version: 66.06
glider: 146
mission: 5
dive: 660
start: 11 16 110 15 8 22
data:
$ID,146
$MISSION,5
$DIVE,660
$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,-264021.22
$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,12
$R_STBD_OVSHOOT,36
$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
$GPS1,145707,2257.579,-15746.645,35,1.1,35,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-65.7
$GPS2,150727,2257.613,-15746.652,14,1.8,14,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.130,-0.216
$KALMAN_X,-299388.3,33.0,46.5,340534.8,-32.8
$KALMAN_Y,-310582.7,-262.6,563.4,452929.6,769.0
$MHEAD_RNG_PITCHd_Wd,200.9,20707,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.31,-136.3,0.0,0.0,0,94,0.00,0.00,-75.45,0.000,2,0.000,0.000,476,1844,3216,0,0,0,0,0,0
$GC,97,-1.31,-136.3,3.7,-9.4,14,127,12.25,2.88,-6.90,0.000,4,0.170,0.063,2707,179,3558,0,0,0,0,0,0
$GC,160,-1.22,-136.3,17.9,-18.2,24,167,0.08,2.53,0.00,0.000,6,0.100,0.018,2727,1799,3559,0,0,0,0,0,0
$GC,556,-1.12,-136.3,71.9,-12.2,67,562,0.12,0.00,0.00,0.000,6,0.122,0.000,2751,1801,3560,0,0,0,0,0,0
$GC,945,-1.12,-136.3,107.0,-8.1,104,949,0.00,2.38,0.00,0.000,4,0.000,0.031,2751,3325,3561,0,0,0,0,0,0
$GC,991,-1.20,-136.3,110.8,-8.4,107,997,0.00,2.53,0.00,0.000,6,0.000,0.032,2751,1736,3562,0,0,0,0,0,0
$GC,1380,-1.24,-136.3,145.2,-9.1,144,1384,0.00,2.50,0.00,0.000,4,0.000,0.031,2751,3325,3562,0,0,0,0,0,0
$GC,1400,-1.31,-136.3,146.7,-8.7,145,1405,0.15,2.50,0.00,0.000,6,0.061,0.031,2699,1758,3563,0,0,0,0,0,0
$GC,1789,-1.27,-136.3,181.5,-8.4,181,1794,0.12,2.50,0.00,0.000,4,0.107,0.030,2725,3330,3562,0,0,0,0,0,0
$GC,1847,-1.33,-136.3,186.1,-8.0,185,1853,0.00,2.47,0.00,0.000,6,0.000,0.025,2725,1780,3563,0,0,0,0,0,0
$GC,2246,-1.33,-136.3,224.8,-10.1,206,2250,0.00,2.45,0.00,0.000,4,0.000,0.026,2725,3331,3563,0,0,0,0,0,0
$GC,2275,-1.37,-136.3,227.4,-9.2,206,2280,0.10,2.45,0.00,0.000,6,0.082,0.028,2686,1798,3563,0,0,0,0,0,0
$GC,2647,-1.32,-136.3,261.2,-8.9,215,2652,0.12,2.78,0.00,0.000,4,0.110,0.073,2713,197,3563,0,0,0,0,0,0
$GC,2669,-1.32,-136.3,263.4,-9.6,215,2674,0.00,2.47,0.00,0.000,6,0.000,0.020,2713,1804,3563,0,0,0,0,0,0
$GC,3048,-1.32,-136.3,295.1,-8.6,225,3052,0.00,2.42,0.00,0.000,4,0.000,0.029,2713,3338,3562,0,0,0,0,0,0
$GC,3109,-1.37,-136.3,300.4,-8.3,226,3114,0.00,2.45,0.00,0.000,6,0.000,0.037,2713,1811,3562,0,0,0,0,0,0
$GC,3494,-1.37,-136.3,330.2,-7.9,236,3499,0.00,2.42,0.00,0.000,4,0.000,0.030,2713,3327,3561,0,0,0,0,0,0
$GC,3523,-1.43,-136.3,332.7,-7.8,236,3528,0.12,2.45,0.00,0.000,6,0.071,0.038,2670,1817,3561,0,0,0,0,0,0
$GC,3897,-1.37,-136.3,368.2,-9.9,245,3903,0.12,2.90,0.00,0.000,4,0.109,0.084,2698,190,3560,0,0,0,0,0,0
$GC,3960,-1.37,-136.3,374.9,-10.6,246,3965,0.00,2.53,0.00,0.000,6,0.000,0.025,2698,1794,3560,0,0,0,0,0,0
$GC,4343,-1.37,-136.3,409.0,-8.3,256,4347,0.00,2.53,0.00,0.000,4,0.000,0.043,2698,3346,3557,0,0,0,0,0,0
$GC,4423,-1.42,-136.3,415.0,-7.3,257,4428,0.00,2.53,0.00,0.000,6,0.000,0.046,2698,1834,3557,0,0,0,0,0,0
$GC,4795,-1.42,-136.3,444.3,-8.4,267,4799,0.00,2.45,0.00,0.000,4,0.000,0.038,2698,3350,3555,0,0,0,0,0,0
$GC,4839,-1.49,-136.3,448.3,-8.9,268,4843,0.00,2.55,0.00,0.000,6,0.000,0.051,2698,1840,3554,0,0,0,0,0,0
$GC,5240,-1.49,-136.3,483.8,-8.9,278,5245,0.00,3.03,0.00,0.000,4,0.000,0.107,2698,192,3552,0,0,0,0,0,0
$GC,5285,-1.54,-136.3,488.1,-9.6,279,5290,0.15,2.65,0.00,0.000,6,0.065,0.038,2652,1822,3552,0,0,0,0,0,0
$STATE,5397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5397,begin apogee
$GC,5405,-0.31,0.0,500.3,10.6,282,5523,1.25,0.00,113.85,0.907,6,0.082,0.000,2929,1822,3001,0,0,0,0,0,0
$STATE,5523,end apogee,CONTROL_FINISHED_OK
$STATE,5523,begin climb
$GC,5526,1.31,136.3,506.0,0.0,285,5654,1.48,2.75,117.43,0.893,4,0.045,0.061,3292,3378,2444,0,0,0,0,0,0
$GC,5707,1.24,182.0,502.4,7.8,289,5754,0.10,2.65,40.90,0.869,6,0.140,0.057,3273,1824,2258,0,0,0,0,0,0
$GC,6144,1.16,182.0,459.2,10.8,300,6148,0.00,2.95,0.00,0.000,4,0.000,0.101,3272,233,2248,0,0,0,0,0,0
$GC,6223,1.01,182.0,450.3,11.4,301,6229,0.25,2.53,0.00,0.000,6,0.109,0.031,3222,1796,2247,0,0,0,0,0,0
$GC,6595,1.10,261.0,423.9,6.1,311,6670,0.00,2.75,69.43,0.858,4,0.000,0.042,3222,3412,1936,0,0,0,0,0,0
$GC,6721,1.26,306.9,415.1,7.8,313,6771,0.22,2.78,41.53,0.834,6,0.062,0.054,3278,1799,1748,0,0,0,0,0,0
$GC,7167,1.26,306.9,368.2,10.6,324,7171,0.00,2.85,0.00,0.000,4,0.000,0.092,3278,234,1739,0,0,0,0,0,0
$GC,7239,1.19,306.9,360.1,10.9,325,7243,0.00,2.47,0.00,0.000,6,0.000,0.022,3278,1792,1737,0,0,0,0,0,0
$GC,7611,1.21,323.0,325.2,9.2,334,7630,0.00,2.85,13.65,0.752,4,0.000,0.075,3278,231,1684,0,0,0,0,0,0
$GC,7716,1.21,323.0,314.7,10.4,336,7720,0.00,2.45,0.00,0.000,6,0.000,0.028,3278,1769,1682,0,0,0,0,0,0
$GC,8104,1.21,323.0,275.7,10.8,346,8108,0.00,2.67,0.00,0.000,4,0.000,0.070,3278,227,1680,0,0,0,0,0,0
$GC,8149,1.21,323.0,270.4,13.1,347,8153,0.00,2.40,0.00,0.000,6,0.000,0.027,3278,1763,1679,0,0,0,0,0,0
$GC,8549,1.27,344.8,232.7,9.0,357,8574,0.00,2.72,19.85,0.712,4,0.000,0.070,3278,233,1594,0,0,0,0,0,0
$GC,8656,1.28,351.7,222.9,9.7,359,8670,0.00,2.35,7.28,0.614,6,0.000,0.022,3278,1728,1567,0,0,0,0,0,0
$GC,9050,1.33,351.7,184.3,11.2,378,9055,0.00,2.60,0.00,0.000,4,0.000,0.064,3278,229,1563,0,0,0,0,0,0
$GC,9112,1.33,351.7,176.3,12.6,383,9116,0.00,2.33,0.00,0.000,6,0.000,0.028,3278,1718,1562,0,0,0,0,0,0
$GC,9501,1.48,426.9,142.2,6.3,419,9574,0.17,2.75,66.38,0.650,4,0.064,0.026,3326,3404,1259,0,0,0,0,0,0
$GC,9653,1.56,426.9,128.1,11.1,432,9659,0.00,2.95,0.00,0.000,6,0.000,0.039,3326,1645,1256,0,0,0,0,0,0
$GC,10044,1.63,434.6,84.7,9.7,469,10059,0.12,2.50,6.93,0.504,4,0.077,0.071,3361,232,1228,0,0,0,0,0,0
$GC,10112,1.58,434.6,76.3,13.1,475,10116,0.00,2.22,0.00,0.000,6,0.000,0.020,3361,1681,1227,0,0,0,0,0,0
$GC,10502,1.58,434.6,36.0,11.1,511,10506,0.00,2.50,0.00,0.000,4,0.000,0.061,3361,224,1227,0,0,0,0,0,0
$GC,10546,1.52,434.6,29.7,13.9,514,10553,0.10,2.22,0.00,0.000,6,0.092,0.019,3336,1662,1227,0,0,0,0,0,0
$STATE,10779,end climb,SURFACE_DEPTH_REACHED
$STATE,10779,begin surface coast
$FINISH,0.3,1.015037
$STATE,10825,end surface coast,CONTROL_FINISHED_OK
$STATE,10825,begin surface
$SM_CCo,10907,0.00,0.000,0,0,1222,436.14
$SM_GC,1.17,11.65,0.00,0.00,0.025,0.000,0.000,477,1802,1222,-11.52,0.90,436.14
$IRIDIUM_FIX,2248.70,-15751.06,100200,151522
$TT8_MAMPS,0.025311
$HUMID,59.05
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.20
$XPDR_PINGS,131
$24V_AH,23.2,92.524
$10V_AH,9.9,84.578
$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,28.700,118.725,497.200,0.000,0.000,54.617,80.729,265.424,32.750,0.000,15.673,1081.684,7770.443,530.035,1446.599,693.409,33.368,1292.786,0.000,1427.064,0.000,0.535,0.000
$DEVICE_MAMPS,169.507,107.380,906.594,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.436,215.620,299.594,0.000,425.980,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,44618,564
$CAP_FILE_SIZE,110300,0
$CFSIZE,260165632,143593472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161110,181137,2257.825,-15747.463,50,1.2,50,10.1