version: 66.06
glider: 146
mission: 5
dive: 601
start: 11 8 110 12 15 27
data:
$ID,146
$MISSION,5
$DIVE,601
$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,-262309.72
$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,41
$R_STBD_OVSHOOT,59
$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
$GPS1,120207,2254.218,-15743.114,39,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.0
$GPS2,121431,2254.214,-15743.136,12,1.0,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.073,-0.223
$KALMAN_X,-288216.7,-413.5,313.5,335595.0,-325.5
$KALMAN_Y,-416998.2,-21.3,533.8,552853.2,226.2
$MHEAD_RNG_PITCHd_Wd,151.7,9850,-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,-78.70,0.000,2,0.000,0.000,475,1744,3339,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.5,-6.0,10,126,12.05,2.67,-2.72,0.000,4,0.166,0.067,2688,210,3480,0,0,0,0,0,0
$GC,140,-0.43,-116.8,15.1,-30.0,14,150,0.98,2.42,0.00,0.000,6,0.087,0.016,2902,1785,3482,0,0,0,0,0,0
$GC,545,-0.85,-116.8,33.5,-3.5,67,550,0.35,2.65,0.00,0.000,4,0.049,0.051,2801,203,3482,0,0,0,0,0,0
$GC,605,-0.96,-116.8,36.7,-5.3,71,609,0.00,2.45,0.00,0.000,6,0.000,0.016,2801,1835,3482,0,0,0,0,0,0
$GC,939,-1.07,-116.8,64.2,-9.9,101,944,0.15,2.75,0.00,0.000,4,0.062,0.058,2753,201,3483,0,0,0,0,0,0
$GC,971,-1.07,-116.8,68.7,-13.0,103,976,0.00,2.42,0.00,0.000,6,0.000,0.015,2752,1826,3483,0,0,0,0,0,0
$GC,1300,-1.14,-116.8,102.0,-8.0,133,1304,0.00,2.33,0.00,0.000,4,0.000,0.032,2752,3329,3484,0,0,0,0,0,0
$GC,1369,-1.27,-116.8,107.6,-7.5,138,1379,0.10,2.38,0.00,0.000,6,0.038,0.028,2706,1840,3484,0,0,0,0,0,0
$GC,1698,-1.27,-116.8,135.9,-9.0,169,1702,0.00,2.75,0.00,0.000,4,0.000,0.060,2706,207,3485,0,0,0,0,0,0
$GC,1761,-1.27,-116.8,142.5,-9.9,174,1766,0.00,2.40,0.00,0.000,6,0.000,0.021,2706,1817,3485,0,0,0,0,0,0
$GC,2086,-1.27,-116.8,168.9,-8.0,204,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1818,3486,0,0,0,0,0,0
$GC,2407,-1.27,-116.8,197.1,-9.2,234,2411,0.00,2.72,0.00,0.000,4,0.000,0.061,2706,200,3485,0,0,0,0,0,0
$GC,2464,-1.31,-116.8,203.2,-10.5,237,2469,0.00,2.40,0.00,0.000,6,0.000,0.015,2706,1790,3486,0,0,0,0,0,0
$GC,2812,-1.31,-116.8,231.3,-7.6,246,2817,0.00,2.40,0.00,0.000,4,0.000,0.028,2706,3319,3486,0,0,0,0,0,0
$GC,2870,-1.38,-116.8,235.6,-7.6,247,2875,0.00,2.42,0.00,0.000,6,0.000,0.028,2706,1800,3486,0,0,0,0,0,0
$GC,3218,-1.38,-116.8,264.7,-9.4,256,3222,0.00,2.75,0.00,0.000,4,0.000,0.076,2706,196,3485,0,0,0,0,0,0
$GC,3252,-1.38,-116.8,268.2,-10.3,256,3257,0.00,2.42,0.00,0.000,6,0.000,0.023,2706,1769,3484,0,0,0,0,0,0
$GC,3585,-1.42,-116.8,297.8,-8.1,265,3589,0.00,2.53,0.00,0.000,4,0.000,0.038,2706,3339,3484,0,0,0,0,0,0
$GC,3619,-1.49,-116.8,300.6,-7.7,265,3625,0.12,2.47,0.00,0.000,6,0.069,0.033,2657,1812,3483,0,0,0,0,0,0
$GC,3952,-1.45,-116.8,330.5,-9.7,274,3957,0.12,2.47,0.00,0.000,4,0.116,0.032,2683,3345,3482,0,0,0,0,0,0
$GC,3970,-1.45,-116.8,332.2,-9.1,274,3975,0.00,2.53,0.00,0.000,6,0.000,0.039,2684,1809,3482,0,0,0,0,0,0
$GC,4313,-1.45,-116.8,363.9,-9.5,283,4317,0.00,2.45,0.00,0.000,4,0.000,0.042,2683,3339,3481,0,0,0,0,0,0
$GC,4342,-1.49,-116.8,366.5,-9.1,283,4346,0.00,2.53,0.00,0.000,6,0.000,0.044,2683,1818,3481,0,0,0,0,0,0
$GC,4675,-1.49,-116.8,396.1,-8.6,291,4680,0.00,2.95,0.00,0.000,4,0.000,0.097,2683,182,3479,0,0,0,0,0,0
$GC,4719,-1.54,-116.8,400.3,-9.4,292,4724,0.00,2.55,0.00,0.000,6,0.000,0.031,2683,1802,3478,0,0,0,0,0,0
$GC,5039,-1.54,-116.8,425.1,-7.6,300,5044,0.00,2.58,0.00,0.000,4,0.000,0.051,2683,3349,3476,0,0,0,0,0,0
$GC,5080,-1.62,-116.8,428.5,-7.7,301,5085,0.17,2.55,0.00,0.000,6,0.061,0.052,2631,1822,3476,0,0,0,0,0,0
$GC,5404,-1.56,-116.8,462.0,-10.8,309,5409,0.12,2.53,0.00,0.000,4,0.117,0.045,2656,3350,3474,0,0,0,0,0,0
$GC,5422,-1.56,-116.8,463.9,-10.8,309,5426,0.00,2.60,0.00,0.000,6,0.000,0.063,2657,1825,3474,0,0,0,0,0,0
$GC,5763,-1.56,-116.8,499.7,-10.6,318,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,1825,3472,0,0,0,0,0,0
$STATE,5801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5801,begin apogee
$GC,5807,-0.31,0.0,503.9,10.6,319,5909,1.23,0.00,97.80,0.920,6,0.081,0.000,2928,1825,3001,0,0,0,0,0,0
$STATE,5909,end apogee,CONTROL_FINISHED_OK
$STATE,5909,begin climb
$GC,5914,1.38,116.8,507.0,0.0,321,6026,1.55,2.75,102.05,0.900,4,0.039,0.055,3307,3402,2523,0,0,0,0,0,0
$GC,6049,1.34,186.5,507.6,6.0,324,6119,0.00,2.75,61.33,0.885,6,0.000,0.062,3307,1826,2239,0,0,0,0,0,0
$GC,6445,1.24,186.5,468.3,10.1,334,6450,0.17,2.60,0.00,0.000,4,0.170,0.041,3273,3397,2228,0,0,0,0,0,0
$GC,6495,1.26,202.1,463.5,9.1,335,6514,0.00,2.70,13.60,0.815,6,0.000,0.063,3273,1827,2176,0,0,0,0,0,0
$GC,6853,1.28,212.7,430.0,9.4,344,6869,0.00,2.60,10.20,0.778,4,0.000,0.041,3273,3400,2133,0,0,0,0,0,0
$GC,6930,1.29,220.9,422.3,9.6,345,6945,0.00,2.70,8.93,0.753,6,0.000,0.060,3273,1834,2100,0,0,0,0,0,0
$GC,7267,1.32,246.7,392.8,8.5,354,7293,0.00,0.00,24.38,0.833,6,0.000,0.000,3273,1834,1995,0,0,0,0,0,0
$GC,7590,1.33,259.9,362.8,9.3,362,7604,0.00,0.00,12.73,0.779,6,0.000,0.000,3273,1834,1941,0,0,0,0,0,0
$GC,7916,1.35,274.2,332.7,9.2,370,7936,0.00,2.60,13.88,0.770,4,0.000,0.038,3273,3401,1882,0,0,0,0,0,0
$GC,7965,1.44,282.8,327.9,9.5,371,7980,0.17,2.65,9.27,0.718,6,0.074,0.048,3316,1841,1847,0,0,0,0,0,0
$GC,8292,1.41,282.8,292.1,11.3,379,8296,0.00,2.55,0.00,0.000,4,0.000,0.032,3316,3409,1842,0,0,0,0,0,0
$GC,8336,1.41,282.8,286.2,12.3,380,8341,0.00,2.60,0.00,0.000,6,0.000,0.042,3316,1855,1841,0,0,0,0,0,0
$GC,8661,1.42,290.6,253.0,9.6,388,8670,0.00,0.00,7.38,0.653,6,0.000,0.000,3316,1855,1816,0,0,0,0,0,0
$GC,8987,1.44,312.1,223.5,8.8,396,9013,0.00,2.55,20.83,0.716,4,0.000,0.034,3316,3402,1727,0,0,0,0,0,0
$GC,9035,1.46,326.4,218.7,9.2,397,9055,0.00,2.58,14.30,0.682,6,0.000,0.038,3316,1846,1669,0,0,0,0,0,0
$GC,9375,1.46,326.4,185.1,10.5,415,9380,0.00,2.83,0.00,0.000,4,0.000,0.071,3316,234,1663,0,0,0,0,0,0
$GC,9452,1.46,326.4,175.4,12.3,421,9457,0.00,2.55,0.00,0.000,6,0.000,0.021,3316,1851,1662,0,0,0,0,0,0
$GC,9783,1.47,330.1,142.7,9.8,451,9787,0.00,2.45,0.00,0.000,4,0.000,0.031,3316,3391,1661,0,0,0,0,0,0
$GC,9804,1.51,330.1,139.8,10.1,452,9813,0.00,2.60,0.00,0.000,6,0.000,0.037,3316,1826,1660,0,0,0,0,0,0
$GC,10133,1.60,354.1,109.9,8.7,483,10167,0.12,2.78,24.08,0.616,4,0.091,0.065,3351,237,1554,0,0,0,0,0,0
$GC,10233,1.60,354.1,99.7,11.6,491,10237,0.00,2.47,0.00,0.000,6,0.000,0.020,3351,1819,1552,0,0,0,0,0,0
$GC,10560,1.60,354.1,66.3,10.7,521,10565,0.00,2.70,0.00,0.000,4,0.000,0.058,3351,237,1552,0,0,0,0,0,0
$GC,10582,1.60,354.1,64.0,11.0,522,10587,0.00,2.45,0.00,0.000,6,0.000,0.020,3351,1818,1551,0,0,0,0,0,0
$GC,10916,1.67,381.4,28.8,8.5,553,10950,0.00,2.80,24.27,0.538,4,0.000,0.065,3351,240,1445,0,0,0,0,0,0
$GC,11061,1.73,429.3,16.6,7.3,573,11113,0.08,2.42,42.20,0.530,6,0.050,0.019,3381,1783,1249,0,0,0,0,0,0
$STATE,11163,end climb,SURFACE_DEPTH_REACHED
$STATE,11166,begin surface coast
$FINISH,0.5,1.023512
$STATE,11202,end surface coast,CONTROL_FINISHED_OK
$STATE,11202,begin surface
$SM_CCo,11284,0.00,0.000,0,0,1240,431.48
$SM_GC,1.04,12.00,0.00,0.00,0.030,0.000,0.000,472,1783,1240,-11.54,0.37,431.48
$IRIDIUM_FIX,2246.36,-15743.68,020200,090928
$TT8_MAMPS,0.026078
$HUMID,55.78
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.80
$XPDR_PINGS,155
$24V_AH,23.3,83.623
$10V_AH,9.8,78.155
$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,29.500,128.750,487.200,0.000,0.000,24.457,33.718,511.594,38.750,0.000,34.429,1152.320,7182.828,500.457,2285.707,904.550,33.369,1312.241,0.000,2271.691,0.000,0.534,0.000
$DEVICE_MAMPS,170.274,96.642,919.633,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,399.622,348.643,468.570,939.297,1420.806,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,47885,591
$CAP_FILE_SIZE,116926,0
$CFSIZE,260165632,147079168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,152607,2253.684,-15742.913,118,1.0,118,10.1