version: 66.06
glider: 146
mission: 5
dive: 661
start: 11 16 110 18 19 2
data:
$ID,146
$MISSION,5
$DIVE,661
$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,-264037.41
$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,15
$R_STBD_OVSHOOT,69
$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
$GPS1,181137,2257.825,-15747.463,50,1.2,50,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.5
$GPS2,181807,2257.858,-15747.467,9,1.2,14,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.081,-0.239
$KALMAN_X,-299247.3,-233.0,66.3,339239.5,-92.2
$KALMAN_Y,-308268.5,254.4,245.9,450866.7,1303.8
$MHEAD_RNG_PITCHd_Wd,188.7,20124,-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,-80.68,0.000,2,0.000,0.000,477,1803,3171,0,0,0,0,0,0
$GC,105,-1.31,-136.3,3.0,-7.0,15,136,12.20,2.80,-8.02,0.000,4,0.169,0.069,2706,188,3559,0,0,0,0,0,0
$GC,182,-1.21,-136.3,17.7,-13.8,28,189,0.10,2.45,0.00,0.000,6,0.100,0.016,2730,1774,3560,0,0,0,0,0,0
$GC,576,-1.11,-136.3,67.0,-13.3,74,580,0.12,2.45,0.00,0.000,4,0.127,0.025,2755,3321,3561,0,0,0,0,0,0
$GC,599,-1.07,-136.3,69.9,-12.4,75,605,0.00,2.50,0.00,0.000,6,0.000,0.028,2755,1750,3561,0,0,0,0,0,0
$GC,988,-1.07,-136.3,110.3,-10.1,112,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1750,3563,0,0,0,0,0,0
$GC,1373,-1.12,-136.3,147.9,-8.9,148,1378,0.00,2.47,0.00,0.000,4,0.000,0.024,2755,3322,3563,0,0,0,0,0,0
$GC,1414,-1.21,-136.3,151.3,-8.1,151,1418,0.00,2.45,0.00,0.000,6,0.000,0.028,2755,1777,3563,0,0,0,0,0,0
$GC,1805,-1.28,-136.3,175.3,-5.4,187,1809,0.15,2.42,0.00,0.000,4,0.064,0.026,2706,3322,3564,0,0,0,0,0,0
$GC,1833,-1.28,-136.3,177.3,-7.0,189,1837,0.00,2.40,0.00,0.000,6,0.000,0.025,2707,1799,3564,0,0,0,0,0,0
$GC,2220,-1.28,-136.3,207.4,-8.3,219,2224,0.00,2.70,0.00,0.000,4,0.000,0.060,2706,200,3564,0,0,0,0,0,0
$GC,2269,-1.28,-136.3,212.3,-10.0,220,2273,0.00,2.42,0.00,0.000,6,0.000,0.021,2706,1810,3564,0,0,0,0,0,0
$GC,2663,-1.28,-136.3,250.1,-9.9,230,2667,0.00,2.35,0.00,0.000,4,0.000,0.024,2706,3317,3564,0,0,0,0,0,0
$GC,2681,-1.28,-136.3,251.8,-9.2,230,2685,0.00,2.40,0.00,0.000,6,0.000,0.026,2706,1802,3564,0,0,0,0,0,0
$GC,3069,-1.28,-136.3,286.7,-9.2,240,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1802,3564,0,0,0,0,0,0
$GC,3435,-1.28,-136.3,317.4,-8.6,249,3439,0.00,2.40,0.00,0.000,4,0.000,0.036,2706,3307,3563,0,0,0,0,0,0
$GC,3481,-1.33,-136.3,321.7,-9.4,250,3485,0.00,2.42,0.00,0.000,6,0.000,0.034,2706,1808,3563,0,0,0,0,0,0
$GC,3880,-1.33,-136.3,360.3,-9.0,260,3885,0.00,2.90,0.00,0.000,4,0.000,0.089,2706,186,3562,0,0,0,0,0,0
$GC,3924,-1.33,-136.3,364.3,-9.2,261,3928,0.00,2.47,0.00,0.000,6,0.000,0.026,2706,1761,3562,0,0,0,0,0,0
$GC,4325,-1.33,-136.3,393.4,-6.9,271,4330,0.00,2.58,0.00,0.000,4,0.000,0.042,2706,3357,3560,0,0,0,0,0,0
$GC,4411,-1.40,-136.3,399.9,-7.7,273,4415,0.00,2.53,0.00,0.000,6,0.000,0.050,2706,1830,3560,0,0,0,0,0,0
$GC,4818,-1.40,-136.3,433.4,-8.4,283,4822,0.00,2.97,0.00,0.000,4,0.000,0.096,2706,192,3557,0,0,0,0,0,0
$GC,4868,-1.45,-136.3,438.0,-8.7,284,4873,0.10,2.60,0.00,0.000,6,0.085,0.032,2671,1812,3556,0,0,0,0,0,0
$GC,5264,-1.45,-136.3,471.7,-8.6,294,5269,0.00,2.92,0.00,0.000,4,0.000,0.085,2670,192,3554,0,0,0,0,0,0
$GC,5292,-1.42,-136.3,474.6,-9.5,294,5296,0.00,2.62,0.00,0.000,6,0.000,0.037,2670,1807,3554,0,0,0,0,0,0
$STATE,5579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5580,begin apogee
$GC,5585,-0.31,0.0,501.9,9.6,301,5703,1.17,0.00,114.47,0.909,6,0.097,0.000,2929,1807,3001,0,0,0,0,0,0
$STATE,5704,end apogee,CONTROL_FINISHED_OK
$STATE,5704,begin climb
$GC,5708,1.31,136.3,506.3,0.0,304,5837,1.48,2.78,118.78,0.894,4,0.038,0.059,3295,3400,2443,0,0,0,0,0,0
$GC,5856,1.24,193.9,503.5,7.2,307,5916,0.12,2.70,51.62,0.877,6,0.129,0.051,3272,1825,2210,0,0,0,0,0,0
$GC,6323,1.18,212.7,459.1,9.1,319,6341,0.00,0.00,16.50,0.825,6,0.000,0.000,3272,1825,2133,0,0,0,0,0,0
$GC,6690,1.16,237.8,426.0,8.8,328,6715,0.00,0.00,23.17,0.858,6,0.000,0.000,3272,1824,2031,0,0,0,0,0,0
$GC,7054,1.14,259.1,392.7,9.0,337,7080,0.12,2.67,19.95,0.836,4,0.124,0.035,3247,3416,1943,0,0,0,0,0,0
$GC,7117,1.24,293.2,387.6,8.4,338,7157,0.10,2.72,31.58,0.841,6,0.094,0.054,3273,1830,1804,0,0,0,0,0,0
$GC,7546,1.26,310.9,347.9,9.2,349,7569,0.00,2.97,16.12,0.795,4,0.000,0.091,3273,227,1731,0,0,0,0,0,0
$GC,7653,1.21,310.9,335.7,12.8,351,7657,0.00,2.55,0.00,0.000,6,0.000,0.026,3273,1819,1729,0,0,0,0,0,0
$GC,8041,1.23,323.8,294.5,9.4,361,8060,0.00,2.88,12.48,0.743,4,0.000,0.072,3274,233,1679,0,0,0,0,0,0
$GC,8079,1.23,323.8,290.9,10.2,361,8084,0.00,2.50,0.00,0.000,6,0.000,0.028,3273,1806,1677,0,0,0,0,0,0
$GC,8451,1.28,339.2,257.3,9.3,371,8471,0.00,2.83,14.27,0.729,4,0.000,0.071,3273,229,1617,0,0,0,0,0,0
$GC,8538,1.28,339.2,248.6,10.2,373,8542,0.00,2.42,0.00,0.000,6,0.000,0.021,3273,1770,1615,0,0,0,0,0,0
$GC,8940,1.35,360.1,214.7,9.0,383,8964,0.00,2.75,19.30,0.706,4,0.000,0.065,3274,230,1531,0,0,0,0,0,0
$GC,9021,1.35,360.1,205.8,10.6,385,9025,0.00,2.35,0.00,0.000,6,0.000,0.020,3274,1731,1529,0,0,0,0,0,0
$GC,9415,1.47,395.8,168.7,8.3,416,9457,0.20,2.75,32.38,0.677,4,0.063,0.028,3325,3390,1386,0,0,0,0,0,0
$GC,9536,1.47,395.8,156.0,10.4,427,9541,0.00,2.85,0.00,0.000,6,0.000,0.038,3325,1684,1384,0,0,0,0,0,0
$GC,9926,1.47,395.8,110.8,11.7,463,9930,0.00,2.50,0.00,0.000,4,0.000,0.067,3325,227,1382,0,0,0,0,0,0
$GC,10014,1.47,395.8,100.2,11.4,470,10018,0.00,2.28,0.00,0.000,6,0.000,0.019,3325,1696,1380,0,0,0,0,0,0
$GC,10403,1.56,429.7,66.1,8.4,506,10438,0.00,2.80,29.35,0.578,4,0.000,0.027,3325,3396,1248,0,0,0,0,0,0
$GC,10460,1.65,430.5,61.0,10.0,511,10465,0.15,2.90,0.00,0.000,6,0.071,0.036,3365,1654,1247,0,0,0,0,0,0
$GC,10855,1.65,430.5,13.3,11.9,559,10862,0.00,2.45,0.00,0.000,4,0.000,0.062,3366,234,1246,0,0,0,0,0,0
$GC,10914,1.57,430.5,5.0,13.8,569,10921,0.08,2.25,0.00,0.000,6,0.097,0.019,3346,1682,1245,0,0,0,0,0,0
$STATE,10928,end climb,SURFACE_DEPTH_REACHED
$STATE,10928,begin surface coast
$FINISH,0.5,1.011251
$STATE,10956,end surface coast,CONTROL_FINISHED_OK
$STATE,10956,begin surface
$SM_CCo,11040,0.00,0.000,0,0,1242,431.48
$SM_GC,1.05,11.70,0.00,0.00,0.025,0.000,0.000,476,1785,1242,-11.51,0.42,431.48
$IRIDIUM_FIX,2251.04,-15742.79,100200,151554
$TT8_MAMPS,0.026078
$HUMID,58.78
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.30
$XPDR_PINGS,135
$24V_AH,23.2,92.659
$10V_AH,9.9,84.644
$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,27.800,109.250,499.975,0.000,0.000,28.156,36.934,172.643,33.750,0.000,15.563,1087.355,7861.870,540.951,1415.144,521.142,33.372,1279.581,0.000,1396.470,0.000,0.533,0.000
$DEVICE_MAMPS,168.740,95.875,908.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.847,216.985,300.461,0.000,425.870,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,44783,576
$CAP_FILE_SIZE,104009,0
$CFSIZE,260165632,143540224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161110,212426,2257.614,-15748.002,45,1.6,46,10.1