version: 66.06
glider: 146
mission: 5
dive: 665
start: 11 17 110 7 17 33
data:
$ID,146
$MISSION,5
$DIVE,665
$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,-264114.03
$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,17
$R_STBD_OVSHOOT,68
$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
$GPS1,071025,2257.152,-15750.152,41,1.4,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.2
$GPS2,071638,2257.171,-15750.157,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.123,-0.220
$KALMAN_X,-299743.8,71.8,-44.2,334911.6,65.5
$KALMAN_Y,-300802.4,178.5,452.1,442003.1,220.9
$MHEAD_RNG_PITCHd_Wd,199.1,16437,-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,17,-1.31,-136.3,0.0,0.0,0,105,0.00,0.00,-84.97,0.000,2,0.000,0.000,477,1794,3272,0,0,0,0,0,0
$GC,108,-1.31,-136.3,3.6,-9.3,16,133,12.20,2.75,-5.70,0.000,4,0.170,0.065,2706,178,3559,0,0,0,0,0,0
$GC,169,-1.20,-136.3,17.3,-15.3,26,176,0.12,2.47,0.00,0.000,6,0.103,0.015,2735,1776,3559,0,0,0,0,0,0
$GC,569,-1.11,-136.3,63.5,-12.2,73,575,0.10,0.00,0.00,0.000,6,0.133,0.000,2755,1778,3560,0,0,0,0,0,0
$GC,958,-1.11,-136.3,104.8,-8.9,110,963,0.00,2.67,0.00,0.000,4,0.000,0.053,2754,185,3561,0,0,0,0,0,0
$GC,982,-1.11,-136.3,107.1,-9.6,111,989,0.00,2.42,0.00,0.000,6,0.000,0.015,2755,1774,3561,0,0,0,0,0,0
$GC,1372,-1.11,-136.3,138.6,-8.1,148,1376,0.00,2.67,0.00,0.000,4,0.000,0.055,2755,185,3562,0,0,0,0,0,0
$GC,1414,-1.18,-136.3,142.3,-9.5,151,1419,0.00,2.38,0.00,0.000,6,0.000,0.022,2755,1760,3563,0,0,0,0,0,0
$GC,1809,-1.24,-136.3,172.8,-7.1,188,1814,0.10,2.42,0.00,0.000,4,0.084,0.029,2716,3316,3563,0,0,0,0,0,0
$GC,1862,-1.28,-136.3,177.1,-8.3,192,1867,0.00,2.53,0.00,0.000,6,0.000,0.025,2716,1733,3563,0,0,0,0,0,0
$GC,2258,-1.28,-136.3,212.3,-9.6,220,2262,0.00,2.47,0.00,0.000,4,0.000,0.025,2716,3312,3563,0,0,0,0,0,0
$GC,2298,-1.33,-136.3,216.3,-9.7,221,2302,0.00,2.42,0.00,0.000,6,0.000,0.032,2716,1773,3563,0,0,0,0,0,0
$GC,2703,-1.33,-136.3,250.4,-7.7,231,2707,0.00,2.40,0.00,0.000,4,0.000,0.023,2716,3313,3563,0,0,0,0,0,0
$GC,2745,-1.39,-136.3,253.7,-8.5,232,2750,0.00,2.42,0.00,0.000,6,0.000,0.031,2716,1789,3563,0,0,0,0,0,0
$GC,3151,-1.39,-136.3,291.4,-9.4,242,3156,0.00,2.75,0.00,0.000,4,0.000,0.077,2716,197,3563,0,0,0,0,0,0
$GC,3184,-1.39,-136.3,294.6,-9.5,242,3189,0.00,2.42,0.00,0.000,6,0.000,0.018,2716,1763,3563,0,0,0,0,0,0
$GC,3557,-1.39,-136.3,321.4,-7.1,252,3562,0.00,2.53,0.00,0.000,4,0.000,0.039,2716,3345,3562,0,0,0,0,0,0
$GC,3602,-1.48,-136.3,325.2,-8.5,253,3607,0.17,2.50,0.00,0.000,6,0.054,0.034,2656,1807,3561,0,0,0,0,0,0
$GC,4004,-1.39,-136.3,367.2,-10.8,263,4009,0.17,2.45,0.00,0.000,4,0.100,0.037,2694,3336,3560,0,0,0,0,0,0
$GC,4066,-1.43,-136.3,373.1,-8.7,264,4070,0.00,2.50,0.00,0.000,6,0.000,0.049,2694,1822,3560,0,0,0,0,0,0
$GC,4448,-1.43,-136.3,405.2,-8.0,274,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1822,3558,0,0,0,0,0,0
$GC,4816,-1.43,-136.3,433.5,-7.8,283,4820,0.00,2.45,0.00,0.000,4,0.000,0.036,2694,3332,3555,0,0,0,0,0,0
$GC,4826,-1.43,-136.3,434.6,-8.0,283,4830,0.00,2.53,0.00,0.000,6,0.000,0.048,2694,1829,3555,0,0,0,0,0,0
$GC,5214,-1.43,-136.3,465.6,-7.8,293,5219,0.00,3.03,0.00,0.000,4,0.000,0.104,2694,187,3552,0,0,0,0,0,0
$GC,5249,-1.43,-136.3,468.4,-8.7,293,5255,0.00,2.62,0.00,0.000,6,0.000,0.031,2694,1806,3553,0,0,0,0,0,0
$GC,5621,-1.43,-136.3,494.7,-7.3,303,5625,0.00,2.60,0.00,0.000,4,0.000,0.061,2694,3355,3550,0,0,0,0,0,0
$GC,5654,-1.49,-136.3,497.3,-7.8,303,5659,0.00,2.60,0.00,0.000,6,0.000,0.058,2694,1831,3550,0,0,0,0,0,0
$STATE,5699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5700,begin apogee
$GC,5707,-0.31,0.0,500.7,7.4,305,5824,1.05,0.00,113.72,0.909,6,0.094,0.000,2930,1830,3001,0,0,0,0,0,0
$STATE,5825,end apogee,CONTROL_FINISHED_OK
$STATE,5825,begin climb
$GC,5828,1.31,136.3,505.0,0.0,308,5957,1.48,2.72,117.20,0.890,4,0.037,0.051,3290,3408,2444,0,0,0,0,0,0
$GC,6013,1.24,182.1,500.5,7.8,312,6062,0.00,2.72,40.92,0.867,6,0.000,0.058,3290,1827,2257,0,0,0,0,0,0
$GC,6446,1.18,220.0,464.5,8.2,323,6485,0.17,0.00,33.80,0.857,6,0.201,0.000,3256,1827,2103,0,0,0,0,0,0
$GC,6851,1.21,245.5,430.5,8.8,333,6881,0.00,3.05,23.33,0.833,4,0.000,0.099,3255,234,1999,0,0,0,0,0,0
$GC,6923,1.13,245.5,423.2,11.6,334,6927,0.00,2.58,0.00,0.000,6,0.000,0.023,3255,1831,1996,0,0,0,0,0,0
$GC,7300,1.16,267.8,387.8,8.9,344,7323,0.00,0.00,21.05,0.816,6,0.000,0.000,3255,1831,1909,0,0,0,0,0,0
$GC,7665,1.21,307.8,357.6,8.1,353,7709,0.00,2.97,36.47,0.815,4,0.000,0.074,3255,227,1745,0,0,0,0,0,0
$GC,7751,1.21,307.8,349.7,10.6,355,7756,0.00,2.58,0.00,0.000,6,0.000,0.026,3255,1822,1743,0,0,0,0,0,0
$GC,8157,1.28,330.2,313.4,8.9,365,8186,0.10,2.88,21.12,0.768,4,0.094,0.071,3282,229,1652,0,0,0,0,0,0
$GC,8253,1.23,330.2,303.5,11.6,367,8257,0.00,2.47,0.00,0.000,6,0.000,0.021,3282,1794,1649,0,0,0,0,0,0
$GC,8652,1.24,335.8,264.1,9.8,377,8663,0.00,2.75,5.28,0.584,4,0.000,0.070,3282,230,1631,0,0,0,0,0,0
$GC,8762,1.19,335.8,251.7,11.6,379,8767,0.10,2.38,0.00,0.000,6,0.133,0.021,3261,1753,1630,0,0,0,0,0,0
$GC,9145,1.33,394.5,220.2,7.1,389,9205,0.12,2.78,53.17,0.718,4,0.079,0.067,3297,228,1391,0,0,0,0,0,0
$GC,9273,1.33,394.5,207.7,10.7,392,9277,0.00,2.35,0.00,0.000,6,0.000,0.026,3297,1738,1388,0,0,0,0,0,0
$GC,9661,1.37,394.5,166.8,11.7,420,9666,0.00,2.65,0.00,0.000,4,0.000,0.032,3297,3398,1387,0,0,0,0,0,0
$GC,9729,1.48,394.5,158.8,11.3,425,9735,0.10,2.88,0.00,0.000,6,0.089,0.036,3325,1669,1385,0,0,0,0,0,0
$GC,10119,1.48,394.5,119.2,10.4,462,10123,0.00,2.47,0.00,0.000,4,0.000,0.067,3325,226,1384,0,0,0,0,0,0
$GC,10214,1.43,394.5,107.9,10.9,470,10219,0.00,2.25,0.00,0.000,6,0.000,0.019,3324,1692,1383,0,0,0,0,0,0
$GC,10604,1.49,394.8,70.7,10.0,506,10608,0.00,2.50,0.00,0.000,4,0.000,0.060,3325,227,1383,0,0,0,0,0,0
$GC,10647,1.49,394.8,65.9,10.3,509,10653,0.00,2.20,0.00,0.000,6,0.000,0.019,3324,1674,1383,0,0,0,0,0,0
$GC,11036,1.55,395.0,29.3,10.0,546,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1675,1383,0,0,0,0,0,0
$STATE,11291,end climb,SURFACE_DEPTH_REACHED
$STATE,11292,begin surface coast
$FINISH,0.4,1.023537
$STATE,11330,end surface coast,CONTROL_FINISHED_OK
$STATE,11331,begin surface
$SM_CCo,11354,3.28,0.305,0,0,1370,400.08
$SM_GC,1.41,0.00,0.00,3.28,0.000,0.000,0.305,475,1793,1370,-11.62,0.65,400.08
$IRIDIUM_FIX,2251.04,-15750.18,110200,040433
$TT8_MAMPS,0.026078
$HUMID,59.17
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.70
$XPDR_PINGS,138
$24V_AH,23.2,93.187
$10V_AH,9.9,84.912
$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,27.625,108.325,466.075,3.275,0.000,29.381,35.593,162.958,34.500,0.000,13.491,1129.162,8083.889,530.351,1469.882,516.321,33.373,1277.526,0.000,1455.893,0.000,0.534,0.000
$DEVICE_MAMPS,200.954,104.312,908.895,305.266,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,402.416,236.365,325.169,0.000,472.284,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,44739,600
$CAP_FILE_SIZE,105223,0
$CFSIZE,260165632,143323136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171110,102807,2256.611,-15750.997,35,1.0,35,10.1