version: 66.06
glider: 146
mission: 7
dive: 22
start: 5 25 112 16 0 17
data:
$ID,146
$MISSION,7
$DIVE,22
$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,-288191.75
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,154507,2239.417,-15809.512,29,1.8,29,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-66.1
$GPS2,155920,2239.375,-15809.612,11,1.9,11,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.223,0.117
$KALMAN_X,-39568.2,-104.1,-32.7,29642.1,-1378.1
$KALMAN_Y,-24133.4,24.4,-341.9,22204.6,-632.8
$MHEAD_RNG_PITCHd_Wd,52.3,19444,-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,17,begin dive
$GC,19,-1.31,-136.3,0.0,0.0,0,130,0.00,0.00,-101.80,0.000,6,0.000,0.000,474,2072,3506,0,0,0,0,0,0
$GC,133,-1.31,-136.3,2.6,-7.4,14,150,11.60,2.60,0.00,0.000,4,0.177,0.035,2553,3695,3507,0,0,0,0,0,0
$GC,403,-0.64,-136.3,74.6,-25.9,42,409,0.77,2.53,0.00,0.000,6,0.140,0.027,2705,2086,3507,0,0,0,0,0,0
$GC,668,-0.24,-136.3,118.6,-16.2,66,673,0.40,2.58,0.00,0.000,4,0.123,0.031,2788,3693,3507,0,0,0,0,0,0
$GC,699,0.02,-136.3,123.6,-13.3,68,705,0.32,2.50,0.00,0.000,6,0.118,0.026,2853,2097,3507,0,0,0,0,0,0
$GC,962,0.12,-136.3,147.2,-8.8,92,964,0.10,0.00,0.00,0.000,6,0.146,0.000,2872,2097,3507,0,0,0,0,0,0
$GC,1217,0.17,-136.3,168.5,-8.6,116,1221,0.00,2.58,0.00,0.000,4,0.000,0.038,2872,3700,3507,0,0,0,0,0,0
$GC,1227,0.23,-136.3,169.6,-8.4,116,1234,0.12,2.50,0.00,0.000,6,0.124,0.025,2897,2095,3507,0,0,0,0,0,0
$GC,1492,0.23,-136.3,191.3,-8.7,141,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2095,3507,0,0,0,0,0,0
$GC,1756,0.23,-136.3,213.1,-8.0,155,1761,0.00,2.58,0.00,0.000,4,0.000,0.038,2897,3699,3507,0,0,0,0,0,0
$GC,1858,0.23,-136.3,222.4,-9.4,157,1863,0.00,2.47,0.00,0.000,6,0.000,0.025,2897,2117,3507,0,0,0,0,0,0
$GC,2125,0.19,-136.3,239.8,-6.1,164,2130,0.00,2.67,0.00,0.000,4,0.000,0.062,2897,520,3507,0,0,0,0,0,0
$GC,2158,0.19,-136.3,242.1,-7.1,164,2164,0.00,2.50,0.00,0.000,6,0.000,0.027,2897,2127,3507,0,0,0,0,0,0
$GC,2411,0.14,-136.3,257.3,-6.2,171,2415,0.00,2.67,0.00,0.000,4,0.000,0.060,2897,528,3507,0,0,0,0,0,0
$GC,2426,0.14,-136.3,258.7,-6.9,171,2430,0.00,2.45,0.00,0.000,6,0.000,0.025,2897,2097,3506,0,0,0,0,0,0
$GC,2688,0.10,-136.3,276.8,-7.1,178,2693,0.12,2.55,0.00,0.000,4,0.074,0.045,2854,3671,3506,0,0,0,0,0,0
$GC,2717,0.10,-136.3,279.2,-8.7,178,2721,0.00,2.50,0.00,0.000,6,0.000,0.025,2854,2097,3506,0,0,0,0,0,0
$GC,2967,0.10,-136.3,299.1,-7.6,184,2971,0.00,2.55,0.00,0.000,4,0.000,0.043,2855,3671,3505,0,0,0,0,0,0
$GC,2988,0.14,-136.3,300.9,-8.1,184,2994,0.12,2.53,0.00,0.000,6,0.120,0.033,2879,2094,3505,0,0,0,0,0,0
$GC,3246,0.14,-136.3,318.8,-6.8,191,3250,0.00,2.58,0.00,0.000,4,0.000,0.043,2880,3664,3504,0,0,0,0,0,0
$GC,3273,0.14,-136.3,321.0,-7.9,191,3277,0.00,2.53,0.00,0.000,6,0.000,0.035,2879,2095,3504,0,0,0,0,0,0
$GC,3525,0.10,-136.3,338.3,-6.9,197,3529,0.00,2.58,0.00,0.000,4,0.000,0.042,2880,3672,3503,0,0,0,0,0,0
$GC,3647,0.10,-136.3,345.1,-4.4,199,3653,0.00,2.50,0.00,0.000,6,0.000,0.031,2879,2123,3502,0,0,0,0,0,0
$GC,3898,0.06,-136.3,357.3,-5.1,206,3902,0.00,2.53,0.00,0.000,4,0.000,0.051,2880,3660,3500,0,0,0,0,0,0
$GC,3916,0.02,-136.3,358.2,-5.9,206,3921,0.12,2.47,0.00,0.000,6,0.077,0.035,2840,2128,3501,0,0,0,0,0,0
$GC,4176,0.02,-136.3,380.4,-8.9,213,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2128,3499,0,0,0,0,0,0
$GC,4420,0.02,-136.3,401.9,-8.7,219,4424,0.00,2.58,0.00,0.000,4,0.000,0.056,2840,3662,3498,0,0,0,0,0,0
$GC,4443,0.05,-136.3,403.8,-8.7,219,4448,0.00,2.53,0.00,0.000,6,0.000,0.043,2840,2132,3498,0,0,0,0,0,0
$GC,4699,0.05,-136.3,422.5,-7.0,226,4703,0.00,2.55,0.00,0.000,4,0.000,0.056,2840,3663,3496,0,0,0,0,0,0
$GC,4720,0.09,-136.3,424.0,-7.0,226,4725,0.12,2.53,0.00,0.000,6,0.119,0.044,2865,2140,3496,0,0,0,0,0,0
$GC,4977,0.09,-136.3,438.3,-5.4,233,4982,0.00,2.55,0.00,0.000,4,0.000,0.058,2866,3659,3494,0,0,0,0,0,0
$GC,5050,0.09,-136.3,442.9,-7.0,234,5054,0.00,2.53,0.00,0.000,6,0.000,0.051,2866,2147,3494,0,0,0,0,0,0
$GC,5300,0.09,-136.3,458.1,-6.2,240,5304,0.00,2.53,0.00,0.000,4,0.000,0.058,2866,3658,3493,0,0,0,0,0,0
$GC,5323,0.09,-136.3,459.7,-7.1,240,5327,0.00,2.53,0.00,0.000,6,0.000,0.052,2866,2153,3493,0,0,0,0,0,0
$GC,5578,0.05,-136.3,477.9,-7.2,247,5583,0.00,3.03,0.00,0.000,4,0.000,0.107,2866,515,3491,0,0,0,0,0,0
$GC,5594,0.05,-136.3,479.2,-7.3,247,5599,0.00,2.70,0.00,0.000,6,0.000,0.047,2866,2137,3491,0,0,0,0,0,0
$GC,5857,0.01,-136.3,496.7,-6.4,254,5861,0.00,2.65,0.00,0.000,4,0.000,0.072,2866,3685,3490,0,0,0,0,0,0
$GC,5890,0.01,-136.3,499.2,-7.4,254,5895,0.00,2.55,0.00,0.000,6,0.000,0.053,2866,2162,3489,0,0,0,0,0,0
$STATE,5934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5934,begin apogee
$GC,5940,-0.31,0.0,502.1,6.4,256,6051,0.35,0.00,107.82,0.940,6,0.048,0.000,2772,2046,2950,0,0,0,0,0,0
$STATE,6051,end apogee,CONTROL_FINISHED_OK
$STATE,6051,begin climb
$GC,6055,1.31,136.3,507.6,0.0,258,6183,1.67,3.10,114.95,0.907,4,0.097,0.109,3128,474,2393,0,0,0,0,0,0
$GC,6230,1.95,180.8,499.4,7.8,262,6276,0.62,2.65,39.28,0.873,6,0.054,0.041,3278,2052,2212,0,0,0,0,0,0
$GC,6549,2.37,249.0,478.1,6.7,270,6615,0.32,2.92,59.53,0.883,4,0.047,0.089,3371,470,1933,0,0,0,0,0,0
$GC,6652,2.37,249.0,466.5,13.7,272,6657,0.00,2.72,0.00,0.000,6,0.000,0.044,3371,2085,1930,0,0,0,0,0,0
$GC,6914,2.37,249.0,432.8,13.0,279,6918,0.00,2.65,0.00,0.000,4,0.000,0.056,3371,3652,1926,0,0,0,0,0,0
$GC,6948,2.41,249.0,428.4,13.1,279,6956,0.00,2.62,0.00,0.000,6,0.000,0.044,3371,2091,1925,0,0,0,0,0,0
$GC,7198,2.41,249.0,397.9,11.8,286,7203,0.00,2.95,0.00,0.000,4,0.000,0.089,3371,459,1924,0,0,0,0,0,0
$GC,7213,2.41,249.0,395.8,11.8,286,7218,0.00,2.65,0.00,0.000,6,0.000,0.027,3371,2103,1923,0,0,0,0,0,0
$GC,7477,2.45,249.0,367.9,10.5,293,7481,0.00,2.55,0.00,0.000,4,0.000,0.045,3371,3644,1922,0,0,0,0,0,0
$GC,7499,2.49,249.0,365.3,11.2,293,7504,0.00,2.58,0.00,0.000,6,0.000,0.037,3371,2082,1922,0,0,0,0,0,0
$GC,7755,2.54,249.0,334.4,12.6,300,7756,0.12,0.00,0.00,0.000,6,0.084,0.000,3404,2082,1921,0,0,0,0,0,0
$GC,7998,2.54,249.0,299.3,14.6,306,8002,0.00,2.55,0.00,0.000,4,0.000,0.041,3404,3646,1921,0,0,0,0,0,0
$GC,8032,2.54,249.0,294.2,15.0,306,8037,0.00,2.55,0.00,0.000,6,0.000,0.039,3404,2091,1920,0,0,0,0,0,0
$GC,8281,2.54,249.0,258.8,14.3,313,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2091,1920,0,0,0,0,0,0
$GC,8525,2.54,249.0,224.7,14.0,319,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2091,1920,0,0,0,0,0,0
$GC,8777,2.54,249.0,191.2,13.3,328,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2091,1920,0,0,0,0,0,0
$GC,9038,2.54,249.0,154.6,13.6,353,9042,0.00,2.53,0.00,0.000,4,0.000,0.035,3404,3647,1920,0,0,0,0,0,0
$GC,9071,2.58,249.0,150.7,14.5,355,9076,0.00,2.53,0.00,0.000,6,0.000,0.031,3404,2085,1919,0,0,0,0,0,0
$GC,9340,2.62,249.0,117.6,11.7,379,9344,0.00,2.55,0.00,0.000,4,0.000,0.038,3404,3657,1919,0,0,0,0,0,0
$GC,9373,2.67,249.0,113.4,12.1,381,9378,0.12,2.50,0.00,0.000,6,0.093,0.030,3437,2105,1919,0,0,0,0,0,0
$GC,9640,2.67,249.0,81.0,11.7,405,9645,0.00,2.72,0.00,0.000,4,0.000,0.053,3438,470,1919,0,0,0,0,0,0
$GC,9674,2.67,249.0,76.9,12.2,407,9678,0.00,2.60,0.00,0.000,6,0.000,0.020,3438,2128,1919,0,0,0,0,0,0
$GC,9942,2.67,249.0,47.9,11.5,431,9946,0.00,2.42,0.00,0.000,4,0.000,0.035,3438,3655,1919,0,0,0,0,0,0
$GC,9986,2.67,249.0,42.4,12.2,434,9991,0.00,2.45,0.00,0.000,6,0.000,0.029,3438,2115,1919,0,0,0,0,0,0
$GC,10291,2.67,249.0,6.2,13.2,472,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2115,1919,0,0,0,0,0,0
$STATE,10307,end climb,SURFACE_DEPTH_REACHED
$STATE,10307,begin surface coast
$FINISH,-0.6,1.023667
$STATE,10343,end surface coast,CONTROL_FINISHED_OK
$STATE,10343,begin surface
$SM_CCo,10364,159.75,0.518,0,0,1115,450.13
$SM_GC,-0.21,0.00,0.00,159.75,0.000,0.000,0.518,471,2112,1115,-10.94,0.34,450.13
$IRIDIUM_FIX,2230.01,-15809.31,190801,161613
$TT8_MAMPS,0.026078
$HUMID,58.34
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,21.50
$XPDR_PINGS,48
$24V_AH,23.4,3.881
$10V_AH,10.4,3.752
$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,28.950,140.150,321.575,159.750,0.000,88.090,110.646,376.669,12.000,0.000,15.962,1005.337,7144.973,580.744,1746.549,902.273,33.351,1289.436,0.000,1748.572,0.000,0.536,0.000
$DEVICE_MAMPS,177.177,108.914,939.575,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.437,262.515,347.835,635.851,960.365,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356032
$DATA_FILE_SIZE,38353,479
$CAP_FILE_SIZE,118282,0
$CFSIZE,260165632,145862656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250512,185700,2239.772,-15809.285,39,1.3,39,10.0