version: 66.06
glider: 146
mission: 7
dive: 21
start: 5 25 112 12 47 10
data:
$ID,146
$MISSION,7
$DIVE,21
$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,-288175.16
$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,23
$R_STBD_OVSHOOT,17
$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
$GPS1,124006,2239.210,-15809.563,38,1.5,38,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-65.6
$GPS2,124614,2239.146,-15809.616,11,1.3,11,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.183,0.174
$KALMAN_X,-37760.1,-125.2,-22.2,27840.3,-1348.3
$KALMAN_Y,-23415.9,159.5,121.5,20471.1,-1418.8
$MHEAD_RNG_PITCHd_Wd,36.4,19678,-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,-136.3,0.0,0.0,0,130,0.00,0.00,-101.93,0.000,6,0.000,0.000,474,2030,3507,0,0,0,0,0,0
$GC,135,-1.31,-136.3,2.9,-8.6,14,152,11.52,2.70,0.00,0.000,4,0.173,0.032,2555,3699,3507,0,0,0,0,0,0
$GC,222,-0.62,-136.3,31.3,-31.8,26,228,0.80,2.58,0.00,0.000,6,0.142,0.022,2708,2074,3507,0,0,0,0,0,0
$GC,486,-0.22,-136.3,84.1,-16.6,50,491,0.43,2.62,0.00,0.000,4,0.124,0.031,2796,3706,3507,0,0,0,0,0,0
$GC,556,0.01,-136.3,94.2,-13.6,55,561,0.25,2.53,0.00,0.000,6,0.120,0.028,2845,2097,3507,0,0,0,0,0,0
$GC,825,0.13,-136.3,120.8,-9.7,79,830,0.15,0.00,0.00,0.000,6,0.132,0.000,2875,2097,3508,0,0,0,0,0,0
$GC,1088,0.18,-136.3,143.3,-8.1,104,1092,0.00,2.60,0.00,0.000,4,0.000,0.051,2876,529,3509,0,0,0,0,0,0
$GC,1117,0.26,-136.3,145.9,-8.3,106,1122,0.12,2.47,0.00,0.000,6,0.123,0.022,2903,2147,3509,0,0,0,0,0,0
$GC,1382,0.26,-136.3,159.5,-4.8,130,1386,0.00,2.67,0.00,0.000,4,0.000,0.052,2902,523,3509,0,0,0,0,0,0
$GC,1398,0.26,-136.3,160.5,-5.0,131,1402,0.00,2.42,0.00,0.000,6,0.000,0.021,2903,2110,3509,0,0,0,0,0,0
$GC,1663,0.26,-136.3,176.4,-6.7,155,1667,0.00,2.45,0.00,0.000,4,0.000,0.038,2902,3660,3509,0,0,0,0,0,0
$GC,1684,0.26,-136.3,178.2,-6.8,156,1694,0.00,2.47,0.00,0.000,6,0.000,0.022,2902,2104,3509,0,0,0,0,0,0
$GC,1952,0.22,-136.3,198.4,-8.1,181,1957,0.00,2.50,0.00,0.000,4,0.000,0.036,2902,3659,3509,0,0,0,0,0,0
$GC,1980,0.18,-136.3,201.4,-8.9,182,1985,0.00,2.45,0.00,0.000,6,0.000,0.030,2902,2092,3509,0,0,0,0,0,0
$GC,2230,0.13,-136.3,225.9,-10.3,188,2232,0.12,0.00,0.00,0.000,6,0.071,0.000,2860,2092,3509,0,0,0,0,0,0
$GC,2475,0.13,-136.3,254.6,-11.4,194,2480,0.00,2.55,0.00,0.000,4,0.000,0.041,2860,3656,3509,0,0,0,0,0,0
$GC,2497,0.13,-136.3,257.0,-10.0,194,2502,0.00,2.42,0.00,0.000,6,0.000,0.024,2860,2110,3508,0,0,0,0,0,0
$GC,2753,0.13,-136.3,277.5,-7.3,201,2757,0.00,2.53,0.00,0.000,4,0.000,0.044,2860,3658,3508,0,0,0,0,0,0
$GC,2776,0.13,-136.3,279.0,-6.7,201,2780,0.00,2.45,0.00,0.000,6,0.000,0.026,2860,2107,3508,0,0,0,0,0,0
$GC,3031,0.13,-136.3,292.6,-5.2,208,3035,0.00,2.53,0.00,0.000,4,0.000,0.039,2860,3655,3507,0,0,0,0,0,0
$GC,3046,0.13,-136.3,293.6,-5.5,208,3050,0.00,2.45,0.00,0.000,6,0.000,0.031,2860,2115,3507,0,0,0,0,0,0
$GC,3309,0.13,-136.3,312.0,-7.7,215,3314,0.00,2.50,0.00,0.000,4,0.000,0.040,2860,3656,3506,0,0,0,0,0,0
$GC,3382,0.13,-136.3,319.3,-9.8,216,3386,0.00,2.45,0.00,0.000,6,0.000,0.032,2860,2133,3506,0,0,0,0,0,0
$GC,3632,0.13,-136.3,343.2,-9.5,222,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2133,3505,0,0,0,0,0,0
$GC,3877,0.13,-136.3,364.3,-8.5,228,3881,0.00,2.50,0.00,0.000,4,0.000,0.052,2860,3653,3504,0,0,0,0,0,0
$GC,3938,0.13,-136.3,369.3,-7.8,229,3942,0.00,2.47,0.00,0.000,6,0.000,0.036,2860,2139,3504,0,0,0,0,0,0
$GC,4198,0.13,-136.3,387.4,-6.8,236,4203,0.00,2.53,0.00,0.000,4,0.000,0.050,2860,3657,3502,0,0,0,0,0,0
$GC,4223,0.13,-136.3,389.1,-7.4,236,4228,0.00,2.53,0.00,0.000,6,0.000,0.039,2860,2130,3502,0,0,0,0,0,0
$GC,4479,0.13,-136.3,406.2,-6.5,243,4483,0.00,2.53,0.00,0.000,4,0.000,0.050,2860,3656,3500,0,0,0,0,0,0
$GC,4505,0.13,-136.3,408.0,-6.8,243,4510,0.00,2.50,0.00,0.000,6,0.000,0.048,2860,2144,3500,0,0,0,0,0,0
$GC,4757,0.13,-136.3,423.7,-6.2,249,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2144,3499,0,0,0,0,0,0
$GC,4999,0.13,-136.3,438.1,-5.9,255,5003,0.00,2.50,0.00,0.000,4,0.000,0.051,2860,3649,3497,0,0,0,0,0,0
$GC,5054,0.13,-136.3,441.8,-7.3,256,5058,0.00,2.53,0.00,0.000,6,0.000,0.052,2860,2139,3497,0,0,0,0,0,0
$GC,5322,0.13,-136.3,460.1,-7.2,263,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2139,3495,0,0,0,0,0,0
$GC,5564,0.13,-136.3,478.0,-7.1,269,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2139,3494,0,0,0,0,0,0
$GC,5808,0.13,-136.3,495.5,-7.2,275,5812,0.00,2.58,0.00,0.000,4,0.000,0.064,2860,3652,3492,0,0,0,0,0,0
$STATE,5866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5866,begin apogee
$GC,5876,-0.31,0.0,500.1,7.6,276,5987,0.30,0.00,108.35,0.937,6,0.050,0.000,2774,2044,2950,0,0,0,0,0,0
$STATE,5988,end apogee,CONTROL_FINISHED_OK
$STATE,5988,begin climb
$GC,5990,1.31,136.3,507.3,0.0,279,6119,1.65,2.80,115.05,0.907,4,0.094,0.063,3127,3596,2393,0,0,0,0,0,0
$GC,6164,1.96,183.2,498.4,7.7,283,6214,0.65,2.67,41.35,0.879,6,0.054,0.054,3279,2046,2202,0,0,0,0,0,0
$GC,6489,2.36,240.3,475.3,7.2,291,6546,0.32,2.67,49.90,0.880,4,0.046,0.048,3372,3599,1970,0,0,0,0,0,0
$GC,6585,2.42,240.3,464.6,11.7,293,6589,0.00,2.60,0.00,0.000,6,0.000,0.053,3372,2093,1966,0,0,0,0,0,0
$GC,6853,2.42,240.3,433.3,11.7,300,6857,0.00,3.08,0.00,0.000,4,0.000,0.101,3372,455,1963,0,0,0,0,0,0
$GC,6873,2.42,240.3,430.4,12.1,300,6878,0.00,2.65,0.00,0.000,6,0.000,0.034,3372,2073,1962,0,0,0,0,0,0
$GC,7130,2.42,240.3,403.7,10.2,307,7134,0.00,2.60,0.00,0.000,4,0.000,0.051,3372,3636,1961,0,0,0,0,0,0
$GC,7151,2.42,240.3,401.4,10.5,307,7155,0.00,2.58,0.00,0.000,6,0.000,0.041,3372,2102,1961,0,0,0,0,0,0
$GC,7408,2.46,273.1,379.4,8.4,314,7442,0.00,3.03,28.55,0.843,4,0.000,0.087,3372,458,1835,0,0,0,0,0,0
$GC,7453,2.47,287.7,374.9,9.3,315,7473,0.00,2.67,14.32,0.785,6,0.000,0.029,3372,2114,1775,0,0,0,0,0,0
$GC,7737,2.51,287.7,346.1,10.8,322,7743,0.10,2.92,0.00,0.000,4,0.095,0.069,3399,451,1771,0,0,0,0,0,0
$GC,7748,2.51,287.7,344.3,11.5,322,7752,0.00,2.67,0.00,0.000,6,0.000,0.030,3399,2121,1770,0,0,0,0,0,0
$GC,8014,2.51,287.7,306.3,14.4,329,8018,0.00,2.47,0.00,0.000,4,0.000,0.041,3399,3637,1769,0,0,0,0,0,0
$GC,8035,2.51,287.7,303.2,14.5,329,8039,0.00,2.55,0.00,0.000,6,0.000,0.035,3399,2079,1769,0,0,0,0,0,0
$GC,8292,2.51,287.7,267.3,13.9,336,8297,0.00,2.78,0.00,0.000,4,0.000,0.071,3399,472,1768,0,0,0,0,0,0
$GC,8313,2.51,287.7,264.0,14.2,336,8318,0.00,2.60,0.00,0.000,6,0.000,0.022,3399,2116,1767,0,0,0,0,0,0
$GC,8575,2.51,287.7,230.1,12.7,343,8579,0.00,2.45,0.00,0.000,4,0.000,0.043,3399,3638,1767,0,0,0,0,0,0
$GC,8603,2.51,287.7,226.6,13.4,343,8607,0.00,2.53,0.00,0.000,6,0.000,0.038,3399,2092,1767,0,0,0,0,0,0
$GC,8852,2.51,287.7,196.1,12.1,349,8857,0.00,2.78,0.00,0.000,4,0.000,0.066,3399,468,1767,0,0,0,0,0,0
$GC,8869,2.51,287.7,194.1,11.7,350,8873,0.00,2.60,0.00,0.000,6,0.000,0.021,3399,2119,1766,0,0,0,0,0,0
$GC,9133,2.51,287.7,162.2,11.4,374,9137,0.00,2.45,0.00,0.000,4,0.000,0.038,3399,3651,1766,0,0,0,0,0,0
$GC,9142,2.51,287.7,160.6,11.3,374,9148,0.00,2.50,0.00,0.000,6,0.000,0.032,3399,2088,1766,0,0,0,0,0,0
$GC,9411,2.55,289.1,134.3,10.0,399,9416,0.00,2.72,0.00,0.000,4,0.000,0.062,3399,474,1766,0,0,0,0,0,0
$GC,9467,2.62,291.0,128.3,9.9,403,9471,0.00,2.55,0.00,0.000,6,0.000,0.019,3399,2101,1766,0,0,0,0,0,0
$GC,9733,2.68,291.0,100.3,11.4,427,9739,0.15,0.00,0.00,0.000,6,0.077,0.000,3442,2102,1766,0,0,0,0,0,0
$GC,10000,2.68,291.0,63.2,14.2,452,10004,0.00,2.45,0.00,0.000,4,0.000,0.032,3442,3646,1766,0,0,0,0,0,0
$GC,10021,2.68,291.0,59.2,13.9,453,10031,0.00,2.58,0.00,0.000,6,0.000,0.029,3442,2059,1766,0,0,0,0,0,0
$GC,10299,2.69,299.4,22.8,9.6,482,10316,0.00,2.60,10.35,0.496,4,0.000,0.038,3442,3659,1728,0,0,0,0,0,0
$GC,10347,2.69,299.4,16.0,15.1,488,10356,0.00,2.60,0.00,0.000,6,0.000,0.032,3442,2076,1727,0,0,0,0,0,0
$STATE,10425,end climb,SURFACE_DEPTH_REACHED
$STATE,10425,begin surface coast
$FINISH,-0.7,1.012991
$STATE,10461,end surface coast,CONTROL_FINISHED_OK
$STATE,10464,begin surface
$SM_CCo,10486,121.30,0.518,0,0,1114,450.13
$SM_GC,-0.19,0.00,0.00,121.30,0.000,0.000,0.518,475,2071,1114,-10.93,-0.82,450.13
$IRIDIUM_FIX,2232.34,-15810.61,190801,090959
$TT8_MAMPS,0.026078
$HUMID,58.58
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,21.80
$XPDR_PINGS,57
$24V_AH,23.4,3.742
$10V_AH,10.4,3.644
$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,28.700,149.925,367.875,121.300,0.000,30.684,33.989,162.586,14.250,0.000,12.616,1034.158,7035.810,566.155,1797.154,544.133,33.354,1311.966,0.000,1803.797,0.000,0.534,0.000
$DEVICE_MAMPS,173.342,101.244,936.507,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.480,275.547,378.498,657.501,994.185,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356060
$DATA_FILE_SIZE,38359,504
$CAP_FILE_SIZE,113274,0
$CFSIZE,260165632,145920000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250512,154507,2239.417,-15809.512,29,1.8,29,10.0