version: 66.06
glider: 146
mission: 7
dive: 4
start: 5 23 112 9 0 35
data:
$ID,146
$MISSION,7
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,450
$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,100
$T_MISSION,200
$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,120
$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,450
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-287815.69
$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,3050
$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,2000
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,70
$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,2841
$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
$GPS1,084706,2239.936,-15804.479,35,1.2,35,10.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-67.7
$GPS2,085943,2239.810,-15804.638,19,1.2,19,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.163,0.168
$KALMAN_X,-893.0,-863.8,-557.7,765.0,-677.6
$KALMAN_Y,-889.0,-872.9,-586.5,924.6,-643.3
$MHEAD_RNG_PITCHd_Wd,34.1,12456,-19.8,-10.000
$D_GRID,300
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.38,-116.8,0.0,0.0,0,124,0.00,0.00,-100.30,0.000,6,0.000,0.000,473,1982,3318,0,0,0,0,0,0
$GC,127,-1.38,-116.8,0.6,-2.0,11,146,12.20,2.53,0.00,0.000,4,0.164,0.033,2740,3558,3319,0,0,0,0,0,0
$GC,439,-1.07,-116.8,48.2,-14.3,48,450,0.32,2.47,0.00,0.000,6,0.111,0.024,2810,1998,3318,0,0,0,0,0,0
$GC,708,-0.91,-116.8,79.2,-11.4,73,713,0.20,2.45,0.00,0.000,4,0.128,0.034,2849,3551,3319,0,0,0,0,0,0
$GC,845,-0.84,-116.8,93.1,-10.2,83,850,0.00,2.42,0.00,0.000,6,0.000,0.025,2849,2000,3319,0,0,0,0,0,0
$GC,1112,-0.77,-116.8,116.8,-8.5,107,1118,0.15,2.60,0.00,0.000,4,0.126,0.058,2879,424,3319,0,0,0,0,0,0
$GC,1130,-0.71,-116.8,118.8,-8.6,108,1134,0.00,2.42,0.00,0.000,6,0.000,0.018,2880,2016,3319,0,0,0,0,0,0
$GC,1392,-0.71,-116.8,138.4,-7.5,132,1396,0.00,2.40,0.00,0.000,4,0.000,0.038,2879,3556,3318,0,0,0,0,0,0
$GC,1463,-0.71,-116.8,143.4,-7.4,137,1467,0.00,2.40,0.00,0.000,6,0.000,0.032,2879,2022,3318,0,0,0,0,0,0
$GC,1726,-0.71,-116.8,161.7,-6.7,161,1730,0.00,2.62,0.00,0.000,4,0.000,0.055,2880,426,3318,0,0,0,0,0,0
$GC,1794,-0.71,-116.8,166.4,-7.4,166,1799,0.00,2.42,0.00,0.000,6,0.000,0.020,2879,2013,3318,0,0,0,0,0,0
$GC,2061,-0.71,-116.8,182.6,-6.7,190,2065,0.00,2.42,0.00,0.000,4,0.000,0.033,2879,3565,3318,0,0,0,0,0,0
$GC,2232,-0.71,-116.8,193.9,-5.5,204,2236,0.00,2.38,0.00,0.000,6,0.000,0.025,2879,2029,3318,0,0,0,0,0,0
$GC,2489,-0.71,-116.8,205.0,-4.0,219,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2030,3317,0,0,0,0,0,0
$GC,2732,-0.75,-116.8,214.5,-3.9,225,2736,0.00,2.45,0.00,0.000,4,0.000,0.034,2879,3570,3317,0,0,0,0,0,0
$GC,2865,-0.79,-116.8,221.6,-5.6,228,2869,0.00,2.40,0.00,0.000,6,0.000,0.031,2880,2034,3316,0,0,0,0,0,0
$GC,3148,-0.83,-116.8,235.9,-5.2,235,3153,0.00,2.45,0.00,0.000,4,0.000,0.036,2879,3563,3316,0,0,0,0,0,0
$GC,3172,-0.88,-116.8,237.2,-5.8,235,3177,0.00,2.38,0.00,0.000,6,0.000,0.027,2880,2052,3316,0,0,0,0,0,0
$GC,3428,-0.93,-116.8,250.6,-5.1,242,3433,0.12,2.42,0.00,0.000,4,0.078,0.044,2839,3556,3315,0,0,0,0,0,0
$GC,3497,-0.89,-116.8,254.4,-5.5,243,3501,0.00,2.35,0.00,0.000,6,0.000,0.027,2838,2065,3314,0,0,0,0,0,0
$GC,3752,-0.89,-116.8,266.8,-4.8,250,3756,0.00,2.42,0.00,0.000,4,0.000,0.044,2839,3562,3313,0,0,0,0,0,0
$GC,3830,-0.85,-116.8,271.0,-5.6,251,3835,0.12,2.30,0.00,0.000,6,0.125,0.032,2864,2089,3313,0,0,0,0,0,0
$GC,4082,-0.85,-116.8,282.3,-4.6,257,4086,0.00,2.38,0.00,0.000,4,0.000,0.037,2864,3565,3312,0,0,0,0,0,0
$GC,4138,-0.85,-116.8,285.4,-5.3,258,4142,0.00,2.33,0.00,0.000,6,0.000,0.028,2864,2094,3311,0,0,0,0,0,0
$GC,4405,-0.89,-116.8,296.9,-4.2,265,4409,0.00,2.38,0.00,0.000,4,0.000,0.045,2864,3561,3310,0,0,0,0,0,0
$GC,4468,-0.89,-116.8,299.9,-4.9,266,4472,0.00,2.05,0.00,0.000,3,0.000,0.035,2864,2244,3310,0,0,0,0,0,0
$STATE,4472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4472,begin apogee
$GC,4479,-0.31,0.0,300.3,5.1,266,4572,0.50,0.00,90.35,0.751,6,0.091,0.000,2978,1813,2841,0,0,0,0,0,0
$STATE,4573,end apogee,CONTROL_FINISHED_OK
$STATE,4573,begin climb
$GC,4576,1.38,116.8,301.9,0.0,268,4684,1.60,2.60,96.07,0.724,4,0.066,0.043,3346,3348,2363,0,0,0,0,0,0
$GC,4763,1.57,138.3,288.4,8.8,273,4788,0.20,2.58,18.88,0.678,6,0.074,0.038,3396,1799,2276,0,0,0,0,0,0
$GC,5042,1.63,138.3,259.5,10.5,280,5046,0.00,2.55,0.00,0.000,4,0.000,0.041,3396,3356,2271,0,0,0,0,0,0
$GC,5058,1.67,139.9,257.5,9.9,280,5062,0.00,2.47,0.00,0.000,6,0.000,0.038,3396,1838,2271,0,0,0,0,0,0
$GC,5319,1.75,139.9,230.6,10.4,287,5324,0.15,2.85,0.00,0.000,4,0.079,0.071,3435,219,2269,0,0,0,0,0,0
$GC,5432,1.75,139.9,218.1,11.0,289,5436,0.00,2.58,0.00,0.000,6,0.000,0.028,3435,1853,2266,0,0,0,0,0,0
$GC,5689,1.75,142.9,192.6,9.8,299,5693,0.00,2.42,0.00,0.000,4,0.000,0.042,3441,3362,2266,0,0,0,0,0,0
$GC,5879,1.79,142.9,170.7,12.7,314,5885,0.00,2.38,0.00,0.000,6,0.000,0.035,3435,1890,2265,0,0,0,0,0,0
$GC,6146,1.79,142.9,140.4,11.2,339,6150,0.00,2.35,0.00,0.000,4,0.000,0.033,3433,3362,2264,0,0,0,0,0,0
$GC,6255,1.83,142.9,127.7,11.1,347,6260,0.00,2.33,0.00,0.000,6,0.000,0.032,3435,1896,2264,0,0,0,0,0,0
$GC,6517,1.90,165.5,102.4,8.7,372,6546,0.12,2.40,22.05,0.594,4,0.082,0.034,3471,3356,2165,0,0,0,0,0,0
$GC,6732,1.90,165.5,77.0,12.7,389,6736,0.00,2.28,0.00,0.000,6,0.000,0.031,3471,1935,2162,0,0,0,0,0,0
$GC,6996,1.90,165.5,44.7,12.1,413,7000,0.00,2.28,0.00,0.000,4,0.000,0.035,3471,3365,2162,0,0,0,0,0,0
$GC,7107,1.90,165.5,30.7,12.6,421,7111,0.00,2.25,0.00,0.000,6,0.000,0.031,3471,1954,2161,0,0,0,0,0,0
$STATE,7342,end climb,SURFACE_DEPTH_REACHED
$STATE,7342,begin surface coast
$FINISH,-0.7,1.023654
$STATE,7391,end surface coast,CONTROL_FINISHED_OK
$STATE,7391,begin surface
$SM_CCo,7414,224.15,0.512,0,0,1006,450.13
$SM_GC,-0.12,0.00,0.00,224.15,0.000,0.000,0.512,475,1950,1006,-11.85,-1.41,450.13
$IRIDIUM_FIX,2230.01,-15806.28,170801,080826
$TT8_MAMPS,0.026845
$HUMID,60.27
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,22.20
$XPDR_PINGS,36
$24V_AH,23.6,1.561
$10V_AH,10.5,1.606
$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,27.775,92.850,227.350,224.150,0.000,56.084,74.357,383.335,9.000,0.000,20.987,932.925,4004.898,512.137,2128.187,823.564,32.327,1163.614,0.000,2129.325,0.000,0.537,0.000
$DEVICE_MAMPS,164.138,70.564,750.893,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,312.396,291.404,405.884,869.805,1365.018,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356120
$DATA_FILE_SIZE,35281,461
$CAP_FILE_SIZE,100792,0
$CFSIZE,260165632,146878464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230512,110904,2239.393,-15805.094,9,3.2,28,10.0