version: 66.06
glider: 146
mission: 5
dive: 599
start: 11 8 110 5 32 36
data:
$ID,146
$MISSION,5
$DIVE,599
$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,619.13721
$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,-262261.97
$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,33
$R_STBD_OVSHOOT,56
$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
$GPS1,050030,2254.321,-15743.354,38,1.7,38,10.1
$_CALLS,5
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.9
$GPS2,053143,2254.399,-15743.361,21,1.5,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.075,-0.222
$KALMAN_X,-287746.0,211.1,-275.0,334699.2,-560.1
$KALMAN_Y,-420449.6,143.6,-323.5,557330.6,1411.6
$MHEAD_RNG_PITCHd_Wd,151.2,10266,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.47,0.000,2,0.000,0.000,472,1750,3398,0,0,0,0,0,0
$GC,103,-1.38,-116.8,3.9,-7.3,10,129,12.07,2.67,-1.50,0.000,4,0.166,0.068,2689,196,3481,0,0,0,0,0,0
$GC,154,-1.01,-116.8,20.3,-26.8,16,164,0.38,2.45,0.00,0.000,6,0.088,0.016,2774,1786,3481,0,0,0,0,0,0
$GC,498,-1.06,-116.8,53.4,-6.8,51,502,0.00,2.67,0.00,0.000,4,0.000,0.051,2773,196,3482,0,0,0,0,0,0
$GC,520,-1.10,-116.8,55.6,-8.7,52,525,0.00,2.38,0.00,0.000,6,0.000,0.015,2774,1780,3482,0,0,0,0,0,0
$GC,845,-1.20,-116.8,85.3,-8.4,82,847,0.15,0.00,0.00,0.000,6,0.062,0.000,2724,1781,3482,0,0,0,0,0,0
$GC,1165,-1.20,-116.8,116.1,-8.6,112,1169,0.00,2.42,0.00,0.000,4,0.000,0.026,2724,3321,3482,0,0,0,0,0,0
$GC,1221,-1.27,-116.8,120.8,-8.3,116,1226,0.00,2.50,0.00,0.000,6,0.000,0.025,2724,1746,3483,0,0,0,0,0,0
$GC,1547,-1.31,-116.8,147.5,-8.6,146,1551,0.00,2.60,0.00,0.000,4,0.000,0.061,2724,197,3482,0,0,0,0,0,0
$GC,1582,-1.35,-116.8,150.7,-9.2,148,1588,0.00,2.28,0.00,0.000,6,0.000,0.015,2724,1738,3482,0,0,0,0,0,0
$GC,1908,-1.41,-116.8,178.8,-7.9,179,1913,0.12,2.62,0.00,0.000,4,0.071,0.058,2679,189,3482,0,0,0,0,0,0
$GC,2001,-1.41,-116.8,187.7,-9.8,186,2010,0.00,2.35,0.00,0.000,6,0.000,0.019,2679,1731,3482,0,0,0,0,0,0
$GC,2348,-1.41,-116.8,220.5,-9.9,205,2352,0.00,2.53,0.00,0.000,4,0.000,0.034,2679,3317,3482,0,0,0,0,0,0
$GC,2405,-1.41,-116.8,226.2,-9.5,206,2409,0.00,2.50,0.00,0.000,6,0.000,0.029,2679,1760,3482,0,0,0,0,0,0
$GC,2752,-1.41,-116.8,262.6,-10.5,215,2756,0.00,2.47,0.00,0.000,4,0.000,0.035,2679,3318,3481,0,0,0,0,0,0
$GC,2801,-1.41,-116.8,267.5,-9.7,216,2806,0.00,2.50,0.00,0.000,6,0.000,0.038,2679,1772,3480,0,0,0,0,0,0
$GC,3116,-1.41,-116.8,297.5,-9.4,224,3121,0.00,2.72,0.00,0.000,4,0.000,0.074,2679,196,3479,0,0,0,0,0,0
$GC,3149,-1.41,-116.8,301.3,-10.7,224,3155,0.00,2.42,0.00,0.000,6,0.000,0.027,2678,1743,3479,0,0,0,0,0,0
$GC,3480,-1.41,-116.8,330.4,-8.1,233,3485,0.00,2.58,0.00,0.000,4,0.000,0.038,2679,3350,3477,0,0,0,0,0,0
$GC,3544,-1.46,-116.8,335.5,-7.6,234,3548,0.00,2.55,0.00,0.000,6,0.000,0.044,2679,1789,3477,0,0,0,0,0,0
$GC,3886,-1.46,-116.8,362.9,-8.3,243,3890,0.00,2.50,0.00,0.000,4,0.000,0.034,2679,3353,3475,0,0,0,0,0,0
$GC,3903,-1.46,-116.8,364.4,-9.0,243,3908,0.00,2.58,0.00,0.000,6,0.000,0.051,2679,1794,3475,0,0,0,0,0,0
$GC,4246,-1.46,-116.8,394.1,-8.5,252,4251,0.00,2.92,0.00,0.000,4,0.000,0.092,2678,179,3473,0,0,0,0,0,0
$GC,4267,-1.46,-116.8,396.2,-9.1,252,4272,0.00,2.58,0.00,0.000,6,0.000,0.031,2678,1800,3473,0,0,0,0,0,0
$GC,4606,-1.46,-116.8,425.6,-9.0,261,4610,0.00,2.53,0.00,0.000,4,0.000,0.052,2679,3349,3471,0,0,0,0,0,0
$GC,4627,-1.50,-116.8,428.0,-9.8,261,4632,0.00,2.60,0.00,0.000,6,0.000,0.055,2679,1802,3471,0,0,0,0,0,0
$GC,4964,-1.50,-116.8,460.4,-9.9,270,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1801,3468,0,0,0,0,0,0
$GC,5291,-1.54,-116.8,489.8,-8.7,278,5295,0.00,2.60,0.00,0.000,4,0.000,0.054,2679,3354,3466,0,0,0,0,0,0
$GC,5324,-1.60,-116.8,492.8,-8.7,278,5330,0.12,2.67,0.00,0.000,6,0.067,0.066,2632,1803,3466,0,0,0,0,0,0
$STATE,5408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5409,begin apogee
$GC,5414,-0.31,0.0,501.1,9.5,281,5515,1.35,0.00,96.53,0.917,6,0.087,0.000,2927,1802,3000,0,0,0,0,0,0
$STATE,5515,end apogee,CONTROL_FINISHED_OK
$STATE,5515,begin climb
$GC,5520,1.38,116.8,503.2,0.0,283,5632,1.55,2.78,101.25,0.897,4,0.040,0.054,3307,3390,2523,0,0,0,0,0,0
$GC,5673,1.31,156.9,500.7,7.7,286,5714,0.00,2.75,35.55,0.871,6,0.000,0.064,3307,1818,2361,0,0,0,0,0,0
$GC,6053,1.24,181.3,467.5,8.6,296,6083,0.17,2.75,21.83,0.850,4,0.117,0.042,3272,3400,2261,0,0,0,0,0,0
$GC,6150,1.25,189.8,459.0,9.5,298,6164,0.00,2.75,8.75,0.759,6,0.000,0.061,3272,1827,2227,0,0,0,0,0,0
$GC,6473,1.27,205.8,429.0,9.1,306,6493,0.00,2.62,15.27,0.821,4,0.000,0.038,3272,3400,2161,0,0,0,0,0,0
$GC,6581,1.28,216.7,419.3,9.4,308,6601,0.00,2.67,11.20,0.785,6,0.000,0.060,3272,1839,2116,0,0,0,0,0,0
$GC,6926,1.30,237.5,388.3,8.8,317,6951,0.00,2.60,19.65,0.820,4,0.000,0.035,3272,3401,2031,0,0,0,0,0,0
$GC,6963,1.33,260.5,385.0,8.7,318,6992,0.00,2.67,22.48,0.814,6,0.000,0.057,3272,1846,1938,0,0,0,0,0,0
$GC,7332,1.33,260.5,346.8,10.5,327,7336,0.00,2.92,0.00,0.000,4,0.000,0.093,3272,233,1931,0,0,0,0,0,0
$GC,7371,1.33,260.5,342.5,10.9,328,7375,0.00,2.58,0.00,0.000,6,0.000,0.028,3272,1843,1930,0,0,0,0,0,0
$GC,7697,1.39,275.5,312.1,9.2,336,7716,0.12,2.60,13.68,0.757,4,0.083,0.039,3305,3396,1877,0,0,0,0,0,0
$GC,7733,1.39,275.5,308.1,10.2,336,7739,0.00,2.58,0.00,0.000,6,0.000,0.042,3306,1851,1875,0,0,0,0,0,0
$GC,8064,1.39,275.5,272.8,10.9,345,8069,0.00,2.85,0.00,0.000,4,0.000,0.079,3306,237,1872,0,0,0,0,0,0
$GC,8139,1.33,275.5,263.8,12.2,346,8144,0.00,2.53,0.00,0.000,6,0.000,0.022,3305,1839,1871,0,0,0,0,0,0
$GC,8473,1.33,279.9,230.7,9.8,354,8482,0.00,2.55,4.20,0.515,4,0.000,0.035,3305,3405,1860,0,0,0,0,0,0
$GC,8524,1.39,283.7,225.7,9.8,355,8534,0.00,2.60,5.38,0.577,6,0.000,0.040,3306,1836,1844,0,0,0,0,0,0
$GC,8842,1.41,301.6,196.9,9.0,363,8866,0.00,2.85,17.42,0.692,4,0.000,0.071,3305,241,1770,0,0,0,0,0,0
$GC,8902,1.37,301.6,191.0,10.4,368,8907,0.00,2.58,0.00,0.000,6,0.000,0.021,3306,1865,1768,0,0,0,0,0,0
$GC,9226,1.37,301.6,158.6,10.2,398,9231,0.00,2.83,0.00,0.000,4,0.000,0.064,3305,240,1767,0,0,0,0,0,0
$GC,9341,1.37,301.6,146.8,10.6,407,9345,0.00,2.50,0.00,0.000,6,0.000,0.025,3306,1838,1765,0,0,0,0,0,0
$GC,9669,1.44,313.3,116.8,9.4,437,9682,0.00,0.00,11.10,0.597,6,0.000,0.000,3306,1839,1723,0,0,0,0,0,0
$GC,9999,1.58,343.6,89.7,8.3,468,10038,0.15,2.85,27.48,0.605,4,0.071,0.062,3345,247,1599,0,0,0,0,0,0
$GC,10043,1.58,343.6,85.2,10.7,471,10049,0.00,2.50,0.00,0.000,6,0.000,0.020,3345,1832,1598,0,0,0,0,0,0
$GC,10374,1.62,343.6,53.4,10.5,502,10378,0.00,2.75,0.00,0.000,4,0.000,0.060,3346,238,1596,0,0,0,0,0,0
$GC,10406,1.62,343.6,49.7,11.2,504,10410,0.00,2.47,0.00,0.000,6,0.000,0.020,3346,1824,1594,0,0,0,0,0,0
$GC,10771,1.62,343.6,13.6,10.7,547,10779,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,1826,1594,0,0,0,0,0,0
$STATE,10862,end climb,SURFACE_DEPTH_REACHED
$STATE,10862,begin surface coast
$FINISH,0.4,1.010612
$STATE,10904,end surface coast,CONTROL_FINISHED_OK
$STATE,10904,begin surface
$SM_CCo,10928,220.27,0.520,0,0,476,619.14
$SM_GC,0.96,0.00,0.00,220.27,0.000,0.000,0.520,475,1744,476,-11.62,-0.74,619.14
$IRIDIUM_FIX,2246.36,-15740.63,020200,050524
$TT8_MAMPS,0.025311
$HUMID,52.71
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.20
$XPDR_PINGS,150
$24V_AH,23.3,83.308
$10V_AH,9.9,77.884
$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,27.975,130.425,411.750,220.275,0.000,137.944,211.702,1066.589,37.500,0.000,30.876,1115.809,7271.113,682.785,2165.695,1782.811,33.365,1454.411,0.000,2149.140,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,93.574,917.332,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.219,337.564,446.081,856.293,1295.123,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,44631,566
$CAP_FILE_SIZE,129510,0
$CFSIZE,260165632,147173376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,083954,2254.545,-15743.236,31,1.4,48,10.1