version: 66.06
glider: 146
mission: 5
dive: 657
start: 11 16 110 5 8 12
data:
$ID,146
$MISSION,5
$DIVE,657
$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,-263711.34
$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,40
$R_STBD_OVSHOOT,47
$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
$GPS1,050007,2257.953,-15744.459,50,1.2,50,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.1
$GPS2,050719,2257.981,-15744.471,11,1.7,16,10.1
$SPEED_LIMITS,0.143,0.193
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.135,-0.138
$KALMAN_X,-300318.3,292.5,160.4,344841.3,103.2
$KALMAN_Y,-315433.7,625.9,-65.5,458208.3,296.2
$MHEAD_RNG_PITCHd_Wd,214.3,23870,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.63,-77.9,0.0,0.0,0,93,0.00,0.00,-74.97,0.000,2,0.000,0.000,476,1752,3197,0,0,0,0,0,0
$GC,98,-1.63,-77.9,3.2,-7.8,14,122,11.75,2.65,-2.58,0.000,4,0.166,0.064,2636,208,3322,0,0,0,0,0,0
$GC,169,-1.57,-77.9,18.2,-15.5,26,175,0.00,2.45,0.00,0.000,6,0.000,0.016,2637,1788,3323,0,0,0,0,0,0
$GC,562,-1.47,-77.9,71.3,-14.2,70,567,0.20,2.70,0.00,0.000,4,0.128,0.051,2676,200,3324,0,0,0,0,0,0
$GC,582,-1.39,-77.9,74.0,-14.2,71,587,0.10,2.42,0.00,0.000,6,0.145,0.015,2693,1802,3324,0,0,0,0,0,0
$GC,971,-1.48,-77.9,113.5,-10.2,107,975,0.00,2.35,0.00,0.000,4,0.000,0.028,2693,3308,3326,0,0,0,0,0,0
$GC,1030,-1.63,-77.9,119.2,-9.9,112,1035,0.20,2.42,0.00,0.000,6,0.051,0.029,2630,1793,3326,0,0,0,0,0,0
$GC,1418,-1.63,-77.9,158.4,-9.5,148,1423,0.00,2.70,0.00,0.000,4,0.000,0.062,2630,196,3327,0,0,0,0,0,0
$GC,1510,-1.59,-77.9,168.0,-10.0,155,1516,0.10,2.40,0.00,0.000,6,0.129,0.021,2649,1796,3327,0,0,0,0,0,0
$GC,1918,-1.59,-77.9,205.0,-9.8,191,1922,0.00,2.38,0.00,0.000,4,0.000,0.025,2649,3311,3327,0,0,0,0,0,0
$GC,1987,-1.66,-77.9,211.6,-9.9,192,1991,0.00,2.40,0.00,0.000,6,0.000,0.033,2650,1811,3328,0,0,0,0,0,0
$GC,2364,-1.70,-77.9,247.1,-9.3,202,2368,0.00,2.35,0.00,0.000,4,0.000,0.031,2649,3302,3327,0,0,0,0,0,0
$GC,2425,-1.78,-77.9,252.8,-8.9,203,2430,0.15,2.38,0.00,0.000,6,0.062,0.028,2597,1825,3327,0,0,0,0,0,0
$GC,2810,-1.74,-77.9,288.9,-9.0,213,2816,0.10,2.85,0.00,0.000,4,0.127,0.074,2618,195,3327,0,0,0,0,0,0
$GC,2827,-1.74,-77.9,290.7,-8.8,213,2831,0.00,2.50,0.00,0.000,6,0.000,0.018,2617,1807,3328,0,0,0,0,0,0
$GC,3211,-1.74,-77.9,326.0,-9.9,223,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,1808,3327,0,0,0,0,0,0
$GC,3575,-1.74,-77.9,362.3,-9.5,232,3579,0.00,2.47,0.00,0.000,4,0.000,0.041,2618,3336,3326,0,0,0,0,0,0
$GC,3642,-1.80,-77.9,367.9,-7.7,233,3646,0.00,2.42,0.00,0.000,6,0.000,0.041,2617,1867,3326,0,0,0,0,0,0
$GC,4020,-1.80,-77.9,393.4,-6.6,243,4025,0.00,3.00,0.00,0.000,4,0.000,0.087,2617,196,3324,0,0,0,0,0,0
$GC,4036,-1.80,-77.9,394.7,-7.3,243,4041,0.00,2.62,0.00,0.000,6,0.000,0.027,2618,1842,3324,0,0,0,0,0,0
$GC,4420,-1.84,-77.9,428.5,-9.6,253,4424,0.00,2.47,0.00,0.000,4,0.000,0.049,2618,3334,3322,0,0,0,0,0,0
$GC,4489,-1.91,-77.9,435.3,-9.7,254,4494,0.15,2.42,0.00,0.000,6,0.066,0.054,2570,1879,3322,0,0,0,0,0,0
$GC,4866,-1.87,-77.9,476.1,-10.7,264,4871,0.10,2.40,0.00,0.000,4,0.131,0.046,2590,3337,3319,0,0,0,0,0,0
$GC,4929,-1.91,-77.9,482.4,-10.5,265,4933,0.00,2.45,0.00,0.000,6,0.000,0.061,2589,1905,3319,0,0,0,0,0,0
$STATE,5105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5106,begin apogee
$GC,5112,-0.31,0.0,500.6,10.1,270,5182,1.58,0.00,66.35,0.907,6,0.095,0.000,2928,1834,3001,0,0,0,0,0,0
$STATE,5183,end apogee,CONTROL_FINISHED_OK
$STATE,5183,begin climb
$GC,5185,1.63,77.9,502.3,0.0,271,5262,1.77,3.08,67.95,0.890,4,0.038,0.101,3361,233,2682,0,0,0,0,0,0
$GC,5384,1.46,111.8,496.9,7.1,274,5421,0.22,2.58,30.70,0.869,6,0.132,0.035,3318,1800,2545,0,0,0,0,0,0
$GC,5804,1.49,142.8,465.6,7.4,285,5838,0.00,2.83,27.60,0.861,4,0.000,0.058,3318,3399,2417,0,0,0,0,0,0
$GC,5913,1.51,153.4,456.9,9.1,287,5929,0.00,2.72,10.62,0.785,6,0.000,0.053,3318,1816,2375,0,0,0,0,0,0
$GC,6297,1.54,176.5,426.2,8.0,296,6326,0.00,2.67,21.20,0.840,4,0.000,0.041,3318,3412,2280,0,0,0,0,0,0
$GC,6390,1.60,180.7,417.4,9.7,298,6402,0.12,2.70,5.25,0.637,6,0.085,0.054,3349,1835,2264,0,0,0,0,0,0
$GC,6794,1.60,183.1,375.8,9.8,308,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,1835,2259,0,0,0,0,0,0
$GC,7156,1.62,195.3,342.4,9.0,317,7175,0.00,2.65,13.45,0.775,4,0.000,0.038,3348,3410,2204,0,0,0,0,0,0
$GC,7270,1.63,203.1,331.9,9.4,319,7284,0.00,2.67,8.62,0.716,6,0.000,0.049,3349,1832,2171,0,0,0,0,0,0
$GC,7657,1.65,220.7,297.9,8.5,329,7680,0.00,2.62,16.48,0.755,4,0.000,0.029,3348,3414,2100,0,0,0,0,0,0
$GC,7733,1.72,220.7,290.4,10.5,330,7738,0.12,2.65,0.00,0.000,6,0.096,0.044,3379,1842,2097,0,0,0,0,0,0
$GC,8104,1.72,220.7,250.8,10.3,339,8109,0.00,2.55,0.00,0.000,4,0.000,0.034,3379,3412,2094,0,0,0,0,0,0
$GC,8120,1.72,220.7,249.0,10.2,339,8124,0.00,2.62,0.00,0.000,6,0.000,0.044,3379,1835,2094,0,0,0,0,0,0
$GC,8505,1.74,233.8,213.7,8.9,349,8524,0.00,2.65,12.12,0.672,4,0.000,0.031,3379,3411,2045,0,0,0,0,0,0
$GC,8611,1.79,233.8,203.0,10.4,351,8615,0.00,2.58,0.00,0.000,6,0.000,0.039,3379,1863,2044,0,0,0,0,0,0
$GC,9003,1.81,250.0,165.7,8.6,384,9024,0.00,2.55,15.48,0.651,4,0.000,0.033,3379,3412,1979,0,0,0,0,0,0
$GC,9119,1.87,254.6,155.0,9.6,394,9131,0.12,2.55,5.05,0.520,6,0.079,0.037,3412,1871,1963,0,0,0,0,0,0
$GC,9513,1.87,255.6,115.5,10.0,431,9517,0.00,2.50,0.00,0.000,4,0.000,0.035,3412,3422,1961,0,0,0,0,0,0
$GC,9545,1.87,255.6,112.4,11.2,433,9549,0.00,2.50,0.00,0.000,6,0.000,0.038,3412,1893,1960,0,0,0,0,0,0
$GC,9935,1.92,294.3,77.5,6.7,469,9977,0.00,2.90,35.12,0.591,4,0.000,0.063,3412,237,1800,0,0,0,0,0,0
$GC,10095,1.89,302.2,63.4,9.4,483,10112,0.00,2.70,8.15,0.505,6,0.000,0.019,3412,1954,1767,0,0,0,0,0,0
$GC,10497,1.93,302.2,25.5,12.1,524,10503,0.00,2.92,0.00,0.000,4,0.000,0.058,3412,233,1764,0,0,0,0,0,0
$GC,10561,1.89,302.2,17.1,13.5,535,10568,0.00,2.70,0.00,0.000,6,0.000,0.019,3412,1939,1762,0,0,0,0,0,0
$STATE,10671,end climb,SURFACE_DEPTH_REACHED
$STATE,10672,begin surface coast
$FINISH,0.4,1.016167
$STATE,10713,end surface coast,CONTROL_FINISHED_OK
$STATE,10714,begin surface
$SM_CCo,10735,79.07,0.522,0,0,1369,400.08
$SM_GC,1.01,0.00,0.00,79.07,0.000,0.000,0.522,472,1752,1369,-11.63,-0.51,400.08
$IRIDIUM_FIX,2248.70,-15743.68,100200,020236
$TT8_MAMPS,0.026078
$HUMID,56.06
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.20
$XPDR_PINGS,153
$24V_AH,23.3,92.107
$10V_AH,9.9,84.366
$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,28.725,114.550,344.150,79.075,0.000,28.145,32.281,229.964,38.250,0.000,19.317,1084.879,7678.988,487.600,1423.263,572.652,33.375,1208.600,0.000,1404.705,0.000,0.533,0.000
$DEVICE_MAMPS,165.672,140.361,906.594,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.200,214.874,299.622,0.000,433.276,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,41512,562
$CAP_FILE_SIZE,105899,0
$CFSIZE,260165632,143765504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161110,080937,2257.481,-15745.166,29,1.5,29,10.1