version: 66.06
glider: 146
mission: 7
dive: 17
start: 5 24 112 23 58 16
data:
$ID,146
$MISSION,7
$DIVE,17
$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,-288091
$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,28
$R_STBD_OVSHOOT,20
$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,2950
$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
$GPS1,235100,2238.258,-15809.291,31,1.2,41,10.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-64.2
$GPS2,235719,2238.212,-15809.352,9,1.1,14,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.186,0.171
$KALMAN_X,-28837.5,-498.2,-231.8,19956.8,-804.3
$KALMAN_Y,-18707.8,-356.5,-50.4,14731.5,-877.1
$MHEAD_RNG_PITCHd_Wd,37.4,20326,-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,15,begin dive
$GC,18,-1.31,-136.3,0.0,0.0,0,129,0.00,0.00,-105.30,0.000,6,0.000,0.000,476,2120,3505,0,0,0,0,0,0
$GC,134,-1.31,-136.3,2.1,-5.7,14,152,11.68,2.53,0.00,0.000,4,0.179,0.031,2554,3703,3505,0,0,0,0,0,0
$GC,334,-0.65,-136.3,61.8,-29.0,36,344,0.73,2.60,0.00,0.000,6,0.140,0.026,2699,2098,3506,0,0,0,0,0,0
$GC,602,-0.25,-136.3,117.9,-19.5,61,607,0.43,2.58,0.00,0.000,4,0.125,0.035,2786,3704,3506,0,0,0,0,0,0
$GC,637,0.02,-136.3,124.5,-16.2,63,643,0.32,2.55,0.00,0.000,6,0.120,0.023,2850,2089,3506,0,0,0,0,0,0
$GC,902,0.12,-136.3,159.0,-12.0,87,907,0.10,2.62,0.00,0.000,4,0.150,0.038,2870,3704,3506,0,0,0,0,0,0
$GC,977,0.12,-136.3,167.5,-10.6,93,981,0.00,2.53,0.00,0.000,6,0.000,0.031,2870,2101,3506,0,0,0,0,0,0
$GC,1241,0.12,-136.3,192.1,-7.9,117,1246,0.00,2.62,0.00,0.000,4,0.000,0.053,2870,525,3506,0,0,0,0,0,0
$GC,1310,0.16,-136.3,198.1,-8.3,122,1316,0.00,2.50,0.00,0.000,6,0.000,0.023,2871,2132,3506,0,0,0,0,0,0
$GC,1581,0.16,-136.3,217.8,-7.1,131,1586,0.00,2.70,0.00,0.000,4,0.000,0.056,2870,520,3507,0,0,0,0,0,0
$GC,1610,0.21,-136.3,219.8,-6.6,131,1615,0.10,2.45,0.00,0.000,6,0.136,0.022,2891,2097,3507,0,0,0,0,0,0
$GC,1860,0.21,-136.3,237.0,-6.9,137,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2097,3506,0,0,0,0,0,0
$GC,2104,0.21,-136.3,252.3,-6.1,143,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2097,3506,0,0,0,0,0,0
$GC,2350,0.16,-136.3,267.3,-6.2,149,2354,0.00,2.53,0.00,0.000,4,0.000,0.047,2891,3658,3506,0,0,0,0,0,0
$GC,2411,0.11,-136.3,271.6,-7.2,150,2415,0.00,2.47,0.00,0.000,6,0.000,0.025,2891,2096,3506,0,0,0,0,0,0
$GC,2674,0.06,-136.3,288.3,-6.5,157,2679,0.12,2.58,0.00,0.000,4,0.076,0.042,2852,3668,3505,0,0,0,0,0,0
$GC,2752,0.06,-136.3,294.6,-7.9,158,2758,0.00,2.50,0.00,0.000,6,0.000,0.034,2852,2110,3505,0,0,0,0,0,0
$GC,3002,0.06,-136.3,312.3,-6.8,165,3006,0.00,2.53,0.00,0.000,4,0.000,0.044,2852,3662,3504,0,0,0,0,0,0
$GC,3019,0.06,-136.3,313.3,-6.1,165,3024,0.00,2.50,0.00,0.000,6,0.000,0.030,2852,2108,3504,0,0,0,0,0,0
$GC,3281,0.06,-136.3,328.2,-5.6,172,3285,0.00,2.55,0.00,0.000,4,0.000,0.043,2852,3663,3502,0,0,0,0,0,0
$GC,3330,0.06,-136.3,331.3,-6.1,173,3334,0.00,2.50,0.00,0.000,6,0.000,0.034,2852,2114,3502,0,0,0,0,0,0
$GC,3604,0.06,-136.3,349.3,-6.8,180,3608,0.00,2.53,0.00,0.000,4,0.000,0.044,2852,3655,3500,0,0,0,0,0,0
$GC,3636,0.06,-136.3,352.1,-8.1,180,3642,0.00,2.50,0.00,0.000,6,0.000,0.035,2852,2121,3501,0,0,0,0,0,0
$GC,3886,0.06,-136.3,374.6,-9.4,187,3891,0.00,2.83,0.00,0.000,4,0.000,0.081,2851,512,3500,0,0,0,0,0,0
$GC,3903,0.06,-136.3,376.3,-9.7,187,3908,0.00,2.58,0.00,0.000,6,0.000,0.038,2852,2110,3499,0,0,0,0,0,0
$GC,4164,0.06,-136.3,402.3,-9.7,194,4168,0.00,2.65,0.00,0.000,4,0.000,0.055,2852,3686,3498,0,0,0,0,0,0
$GC,4219,0.06,-136.3,407.8,-9.5,195,4223,0.00,2.58,0.00,0.000,6,0.000,0.047,2852,2132,3498,0,0,0,0,0,0
$GC,4487,0.06,-136.3,428.3,-7.3,202,4491,0.00,2.60,0.00,0.000,4,0.000,0.058,2852,3678,3496,0,0,0,0,0,0
$GC,4504,0.06,-136.3,429.6,-6.8,202,4509,0.00,2.55,0.00,0.000,6,0.000,0.048,2851,2141,3496,0,0,0,0,0,0
$GC,4765,0.06,-136.3,446.2,-6.3,209,4769,0.00,2.60,0.00,0.000,4,0.000,0.061,2851,3678,3494,0,0,0,0,0,0
$GC,4799,0.06,-136.3,448.5,-7.0,209,4804,0.00,2.55,0.00,0.000,6,0.000,0.044,2852,2151,3494,0,0,0,0,0,0
$GC,5049,0.06,-136.3,463.9,-6.0,216,5053,0.00,2.58,0.00,0.000,4,0.000,0.060,2852,3675,3493,0,0,0,0,0,0
$GC,5104,0.06,-136.3,467.8,-6.9,217,5108,0.00,2.53,0.00,0.000,6,0.000,0.048,2852,2166,3493,0,0,0,0,0,0
$GC,5372,0.06,-136.3,486.0,-7.0,224,5376,0.00,2.58,0.00,0.000,4,0.000,0.064,2851,3676,3491,0,0,0,0,0,0
$GC,5421,0.06,-136.3,489.7,-7.3,225,5426,0.00,2.53,0.00,0.000,6,0.000,0.050,2852,2166,3491,0,0,0,0,0,0
$STATE,5610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5610,begin apogee
$GC,5618,-0.31,0.0,502.3,6.6,230,5732,0.30,0.00,108.18,0.941,6,0.052,0.000,2771,2041,2950,0,0,0,0,0,0
$STATE,5733,end apogee,CONTROL_FINISHED_OK
$STATE,5733,begin climb
$GC,5736,1.31,136.3,508.6,0.0,233,5862,1.67,3.17,115.45,0.913,4,0.104,0.119,3125,465,2393,0,0,0,0,0,0
$GC,5881,1.99,171.7,500.6,8.3,236,5921,0.68,2.67,32.12,0.871,6,0.052,0.043,3286,2042,2248,0,0,0,0,0,0
$GC,6189,2.33,214.6,476.7,7.9,244,6234,0.28,2.95,37.00,0.876,4,0.055,0.081,3361,470,2074,0,0,0,0,0,0
$GC,6346,2.39,214.6,458.8,11.9,247,6350,0.00,2.70,0.00,0.000,6,0.000,0.044,3361,2085,2069,0,0,0,0,0,0
$GC,6601,2.45,214.6,431.1,10.9,254,6605,0.00,2.62,0.00,0.000,4,0.000,0.058,3361,3649,2067,0,0,0,0,0,0
$GC,6630,2.51,214.6,427.9,11.7,254,6635,0.15,2.65,0.00,0.000,6,0.084,0.045,3398,2085,2066,0,0,0,0,0,0
$GC,6879,2.51,214.6,395.5,13.1,260,6884,0.00,2.60,0.00,0.000,4,0.000,0.048,3398,3646,2065,0,0,0,0,0,0
$GC,6907,2.51,214.6,391.4,14.2,260,6912,0.00,2.62,0.00,0.000,6,0.000,0.043,3398,2086,2064,0,0,0,0,0,0
$GC,7157,2.51,214.6,358.4,13.1,266,7162,0.00,2.58,0.00,0.000,4,0.000,0.043,3398,3646,2064,0,0,0,0,0,0
$GC,7180,2.51,214.6,355.5,12.7,266,7185,0.00,2.58,0.00,0.000,6,0.000,0.041,3398,2098,2063,0,0,0,0,0,0
$GC,7435,2.51,214.6,325.3,11.6,273,7439,0.00,2.55,0.00,0.000,4,0.000,0.046,3398,3642,2063,0,0,0,0,0,0
$GC,7463,2.51,214.6,321.9,12.8,273,7467,0.00,2.50,0.00,0.000,6,0.000,0.038,3398,2118,2062,0,0,0,0,0,0
$GC,7713,2.51,214.6,295.3,10.8,279,7717,0.00,2.53,0.00,0.000,4,0.000,0.040,3398,3649,2063,0,0,0,0,0,0
$GC,7739,2.51,214.6,292.0,11.4,279,7744,0.00,2.50,0.00,0.000,6,0.000,0.032,3398,2121,2062,0,0,0,0,0,0
$GC,7989,2.51,214.6,265.5,10.7,285,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2120,2062,0,0,0,0,0,0
$GC,8233,2.51,214.6,238.3,11.1,291,8237,0.00,2.47,0.00,0.000,4,0.000,0.040,3398,3643,2062,0,0,0,0,0,0
$GC,8250,2.51,214.6,236.3,11.7,291,8254,0.00,2.47,0.00,0.000,6,0.000,0.033,3398,2122,2062,0,0,0,0,0,0
$GC,8510,2.51,214.6,205.4,12.0,298,8515,0.00,2.83,0.00,0.000,4,0.000,0.065,3398,464,2062,0,0,0,0,0,0
$GC,8525,2.51,214.6,203.4,12.1,298,8530,0.00,2.67,0.00,0.000,6,0.000,0.026,3398,2170,2061,0,0,0,0,0,0
$GC,8793,2.57,230.2,175.7,9.3,319,8814,0.00,2.97,12.82,0.646,4,0.000,0.054,3398,460,2010,0,0,0,0,0,0
$GC,8855,2.64,240.5,169.0,9.5,324,8874,0.08,2.70,10.35,0.617,6,0.056,0.027,3424,2137,1970,0,0,0,0,0,0
$GC,9128,2.64,240.5,142.6,10.2,350,9133,0.00,2.45,0.00,0.000,4,0.000,0.042,3424,3649,1967,0,0,0,0,0,0
$GC,9162,2.64,240.5,138.9,10.9,352,9173,0.00,2.50,0.00,0.000,6,0.000,0.036,3424,2120,1967,0,0,0,0,0,0
$GC,9431,2.64,240.5,110.1,10.8,377,9435,0.00,2.45,0.00,0.000,4,0.000,0.034,3424,3648,1967,0,0,0,0,0,0
$GC,9464,2.68,240.5,105.9,12.6,379,9468,0.00,2.42,0.00,0.000,6,0.000,0.028,3424,2129,1967,0,0,0,0,0,0
$GC,9732,2.68,240.5,73.3,12.5,403,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2129,1967,0,0,0,0,0,0
$GC,9999,2.68,240.5,39.7,12.7,428,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2129,1967,0,0,0,0,0,0
$STATE,10307,end climb,SURFACE_DEPTH_REACHED
$STATE,10307,begin surface coast
$FINISH,-0.6,1.023680
$STATE,10352,end surface coast,CONTROL_FINISHED_OK
$STATE,10352,begin surface
$SM_CCo,10373,168.35,0.515,0,0,1114,450.13
$SM_GC,-0.08,0.00,0.00,168.35,0.000,0.000,0.515,470,2126,1114,-10.95,0.74,450.13
$IRIDIUM_FIX,2232.34,-15811.48,180801,202058
$TT8_MAMPS,0.026078
$HUMID,57.40
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,22.20
$XPDR_PINGS,56
$24V_AH,23.3,3.254
$10V_AH,10.4,3.212
$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,28.525,145.375,315.925,168.350,0.000,27.828,32.974,176.638,14.000,0.000,16.414,993.216,7016.367,599.700,1775.265,540.006,33.346,1317.606,0.000,1772.477,0.000,0.534,0.000
$DEVICE_MAMPS,178.711,118.885,941.109,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.138,247.255,342.792,629.438,952.170,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356084
$DATA_FILE_SIZE,38335,475
$CAP_FILE_SIZE,110048,0
$CFSIZE,260165632,146145280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250512,025507,2238.312,-15809.507,29,1.1,29,10.0