version: 66.06
glider: 146
mission: 5
dive: 607
start: 11 9 110 8 39 39
data:
$ID,146
$MISSION,5
$DIVE,607
$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,-262463.5
$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,14
$R_STBD_OVSHOOT,65
$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
$GPS1,082024,2254.097,-15742.528,24,1.1,40,10.1
$_CALLS,3
$_XMS_NAKs,26
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-64.2
$GPS2,083844,2254.240,-15742.469,13,1.1,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.001,-0.235
$KALMAN_X,-290140.5,219.1,-313.0,338653.1,73.8
$KALMAN_Y,-403947.0,132.4,106.0,540111.9,1547.3
$MHEAD_RNG_PITCHd_Wd,170.1,9738,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-1.38,-116.6,0.0,0.0,0,96,0.00,0.00,-77.32,0.000,2,0.000,0.000,474,1788,3285,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.2,-5.6,10,126,12.10,2.78,-3.83,0.000,4,0.166,0.069,2691,178,3479,0,0,0,0,0,0
$GC,150,-1.06,-116.8,15.5,-19.5,16,159,0.32,2.45,0.00,0.000,6,0.091,0.018,2764,1762,3480,0,0,0,0,0,0
$GC,506,-1.06,-116.8,51.6,-11.1,57,510,0.00,2.47,0.00,0.000,4,0.000,0.025,2764,3338,3480,0,0,0,0,0,0
$GC,541,-1.12,-116.8,55.2,-9.9,59,545,0.00,2.53,0.00,0.000,6,0.000,0.028,2764,1751,3480,0,0,0,0,0,0
$GC,870,-1.19,-116.8,89.4,-9.0,89,875,0.10,2.53,0.00,0.000,4,0.084,0.027,2725,3343,3481,0,0,0,0,0,0
$GC,902,-1.19,-116.8,92.6,-10.1,91,906,0.00,2.47,0.00,0.000,6,0.000,0.026,2725,1790,3481,0,0,0,0,0,0
$GC,1231,-1.22,-116.8,123.4,-9.4,121,1235,0.00,2.67,0.00,0.000,4,0.000,0.063,2725,192,3481,0,0,0,0,0,0
$GC,1276,-1.29,-116.8,128.1,-9.5,124,1285,0.00,2.42,0.00,0.000,6,0.000,0.015,2725,1784,3482,0,0,0,0,0,0
$GC,1601,-1.34,-116.8,153.0,-7.6,155,1605,0.00,2.40,0.00,0.000,4,0.000,0.029,2725,3321,3482,0,0,0,0,0,0
$GC,1629,-1.40,-116.8,154.7,-7.3,157,1634,0.12,2.47,0.00,0.000,6,0.067,0.028,2673,1765,3482,0,0,0,0,0,0
$GC,1958,-1.35,-116.8,184.1,-8.9,187,1963,0.15,2.65,0.00,0.000,4,0.133,0.062,2704,200,3482,0,0,0,0,0,0
$GC,2022,-1.35,-116.8,190.4,-9.7,192,2026,0.00,2.35,0.00,0.000,6,0.000,0.016,2705,1756,3482,0,0,0,0,0,0
$GC,2350,-1.35,-116.8,219.4,-9.3,208,2354,0.00,2.45,0.00,0.000,4,0.000,0.027,2705,3323,3482,0,0,0,0,0,0
$GC,2377,-1.40,-116.8,222.2,-9.3,208,2382,0.00,2.50,0.00,0.000,6,0.000,0.035,2704,1753,3482,0,0,0,0,0,0
$GC,2710,-1.40,-116.8,251.5,-8.3,216,2715,0.00,2.67,0.00,0.000,4,0.000,0.072,2704,191,3481,0,0,0,0,0,0
$GC,2732,-1.40,-116.8,253.4,-7.6,216,2736,0.00,2.35,0.00,0.000,6,0.000,0.021,2704,1745,3481,0,0,0,0,0,0
$GC,3069,-1.44,-116.8,278.1,-7.6,225,3073,0.00,2.53,0.00,0.000,4,0.000,0.032,2705,3340,3480,0,0,0,0,0,0
$GC,3143,-1.53,-116.8,284.2,-8.6,226,3148,0.15,2.50,0.00,0.000,6,0.063,0.033,2651,1787,3480,0,0,0,0,0,0
$GC,3474,-1.47,-116.8,319.8,-10.8,234,3479,0.12,2.47,0.00,0.000,4,0.111,0.034,2679,3336,3479,0,0,0,0,0,0
$GC,3490,-1.47,-116.8,321.7,-10.9,234,3495,0.00,2.50,0.00,0.000,6,0.000,0.041,2679,1794,3479,0,0,0,0,0,0
$GC,3835,-1.47,-116.8,353.4,-9.2,243,3840,0.00,2.85,0.00,0.000,4,0.000,0.086,2679,184,3477,0,0,0,0,0,0
$GC,3851,-1.47,-116.8,355.1,-8.9,243,3856,0.00,2.50,0.00,0.000,6,0.000,0.028,2679,1791,3477,0,0,0,0,0,0
$GC,4193,-1.47,-116.8,386.0,-9.3,252,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1791,3476,0,0,0,0,0,0
$GC,4520,-1.47,-116.8,415.5,-8.7,260,4524,0.00,2.55,0.00,0.000,4,0.000,0.049,2679,3349,3474,0,0,0,0,0,0
$GC,4564,-1.53,-116.8,419.3,-8.7,261,4569,0.00,2.60,0.00,0.000,6,0.000,0.057,2679,1805,3474,0,0,0,0,0,0
$GC,4884,-1.53,-116.8,445.5,-8.3,269,4889,0.00,2.97,0.00,0.000,4,0.000,0.104,2679,186,3471,0,0,0,0,0,0
$GC,4905,-1.53,-116.8,447.6,-8.6,269,4910,0.00,2.55,0.00,0.000,6,0.000,0.034,2678,1789,3471,0,0,0,0,0,0
$GC,5242,-1.53,-116.8,474.2,-7.7,278,5246,0.00,2.60,0.00,0.000,4,0.000,0.055,2679,3360,3469,0,0,0,0,0,0
$GC,5265,-1.58,-116.8,475.8,-7.3,278,5271,0.10,2.65,0.00,0.000,6,0.081,0.061,2641,1799,3469,0,0,0,0,0,0
$STATE,5518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5518,begin apogee
$GC,5524,-0.31,0.0,500.6,10.0,285,5625,1.30,0.00,97.05,0.919,6,0.083,0.000,2929,1799,3001,0,0,0,0,0,0
$STATE,5625,end apogee,CONTROL_FINISHED_OK
$STATE,5626,begin climb
$GC,5628,1.38,116.8,503.3,0.0,287,5735,1.55,0.00,102.45,0.897,6,0.038,0.000,3309,1798,2523,0,0,0,0,0,0
$GC,6038,1.33,178.8,486.6,6.4,297,6099,0.00,2.75,54.40,0.886,4,0.000,0.051,3308,3408,2270,0,0,0,0,0,0
$GC,6134,1.26,178.8,478.2,10.4,299,6139,0.17,2.78,0.00,0.000,6,0.120,0.065,3274,1827,2267,0,0,0,0,0,0
$GC,6484,1.28,198.3,445.7,8.9,308,6508,0.00,2.72,17.15,0.832,4,0.000,0.039,3274,3414,2191,0,0,0,0,0,0
$GC,6576,1.29,207.4,436.6,9.5,310,6591,0.00,2.72,9.55,0.767,6,0.000,0.061,3274,1840,2155,0,0,0,0,0,0
$GC,6934,1.31,222.1,403.3,9.2,319,6953,0.00,2.62,13.88,0.804,4,0.000,0.037,3274,3409,2094,0,0,0,0,0,0
$GC,6999,1.35,222.1,396.6,10.5,320,7004,0.00,2.65,0.00,0.000,6,0.000,0.051,3274,1858,2092,0,0,0,0,0,0
$GC,7343,1.37,239.1,366.1,9.1,329,7362,0.10,0.00,16.02,0.802,6,0.098,0.000,3301,1858,2026,0,0,0,0,0,0
$GC,7666,1.39,249.2,334.1,9.5,337,7682,0.00,2.95,10.35,0.747,4,0.000,0.087,3301,233,1984,0,0,0,0,0,0
$GC,7693,1.34,252.9,331.3,9.8,337,7705,0.00,2.60,5.10,0.603,6,0.000,0.022,3301,1861,1969,0,0,0,0,0,0
$GC,8032,1.34,256.9,299.2,9.8,346,8041,0.00,2.53,4.90,0.591,4,0.000,0.040,3301,3407,1953,0,0,0,0,0,0
$GC,8063,1.34,256.9,295.5,10.5,346,8069,0.00,2.62,0.00,0.000,6,0.000,0.048,3301,1836,1951,0,0,0,0,0,0
$GC,8397,1.34,256.9,261.4,10.3,355,8401,0.00,2.53,0.00,0.000,4,0.000,0.037,3301,3401,1950,0,0,0,0,0,0
$GC,8463,1.39,259.8,254.3,9.9,356,8468,0.00,2.55,0.00,0.000,6,0.000,0.041,3301,1857,1949,0,0,0,0,0,0
$GC,8800,1.44,297.7,226.8,7.8,365,8845,0.00,2.92,37.15,0.732,4,0.000,0.076,3301,244,1786,0,0,0,0,0,0
$GC,8912,1.44,297.7,216.8,10.7,367,8917,0.00,2.58,0.00,0.000,6,0.000,0.024,3301,1862,1783,0,0,0,0,0,0
$GC,9235,1.48,297.7,186.4,10.2,385,9240,0.00,2.83,0.00,0.000,4,0.000,0.068,3301,236,1780,0,0,0,0,0,0
$GC,9269,1.48,297.7,182.0,11.3,387,9279,0.00,2.53,0.00,0.000,6,0.000,0.027,3301,1819,1779,0,0,0,0,0,0
$GC,9598,1.56,321.0,151.3,8.7,418,9633,0.17,2.78,20.98,0.650,4,0.076,0.064,3346,241,1690,0,0,0,0,0,0
$GC,9662,1.48,321.0,144.6,12.4,423,9667,0.12,2.47,0.00,0.000,6,0.125,0.025,3322,1809,1689,0,0,0,0,0,0
$GC,9991,1.49,335.5,115.0,9.2,453,10016,0.00,2.60,13.48,0.598,4,0.000,0.031,3322,3393,1632,0,0,0,0,0,0
$GC,10024,1.56,336.4,111.6,10.0,455,10029,0.00,2.67,0.00,0.000,6,0.000,0.038,3322,1781,1632,0,0,0,0,0,0
$GC,10351,1.64,346.1,82.2,9.5,486,10369,0.15,2.72,10.30,0.553,4,0.074,0.064,3361,237,1589,0,0,0,0,0,0
$GC,10415,1.64,346.1,74.7,12.8,491,10419,0.00,2.38,0.00,0.000,6,0.000,0.025,3361,1760,1588,0,0,0,0,0,0
$GC,10746,1.69,393.2,47.5,7.3,521,10800,0.00,2.70,41.90,0.566,4,0.000,0.026,3361,3400,1396,0,0,0,0,0,0
$GC,10830,1.78,393.2,38.6,11.5,527,10835,0.12,2.72,0.00,0.000,6,0.079,0.035,3397,1738,1396,0,0,0,0,0,0
$STATE,11082,end climb,SURFACE_DEPTH_REACHED
$STATE,11082,begin surface coast
$FINISH,0.4,1.008007
$STATE,11125,end surface coast,CONTROL_FINISHED_OK
$STATE,11125,begin surface
$SM_CCo,11147,5.05,0.403,0,0,1370,400.08
$SM_GC,1.24,0.00,0.00,5.05,0.000,0.000,0.403,473,1736,1370,-11.62,-0.96,400.08
$IRIDIUM_FIX,2248.70,-15742.79,030200,080800
$TT8_MAMPS,0.026078
$HUMID,57.20
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.60
$XPDR_PINGS,161
$24V_AH,23.3,84.598
$10V_AH,9.8,78.950
$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,28.850,135.375,454.650,5.050,0.000,82.060,102.097,624.112,40.250,0.000,16.707,1112.487,7386.291,514.762,2077.219,1161.139,33.368,1275.078,0.000,2090.980,0.000,0.535,0.000
$DEVICE_MAMPS,166.439,103.545,918.866,403.442,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.276,325.192,440.405,829.853,1255.254,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,44796,565
$CAP_FILE_SIZE,122041,0
$CFSIZE,260165632,146710528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,114640,2254.074,-15742.219,8,99.0,27,10.1