version: 66.06
glider: 146
mission: 7
dive: 7
start: 5 23 112 16 7 0
data:
$ID,146
$MISSION,7
$DIVE,7
$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,-287890.34
$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,27
$R_STBD_OVSHOOT,39
$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
$GPS1,154552,2238.865,-15806.317,9,5.8,28,10.0
$_CALLS,3
$_XMS_NAKs,36
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-61.5
$GPS2,160607,2238.824,-15806.612,41,1.5,41,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.192,0.135
$KALMAN_X,-6449.3,-797.5,-1059.1,3385.4,27.9
$KALMAN_Y,-5130.4,-1047.6,-665.8,3586.4,385.3
$MHEAD_RNG_PITCHd_Wd,44.9,16073,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,122,0.00,0.00,-100.22,0.000,6,0.000,0.000,475,2003,3318,0,0,0,0,0,0
$GC,125,-1.38,-116.8,0.6,-2.0,12,143,12.70,2.58,0.00,0.000,4,0.170,0.043,2792,424,3319,0,0,0,0,0,0
$GC,157,-0.19,-116.8,5.6,-13.5,15,167,1.20,2.53,0.00,0.000,6,0.100,0.021,3053,2029,3319,0,0,0,0,0,0
$GC,499,-0.50,-116.8,19.8,-4.5,64,509,0.25,2.50,0.00,0.000,4,0.047,0.038,2969,3579,3319,0,0,0,0,0,0
$GC,548,-0.63,-116.8,22.6,-6.0,70,558,0.00,2.47,0.00,0.000,6,0.000,0.023,2969,2021,3319,0,0,0,0,0,0
$GC,845,-0.77,-116.8,41.2,-5.5,103,850,0.15,2.53,0.00,0.000,4,0.063,0.034,2915,3584,3319,0,0,0,0,0,0
$GC,994,-0.82,-116.8,55.0,-9.7,114,1003,0.00,2.42,0.00,0.000,6,0.000,0.024,2915,2057,3318,0,0,0,0,0,0
$GC,1262,-0.86,-116.8,74.0,-6.9,139,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2056,3319,0,0,0,0,0,0
$GC,1527,-0.89,-116.8,91.0,-6.3,164,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2057,3319,0,0,0,0,0,0
$GC,1795,-0.94,-116.8,107.4,-5.9,189,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2057,3319,0,0,0,0,0,0
$GC,2058,-0.99,-116.8,123.5,-6.6,214,2060,0.12,0.00,0.00,0.000,6,0.074,0.000,2869,2057,3319,0,0,0,0,0,0
$GC,2314,-0.99,-116.8,144.4,-9.4,238,2318,0.00,2.45,0.00,0.000,4,0.000,0.036,2869,3595,3319,0,0,0,0,0,0
$GC,2405,-0.99,-116.8,154.2,-10.2,245,2409,0.00,2.40,0.00,0.000,6,0.000,0.025,2869,2053,3319,0,0,0,0,0,0
$GC,2669,-0.99,-116.8,180.7,-9.6,269,2674,0.00,2.65,0.00,0.000,4,0.000,0.056,2869,442,3319,0,0,0,0,0,0
$GC,2702,-0.99,-116.8,183.9,-9.9,271,2707,0.00,2.45,0.00,0.000,6,0.000,0.018,2868,2046,3318,0,0,0,0,0,0
$GC,2984,-0.99,-116.8,205.7,-6.7,291,2988,0.00,2.65,0.00,0.000,4,0.000,0.053,2868,450,3318,0,0,0,0,0,0
$GC,2994,-0.99,-116.8,206.8,-6.6,291,2998,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2033,3318,0,0,0,0,0,0
$GC,3260,-0.99,-116.8,220.0,-4.6,298,3264,0.00,2.45,0.00,0.000,4,0.000,0.040,2868,3590,3318,0,0,0,0,0,0
$GC,3335,-0.99,-116.8,223.8,-5.3,299,3339,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2042,3317,0,0,0,0,0,0
$GC,3585,-0.99,-116.8,237.5,-5.5,305,3590,0.00,2.65,0.00,0.000,4,0.000,0.061,2868,446,3318,0,0,0,0,0,0
$GC,3647,-0.99,-116.8,241.2,-6.0,306,3652,0.00,2.45,0.00,0.000,6,0.000,0.024,2869,2036,3317,0,0,0,0,0,0
$GC,3909,-0.99,-116.8,255.7,-5.6,313,3913,0.00,2.45,0.00,0.000,4,0.000,0.040,2868,3584,3317,0,0,0,0,0,0
$GC,4009,-0.99,-116.8,261.2,-5.3,315,4013,0.00,2.42,0.00,0.000,6,0.000,0.032,2868,2048,3317,0,0,0,0,0,0
$GC,4277,-0.99,-116.8,273.8,-4.5,322,4281,0.00,2.45,0.00,0.000,4,0.000,0.036,2869,3584,3316,0,0,0,0,0,0
$GC,4326,-0.99,-116.8,276.4,-4.7,323,4330,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2051,3315,0,0,0,0,0,0
$GC,4599,-0.99,-116.8,287.2,-4.1,330,4603,0.00,2.72,0.00,0.000,4,0.000,0.064,2869,446,3314,0,0,0,0,0,0
$GC,4644,-0.99,-116.8,289.3,-5.0,331,4649,0.00,2.53,0.00,0.000,6,0.000,0.025,2868,2048,3314,0,0,0,0,0,0
$STATE,4878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4878,begin apogee
$GC,4884,-0.31,0.0,302.4,5.8,337,4979,0.73,0.00,91.38,0.737,6,0.080,0.000,3034,1876,2841,0,0,0,0,0,0
$STATE,4980,end apogee,CONTROL_FINISHED_OK
$STATE,4980,begin climb
$GC,4984,1.38,116.8,304.6,0.0,339,5091,1.55,2.72,95.78,0.718,4,0.058,0.063,3394,348,2363,0,0,0,0,0,0
$GC,5108,1.38,116.8,296.6,10.1,342,5113,0.00,2.50,0.00,0.000,6,0.000,0.031,3394,1896,2361,0,0,0,0,0,0
$GC,5393,1.48,143.8,272.1,8.4,349,5423,0.12,2.67,23.12,0.679,4,0.087,0.046,3425,3475,2253,0,0,0,0,0,0
$GC,5473,1.48,143.8,263.8,10.5,350,5479,0.00,2.55,0.00,0.000,6,0.000,0.039,3425,1922,2251,0,0,0,0,0,0
$GC,5725,1.48,143.8,235.6,11.6,357,5729,0.00,2.55,0.00,0.000,4,0.000,0.044,3425,3476,2249,0,0,0,0,0,0
$GC,5893,1.53,143.8,214.3,12.7,360,5898,0.00,2.50,0.00,0.000,6,0.000,0.038,3425,1945,2247,0,0,0,0,0,0
$GC,6155,1.58,143.8,180.9,12.6,376,6159,0.00,2.47,0.00,0.000,4,0.000,0.037,3424,3484,2246,0,0,0,0,0,0
$GC,6295,1.63,143.8,164.1,10.9,387,6304,0.08,2.47,0.00,0.000,6,0.061,0.035,3453,1973,2245,0,0,0,0,0,0
$GC,6558,1.63,143.8,135.6,10.1,412,6562,0.00,2.42,0.00,0.000,4,0.000,0.035,3452,3479,2245,0,0,0,0,0,0
$GC,6663,1.63,143.8,124.3,10.6,420,6673,0.00,2.40,0.00,0.000,6,0.000,0.038,3452,2002,2244,0,0,0,0,0,0
$GC,6929,1.63,143.8,99.1,10.0,445,6934,0.00,2.38,0.00,0.000,4,0.000,0.040,3453,3482,2244,0,0,0,0,0,0
$GC,7012,1.63,143.8,90.4,10.8,451,7016,0.00,2.33,0.00,0.000,6,0.000,0.031,3453,2026,2244,0,0,0,0,0,0
$GC,7280,1.63,143.8,61.0,11.8,475,7284,0.00,2.33,0.00,0.000,4,0.000,0.041,3452,3489,2244,0,0,0,0,0,0
$GC,7340,1.67,143.8,53.4,11.7,479,7344,0.00,2.30,0.00,0.000,6,0.000,0.035,3453,2036,2243,0,0,0,0,0,0
$GC,7614,1.67,143.8,25.0,11.0,506,7624,0.00,2.33,0.00,0.000,4,0.000,0.041,3453,3473,2244,0,0,0,0,0,0
$GC,7725,1.67,143.8,15.1,10.3,521,7735,0.00,2.30,0.00,0.000,6,0.000,0.032,3452,2056,2243,0,0,0,0,0,0
$STATE,7823,end climb,SURFACE_DEPTH_REACHED
$STATE,7824,begin surface coast
$FINISH,-0.7,1.023676
$STATE,7869,end surface coast,CONTROL_FINISHED_OK
$STATE,7869,begin surface
$SM_CCo,7891,239.23,0.504,0,0,1005,450.13
$SM_GC,-0.17,0.00,0.00,239.23,0.000,0.000,0.504,476,2052,1005,-12.07,0.90,450.13
$IRIDIUM_FIX,2227.67,-15809.31,170801,151513
$TT8_MAMPS,0.026078
$HUMID,57.12
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.70
$XPDR_PINGS,36
$24V_AH,23.5,1.900
$10V_AH,10.5,2.026
$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,28.875,94.500,210.275,239.225,0.000,86.785,97.924,631.352,9.000,0.000,43.198,1027.548,4128.646,543.620,2435.627,1188.138,33.328,1242.697,0.000,2427.115,0.000,0.537,0.000
$DEVICE_MAMPS,169.507,64.428,737.087,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.204,341.361,491.759,1108.115,1698.698,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356080
$DATA_FILE_SIZE,41502,541
$CAP_FILE_SIZE,105893,0
$CFSIZE,260165632,146718720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230512,182336,2239.000,-15807.034,8,1.3,25,10.0