version: 66.06
glider: 146
mission: 7
dive: 15
start: 5 24 112 17 11 33
data:
$ID,146
$MISSION,7
$DIVE,15
$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,-288060.44
$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,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,29
$R_STBD_OVSHOOT,22
$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
$GPS1,164725,2238.975,-15809.470,38,1.4,38,10.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.18
$_SM_ANGLEo,-67.6
$GPS2,171038,2238.773,-15809.645,14,1.1,14,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.242,0.071
$KALMAN_X,-24760.4,-547.2,-191.1,15392.7,-1082.1
$KALMAN_Y,-15190.0,-793.9,-517.3,13153.8,215.6
$MHEAD_RNG_PITCHd_Wd,63.5,20107,-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,-136.3,0.0,0.0,0,123,0.00,0.00,-101.43,0.000,6,0.000,0.000,474,2085,3436,0,0,0,0,0,0
$GC,126,-1.31,-136.3,1.3,-3.7,13,142,11.62,2.60,0.00,0.000,4,0.176,0.033,2557,3710,3438,0,0,0,0,0,0
$GC,226,-0.64,-136.3,28.6,-28.0,27,235,0.73,2.60,0.00,0.000,6,0.141,0.022,2700,2089,3437,0,0,0,0,0,0
$GC,494,-0.21,-136.3,78.1,-16.5,52,499,0.47,2.60,0.00,0.000,4,0.125,0.028,2797,3703,3437,0,0,0,0,0,0
$GC,553,0.02,-136.3,86.7,-11.5,56,562,0.22,2.55,0.00,0.000,6,0.111,0.023,2846,2108,3437,0,0,0,0,0,0
$GC,822,0.15,-136.3,105.9,-7.2,81,827,0.15,0.00,0.00,0.000,6,0.130,0.000,2878,2108,3437,0,0,0,0,0,0
$GC,1086,0.21,-136.3,125.8,-8.6,106,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2108,3437,0,0,0,0,0,0
$GC,1353,0.25,-136.3,149.6,-9.6,131,1359,0.12,2.65,0.00,0.000,4,0.127,0.051,2903,523,3438,0,0,0,0,0,0
$GC,1371,0.25,-136.3,151.6,-8.8,132,1375,0.00,2.47,0.00,0.000,6,0.000,0.020,2903,2147,3437,0,0,0,0,0,0
$GC,1635,0.25,-136.3,174.8,-9.8,156,1639,0.00,2.40,0.00,0.000,4,0.000,0.041,2903,3664,3438,0,0,0,0,0,0
$GC,1710,0.25,-136.3,182.7,-10.0,162,1715,0.00,2.45,0.00,0.000,6,0.000,0.023,2903,2108,3438,0,0,0,0,0,0
$GC,1992,0.25,-136.3,208.2,-9.3,182,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2108,3438,0,0,0,0,0,0
$GC,2232,0.25,-136.3,226.9,-7.5,188,2237,0.00,2.47,0.00,0.000,4,0.000,0.035,2903,3658,3438,0,0,0,0,0,0
$GC,2285,0.20,-136.3,230.5,-7.5,189,2289,0.00,2.45,0.00,0.000,6,0.000,0.025,2903,2107,3437,0,0,0,0,0,0
$GC,2557,0.15,-136.3,246.3,-5.5,196,2561,0.00,2.62,0.00,0.000,4,0.000,0.062,2903,526,3437,0,0,0,0,0,0
$GC,2658,0.11,-136.3,252.5,-6.7,198,2663,0.12,2.42,0.00,0.000,6,0.072,0.020,2860,2093,3437,0,0,0,0,0,0
$GC,2926,0.11,-136.3,270.4,-6.6,205,2930,0.00,2.53,0.00,0.000,4,0.000,0.044,2860,3667,3436,0,0,0,0,0,0
$GC,2970,0.11,-136.3,273.6,-7.4,206,2974,0.00,2.45,0.00,0.000,6,0.000,0.031,2860,2110,3436,0,0,0,0,0,0
$GC,3249,0.11,-136.3,291.6,-6.4,213,3254,0.00,2.70,0.00,0.000,4,0.000,0.065,2860,516,3435,0,0,0,0,0,0
$GC,3317,0.15,-136.3,297.2,-8.0,214,3322,0.10,2.50,0.00,0.000,6,0.128,0.031,2880,2088,3435,0,0,0,0,0,0
$GC,3572,0.15,-136.3,311.6,-5.2,221,3577,0.00,2.60,0.00,0.000,4,0.000,0.049,2880,3678,3434,0,0,0,0,0,0
$GC,3732,0.15,-136.3,319.9,-4.6,224,3736,0.00,2.50,0.00,0.000,6,0.000,0.035,2880,2122,3433,0,0,0,0,0,0
$GC,3986,0.15,-136.3,330.9,-4.3,231,3991,0.00,2.78,0.00,0.000,4,0.000,0.078,2880,520,3432,0,0,0,0,0,0
$GC,4022,0.15,-136.3,332.7,-5.6,231,4028,0.00,2.53,0.00,0.000,6,0.000,0.028,2880,2115,3431,0,0,0,0,0,0
$GC,4273,0.10,-136.3,345.5,-5.1,238,4277,0.00,2.55,0.00,0.000,4,0.000,0.048,2880,3685,3430,0,0,0,0,0,0
$GC,4361,0.10,-136.3,350.4,-5.0,240,4366,0.00,2.53,0.00,0.000,6,0.000,0.031,2880,2128,3430,0,0,0,0,0,0
$GC,4642,0.06,-136.3,363.4,-4.5,247,4646,0.00,2.53,0.00,0.000,4,0.000,0.043,2880,3678,3428,0,0,0,0,0,0
$GC,4663,0.02,-136.3,364.4,-4.0,247,4669,0.12,2.53,0.00,0.000,6,0.083,0.033,2842,2130,3428,0,0,0,0,0,0
$GC,4921,0.02,-136.3,376.3,-4.6,254,4925,0.00,2.58,0.00,0.000,4,0.000,0.048,2842,3685,3427,0,0,0,0,0,0
$GC,4953,0.06,-136.3,378.0,-5.1,254,4960,0.10,2.55,0.00,0.000,6,0.133,0.041,2862,2129,3426,0,0,0,0,0,0
$GC,5203,0.06,-136.3,388.8,-4.2,261,5208,0.00,2.58,0.00,0.000,4,0.000,0.053,2862,3681,3425,0,0,0,0,0,0
$GC,5300,0.06,-136.3,393.5,-5.0,263,5304,0.00,2.50,0.00,0.000,6,0.000,0.039,2862,2150,3424,0,0,0,0,0,0
$GC,5571,0.06,-136.3,406.7,-5.0,270,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2150,3423,0,0,0,0,0,0
$GC,5815,0.06,-136.3,418.5,-4.8,276,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2150,3422,0,0,0,0,0,0
$GC,6061,0.06,-136.3,430.8,-5.1,282,6065,0.00,2.55,0.00,0.000,4,0.000,0.056,2862,3675,3420,0,0,0,0,0,0
$GC,6127,0.06,-136.3,434.8,-6.5,283,6131,0.00,2.55,0.00,0.000,6,0.000,0.044,2862,2144,3420,0,0,0,0,0,0
$GC,6382,0.06,-136.3,447.2,-4.5,290,6386,0.00,2.58,0.00,0.000,4,0.000,0.055,2862,3679,3418,0,0,0,0,0,0
$GC,6423,0.06,-136.3,449.1,-5.1,291,6427,0.00,2.53,0.00,0.000,6,0.000,0.043,2862,2154,3418,0,0,0,0,0,0
$GC,6706,0.06,-136.3,461.8,-4.5,298,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2154,3417,0,0,0,0,0,0
$GC,6950,0.06,-136.3,474.5,-5.5,304,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2154,3415,0,0,0,0,0,0
$GC,7195,0.06,-136.3,488.5,-5.8,310,7200,0.00,3.08,0.00,0.000,4,0.000,0.113,2862,510,3414,0,0,0,0,0,0
$GC,7239,0.06,-136.3,491.5,-6.5,311,7244,0.00,2.72,0.00,0.000,6,0.000,0.044,2862,2143,3414,0,0,0,0,0,0
$STATE,7393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7393,begin apogee
$GC,7400,-0.31,0.0,501.1,6.1,315,7509,0.35,0.00,106.82,0.954,6,0.051,0.000,2769,2039,2880,0,0,0,0,0,0
$STATE,7510,end apogee,CONTROL_FINISHED_OK
$STATE,7510,begin climb
$GC,7514,1.31,136.3,506.0,0.0,317,7642,1.67,2.97,115.90,0.923,4,0.104,0.091,3128,480,2323,0,0,0,0,0,0
$GC,7753,1.92,140.6,488.8,9.8,322,7764,0.60,2.65,4.25,0.584,6,0.057,0.043,3269,2057,2307,0,0,0,0,0,0
$GC,8014,2.31,199.8,469.6,7.1,329,8075,0.32,2.97,52.72,0.894,4,0.049,0.087,3360,480,2064,0,0,0,0,0,0
$GC,8124,2.37,199.8,457.8,12.7,331,8129,0.00,2.75,0.00,0.000,6,0.000,0.037,3360,2116,2060,0,0,0,0,0,0
$GC,8380,2.43,199.8,428.1,11.5,338,8384,0.00,2.58,0.00,0.000,4,0.000,0.056,3360,3638,2057,0,0,0,0,0,0
$GC,8407,2.49,199.8,425.0,11.5,338,8412,0.12,2.55,0.00,0.000,6,0.092,0.048,3394,2129,2056,0,0,0,0,0,0
$GC,8658,2.49,199.8,392.0,13.3,344,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2129,2055,0,0,0,0,0,0
$GC,8900,2.49,199.8,359.2,13.5,350,8904,0.00,2.53,0.00,0.000,4,0.000,0.041,3395,3650,2055,0,0,0,0,0,0
$GC,8932,2.49,199.8,354.3,15.0,350,8938,0.00,2.53,0.00,0.000,6,0.000,0.037,3394,2129,2054,0,0,0,0,0,0
$GC,9184,2.49,199.8,321.0,13.2,357,9188,0.00,2.50,0.00,0.000,4,0.000,0.043,3394,3642,2053,0,0,0,0,0,0
$GC,9199,2.49,199.8,318.6,13.0,357,9203,0.00,2.45,0.00,0.000,6,0.000,0.038,3394,2136,2052,0,0,0,0,0,0
$GC,9466,2.49,199.8,286.9,11.4,364,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2136,2052,0,0,0,0,0,0
$GC,9710,2.49,199.8,256.2,12.7,370,9714,0.00,2.45,0.00,0.000,4,0.000,0.038,3394,3642,2052,0,0,0,0,0,0
$GC,9752,2.54,199.8,251.1,13.6,371,9756,0.00,2.42,0.00,0.000,6,0.000,0.033,3394,2141,2051,0,0,0,0,0,0
$GC,10035,2.54,199.8,218.0,10.8,378,10040,0.00,2.88,0.00,0.000,4,0.000,0.067,3395,465,2051,0,0,0,0,0,0
$GC,10084,2.54,199.8,212.8,10.4,379,10088,0.00,2.70,0.00,0.000,6,0.000,0.021,3395,2162,2050,0,0,0,0,0,0
$GC,10343,2.60,199.8,185.8,11.6,393,10348,0.00,2.85,0.00,0.000,4,0.000,0.060,3394,469,2050,0,0,0,0,0,0
$GC,10365,2.64,199.8,183.5,12.0,394,10370,0.12,2.62,0.00,0.000,6,0.088,0.021,3425,2146,2050,0,0,0,0,0,0
$GC,10629,2.64,199.8,152.3,11.3,418,10634,0.00,2.40,0.00,0.000,4,0.000,0.041,3425,3648,2050,0,0,0,0,0,0
$GC,10705,2.64,199.8,142.9,11.4,424,10709,0.00,2.45,0.00,0.000,6,0.000,0.029,3425,2125,2050,0,0,0,0,0,0
$GC,10969,2.64,199.8,115.0,11.1,448,10973,0.00,2.45,0.00,0.000,4,0.000,0.039,3425,3644,2050,0,0,0,0,0,0
$GC,11099,2.70,199.8,99.0,12.7,458,11108,0.00,2.40,0.00,0.000,6,0.000,0.030,3425,2168,2050,0,0,0,0,0,0
$GC,11367,2.70,199.8,65.2,13.2,483,11371,0.00,2.85,0.00,0.000,4,0.000,0.054,3425,466,2050,0,0,0,0,0,0
$GC,11387,2.70,199.8,62.0,13.2,484,11391,0.00,2.70,0.00,0.000,6,0.000,0.019,3425,2197,2050,0,0,0,0,0,0
$GC,11656,2.74,199.8,30.6,11.3,508,11661,0.00,2.88,0.00,0.000,4,0.000,0.049,3425,459,2051,0,0,0,0,0,0
$GC,11678,2.74,199.8,27.5,11.2,510,11689,0.00,2.72,0.00,0.000,6,0.000,0.019,3425,2182,2051,0,0,0,0,0,0
$STATE,11896,end climb,SURFACE_DEPTH_REACHED
$STATE,11896,begin surface coast
$FINISH,-0.8,1.010617
$STATE,11938,end surface coast,CONTROL_FINISHED_OK
$STATE,11939,begin surface
$SM_CCo,11962,198.60,0.519,0,0,1044,450.13
$SM_GC,-0.16,0.00,0.00,198.60,0.000,0.000,0.519,472,2021,1044,-10.93,-2.23,450.13
$IRIDIUM_FIX,2227.67,-15806.28,180801,171705
$TT8_MAMPS,0.026078
$HUMID,58.03
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,21.90
$XPDR_PINGS,54
$24V_AH,23.3,3.002
$10V_AH,10.4,3.001
$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,28.875,150.775,279.700,198.600,0.000,115.873,135.313,786.637,13.500,0.000,15.875,1160.068,8341.634,591.459,2059.362,1404.019,33.347,1401.970,0.000,2058.152,0.000,0.535,0.000
$DEVICE_MAMPS,176.410,112.749,954.148,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.082,300.078,394.850,707.776,1070.316,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356332
$DATA_FILE_SIZE,41623,548
$CAP_FILE_SIZE,138001,0
$CFSIZE,260165632,146227200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240512,203536,2238.667,-15809.372,35,1.1,40,10.0