version: 66.06
glider: 146
mission: 5
dive: 546
start: 11 1 110 3 54 11
data:
$ID,146
$MISSION,5
$DIVE,546
$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,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,-260838.78
$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,23
$R_STBD_OVSHOOT,64
$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
$GPS1,034506,2253.711,-15742.195,12,1.4,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-64.0
$GPS2,035316,2253.846,-15742.218,11,3.0,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.022,-0.236
$KALMAN_X,-259354.9,-129.0,13.9,308330.1,298.8
$KALMAN_Y,-538640.8,116.2,1076.4,673138.2,542.4
$MHEAD_RNG_PITCHd_Wd,175.3,8983,-19.6,-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,13,begin dive
$GC,15,-1.37,-116.8,0.0,0.0,0,135,0.00,0.00,-116.88,0.000,2,0.000,0.000,473,1808,3478,0,0,0,0,0,0
$GC,139,-1.37,-116.8,4.4,-8.4,15,157,11.77,2.70,0.00,0.000,4,0.156,0.049,2692,189,3480,0,0,0,0,0,0
$GC,247,-1.28,-116.8,30.0,-14.9,30,257,0.10,2.42,0.00,0.000,6,0.105,0.017,2715,1762,3481,0,0,0,0,0,0
$GC,515,-1.21,-116.8,66.3,-13.5,55,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1763,3481,0,0,0,0,0,0
$GC,776,-1.21,-116.8,94.7,-9.3,80,781,0.00,2.65,0.00,0.000,4,0.000,0.058,2715,183,3482,0,0,0,0,0,0
$GC,797,-1.21,-116.8,96.3,-9.1,81,802,0.00,2.40,0.00,0.000,6,0.000,0.022,2715,1783,3481,0,0,0,0,0,0
$GC,1066,-1.21,-116.8,119.2,-8.6,105,1070,0.00,2.67,0.00,0.000,4,0.000,0.060,2715,183,3482,0,0,0,0,0,0
$GC,1089,-1.21,-116.8,121.8,-8.8,106,1098,0.00,2.38,0.00,0.000,6,0.000,0.023,2715,1744,3482,0,0,0,0,0,0
$GC,1357,-1.21,-116.8,146.1,-9.4,131,1362,0.10,2.47,0.00,0.000,4,0.127,0.028,2734,3321,3482,0,0,0,0,0,0
$GC,1424,-1.32,-116.8,152.8,-9.8,136,1428,0.00,2.45,0.00,0.000,6,0.000,0.028,2735,1769,3483,0,0,0,0,0,0
$GC,1693,-1.39,-116.8,176.7,-8.3,160,1698,0.17,2.67,0.00,0.000,4,0.157,0.061,2679,189,3482,0,0,0,0,0,0
$GC,1710,-1.39,-116.8,179.0,-8.8,161,1715,0.00,2.45,0.00,0.000,6,0.000,0.016,2679,1807,3482,0,0,0,0,0,0
$GC,1984,-1.39,-116.8,204.1,-8.9,183,1988,0.00,2.35,0.00,0.000,4,0.000,0.031,2679,3321,3482,0,0,0,0,0,0
$GC,1995,-1.39,-116.8,205.5,-9.0,183,1999,0.00,2.42,0.00,0.000,6,0.000,0.032,2679,1793,3483,0,0,0,0,0,0
$GC,2262,-1.39,-116.8,231.1,-9.9,190,2266,0.00,2.40,0.00,0.000,4,0.000,0.025,2679,3324,3482,0,0,0,0,0,0
$GC,2296,-1.39,-116.8,234.6,-10.3,190,2301,0.00,2.38,0.00,0.000,6,0.000,0.028,2679,1825,3482,0,0,0,0,0,0
$GC,2545,-1.39,-116.8,259.5,-10.2,197,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1824,3481,0,0,0,0,0,0
$GC,2789,-1.39,-116.8,284.5,-10.2,203,2794,0.00,2.80,0.00,0.000,4,0.000,0.075,2679,200,3481,0,0,0,0,0,0
$GC,2823,-1.39,-116.8,288.1,-11.4,203,2829,0.00,2.50,0.00,0.000,6,0.000,0.026,2679,1802,3481,0,0,0,0,0,0
$GC,3073,-1.39,-116.8,311.7,-9.3,210,3077,0.00,2.47,0.00,0.000,4,0.000,0.040,2679,3353,3479,0,0,0,0,0,0
$GC,3089,-1.39,-116.8,313.3,-9.1,210,3093,0.00,2.47,0.00,0.000,6,0.000,0.035,2679,1831,3479,0,0,0,0,0,0
$GC,3351,-1.39,-116.8,337.6,-9.4,217,3355,0.00,2.40,0.00,0.000,4,0.000,0.039,2679,3343,3478,0,0,0,0,0,0
$GC,3367,-1.39,-116.8,339.3,-9.1,217,3371,0.00,2.45,0.00,0.000,6,0.000,0.041,2679,1832,3477,0,0,0,0,0,0
$GC,3628,-1.39,-116.8,362.2,-8.6,224,3632,0.00,2.92,0.00,0.000,4,0.000,0.089,2679,198,3476,0,0,0,0,0,0
$GC,3667,-1.39,-116.8,365.7,-8.6,225,3671,0.00,2.55,0.00,0.000,6,0.000,0.030,2679,1805,3476,0,0,0,0,0,0
$GC,3952,-1.39,-116.8,389.2,-8.5,232,3956,0.00,2.53,0.00,0.000,4,0.000,0.048,2679,3352,3474,0,0,0,0,0,0
$GC,3993,-1.46,-116.8,393.0,-8.9,233,3997,0.00,2.53,0.00,0.000,6,0.000,0.048,2679,1827,3474,0,0,0,0,0,0
$GC,4277,-1.46,-116.8,419.9,-9.6,240,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1827,3472,0,0,0,0,0,0
$GC,4519,-1.46,-116.8,443.1,-9.4,246,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1826,3471,0,0,0,0,0,0
$GC,4763,-1.46,-116.8,465.7,-9.2,252,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1826,3469,0,0,0,0,0,0
$GC,5007,-1.46,-116.8,488.3,-9.3,258,5011,0.00,2.55,0.00,0.000,4,0.000,0.056,2679,3345,3467,0,0,0,0,0,0
$GC,5024,-1.46,-116.8,489.8,-9.2,258,5029,0.00,2.58,0.00,0.000,6,0.000,0.064,2679,1837,3467,0,0,0,0,0,0
$STATE,5161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5161,begin apogee
$GC,5167,-0.31,0.0,502.6,9.1,262,5268,1.15,0.00,97.80,0.924,6,0.084,0.000,2932,1837,3001,0,0,0,0,0,0
$STATE,5269,end apogee,CONTROL_FINISHED_OK
$STATE,5269,begin climb
$GC,5271,1.37,116.8,505.0,0.0,264,5386,1.55,2.72,103.30,0.902,4,0.041,0.052,3309,3399,2523,0,0,0,0,0,0
$GC,5431,1.29,157.1,502.1,7.7,268,5476,0.12,2.72,36.17,0.875,6,0.130,0.062,3285,1838,2360,0,0,0,0,0,0
$GC,5738,1.25,176.7,475.1,8.9,276,5762,0.00,2.67,17.75,0.840,4,0.000,0.041,3285,3398,2279,0,0,0,0,0,0
$GC,5781,1.23,198.4,471.2,8.8,277,5807,0.00,2.75,20.75,0.841,6,0.000,0.064,3285,1818,2192,0,0,0,0,0,0
$GC,6065,1.22,222.0,446.0,8.7,284,6088,0.00,0.00,21.62,0.844,6,0.000,0.000,3285,1818,2096,0,0,0,0,0,0
$GC,6307,1.24,242.7,424.5,8.9,290,6332,0.00,3.03,19.55,0.834,4,0.000,0.110,3285,227,2010,0,0,0,0,0,0
$GC,6349,1.16,242.7,420.2,10.3,291,6354,0.15,2.58,0.00,0.000,6,0.123,0.030,3256,1818,2008,0,0,0,0,0,0
$GC,6629,1.21,247.4,393.8,9.8,298,6637,0.00,0.00,4.97,0.624,6,0.000,0.000,3256,1818,1992,0,0,0,0,0,0
$GC,6917,1.25,247.4,364.0,10.3,305,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1818,1989,0,0,0,0,0,0
$GC,7163,1.33,275.9,342.6,8.4,311,7198,0.15,2.92,26.88,0.811,4,0.077,0.073,3295,228,1874,0,0,0,0,0,0
$GC,7223,1.26,275.9,336.1,12.0,312,7227,0.00,2.55,0.00,0.000,6,0.000,0.030,3295,1811,1872,0,0,0,0,0,0
$GC,7491,1.26,277.8,309.4,9.9,319,7495,0.00,2.58,0.00,0.000,4,0.000,0.038,3295,3405,1869,0,0,0,0,0,0
$GC,7512,1.26,277.8,306.7,11.1,319,7516,0.00,2.67,0.00,0.000,6,0.000,0.041,3295,1799,1868,0,0,0,0,0,0
$GC,7767,1.26,277.8,279.1,10.8,326,7771,0.00,2.78,0.00,0.000,4,0.000,0.083,3295,231,1867,0,0,0,0,0,0
$GC,7822,1.22,277.8,272.2,12.3,327,7827,0.15,2.50,0.00,0.000,6,0.120,0.028,3266,1808,1865,0,0,0,0,0,0
$GC,8090,1.29,277.8,245.4,10.1,334,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1810,1865,0,0,0,0,0,0
$GC,8333,1.39,302.9,223.6,8.6,340,8359,0.15,0.00,23.55,0.728,6,0.077,0.000,3305,1810,1766,0,0,0,0,0,0
$GC,8611,1.39,302.9,196.5,10.3,349,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1810,1761,0,0,0,0,0,0
$GC,8873,1.40,311.6,169.6,9.5,374,8887,0.00,2.60,8.45,0.618,4,0.000,0.035,3305,3391,1729,0,0,0,0,0,0
$GC,8935,1.50,312.3,164.0,10.0,379,8940,0.10,2.65,0.00,0.000,6,0.095,0.039,3333,1792,1728,0,0,0,0,0,0
$GC,9200,1.50,312.3,136.3,11.1,403,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1792,1728,0,0,0,0,0,0
$GC,9461,1.50,312.3,106.9,11.1,428,9465,0.00,2.67,0.00,0.000,4,0.000,0.065,3332,240,1727,0,0,0,0,0,0
$GC,9494,1.44,312.3,102.6,13.1,430,9503,0.00,2.47,0.00,0.000,6,0.000,0.025,3333,1811,1725,0,0,0,0,0,0
$GC,9760,1.45,318.5,75.5,9.7,455,9775,0.00,2.78,7.47,0.532,4,0.000,0.066,3333,236,1701,0,0,0,0,0,0
$GC,9794,1.45,318.5,71.2,11.7,457,9804,0.00,2.45,0.00,0.000,6,0.000,0.020,3333,1792,1699,0,0,0,0,0,0
$GC,10062,1.54,340.7,48.3,8.8,482,10088,0.00,2.58,20.15,0.567,4,0.000,0.028,3333,3380,1611,0,0,0,0,0,0
$GC,10120,1.68,366.5,43.2,8.6,486,10151,0.15,2.62,23.88,0.559,6,0.075,0.035,3372,1790,1505,0,0,0,0,0,0
$GC,10452,1.68,366.5,7.9,12.5,527,10462,0.00,2.70,0.00,0.000,4,0.000,0.062,3373,235,1501,0,0,0,0,0,0
$STATE,10476,end climb,SURFACE_DEPTH_REACHED
$STATE,10476,begin surface coast
$FINISH,1.1,1.023381
$STATE,10498,end surface coast,CONTROL_FINISHED_OK
$STATE,10498,begin surface
$SM_CCo,10523,44.05,0.530,0,0,1287,420.20
$SM_GC,1.04,0.00,0.00,44.05,0.000,0.000,0.530,472,1805,1287,-11.63,0.99,420.20
$IRIDIUM_FIX,2244.02,-15739.35,260100,000024
$TT8_MAMPS,0.026078
$HUMID,56.37
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.20
$XPDR_PINGS,142
$24V_AH,23.3,75.831
$10V_AH,9.9,71.360
$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,27.700,124.000,432.300,44.050,0.000,22.155,32.075,269.955,35.500,0.000,33.117,1052.768,6865.060,535.244,1971.801,630.855,33.396,1296.874,0.000,1954.955,0.000,0.534,0.000
$DEVICE_MAMPS,157.235,110.448,924.235,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.026,307.405,411.122,775.179,1173.276,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,41488,533
$CAP_FILE_SIZE,110590,0
$CFSIZE,260165632,150384640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011110,065137,2253.554,-15742.382,38,0.9,38,10.1