version: 66.06
glider: 146
mission: 7
dive: 18
start: 5 25 112 3 2 34
data:
$ID,146
$MISSION,7
$DIVE,18
$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,-288108.88
$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,19
$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
$GPS1,025507,2238.312,-15809.507,29,1.1,29,10.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.15
$_SM_ANGLEo,-68.0
$GPS2,030137,2238.287,-15809.565,10,1.4,15,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.204,0.148
$KALMAN_X,-31013.5,-421.1,-262.4,21722.9,-967.7
$KALMAN_Y,-20163.7,-120.2,-357.5,16389.2,-660.6
$MHEAD_RNG_PITCHd_Wd,44.1,20529,-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,-101.72,0.000,6,0.000,0.000,470,2126,3507,0,0,0,0,0,0
$GC,134,-1.31,-136.3,2.8,-7.7,14,152,11.73,2.65,0.00,0.000,4,0.179,0.044,2554,505,3507,0,0,0,0,0,0
$GC,163,0.15,-136.3,14.5,-33.0,17,173,1.62,2.58,0.00,0.000,6,0.134,0.020,2874,2135,3507,0,0,0,0,0,0
$GC,451,0.26,-136.3,51.2,-11.1,48,456,0.15,2.47,0.00,0.000,4,0.130,0.031,2904,3665,3507,0,0,0,0,0,0
$GC,474,0.33,-136.3,54.0,-11.4,49,478,0.00,2.50,0.00,0.000,6,0.000,0.023,2904,2075,3507,0,0,0,0,0,0
$GC,741,0.33,-136.3,79.3,-10.0,73,746,0.00,2.58,0.00,0.000,4,0.000,0.038,2904,3670,3508,0,0,0,0,0,0
$GC,764,0.33,-136.3,82.3,-9.9,74,773,0.00,2.50,0.00,0.000,6,0.000,0.023,2904,2101,3508,0,0,0,0,0,0
$GC,1029,0.33,-136.3,110.1,-10.9,99,1033,0.00,2.60,0.00,0.000,4,0.000,0.051,2903,519,3508,0,0,0,0,0,0
$GC,1060,0.33,-136.3,113.3,-10.7,101,1065,0.00,2.45,0.00,0.000,6,0.000,0.018,2904,2107,3508,0,0,0,0,0,0
$GC,1328,0.33,-136.3,140.4,-10.9,125,1332,0.00,2.45,0.00,0.000,4,0.000,0.039,2904,3660,3508,0,0,0,0,0,0
$GC,1397,0.33,-136.3,149.1,-11.5,130,1406,0.00,2.47,0.00,0.000,6,0.000,0.030,2904,2106,3509,0,0,0,0,0,0
$GC,1661,0.33,-136.3,175.1,-9.5,155,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2106,3508,0,0,0,0,0,0
$GC,1923,0.33,-136.3,197.0,-8.1,180,1927,0.00,2.62,0.00,0.000,4,0.000,0.058,2904,526,3509,0,0,0,0,0,0
$GC,2054,0.33,-136.3,208.1,-8.3,185,2059,0.00,2.45,0.00,0.000,6,0.000,0.026,2904,2114,3509,0,0,0,0,0,0
$GC,2338,0.29,-136.3,226.8,-6.1,192,2342,0.00,2.50,0.00,0.000,4,0.000,0.038,2904,3667,3509,0,0,0,0,0,0
$GC,2367,0.25,-136.3,228.6,-6.2,192,2371,0.00,2.45,0.00,0.000,6,0.000,0.030,2904,2113,3508,0,0,0,0,0,0
$GC,2617,0.21,-136.3,245.8,-7.1,198,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2113,3508,0,0,0,0,0,0
$GC,2861,0.15,-136.3,263.9,-7.5,204,2865,0.00,2.55,0.00,0.000,4,0.000,0.040,2904,3664,3508,0,0,0,0,0,0
$GC,2929,0.08,-136.3,269.3,-8.0,205,2935,0.15,2.45,0.00,0.000,6,0.064,0.025,2849,2109,3508,0,0,0,0,0,0
$GC,3185,0.12,-136.3,291.2,-8.5,212,3191,0.12,2.70,0.00,0.000,4,0.119,0.064,2876,525,3507,0,0,0,0,0,0
$GC,3215,0.12,-136.3,293.4,-7.7,212,3219,0.00,2.50,0.00,0.000,6,0.000,0.027,2876,2097,3507,0,0,0,0,0,0
$GC,3464,0.12,-136.3,309.8,-6.2,218,3469,0.00,2.58,0.00,0.000,4,0.000,0.043,2876,3675,3507,0,0,0,0,0,0
$GC,3504,0.12,-136.3,312.4,-6.3,219,3508,0.00,2.50,0.00,0.000,6,0.000,0.030,2876,2117,3507,0,0,0,0,0,0
$GC,3789,0.12,-136.3,326.1,-4.2,226,3793,0.00,2.55,0.00,0.000,4,0.000,0.049,2876,3684,3505,0,0,0,0,0,0
$GC,3821,0.12,-136.3,327.5,-4.6,226,3827,0.00,2.53,0.00,0.000,6,0.000,0.031,2876,2115,3505,0,0,0,0,0,0
$GC,4071,0.12,-136.3,338.4,-4.5,233,4075,0.00,2.55,0.00,0.000,4,0.000,0.050,2876,3674,3504,0,0,0,0,0,0
$GC,4117,0.12,-136.3,340.9,-6.2,234,4121,0.00,2.47,0.00,0.000,6,0.000,0.038,2876,2132,3504,0,0,0,0,0,0
$GC,4395,0.08,-136.3,358.5,-6.5,241,4399,0.00,2.83,0.00,0.000,4,0.000,0.083,2876,514,3502,0,0,0,0,0,0
$GC,4479,0.08,-136.3,365.9,-9.2,243,4483,0.00,2.58,0.00,0.000,6,0.000,0.032,2876,2110,3501,0,0,0,0,0,0
$GC,4764,0.04,-136.3,390.2,-8.3,250,4768,0.00,2.65,0.00,0.000,4,0.000,0.058,2876,3682,3500,0,0,0,0,0,0
$GC,4785,0.04,-136.3,392.2,-8.4,250,4790,0.00,2.55,0.00,0.000,6,0.000,0.038,2876,2118,3500,0,0,0,0,0,0
$GC,5041,-0.01,-136.3,410.9,-6.9,257,5046,0.12,2.62,0.00,0.000,4,0.080,0.056,2840,3681,3498,0,0,0,0,0,0
$GC,5110,-0.01,-136.3,415.7,-7.1,258,5114,0.00,2.55,0.00,0.000,6,0.000,0.043,2839,2132,3498,0,0,0,0,0,0
$GC,5365,-0.01,-136.3,427.1,-3.7,265,5369,0.00,2.58,0.00,0.000,4,0.000,0.054,2839,3682,3496,0,0,0,0,0,0
$GC,5406,-0.01,-136.3,428.3,-2.8,266,5410,0.00,2.58,0.00,0.000,6,0.000,0.050,2839,2132,3496,0,0,0,0,0,0
$GC,5689,-0.01,-136.3,435.4,-2.5,273,5693,0.00,2.58,0.00,0.000,4,0.000,0.053,2839,3677,3495,0,0,0,0,0,0
$GC,5749,-0.01,-136.3,437.8,-4.1,274,5754,0.00,2.55,0.00,0.000,6,0.000,0.050,2840,2143,3494,0,0,0,0,0,0
$GC,6011,-0.01,-136.3,451.0,-5.7,281,6015,0.00,2.58,0.00,0.000,4,0.000,0.057,2839,3681,3493,0,0,0,0,0,0
$GC,6032,-0.01,-136.3,452.6,-7.2,281,6036,0.00,2.58,0.00,0.000,6,0.000,0.047,2840,2141,3493,0,0,0,0,0,0
$GC,6288,-0.01,-136.3,473.3,-8.4,288,6292,0.00,2.58,0.00,0.000,4,0.000,0.061,2840,3674,3492,0,0,0,0,0,0
$GC,6305,-0.01,-136.3,474.8,-8.7,288,6310,0.00,2.58,0.00,0.000,6,0.000,0.051,2840,2143,3492,0,0,0,0,0,0
$GC,6566,-0.01,-136.3,498.3,-8.8,295,6570,0.00,2.62,0.00,0.000,4,0.000,0.062,2839,3678,3490,0,0,0,0,0,0
$STATE,6584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6585,begin apogee
$GC,6593,-0.31,0.0,500.2,8.5,295,6704,0.25,0.00,108.00,0.939,6,0.053,0.000,2765,2052,2950,0,0,0,0,0,0
$STATE,6705,end apogee,CONTROL_FINISHED_OK
$STATE,6705,begin climb
$GC,6709,1.31,136.3,507.8,0.0,298,6834,1.73,3.20,115.32,0.910,4,0.098,0.124,3129,464,2393,0,0,0,0,0,0
$GC,6843,2.04,205.8,502.1,6.6,301,6913,0.73,2.67,60.40,0.885,6,0.058,0.044,3296,2039,2110,0,0,0,0,0,0
$GC,7184,2.39,233.9,473.5,8.6,310,7215,0.28,2.90,24.98,0.861,4,0.051,0.083,3374,461,1994,0,0,0,0,0,0
$GC,7285,2.39,233.9,461.7,12.8,312,7290,0.00,2.70,0.00,0.000,6,0.000,0.039,3375,2077,1991,0,0,0,0,0,0
$GC,7551,2.39,233.9,429.8,11.8,319,7555,0.00,2.65,0.00,0.000,4,0.000,0.053,3374,3642,1989,0,0,0,0,0,0
$GC,7606,2.46,233.9,423.1,11.4,320,7611,0.00,2.65,0.00,0.000,6,0.000,0.045,3375,2078,1988,0,0,0,0,0,0
$GC,7874,2.46,233.9,393.4,11.1,327,7878,0.00,2.62,0.00,0.000,4,0.000,0.042,3375,3649,1987,0,0,0,0,0,0
$GC,7900,2.46,233.9,389.9,12.0,327,7905,0.00,2.58,0.00,0.000,6,0.000,0.044,3374,2100,1986,0,0,0,0,0,0
$GC,8156,2.46,233.9,361.4,10.9,334,8161,0.00,2.92,0.00,0.000,4,0.000,0.084,3375,461,1986,0,0,0,0,0,0
$GC,8173,2.46,233.9,359.6,10.8,334,8177,0.00,2.67,0.00,0.000,6,0.000,0.030,3375,2122,1985,0,0,0,0,0,0
$GC,8433,2.51,233.9,332.3,10.5,341,8438,0.00,2.88,0.00,0.000,4,0.000,0.068,3374,462,1985,0,0,0,0,0,0
$GC,8449,2.51,233.9,330.4,10.7,341,8453,0.00,2.65,0.00,0.000,6,0.000,0.030,3375,2112,1985,0,0,0,0,0,0
$GC,8711,2.56,233.9,302.1,10.9,348,8716,0.12,2.50,0.00,0.000,4,0.088,0.048,3406,3648,1985,0,0,0,0,0,0
$GC,8745,2.56,233.9,297.5,13.9,348,8751,0.00,2.58,0.00,0.000,6,0.000,0.035,3406,2079,1984,0,0,0,0,0,0
$GC,8995,2.56,233.9,263.6,13.6,355,9000,0.00,2.78,0.00,0.000,4,0.000,0.069,3406,461,1984,0,0,0,0,0,0
$GC,9022,2.56,233.9,259.5,15.4,355,9026,0.00,2.62,0.00,0.000,6,0.000,0.024,3406,2109,1983,0,0,0,0,0,0
$GC,9274,2.56,233.9,224.4,14.0,361,9278,0.00,2.50,0.00,0.000,4,0.000,0.039,3406,3646,1983,0,0,0,0,0,0
$GC,9358,2.62,233.9,213.0,13.5,363,9362,0.00,2.53,0.00,0.000,6,0.000,0.032,3406,2080,1982,0,0,0,0,0,0
$GC,9622,2.62,233.9,184.8,10.2,379,9626,0.00,2.75,0.00,0.000,4,0.000,0.062,3406,462,1983,0,0,0,0,0,0
$GC,9643,2.62,233.9,181.8,10.9,380,9648,0.00,2.58,0.00,0.000,6,0.000,0.024,3406,2101,1982,0,0,0,0,0,0
$GC,9906,2.66,233.9,154.7,10.6,405,9911,0.10,2.75,0.00,0.000,4,0.097,0.051,3434,465,1983,0,0,0,0,0,0
$GC,9930,2.66,233.9,152.5,10.9,406,9934,0.00,2.55,0.00,0.000,6,0.000,0.021,3433,2090,1982,0,0,0,0,0,0
$GC,10192,2.66,233.9,118.4,13.7,430,10196,0.00,2.45,0.00,0.000,4,0.000,0.038,3433,3617,1983,0,0,0,0,0,0
$GC,10274,2.69,233.9,107.4,13.3,436,10283,0.00,2.47,0.00,0.000,6,0.000,0.030,3433,2097,1982,0,0,0,0,0,0
$GC,10539,2.69,233.9,74.4,12.4,461,10547,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2096,1983,0,0,0,0,0,0
$GC,10805,2.69,233.9,41.0,13.0,486,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2096,1983,0,0,0,0,0,0
$STATE,11098,end climb,SURFACE_DEPTH_REACHED
$STATE,11098,begin surface coast
$FINISH,-0.1,1.023681
$STATE,11133,end surface coast,CONTROL_FINISHED_OK
$STATE,11133,begin surface
$SM_CCo,11156,171.82,0.519,0,0,1115,450.13
$SM_GC,-0.27,0.00,0.00,171.82,0.000,0.000,0.519,472,2093,1115,-10.94,-0.20,450.13
$IRIDIUM_FIX,2230.01,-15806.28,190801,000058
$TT8_MAMPS,0.026078
$HUMID,57.67
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,21.90
$XPDR_PINGS,62
$24V_AH,23.4,3.375
$10V_AH,10.4,3.328
$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,29.050,166.575,308.700,171.825,0.000,22.775,37.832,186.660,15.500,0.000,17.244,1109.800,7399.050,606.973,2043.713,562.409,33.345,1403.577,0.000,2039.870,0.000,0.535,0.000
$DEVICE_MAMPS,179.478,124.254,938.808,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.482,285.182,391.741,734.939,1111.579,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356068
$DATA_FILE_SIZE,41547,529
$CAP_FILE_SIZE,121026,0
$CFSIZE,260165632,146075648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250512,061236,2238.623,-15809.798,32,1.3,32,10.0