version: 66.06
glider: 146
mission: 7
dive: 19
start: 5 25 112 6 20 7
data:
$ID,146
$MISSION,7
$DIVE,19
$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,-288145.22
$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,27
$R_STBD_OVSHOOT,48
$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
$GPS1,061236,2238.623,-15809.798,32,1.3,32,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-64.9
$GPS2,061913,2238.594,-15809.844,17,1.3,34,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.224,0.116
$KALMAN_X,-33502.3,-307.5,-297.0,23658.7,-1092.1
$KALMAN_Y,-21405.2,74.7,-203.9,17845.0,-357.4
$MHEAD_RNG_PITCHd_Wd,52.5,20577,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.31,-136.3,0.0,0.0,0,124,0.00,0.00,-101.65,0.000,6,0.000,0.000,472,2093,3507,0,0,0,0,0,0
$GC,129,-1.31,-136.3,1.5,-4.2,13,145,11.65,2.60,0.00,0.000,4,0.178,0.043,2552,504,3507,0,0,0,0,0,0
$GC,303,-0.59,-136.3,54.4,-27.6,33,308,0.85,2.50,0.00,0.000,6,0.143,0.018,2716,2107,3507,0,0,0,0,0,0
$GC,571,-0.19,-136.3,107.3,-19.6,57,576,0.40,2.62,0.00,0.000,4,0.114,0.044,2801,518,3507,0,0,0,0,0,0
$GC,592,0.15,-136.3,112.0,-18.5,58,597,0.38,2.45,0.00,0.000,6,0.107,0.021,2878,2107,3508,0,0,0,0,0,0
$GC,856,0.21,-136.3,141.6,-11.6,82,860,0.00,2.45,0.00,0.000,4,0.000,0.035,2878,3653,3508,0,0,0,0,0,0
$GC,908,0.25,-136.3,148.1,-12.5,86,913,0.12,2.47,0.00,0.000,6,0.118,0.025,2904,2081,3508,0,0,0,0,0,0
$GC,1173,0.25,-136.3,173.8,-9.1,110,1177,0.00,2.60,0.00,0.000,4,0.000,0.051,2904,520,3509,0,0,0,0,0,0
$GC,1250,0.25,-136.3,181.4,-9.0,116,1254,0.00,2.40,0.00,0.000,6,0.000,0.023,2905,2084,3508,0,0,0,0,0,0
$GC,1512,0.25,-136.3,200.7,-7.3,140,1517,0.00,2.53,0.00,0.000,4,0.000,0.040,2905,3660,3508,0,0,0,0,0,0
$GC,1536,0.25,-136.3,202.6,-7.5,140,1540,0.00,2.47,0.00,0.000,6,0.000,0.021,2904,2082,3508,0,0,0,0,0,0
$GC,1791,0.21,-136.3,220.5,-6.9,147,1796,0.00,2.53,0.00,0.000,4,0.000,0.041,2904,3661,3508,0,0,0,0,0,0
$GC,1819,0.17,-136.3,222.7,-7.6,147,1823,0.00,2.50,0.00,0.000,6,0.000,0.022,2905,2077,3508,0,0,0,0,0,0
$GC,2071,0.13,-136.3,238.3,-6.0,153,2076,0.12,2.55,0.00,0.000,4,0.071,0.040,2859,3657,3508,0,0,0,0,0,0
$GC,2099,0.13,-136.3,240.1,-6.7,153,2103,0.00,2.45,0.00,0.000,6,0.000,0.029,2859,2086,3508,0,0,0,0,0,0
$GC,2350,0.13,-136.3,255.7,-6.3,159,2355,0.00,2.53,0.00,0.000,4,0.000,0.038,2859,3656,3508,0,0,0,0,0,0
$GC,2366,0.13,-136.3,257.3,-7.0,159,2371,0.00,2.47,0.00,0.000,6,0.000,0.028,2859,2092,3508,0,0,0,0,0,0
$GC,2627,0.13,-136.3,278.9,-8.7,166,2632,0.00,2.58,0.00,0.000,4,0.000,0.040,2859,3655,3508,0,0,0,0,0,0
$GC,2667,0.13,-136.3,282.7,-9.0,167,2671,0.00,2.47,0.00,0.000,6,0.000,0.028,2859,2107,3508,0,0,0,0,0,0
$GC,2952,0.13,-136.3,309.5,-9.1,174,2956,0.00,2.72,0.00,0.000,4,0.000,0.070,2859,515,3507,0,0,0,0,0,0
$GC,2979,0.13,-136.3,312.1,-8.4,174,2983,0.00,2.55,0.00,0.000,6,0.000,0.028,2859,2103,3507,0,0,0,0,0,0
$GC,3231,0.13,-136.3,327.5,-5.7,180,3235,0.00,2.60,0.00,0.000,4,0.000,0.048,2859,3687,3505,0,0,0,0,0,0
$GC,3302,0.13,-136.3,331.4,-5.2,181,3307,0.00,2.50,0.00,0.000,6,0.000,0.031,2859,2136,3505,0,0,0,0,0,0
$GC,3552,0.13,-136.3,344.1,-5.1,187,3557,0.00,2.83,0.00,0.000,4,0.000,0.083,2859,515,3504,0,0,0,0,0,0
$GC,3627,0.13,-136.3,348.2,-5.7,188,3632,0.00,2.58,0.00,0.000,6,0.000,0.031,2859,2113,3503,0,0,0,0,0,0
$GC,3877,0.13,-136.3,360.2,-4.7,194,3882,0.00,2.58,0.00,0.000,4,0.000,0.055,2859,3682,3502,0,0,0,0,0,0
$GC,3910,0.13,-136.3,361.9,-5.9,194,3916,0.00,2.55,0.00,0.000,6,0.000,0.038,2859,2124,3501,0,0,0,0,0,0
$GC,4162,0.13,-136.3,375.6,-5.5,201,4166,0.00,2.58,0.00,0.000,4,0.000,0.053,2859,3681,3500,0,0,0,0,0,0
$GC,4222,0.13,-136.3,379.5,-6.2,202,4227,0.00,2.53,0.00,0.000,6,0.000,0.043,2859,2141,3500,0,0,0,0,0,0
$GC,4484,0.13,-136.3,395.0,-6.1,209,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2141,3498,0,0,0,0,0,0
$GC,4729,0.13,-136.3,413.6,-7.9,215,4733,0.00,2.58,0.00,0.000,4,0.000,0.051,2859,3681,3497,0,0,0,0,0,0
$GC,4790,0.13,-136.3,419.4,-9.2,216,4794,0.00,2.55,0.00,0.000,6,0.000,0.044,2859,2150,3497,0,0,0,0,0,0
$GC,5050,0.13,-136.3,441.5,-8.3,223,5054,0.00,2.55,0.00,0.000,4,0.000,0.056,2859,3675,3495,0,0,0,0,0,0
$GC,5062,0.13,-136.3,442.4,-8.0,223,5067,0.00,2.55,0.00,0.000,6,0.000,0.044,2859,2148,3494,0,0,0,0,0,0
$GC,5329,0.13,-136.3,462.0,-7.1,230,5333,0.00,2.58,0.00,0.000,4,0.000,0.058,2859,3674,3493,0,0,0,0,0,0
$GC,5389,0.13,-136.3,466.1,-6.7,231,5394,0.00,2.53,0.00,0.000,6,0.000,0.051,2859,2162,3493,0,0,0,0,0,0
$GC,5652,0.13,-136.3,480.1,-5.4,238,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2162,3491,0,0,0,0,0,0
$GC,5894,0.13,-136.3,493.3,-5.5,244,5899,0.00,2.58,0.00,0.000,4,0.000,0.059,2859,3673,3490,0,0,0,0,0,0
$GC,5938,0.13,-136.3,496.1,-6.3,245,5943,0.00,2.55,0.00,0.000,6,0.000,0.053,2859,2167,3490,0,0,0,0,0,0
$STATE,6011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6011,begin apogee
$GC,6019,-0.31,0.0,500.3,5.5,247,6133,0.32,0.00,108.12,0.943,6,0.048,0.000,2771,2042,2949,0,0,0,0,0,0
$STATE,6134,end apogee,CONTROL_FINISHED_OK
$STATE,6134,begin climb
$GC,6136,1.31,136.3,505.6,0.0,250,6262,1.70,2.85,115.68,0.912,4,0.098,0.058,3130,3623,2393,0,0,0,0,0,0
$GC,6312,1.93,163.2,494.1,8.7,254,6343,0.62,2.70,24.48,0.860,6,0.055,0.053,3277,2054,2283,0,0,0,0,0,0
$GC,6622,2.29,199.4,468.5,8.2,262,6664,0.25,2.78,31.65,0.869,4,0.055,0.050,3352,3626,2136,0,0,0,0,0,0
$GC,6756,2.39,199.4,453.5,11.9,265,6760,0.00,2.62,0.00,0.000,6,0.000,0.049,3351,2102,2133,0,0,0,0,0,0
$GC,7039,2.45,199.4,424.0,10.2,272,7044,0.12,2.60,0.00,0.000,4,0.086,0.044,3384,3636,2131,0,0,0,0,0,0
$GC,7062,2.45,199.4,421.4,11.6,272,7067,0.00,2.60,0.00,0.000,6,0.000,0.048,3384,2102,2130,0,0,0,0,0,0
$GC,7317,2.45,199.4,392.4,11.1,279,7321,0.00,2.55,0.00,0.000,4,0.000,0.047,3384,3639,2129,0,0,0,0,0,0
$GC,7332,2.45,199.4,390.6,11.0,279,7336,0.00,2.58,0.00,0.000,6,0.000,0.042,3384,2100,2129,0,0,0,0,0,0
$GC,7595,2.45,199.4,362.3,10.9,286,7599,0.00,2.53,0.00,0.000,4,0.000,0.041,3384,3632,2129,0,0,0,0,0,0
$GC,7629,2.45,199.4,358.2,11.8,286,7634,0.00,2.53,0.00,0.000,6,0.000,0.040,3384,2119,2128,0,0,0,0,0,0
$GC,7878,2.45,199.4,329.5,11.7,293,7883,0.00,2.90,0.00,0.000,4,0.000,0.077,3383,462,2127,0,0,0,0,0,0
$GC,7893,2.45,199.4,327.4,12.3,293,7898,0.00,2.70,0.00,0.000,6,0.000,0.027,3384,2136,2126,0,0,0,0,0,0
$GC,8156,2.45,199.4,296.6,11.6,300,8160,0.00,2.45,0.00,0.000,4,0.000,0.044,3384,3630,2126,0,0,0,0,0,0
$GC,8233,2.51,199.4,288.2,10.8,301,8239,0.00,2.45,0.00,0.000,6,0.000,0.038,3384,2134,2126,0,0,0,0,0,0
$GC,8483,2.54,227.3,266.4,8.7,308,8513,0.00,2.95,23.73,0.759,4,0.000,0.068,3384,462,2022,0,0,0,0,0,0
$GC,8537,2.55,232.7,261.3,9.8,309,8550,0.00,2.75,6.22,0.619,6,0.000,0.028,3384,2163,2001,0,0,0,0,0,0
$GC,8813,2.60,235.7,234.3,9.9,316,8820,0.12,0.00,4.03,0.497,6,0.087,0.000,3416,2163,1989,0,0,0,0,0,0
$GC,9058,2.60,235.7,204.3,12.7,322,9062,0.00,2.38,0.00,0.000,4,0.000,0.038,3416,3631,1988,0,0,0,0,0,0
$GC,9101,2.60,235.7,198.5,12.3,323,9107,0.00,2.42,0.00,0.000,6,0.000,0.029,3417,2135,1987,0,0,0,0,0,0
$GC,9364,2.60,235.7,166.3,12.4,348,9369,0.00,2.85,0.00,0.000,4,0.000,0.063,3417,457,1987,0,0,0,0,0,0
$GC,9387,2.60,235.7,163.8,13.1,349,9392,0.00,2.70,0.00,0.000,6,0.000,0.027,3416,2160,1986,0,0,0,0,0,0
$GC,9653,2.60,235.7,131.7,11.1,373,9658,0.00,2.88,0.00,0.000,4,0.000,0.051,3416,454,1986,0,0,0,0,0,0
$GC,9688,2.60,235.7,127.5,11.0,375,9694,0.00,2.67,0.00,0.000,6,0.000,0.023,3416,2145,1986,0,0,0,0,0,0
$GC,9951,2.62,247.0,103.7,9.5,400,9968,0.00,0.00,11.62,0.577,6,0.000,0.000,3416,2146,1941,0,0,0,0,0,0
$GC,10231,2.66,247.0,76.8,10.3,426,10236,0.00,2.85,0.00,0.000,4,0.000,0.049,3416,451,1940,0,0,0,0,0,0
$GC,10251,2.66,247.0,74.2,10.8,427,10255,0.00,2.67,0.00,0.000,6,0.000,0.019,3416,2156,1939,0,0,0,0,0,0
$GC,10519,2.71,247.0,46.8,10.5,451,10528,0.10,0.00,0.00,0.000,6,0.095,0.000,3447,2157,1939,0,0,0,0,0,0
$GC,10820,2.71,247.0,9.0,13.2,487,10830,0.00,2.40,0.00,0.000,4,0.000,0.034,3447,3637,1939,0,0,0,0,0,0
$GC,10846,2.71,247.0,6.3,10.7,490,10856,0.00,2.45,0.00,0.000,6,0.000,0.030,3447,2131,1939,0,0,0,0,0,0
$STATE,10863,end climb,SURFACE_DEPTH_REACHED
$STATE,10863,begin surface coast
$FINISH,-0.3,1.023678
$STATE,10906,end surface coast,CONTROL_FINISHED_OK
$STATE,10906,begin surface
$SM_CCo,10930,163.40,0.516,0,0,1114,450.13
$SM_GC,-0.12,0.00,0.00,163.40,0.000,0.000,0.516,472,2049,1114,-10.94,-1.44,450.13
$IRIDIUM_FIX,2230.01,-15808.45,190801,030305
$TT8_MAMPS,0.026078
$HUMID,57.79
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,21.80
$XPDR_PINGS,60
$24V_AH,23.4,3.496
$10V_AH,10.4,3.436
$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,28.800,160.700,325.525,163.400,0.000,28.353,37.643,167.299,15.000,0.000,35.716,1061.229,7370.938,620.298,1881.226,557.388,33.348,1363.134,0.000,1859.295,0.000,0.535,0.000
$DEVICE_MAMPS,177.944,158.769,942.643,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.469,267.060,360.241,648.667,979.756,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356036
$DATA_FILE_SIZE,38463,498
$CAP_FILE_SIZE,118002,0
$CFSIZE,260165632,146026496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250512,092606,2239.120,-15809.669,13,1.1,23,10.0