version: 66.06
glider: 146
mission: 5
dive: 659
start: 11 16 110 11 48 48
data:
$ID,146
$MISSION,5
$DIVE,659
$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,140
$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,-264004.91
$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,20
$R_STBD_OVSHOOT,58
$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
$GPS1,114054,2257.419,-15745.838,13,3.0,32,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.6
$GPS2,114754,2257.437,-15745.809,37,1.5,41,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.149,-0.203
$KALMAN_X,-299594.0,316.5,-68.0,342018.8,85.6
$KALMAN_Y,-312600.9,-285.1,327.8,454883.5,729.7
$MHEAD_RNG_PITCHd_Wd,206.1,21500,-18.2,-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,-1.31,-136.3,0.0,0.0,0,100,0.00,0.00,-80.78,0.000,2,0.000,0.000,477,1757,3190,0,0,0,0,0,0
$GC,105,-1.31,-136.3,3.2,-8.3,15,136,12.27,2.72,-7.68,0.000,4,0.172,0.062,2706,187,3560,0,0,0,0,0,0
$GC,183,-1.22,-136.3,16.7,-11.4,28,190,0.10,2.47,0.00,0.000,6,0.110,0.017,2729,1775,3560,0,0,0,0,0,0
$GC,581,-1.12,-136.3,65.2,-14.8,78,586,0.12,2.47,0.00,0.000,4,0.128,0.025,2753,3344,3561,0,0,0,0,0,0
$GC,601,-1.06,-136.3,67.4,-12.3,79,606,0.00,2.55,0.00,0.000,6,0.000,0.026,2753,1759,3561,0,0,0,0,0,0
$GC,991,-1.06,-136.3,106.8,-9.6,115,995,0.00,2.60,0.00,0.000,4,0.000,0.060,2753,197,3562,0,0,0,0,0,0
$GC,1008,-1.06,-136.3,108.4,-8.7,116,1012,0.00,2.40,0.00,0.000,6,0.000,0.015,2753,1796,3562,0,0,0,0,0,0
$GC,1397,-1.10,-136.3,134.7,-6.8,152,1401,0.00,2.40,0.00,0.000,4,0.000,0.031,2753,3312,3563,0,0,0,0,0,0
$GC,1467,-1.19,-136.3,140.2,-8.3,158,1471,0.00,2.42,0.00,0.000,6,0.000,0.023,2753,1783,3563,0,0,0,0,0,0
$GC,1856,-1.25,-136.3,173.0,-7.6,194,1861,0.12,2.67,0.00,0.000,4,0.075,0.060,2708,203,3563,0,0,0,0,0,0
$GC,1885,-1.25,-136.3,175.5,-8.9,196,1889,0.00,2.38,0.00,0.000,6,0.000,0.021,2708,1793,3564,0,0,0,0,0,0
$GC,2280,-1.25,-136.3,207.8,-9.0,227,2284,0.00,2.40,0.00,0.000,4,0.000,0.031,2708,3313,3564,0,0,0,0,0,0
$GC,2352,-1.25,-136.3,214.4,-9.2,228,2356,0.00,2.42,0.00,0.000,6,0.000,0.029,2708,1795,3564,0,0,0,0,0,0
$GC,2726,-1.25,-136.3,243.2,-7.1,237,2730,0.00,2.72,0.00,0.000,4,0.000,0.063,2708,194,3564,0,0,0,0,0,0
$GC,2753,-1.25,-136.3,245.5,-7.5,237,2757,0.00,2.42,0.00,0.000,6,0.000,0.018,2708,1781,3564,0,0,0,0,0,0
$GC,3127,-1.25,-136.3,276.3,-9.1,246,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1782,3564,0,0,0,0,0,0
$GC,3492,-1.25,-136.3,311.4,-9.5,255,3496,0.00,2.47,0.00,0.000,4,0.000,0.038,2708,3323,3563,0,0,0,0,0,0
$GC,3525,-1.29,-136.3,314.6,-9.2,255,3531,0.00,2.47,0.00,0.000,6,0.000,0.038,2708,1795,3563,0,0,0,0,0,0
$GC,3897,-1.29,-136.3,345.2,-8.0,265,3902,0.00,2.85,0.00,0.000,4,0.000,0.087,2708,182,3561,0,0,0,0,0,0
$GC,3938,-1.33,-136.3,348.4,-8.1,266,3943,0.00,2.47,0.00,0.000,6,0.000,0.028,2708,1754,3561,0,0,0,0,0,0
$GC,4344,-1.33,-136.3,379.3,-7.9,276,4348,0.00,2.60,0.00,0.000,4,0.000,0.042,2708,3353,3559,0,0,0,0,0,0
$GC,4418,-1.40,-136.3,385.8,-9.2,277,4422,0.00,2.58,0.00,0.000,6,0.000,0.048,2708,1794,3559,0,0,0,0,0,0
$GC,4790,-1.40,-136.3,417.1,-8.0,286,4794,0.00,2.50,0.00,0.000,4,0.000,0.037,2708,3350,3557,0,0,0,0,0,0
$GC,4840,-1.49,-136.3,421.4,-8.0,287,4845,0.15,2.60,0.00,0.000,6,0.067,0.054,2660,1803,3556,0,0,0,0,0,0
$GC,5238,-1.44,-136.3,459.8,-9.9,297,5243,0.12,2.55,0.00,0.000,4,0.111,0.044,2687,3347,3554,0,0,0,0,0,0
$GC,5254,-1.44,-136.3,461.7,-9.7,297,5259,0.00,2.62,0.00,0.000,6,0.000,0.061,2687,1798,3554,0,0,0,0,0,0
$GC,5639,-1.44,-136.3,495.2,-8.9,307,5644,0.00,3.03,0.00,0.000,4,0.000,0.113,2686,181,3551,0,0,0,0,0,0
$GC,5684,-1.44,-136.3,499.5,-9.8,308,5688,0.00,2.62,0.00,0.000,6,0.000,0.038,2687,1791,3551,0,0,0,0,0,0
$STATE,5691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5691,begin apogee
$GC,5697,-0.31,0.0,500.4,9.0,308,5814,1.08,0.00,113.60,0.913,6,0.088,0.000,2928,1791,3001,0,0,0,0,0,0
$STATE,5815,end apogee,CONTROL_FINISHED_OK
$STATE,5815,begin climb
$GC,5819,1.31,136.3,504.1,0.0,311,5946,1.48,2.83,117.45,0.893,4,0.037,0.061,3290,3407,2444,0,0,0,0,0,0
$GC,5963,1.23,185.2,501.6,7.6,314,6013,0.10,2.75,43.58,0.867,6,0.140,0.057,3272,1814,2246,0,0,0,0,0,0
$GC,6392,1.19,209.6,461.0,8.8,325,6421,0.00,3.08,21.50,0.835,4,0.000,0.099,3271,228,2145,0,0,0,0,0,0
$GC,6463,1.05,210.5,454.6,10.0,326,6468,0.20,2.60,0.00,0.000,6,0.110,0.026,3232,1820,2142,0,0,0,0,0,0
$GC,6840,1.11,262.9,426.9,7.4,336,6895,0.00,2.95,47.97,0.862,4,0.000,0.084,3231,236,1928,0,0,0,0,0,0
$GC,6957,1.11,262.9,415.7,10.6,338,6961,0.00,2.53,0.00,0.000,6,0.000,0.023,3231,1804,1924,0,0,0,0,0,0
$GC,7329,1.20,290.5,381.9,8.7,347,7360,0.12,2.88,24.67,0.814,4,0.087,0.077,3264,229,1816,0,0,0,0,0,0
$GC,7421,1.14,290.5,372.7,11.0,349,7426,0.00,2.53,0.00,0.000,6,0.000,0.025,3264,1793,1812,0,0,0,0,0,0
$GC,7821,1.16,300.5,333.7,9.5,359,7836,0.00,2.80,9.45,0.724,4,0.000,0.069,3264,232,1775,0,0,0,0,0,0
$GC,7894,1.10,300.5,326.3,10.4,360,7899,0.12,2.45,0.00,0.000,6,0.123,0.026,3240,1765,1772,0,0,0,0,0,0
$GC,8270,1.21,335.2,296.5,8.3,369,8311,0.10,2.75,31.73,0.773,4,0.097,0.035,3268,3401,1632,0,0,0,0,0,0
$GC,8381,1.28,335.2,284.6,10.5,371,8385,0.00,2.85,0.00,0.000,6,0.000,0.038,3268,1707,1629,0,0,0,0,0,0
$GC,8764,1.38,372.7,249.8,8.2,381,8805,0.12,2.85,33.15,0.736,4,0.085,0.032,3303,3400,1480,0,0,0,0,0,0
$GC,8884,1.45,372.7,237.6,10.9,383,8888,0.00,2.88,0.00,0.000,6,0.000,0.044,3303,1690,1478,0,0,0,0,0,0
$GC,9255,1.45,372.7,198.1,10.7,392,9260,0.00,2.55,0.00,0.000,4,0.000,0.076,3303,224,1475,0,0,0,0,0,0
$GC,9352,1.41,372.7,186.8,12.1,400,9356,0.00,2.30,0.00,0.000,6,0.000,0.021,3303,1698,1473,0,0,0,0,0,0
$GC,9741,1.41,379.3,147.7,9.7,436,9753,0.00,2.55,6.32,0.547,4,0.000,0.064,3303,230,1452,0,0,0,0,0,0
$GC,9834,1.41,379.3,137.6,11.6,444,9838,0.00,2.25,0.00,0.000,6,0.000,0.028,3303,1675,1451,0,0,0,0,0,0
$GC,10223,1.48,391.0,99.0,9.5,480,10244,0.00,2.88,11.90,0.575,4,0.000,0.027,3303,3411,1404,0,0,0,0,0,0
$GC,10274,1.60,397.6,94.3,9.7,484,10291,0.20,2.95,7.28,0.521,6,0.064,0.036,3353,1639,1379,0,0,0,0,0,0
$GC,10675,1.60,400.8,52.5,9.9,522,10687,0.00,2.45,3.92,0.384,4,0.000,0.059,3354,231,1367,0,0,0,0,0,0
$GC,10715,1.55,400.8,47.7,11.1,525,10723,0.00,2.25,0.00,0.000,6,0.000,0.020,3354,1694,1366,0,0,0,0,0,0
$STATE,11108,end climb,SURFACE_DEPTH_REACHED
$STATE,11108,begin surface coast
$FINISH,0.4,1.023559
$STATE,11144,end surface coast,CONTROL_FINISHED_OK
$STATE,11144,begin surface
$SM_CCo,11226,0.00,0.000,0,0,1363,401.80
$SM_GC,1.07,11.77,0.00,0.00,0.028,0.000,0.000,476,1843,1363,-11.51,2.06,401.80
$IRIDIUM_FIX,2248.70,-15745.85,100200,080815
$TT8_MAMPS,0.025311
$HUMID,58.15
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.30
$XPDR_PINGS,136
$24V_AH,23.2,92.381
$10V_AH,9.9,84.511
$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,28.200,125.425,472.525,0.000,0.000,27.206,35.682,180.840,34.000,0.000,42.606,1126.799,7936.654,531.089,1503.594,544.158,33.375,1292.038,0.000,1461.439,0.000,0.534,0.000
$DEVICE_MAMPS,171.808,112.749,912.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,394.822,231.794,319.596,0.000,474.657,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,44732,589
$CAP_FILE_SIZE,109963,0
$CFSIZE,260165632,143650816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161110,145707,2257.579,-15746.645,35,1.1,35,10.1