version: 66.06
glider: 146
mission: 7
dive: 14
start: 5 24 112 13 42 10
data:
$ID,146
$MISSION,7
$DIVE,14
$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,-288043.94
$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,2850
$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,44
$R_STBD_OVSHOOT,21
$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
$GPS1,133152,2239.080,-15809.301,7,6.8,26,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.23
$_SM_ANGLEo,-65.3
$GPS2,134116,2238.981,-15809.350,15,2.3,34,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.206,0.145
$KALMAN_X,-22463.2,-333.9,-290.6,13483.5,-872.0
$KALMAN_Y,-13815.4,-645.8,-310.9,11806.3,-626.3
$MHEAD_RNG_PITCHd_Wd,44.8,19474,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.31,-136.3,0.0,0.0,0,129,0.00,0.00,-102.38,0.000,6,0.000,0.000,472,2068,3434,0,0,0,0,0,0
$GC,132,-1.31,-136.3,2.0,-5.5,14,149,11.70,0.00,0.00,0.000,6,0.179,0.000,2554,2068,3434,0,0,0,0,0,0
$GC,429,-0.66,-136.3,79.5,-24.5,47,435,0.73,2.62,0.00,0.000,4,0.141,0.037,2698,3703,3434,0,0,0,0,0,0
$GC,464,-0.21,-136.3,88.3,-20.0,49,470,0.50,2.53,0.00,0.000,6,0.120,0.022,2798,2103,3435,0,0,0,0,0,0
$GC,728,0.01,-136.3,121.2,-12.6,74,734,0.25,2.60,0.00,0.000,4,0.122,0.054,2851,528,3435,0,0,0,0,0,0
$GC,801,0.16,-136.3,128.6,-9.4,79,807,0.15,2.45,0.00,0.000,6,0.125,0.018,2881,2114,3434,0,0,0,0,0,0
$GC,1066,0.20,-136.3,150.0,-8.0,104,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2114,3435,0,0,0,0,0,0
$GC,1327,0.20,-136.3,173.9,-9.0,129,1331,0.00,2.45,0.00,0.000,4,0.000,0.034,2881,3659,3435,0,0,0,0,0,0
$GC,1369,0.20,-136.3,177.5,-9.0,132,1373,0.00,2.50,0.00,0.000,6,0.000,0.028,2881,2068,3435,0,0,0,0,0,0
$GC,1631,0.20,-136.3,198.5,-7.8,156,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2068,3436,0,0,0,0,0,0
$GC,1895,0.20,-136.3,216.3,-6.5,164,1899,0.00,2.55,0.00,0.000,4,0.000,0.035,2881,3659,3435,0,0,0,0,0,0
$GC,1936,0.20,-136.3,219.1,-7.0,165,1940,0.00,2.53,0.00,0.000,6,0.000,0.024,2881,2061,3436,0,0,0,0,0,0
$GC,2219,0.20,-136.3,236.2,-5.6,172,2223,0.00,2.60,0.00,0.000,4,0.000,0.038,2881,3666,3435,0,0,0,0,0,0
$GC,2315,0.20,-136.3,242.1,-6.4,174,2319,0.00,2.50,0.00,0.000,6,0.000,0.031,2881,2077,3435,0,0,0,0,0,0
$GC,2587,0.20,-136.3,259.8,-6.9,181,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2077,3435,0,0,0,0,0,0
$GC,2830,0.20,-136.3,275.8,-6.4,187,2835,0.00,2.58,0.00,0.000,4,0.000,0.046,2881,3665,3434,0,0,0,0,0,0
$GC,2921,0.20,-136.3,281.6,-6.1,189,2925,0.00,2.50,0.00,0.000,6,0.000,0.028,2881,2082,3434,0,0,0,0,0,0
$GC,3198,0.20,-136.3,296.8,-5.7,196,3203,0.00,2.67,0.00,0.000,4,0.000,0.070,2881,518,3434,0,0,0,0,0,0
$GC,3276,0.20,-136.3,301.8,-6.4,197,3281,0.00,2.42,0.00,0.000,6,0.000,0.027,2881,2049,3433,0,0,0,0,0,0
$GC,3528,0.20,-136.3,318.1,-6.5,204,3532,0.00,2.62,0.00,0.000,4,0.000,0.049,2881,3653,3432,0,0,0,0,0,0
$GC,3712,0.16,-136.3,331.6,-8.1,208,3717,0.00,2.53,0.00,0.000,6,0.000,0.035,2881,2087,3432,0,0,0,0,0,0
$GC,3987,0.12,-136.3,344.7,-4.0,215,3992,0.00,2.72,0.00,0.000,4,0.000,0.077,2881,519,3430,0,0,0,0,0,0
$GC,4036,0.12,-136.3,346.7,-4.3,216,4041,0.00,2.47,0.00,0.000,6,0.000,0.035,2881,2065,3430,0,0,0,0,0,0
$GC,4311,0.08,-136.3,356.7,-4.0,223,4316,0.00,2.62,0.00,0.000,4,0.000,0.047,2881,3676,3429,0,0,0,0,0,0
$GC,4389,0.04,-136.3,361.8,-6.9,224,4396,0.10,2.60,0.00,0.000,6,0.094,0.039,2848,2087,3428,0,0,0,0,0,0
$GC,4639,0.04,-136.3,380.9,-7.9,231,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2087,3426,0,0,0,0,0,0
$GC,4888,0.04,-136.3,402.1,-8.7,237,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2087,3426,0,0,0,0,0,0
$GC,5127,0.04,-136.3,421.5,-7.9,243,5131,0.00,2.67,0.00,0.000,4,0.000,0.050,2848,3682,3424,0,0,0,0,0,0
$GC,5193,0.04,-136.3,426.8,-7.9,244,5197,0.00,2.62,0.00,0.000,6,0.000,0.049,2848,2099,3424,0,0,0,0,0,0
$GC,5449,0.04,-136.3,444.0,-6.5,251,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2099,3422,0,0,0,0,0,0
$GC,5692,0.04,-136.3,454.7,-4.0,257,5696,0.00,2.65,0.00,0.000,4,0.000,0.059,2848,3674,3421,0,0,0,0,0,0
$GC,5786,0.04,-136.3,458.3,-3.9,259,5790,0.00,2.62,0.00,0.000,6,0.000,0.052,2848,2108,3421,0,0,0,0,0,0
$GC,6059,0.04,-136.3,466.3,-2.9,266,6064,0.00,2.65,0.00,0.000,4,0.000,0.054,2848,3677,3419,0,0,0,0,0,0
$GC,6075,0.04,-136.3,467.0,-3.4,266,6079,0.00,2.62,0.00,0.000,6,0.000,0.050,2848,2104,3419,0,0,0,0,0,0
$GC,6336,0.04,-136.3,479.2,-5.0,273,6341,0.00,2.65,0.00,0.000,4,0.000,0.061,2848,3673,3418,0,0,0,0,0,0
$GC,6354,0.04,-136.3,480.2,-5.6,273,6359,0.00,2.62,0.00,0.000,6,0.000,0.051,2848,2107,3418,0,0,0,0,0,0
$GC,6617,0.04,-136.3,496.7,-6.5,280,6622,0.00,2.97,0.00,0.000,4,0.000,0.114,2848,516,3417,0,0,0,0,0,0
$STATE,6659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6659,begin apogee
$GC,6667,-0.31,0.0,500.2,7.7,281,6777,0.28,0.00,107.10,0.947,6,0.053,0.000,2770,2035,2880,0,0,0,0,0,0
$STATE,6778,end apogee,CONTROL_FINISHED_OK
$STATE,6778,begin climb
$GC,6782,1.31,136.3,505.9,0.0,283,6910,1.67,3.00,116.05,0.915,4,0.094,0.091,3129,466,2323,0,0,0,0,0,0
$GC,6952,1.97,184.4,497.5,7.7,287,7002,0.65,2.70,42.47,0.886,6,0.051,0.042,3283,2059,2127,0,0,0,0,0,0
$GC,7281,2.35,233.2,473.8,7.6,295,7331,0.30,3.00,42.58,0.881,4,0.075,0.084,3368,466,1928,0,0,0,0,0,0
$GC,7382,2.41,233.2,461.5,13.3,297,7386,0.00,2.72,0.00,0.000,6,0.000,0.038,3368,2086,1924,0,0,0,0,0,0
$GC,7648,2.46,233.2,427.4,12.9,304,7653,0.00,2.62,0.00,0.000,4,0.000,0.053,3368,3639,1922,0,0,0,0,0,0
$GC,7662,2.51,233.2,425.7,12.9,304,7667,0.12,2.65,0.00,0.000,6,0.093,0.041,3399,2067,1921,0,0,0,0,0,0
$GC,7928,2.51,233.2,388.2,13.9,311,7933,0.00,2.62,0.00,0.000,4,0.000,0.040,3398,3649,1920,0,0,0,0,0,0
$GC,7949,2.51,233.2,385.2,13.7,311,7953,0.00,2.60,0.00,0.000,6,0.000,0.043,3399,2084,1919,0,0,0,0,0,0
$GC,8206,2.51,233.2,352.5,12.7,318,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2084,1918,0,0,0,0,0,0
$GC,8448,2.51,233.2,322.1,12.5,324,8453,0.00,2.58,0.00,0.000,4,0.000,0.041,3399,3646,1918,0,0,0,0,0,0
$GC,8470,2.51,233.2,319.3,12.5,324,8474,0.00,2.58,0.00,0.000,6,0.000,0.041,3399,2083,1917,0,0,0,0,0,0
$GC,8725,2.51,233.2,288.4,12.4,331,8729,0.00,2.55,0.00,0.000,4,0.000,0.038,3399,3643,1917,0,0,0,0,0,0
$GC,8766,2.56,233.2,283.1,13.3,332,8770,0.00,2.53,0.00,0.000,6,0.000,0.037,3399,2101,1916,0,0,0,0,0,0
$GC,9048,2.56,233.2,246.1,12.8,339,9053,0.00,2.83,0.00,0.000,4,0.000,0.064,3399,461,1916,0,0,0,0,0,0
$GC,9069,2.56,233.2,243.2,13.0,339,9074,0.00,2.65,0.00,0.000,6,0.000,0.026,3399,2132,1915,0,0,0,0,0,0
$GC,9327,2.60,233.2,211.6,12.3,346,9331,0.00,2.45,0.00,0.000,4,0.000,0.044,3399,3642,1915,0,0,0,0,0,0
$GC,9366,2.67,233.2,206.5,12.3,347,9371,0.15,2.50,0.00,0.000,6,0.087,0.032,3436,2101,1915,0,0,0,0,0,0
$GC,9630,2.67,233.2,170.0,14.6,366,9634,0.00,2.53,0.00,0.000,4,0.000,0.035,3436,3652,1914,0,0,0,0,0,0
$GC,9664,2.67,233.2,164.0,16.1,368,9670,0.00,2.53,0.00,0.000,6,0.000,0.036,3436,2092,1915,0,0,0,0,0,0
$GC,9930,2.67,233.2,122.3,16.6,393,9935,0.00,2.72,0.00,0.000,4,0.000,0.058,3436,470,1915,0,0,0,0,0,0
$GC,9953,2.67,233.2,117.8,16.6,394,9962,0.00,2.60,0.00,0.000,6,0.000,0.026,3437,2109,1915,0,0,0,0,0,0
$GC,10218,2.67,233.2,77.7,14.4,419,10223,0.00,2.45,0.00,0.000,4,0.000,0.042,3436,3646,1915,0,0,0,0,0,0
$GC,10239,2.67,233.2,74.5,14.2,420,10243,0.00,2.50,0.00,0.000,6,0.000,0.035,3437,2090,1915,0,0,0,0,0,0
$GC,10508,2.67,233.2,39.7,11.6,444,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2089,1915,0,0,0,0,0,0
$STATE,10779,end climb,SURFACE_DEPTH_REACHED
$STATE,10779,begin surface coast
$FINISH,-0.9,1.012433
$STATE,10842,end surface coast,CONTROL_FINISHED_OK
$STATE,10842,begin surface
$SM_CCo,10865,171.73,0.521,0,0,1044,450.13
$SM_GC,-0.17,0.00,0.00,171.73,0.000,0.000,0.521,475,2085,1044,-10.93,-0.42,450.13
$IRIDIUM_FIX,2230.01,-15806.28,180801,101000
$TT8_MAMPS,0.026078
$HUMID,59.33
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.60
$XPDR_PINGS,50
$24V_AH,23.3,2.839
$10V_AH,10.4,2.874
$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,28.550,135.650,308.200,171.725,0.000,31.118,31.535,334.581,12.500,0.000,36.358,1030.230,7413.494,570.635,1885.938,698.165,33.348,1332.772,0.000,1860.595,0.000,0.537,0.000
$DEVICE_MAMPS,178.711,114.283,947.245,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.410,260.610,343.670,619.886,937.502,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356212
$DATA_FILE_SIZE,38356,489
$CAP_FILE_SIZE,113945,0
$CFSIZE,260165632,146313216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240512,164725,2238.975,-15809.470,38,1.4,38,10.0