version: 66.06
glider: 146
mission: 5
dive: 52
start: 8 23 110 2 25 27
data:
$ID,146
$MISSION,5
$DIVE,52
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$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,208
$T_MISSION,400
$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,150
$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,420
$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,-248214.69
$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,24
$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,91.800003
$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
$GPS1,021836,2257.073,-15742.244,38,1.2,49,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-65.8
$GPS2,022432,2257.093,-15742.284,11,1.4,11,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.081,0.141
$KALMAN_X,-39718.8,-93.2,-312.8,88867.3,-515.8
$KALMAN_Y,26719.6,281.3,-379.6,115081.6,-87.9
$MHEAD_RNG_PITCHd_Wd,19.6,1749,-22.8,-8.013
$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,15,-1.50,-62.1,0.0,0.0,0,103,0.00,0.00,-80.38,0.000,6,0.000,0.000,474,1796,3254,0,0,0,0,0,0
$GC,106,-1.55,-99.3,3.8,-4.8,11,132,11.82,2.47,-2.80,0.000,4,0.168,0.043,2655,3322,3409,0,0,0,0,0,0
$GC,176,-1.40,-99.3,25.3,-23.4,20,185,0.15,2.55,0.00,0.000,6,0.106,0.034,2689,1771,3410,0,0,0,0,0,0
$GC,450,-1.35,-99.3,75.1,-16.7,46,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1771,3410,0,0,0,0,0,0
$GC,714,-1.35,-99.3,117.7,-15.3,71,719,0.00,2.72,0.00,0.000,4,0.000,0.070,2689,183,3411,0,0,0,0,0,0
$GC,759,-1.35,-99.3,125.4,-15.7,74,768,0.00,2.42,0.00,0.000,6,0.000,0.016,2689,1765,3411,0,0,0,0,0,0
$GC,1023,-1.39,-99.3,162.9,-14.0,99,1027,0.00,2.42,0.00,0.000,4,0.000,0.030,2689,3329,3411,0,0,0,0,0,0
$GC,1078,-1.47,-99.3,170.1,-12.5,103,1083,0.00,2.47,0.00,0.000,6,0.000,0.034,2689,1772,3412,0,0,0,0,0,0
$GC,1372,-1.52,-99.3,204.7,-10.8,127,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1771,3412,0,0,0,0,0,0
$GC,1613,-1.58,-99.3,231.1,-10.9,133,1615,0.15,0.00,0.00,0.000,6,0.069,0.000,2642,1771,3412,0,0,0,0,0,0
$GC,1857,-1.58,-99.3,264.9,-14.3,139,1861,0.00,2.47,0.00,0.000,4,0.000,0.032,2642,3327,3412,0,0,0,0,0,0
$GC,1884,-1.58,-99.3,269.1,-15.3,139,1889,0.00,2.50,0.00,0.000,6,0.000,0.043,2642,1786,3412,0,0,0,0,0,0
$GC,2134,-1.58,-99.3,304.5,-14.0,145,2138,0.00,2.47,0.00,0.000,4,0.000,0.038,2642,3331,3412,0,0,0,0,0,0
$GC,2177,-1.58,-99.3,310.1,-12.5,146,2182,0.00,2.53,0.00,0.000,6,0.000,0.043,2642,1790,3412,0,0,0,0,0,0
$GC,2457,-1.58,-99.3,343.9,-11.8,153,2461,0.00,2.47,0.00,0.000,4,0.000,0.040,2642,3320,3412,0,0,0,0,0,0
$GC,2478,-1.58,-99.3,346.9,-12.4,153,2482,0.00,2.55,0.00,0.000,6,0.000,0.051,2642,1792,3412,0,0,0,0,0,0
$GC,2733,-1.58,-99.3,376.3,-11.5,160,2738,0.00,2.97,0.00,0.000,4,0.000,0.109,2642,181,3411,0,0,0,0,0,0
$GC,2754,-1.58,-99.3,379.0,-12.0,160,2758,0.00,2.50,0.00,0.000,6,0.000,0.038,2642,1752,3411,0,0,0,0,0,0
$GC,3011,-1.58,-99.3,408.4,-11.6,167,3015,0.00,2.70,0.00,0.000,4,0.000,0.061,2642,3359,3410,0,0,0,0,0,0
$GC,3083,-1.64,-99.3,416.8,-11.0,168,3087,0.00,2.67,0.00,0.000,6,0.000,0.061,2642,1791,3409,0,0,0,0,0,0
$GC,3334,-1.68,-99.3,446.7,-12.4,174,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,1791,3407,0,0,0,0,0,0
$GC,3576,-1.72,-99.3,476.6,-12.3,180,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1791,3406,0,0,0,0,0,0
$STATE,3818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3818,begin apogee
$GC,3823,-0.31,0.0,503.3,10.8,186,3909,1.33,0.00,82.25,0.902,6,0.101,0.000,2928,1791,3000,0,0,0,0,0,0
$STATE,3910,end apogee,CONTROL_FINISHED_OK
$STATE,3910,begin climb
$GC,3912,1.55,99.3,505.3,0.0,188,4002,1.70,0.00,84.75,0.882,6,0.044,0.000,3341,1791,2596,0,0,0,0,0,0
$GC,4238,1.44,104.2,485.8,7.6,196,4249,0.15,2.78,4.30,0.572,4,0.145,0.056,3315,3398,2576,0,0,0,0,0,0
$GC,4330,1.41,123.0,479.7,6.4,198,4354,0.00,2.75,17.83,0.831,6,0.000,0.063,3315,1821,2498,0,0,0,0,0,0
$GC,4612,1.38,136.3,459.7,6.9,205,4626,0.00,0.00,11.98,0.799,6,0.000,0.000,3314,1821,2445,0,0,0,0,0,0
$GC,4855,1.34,136.3,439.8,8.2,211,4860,0.10,2.65,0.00,0.000,4,0.255,0.043,3295,3417,2440,0,0,0,0,0,0
$GC,4891,1.34,136.3,436.7,9.2,211,4896,0.00,2.78,0.00,0.000,6,0.000,0.056,3295,1810,2440,0,0,0,0,0,0
$GC,5140,1.34,136.3,414.6,8.7,218,5145,0.00,2.62,0.00,0.000,4,0.000,0.041,3295,3411,2438,0,0,0,0,0,0
$GC,5258,1.35,144.3,404.9,7.3,220,5273,0.00,2.70,7.53,0.726,6,0.000,0.054,3295,1820,2411,0,0,0,0,0,0
$GC,5558,1.37,157.1,383.0,6.9,228,5577,0.00,2.70,12.30,0.783,4,0.000,0.042,3295,3408,2359,0,0,0,0,0,0
$GC,5628,1.38,170.5,378.2,6.9,229,5647,0.00,2.70,13.27,0.782,6,0.000,0.049,3295,1825,2305,0,0,0,0,0,0
$GC,5933,1.38,170.5,353.8,8.6,237,5937,0.00,2.58,0.00,0.000,4,0.000,0.042,3295,3407,2300,0,0,0,0,0,0
$GC,5954,1.38,170.5,351.6,9.4,237,5958,0.00,2.65,0.00,0.000,6,0.000,0.044,3295,1830,2299,0,0,0,0,0,0
$GC,6211,1.42,170.5,328.1,9.5,244,6216,0.00,2.58,0.00,0.000,4,0.000,0.040,3295,3408,2298,0,0,0,0,0,0
$GC,6289,1.49,170.5,320.0,10.0,245,6296,0.12,2.60,0.00,0.000,6,0.097,0.045,3325,1842,2297,0,0,0,0,0,0
$GC,6539,1.49,170.5,296.4,9.2,252,6543,0.00,2.55,0.00,0.000,4,0.000,0.035,3325,3417,2296,0,0,0,0,0,0
$GC,6669,1.49,170.5,284.9,8.8,255,6673,0.00,2.55,0.00,0.000,6,0.000,0.038,3325,1865,2295,0,0,0,0,0,0
$GC,6952,1.49,170.5,259.7,9.0,262,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1865,2295,0,0,0,0,0,0
$GC,7195,1.49,170.5,238.8,8.6,268,7200,0.00,2.50,0.00,0.000,4,0.000,0.033,3325,3419,2295,0,0,0,0,0,0
$GC,7319,1.49,170.5,228.0,8.6,270,7325,0.00,2.58,0.00,0.000,6,0.000,0.037,3325,1850,2294,0,0,0,0,0,0
$GC,7571,1.49,170.5,206.0,8.7,277,7575,0.00,2.50,0.00,0.000,4,0.000,0.032,3325,3417,2294,0,0,0,0,0,0
$GC,7622,1.49,170.5,201.4,9.3,278,7626,0.00,2.53,0.00,0.000,6,0.000,0.035,3325,1868,2294,0,0,0,0,0,0
$GC,7889,1.51,188.9,181.3,6.4,301,7910,0.00,2.50,15.52,0.644,4,0.000,0.030,3325,3411,2229,0,0,0,0,0,0
$GC,7999,1.56,188.9,172.9,8.1,310,8003,0.00,2.53,0.00,0.000,6,0.000,0.041,3325,1869,2227,0,0,0,0,0,0
$GC,8265,1.56,188.9,151.4,8.5,334,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1869,2227,0,0,0,0,0,0
$GC,8531,1.61,188.9,126.7,9.0,359,8536,0.10,2.50,0.00,0.000,4,0.098,0.031,3351,3420,2227,0,0,0,0,0,0
$GC,8667,1.61,188.9,113.3,9.6,370,8672,0.00,2.50,0.00,0.000,6,0.000,0.034,3351,1879,2227,0,0,0,0,0,0
$GC,8931,1.62,194.7,91.9,7.5,394,8946,0.00,2.85,6.40,0.489,4,0.000,0.064,3351,237,2205,0,0,0,0,0,0
$GC,8952,1.62,195.2,90.0,8.0,395,8957,0.00,2.62,0.00,0.000,6,0.000,0.019,3351,1921,2206,0,0,0,0,0,0
$GC,9220,1.63,199.4,69.5,7.7,420,9234,0.00,2.90,5.32,0.442,4,0.000,0.056,3351,240,2189,0,0,0,0,0,0
$GC,9276,1.58,199.4,64.8,8.8,424,9280,0.00,2.58,0.00,0.000,6,0.000,0.018,3351,1902,2188,0,0,0,0,0,0
$GC,9543,1.65,220.4,47.6,6.2,448,9572,0.00,0.00,19.65,0.532,6,0.000,0.000,3351,1904,2101,0,0,0,0,0,0
$GC,9846,1.70,220.4,22.3,8.7,481,9855,0.00,2.40,0.00,0.000,4,0.000,0.024,3351,3419,2099,0,0,0,0,0,0
$GC,10009,1.76,220.4,6.7,9.6,504,10019,0.10,2.53,0.00,0.000,6,0.072,0.041,3380,1881,2098,0,0,0,0,0,0
$STATE,10034,end climb,SURFACE_DEPTH_REACHED
$STATE,10034,begin surface coast
$FINISH,0.4,1.023373
$STATE,10091,end surface coast,CONTROL_FINISHED_OK
$STATE,10091,begin surface
$SM_CCo,10113,165.07,0.479,1,0,1288,420.20
$SM_GC,0.99,0.00,0.00,165.07,0.000,0.000,0.479,476,1741,1288,-11.61,-0.82,420.20
$IRIDIUM_FIX,2246.36,-15743.68,161199,232323
$TT8_MAMPS,0.026845
$HUMID,39.80
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.90
$XPDR_PINGS,42
$24V_AH,23.6,11.139
$10V_AH,10.4,10.206
$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,27.525,114.275,281.100,165.075,0.000,27.083,31.190,164.578,10.500,0.000,13.384,1029.446,6586.225,537.742,1990.831,496.400,33.357,1268.969,0.000,1998.940,0.000,0.536,0.000
$DEVICE_MAMPS,255.411,108.914,901.992,478.608,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.396,327.440,401.692,778.913,1178.109,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,41565,515
$CAP_FILE_SIZE,103120,0
$CFSIZE,260165632,179773440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230810,051744,2258.065,-15741.950,12,2.0,12,10.1