version: 66.06
glider: 146
mission: 5
dive: 656
start: 11 16 110 1 59 13
data:
$ID,146
$MISSION,5
$DIVE,656
$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,80
$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,-263691.41
$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,24
$R_STBD_OVSHOOT,60
$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,94
$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
$GPS1,015131,2257.984,-15743.932,35,1.6,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-65.1
$GPS2,015822,2258.023,-15743.936,10,2.1,29,10.1
$SPEED_LIMITS,0.143,0.193
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.165,-0.100
$KALMAN_X,-300709.4,60.8,80.4,346465.9,285.0
$KALMAN_Y,-316955.6,859.8,344.8,459161.7,-125.3
$MHEAD_RNG_PITCHd_Wd,228.6,24615,-24.5,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.63,-77.9,0.0,0.0,0,133,0.00,0.00,-113.28,0.000,6,0.000,0.000,473,1834,3320,0,0,0,0,0,0
$GC,138,-1.63,-77.9,3.7,-8.5,18,159,11.82,2.83,0.00,0.000,4,0.168,0.049,2639,196,3322,0,0,0,0,0,0
$GC,228,-1.54,-77.9,24.0,-14.2,34,236,0.08,2.45,0.00,0.000,6,0.128,0.015,2658,1784,3323,0,0,0,0,0,0
$GC,627,-1.48,-77.9,77.9,-13.7,75,632,0.00,2.70,0.00,0.000,4,0.000,0.059,2658,185,3323,0,0,0,0,0,0
$GC,646,-1.41,-77.9,80.9,-14.2,76,651,0.15,2.40,0.00,0.000,6,0.124,0.015,2689,1788,3323,0,0,0,0,0,0
$GC,1037,-1.49,-77.9,118.1,-7.2,112,1041,0.00,2.38,0.00,0.000,4,0.000,0.021,2689,3318,3324,0,0,0,0,0,0
$GC,1060,-1.57,-77.9,120.2,-8.0,113,1066,0.12,2.55,0.00,0.000,6,0.070,0.028,2643,1733,3324,0,0,0,0,0,0
$GC,1448,-1.57,-77.9,158.9,-9.4,150,1453,0.00,2.47,0.00,0.000,4,0.000,0.023,2643,3311,3324,0,0,0,0,0,0
$GC,1547,-1.62,-77.9,167.6,-8.6,158,1551,0.00,2.47,0.00,0.000,6,0.000,0.031,2643,1760,3324,0,0,0,0,0,0
$GC,1966,-1.62,-77.9,204.2,-9.2,194,1970,0.00,2.45,0.00,0.000,4,0.000,0.029,2643,3316,3325,0,0,0,0,0,0
$GC,1995,-1.66,-77.9,207.0,-9.6,194,1999,0.00,2.45,0.00,0.000,6,0.000,0.027,2643,1783,3325,0,0,0,0,0,0
$GC,2369,-1.66,-77.9,242.5,-9.2,203,2373,0.00,2.40,0.00,0.000,4,0.000,0.031,2643,3318,3324,0,0,0,0,0,0
$GC,2396,-1.70,-77.9,245.1,-8.7,203,2401,0.00,2.42,0.00,0.000,6,0.000,0.034,2643,1800,3325,0,0,0,0,0,0
$GC,2768,-1.74,-77.9,281.1,-10.6,212,2773,0.00,2.78,0.00,0.000,4,0.000,0.071,2642,196,3324,0,0,0,0,0,0
$GC,2797,-1.74,-77.9,284.3,-11.2,212,2801,0.00,2.42,0.00,0.000,6,0.000,0.022,2643,1763,3324,0,0,0,0,0,0
$GC,3169,-1.79,-77.9,319.0,-8.5,221,3174,0.15,2.53,0.00,0.000,4,0.066,0.032,2595,3335,3324,0,0,0,0,0,0
$GC,3226,-1.79,-77.9,324.3,-9.2,222,3231,0.00,2.47,0.00,0.000,6,0.000,0.037,2595,1821,3323,0,0,0,0,0,0
$GC,3615,-1.79,-77.9,361.7,-10.0,232,3619,0.00,2.45,0.00,0.000,4,0.000,0.038,2595,3338,3321,0,0,0,0,0,0
$GC,3643,-1.79,-77.9,364.6,-10.0,232,3647,0.00,2.53,0.00,0.000,6,0.000,0.044,2595,1826,3322,0,0,0,0,0,0
$GC,4016,-1.79,-77.9,402.9,-10.8,241,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1826,3320,0,0,0,0,0,0
$GC,4381,-1.79,-77.9,438.7,-9.0,250,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,1826,3318,0,0,0,0,0,0
$GC,4746,-1.79,-77.9,472.9,-9.4,259,4751,0.00,2.47,0.00,0.000,4,0.000,0.044,2595,3325,3316,0,0,0,0,0,0
$GC,4815,-1.79,-77.9,479.0,-9.0,260,4819,0.00,2.53,0.00,0.000,6,0.000,0.055,2595,1854,3315,0,0,0,0,0,0
$STATE,5067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5067,begin apogee
$GC,5073,-0.31,0.0,502.8,9.6,267,5142,1.55,0.00,65.22,0.907,6,0.105,0.000,2929,1853,3001,0,0,0,0,0,0
$STATE,5143,end apogee,CONTROL_FINISHED_OK
$STATE,5143,begin climb
$GC,5145,1.63,77.9,504.3,0.0,268,5220,1.75,0.00,67.85,0.891,6,0.045,0.000,3357,1853,2683,0,0,0,0,0,0
$GC,5593,1.60,138.1,489.0,4.8,279,5652,0.00,2.65,52.80,0.887,4,0.000,0.049,3357,3367,2437,0,0,0,0,0,0
$GC,5814,1.56,145.6,470.3,9.4,284,5828,0.00,2.65,7.57,0.736,6,0.000,0.059,3357,1842,2406,0,0,0,0,0,0
$GC,6226,1.53,159.4,432.5,8.8,294,6246,0.12,2.62,12.70,0.803,4,0.140,0.043,3335,3380,2351,0,0,0,0,0,0
$GC,6420,1.56,186.3,416.4,7.7,298,6450,0.00,2.62,25.45,0.838,6,0.000,0.051,3335,1843,2241,0,0,0,0,0,0
$GC,6854,1.58,201.8,379.6,8.7,309,6870,0.00,0.00,14.38,0.791,6,0.000,0.000,3335,1842,2178,0,0,0,0,0,0
$GC,7217,1.63,210.7,344.5,9.3,318,7227,0.00,0.00,8.80,0.727,6,0.000,0.000,3335,1842,2141,0,0,0,0,0,0
$GC,7582,1.70,225.6,312.9,8.8,327,7602,0.15,2.55,14.23,0.758,4,0.079,0.029,3373,3386,2080,0,0,0,0,0,0
$GC,7667,1.70,225.6,304.5,10.4,329,7671,0.00,2.60,0.00,0.000,6,0.000,0.042,3372,1845,2078,0,0,0,0,0,0
$GC,8072,1.70,226.1,262.9,10.0,339,8076,0.00,2.83,0.00,0.000,4,0.000,0.076,3373,236,2076,0,0,0,0,0,0
$GC,8123,1.62,226.1,257.2,11.8,340,8127,0.00,2.55,0.00,0.000,6,0.000,0.025,3373,1843,2074,0,0,0,0,0,0
$GC,8517,1.65,257.2,224.6,7.4,350,8551,0.00,2.60,28.42,0.721,4,0.000,0.036,3372,3394,1951,0,0,0,0,0,0
$GC,8641,1.74,266.6,213.9,9.2,352,8656,0.00,2.55,9.30,0.642,6,0.000,0.039,3373,1869,1913,0,0,0,0,0,0
$GC,9036,1.78,266.6,174.4,10.5,378,9040,0.00,2.47,0.00,0.000,4,0.000,0.035,3373,3399,1908,0,0,0,0,0,0
$GC,9111,1.88,266.6,166.5,10.6,384,9116,0.15,2.47,0.00,0.000,6,0.074,0.035,3410,1893,1907,0,0,0,0,0,0
$GC,9501,1.88,266.6,118.4,12.4,420,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,1892,1907,0,0,0,0,0,0
$GC,9881,1.94,277.6,78.8,9.1,456,9897,0.00,2.92,10.10,0.552,4,0.000,0.061,3410,236,1868,0,0,0,0,0,0
$GC,10029,1.90,277.6,63.5,10.6,469,10034,0.00,2.62,0.00,0.000,6,0.000,0.019,3410,1911,1866,0,0,0,0,0,0
$GC,10420,1.92,298.8,27.4,8.2,509,10447,0.00,2.97,19.08,0.536,4,0.000,0.058,3410,232,1781,0,0,0,0,0,0
$GC,10457,1.95,324.0,24.2,7.9,514,10491,0.00,2.62,22.85,0.532,6,0.000,0.020,3410,1887,1679,0,0,0,0,0,0
$STATE,10635,end climb,SURFACE_DEPTH_REACHED
$STATE,10635,begin surface coast
$FINISH,0.5,1.023597
$STATE,10677,end surface coast,CONTROL_FINISHED_OK
$STATE,10677,begin surface
$SM_CCo,10701,61.25,0.523,0,0,1369,400.08
$SM_GC,1.01,0.00,0.00,61.25,0.000,0.000,0.523,476,1750,1369,-11.61,-0.57,400.08
$IRIDIUM_FIX,2251.04,-15744.96,090200,222250
$TT8_MAMPS,0.026078
$HUMID,56.73
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,20.50
$XPDR_PINGS,117
$24V_AH,23.3,91.996
$10V_AH,9.9,84.300
$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,28.125,92.675,358.750,61.250,0.000,23.901,33.901,183.699,29.250,0.000,31.890,1043.038,7610.316,464.253,1527.785,522.045,33.369,1197.439,0.000,1497.879,0.000,0.533,0.000
$DEVICE_MAMPS,167.973,75.933,907.361,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.348,215.509,300.165,562.295,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,41529,554
$CAP_FILE_SIZE,97354,0
$CFSIZE,260165632,143822848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161110,050007,2257.953,-15744.459,50,1.2,50,10.1