,0.000,0.033,2704,3324,3480,0,0,0,0,0,0
$GC,2355,-1.39,-116.8,240.7,-8.6,187,2359,0.00,2.45,0.00,0.000,6,0.000,0.035,2705,1783,3479,0,0,0,0,0,0
$GC,2675,-1.39,-116.8,264.5,-7.1,195,2680,0.00,2.72,0.00,0.000,4,0.000,0.076,2704,194,3479,0,0,0,0,0,0
$GC,2719,-1.44,-116.8,268.2,-8.2,196,2724,0.00,2.42,0.00,0.000,6,0.000,0.019,2704,1764,3479,0,0,0,0,0,0
$GC,3040,-1.48,-116.8,295.8,-9.6,204,3045,0.12,2.55,0.00,0.000,4,0.071,0.040,2661,3351,3477,0,0,0,0,0,0
$GC,3090,-1.48,-116.8,301.8,-11.4,205,3094,0.00,2.50,0.00,0.000,6,0.000,0.040,2661,1802,3477,0,0,0,0,0,0
$GC,3403,-1.48,-116.8,335.6,-10.5,213,3408,0.00,2.88,0.00,0.000,4,0.000,0.084,2660,187,3475,0,0,0,0,0,0
$GC,3431,-1.48,-116.8,338.6,-10.6,213,3436,0.00,2.53,0.00,0.000,6,0.000,0.027,2660,1795,3475,0,0,0,0,0,0
$GC,3763,-1.48,-116.8,370.7,-9.5,221,3767,0.00,2.55,0.00,0.000,4,0.000,0.046,2660,3357,3474,0,0,0,0,0,0
$GC,3835,-1.48,-116.8,377.1,-8.6,222,3839,0.00,2.55,0.00,0.000,6,0.000,0.048,2660,1818,3474,0,0,0,0,0,0
$GC,4166,-1.48,-116.8,404.6,-8.2,230,4171,0.00,2.97,0.00,0.000,4,0.000,0.093,2660,184,3471,0,0,0,0,0,0
$GC,4206,-1.48,-116.8,408.2,-9.1,231,4210,0.00,2.58,0.00,0.000,6,0.000,0.028,2660,1812,3471,0,0,0,0,0,0
$GC,4531,-1.48,-116.8,437.3,-9.9,239,4536,0.00,2.55,0.00,0.000,4,0.000,0.055,2660,3353,3468,0,0,0,0,0,0
$GC,4575,-1.48,-116.8,442.3,-10.6,240,4580,0.00,2.55,0.00,0.000,6,0.000,0.059,2660,1838,3468,0,0,0,0,0,0
$GC,4894,-1.48,-116.8,475.5,-10.3,248,4898,0.00,2.50,0.00,0.000,4,0.000,0.048,2660,3350,3466,0,0,0,0,0,0
$GC,4941,-1.53,-116.8,480.0,-9.5,249,4945,0.00,2.55,0.00,0.000,6,0.000,0.063,2660,1848,3466,0,0,0,0,0,0
$STATE,5175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5175,begin apogee
$GC,5181,-0.31,0.0,501.7,8.9,255,5282,1.23,0.00,97.00,0.920,6,0.087,0.000,2929,1823,3001,0,0,0,0,0,0
$STATE,5283,end apogee,CONTROL_FINISHED_OK
$STATE,5283,begin climb
$GC,5285,1.38,116.8,503.8,0.0,257,5399,1.55,2.72,102.07,0.902,4,0.041,0.054,3307,3402,2524,0,0,0,0,0,0
$GC,5450,1.32,153.5,500.0,7.9,260,5490,0.00,2.78,32.45,0.866,6,0.000,0.062,3307,1816,2374,0,0,0,0,0,0
$GC,5825,1.24,180.8,467.7,8.5,270,5856,0.17,2.70,24.55,0.850,4,0.118,0.041,3272,3410,2263,0,0,0,0,0,0
$GC,5889,1.25,192.2,461.8,9.4,271,5908,0.00,2.75,11.35,0.782,6,0.000,0.062,3272,1830,2216,0,0,0,0,0,0
$GC,6237,1.28,213.2,431.3,8.8,280,6262,0.00,2.65,19.60,0.828,4,0.000,0.044,3272,3406,2130,0,0,0,0,0,0
$GC,6301,1.29,218.3,425.0,9.7,281,6312,0.00,2.70,5.93,0.664,6,0.000,0.061,3272,1833,2110,0,0,0,0,0,0
$GC,6639,1.32,242.9,395.9,8.6,289,6668,0.00,3.05,22.83,0.824,4,0.000,0.097,3272,231,2009,0,0,0,0,0,0
$GC,6692,1.26,247.3,390.9,9.8,290,6703,0.00,2.55,5.47,0.634,6,0.000,0.022,3272,1832,1992,0,0,0,0,0,0
$GC,7047,1.28,256.5,358.0,9.5,299,7058,0.00,0.00,9.40,0.736,6,0.000,0.000,3272,1832,1954,0,0,0,0,0,0
$GC,7370,1.29,267.2,326.9,9.4,307,7387,0.00,2.88,10.90,0.742,4,0.000,0.075,3272,223,1910,0,0,0,0,0,0
$GC,7403,1.30,272.9,323.6,9.7,307,7417,0.00,2.60,6.60,0.657,6,0.000,0.027,3272,1844,1888,0,0,0,0,0,0
$GC,7740,1.38,302.9,295.3,8.3,316,7776,0.12,2.95,27.80,0.775,4,0.121,0.073,3305,228,1765,0,0,0,0,0,0
$GC,7829,1.33,302.9,285.5,11.9,318,7833,0.00,2.53,0.00,0.000,6,0.000,0.025,3305,1810,1762,0,0,0,0,0,0
$GC,8156,1.33,302.9,248.7,11.5,326,8160,0.00,2.58,0.00,0.000,4,0.000,0.035,3305,3407,1759,0,0,0,0,0,0
$GC,8177,1.38,302.9,245.9,11.6,326,8182,0.00,2.67,0.00,0.000,6,0.000,0.038,3305,1784,1758,0,0,0,0,0,0
$GC,8515,1.42,335.9,216.0,8.1,335,8550,0.00,2.78,29.50,0.715,4,0.000,0.080,3305,240,1630,0,0,0,0,0,0
$GC,8589,1.42,335.9,208.7,11.1,335,8595,0.00,2.47,0.00,0.000,6,0.000,0.022,3306,1804,1627,0,0,0,0,0,0
$GC,8910,1.47,335.9,175.2,10.4,357,8915,0.00,2.72,0.00,0.000,4,0.000,0.065,3305,238,1625,0,0,0,0,0,0
$GC,8934,1.47,335.9,173.1,11.0,358,8938,0.00,2.45,0.00,0.000,6,0.000,0.027,3305,1803,1624,0,0,0,0,0,0
$GC,9259,1.52,335.9,137.2,10.6,388,9264,0.12,2.75,0.00,0.000,4,0.082,0.071,3340,234,1624,0,0,0,0,0,0
$GC,9306,1.44,335.9,132.0,13.4,391,9312,0.12,2.40,0.00,0.000,6,0.126,0.023,3316,1777,1623,0,0,0,0,0,0
$GC,9635,1.52,349.4,101.0,9.3,421,9653,0.00,2.70,12.02,0.581,4,0.000,0.061,3315,229,1575,0,0,0,0,0,0
$GC,9694,1.52,353.0,95.6,9.8,425,9705,0.00,2.40,4.53,0.442,6,0.000,0.020,3315,1768,1561,0,0,0,0,0,0
$GC,10030,1.63,353.0,64.6,10.1,456,10035,0.17,2.67,0.00,0.000,4,0.123,0.060,3362,227,1559,0,0,0,0,0,0
$GC,10089,1.63,353.0,57.5,12.2,460,10093,0.00,2.35,0.00,0.000,6,0.000,0.019,3362,1743,1558,0,0,0,0,0,0
$GC,10434,1.63,353.1,21.9,10.0,495,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1745,1558,0,0,0,0,0,0
$STATE,10595,end climb,SURFACE_DEPTH_REACHED
$STATE,10595,begin surface coast
$FINISH,0.5,1.023530
$STATE,10639,end surface coast,CONTROL_FINISHED_OK
$STATE,10639,begin surface
$SM_CCo,10660,39.85,0.519,0,0,1369,400.08
$SM_GC,1.09,0.00,0.00,39.85,0.000,0.000,0.519,475,1745,1369,-11.62,-0.71,400.08
$IRIDIUM_FIX,2246.36,-15745.85,020200,191906
$TT8_MAMPS,0.026078
$HUMID,57.12
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.60
$XPDR_PINGS,142
$24V_AH,23.3,83.982
$10V_AH,9.9,78.424
$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,27.800,135.400,422.000,39.850,0.000,141.524,179.108,1094.953,35.500,0.000,14.214,1078.413,7172.453,509.713,2014.234,1775.183,33.371,1256.304,0.000,2012.263,0.000,0.536,0.000
$DEVICE_MAMPS,186.381,203.255,919.633,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.386,308.535,402.048,756.294,1144.121,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,41481,524
$CAP_FILE_SIZE,131601,0
$CFSIZE,260165632,146944000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,222225,2254.552,-15743.417,38,1.4,38,10.1