version: 66.06
glider: 146
mission: 5
dive: 616
start: 11 10 110 13 43 26
data:
$ID,146
$MISSION,5
$DIVE,616
$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,-262696.97
$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,40
$R_STBD_OVSHOOT,57
$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
$GPS1,133454,2252.803,-15742.786,34,1.3,34,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.9
$GPS2,134232,2252.888,-15742.782,14,1.4,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.063,-0.226
$KALMAN_X,-292435.5,-97.0,254.1,340164.1,-406.3
$KALMAN_Y,-386436.7,71.8,414.2,519855.3,1057.4
$MHEAD_RNG_PITCHd_Wd,154.3,7324,-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,-78.70,0.000,2,0.000,0.000,474,1749,3295,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.3,-6.0,10,128,12.05,2.65,-3.60,0.000,4,0.166,0.064,2689,209,3482,0,0,0,0,0,0
$GC,146,-0.80,-116.8,15.7,-24.7,15,156,0.60,2.42,0.00,0.000,6,0.091,0.016,2821,1783,3483,0,0,0,0,0,0
$GC,517,-0.92,-116.8,48.7,-7.1,58,522,0.00,2.45,0.00,0.000,4,0.000,0.025,2821,3325,3483,0,0,0,0,0,0
$GC,540,-1.07,-116.8,50.4,-7.7,59,545,0.22,2.47,0.00,0.000,6,0.048,0.025,2751,1778,3484,0,0,0,0,0,0
$GC,868,-1.07,-116.8,85.5,-9.1,89,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1777,3484,0,0,0,0,0,0
$GC,1195,-1.12,-116.8,115.7,-8.5,120,1199,0.00,2.65,0.00,0.000,4,0.000,0.061,2750,193,3485,0,0,0,0,0,0
$GC,1312,-1.21,-116.8,125.7,-8.0,129,1316,0.00,2.40,0.00,0.000,6,0.000,0.015,2750,1807,3486,0,0,0,0,0,0
$GC,1643,-1.30,-116.8,147.9,-6.7,159,1648,0.15,2.33,0.00,0.000,4,0.059,0.028,2697,3316,3487,0,0,0,0,0,0
$GC,1700,-1.30,-116.8,152.5,-8.7,163,1704,0.00,2.42,0.00,0.000,6,0.000,0.025,2697,1788,3487,0,0,0,0,0,0
$GC,2030,-1.30,-116.8,185.9,-10.1,193,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1784,3488,0,0,0,0,0,0
$GC,2348,-1.30,-116.8,213.7,-8.0,212,2351,0.00,2.38,0.00,0.000,4,0.000,0.024,2697,3303,3487,0,0,0,0,0,0
$GC,2364,-1.30,-116.8,215.1,-8.2,212,2368,0.00,2.40,0.00,0.000,6,0.000,0.028,2697,1790,3487,0,0,0,0,0,0
$GC,2713,-1.30,-116.8,242.5,-7.9,221,2718,0.00,2.72,0.00,0.000,4,0.000,0.067,2697,190,3487,0,0,0,0,0,0
$GC,2763,-1.30,-116.8,247.4,-9.5,222,2767,0.00,2.35,0.00,0.000,6,0.000,0.018,2697,1740,3487,0,0,0,0,0,0
$GC,3075,-1.30,-116.8,275.5,-9.3,230,3080,0.00,2.53,0.00,0.000,4,0.000,0.030,2697,3342,3487,0,0,0,0,0,0
$GC,3149,-1.35,-116.8,282.3,-8.7,231,3153,0.00,2.50,0.00,0.000,6,0.000,0.036,2697,1789,3487,0,0,0,0,0,0
$GC,3480,-1.35,-116.8,311.0,-8.5,239,3485,0.00,2.80,0.00,0.000,4,0.000,0.077,2697,190,3485,0,0,0,0,0,0
$GC,3532,-1.39,-116.8,315.5,-9.2,240,3536,0.00,2.42,0.00,0.000,6,0.000,0.020,2697,1761,3485,0,0,0,0,0,0
$GC,3845,-1.43,-116.8,341.3,-8.5,248,3849,0.00,2.58,0.00,0.000,4,0.000,0.042,2697,3345,3484,0,0,0,0,0,0
$GC,3906,-1.52,-116.8,346.9,-9.0,249,3912,0.12,2.58,0.00,0.000,6,0.070,0.038,2650,1784,3484,0,0,0,0,0,0
$GC,4251,-1.48,-116.8,384.4,-11.6,258,4256,0.12,2.88,0.00,0.000,4,0.118,0.089,2675,187,3482,0,0,0,0,0,0
$GC,4267,-1.48,-116.8,386.8,-11.8,258,4271,0.00,2.50,0.00,0.000,6,0.000,0.024,2675,1785,3482,0,0,0,0,0,0
$GC,4611,-1.48,-116.8,421.8,-9.8,267,4616,0.00,2.58,0.00,0.000,4,0.000,0.045,2675,3355,3480,0,0,0,0,0,0
$GC,4639,-1.52,-116.8,424.6,-9.4,267,4644,0.00,2.65,0.00,0.000,6,0.000,0.052,2675,1791,3480,0,0,0,0,0,0
$GC,4971,-1.52,-116.8,452.2,-8.3,275,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1791,3478,0,0,0,0,0,0
$GC,5297,-1.52,-116.8,480.5,-9.0,283,5302,0.00,2.60,0.00,0.000,4,0.000,0.049,2676,3354,3476,0,0,0,0,0,0
$GC,5330,-1.58,-116.8,484.0,-10.1,283,5336,0.00,2.65,0.00,0.000,6,0.000,0.058,2676,1810,3476,0,0,0,0,0,0
$STATE,5496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5496,begin apogee
$GC,5502,-0.31,0.0,500.7,10.1,288,5604,1.15,0.00,98.70,0.910,6,0.085,0.000,2928,1809,3001,0,0,0,0,0,0
$STATE,5605,end apogee,CONTROL_FINISHED_OK
$STATE,5605,begin climb
$GC,5609,1.38,116.8,504.2,0.0,290,5721,1.55,2.75,102.05,0.893,4,0.051,0.051,3307,3396,2523,0,0,0,0,0,0
$GC,5750,1.36,196.9,505.8,5.4,293,5826,0.00,2.72,70.65,0.882,6,0.000,0.057,3307,1820,2198,0,0,0,0,0,0
$GC,6140,1.28,210.3,471.7,9.3,303,6159,0.12,2.72,11.90,0.797,4,0.229,0.045,3282,3398,2142,0,0,0,0,0,0
$GC,6277,1.29,218.1,458.7,9.6,306,6291,0.00,2.70,8.43,0.749,6,0.000,0.062,3282,1837,2111,0,0,0,0,0,0
$GC,6602,1.30,222.8,428.1,9.8,314,6613,0.00,2.60,5.35,0.650,4,0.000,0.038,3282,3406,2091,0,0,0,0,0,0
$GC,6629,1.30,225.2,425.0,9.9,314,6634,0.00,2.70,0.00,0.000,6,0.000,0.058,3282,1846,2090,0,0,0,0,0,0
$GC,6962,1.31,238.1,393.3,9.3,322,6983,0.00,2.60,14.98,0.803,4,0.000,0.036,3282,3408,2029,0,0,0,0,0,0
$GC,7011,1.32,244.5,388.4,9.7,323,7025,0.00,2.67,7.70,0.716,6,0.000,0.054,3282,1851,2003,0,0,0,0,0,0
$GC,7370,1.34,261.1,355.8,9.1,332,7394,0.00,3.03,16.38,0.792,4,0.000,0.091,3282,229,1934,0,0,0,0,0,0
$GC,7434,1.30,261.1,348.8,11.3,333,7438,0.00,2.60,0.00,0.000,6,0.000,0.025,3282,1842,1933,0,0,0,0,0,0
$GC,7777,1.30,261.1,313.1,10.6,342,7781,0.00,2.53,0.00,0.000,4,0.000,0.038,3282,3401,1930,0,0,0,0,0,0
$GC,7798,1.35,261.1,310.6,10.4,342,7803,0.00,2.65,0.00,0.000,6,0.000,0.044,3282,1826,1929,0,0,0,0,0,0
$GC,8135,1.39,297.4,281.8,7.9,351,8176,0.00,2.92,32.95,0.769,4,0.000,0.084,3282,241,1787,0,0,0,0,0,0
$GC,8194,1.41,313.8,276.8,9.1,352,8216,0.10,2.58,16.10,0.726,6,0.095,0.027,3308,1850,1721,0,0,0,0,0,0
$GC,8540,1.41,313.8,239.1,11.3,360,8545,0.00,2.85,0.00,0.000,4,0.000,0.071,3308,230,1715,0,0,0,0,0,0
$GC,8567,1.36,313.8,235.7,12.8,360,8572,0.00,2.55,0.00,0.000,6,0.000,0.024,3307,1832,1714,0,0,0,0,0,0
$GC,8900,1.36,313.8,200.2,10.1,368,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1834,1713,0,0,0,0,0,0
$GC,9217,1.42,331.7,172.4,9.0,395,9242,0.00,2.85,15.98,0.660,4,0.000,0.064,3308,240,1647,0,0,0,0,0,0
$GC,9256,1.42,331.7,168.5,10.3,398,9260,0.00,2.53,0.00,0.000,6,0.000,0.025,3308,1835,1646,0,0,0,0,0,0
$GC,9581,1.50,342.1,137.8,9.4,428,9598,0.00,2.78,10.25,0.601,4,0.000,0.062,3308,240,1605,0,0,0,0,0,0
$GC,9606,1.55,349.5,135.3,9.6,429,9626,0.12,2.47,8.10,0.568,6,0.077,0.022,3342,1818,1575,0,0,0,0,0,0
$GC,9945,1.58,370.6,101.6,8.8,461,9970,0.00,2.78,19.50,0.602,4,0.000,0.067,3342,234,1491,0,0,0,0,0,0
$GC,10022,1.54,370.6,94.4,10.1,467,10027,0.00,2.40,0.00,0.000,6,0.000,0.020,3342,1771,1489,0,0,0,0,0,0
$GC,10353,1.63,399.6,66.6,8.4,497,10385,0.00,2.62,27.10,0.573,4,0.000,0.027,3342,3383,1370,0,0,0,0,0,0
$GC,10441,1.76,399.6,58.0,10.4,503,10446,0.17,2.65,0.00,0.000,6,0.065,0.036,3390,1767,1368,0,0,0,0,0,0
$GC,10804,1.72,399.6,10.1,14.4,543,10813,0.00,2.67,0.00,0.000,4,0.000,0.067,3390,234,1367,0,0,0,0,0,0
$GC,10837,1.62,399.6,4.9,16.2,547,10845,0.15,2.40,0.00,0.000,6,0.091,0.019,3355,1768,1366,0,0,0,0,0,0
$STATE,10854,end climb,SURFACE_DEPTH_REACHED
$STATE,10855,begin surface coast
$FINISH,0.4,1.013804
$STATE,10891,end surface coast,CONTROL_FINISHED_OK
$STATE,10891,begin surface
$SM_CCo,10974,0.00,0.000,0,0,1363,402.05
$SM_GC,1.16,11.80,0.00,0.00,0.029,0.000,0.000,475,1769,1363,-11.52,-0.03,402.05
$IRIDIUM_FIX,2244.02,-15741.52,040200,101010
$TT8_MAMPS,0.025311
$HUMID,58.03
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,20.80
$XPDR_PINGS,197
$24V_AH,23.3,85.837
$10V_AH,9.9,80.072
$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,28.450,130.225,466.100,0.000,0.000,23.441,48.203,232.567,49.250,0.000,15.677,1096.888,7105.001,494.911,2106.930,625.045,33.372,1276.197,0.000,2108.732,0.000,0.533,0.000
$DEVICE_MAMPS,228.566,91.273,909.662,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.577,317.594,434.752,829.804,1254.977,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,44578,554
$CAP_FILE_SIZE,112001,0
$CFSIZE,260165632,146186240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,164755,2252.502,-15742.328,57,0.9,57,10.1