version: 66.06
glider: 146
mission: 7
dive: 13
start: 5 24 112 10 20 46
data:
$ID,146
$MISSION,7
$DIVE,13
$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,140
$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,-288006.97
$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,2900
$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,30
$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,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
$GPS1,100355,2239.198,-15808.947,40,2.0,40,10.0
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.30
$_SM_ANGLEo,-61.1
$GPS2,101950,2239.075,-15809.052,10,1.7,11,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.174,0.182
$KALMAN_X,-20275.4,-251.6,-394.1,11829.6,-620.6
$KALMAN_Y,-12648.6,-295.2,108.4,10043.5,-1019.8
$MHEAD_RNG_PITCHd_Wd,33.8,18958,-18.2,-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,19,-1.31,-136.3,0.0,0.0,0,146,0.00,0.00,-123.55,0.000,6,0.000,0.000,474,2108,3436,0,0,0,0,0,0
$GC,151,-1.31,-136.3,1.0,-2.9,16,168,11.90,2.53,0.00,0.000,4,0.176,0.030,2606,3685,3437,0,0,0,0,0,0
$GC,450,-0.73,-136.3,74.7,-23.1,47,460,0.62,2.55,0.00,0.000,6,0.131,0.023,2732,2086,3437,0,0,0,0,0,0
$GC,712,-0.38,-136.3,116.7,-16.6,72,717,0.38,2.55,0.00,0.000,4,0.123,0.035,2810,3686,3437,0,0,0,0,0,0
$GC,724,-0.07,-136.3,118.9,-15.8,72,734,0.30,2.53,0.00,0.000,6,0.104,0.023,2877,2097,3437,0,0,0,0,0,0
$GC,993,-0.02,-136.3,145.4,-9.8,97,997,0.00,2.60,0.00,0.000,4,0.000,0.050,2877,521,3436,0,0,0,0,0,0
$GC,1010,0.05,-136.3,147.7,-9.8,98,1015,0.15,2.45,0.00,0.000,6,0.120,0.018,2907,2121,3437,0,0,0,0,0,0
$GC,1270,0.05,-136.3,169.8,-7.5,122,1275,0.00,2.42,0.00,0.000,4,0.000,0.041,2907,3656,3437,0,0,0,0,0,0
$GC,1304,0.05,-136.3,171.7,-7.2,124,1308,0.00,2.42,0.00,0.000,6,0.000,0.027,2907,2099,3437,0,0,0,0,0,0
$GC,1573,0.01,-136.3,188.5,-6.1,148,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2099,3437,0,0,0,0,0,0
$GC,1831,-0.03,-136.3,205.5,-6.0,167,1835,0.00,2.60,0.00,0.000,4,0.000,0.054,2907,529,3437,0,0,0,0,0,0
$GC,1876,-0.03,-136.3,208.7,-7.5,168,1880,0.00,2.40,0.00,0.000,6,0.000,0.018,2907,2088,3436,0,0,0,0,0,0
$GC,2154,-0.08,-136.3,226.8,-6.1,175,2159,0.10,2.53,0.00,0.000,4,0.092,0.038,2870,3660,3436,0,0,0,0,0,0
$GC,2332,-0.08,-136.3,240.4,-7.1,179,2337,0.00,2.45,0.00,0.000,6,0.000,0.031,2869,2097,3436,0,0,0,0,0,0
$GC,2616,-0.08,-136.3,255.4,-5.1,186,2621,0.00,2.53,0.00,0.000,4,0.000,0.038,2869,3659,3435,0,0,0,0,0,0
$GC,2701,-0.08,-136.3,259.9,-5.3,188,2705,0.00,2.42,0.00,0.000,6,0.000,0.025,2869,2115,3435,0,0,0,0,0,0
$GC,2986,-0.08,-136.3,274.3,-5.3,195,2991,0.00,2.67,0.00,0.000,4,0.000,0.066,2869,526,3434,0,0,0,0,0,0
$GC,3097,-0.08,-136.3,282.2,-7.7,197,3102,0.00,2.47,0.00,0.000,6,0.000,0.028,2870,2088,3433,0,0,0,0,0,0
$GC,3355,-0.08,-136.3,299.4,-6.8,204,3359,0.00,2.60,0.00,0.000,4,0.000,0.048,2869,3681,3432,0,0,0,0,0,0
$GC,3522,-0.08,-136.3,309.7,-5.2,207,3528,0.00,2.47,0.00,0.000,6,0.000,0.035,2869,2124,3431,0,0,0,0,0,0
$GC,3774,-0.08,-136.3,320.4,-4.0,214,3778,0.00,2.75,0.00,0.000,4,0.000,0.070,2869,520,3430,0,0,0,0,0,0
$GC,3834,-0.08,-136.3,323.0,-4.3,215,3839,0.00,2.53,0.00,0.000,6,0.000,0.034,2869,2101,3430,0,0,0,0,0,0
$GC,4095,-0.08,-136.3,333.3,-4.1,222,4100,0.00,2.58,0.00,0.000,4,0.000,0.047,2869,3684,3428,0,0,0,0,0,0
$GC,4129,-0.08,-136.3,335.1,-5.3,222,4135,0.00,2.58,0.00,0.000,6,0.000,0.037,2869,2093,3428,0,0,0,0,0,0
$GC,4379,-0.08,-136.3,347.7,-5.1,229,4384,0.00,2.58,0.00,0.000,4,0.000,0.047,2869,3675,3427,0,0,0,0,0,0
$GC,4421,-0.08,-136.3,350.0,-6.0,230,4425,0.00,2.55,0.00,0.000,6,0.000,0.037,2869,2108,3427,0,0,0,0,0,0
$GC,4706,-0.08,-136.3,368.0,-6.4,237,4710,0.00,2.80,0.00,0.000,4,0.000,0.080,2869,517,3424,0,0,0,0,0,0
$GC,4727,-0.08,-136.3,369.9,-7.8,237,4732,0.00,2.55,0.00,0.000,6,0.000,0.033,2869,2101,3424,0,0,0,0,0,0
$GC,4983,-0.08,-136.3,389.8,-7.9,244,4987,0.00,2.62,0.00,0.000,4,0.000,0.054,2869,3681,3423,0,0,0,0,0,0
$GC,5034,-0.08,-136.3,394.1,-8.6,245,5038,0.00,2.60,0.00,0.000,6,0.000,0.040,2869,2101,3423,0,0,0,0,0,0
$GC,5306,-0.08,-136.3,415.1,-7.5,252,5310,0.00,2.62,0.00,0.000,4,0.000,0.054,2869,3688,3422,0,0,0,0,0,0
$GC,5327,-0.08,-136.3,416.8,-7.6,252,5331,0.00,2.60,0.00,0.000,6,0.000,0.041,2869,2101,3422,0,0,0,0,0,0
$GC,5584,-0.12,-136.3,434.7,-6.9,259,5589,0.00,2.62,0.00,0.000,4,0.000,0.051,2869,3680,3419,0,0,0,0,0,0
$GC,5685,-0.12,-136.3,441.4,-5.8,261,5689,0.00,2.60,0.00,0.000,6,0.000,0.048,2869,2119,3420,0,0,0,0,0,0
$GC,5953,-0.16,-136.3,452.3,-3.6,268,5958,0.00,2.62,0.00,0.000,4,0.000,0.051,2869,3678,3418,0,0,0,0,0,0
$GC,6070,-0.16,-136.3,456.0,-3.0,270,6075,0.00,2.55,0.00,0.000,6,0.000,0.050,2869,2136,3417,0,0,0,0,0,0
$GC,6321,-0.20,-136.3,463.3,-3.3,276,6326,0.00,3.03,0.00,0.000,4,0.000,0.106,2869,507,3416,0,0,0,0,0,0
$GC,6345,-0.20,-136.3,464.4,-4.5,276,6350,0.00,2.67,0.00,0.000,6,0.000,0.047,2869,2121,3416,0,0,0,0,0,0
$GC,6601,-0.24,-136.3,479.0,-6.1,283,6606,0.00,2.90,0.00,0.000,4,0.000,0.089,2869,512,3414,0,0,0,0,0,0
$GC,6616,-0.24,-136.3,480.2,-7.0,283,6621,0.00,2.70,0.00,0.000,6,0.000,0.049,2869,2126,3414,0,0,0,0,0,0
$STATE,6875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6875,begin apogee
$GC,6883,-0.31,0.0,500.9,8.2,290,6992,0.15,0.00,106.88,0.949,6,0.073,0.000,2824,2036,2880,0,0,0,0,0,0
$STATE,6993,end apogee,CONTROL_FINISHED_OK
$STATE,6993,begin climb
$GC,6995,1.31,136.3,506.7,0.0,292,7125,1.65,3.00,116.35,0.917,4,0.094,0.097,3178,479,2323,0,0,0,0,0,0
$GC,7210,1.98,189.2,496.8,7.4,297,7265,0.65,2.65,46.25,0.891,6,0.052,0.041,3333,2053,2108,0,0,0,0,0,0
$GC,7540,2.08,189.2,459.8,12.6,305,7544,0.00,2.72,0.00,0.000,4,0.000,0.063,3333,3642,2100,0,0,0,0,0,0
$GC,7589,2.22,189.2,452.8,13.7,306,7595,0.22,2.70,0.00,0.000,6,0.070,0.053,3388,2066,2099,0,0,0,0,0,0
$GC,7863,2.22,189.2,412.3,14.8,313,7867,0.00,2.62,0.00,0.000,4,0.000,0.044,3388,3644,2098,0,0,0,0,0,0
$GC,7895,2.22,189.2,407.3,14.0,313,7901,0.00,2.70,0.00,0.000,6,0.000,0.051,3388,2053,2097,0,0,0,0,0,0
$GC,8145,2.22,189.2,373.7,13.2,320,8150,0.00,2.65,0.00,0.000,4,0.000,0.046,3388,3648,2096,0,0,0,0,0,0
$GC,8161,2.22,189.2,371.5,13.0,320,8166,0.00,2.65,0.00,0.000,6,0.000,0.039,3388,2058,2096,0,0,0,0,0,0
$GC,8424,2.22,189.2,340.2,11.7,327,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2058,2095,0,0,0,0,0,0
$GC,8666,2.23,192.0,315.5,9.9,333,8671,0.00,2.62,0.00,0.000,4,0.000,0.044,3388,3641,2094,0,0,0,0,0,0
$GC,8706,2.25,209.6,311.8,9.2,334,8729,0.00,2.58,16.83,0.787,6,0.000,0.037,3388,2082,2025,0,0,0,0,0,0
$GC,8994,2.27,225.2,285.3,9.3,341,9014,0.00,2.65,14.90,0.762,4,0.000,0.041,3388,3650,1961,0,0,0,0,0,0
$GC,9048,2.35,226.9,279.6,10.0,342,9053,0.10,2.53,0.00,0.000,6,0.091,0.038,3412,2122,1960,0,0,0,0,0,0
$GC,9316,2.35,226.9,246.2,13.2,349,9320,0.00,2.85,0.00,0.000,4,0.000,0.067,3413,462,1958,0,0,0,0,0,0
$GC,9348,2.31,226.9,240.6,16.6,349,9354,0.00,2.67,0.00,0.000,6,0.000,0.026,3413,2141,1957,0,0,0,0,0,0
$GC,9598,2.31,226.9,204.0,14.9,356,9602,0.00,2.45,0.00,0.000,4,0.000,0.046,3413,3653,1957,0,0,0,0,0,0
$GC,9639,2.36,226.9,197.8,16.2,357,9643,0.00,2.42,0.00,0.000,6,0.000,0.038,3413,2141,1956,0,0,0,0,0,0
$GC,9901,2.36,226.9,159.0,13.6,381,9906,0.00,2.83,0.00,0.000,4,0.000,0.057,3413,463,1956,0,0,0,0,0,0
$GC,9923,2.36,226.9,156.5,14.0,382,9927,0.00,2.72,0.00,0.000,6,0.000,0.022,3413,2181,1956,0,0,0,0,0,0
$GC,10187,2.41,226.9,124.8,10.5,406,10191,0.00,2.35,0.00,0.000,4,0.000,0.043,3413,3646,1956,0,0,0,0,0,0
$GC,10226,2.48,226.9,120.8,10.8,409,10231,0.12,2.40,0.00,0.000,6,0.094,0.033,3448,2152,1955,0,0,0,0,0,0
$GC,10492,2.48,226.9,89.7,12.2,433,10496,0.00,2.83,0.00,0.000,4,0.000,0.054,3449,458,1955,0,0,0,0,0,0
$GC,10559,2.48,226.9,80.0,13.1,438,10569,0.00,2.70,0.00,0.000,6,0.000,0.021,3448,2158,1955,0,0,0,0,0,0
$GC,10825,2.48,226.9,46.7,13.3,463,10830,0.00,2.38,0.00,0.000,4,0.000,0.035,3449,3652,1955,0,0,0,0,0,0
$GC,10846,2.48,226.9,43.6,13.2,464,10850,0.00,2.42,0.00,0.000,6,0.000,0.028,3448,2123,1955,0,0,0,0,0,0
$GC,11148,2.48,226.9,6.5,13.8,502,11157,0.00,2.47,0.00,0.000,4,0.000,0.034,3449,3641,1956,0,0,0,0,0,0
$STATE,11165,end climb,SURFACE_DEPTH_REACHED
$STATE,11165,begin surface coast
$FINISH,-0.2,1.023708
$STATE,11194,end surface coast,CONTROL_FINISHED_OK
$STATE,11194,begin surface
$SM_CCo,11219,178.55,0.526,0,0,1045,450.13
$SM_GC,-0.20,0.00,0.00,178.55,0.000,0.000,0.526,472,2068,1045,-11.17,-0.90,450.13
$IRIDIUM_FIX,2230.01,-15806.28,180801,101058
$TT8_MAMPS,0.026078
$HUMID,58.97
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.50
$XPDR_PINGS,54
$24V_AH,23.3,2.709
$10V_AH,10.3,2.768
$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,28.425,166.475,301.200,178.550,0.000,53.856,76.055,616.197,13.500,0.000,12.989,1102.297,7578.375,600.988,1998.395,1074.844,33.345,1432.784,0.000,1989.492,0.000,0.536,0.000
$DEVICE_MAMPS,176.410,105.846,948.779,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.359,275.427,363.492,645.430,975.244,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356264
$DATA_FILE_SIZE,38463,508
$CAP_FILE_SIZE,131605,0
$CFSIZE,260165632,146354176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240512,133152,2239.080,-15809.301,7,6.8,26,10.0