version: 66.06
glider: 146
mission: 7
dive: 8
start: 5 23 112 18 39 7
data:
$ID,146
$MISSION,7
$DIVE,8
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-287900.91
$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,3090
$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,2060
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,35
$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,2880
$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
$GPS1,182336,2239.000,-15807.034,8,1.3,25,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.31
$_SM_ANGLEo,-65.8
$GPS2,183813,2238.935,-15807.226,8,1.6,8,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.227,0.059
$KALMAN_X,-9584.0,-183.3,-537.1,4335.0,-634.0
$KALMAN_Y,-6739.8,-301.6,-315.5,4306.8,309.7
$MHEAD_RNG_PITCHd_Wd,65.5,16686,-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,19,-1.38,-116.8,0.0,0.0,0,126,0.00,0.00,-100.95,0.000,6,0.000,0.000,475,2052,3354,0,0,0,0,0,0
$GC,131,-1.38,-116.8,1.2,-3.2,12,150,12.77,2.58,0.00,0.000,4,0.174,0.032,2781,3642,3356,0,0,0,0,0,0
$GC,169,-0.52,-116.8,10.4,-23.3,16,177,0.88,2.55,0.00,0.000,6,0.109,0.024,2968,2055,3355,0,0,0,0,0,0
$GC,492,-0.66,-116.8,34.5,-7.5,61,497,0.00,2.55,0.00,0.000,4,0.000,0.039,2968,3639,3355,0,0,0,0,0,0
$GC,526,-0.79,-116.8,38.0,-9.2,63,532,0.22,2.50,0.00,0.000,6,0.051,0.025,2896,2050,3355,0,0,0,0,0,0
$GC,796,-0.79,-116.8,67.8,-11.7,87,800,0.00,2.53,0.00,0.000,4,0.000,0.032,2897,3639,3355,0,0,0,0,0,0
$GC,951,-0.79,-116.8,84.3,-9.4,99,956,0.00,2.47,0.00,0.000,6,0.000,0.031,2896,2067,3355,0,0,0,0,0,0
$GC,1219,-0.79,-116.8,103.8,-6.8,123,1224,0.00,2.50,0.00,0.000,4,0.000,0.040,2896,3645,3355,0,0,0,0,0,0
$GC,1237,-0.79,-116.8,105.6,-7.1,124,1241,0.00,2.42,0.00,0.000,6,0.000,0.030,2896,2079,3355,0,0,0,0,0,0
$GC,1501,-0.79,-116.8,122.7,-6.3,148,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2079,3356,0,0,0,0,0,0
$GC,1766,-0.79,-116.8,137.3,-4.7,173,1770,0.00,2.50,0.00,0.000,4,0.000,0.032,2896,3645,3355,0,0,0,0,0,0
$GC,1813,-0.83,-116.8,140.1,-5.9,176,1822,0.00,2.47,0.00,0.000,6,0.000,0.030,2896,2081,3355,0,0,0,0,0,0
$GC,2076,-0.87,-116.8,155.5,-6.3,201,2080,0.00,2.47,0.00,0.000,4,0.000,0.040,2896,3649,3355,0,0,0,0,0,0
$GC,2099,-0.87,-116.8,157.5,-7.3,202,2105,0.00,2.45,0.00,0.000,6,0.000,0.024,2896,2078,3355,0,0,0,0,0,0
$GC,2364,-0.92,-116.8,178.7,-9.2,227,2369,0.00,2.47,0.00,0.000,4,0.000,0.038,2896,3644,3355,0,0,0,0,0,0
$GC,2398,-0.97,-116.8,181.6,-9.5,229,2402,0.00,2.42,0.00,0.000,6,0.000,0.024,2896,2096,3355,0,0,0,0,0,0
$GC,2672,-1.03,-116.8,202.4,-6.0,251,2677,0.12,2.67,0.00,0.000,4,0.074,0.058,2851,483,3355,0,0,0,0,0,0
$GC,2688,-1.03,-116.8,203.8,-6.0,251,2693,0.00,2.55,0.00,0.000,6,0.000,0.019,2851,2132,3355,0,0,0,0,0,0
$GC,2951,-1.03,-116.8,215.8,-4.2,258,2956,0.00,2.72,0.00,0.000,4,0.000,0.058,2851,485,3355,0,0,0,0,0,0
$GC,2979,-0.97,-116.8,217.0,-4.6,258,2984,0.12,2.53,0.00,0.000,6,0.120,0.025,2877,2114,3355,0,0,0,0,0,0
$GC,3229,-0.97,-116.8,226.1,-4.0,264,3233,0.00,2.67,0.00,0.000,4,0.000,0.056,2877,491,3354,0,0,0,0,0,0
$GC,3297,-0.97,-116.8,230.1,-5.8,265,3301,0.00,2.50,0.00,0.000,6,0.000,0.020,2877,2106,3354,0,0,0,0,0,0
$GC,3552,-1.01,-116.8,247.3,-7.1,272,3556,0.00,2.42,0.00,0.000,4,0.000,0.039,2877,3629,3354,0,0,0,0,0,0
$GC,3633,-1.05,-116.8,253.8,-8.0,273,3639,0.00,2.40,0.00,0.000,6,0.000,0.030,2876,2107,3353,0,0,0,0,0,0
$GC,3884,-1.09,-116.8,268.0,-4.8,280,3889,0.10,2.75,0.00,0.000,4,0.088,0.068,2842,476,3353,0,0,0,0,0,0
$GC,3986,-1.05,-116.8,272.5,-4.4,282,3991,0.00,2.53,0.00,0.000,6,0.000,0.025,2842,2086,3352,0,0,0,0,0,0
$GC,4254,-1.05,-116.8,281.5,-3.5,289,4258,0.00,2.50,0.00,0.000,4,0.000,0.040,2842,3634,3351,0,0,0,0,0,0
$GC,4395,-1.05,-116.8,289.7,-6.9,292,4399,0.00,2.42,0.00,0.000,6,0.000,0.034,2842,2099,3351,0,0,0,0,0,0
$STATE,4542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4542,begin apogee
$GC,4550,-0.31,0.0,300.2,7.0,296,4644,0.80,0.00,90.93,0.739,6,0.085,0.000,3022,1988,2879,0,0,0,0,0,0
$STATE,4645,end apogee,CONTROL_FINISHED_OK
$STATE,4645,begin climb
$GC,4647,1.38,116.8,303.7,0.0,298,4748,1.58,0.00,95.95,0.719,6,0.061,0.000,3385,1988,2403,0,0,0,0,0,0
$GC,4973,1.51,169.5,285.5,7.0,306,5024,0.15,2.67,44.28,0.703,4,0.076,0.042,3422,3569,2188,0,0,0,0,0,0
$GC,5135,1.51,169.5,267.4,12.5,309,5141,0.00,2.50,0.00,0.000,6,0.000,0.038,3422,2037,2184,0,0,0,0,0,0
$GC,5387,1.51,169.5,237.0,12.5,316,5391,0.00,2.53,0.00,0.000,4,0.000,0.039,3422,3580,2181,0,0,0,0,0,0
$GC,5408,1.51,169.5,233.8,13.4,316,5412,0.00,2.47,0.00,0.000,6,0.000,0.032,3422,2047,2180,0,0,0,0,0,0
$GC,5664,1.51,169.5,201.9,12.1,323,5668,0.00,2.78,0.00,0.000,4,0.000,0.067,3422,411,2179,0,0,0,0,0,0
$GC,5688,1.51,169.5,198.8,13.5,323,5692,0.00,2.58,0.00,0.000,6,0.000,0.025,3422,2036,2178,0,0,0,0,0,0
$GC,5954,1.56,169.5,169.1,10.0,348,5958,0.00,2.50,0.00,0.000,4,0.000,0.038,3422,3584,2178,0,0,0,0,0,0
$GC,6081,1.61,169.5,156.5,10.2,358,6085,0.00,2.50,0.00,0.000,6,0.000,0.035,3422,2035,2176,0,0,0,0,0,0
$GC,6344,1.68,169.5,129.0,10.6,382,6349,0.12,2.47,0.00,0.000,4,0.090,0.035,3457,3584,2176,0,0,0,0,0,0
$GC,6416,1.68,169.5,120.5,13.2,387,6421,0.00,2.45,0.00,0.000,6,0.000,0.030,3457,2060,2176,0,0,0,0,0,0
$GC,6682,1.68,169.5,87.4,12.4,411,6686,0.00,2.42,0.00,0.000,4,0.000,0.041,3457,3580,2176,0,0,0,0,0,0
$GC,6766,1.68,169.5,76.8,13.1,417,6770,0.00,2.35,0.00,0.000,6,0.000,0.038,3457,2098,2175,0,0,0,0,0,0
$GC,7032,1.68,169.5,44.1,11.6,441,7036,0.00,2.38,0.00,0.000,4,0.000,0.035,3457,3577,2175,0,0,0,0,0,0
$GC,7057,1.68,169.5,40.8,10.9,442,7068,0.00,2.38,0.00,0.000,6,0.000,0.028,3457,2106,2175,0,0,0,0,0,0
$GC,7367,1.73,175.6,7.2,9.6,481,7377,0.00,2.35,4.57,0.383,4,0.000,0.037,3457,3582,2163,0,0,0,0,0,0
$STATE,7393,end climb,SURFACE_DEPTH_REACHED
$STATE,7393,begin surface coast
$FINISH,-0.9,1.013473
$STATE,7435,end surface coast,CONTROL_FINISHED_OK
$STATE,7435,begin surface
$SM_CCo,7461,216.12,0.508,0,0,1045,450.13
$SM_GC,-0.21,0.00,0.00,216.12,0.000,0.000,0.508,474,2034,1045,-12.03,-0.74,450.13
$IRIDIUM_FIX,2230.01,-15806.28,170801,181803
$TT8_MAMPS,0.026078
$HUMID,58.42
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.20
$XPDR_PINGS,40
$24V_AH,23.5,2.014
$10V_AH,10.5,2.158
$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,28.950,105.500,235.725,216.125,0.000,62.973,73.001,453.085,10.000,0.000,9.949,970.006,4029.353,539.887,2058.492,934.018,33.333,1189.666,0.000,2074.770,0.000,0.537,0.000
$DEVICE_MAMPS,174.109,82.836,738.621,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.751,329.436,440.701,918.142,1406.969,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356080
$DATA_FILE_SIZE,38318,490
$CAP_FILE_SIZE,102372,0
$CFSIZE,260165632,146673664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230512,204816,2238.830,-15807.331,11,2.1,30,10.0