version: 66.06
glider: 146
mission: 5
dive: 662
start: 11 16 110 21 31 27
data:
$ID,146
$MISSION,5
$DIVE,662
$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,-264049.81
$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,14
$R_STBD_OVSHOOT,61
$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
$GPS1,212426,2257.614,-15748.002,45,1.6,46,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.4
$GPS2,213032,2257.647,-15748.018,10,1.6,10,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.085,-0.237
$KALMAN_X,-299130.3,-351.1,-71.3,338429.4,180.1
$KALMAN_Y,-306453.4,795.1,-146.1,448524.5,1522.1
$MHEAD_RNG_PITCHd_Wd,189.7,19228,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.31,-136.3,0.0,0.0,0,101,0.00,0.00,-81.10,0.000,2,0.000,0.000,475,1786,3239,0,0,0,0,0,0
$GC,104,-1.31,-136.3,3.8,-10.1,15,129,12.27,2.75,-6.45,0.000,4,0.171,0.064,2707,182,3558,0,0,0,0,0,0
$GC,162,-1.15,-136.3,15.9,-14.9,24,169,0.15,2.47,0.00,0.000,6,0.093,0.016,2742,1775,3560,0,0,0,0,0,0
$GC,564,-1.08,-136.3,62.5,-11.6,72,568,0.10,2.45,0.00,0.000,4,0.130,0.024,2761,3328,3560,0,0,0,0,0,0
$GC,587,-1.08,-136.3,65.6,-11.5,73,592,0.00,2.55,0.00,0.000,6,0.000,0.028,2761,1744,3560,0,0,0,0,0,0
$GC,976,-1.08,-136.3,107.5,-9.4,110,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1744,3562,0,0,0,0,0,0
$GC,1358,-1.15,-136.3,141.9,-6.7,146,1363,0.00,2.50,0.00,0.000,4,0.000,0.025,2761,3328,3562,0,0,0,0,0,0
$GC,1382,-1.24,-136.3,143.6,-6.8,147,1390,0.10,2.50,0.00,0.000,6,0.037,0.031,2715,1772,3562,0,0,0,0,0,0
$GC,1771,-1.24,-136.3,175.8,-8.9,184,1776,0.00,2.65,0.00,0.000,4,0.000,0.064,2715,195,3563,0,0,0,0,0,0
$GC,1802,-1.24,-136.3,178.5,-9.5,186,1806,0.00,2.40,0.00,0.000,6,0.000,0.020,2714,1793,3563,0,0,0,0,0,0
$GC,2185,-1.24,-136.3,215.6,-9.6,210,2189,0.00,2.72,0.00,0.000,4,0.000,0.062,2715,197,3564,0,0,0,0,0,0
$GC,2208,-1.24,-136.3,217.9,-9.4,210,2212,0.00,2.33,0.00,0.000,6,0.000,0.015,2715,1747,3564,0,0,0,0,0,0
$GC,2585,-1.24,-136.3,249.5,-8.0,220,2589,0.00,2.45,0.00,0.000,4,0.000,0.028,2715,3306,3564,0,0,0,0,0,0
$GC,2625,-1.28,-136.3,252.6,-7.4,221,2629,0.00,2.47,0.00,0.000,6,0.000,0.028,2715,1751,3564,0,0,0,0,0,0
$GC,3032,-1.28,-136.3,286.6,-8.6,231,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1750,3564,0,0,0,0,0,0
$GC,3396,-1.28,-136.3,312.5,-6.5,240,3400,0.00,2.50,0.00,0.000,4,0.000,0.031,2715,3310,3563,0,0,0,0,0,0
$GC,3470,-1.36,-136.3,318.0,-7.7,241,3474,0.00,2.53,0.00,0.000,6,0.000,0.038,2715,1756,3563,0,0,0,0,0,0
$GC,3842,-1.40,-136.3,348.4,-8.0,250,3847,0.00,2.45,0.00,0.000,4,0.000,0.030,2715,3299,3562,0,0,0,0,0,0
$GC,3859,-1.45,-136.3,349.7,-7.6,250,3864,0.12,2.50,0.00,0.000,6,0.072,0.044,2670,1775,3562,0,0,0,0,0,0
$GC,4245,-1.40,-136.3,386.0,-9.8,260,4250,0.10,2.90,0.00,0.000,4,0.120,0.094,2692,180,3560,0,0,0,0,0,0
$GC,4306,-1.40,-136.3,392.3,-9.9,261,4310,0.00,2.42,0.00,0.000,6,0.000,0.028,2692,1714,3560,0,0,0,0,0,0
$GC,4691,-1.40,-136.3,428.3,-9.5,271,4695,0.00,2.60,0.00,0.000,4,0.000,0.044,2692,3295,3557,0,0,0,0,0,0
$GC,4765,-1.45,-136.3,435.3,-8.9,272,4769,0.00,2.55,0.00,0.000,6,0.000,0.051,2692,1776,3557,0,0,0,0,0,0
$GC,5137,-1.45,-136.3,467.2,-8.1,281,5141,0.00,2.50,0.00,0.000,4,0.000,0.047,2692,3297,3554,0,0,0,0,0,0
$GC,5160,-1.45,-136.3,469.0,-7.8,281,5164,0.00,2.58,0.00,0.000,6,0.000,0.058,2692,1788,3554,0,0,0,0,0,0
$GC,5537,-1.45,-136.3,498.0,-7.7,291,5541,0.00,2.97,0.00,0.000,4,0.000,0.105,2691,185,3552,0,0,0,0,0,0
$GC,5553,-1.45,-136.3,499.2,-7.4,291,5557,0.00,2.50,0.00,0.000,6,0.000,0.036,2692,1736,3551,0,0,0,0,0,0
$STATE,5560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5560,begin apogee
$GC,5568,-0.31,0.0,500.1,8.1,291,5685,1.05,0.00,113.62,0.919,6,0.082,0.000,2928,1837,3000,0,0,0,0,0,0
$STATE,5686,end apogee,CONTROL_FINISHED_OK
$STATE,5686,begin climb
$GC,5689,1.31,136.3,503.1,0.0,294,5820,1.48,2.75,117.15,0.891,4,0.036,0.058,3290,3403,2444,0,0,0,0,0,0
$GC,5842,1.27,202.6,501.1,6.7,298,5907,0.00,2.72,58.50,0.877,6,0.000,0.052,3290,1812,2174,0,0,0,0,0,0
$GC,6316,1.23,254.7,463.5,7.5,310,6370,0.12,2.67,45.97,0.862,4,0.130,0.036,3267,3403,1961,0,0,0,0,0,0
$GC,6448,1.25,278.1,452.5,8.9,313,6477,0.00,2.72,21.92,0.831,6,0.000,0.053,3266,1826,1866,0,0,0,0,0,0
$GC,6852,1.25,278.1,412.0,11.0,323,6856,0.00,2.95,0.00,0.000,4,0.000,0.097,3266,234,1858,0,0,0,0,0,0
$GC,6924,1.18,278.1,402.8,12.0,324,6928,0.00,2.58,0.00,0.000,6,0.000,0.021,3266,1833,1857,0,0,0,0,0,0
$GC,7297,1.18,278.1,364.1,10.1,333,7302,0.00,2.85,0.00,0.000,4,0.000,0.077,3266,229,1856,0,0,0,0,0,0
$GC,7352,1.11,278.1,357.6,11.9,334,7357,0.12,2.53,0.00,0.000,6,0.125,0.022,3242,1818,1854,0,0,0,0,0,0
$GC,7741,1.22,331.5,324.7,7.4,344,7797,0.10,2.92,46.67,0.803,4,0.092,0.068,3269,226,1648,0,0,0,0,0,0
$GC,7876,1.24,348.2,313.4,9.2,347,7897,0.00,2.47,15.62,0.750,6,0.000,0.027,3270,1793,1581,0,0,0,0,0,0
$GC,8278,1.29,348.2,274.5,10.6,357,8283,0.00,2.75,0.00,0.000,4,0.000,0.070,3269,224,1575,0,0,0,0,0,0
$GC,8356,1.29,353.2,266.0,9.8,358,8365,0.00,2.42,4.75,0.559,6,0.000,0.021,3269,1760,1561,0,0,0,0,0,0
$GC,8770,1.37,368.6,232.5,9.3,369,8791,0.12,2.67,15.55,0.702,4,0.077,0.028,3306,3396,1497,0,0,0,0,0,0
$GC,8861,1.43,368.6,221.4,12.2,371,8865,0.00,2.83,0.00,0.000,6,0.000,0.037,3306,1700,1495,0,0,0,0,0,0
$GC,9252,1.44,381.8,178.9,9.4,394,9273,0.00,2.80,12.57,0.647,4,0.000,0.030,3306,3390,1444,0,0,0,0,0,0
$GC,9345,1.54,388.1,169.8,9.7,402,9360,0.12,2.85,6.95,0.571,6,0.081,0.042,3340,1681,1419,0,0,0,0,0,0
$GC,9749,1.54,388.1,118.6,13.3,440,9753,0.00,2.47,0.00,0.000,4,0.000,0.069,3340,230,1417,0,0,0,0,0,0
$GC,9813,1.47,388.1,110.8,12.3,445,9817,0.00,2.25,0.00,0.000,6,0.000,0.027,3340,1700,1416,0,0,0,0,0,0
$GC,10203,1.49,401.4,76.0,9.4,481,10226,0.00,2.78,13.20,0.559,4,0.000,0.026,3340,3393,1362,0,0,0,0,0,0
$GC,10231,1.49,401.4,72.9,10.3,483,10237,0.00,2.92,0.00,0.000,6,0.000,0.036,3341,1640,1362,0,0,0,0,0,0
$GC,10620,1.49,401.4,30.9,11.4,520,10624,0.00,2.40,0.00,0.000,4,0.000,0.059,3340,229,1362,0,0,0,0,0,0
$GC,10700,1.44,401.4,21.4,12.6,532,10707,0.10,2.22,0.00,0.000,6,0.088,0.019,3316,1671,1361,0,0,0,0,0,0
$STATE,10872,end climb,SURFACE_DEPTH_REACHED
$STATE,10872,begin surface coast
$FINISH,0.3,1.023504
$STATE,10910,end surface coast,CONTROL_FINISHED_OK
$STATE,10910,begin surface
$SM_CCo,10993,0.00,0.000,0,0,1358,403.03
$SM_GC,1.11,11.57,0.00,0.00,0.026,0.000,0.000,475,1797,1358,-11.52,0.76,403.03
$IRIDIUM_FIX,2248.70,-15748.01,100200,181848
$TT8_MAMPS,0.026078
$HUMID,58.15
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.70
$XPDR_PINGS,147
$24V_AH,23.2,92.789
$10V_AH,9.9,84.710
$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,27.650,120.075,472.500,0.000,0.000,22.657,33.539,168.921,36.750,0.000,11.791,1089.526,7788.459,519.938,1437.434,522.182,33.372,1271.385,0.000,1426.709,0.000,0.535,0.000
$DEVICE_MAMPS,171.041,113.516,918.866,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,381.690,224.273,309.389,0.000,451.444,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,44750,570
$CAP_FILE_SIZE,106885,0
$CFSIZE,260165632,143482880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171110,003624,2257.325,-15748.479,47,1.9,64,10.1