version: 66.06
glider: 146
mission: 5
dive: 146
start: 9 5 110 16 53 31
data:
$ID,146
$MISSION,5
$DIVE,146
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$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,208
$T_MISSION,400
$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,420
$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,-250275.73
$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,57
$R_STBD_OVSHOOT,51
$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
$GPS1,164524,2255.130,-15752.316,38,1.1,38,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-66.6
$GPS2,165237,2255.176,-15752.385,15,1.0,32,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.029
$KALMAN_X,-149745.3,-238.7,-4.6,181350.0,-1838.0
$KALMAN_Y,-4075.5,-452.0,323.3,142354.9,-182.4
$MHEAD_RNG_PITCHd_Wd,87.6,21097,-16.1,-8.013
$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,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-85.43,0.000,6,0.000,0.000,472,1734,3479,0,0,0,0,0,0
$GC,106,-1.15,-116.8,4.5,-6.4,11,124,11.62,2.53,0.00,0.000,4,0.144,0.046,2739,215,3481,0,0,0,0,0,0
$GC,155,-0.30,-116.8,24.0,-40.0,17,165,0.82,2.42,0.00,0.000,6,0.077,0.016,2928,1793,3482,0,0,0,0,0,0
$GC,440,-0.56,-116.8,41.2,-3.7,45,449,0.20,0.00,0.00,0.000,6,0.051,0.000,2860,1794,3482,0,0,0,0,0,0
$GC,707,-0.64,-116.8,61.5,-8.3,70,711,0.00,2.62,0.00,0.000,4,0.000,0.054,2860,223,3482,0,0,0,0,0,0
$GC,740,-0.75,-116.8,64.3,-8.3,72,745,0.10,2.33,0.00,0.000,6,0.079,0.015,2818,1772,3482,0,0,0,0,0,0
$GC,1003,-0.79,-116.8,83.6,-6.3,96,1008,0.00,2.38,0.00,0.000,4,0.000,0.026,2818,3314,3482,0,0,0,0,0,0
$GC,1033,-0.88,-116.8,85.5,-6.1,98,1038,0.00,2.42,0.00,0.000,6,0.000,0.031,2818,1788,3483,0,0,0,0,0,0
$GC,1298,-0.94,-116.8,103.5,-8.0,122,1303,0.10,2.70,0.00,0.000,4,0.085,0.066,2778,191,3483,0,0,0,0,0,0
$GC,1327,-0.94,-116.8,106.7,-10.3,124,1331,0.00,2.35,0.00,0.000,6,0.000,0.015,2778,1778,3483,0,0,0,0,0,0
$GC,1591,-0.94,-116.8,136.0,-10.8,148,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1780,3484,0,0,0,0,0,0
$GC,1846,-0.94,-116.8,163.5,-10.8,172,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1780,3483,0,0,0,0,0,0
$GC,2108,-0.94,-116.8,189.1,-9.1,197,2112,0.00,2.40,0.00,0.000,4,0.000,0.032,2778,3314,3484,0,0,0,0,0,0
$GC,2142,-0.99,-116.8,191.3,-7.9,199,2147,0.00,2.47,0.00,0.000,6,0.000,0.034,2779,1760,3483,0,0,0,0,0,0
$GC,2419,-0.99,-116.8,210.2,-6.2,213,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1760,3484,0,0,0,0,0,0
$GC,2661,-0.99,-116.8,227.2,-7.0,219,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1760,3483,0,0,0,0,0,0
$GC,2905,-1.03,-116.8,244.9,-7.3,225,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1760,3483,0,0,0,0,0,0
$GC,3149,-1.08,-116.8,262.8,-7.3,231,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1757,3483,0,0,0,0,0,0
$GC,3394,-1.14,-116.8,282.0,-7.9,237,3396,0.12,0.00,0.00,0.000,6,0.083,0.000,2733,1757,3482,0,0,0,0,0,0
$GC,3636,-1.10,-116.8,306.3,-10.0,243,3638,0.12,0.00,0.00,0.000,6,0.105,0.000,2760,1757,3481,0,0,0,0,0,0
$GC,3879,-1.10,-116.8,325.9,-8.0,249,3883,0.00,2.47,0.00,0.000,4,0.000,0.041,2760,3309,3481,0,0,0,0,0,0
$GC,3921,-1.18,-116.8,329.0,-7.8,250,3925,0.00,2.50,0.00,0.000,6,0.000,0.041,2760,1764,3481,0,0,0,0,0,0
$GC,4204,-1.23,-116.8,351.8,-8.2,257,4206,0.12,0.00,0.00,0.000,6,0.073,0.000,2715,1764,3480,0,0,0,0,0,0
$GC,4448,-1.19,-116.8,375.8,-9.7,263,4449,0.12,0.00,0.00,0.000,6,0.105,0.000,2741,1764,3479,0,0,0,0,0,0
$GC,4692,-1.19,-116.8,397.0,-8.6,269,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1764,3478,0,0,0,0,0,0
$GC,4935,-1.19,-116.8,415.6,-7.4,275,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1764,3476,0,0,0,0,0,0
$GC,5179,-1.19,-116.8,431.6,-6.5,281,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1764,3475,0,0,0,0,0,0
$GC,5422,-1.19,-116.8,447.1,-6.4,287,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1764,3473,0,0,0,0,0,0
$GC,5668,-1.23,-116.8,465.7,-7.8,293,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1764,3471,0,0,0,0,0,0
$GC,5910,-1.27,-116.8,485.6,-8.1,299,5914,0.00,2.58,0.00,0.000,4,0.000,0.064,2741,3292,3470,0,0,0,0,0,0
$GC,5965,-1.34,-116.8,490.4,-8.3,300,5971,0.15,2.65,0.00,0.000,6,0.063,0.064,2693,1761,3469,0,0,0,0,0,0
$STATE,6067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6067,begin apogee
$GC,6074,-0.31,0.0,500.5,10.0,303,6173,1.05,0.00,95.97,0.919,6,0.080,0.000,2929,1761,3001,0,0,0,0,0,0
$STATE,6174,end apogee,CONTROL_FINISHED_OK
$STATE,6174,begin climb
$GC,6177,1.15,116.8,503.2,0.0,305,6287,1.33,2.75,101.15,0.897,4,0.048,0.054,3250,3343,2523,0,0,0,0,0,0
$GC,6296,1.10,182.2,501.2,5.0,307,6360,0.00,2.65,57.08,0.877,6,0.000,0.060,3250,1819,2257,0,0,0,0,0,0
$GC,6629,0.98,182.2,467.8,10.7,316,6634,0.17,2.53,0.00,0.000,4,0.114,0.048,3216,3347,2249,0,0,0,0,0,0
$GC,6680,0.98,182.2,462.8,9.4,317,6684,0.00,2.62,0.00,0.000,6,0.000,0.056,3215,1822,2247,0,0,0,0,0,0
$GC,6951,0.98,182.2,439.9,8.2,324,6956,0.00,2.95,0.00,0.000,4,0.000,0.107,3215,232,2245,0,0,0,0,0,0
$GC,6973,0.90,182.2,438.0,8.8,324,6977,0.00,2.47,0.00,0.000,6,0.000,0.025,3215,1776,2243,0,0,0,0,0,0
$GC,7229,0.93,204.4,419.6,7.0,331,7253,0.00,2.78,18.45,0.832,4,0.000,0.046,3215,3398,2167,0,0,0,0,0,0
$GC,7293,0.93,204.4,414.5,8.3,332,7297,0.00,2.65,0.00,0.000,6,0.000,0.048,3215,1832,2164,0,0,0,0,0,0
$GC,7553,0.93,204.4,393.8,8.0,339,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1832,2162,0,0,0,0,0,0
$GC,7798,0.93,204.4,373.4,8.4,345,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1832,2161,0,0,0,0,0,0
$GC,8041,0.93,204.4,353.5,8.1,351,8045,0.00,2.55,0.00,0.000,4,0.000,0.033,3215,3408,2159,0,0,0,0,0,0
$GC,8068,0.93,206.7,351.3,7.9,351,8073,0.00,2.58,0.00,0.000,6,0.000,0.044,3216,1848,2159,0,0,0,0,0,0
$GC,8320,0.98,245.5,335.4,6.2,357,8358,0.00,0.00,36.28,0.814,6,0.000,0.000,3215,1848,1999,0,0,0,0,0,0
$GC,8602,1.02,276.5,317.1,6.6,364,8636,0.00,2.60,28.17,0.783,4,0.000,0.031,3216,3401,1872,0,0,0,0,0,0
$GC,8677,1.11,276.5,311.6,8.2,365,8682,0.10,2.58,0.00,0.000,6,0.088,0.038,3243,1846,1870,0,0,0,0,0,0
$GC,8928,1.11,276.5,286.3,10.5,371,8932,0.00,2.83,0.00,0.000,4,0.000,0.079,3243,237,1866,0,0,0,0,0,0
$GC,8949,1.04,276.5,283.4,12.2,371,8954,0.00,2.55,0.00,0.000,6,0.000,0.023,3243,1867,1865,0,0,0,0,0,0
$GC,9204,1.04,276.5,254.7,11.1,378,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1868,1865,0,0,0,0,0,0
$GC,9449,1.04,276.5,228.8,10.6,384,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1868,1864,0,0,0,0,0,0
$GC,9691,1.04,276.5,203.8,10.3,390,9696,0.00,2.80,0.00,0.000,4,0.000,0.064,3243,239,1864,0,0,0,0,0,0
$GC,9718,0.98,276.5,200.7,12.1,390,9723,0.15,2.50,0.00,0.000,6,0.108,0.020,3213,1858,1862,0,0,0,0,0,0
$GC,9980,1.05,276.5,177.1,8.7,411,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1860,1862,0,0,0,0,0,0
$GC,10247,1.12,278.0,155.5,7.9,436,10253,0.12,0.00,0.00,0.000,6,0.081,0.000,3248,1860,1862,0,0,0,0,0,0
$GC,10515,1.12,278.0,132.5,8.9,461,10519,0.00,2.75,0.00,0.000,4,0.000,0.061,3248,235,1862,0,0,0,0,0,0
$GC,10537,1.12,278.0,129.7,9.8,462,10547,0.00,2.50,0.00,0.000,6,0.000,0.024,3248,1847,1862,0,0,0,0,0,0
$GC,10805,1.13,288.1,107.3,7.5,487,10820,0.00,2.45,9.82,0.549,4,0.000,0.030,3248,3387,1825,0,0,0,0,0,0
$GC,10859,1.21,288.1,102.3,9.0,491,10864,0.00,2.53,0.00,0.000,6,0.000,0.034,3248,1835,1825,0,0,0,0,0,0
$GC,11128,1.28,307.9,82.2,7.1,515,11152,0.12,0.00,18.65,0.561,6,0.081,0.000,3286,1835,1744,0,0,0,0,0,0
$GC,11412,1.28,307.9,56.9,9.4,542,11417,0.00,2.45,0.00,0.000,4,0.000,0.027,3286,3383,1742,0,0,0,0,0,0
$GC,11447,1.28,307.9,52.9,10.3,544,11457,0.00,2.50,0.00,0.000,6,0.000,0.032,3286,1852,1741,0,0,0,0,0,0
$GC,11718,1.28,307.9,27.8,10.5,570,11726,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1852,1741,0,0,0,0,0,0
$STATE,11949,end climb,SURFACE_DEPTH_REACHED
$STATE,11949,begin surface coast
$FINISH,0.3,1.020849
$STATE,12005,end surface coast,CONTROL_FINISHED_OK
$STATE,12006,begin surface
$SM_CCo,12027,97.53,0.460,1,0,1287,420.20
$SM_GC,1.05,0.00,0.00,97.53,0.000,0.000,0.460,474,1741,1287,-11.62,-0.82,420.20
$IRIDIUM_FIX,2248.70,-15753.23,301199,131326
$TT8_MAMPS,0.024544
$HUMID,43.54
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.60
$XPDR_PINGS,33
$24V_AH,23.6,22.615
$10V_AH,10.4,22.402
$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,27.850,92.500,365.575,97.525,0.000,30.275,29.647,213.377,8.250,0.000,34.162,1162.331,8109.529,541.771,2176.950,570.962,33.373,1262.171,0.000,2168.895,0.000,0.536,0.000
$DEVICE_MAMPS,144.196,106.613,918.866,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,413.773,367.264,476.758,926.661,1401.515,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,47870,611
$CAP_FILE_SIZE,109712,0
$CFSIZE,260165632,174018560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050910,201701,2254.764,-15751.817,40,1.1,40,10.1