version: 66.06
glider: 146
mission: 5
dive: 664
start: 11 17 110 4 0 23
data:
$ID,146
$MISSION,5
$DIVE,664
$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,-264099.91
$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,12
$R_STBD_OVSHOOT,48
$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
$GPS1,035228,2257.296,-15749.389,9,2.7,28,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-69.4
$GPS2,035928,2257.338,-15749.407,12,3.4,31,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.133,-0.214
$KALMAN_X,-299538.4,-141.9,-76.4,336248.2,191.8
$KALMAN_Y,-302994.3,710.7,357.3,444069.8,416.1
$MHEAD_RNG_PITCHd_Wd,201.9,17373,-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,-75.38,0.000,2,0.000,0.000,476,1825,3167,0,0,0,0,0,0
$GC,99,-1.31,-136.3,3.2,-7.3,14,129,12.25,2.85,-7.93,0.000,4,0.170,0.063,2706,175,3559,0,0,0,0,0,0
$GC,189,-1.22,-136.3,20.7,-14.0,29,196,0.08,2.50,0.00,0.000,6,0.112,0.021,2725,1796,3560,0,0,0,0,0,0
$GC,588,-1.11,-136.3,70.7,-11.8,72,593,0.15,2.78,0.00,0.000,4,0.115,0.058,2755,172,3562,0,0,0,0,0,0
$GC,618,-1.07,-136.3,74.3,-11.5,74,622,0.00,2.42,0.00,0.000,6,0.000,0.015,2755,1770,3562,0,0,0,0,0,0
$GC,1007,-1.07,-136.3,111.6,-9.8,110,1011,0.00,2.40,0.00,0.000,4,0.000,0.031,2755,3313,3563,0,0,0,0,0,0
$GC,1028,-1.11,-136.3,113.8,-10.2,111,1035,0.00,2.58,0.00,0.000,6,0.000,0.033,2755,1728,3562,0,0,0,0,0,0
$GC,1419,-1.17,-136.3,144.5,-6.5,148,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1726,3563,0,0,0,0,0,0
$GC,1801,-1.23,-136.3,176.8,-9.5,184,1806,0.10,2.50,0.00,0.000,4,0.083,0.029,2717,3313,3564,0,0,0,0,0,0
$GC,1891,-1.23,-136.3,185.8,-9.1,191,1897,0.00,2.47,0.00,0.000,6,0.000,0.030,2717,1751,3564,0,0,0,0,0,0
$GC,2291,-1.23,-136.3,221.7,-8.5,212,2296,0.00,2.47,0.00,0.000,4,0.000,0.025,2717,3322,3564,0,0,0,0,0,0
$GC,2319,-1.23,-136.3,224.2,-8.3,212,2323,0.00,2.47,0.00,0.000,6,0.000,0.025,2717,1770,3564,0,0,0,0,0,0
$GC,2691,-1.23,-136.3,255.6,-8.7,221,2695,0.00,2.45,0.00,0.000,4,0.000,0.024,2717,3321,3564,0,0,0,0,0,0
$GC,2726,-1.27,-136.3,258.5,-8.4,221,2732,0.00,2.45,0.00,0.000,6,0.000,0.034,2717,1781,3564,0,0,0,0,0,0
$GC,3098,-1.27,-136.3,285.5,-6.7,231,3102,0.00,2.42,0.00,0.000,4,0.000,0.032,2717,3312,3564,0,0,0,0,0,0
$GC,3139,-1.34,-136.3,288.4,-7.2,232,3143,0.00,2.42,0.00,0.000,6,0.000,0.033,2717,1789,3564,0,0,0,0,0,0
$GC,3546,-1.34,-136.3,321.1,-9.0,242,3550,0.00,2.80,0.00,0.000,4,0.000,0.079,2717,192,3563,0,0,0,0,0,0
$GC,3579,-1.38,-136.3,324.9,-10.9,242,3584,0.00,2.45,0.00,0.000,6,0.000,0.022,2717,1760,3563,0,0,0,0,0,0
$GC,3951,-1.43,-136.3,358.3,-8.2,252,3956,0.12,2.55,0.00,0.000,4,0.078,0.041,2677,3345,3562,0,0,0,0,0,0
$GC,3997,-1.43,-136.3,362.2,-8.5,253,4002,0.00,2.53,0.00,0.000,6,0.000,0.041,2677,1805,3562,0,0,0,0,0,0
$GC,4397,-1.39,-136.3,394.3,-8.0,263,4402,0.00,2.90,0.00,0.000,4,0.000,0.091,2677,187,3560,0,0,0,0,0,0
$GC,4428,-1.39,-136.3,396.9,-9.8,263,4432,0.00,2.55,0.00,0.000,6,0.000,0.029,2678,1794,3560,0,0,0,0,0,0
$GC,4799,-1.39,-136.3,434.3,-10.7,272,4804,0.00,2.85,0.00,0.000,4,0.000,0.082,2677,189,3557,0,0,0,0,0,0
$GC,4826,-1.39,-136.3,437.4,-11.4,272,4830,0.00,2.55,0.00,0.000,6,0.000,0.028,2677,1782,3557,0,0,0,0,0,0
$GC,5200,-1.39,-136.3,474.6,-9.3,281,5204,0.00,2.62,0.00,0.000,4,0.000,0.051,2677,3358,3555,0,0,0,0,0,0
$GC,5239,-1.39,-136.3,477.9,-8.3,282,5244,0.00,2.62,0.00,0.000,6,0.000,0.058,2677,1797,3555,0,0,0,0,0,0
$STATE,5560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5560,begin apogee
$GC,5566,-0.31,0.0,501.7,7.5,290,5684,1.15,0.00,114.57,0.908,6,0.085,0.000,2932,1797,3001,0,0,0,0,0,0
$STATE,5685,end apogee,CONTROL_FINISHED_OK
$STATE,5685,begin climb
$GC,5689,1.31,136.3,505.2,0.0,293,5817,1.45,2.80,116.28,0.890,4,0.046,0.051,3290,3390,2444,0,0,0,0,0,0
$GC,5904,1.28,206.8,500.0,6.5,298,5974,0.00,2.72,61.80,0.881,6,0.000,0.058,3290,1821,2157,0,0,0,0,0,0
$GC,6353,1.21,240.1,465.4,8.4,309,6389,0.12,2.67,29.48,0.864,4,0.128,0.043,3266,3402,2022,0,0,0,0,0,0
$GC,6442,1.24,256.8,457.7,9.2,310,6466,0.00,2.70,16.45,0.826,6,0.000,0.058,3266,1833,1954,0,0,0,0,0,0
$GC,6846,1.25,270.6,419.8,9.4,320,6865,0.00,3.05,13.10,0.808,4,0.000,0.100,3265,236,1897,0,0,0,0,0,0
$GC,6952,1.17,270.6,408.5,10.3,322,6957,0.00,2.55,0.00,0.000,6,0.000,0.028,3266,1829,1894,0,0,0,0,0,0
$GC,7341,1.20,290.8,372.7,9.0,332,7365,0.00,2.92,18.90,0.814,4,0.000,0.075,3266,227,1815,0,0,0,0,0,0
$GC,7418,1.15,293.2,365.3,9.9,333,7422,0.00,2.55,0.00,0.000,6,0.000,0.028,3266,1813,1811,0,0,0,0,0,0
$GC,7790,1.17,309.7,330.9,9.2,342,7814,0.00,2.65,17.60,0.785,4,0.000,0.031,3266,3397,1737,0,0,0,0,0,0
$GC,7844,1.24,309.7,325.7,10.1,343,7849,0.00,2.72,0.00,0.000,6,0.000,0.049,3266,1791,1735,0,0,0,0,0,0
$GC,8238,1.25,317.7,287.7,9.6,353,8252,0.00,2.83,8.07,0.673,4,0.000,0.080,3266,236,1705,0,0,0,0,0,0
$GC,8352,1.26,324.5,276.9,9.7,355,8367,0.00,2.47,7.88,0.661,6,0.000,0.026,3266,1804,1677,0,0,0,0,0,0
$GC,8740,1.34,341.8,243.7,9.2,365,8764,0.12,2.85,16.42,0.706,4,0.084,0.072,3299,235,1606,0,0,0,0,0,0
$GC,8853,1.30,341.8,230.4,12.0,367,8857,0.00,2.40,0.00,0.000,6,0.000,0.023,3299,1753,1603,0,0,0,0,0,0
$GC,9234,1.32,359.3,191.9,9.2,383,9255,0.00,2.70,15.98,0.663,4,0.000,0.064,3299,229,1536,0,0,0,0,0,0
$GC,9285,1.28,360.8,187.1,10.0,387,9291,0.00,2.38,0.00,0.000,6,0.000,0.021,3299,1740,1534,0,0,0,0,0,0
$GC,9674,1.33,374.1,153.0,9.4,424,9695,0.00,2.65,14.35,0.623,4,0.000,0.064,3299,230,1475,0,0,0,0,0,0
$GC,9770,1.33,374.1,142.4,11.9,432,9777,0.00,2.35,0.00,0.000,6,0.000,0.026,3299,1719,1473,0,0,0,0,0,0
$GC,10162,1.41,404.8,103.1,8.5,469,10197,0.00,2.65,28.10,0.601,4,0.000,0.061,3299,239,1349,0,0,0,0,0,0
$GC,10283,1.49,430.4,92.0,8.8,480,10315,0.10,2.22,22.90,0.582,6,0.086,0.019,3328,1692,1246,0,0,0,0,0,0
$GC,10699,1.55,433.1,56.0,9.9,519,10710,0.00,2.55,3.50,0.345,4,0.000,0.058,3328,234,1234,0,0,0,0,0,0
$GC,10793,1.55,433.1,45.8,11.6,527,10797,0.00,2.20,0.00,0.000,6,0.000,0.019,3328,1674,1233,0,0,0,0,0,0
$GC,11192,1.56,442.9,7.1,9.6,585,11210,0.00,2.50,9.82,0.477,4,0.000,0.063,3328,237,1195,0,0,0,0,0,0
$STATE,11221,end climb,SURFACE_DEPTH_REACHED
$STATE,11221,begin surface coast
$FINISH,2.0,1.023521
$STATE,11238,end surface coast,CONTROL_FINISHED_OK
$STATE,11238,begin surface
$SM_CCo,11323,0.00,0.000,0,0,1190,444.24
$SM_GC,1.01,11.70,0.00,0.00,0.028,0.000,0.000,477,1794,1190,-11.52,0.68,444.24
$IRIDIUM_FIX,2248.70,-15750.18,110200,000030
$TT8_MAMPS,0.025311
$HUMID,57.40
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,22.00
$XPDR_PINGS,160
$24V_AH,23.2,93.058
$10V_AH,9.9,84.845
$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,27.350,124.175,515.200,0.000,0.000,29.791,35.253,189.043,40.000,0.000,33.495,1119.730,8002.930,553.913,1515.382,547.271,33.369,1341.814,0.000,1479.964,0.000,0.535,0.000
$DEVICE_MAMPS,170.274,100.477,908.128,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.544,229.282,315.114,0.000,455.226,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,44645,593
$CAP_FILE_SIZE,109694,0
$CFSIZE,260165632,143376384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171110,071025,2257.152,-15750.152,41,1.4,41,10.1