version: 66.06
glider: 146
mission: 5
dive: 617
start: 11 10 110 16 55 44
data:
$ID,146
$MISSION,5
$DIVE,617
$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,-262711.31
$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,17
$R_STBD_OVSHOOT,60
$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
$GPS1,164755,2252.502,-15742.328,57,0.9,57,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.4
$GPS2,165449,2252.527,-15742.318,10,1.4,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.058,-0.227
$KALMAN_X,-292350.2,-75.1,289.2,340815.1,-505.5
$KALMAN_Y,-384539.1,337.7,-180.2,517621.0,1421.4
$MHEAD_RNG_PITCHd_Wd,155.6,6555,-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,-116.6,0.0,0.0,0,97,0.00,0.00,-78.70,0.000,2,0.000,0.000,474,1770,3263,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.0,-4.6,10,128,12.15,2.75,-4.28,0.000,4,0.169,0.066,2691,187,3479,0,0,0,0,0,0
$GC,146,-0.84,-116.8,14.8,-24.3,15,156,0.52,2.45,0.00,0.000,6,0.084,0.017,2808,1765,3480,0,0,0,0,0,0
$GC,511,-0.95,-116.8,50.3,-8.4,56,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1766,3481,0,0,0,0,0,0
$GC,842,-1.07,-116.8,76.4,-7.6,87,847,0.17,2.70,0.00,0.000,4,0.058,0.058,2752,178,3482,0,0,0,0,0,0
$GC,865,-1.14,-116.8,78.4,-7.9,88,870,0.00,2.42,0.00,0.000,6,0.000,0.018,2752,1786,3482,0,0,0,0,0,0
$GC,1191,-1.20,-116.8,109.8,-8.3,118,1195,0.00,2.70,0.00,0.000,4,0.000,0.056,2752,182,3483,0,0,0,0,0,0
$GC,1245,-1.27,-116.8,114.9,-9.7,122,1250,0.12,2.30,0.00,0.000,6,0.071,0.015,2708,1730,3483,0,0,0,0,0,0
$GC,1570,-1.27,-116.8,148.0,-8.8,152,1575,0.00,2.47,0.00,0.000,4,0.000,0.027,2708,3312,3484,0,0,0,0,0,0
$GC,1627,-1.31,-116.8,152.6,-8.5,156,1631,0.00,2.53,0.00,0.000,6,0.000,0.031,2708,1723,3484,0,0,0,0,0,0
$GC,1952,-1.31,-116.8,179.8,-8.5,186,1956,0.00,2.50,0.00,0.000,4,0.000,0.025,2708,3312,3485,0,0,0,0,0,0
$GC,1974,-1.31,-116.8,181.2,-8.2,187,1978,0.00,2.50,0.00,0.000,6,0.000,0.032,2708,1747,3485,0,0,0,0,0,0
$GC,2326,-1.31,-116.8,211.8,-9.0,211,2331,0.00,2.45,0.00,0.000,4,0.000,0.028,2708,3309,3485,0,0,0,0,0,0
$GC,2368,-1.37,-116.8,215.8,-9.5,212,2373,0.00,2.47,0.00,0.000,6,0.000,0.027,2708,1761,3485,0,0,0,0,0,0
$GC,2692,-1.37,-116.8,245.3,-8.8,220,2697,0.00,2.42,0.00,0.000,4,0.000,0.025,2708,3312,3485,0,0,0,0,0,0
$GC,2715,-1.43,-116.8,247.4,-9.2,220,2719,0.00,2.47,0.00,0.000,6,0.000,0.030,2708,1775,3485,0,0,0,0,0,0
$GC,3053,-1.47,-116.8,274.7,-8.1,229,3058,0.12,2.78,0.00,0.000,4,0.075,0.074,2665,185,3485,0,0,0,0,0,0
$GC,3094,-1.43,-116.8,278.6,-9.7,230,3099,0.10,2.38,0.00,0.000,6,0.126,0.018,2687,1733,3485,0,0,0,0,0,0
$GC,3420,-1.43,-116.8,308.6,-9.8,238,3424,0.00,2.58,0.00,0.000,4,0.000,0.033,2687,3346,3484,0,0,0,0,0,0
$GC,3509,-1.47,-116.8,317.4,-9.3,240,3513,0.00,2.55,0.00,0.000,6,0.000,0.035,2687,1787,3484,0,0,0,0,0,0
$GC,3829,-1.47,-116.8,346.4,-9.0,248,3833,0.00,2.83,0.00,0.000,4,0.000,0.078,2687,186,3483,0,0,0,0,0,0
$GC,3856,-1.47,-116.8,349.2,-9.8,248,3860,0.00,2.53,0.00,0.000,6,0.000,0.025,2687,1789,3482,0,0,0,0,0,0
$GC,4187,-1.47,-116.8,378.7,-9.1,256,4192,0.00,2.80,0.00,0.000,4,0.000,0.072,2687,190,3482,0,0,0,0,0,0
$GC,4228,-1.47,-116.8,382.6,-10.0,257,4233,0.00,2.50,0.00,0.000,6,0.000,0.024,2687,1770,3481,0,0,0,0,0,0
$GC,4553,-1.47,-116.8,410.4,-8.4,265,4557,0.00,2.62,0.00,0.000,4,0.000,0.052,2687,3354,3479,0,0,0,0,0,0
$GC,4603,-1.55,-116.8,414.6,-7.9,266,4608,0.10,2.65,0.00,0.000,6,0.082,0.054,2650,1784,3479,0,0,0,0,0,0
$GC,4916,-1.55,-116.8,443.2,-9.2,274,4920,0.00,2.55,0.00,0.000,4,0.000,0.044,2650,3350,3477,0,0,0,0,0,0
$GC,4948,-1.55,-116.8,446.4,-9.8,274,4954,0.00,2.62,0.00,0.000,6,0.000,0.061,2650,1793,3477,0,0,0,0,0,0
$GC,5280,-1.55,-116.8,476.0,-8.9,283,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1793,3475,0,0,0,0,0,0
$STATE,5561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5561,begin apogee
$GC,5569,-0.31,0.0,501.2,8.9,290,5671,1.27,0.00,98.68,0.907,6,0.082,0.000,2932,1793,3001,0,0,0,0,0,0
$STATE,5672,end apogee,CONTROL_FINISHED_OK
$STATE,5672,begin climb
$GC,5674,1.38,116.8,503.3,0.0,292,5788,1.50,3.08,101.93,0.888,4,0.035,0.120,3305,233,2523,0,0,0,0,0,0
$GC,5828,1.22,163.2,501.9,7.4,295,5877,0.20,2.62,41.38,0.867,6,0.118,0.039,3266,1813,2335,0,0,0,0,0,0
$GC,6211,1.27,202.7,473.4,7.7,305,6252,0.00,2.78,35.50,0.861,4,0.000,0.053,3266,3412,2172,0,0,0,0,0,0
$GC,6347,1.27,202.7,459.7,10.2,308,6352,0.00,2.72,0.00,0.000,6,0.000,0.058,3266,1836,2168,0,0,0,0,0,0
$GC,6666,1.28,212.0,429.2,9.5,316,6676,0.00,0.00,8.73,0.749,6,0.000,0.000,3266,1836,2136,0,0,0,0,0,0
$GC,6991,1.31,236.0,400.1,8.6,324,7020,0.00,2.67,22.58,0.828,4,0.000,0.041,3266,3410,2037,0,0,0,0,0,0
$GC,7050,1.37,242.0,394.9,9.7,325,7064,0.15,2.67,6.80,0.687,6,0.080,0.054,3305,1843,2014,0,0,0,0,0,0
$GC,7405,1.33,242.0,357.4,11.0,334,7410,0.00,2.92,0.00,0.000,4,0.000,0.089,3305,234,2010,0,0,0,0,0,0
$GC,7472,1.24,242.0,349.1,11.7,335,7477,0.17,2.58,0.00,0.000,6,0.117,0.025,3270,1844,2008,0,0,0,0,0,0
$GC,7811,1.31,257.1,318.6,9.2,344,7830,0.00,2.55,14.40,0.760,4,0.000,0.035,3270,3397,1952,0,0,0,0,0,0
$GC,7859,1.40,258.0,313.8,10.0,345,7864,0.15,2.67,0.00,0.000,6,0.073,0.041,3308,1812,1950,0,0,0,0,0,0
$GC,8179,1.40,258.0,281.4,10.2,353,8180,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1812,1947,0,0,0,0,0,0
$GC,8502,1.43,277.5,251.6,8.9,361,8527,0.00,2.85,19.17,0.729,4,0.000,0.080,3308,234,1869,0,0,0,0,0,0
$GC,8568,1.38,277.5,244.9,10.8,362,8572,0.00,2.53,0.00,0.000,6,0.000,0.022,3308,1821,1866,0,0,0,0,0,0
$GC,8906,1.39,282.5,212.5,9.8,371,8917,0.00,2.55,5.55,0.568,4,0.000,0.035,3309,3394,1848,0,0,0,0,0,0
$GC,8978,1.45,282.5,205.1,10.1,372,8983,0.00,2.60,0.00,0.000,6,0.000,0.044,3308,1827,1847,0,0,0,0,0,0
$GC,9303,1.47,298.8,175.6,9.1,396,9327,0.00,2.85,15.73,0.657,4,0.000,0.070,3308,246,1781,0,0,0,0,0,0
$GC,9354,1.47,298.8,170.3,10.9,400,9359,0.00,2.53,0.00,0.000,6,0.000,0.021,3309,1842,1780,0,0,0,0,0,0
$GC,9682,1.55,328.0,140.2,8.4,430,9720,0.12,2.88,27.00,0.643,4,0.170,0.066,3342,246,1661,0,0,0,0,0,0
$GC,9737,1.48,328.0,134.4,10.8,434,9746,0.00,2.47,0.00,0.000,6,0.000,0.020,3342,1802,1660,0,0,0,0,0,0
$GC,10067,1.48,328.0,102.6,10.4,465,10071,0.00,2.72,0.00,0.000,4,0.000,0.069,3342,233,1659,0,0,0,0,0,0
$GC,10112,1.44,328.0,96.8,11.7,468,10120,0.10,2.42,0.00,0.000,6,0.269,0.020,3318,1769,1658,0,0,0,0,0,0
$GC,10440,1.60,383.1,69.6,6.8,499,10498,0.12,2.72,47.58,0.582,4,0.141,0.061,3352,238,1439,0,0,0,0,0,0
$GC,10541,1.60,383.1,60.5,11.5,506,10545,0.00,2.40,0.00,0.000,6,0.000,0.019,3353,1773,1437,0,0,0,0,0,0
$GC,10875,1.60,383.1,26.7,10.6,538,10884,0.00,2.58,0.00,0.000,4,0.000,0.026,3352,3379,1435,0,0,0,0,0,0
$GC,10909,1.67,383.1,23.0,11.4,542,10918,0.00,2.70,0.00,0.000,6,0.000,0.041,3352,1755,1434,0,0,0,0,0,0
$STATE,11092,end climb,SURFACE_DEPTH_REACHED
$STATE,11092,begin surface coast
$FINISH,0.4,1.010230
$STATE,11142,end surface coast,CONTROL_FINISHED_OK
$STATE,11142,begin surface
$SM_CCo,11163,13.50,0.493,0,0,1370,400.08
$SM_GC,1.17,0.00,0.00,13.50,0.000,0.000,0.493,476,1753,1370,-11.61,-0.48,400.08
$IRIDIUM_FIX,2246.36,-15653.30,040200,131312
$TT8_MAMPS,0.026078
$HUMID,56.65
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.00
$XPDR_PINGS,217
$24V_AH,23.3,85.963
$10V_AH,9.8,80.203
$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,28.850,130.600,445.000,13.500,0.000,28.632,35.399,199.281,54.250,0.000,13.728,1133.775,7150.458,490.172,2226.643,587.774,33.378,1304.330,0.000,2235.432,0.000,0.534,0.000
$DEVICE_MAMPS,269.217,119.652,907.361,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.782,321.938,452.036,880.937,1332.604,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,44612,575
$CAP_FILE_SIZE,114220,0
$CFSIZE,260165632,146124800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,200307,2252.314,-15741.946,25,1.3,25,10.1