version: 66.06
glider: 146
mission: 7
dive: 20
start: 5 25 112 9 33 4
data:
$ID,146
$MISSION,7
$DIVE,20
$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,-288161.91
$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,64
$R_STBD_OVSHOOT,31
$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
$GPS1,092606,2239.120,-15809.669,13,1.1,23,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-64.6
$GPS2,093209,2239.066,-15809.719,14,1.2,14,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.204,0.148
$KALMAN_X,-35715.2,-184.9,-176.4,25836.5,-1175.6
$KALMAN_Y,-22317.5,196.1,296.2,19007.1,-914.0
$MHEAD_RNG_PITCHd_Wd,43.9,19907,-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,-101.32,0.000,6,0.000,0.000,472,2050,3506,0,0,0,0,0,0
$GC,129,-1.31,-136.3,1.7,-4.2,13,146,11.68,2.65,0.00,0.000,4,0.178,0.033,2554,3695,3507,0,0,0,0,0,0
$GC,427,-0.65,-136.3,85.8,-26.5,43,433,0.77,2.50,0.00,0.000,6,0.141,0.023,2704,2118,3507,0,0,0,0,0,0
$GC,691,-0.27,-136.3,137.4,-18.9,68,696,0.40,2.53,0.00,0.000,4,0.127,0.033,2785,3685,3507,0,0,0,0,0,0
$GC,714,0.06,-136.3,141.1,-17.1,69,720,0.38,2.50,0.00,0.000,6,0.116,0.027,2860,2085,3507,0,0,0,0,0,0
$GC,979,0.12,-136.3,167.3,-9.2,93,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2085,3508,0,0,0,0,0,0
$GC,1244,0.16,-136.3,188.5,-7.5,118,1250,0.10,0.00,0.00,0.000,6,0.142,0.000,2881,2086,3508,0,0,0,0,0,0
$GC,1503,0.16,-136.3,206.3,-7.3,137,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2085,3508,0,0,0,0,0,0
$GC,1745,0.16,-136.3,224.8,-7.4,143,1750,0.00,2.60,0.00,0.000,4,0.000,0.043,2881,3685,3509,0,0,0,0,0,0
$GC,1852,0.16,-136.3,233.1,-7.0,145,1857,0.00,2.53,0.00,0.000,6,0.000,0.031,2881,2096,3509,0,0,0,0,0,0
$GC,2115,0.16,-136.3,251.6,-6.9,152,2119,0.00,2.60,0.00,0.000,4,0.000,0.041,2881,3689,3507,0,0,0,0,0,0
$GC,2136,0.16,-136.3,253.2,-6.5,152,2140,0.00,2.50,0.00,0.000,6,0.000,0.028,2881,2103,3508,0,0,0,0,0,0
$GC,2391,0.16,-136.3,271.0,-7.1,159,2395,0.00,2.55,0.00,0.000,4,0.000,0.039,2881,3681,3507,0,0,0,0,0,0
$GC,2450,0.12,-136.3,275.3,-7.7,160,2454,0.00,2.45,0.00,0.000,6,0.000,0.031,2881,2134,3507,0,0,0,0,0,0
$GC,2716,0.12,-136.3,293.9,-6.8,167,2721,0.00,2.75,0.00,0.000,4,0.000,0.068,2881,525,3506,0,0,0,0,0,0
$GC,2784,0.12,-136.3,299.1,-7.6,168,2788,0.00,2.58,0.00,0.000,6,0.000,0.031,2881,2129,3505,0,0,0,0,0,0
$GC,3039,0.08,-136.3,314.7,-5.8,175,3044,0.00,2.53,0.00,0.000,4,0.000,0.051,2881,3681,3504,0,0,0,0,0,0
$GC,3177,0.04,-136.3,322.3,-5.7,178,3182,0.00,2.45,0.00,0.000,6,0.000,0.030,2881,2145,3504,0,0,0,0,0,0
$GC,3456,-0.00,-136.3,334.8,-4.2,185,3461,0.15,2.85,0.00,0.000,4,0.071,0.081,2834,521,3502,0,0,0,0,0,0
$GC,3474,-0.00,-136.3,335.7,-4.0,185,3478,0.00,2.60,0.00,0.000,6,0.000,0.033,2834,2137,3502,0,0,0,0,0,0
$GC,3737,0.04,-136.3,350.0,-5.4,192,3742,0.12,2.55,0.00,0.000,4,0.125,0.047,2859,3685,3501,0,0,0,0,0,0
$GC,3769,0.04,-136.3,352.1,-5.8,192,3775,0.00,2.50,0.00,0.000,6,0.000,0.031,2859,2146,3500,0,0,0,0,0,0
$GC,4019,0.04,-136.3,368.4,-6.9,199,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2146,3499,0,0,0,0,0,0
$GC,4265,0.04,-136.3,386.0,-7.1,205,4270,0.00,2.92,0.00,0.000,4,0.000,0.087,2859,514,3498,0,0,0,0,0,0
$GC,4286,0.04,-136.3,387.8,-7.2,205,4291,0.00,2.62,0.00,0.000,6,0.000,0.036,2858,2129,3498,0,0,0,0,0,0
$GC,4542,0.04,-136.3,404.6,-6.5,212,4546,0.00,2.58,0.00,0.000,4,0.000,0.060,2858,3682,3496,0,0,0,0,0,0
$GC,4638,0.04,-136.3,410.8,-6.8,214,4643,0.00,2.55,0.00,0.000,6,0.000,0.045,2859,2146,3496,0,0,0,0,0,0
$GC,4910,0.04,-136.3,425.3,-5.1,221,4914,0.00,2.58,0.00,0.000,4,0.000,0.049,2859,3686,3494,0,0,0,0,0,0
$GC,4954,0.04,-136.3,427.5,-5.3,222,4958,0.00,2.58,0.00,0.000,6,0.000,0.047,2859,2143,3494,0,0,0,0,0,0
$GC,5233,0.04,-136.3,440.4,-4.6,229,5237,0.00,2.58,0.00,0.000,4,0.000,0.058,2859,3680,3492,0,0,0,0,0,0
$GC,5260,0.04,-136.3,441.8,-5.4,229,5264,0.00,2.55,0.00,0.000,6,0.000,0.044,2859,2154,3493,0,0,0,0,0,0
$GC,5510,0.04,-136.3,453.3,-4.6,235,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2154,3491,0,0,0,0,0,0
$GC,5754,0.04,-136.3,466.8,-5.8,241,5758,0.00,2.55,0.00,0.000,4,0.000,0.056,2859,3679,3490,0,0,0,0,0,0
$GC,5797,0.04,-136.3,470.0,-7.5,242,5802,0.00,2.58,0.00,0.000,6,0.000,0.053,2858,2146,3489,0,0,0,0,0,0
$GC,6075,0.04,-136.3,490.0,-7.4,249,6079,0.00,2.60,0.00,0.000,4,0.000,0.059,2859,3682,3488,0,0,0,0,0,0
$GC,6116,0.04,-136.3,493.2,-7.9,250,6120,0.00,2.60,0.00,0.000,6,0.000,0.056,2859,2146,3488,0,0,0,0,0,0
$STATE,6234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6234,begin apogee
$GC,6240,-0.31,0.0,502.1,7.2,253,6350,0.32,0.00,107.80,0.950,6,0.049,0.000,2771,2048,2950,0,0,0,0,0,0
$STATE,6351,end apogee,CONTROL_FINISHED_OK
$STATE,6351,begin climb
$GC,6355,1.31,136.3,507.8,0.0,255,6483,1.67,3.17,115.32,0.918,4,0.100,0.123,3126,475,2392,0,0,0,0,0,0
$GC,6523,1.95,180.3,499.8,7.9,259,6569,0.65,2.67,38.88,0.887,6,0.054,0.043,3279,2049,2214,0,0,0,0,0,0
$GC,6848,2.35,242.2,476.6,7.0,267,6909,0.30,2.97,54.25,0.890,4,0.053,0.086,3367,460,1961,0,0,0,0,0,0
$GC,6936,2.35,242.2,467.4,13.0,269,6941,0.00,2.75,0.00,0.000,6,0.000,0.041,3366,2096,1958,0,0,0,0,0,0
$GC,7209,2.39,242.2,437.9,10.5,276,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2096,1955,0,0,0,0,0,0
$GC,7453,2.43,242.2,412.8,10.4,282,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2097,1954,0,0,0,0,0,0
$GC,7698,2.47,242.2,384.9,11.7,288,7703,0.00,2.60,0.00,0.000,4,0.000,0.048,3367,3652,1953,0,0,0,0,0,0
$GC,7714,2.52,242.2,382.5,12.2,288,7720,0.12,2.62,0.00,0.000,6,0.094,0.036,3398,2072,1951,0,0,0,0,0,0
$GC,7975,2.52,242.2,346.4,13.8,295,7980,0.00,2.85,0.00,0.000,4,0.000,0.076,3398,464,1951,0,0,0,0,0,0
$GC,7993,2.48,242.2,344.0,13.6,295,7997,0.00,2.65,0.00,0.000,6,0.000,0.025,3399,2104,1950,0,0,0,0,0,0
$GC,8253,2.48,242.2,311.9,11.7,302,8257,0.00,2.55,0.00,0.000,4,0.000,0.048,3398,3652,1949,0,0,0,0,0,0
$GC,8274,2.48,242.2,309.3,11.6,302,8278,0.00,2.60,0.00,0.000,6,0.000,0.033,3398,2064,1949,0,0,0,0,0,0
$GC,8529,2.48,242.2,282.7,10.2,309,8534,0.00,2.62,0.00,0.000,4,0.000,0.040,3398,3655,1948,0,0,0,0,0,0
$GC,8586,2.53,242.2,276.6,11.2,310,8591,0.00,2.55,0.00,0.000,6,0.000,0.035,3398,2105,1948,0,0,0,0,0,0
$GC,8853,2.53,242.2,245.1,12.2,317,8857,0.00,2.83,0.00,0.000,4,0.000,0.070,3398,464,1949,0,0,0,0,0,0
$GC,8891,2.53,242.2,240.0,13.6,318,8896,0.00,2.67,0.00,0.000,6,0.000,0.022,3398,2139,1948,0,0,0,0,0,0
$GC,9176,2.53,242.2,207.0,11.3,325,9180,0.00,2.42,0.00,0.000,4,0.000,0.041,3398,3648,1947,0,0,0,0,0,0
$GC,9215,2.58,242.2,202.2,11.9,326,9220,0.00,2.47,0.00,0.000,6,0.000,0.037,3398,2121,1947,0,0,0,0,0,0
$GC,9481,2.58,242.2,174.5,10.3,348,9486,0.00,2.80,0.00,0.000,4,0.000,0.061,3398,467,1947,0,0,0,0,0,0
$GC,9503,2.58,242.2,172.1,10.9,349,9508,0.00,2.65,0.00,0.000,6,0.000,0.027,3398,2157,1947,0,0,0,0,0,0
$GC,9772,2.63,242.2,143.2,11.0,373,9777,0.10,2.85,0.00,0.000,4,0.095,0.053,3424,465,1947,0,0,0,0,0,0
$GC,9805,2.63,242.2,138.9,12.8,375,9810,0.00,2.65,0.00,0.000,6,0.000,0.021,3424,2146,1947,0,0,0,0,0,0
$GC,10071,2.63,242.2,104.2,13.1,399,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2147,1947,0,0,0,0,0,0
$GC,10338,2.63,242.2,72.4,11.4,424,10342,0.00,2.83,0.00,0.000,4,0.000,0.050,3424,457,1947,0,0,0,0,0,0
$GC,10370,2.63,242.2,68.5,12.1,426,10374,0.00,2.67,0.00,0.000,6,0.000,0.026,3424,2164,1947,0,0,0,0,0,0
$GC,10639,2.66,242.2,37.3,11.7,450,10644,0.00,2.35,0.00,0.000,4,0.000,0.033,3424,3651,1948,0,0,0,0,0,0
$GC,10686,2.72,242.2,31.4,11.9,453,10690,0.00,2.40,0.00,0.000,6,0.000,0.029,3424,2140,1949,0,0,0,0,0,0
$STATE,10919,end climb,SURFACE_DEPTH_REACHED
$STATE,10919,begin surface coast
$FINISH,-0.8,1.023686
$STATE,10956,end surface coast,CONTROL_FINISHED_OK
$STATE,10956,begin surface
$SM_CCo,10977,165.27,0.524,0,0,1115,450.13
$SM_GC,-0.15,0.00,0.00,165.27,0.000,0.000,0.524,475,2029,1115,-10.93,-2.01,450.13
$IRIDIUM_FIX,2230.01,-15811.48,190801,060635
$TT8_MAMPS,0.026078
$HUMID,58.50
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.70
$XPDR_PINGS,54
$24V_AH,23.3,3.617
$10V_AH,10.4,3.538
$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,28.650,141.950,316.250,165.275,0.000,23.218,32.346,164.427,13.500,0.000,16.070,1048.935,7515.293,575.551,1840.542,527.892,33.351,1321.224,0.000,1833.574,0.000,0.534,0.000
$DEVICE_MAMPS,177.944,123.487,950.313,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.041,255.679,345.270,603.898,913.350,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356048
$DATA_FILE_SIZE,38298,490
$CAP_FILE_SIZE,114251,0
$CFSIZE,260165632,145973248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250512,124006,2239.210,-15809.563,38,1.5,38,10.0