version: 66.06
glider: 146
mission: 7
dive: 52
start: 5 30 112 15 55 11
data:
$ID,146
$MISSION,7
$DIVE,52
$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,-288814.88
$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,57
$R_STBD_OVSHOOT,50
$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
$GPS1,154737,2240.729,-15805.476,38,1.3,38,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-67.3
$GPS2,155414,2240.726,-15805.501,13,1.2,13,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,AHOESW
$TGT_LATLONG,2240.754,-15805.858
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.135,-0.046
$KALMAN_X,-80223.4,-255.0,-179.0,77609.7,-179.8
$KALMAN_Y,-19321.2,-67.1,255.9,19390.1,197.4
$MHEAD_RNG_PITCHd_Wd,241.1,612,-32.6,-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,18,-2.09,-44.6,0.0,0.0,0,98,0.00,0.00,-76.75,0.000,6,0.000,0.000,473,2105,3132,0,0,0,0,0,0
$GC,103,-2.16,-98.2,0.7,-1.9,10,129,12.00,2.50,-6.30,0.000,4,0.174,0.051,2632,599,3351,0,0,0,0,0,0
$GC,418,-2.00,-98.2,60.3,-17.4,46,423,0.20,2.40,0.00,0.000,6,0.150,0.016,2669,2170,3352,0,0,0,0,0,0
$GC,682,-2.00,-98.2,100.0,-14.3,70,686,0.00,2.58,0.00,0.000,4,0.000,0.045,2669,594,3353,0,0,0,0,0,0
$GC,892,-1.95,-98.2,133.9,-14.9,87,896,0.00,2.40,0.00,0.000,6,0.000,0.021,2669,2157,3354,0,0,0,0,0,0
$GC,1154,-1.95,-98.2,171.4,-13.3,111,1159,0.00,2.58,0.00,0.000,4,0.000,0.042,2669,593,3355,0,0,0,0,0,0
$GC,1248,-1.95,-98.2,183.7,-12.9,118,1252,0.00,2.38,0.00,0.000,6,0.000,0.017,2669,2138,3354,0,0,0,0,0,0
$GC,1526,-1.95,-98.2,213.8,-11.1,135,1530,0.00,2.50,0.00,0.000,4,0.000,0.038,2669,3705,3355,0,0,0,0,0,0
$GC,1732,-1.95,-98.2,239.5,-10.7,139,1736,0.00,2.42,0.00,0.000,6,0.000,0.021,2669,2164,3356,0,0,0,0,0,0
$GC,1988,-1.96,-109.4,262.1,-8.3,146,1992,0.00,2.47,0.00,0.000,4,0.000,0.042,2669,3703,3356,0,0,0,0,0,0
$GC,2049,-1.97,-119.2,267.5,-8.6,147,2053,0.00,2.45,0.00,0.000,6,0.000,0.028,2668,2160,3356,0,0,0,0,0,0
$GC,2312,-2.03,-131.1,289.3,-8.2,154,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2160,3356,0,0,0,0,0,0
$GC,2553,-2.07,-131.9,313.3,-9.9,160,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2160,3355,0,0,0,0,0,0
$GC,2797,-2.12,-136.3,333.6,-8.2,166,2802,0.00,2.55,0.00,0.000,4,0.000,0.048,2669,3707,3354,0,0,0,0,0,0
$GC,2905,-2.12,-136.3,342.9,-8.7,168,2910,0.00,2.50,0.00,0.000,6,0.000,0.034,2669,2170,3354,0,0,0,0,0,0
$GC,3166,-2.16,-136.3,362.4,-7.3,175,3171,0.12,2.55,0.00,0.000,4,0.077,0.042,2628,3703,3353,0,0,0,0,0,0
$GC,3270,-2.13,-136.3,371.9,-9.6,177,3275,0.00,2.50,0.00,0.000,6,0.000,0.041,2628,2179,3352,0,0,0,0,0,0
$GC,3537,-2.13,-136.3,397.5,-9.7,184,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2179,3351,0,0,0,0,0,0
$GC,3781,-2.13,-136.3,420.7,-9.6,190,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2179,3350,0,0,0,0,0,0
$GC,4026,-2.13,-136.3,442.1,-8.6,196,4031,0.00,2.55,0.00,0.000,4,0.000,0.054,2629,3695,3348,0,0,0,0,0,0
$GC,4281,-2.09,-136.3,463.7,-8.6,201,4286,0.12,2.58,0.00,0.000,6,0.137,0.056,2651,2173,3347,0,0,0,0,0,0
$GC,4533,-2.09,-136.3,483.7,-7.7,207,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2173,3345,0,0,0,0,0,0
$GC,4774,-2.09,-136.3,501.1,-7.0,213,4779,0.00,2.60,0.00,0.000,4,0.000,0.064,2651,3696,3344,0,0,0,0,0,0
$GC,4814,-2.09,-136.3,503.9,-6.8,214,4819,0.00,2.58,0.00,0.000,6,0.000,0.053,2651,2168,3343,0,0,0,0,0,0
$GC,5100,-2.13,-136.3,524.4,-7.5,221,5104,0.00,2.62,0.00,0.000,4,0.000,0.065,2651,3696,3342,0,0,0,0,0,0
$GC,5359,-2.13,-136.3,546.9,-8.5,226,5364,0.00,2.55,0.00,0.000,6,0.000,0.061,2651,2196,3340,0,0,0,0,0,0
$GC,5609,-2.17,-136.3,566.6,-7.8,233,5614,0.00,2.60,0.00,0.000,4,0.000,0.073,2651,3691,3339,0,0,0,0,0,0
$GC,5687,-2.17,-136.3,573.0,-7.9,234,5692,0.00,2.58,0.00,0.000,6,0.000,0.059,2651,2193,3339,0,0,0,0,0,0
$GC,5939,-2.22,-136.3,590.5,-6.9,241,5944,0.10,2.62,0.00,0.000,4,0.168,0.071,2622,3689,3337,0,0,0,0,0,0
$GC,6101,-2.22,-136.3,603.7,-8.8,244,6106,0.00,2.58,0.00,0.000,6,0.000,0.074,2622,2222,3336,0,0,0,0,0,0
$GC,6353,-2.22,-136.3,621.0,-6.6,250,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2221,3335,0,0,0,0,0,0
$GC,6595,-2.22,-136.3,635.9,-5.9,256,6600,0.00,3.22,0.00,0.000,4,0.000,0.130,2621,563,3334,0,0,0,0,0,0
$GC,6680,-2.16,-136.3,641.1,-6.6,258,6685,0.00,2.83,0.00,0.000,6,0.000,0.072,2622,2166,3333,0,0,0,0,0,0
$GC,6965,-2.16,-136.3,657.2,-5.7,265,6970,0.00,2.92,0.00,0.000,4,0.000,0.107,2622,3743,3332,0,0,0,0,0,0
$GC,7020,-2.16,-136.3,661.0,-6.5,266,7025,0.00,2.80,0.00,0.000,6,0.000,0.097,2622,2214,3332,0,0,0,0,0,0
$GC,7289,-2.16,-136.3,678.1,-6.3,273,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2213,3331,0,0,0,0,0,0
$GC,7531,-2.16,-136.3,693.5,-6.4,279,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2214,3330,0,0,0,0,0,0
$STATE,7652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7652,begin apogee
$GC,7658,-0.31,0.0,701.1,6.3,282,7742,2.03,0.00,79.20,1.109,6,0.127,0.000,3039,2118,2950,0,0,0,0,0,0
$STATE,7742,end apogee,CONTROL_FINISHED_OK
$STATE,7743,begin climb
$GC,7745,2.20,136.3,702.0,0.0,284,7871,2.42,0.00,120.60,1.073,6,0.063,0.000,3592,2118,2394,0,0,0,0,0,0
$GC,8097,2.20,136.3,635.9,21.2,293,8101,0.00,2.90,0.00,0.000,4,0.000,0.086,3592,3709,2385,0,0,0,0,0,0
$GC,8209,2.20,136.3,611.9,22.1,295,8214,0.00,2.85,0.00,0.000,6,0.000,0.077,3592,2114,2382,0,0,0,0,0,0
$GC,8464,2.20,136.3,560.3,20.0,302,8468,0.00,2.78,0.00,0.000,4,0.000,0.064,3592,3712,2380,0,0,0,0,0,0
$GC,8610,2.20,136.3,529.6,21.4,305,8614,0.00,2.72,0.00,0.000,6,0.000,0.058,3592,2136,2379,0,0,0,0,0,0
$GC,8879,2.20,136.3,472.2,21.8,312,8883,0.00,2.67,0.00,0.000,4,0.000,0.051,3592,3729,2378,0,0,0,0,0,0
$GC,9113,2.20,136.3,423.8,19.8,317,9118,0.00,2.65,0.00,0.000,6,0.000,0.038,3592,2143,2377,0,0,0,0,0,0
$GC,9380,2.25,136.3,373.1,18.7,324,9385,0.00,2.62,0.00,0.000,4,0.000,0.046,3592,3726,2376,0,0,0,0,0,0
$GC,9486,2.29,136.3,353.2,19.6,326,9491,0.00,2.60,0.00,0.000,6,0.000,0.035,3592,2153,2376,0,0,0,0,0,0
$GC,9749,2.34,136.3,304.8,18.9,333,9754,0.12,2.60,0.00,0.000,4,0.100,0.039,3620,3723,2375,0,0,0,0,0,0
$GC,9910,2.34,136.3,270.0,20.0,336,9915,0.00,2.55,0.00,0.000,6,0.000,0.035,3620,2169,2375,0,0,0,0,0,0
$GC,10162,2.34,136.3,221.8,19.7,342,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,2169,2375,0,0,0,0,0,0
$GC,10410,2.39,136.3,176.6,17.1,357,10415,0.00,2.53,0.00,0.000,4,0.000,0.042,3620,3721,2375,0,0,0,0,0,0
$GC,10587,2.39,136.3,144.2,18.7,371,10593,0.00,2.55,0.00,0.000,6,0.000,0.031,3620,2151,2374,0,0,0,0,0,0
$GC,10850,2.45,136.3,98.3,18.2,396,10854,0.00,2.55,0.00,0.000,4,0.000,0.039,3620,3721,2374,0,0,0,0,0,0
$GC,10943,2.49,136.3,81.1,20.4,403,10949,0.15,2.50,0.00,0.000,6,0.103,0.029,3653,2167,2374,0,0,0,0,0,0
$GC,11211,2.49,136.3,27.4,18.6,428,11220,0.00,2.55,0.00,0.000,4,0.000,0.039,3653,3715,2375,0,0,0,0,0,0
$GC,11343,2.49,136.3,5.9,16.1,446,11352,0.00,2.50,0.00,0.000,6,0.000,0.032,3653,2186,2375,0,0,0,0,0,0
$STATE,11359,end climb,SURFACE_DEPTH_REACHED
$STATE,11360,begin surface coast
$FINISH,-0.7,1.023749
$STATE,11389,end surface coast,CONTROL_FINISHED_OK
$STATE,11389,begin surface
$SM_CCo,11411,193.38,0.549,0,0,1400,380.21
$SM_GC,0.00,0.00,0.00,193.38,0.000,0.000,0.549,473,2181,1400,-12.13,0.88,380.21
$IRIDIUM_FIX,2234.68,-15805.41,240801,121259
$TT8_MAMPS,0.026078
$HUMID,60.04
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,19.60
$XPDR_PINGS,42
$24V_AH,23.3,7.942
$10V_AH,10.3,7.146
$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,30.200,114.725,199.800,193.375,0.000,28.871,35.044,189.504,10.500,0.000,15.450,1033.292,7993.482,502.146,1922.770,555.499,33.353,1269.916,0.000,1915.864,0.000,0.533,0.000
$DEVICE_MAMPS,174.109,151.099,1109.082,549.172,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,308.004,213.228,288.225,520.784,787.645,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356028
$DATA_FILE_SIZE,35111,452
$CAP_FILE_SIZE,110804,0
$CFSIZE,260165632,144011264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300512,191001,2239.863,-15806.818,37,1.3,43,10.0