version: 66.06
glider: 146
mission: 7
dive: 9
start: 5 23 112 20 55 2
data:
$ID,146
$MISSION,7
$DIVE,9
$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,-287917.44
$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,44
$R_STBD_OVSHOOT,41
$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
$GPS1,204816,2238.830,-15807.331,11,2.1,30,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.20
$_SM_ANGLEo,-67.0
$GPS2,205408,2238.805,-15807.409,14,2.0,14,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.210,0.105
$KALMAN_X,-11097.3,-629.5,-204.3,5637.0,-772.4
$KALMAN_Y,-7844.9,-63.8,8.1,4608.3,-188.0
$MHEAD_RNG_PITCHd_Wd,53.5,17081,-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,-116.8,0.0,0.0,0,127,0.00,0.00,-100.00,0.000,6,0.000,0.000,474,2034,3356,0,0,0,0,0,0
$GC,131,-1.38,-116.8,1.0,-2.3,13,150,12.80,2.58,0.00,0.000,4,0.175,0.028,2779,3641,3357,0,0,0,0,0,0
$GC,261,-1.13,-116.8,23.3,-15.1,31,271,0.25,2.53,0.00,0.000,6,0.114,0.023,2833,2061,3357,0,0,0,0,0,0
$GC,543,-1.02,-116.8,59.1,-11.2,59,548,0.17,2.53,0.00,0.000,4,0.131,0.035,2867,3637,3357,0,0,0,0,0,0
$GC,639,-0.97,-116.8,69.4,-10.5,66,643,0.00,2.47,0.00,0.000,6,0.000,0.023,2867,2053,3357,0,0,0,0,0,0
$GC,903,-0.91,-116.8,93.0,-8.6,90,908,0.10,2.55,0.00,0.000,4,0.143,0.040,2887,3642,3357,0,0,0,0,0,0
$GC,971,-0.91,-116.8,99.1,-9.1,95,976,0.00,2.45,0.00,0.000,6,0.000,0.031,2887,2068,3357,0,0,0,0,0,0
$GC,1238,-0.91,-116.8,124.8,-9.6,119,1242,0.00,2.50,0.00,0.000,4,0.000,0.037,2887,3646,3357,0,0,0,0,0,0
$GC,1297,-0.91,-116.8,131.0,-9.5,123,1302,0.00,2.47,0.00,0.000,6,0.000,0.027,2887,2069,3357,0,0,0,0,0,0
$GC,1564,-0.91,-116.8,154.3,-7.6,148,1569,0.00,2.60,0.00,0.000,4,0.000,0.058,2887,485,3357,0,0,0,0,0,0
$GC,1583,-0.91,-116.8,156.2,-7.3,149,1588,0.00,2.47,0.00,0.000,6,0.000,0.022,2887,2105,3358,0,0,0,0,0,0
$GC,1846,-0.91,-116.8,173.3,-5.7,173,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2106,3358,0,0,0,0,0,0
$GC,2103,-0.95,-116.8,185.1,-4.8,197,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2105,3358,0,0,0,0,0,0
$GC,2366,-1.00,-116.8,199.2,-5.6,222,2370,0.00,2.40,0.00,0.000,4,0.000,0.035,2887,3622,3358,0,0,0,0,0,0
$GC,2426,-1.05,-116.8,203.0,-7.1,224,2431,0.12,2.40,0.00,0.000,6,0.075,0.023,2843,2090,3357,0,0,0,0,0,0
$GC,2693,-1.01,-116.8,225.1,-8.5,231,2698,0.12,2.67,0.00,0.000,4,0.123,0.058,2868,483,3357,0,0,0,0,0,0
$GC,2769,-1.01,-116.8,231.6,-8.6,232,2773,0.00,2.45,0.00,0.000,6,0.000,0.021,2868,2077,3357,0,0,0,0,0,0
$GC,3019,-1.01,-116.8,248.9,-6.7,238,3023,0.00,2.47,0.00,0.000,4,0.000,0.038,2868,3630,3356,0,0,0,0,0,0
$GC,3062,-1.01,-116.8,251.7,-5.9,239,3067,0.00,2.42,0.00,0.000,6,0.000,0.025,2868,2092,3356,0,0,0,0,0,0
$GC,3343,-1.05,-116.8,265.3,-4.9,246,3347,0.00,2.70,0.00,0.000,4,0.000,0.066,2868,487,3356,0,0,0,0,0,0
$GC,3364,-1.05,-116.8,266.7,-5.9,246,3368,0.00,2.50,0.00,0.000,6,0.000,0.030,2868,2085,3356,0,0,0,0,0,0
$GC,3619,-1.09,-116.8,281.8,-5.9,253,3624,0.00,2.50,0.00,0.000,4,0.000,0.041,2868,3637,3355,0,0,0,0,0,0
$GC,3815,-1.14,-116.8,297.2,-8.6,257,3820,0.12,2.40,0.00,0.000,6,0.075,0.027,2827,2128,3354,0,0,0,0,0,0
$STATE,3871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3871,begin apogee
$GC,3879,-0.31,0.0,301.7,8.0,259,3973,0.88,0.00,91.40,0.739,6,0.087,0.000,3022,1985,2880,0,0,0,0,0,0
$STATE,3974,end apogee,CONTROL_FINISHED_OK
$STATE,3974,begin climb
$GC,3976,1.38,116.8,305.0,0.0,261,4082,1.58,2.70,96.03,0.719,4,0.061,0.046,3386,3565,2402,0,0,0,0,0,0
$GC,4089,1.46,149.1,299.0,8.1,263,4124,0.10,2.58,28.05,0.686,6,0.097,0.033,3412,2009,2271,0,0,0,0,0,0
$GC,4389,1.46,149.1,265.8,11.3,271,4393,0.00,2.60,0.00,0.000,4,0.000,0.041,3411,3577,2265,0,0,0,0,0,0
$GC,4462,1.52,149.1,256.6,13.0,272,4467,0.00,2.55,0.00,0.000,6,0.000,0.034,3412,2026,2264,0,0,0,0,0,0
$GC,4712,1.56,149.1,225.7,12.5,278,4717,0.00,2.53,0.00,0.000,4,0.000,0.046,3412,3570,2263,0,0,0,0,0,0
$GC,4768,1.63,149.1,218.1,13.5,279,4773,0.15,2.45,0.00,0.000,6,0.087,0.033,3450,2067,2261,0,0,0,0,0,0
$GC,5031,1.63,149.1,183.1,12.4,294,5035,0.00,2.47,0.00,0.000,4,0.000,0.042,3450,3580,2261,0,0,0,0,0,0
$GC,5131,1.63,149.1,169.7,12.4,302,5135,0.00,2.40,0.00,0.000,6,0.000,0.039,3450,2101,2259,0,0,0,0,0,0
$GC,5395,1.63,149.1,141.6,10.2,326,5399,0.00,2.40,0.00,0.000,4,0.000,0.042,3450,3581,2259,0,0,0,0,0,0
$GC,5417,1.63,149.1,138.9,10.1,327,5423,0.00,2.38,0.00,0.000,6,0.000,0.030,3450,2107,2259,0,0,0,0,0,0
$GC,5681,1.64,160.8,113.7,9.3,352,5696,0.00,2.40,9.07,0.551,4,0.000,0.042,3450,3573,2223,0,0,0,0,0,0
$GC,5835,1.64,160.8,96.6,11.1,364,5839,0.00,2.33,0.00,0.000,6,0.000,0.030,3450,2126,2222,0,0,0,0,0,0
$GC,6101,1.64,160.8,67.6,11.2,388,6105,0.00,2.33,0.00,0.000,4,0.000,0.035,3451,3579,2222,0,0,0,0,0,0
$GC,6149,1.64,160.8,61.5,11.2,391,6158,0.00,2.33,0.00,0.000,6,0.000,0.030,3450,2146,2221,0,0,0,0,0,0
$GC,6416,1.66,174.2,35.2,9.2,416,6433,0.00,2.33,12.43,0.512,4,0.000,0.035,3450,3577,2170,0,0,0,0,0,0
$GC,6459,1.66,174.2,30.3,10.9,419,6468,0.00,2.33,0.00,0.000,6,0.000,0.030,3450,2150,2168,0,0,0,0,0,0
$STATE,6693,end climb,SURFACE_DEPTH_REACHED
$STATE,6693,begin surface coast
$FINISH,-0.5,1.023648
$STATE,6736,end surface coast,CONTROL_FINISHED_OK
$STATE,6736,begin surface
$SM_CCo,6759,217.07,0.509,0,0,1045,450.13
$SM_GC,-0.17,0.00,0.00,217.07,0.000,0.000,0.509,476,2017,1045,-12.02,-1.22,450.13
$IRIDIUM_FIX,2230.01,-15806.28,170801,181810
$TT8_MAMPS,0.026078
$HUMID,57.60
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.40
$XPDR_PINGS,30
$24V_AH,23.5,2.106
$10V_AH,10.5,2.276
$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,28.450,89.500,236.975,217.075,0.000,31.447,33.886,153.140,7.500,0.000,15.915,901.363,3503.055,536.926,1921.485,467.099,33.337,1143.089,0.000,1931.835,0.000,0.537,0.000
$DEVICE_MAMPS,174.876,69.797,739.388,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,310.451,306.565,420.236,854.644,1305.656,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356076
$DATA_FILE_SIZE,35312,459
$CAP_FILE_SIZE,84571,0
$CFSIZE,260165632,146644992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230512,225237,2238.593,-15807.699,36,1.6,37,10.0