version: 66.06
glider: 146
mission: 7
dive: 51
start: 5 30 112 12 32 34
data:
$ID,146
$MISSION,7
$DIVE,51
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,233
$T_MISSION,500
$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,52355
$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,380
$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,-288798.81
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3110
$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,2150
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,41
$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,2950
$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,10
$ALTIM_PULSE,8
$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,0.0043256786
$SEABIRD_T_H,0.0006194216
$SEABIRD_T_I,2.1253354e-05
$SEABIRD_T_J,2.0307182e-06
$SEABIRD_C_G,-9.7992477
$SEABIRD_C_H,1.0845563
$SEABIRD_C_I,-0.0017217569
$SEABIRD_C_J,0.00021252052
$GPS1,122436,2241.260,-15806.218,60,1.4,60,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-67.2
$GPS2,123139,2241.297,-15806.236,13,1.5,13,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,AHOESW
$TGT_LATLONG,2240.754,-15805.858
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.128,-0.126
$KALMAN_X,-79943.9,-331.4,193.7,75788.4,-1147.2
$KALMAN_Y,-19365.8,-291.6,-187.5,21153.9,761.1
$MHEAD_RNG_PITCHd_Wd,124.6,1196,-26.3,-10.014
$D_GRID,700
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.73,-67.4,0.0,0.0,0,107,0.00,0.00,-80.38,0.000,6,0.000,0.000,472,2147,3225,0,0,0,0,0,0
$GC,112,-1.81,-136.3,0.9,-2.1,11,138,12.35,2.60,-7.03,0.000,4,0.173,0.056,2707,568,3507,0,0,0,0,0,0
$GC,293,-1.58,-136.3,39.2,-21.8,35,303,0.25,2.50,0.00,0.000,6,0.121,0.018,2759,2161,3508,0,0,0,0,0,0
$GC,561,-1.53,-136.3,80.2,-14.3,60,565,0.00,2.47,0.00,0.000,4,0.000,0.030,2759,3718,3509,0,0,0,0,0,0
$GC,619,-1.48,-136.3,90.1,-14.9,64,629,0.12,2.53,0.00,0.000,6,0.105,0.028,2786,2139,3508,0,0,0,0,0,0
$GC,886,-1.48,-136.3,123.7,-12.5,89,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2139,3509,0,0,0,0,0,0
$GC,1147,-1.48,-136.3,157.1,-12.3,114,1151,0.00,2.53,0.00,0.000,4,0.000,0.031,2786,3725,3509,0,0,0,0,0,0
$GC,1203,-1.48,-136.3,162.8,-11.2,118,1207,0.00,2.47,0.00,0.000,6,0.000,0.021,2786,2152,3510,0,0,0,0,0,0
$GC,1470,-1.52,-136.3,192.3,-11.9,142,1474,0.00,2.58,0.00,0.000,4,0.000,0.054,2786,581,3510,0,0,0,0,0,0
$GC,1532,-1.52,-136.3,201.2,-13.1,147,1537,0.00,2.42,0.00,0.000,6,0.000,0.020,2786,2153,3510,0,0,0,0,0,0
$GC,1795,-1.58,-136.3,228.0,-9.4,154,1799,0.00,2.60,0.00,0.000,4,0.000,0.050,2786,577,3510,0,0,0,0,0,0
$GC,1836,-1.58,-136.3,231.7,-9.0,155,1841,0.00,2.40,0.00,0.000,6,0.000,0.024,2786,2133,3510,0,0,0,0,0,0
$GC,2122,-1.65,-136.3,256.0,-8.5,162,2124,0.15,0.00,0.00,0.000,6,0.065,0.000,2736,2133,3510,0,0,0,0,0,0
$GC,2363,-1.65,-136.3,283.2,-11.2,168,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2133,3510,0,0,0,0,0,0
$GC,2607,-1.65,-136.3,313.4,-12.3,174,2611,0.00,2.58,0.00,0.000,4,0.000,0.047,2736,3711,3509,0,0,0,0,0,0
$GC,2622,-1.65,-136.3,315.6,-13.7,174,2627,0.00,2.53,0.00,0.000,6,0.000,0.033,2736,2147,3509,0,0,0,0,0,0
$GC,2885,-1.65,-136.3,347.6,-11.9,181,2890,0.00,2.58,0.00,0.000,4,0.000,0.048,2735,3717,3508,0,0,0,0,0,0
$GC,3032,-1.65,-136.3,364.9,-11.3,184,3036,0.00,2.60,0.00,0.000,6,0.000,0.038,2735,2141,3508,0,0,0,0,0,0
$GC,3300,-1.65,-136.3,391.7,-9.5,191,3304,0.00,2.62,0.00,0.000,4,0.000,0.055,2736,3709,3507,0,0,0,0,0,0
$GC,3316,-1.65,-136.3,393.3,-8.7,191,3320,0.00,2.58,0.00,0.000,6,0.000,0.044,2736,2138,3506,0,0,0,0,0,0
$GC,3576,-1.65,-136.3,417.1,-9.4,198,3581,0.00,2.62,0.00,0.000,4,0.000,0.051,2736,3706,3505,0,0,0,0,0,0
$GC,3618,-1.65,-136.3,420.9,-10.2,199,3622,0.00,2.60,0.00,0.000,6,0.000,0.044,2735,2145,3505,0,0,0,0,0,0
$GC,3901,-1.65,-136.3,446.5,-8.8,206,3905,0.00,2.65,0.00,0.000,4,0.000,0.055,2735,3713,3503,0,0,0,0,0,0
$GC,4066,-1.65,-136.3,462.8,-9.6,209,4070,0.00,2.65,0.00,0.000,6,0.000,0.058,2735,2152,3502,0,0,0,0,0,0
$GC,4316,-1.65,-136.3,486.2,-9.0,215,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2152,3500,0,0,0,0,0,0
$GC,4560,-1.65,-136.3,509.8,-9.8,221,4564,0.00,2.70,0.00,0.000,4,0.000,0.067,2736,3710,3498,0,0,0,0,0,0
$GC,4683,-1.65,-136.3,522.9,-11.0,223,4689,0.00,2.62,0.00,0.000,6,0.000,0.056,2735,2172,3498,0,0,0,0,0,0
$GC,4933,-1.65,-136.3,547.2,-9.7,230,4938,0.00,2.67,0.00,0.000,4,0.000,0.074,2735,3707,3496,0,0,0,0,0,0
$GC,4955,-1.65,-136.3,549.4,-9.7,230,4959,0.00,2.65,0.00,0.000,6,0.000,0.061,2736,2171,3496,0,0,0,0,0,0
$GC,5211,-1.65,-136.3,570.0,-7.6,237,5216,0.00,2.67,0.00,0.000,4,0.000,0.076,2735,3703,3495,0,0,0,0,0,0
$GC,5266,-1.65,-136.3,574.7,-8.6,238,5271,0.00,2.65,0.00,0.000,6,0.000,0.066,2736,2178,3494,0,0,0,0,0,0
$GC,5533,-1.65,-136.3,594.5,-7.3,245,5537,0.00,2.70,0.00,0.000,4,0.000,0.083,2735,3700,3493,0,0,0,0,0,0
$GC,5556,-1.65,-136.3,596.3,-8.0,245,5560,0.00,2.67,0.00,0.000,6,0.000,0.072,2735,2185,3493,0,0,0,0,0,0
$GC,5811,-1.65,-136.3,617.5,-8.6,252,5815,0.00,2.72,0.00,0.000,4,0.000,0.087,2736,3699,3491,0,0,0,0,0,0
$GC,5844,-1.65,-136.3,620.8,-10.1,252,5850,0.00,2.72,0.00,0.000,6,0.000,0.083,2736,2184,3491,0,0,0,0,0,0
$GC,6096,-1.65,-136.3,645.3,-10.1,259,6100,0.00,2.78,0.00,0.000,4,0.000,0.102,2735,3704,3489,0,0,0,0,0,0
$GC,6201,-1.65,-136.3,656.9,-11.1,261,6205,0.00,2.80,0.00,0.000,6,0.000,0.097,2736,2187,3489,0,0,0,0,0,0
$GC,6463,-1.70,-136.3,680.0,-8.6,268,6468,0.00,2.85,0.00,0.000,4,0.000,0.117,2735,3704,3487,0,0,0,0,0,0
$GC,6486,-1.70,-136.3,681.7,-7.2,268,6491,0.00,2.85,0.00,0.000,6,0.000,0.107,2736,2200,3487,0,0,0,0,0,0
$GC,6742,-1.74,-136.3,698.9,-6.4,275,6746,0.00,2.88,0.00,0.000,4,0.000,0.124,2735,3696,3486,0,0,0,0,0,0
$STATE,6760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6760,begin apogee
$GC,6769,-0.31,0.0,700.4,6.2,275,6885,1.42,0.00,111.70,1.099,6,0.110,0.000,3037,2116,2950,0,0,0,0,0,0
$STATE,6886,end apogee,CONTROL_FINISHED_OK
$STATE,6886,begin climb
$GC,6890,1.81,136.3,700.0,0.0,278,7014,2.03,0.00,119.10,1.066,6,0.059,0.000,3510,2115,2394,0,0,0,0,0,0
$GC,7257,1.78,136.3,634.6,19.3,287,7262,0.00,2.85,0.00,0.000,4,0.000,0.091,3510,3671,2384,0,0,0,0,0,0
$GC,7373,1.78,136.3,612.2,17.8,289,7378,0.00,2.80,0.00,0.000,6,0.000,0.081,3510,2116,2383,0,0,0,0,0,0
$GC,7623,1.78,136.3,568.4,17.3,295,7628,0.00,2.70,0.00,0.000,4,0.000,0.065,3510,3673,2381,0,0,0,0,0,0
$GC,7725,1.78,136.3,550.6,17.4,297,7729,0.00,2.70,0.00,0.000,6,0.000,0.058,3510,2125,2380,0,0,0,0,0,0
$GC,7991,1.78,136.3,505.5,17.2,304,7995,0.00,2.65,0.00,0.000,4,0.000,0.056,3509,3685,2378,0,0,0,0,0,0
$GC,8040,1.78,136.3,497.1,16.9,305,8044,0.00,2.67,0.00,0.000,6,0.000,0.056,3510,2129,2378,0,0,0,0,0,0
$GC,8313,1.78,136.3,452.1,16.9,312,8318,0.00,2.60,0.00,0.000,4,0.000,0.049,3510,3682,2377,0,0,0,0,0,0
$GC,8425,1.78,136.3,432.1,17.4,314,8429,0.00,2.58,0.00,0.000,6,0.000,0.041,3510,2143,2377,0,0,0,0,0,0
$GC,8686,1.78,136.3,389.2,16.9,321,8690,0.00,2.58,0.00,0.000,4,0.000,0.041,3509,3688,2376,0,0,0,0,0,0
$GC,8859,1.78,136.3,358.6,16.7,325,8864,0.00,2.50,0.00,0.000,6,0.000,0.035,3510,2170,2375,0,0,0,0,0,0
$GC,9142,1.78,136.3,312.6,16.1,332,9147,0.00,2.50,0.00,0.000,4,0.000,0.045,3510,3684,2375,0,0,0,0,0,0
$GC,9199,1.78,136.3,303.2,16.6,333,9203,0.00,2.45,0.00,0.000,6,0.000,0.033,3510,2189,2374,0,0,0,0,0,0
$GC,9465,1.78,136.3,262.2,14.9,340,9469,0.00,2.47,0.00,0.000,4,0.000,0.049,3510,3682,2374,0,0,0,0,0,0
$GC,9583,1.78,136.3,243.8,15.2,342,9587,0.00,2.40,0.00,0.000,6,0.000,0.032,3510,2213,2374,0,0,0,0,0,0
$GC,9833,1.82,136.3,205.7,15.5,348,9838,0.00,2.42,0.00,0.000,4,0.000,0.045,3509,3690,2374,0,0,0,0,0,0
$GC,9958,1.86,136.3,186.9,13.7,356,9964,0.00,2.38,0.00,0.000,6,0.000,0.038,3510,2231,2373,0,0,0,0,0,0
$GC,10223,1.91,136.3,152.8,13.5,381,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,2231,2374,0,0,0,0,0,0
$GC,10486,1.98,136.3,122.4,11.6,406,10491,0.12,2.38,0.00,0.000,4,0.087,0.038,3542,3688,2374,0,0,0,0,0,0
$GC,10544,1.98,136.3,114.4,14.2,410,10554,0.00,2.38,0.00,0.000,6,0.000,0.029,3542,2229,2374,0,0,0,0,0,0
$GC,10811,1.98,136.3,78.4,14.6,435,10815,0.00,2.38,0.00,0.000,4,0.000,0.038,3542,3689,2374,0,0,0,0,0,0
$GC,10869,1.98,136.3,69.7,14.8,439,10873,0.00,2.33,0.00,0.000,6,0.000,0.028,3542,2240,2374,0,0,0,0,0,0
$GC,11137,2.03,136.3,32.8,12.8,463,11141,0.00,2.33,0.00,0.000,4,0.000,0.038,3542,3685,2375,0,0,0,0,0,0
$GC,11249,2.03,136.3,18.1,14.1,477,11259,0.00,2.33,0.00,0.000,6,0.000,0.029,3542,2253,2376,0,0,0,0,0,0
$STATE,11361,end climb,SURFACE_DEPTH_REACHED
$STATE,11361,begin surface coast
$FINISH,-0.6,1.010273
$STATE,11405,end surface coast,CONTROL_FINISHED_OK
$STATE,11405,begin surface
$SM_CCo,11428,194.20,0.525,0,0,1399,380.21
$SM_GC,-0.04,0.00,0.00,194.20,0.000,0.000,0.525,474,2105,1399,-12.13,-1.27,380.21
$IRIDIUM_FIX,2232.34,-15806.28,240801,070700
$TT8_MAMPS,0.026078
$HUMID,57.63
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.00
$XPDR_PINGS,45
$24V_AH,23.3,7.835
$10V_AH,10.3,7.049
$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,28.950,150.675,230.800,194.200,0.000,30.851,37.311,197.232,11.250,0.000,15.401,1078.318,7840.724,555.604,1978.823,588.166,33.357,1340.470,0.000,1975.297,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,124.254,1099.111,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.232,258.077,344.780,632.640,956.773,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356052
$DATA_FILE_SIZE,38397,499
$CAP_FILE_SIZE,116450,0
$CFSIZE,260165632,144060416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300512,154737,2240.729,-15805.476,38,1.3,38,10.0