version: 66.06
glider: 146
mission: 7
dive: 12
start: 5 24 112 6 45 45
data:
$ID,146
$MISSION,7
$DIVE,12
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,630
$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,166
$T_MISSION,350
$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,130
$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,589.45587
$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,-287993.34
$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,2950
$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,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,23
$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
$GPS1,061937,2238.959,-15808.337,91,1.2,91,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.26
$_SM_ANGLEo,-64.1
$GPS2,064450,2238.881,-15808.570,14,1.2,14,10.0
$SPEED_LIMITS,0.143,0.244
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.169,0.176
$KALMAN_X,-17159.6,-834.0,-495.5,10216.7,384.3
$KALMAN_Y,-11207.7,-104.2,-164.8,8319.3,-154.6
$MHEAD_RNG_PITCHd_Wd,33.8,18512,-19.0,-10.040
$D_GRID,500
$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,-1.34,-126.5,0.0,0.0,0,146,0.00,0.00,-121.60,0.000,6,0.000,0.000,470,2122,3395,0,0,0,0,0,0
$GC,151,-1.34,-126.5,1.3,-4.3,16,169,11.93,2.55,0.00,0.000,4,0.169,0.033,2651,3696,3396,0,0,0,0,0,0
$GC,377,-0.85,-126.5,50.7,-18.8,42,387,0.52,2.58,0.00,0.000,6,0.125,0.023,2759,2082,3395,0,0,0,0,0,0
$GC,645,-0.57,-126.5,85.2,-12.8,67,650,0.28,2.58,0.00,0.000,4,0.126,0.035,2816,3693,3395,0,0,0,0,0,0
$GC,664,-0.33,-126.5,88.5,-12.8,68,669,0.30,2.53,0.00,0.000,6,0.117,0.022,2877,2093,3395,0,0,0,0,0,0
$GC,929,-0.28,-126.5,111.5,-9.4,92,933,0.00,2.58,0.00,0.000,4,0.000,0.033,2877,3691,3395,0,0,0,0,0,0
$GC,962,-0.24,-126.5,115.3,-10.2,94,971,0.05,2.53,0.00,0.000,6,0.111,0.028,2891,2109,3395,0,0,0,0,0,0
$GC,1231,-0.24,-126.5,136.4,-7.6,119,1235,0.00,2.60,0.00,0.000,4,0.000,0.058,2891,527,3395,0,0,0,0,0,0
$GC,1275,-0.24,-126.5,140.9,-8.3,122,1285,0.00,2.47,0.00,0.000,6,0.000,0.025,2891,2118,3394,0,0,0,0,0,0
$GC,1540,-0.24,-126.5,160.6,-6.8,147,1544,0.00,2.62,0.00,0.000,4,0.000,0.052,2891,524,3394,0,0,0,0,0,0
$GC,1562,-0.24,-126.5,162.1,-7.2,148,1566,0.00,2.42,0.00,0.000,6,0.000,0.025,2891,2099,3394,0,0,0,0,0,0
$GC,1830,-0.24,-126.5,177.8,-6.1,172,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2099,3394,0,0,0,0,0,0
$GC,2091,-0.24,-126.5,194.8,-6.6,197,2095,0.00,2.50,0.00,0.000,4,0.000,0.041,2891,3660,3394,0,0,0,0,0,0
$GC,2108,-0.24,-126.5,196.0,-7.1,198,2112,0.00,2.47,0.00,0.000,6,0.000,0.027,2891,2075,3394,0,0,0,0,0,0
$GC,2372,-0.24,-126.5,213.3,-6.5,208,2376,0.00,2.55,0.00,0.000,4,0.000,0.056,2891,530,3393,0,0,0,0,0,0
$GC,2395,-0.24,-126.5,214.8,-6.3,208,2399,0.00,2.38,0.00,0.000,6,0.000,0.026,2892,2079,3393,0,0,0,0,0,0
$GC,2650,-0.24,-126.5,225.8,-4.1,215,2654,0.00,2.53,0.00,0.000,4,0.000,0.042,2892,3666,3393,0,0,0,0,0,0
$GC,2783,-0.29,-126.5,232.3,-5.4,218,2787,0.00,2.42,0.00,0.000,6,0.000,0.030,2891,2108,3392,0,0,0,0,0,0
$GC,3067,-0.34,-126.5,247.4,-5.4,225,3071,0.00,2.53,0.00,0.000,4,0.000,0.044,2891,3660,3392,0,0,0,0,0,0
$GC,3141,-0.40,-126.5,251.8,-6.0,226,3146,0.12,2.42,0.00,0.000,6,0.075,0.024,2850,2125,3392,0,0,0,0,0,0
$GC,3391,-0.40,-126.5,269.2,-7.2,232,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2125,3391,0,0,0,0,0,0
$GC,3634,-0.40,-126.5,287.4,-7.5,238,3639,0.00,2.70,0.00,0.000,4,0.000,0.069,2850,525,3390,0,0,0,0,0,0
$GC,3748,-0.35,-126.5,295.7,-7.0,240,3753,0.10,2.53,0.00,0.000,6,0.132,0.028,2869,2116,3389,0,0,0,0,0,0
$GC,4003,-0.35,-126.5,311.5,-6.2,247,4008,0.00,2.53,0.00,0.000,4,0.000,0.050,2869,3677,3388,0,0,0,0,0,0
$GC,4094,-0.35,-126.5,317.8,-7.1,249,4099,0.00,2.42,0.00,0.000,6,0.000,0.034,2869,2150,3388,0,0,0,0,0,0
$GC,4373,-0.35,-126.5,336.7,-6.9,256,4377,0.00,2.80,0.00,0.000,4,0.000,0.077,2869,523,3386,0,0,0,0,0,0
$GC,4422,-0.35,-126.5,340.1,-7.0,257,4426,0.00,2.58,0.00,0.000,6,0.000,0.034,2869,2130,3385,0,0,0,0,0,0
$GC,4696,-0.39,-126.5,352.7,-4.1,264,4701,0.00,2.75,0.00,0.000,4,0.000,0.064,2869,517,3384,0,0,0,0,0,0
$GC,4745,-0.39,-126.5,354.9,-4.4,265,4750,0.00,2.58,0.00,0.000,6,0.000,0.034,2869,2116,3384,0,0,0,0,0,0
$GC,5020,-0.43,-126.5,363.1,-2.7,272,5024,0.00,2.60,0.00,0.000,4,0.000,0.047,2869,3695,3382,0,0,0,0,0,0
$GC,5155,-0.43,-126.5,369.1,-4.9,275,5159,0.00,2.53,0.00,0.000,6,0.000,0.040,2869,2140,3381,0,0,0,0,0,0
$GC,5435,-0.47,-126.5,383.3,-5.5,282,5439,0.00,2.53,0.00,0.000,4,0.000,0.048,2869,3686,3380,0,0,0,0,0,0
$GC,5478,-0.47,-126.5,386.4,-6.9,283,5483,0.00,2.53,0.00,0.000,6,0.000,0.040,2869,2136,3380,0,0,0,0,0,0
$GC,5757,-0.52,-126.5,405.7,-7.0,290,5759,0.15,0.00,0.00,0.000,6,0.073,0.000,2824,2137,3378,0,0,0,0,0,0
$GC,6002,-0.48,-126.5,423.9,-7.4,296,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2137,3377,0,0,0,0,0,0
$GC,6244,-0.48,-126.5,440.3,-6.5,302,6248,0.00,2.60,0.00,0.000,4,0.000,0.054,2824,3681,3376,0,0,0,0,0,0
$GC,6465,-0.43,-126.5,453.6,-6.5,307,6470,0.15,2.55,0.00,0.000,6,0.121,0.049,2855,2152,3375,0,0,0,0,0,0
$GC,6749,-0.43,-126.5,468.3,-5.1,314,6753,0.00,3.00,0.00,0.000,4,0.000,0.104,2854,516,3373,0,0,0,0,0,0
$GC,6792,-0.43,-126.5,470.8,-5.5,315,6797,0.00,2.67,0.00,0.000,6,0.000,0.049,2854,2131,3373,0,0,0,0,0,0
$GC,7072,-0.43,-126.5,483.0,-4.3,322,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2132,3372,0,0,0,0,0,0
$GC,7314,-0.43,-126.5,493.2,-4.3,328,7318,0.00,2.65,0.00,0.000,4,0.000,0.066,2854,3684,3370,0,0,0,0,0,0
$STATE,7445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7445,begin apogee
$GC,7457,-0.31,0.0,500.2,5.6,331,7558,0.12,0.00,97.97,0.947,6,0.130,0.000,2879,2050,2880,0,0,0,0,0,0
$STATE,7559,end apogee,CONTROL_FINISHED_OK
$STATE,7559,begin climb
$GC,7561,1.34,126.5,503.0,0.0,333,7681,1.62,2.78,108.72,0.918,4,0.081,0.053,3236,3634,2362,0,0,0,0,0,0
$GC,7717,1.79,200.0,494.3,6.1,335,7787,0.43,2.72,63.38,0.899,6,0.046,0.051,3345,2047,2064,0,0,0,0,0,0
$GC,8056,1.90,200.0,459.7,10.9,344,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2047,2055,0,0,0,0,0,0
$GC,8298,2.01,200.0,431.7,11.7,350,8303,0.17,2.67,0.00,0.000,4,0.072,0.044,3388,3639,2054,0,0,0,0,0,0
$GC,8342,2.06,200.0,425.1,15.2,351,8347,0.00,2.75,0.00,0.000,6,0.000,0.053,3388,2027,2052,0,0,0,0,0,0
$GC,8622,2.06,200.0,383.3,15.3,358,8626,0.00,2.67,0.00,0.000,4,0.000,0.047,3388,3643,2052,0,0,0,0,0,0
$GC,8661,2.12,200.0,376.9,16.1,359,8666,0.10,2.72,0.00,0.000,6,0.097,0.046,3412,2027,2050,0,0,0,0,0,0
$GC,8945,2.12,200.0,330.6,16.3,366,8949,0.00,2.65,0.00,0.000,4,0.000,0.044,3412,3641,2050,0,0,0,0,0,0
$GC,8967,2.12,200.0,327.0,15.9,366,8972,0.00,2.67,0.00,0.000,6,0.000,0.044,3412,2036,2049,0,0,0,0,0,0
$GC,9222,2.12,200.0,286.4,15.7,373,9226,0.00,2.65,0.00,0.000,4,0.000,0.043,3412,3641,2049,0,0,0,0,0,0
$GC,9261,2.12,200.0,280.4,15.6,374,9265,0.00,2.62,0.00,0.000,6,0.000,0.036,3411,2050,2048,0,0,0,0,0,0
$GC,9545,2.12,200.0,240.2,13.7,381,9550,0.00,2.75,0.00,0.000,4,0.000,0.069,3412,459,2048,0,0,0,0,0,0
$GC,9560,2.12,200.0,237.5,13.6,381,9565,0.00,2.53,0.00,0.000,6,0.000,0.028,3412,2060,2048,0,0,0,0,0,0
$GC,9822,2.12,200.0,207.8,10.4,388,9826,0.00,2.55,0.00,0.000,4,0.000,0.045,3412,3624,2047,0,0,0,0,0,0
$GC,9908,2.19,200.0,198.0,12.7,390,9912,0.00,2.55,0.00,0.000,6,0.000,0.035,3412,2058,2047,0,0,0,0,0,0
$GC,10170,2.24,200.0,163.2,14.4,414,10175,0.10,2.55,0.00,0.000,4,0.272,0.035,3439,3633,2047,0,0,0,0,0,0
$GC,10227,2.24,200.0,154.9,16.2,418,10232,0.00,2.53,0.00,0.000,6,0.000,0.031,3439,2075,2047,0,0,0,0,0,0
$GC,10490,2.24,200.0,116.5,13.3,442,10494,0.00,2.50,0.00,0.000,4,0.000,0.040,3439,3626,2047,0,0,0,0,0,0
$GC,10499,2.24,200.0,114.8,13.7,442,10509,0.00,2.50,0.00,0.000,6,0.000,0.027,3439,2078,2047,0,0,0,0,0,0
$GC,10767,2.24,200.0,83.7,11.4,467,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,2078,2047,0,0,0,0,0,0
$GC,11031,2.24,200.0,52.0,11.4,492,11035,0.00,2.50,0.00,0.000,4,0.000,0.033,3439,3629,2047,0,0,0,0,0,0
$GC,11067,2.28,200.0,48.3,11.7,494,11071,0.00,2.50,0.00,0.000,6,0.000,0.032,3439,2077,2047,0,0,0,0,0,0
$GC,11365,2.34,214.6,14.4,9.3,528,11383,0.00,2.55,11.07,0.502,4,0.000,0.041,3439,3632,2006,0,0,0,0,0,0
$GC,11429,2.40,214.6,7.0,13.3,536,11438,0.10,2.47,0.00,0.000,6,0.056,0.031,3474,2112,2004,0,0,0,0,0,0
$STATE,11446,end climb,SURFACE_DEPTH_REACHED
$STATE,11446,begin surface coast
$FINISH,-0.7,1.023510
$STATE,11490,end surface coast,CONTROL_FINISHED_OK
$STATE,11490,begin surface
$SM_CCo,11511,296.62,0.518,0,0,477,589.46
$SM_GC,-0.07,0.00,0.00,296.62,0.000,0.000,0.518,475,2107,477,-11.39,0.20,589.46
$IRIDIUM_FIX,2230.01,-15811.48,180801,060630
$TT8_MAMPS,0.026078
$HUMID,57.95
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.60
$XPDR_PINGS,55
$24V_AH,23.4,2.559
$10V_AH,10.4,2.652
$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,28.450,149.975,281.150,296.625,0.000,150.323,345.410,608.456,13.750,0.000,16.107,1153.144,7865.221,687.958,2156.598,1460.214,33.344,1536.051,0.000,2149.762,0.000,0.536,0.000
$DEVICE_MAMPS,272.285,103.545,947.245,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.905,293.369,403.219,736.859,1115.147,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356252
$DATA_FILE_SIZE,41551,544
$CAP_FILE_SIZE,136671,0
$CFSIZE,260165632,146382848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240512,100355,2239.198,-15808.947,40,2.0,40,10.0