version: 66.06
glider: 146
mission: 7
dive: 5
start: 5 23 112 11 20 46
data:
$ID,146
$MISSION,7
$DIVE,5
$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,-287832.41
$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,3100
$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,2020
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,59
$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
$GPS1,110904,2239.393,-15805.094,9,3.2,28,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.25
$_SM_ANGLEo,-66.6
$GPS2,111950,2239.281,-15805.257,14,1.3,14,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.169,0.162
$KALMAN_X,-2528.4,-1690.2,-60.0,1669.9,-808.4
$KALMAN_Y,-2482.6,-1698.8,-82.5,1860.6,-727.0
$MHEAD_RNG_PITCHd_Wd,36.3,13886,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,121,0.00,0.00,-99.93,0.000,6,0.000,0.000,474,1950,3318,0,0,0,0,0,0
$GC,126,-1.38,-116.8,0.8,-2.7,12,144,12.55,2.60,0.00,0.000,4,0.165,0.031,2792,3576,3321,0,0,0,0,0,0
$GC,452,-1.17,-116.8,47.6,-11.9,48,457,0.25,2.45,0.00,0.000,6,0.124,0.023,2841,2004,3322,0,0,0,0,0,0
$GC,719,-1.08,-116.8,74.4,-9.6,72,724,0.10,2.53,0.00,0.000,4,0.152,0.036,2861,3577,3320,0,0,0,0,0,0
$GC,757,-1.01,-116.8,78.2,-8.5,74,766,0.00,2.45,0.00,0.000,6,0.000,0.028,2861,2035,3320,0,0,0,0,0,0
$GC,1023,-0.96,-116.8,98.9,-7.8,99,1028,0.12,2.62,0.00,0.000,4,0.131,0.051,2887,446,3320,0,0,0,0,0,0
$GC,1058,-0.96,-116.8,101.6,-8.1,101,1063,0.00,2.40,0.00,0.000,6,0.000,0.024,2887,2027,3319,0,0,0,0,0,0
$GC,1324,-0.96,-116.8,119.2,-5.6,125,1328,0.00,2.42,0.00,0.000,4,0.000,0.035,2887,3577,3319,0,0,0,0,0,0
$GC,1385,-0.96,-116.8,123.4,-6.2,129,1390,0.00,2.45,0.00,0.000,6,0.000,0.025,2887,2016,3320,0,0,0,0,0,0
$GC,1646,-0.96,-116.8,139.7,-6.2,154,1650,0.00,2.47,0.00,0.000,4,0.000,0.038,2887,3576,3319,0,0,0,0,0,0
$GC,1706,-0.96,-116.8,143.7,-6.8,158,1717,0.00,2.45,0.00,0.000,6,0.000,0.029,2887,2030,3320,0,0,0,0,0,0
$GC,1967,-0.96,-116.8,160.3,-6.1,183,1972,0.00,2.62,0.00,0.000,4,0.000,0.059,2887,446,3320,0,0,0,0,0,0
$GC,2015,-0.96,-116.8,163.4,-7.0,186,2026,0.00,2.42,0.00,0.000,6,0.000,0.026,2887,2015,3319,0,0,0,0,0,0
$GC,2281,-1.00,-116.8,179.3,-6.3,211,2286,0.00,2.45,0.00,0.000,4,0.000,0.036,2887,3579,3319,0,0,0,0,0,0
$GC,2412,-1.04,-116.8,188.4,-6.7,221,2416,0.00,2.40,0.00,0.000,6,0.000,0.023,2887,2029,3319,0,0,0,0,0,0
$GC,2704,-1.08,-116.8,204.8,-5.3,242,2706,0.10,0.00,0.00,0.000,6,0.090,0.000,2852,2029,3319,0,0,0,0,0,0
$GC,2946,-1.08,-116.8,218.9,-5.5,248,2950,0.00,2.47,0.00,0.000,4,0.000,0.033,2852,3581,3318,0,0,0,0,0,0
$GC,3064,-1.08,-116.8,225.3,-5.1,250,3068,0.00,2.40,0.00,0.000,6,0.000,0.031,2852,2035,3318,0,0,0,0,0,0
$GC,3315,-1.08,-116.8,238.5,-5.5,256,3320,0.00,2.47,0.00,0.000,4,0.000,0.038,2852,3583,3318,0,0,0,0,0,0
$GC,3382,-1.08,-116.8,243.0,-6.7,257,3387,0.00,2.42,0.00,0.000,6,0.000,0.025,2852,2042,3318,0,0,0,0,0,0
$GC,3638,-1.08,-116.8,260.1,-7.1,264,3642,0.00,2.70,0.00,0.000,4,0.000,0.062,2852,442,3317,0,0,0,0,0,0
$GC,3655,-1.08,-116.8,261.5,-7.6,264,3660,0.00,2.47,0.00,0.000,6,0.000,0.023,2852,2036,3317,0,0,0,0,0,0
$GC,3917,-1.08,-116.8,279.4,-6.6,271,3921,0.00,2.50,0.00,0.000,4,0.000,0.045,2852,3592,3316,0,0,0,0,0,0
$GC,3994,-1.08,-116.8,284.2,-6.1,272,4000,0.00,2.42,0.00,0.000,6,0.000,0.028,2852,2050,3316,0,0,0,0,0,0
$GC,4246,-1.08,-116.8,297.2,-5.2,279,4250,0.00,2.47,0.00,0.000,4,0.000,0.038,2852,3590,3315,0,0,0,0,0,0
$STATE,4287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4287,begin apogee
$GC,4295,-0.31,0.0,300.0,6.4,280,4390,0.77,0.00,91.32,0.739,6,0.087,0.000,3028,1896,2841,0,0,0,0,0,0
$STATE,4391,end apogee,CONTROL_FINISHED_OK
$STATE,4391,begin climb
$GC,4393,1.38,116.8,301.7,0.0,282,4496,1.60,0.00,95.85,0.716,6,0.061,0.000,3397,1896,2364,0,0,0,0,0,0
$GC,4757,1.45,133.5,271.0,9.0,291,4777,0.00,2.62,14.55,0.657,4,0.000,0.038,3397,3466,2295,0,0,0,0,0,0
$GC,4907,1.53,133.5,255.2,10.3,294,4912,0.15,2.55,0.00,0.000,6,0.084,0.040,3434,1901,2292,0,0,0,0,0,0
$GC,5168,1.53,133.5,225.8,11.4,301,5172,0.00,2.55,0.00,0.000,4,0.000,0.038,3434,3469,2290,0,0,0,0,0,0
$GC,5321,1.54,143.6,210.3,9.4,304,5336,0.00,2.47,9.27,0.607,6,0.000,0.039,3434,1935,2254,0,0,0,0,0,0
$GC,5594,1.55,146.4,182.7,9.8,323,5598,0.00,2.47,0.00,0.000,4,0.000,0.035,3434,3472,2252,0,0,0,0,0,0
$GC,5616,1.55,146.4,180.5,10.1,324,5627,0.00,2.47,0.00,0.000,6,0.000,0.032,3434,1961,2251,0,0,0,0,0,0
$GC,5882,1.58,172.3,156.9,8.5,349,5918,0.00,2.53,24.90,0.634,4,0.000,0.041,3434,3472,2134,0,0,0,0,0,0
$GC,6015,1.65,178.0,143.9,9.7,359,6026,0.10,2.42,5.93,0.504,6,0.094,0.034,3462,1964,2115,0,0,0,0,0,0
$GC,6282,1.65,178.0,115.7,10.5,384,6286,0.00,2.45,0.00,0.000,4,0.000,0.037,3461,3483,2113,0,0,0,0,0,0
$GC,6426,1.65,178.0,99.2,12.1,395,6430,0.00,2.40,0.00,0.000,6,0.000,0.035,3461,1994,2112,0,0,0,0,0,0
$GC,6693,1.65,178.0,67.3,12.0,419,6697,0.00,2.38,0.00,0.000,4,0.000,0.034,3461,3475,2111,0,0,0,0,0,0
$GC,6754,1.68,178.0,59.5,12.8,423,6758,0.00,2.35,0.00,0.000,6,0.000,0.036,3461,2015,2111,0,0,0,0,0,0
$GC,7024,1.68,178.0,27.8,10.1,448,7035,0.00,2.35,0.00,0.000,4,0.000,0.032,3462,3474,2110,0,0,0,0,0,0
$GC,7163,1.74,186.4,13.0,9.5,466,7182,0.00,2.28,8.05,0.466,6,0.000,0.028,3461,2058,2081,0,0,0,0,0,0
$STATE,7238,end climb,SURFACE_DEPTH_REACHED
$STATE,7238,begin surface coast
$FINISH,-1.0,1.023666
$STATE,7275,end surface coast,CONTROL_FINISHED_OK
$STATE,7276,begin surface
$SM_CCo,7298,207.52,0.509,0,0,1005,450.13
$SM_GC,-0.19,0.00,0.00,207.52,0.000,0.000,0.509,471,1998,1005,-12.09,-0.62,450.13
$IRIDIUM_FIX,2232.34,-15806.28,170801,090905
$TT8_MAMPS,0.026078
$HUMID,58.93
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.40
$XPDR_PINGS,40
$24V_AH,23.6,1.666
$10V_AH,10.5,1.740
$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,27.825,94.200,249.875,207.525,0.000,33.057,40.108,353.902,10.000,0.000,16.104,941.246,3738.502,515.505,2177.629,760.990,33.314,1193.433,0.000,2195.882,0.000,0.538,0.000
$DEVICE_MAMPS,164.905,165.672,739.388,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.084,313.093,437.542,939.061,1466.301,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356092
$DATA_FILE_SIZE,38449,481
$CAP_FILE_SIZE,99297,0
$CFSIZE,260165632,146825216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230512,132704,2238.987,-15805.663,9,2.2,28,10.0