version: 66.06
glider: 146
mission: 7
dive: 23
start: 5 25 112 19 4 9
data:
$ID,146
$MISSION,7
$DIVE,23
$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,-288207.59
$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,29
$R_STBD_OVSHOOT,18
$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
$GPS1,185700,2239.772,-15809.285,39,1.3,39,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-66.0
$GPS2,190314,2239.742,-15809.342,13,1.3,13,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.237,0.085
$KALMAN_X,-41207.3,-90.8,-150.9,31846.9,-1210.2
$KALMAN_Y,-24690.1,-125.1,-130.9,23379.2,-146.5
$MHEAD_RNG_PITCHd_Wd,60.2,18693,-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,-136.3,0.0,0.0,0,131,0.00,0.00,-101.97,0.000,6,0.000,0.000,471,2112,3507,0,0,0,0,0,0
$GC,136,-1.31,-136.3,2.9,-8.1,14,154,11.65,2.55,0.00,0.000,4,0.177,0.035,2553,3700,3508,0,0,0,0,0,0
$GC,204,-0.63,-136.3,26.0,-29.6,23,214,0.75,2.58,0.00,0.000,6,0.140,0.023,2702,2096,3508,0,0,0,0,0,0
$GC,481,-0.20,-136.3,84.7,-21.2,49,487,0.47,2.58,0.00,0.000,4,0.120,0.035,2799,3703,3507,0,0,0,0,0,0
$GC,588,0.01,-136.3,101.3,-14.4,57,593,0.25,2.53,0.00,0.000,6,0.123,0.021,2848,2103,3508,0,0,0,0,0,0
$GC,856,0.12,-136.3,133.2,-11.1,81,861,0.12,2.62,0.00,0.000,4,0.139,0.055,2873,530,3508,0,0,0,0,0,0
$GC,867,0.23,-136.3,135.4,-11.4,81,873,0.12,2.50,0.00,0.000,6,0.123,0.017,2898,2162,3509,0,0,0,0,0,0
$GC,1133,0.23,-136.3,160.0,-10.0,106,1138,0.00,2.45,0.00,0.000,4,0.000,0.038,2898,3703,3509,0,0,0,0,0,0
$GC,1180,0.23,-136.3,164.5,-9.9,109,1184,0.00,2.50,0.00,0.000,6,0.000,0.029,2898,2120,3509,0,0,0,0,0,0
$GC,1446,0.23,-136.3,188.9,-8.4,133,1451,0.00,2.53,0.00,0.000,4,0.000,0.033,2898,3701,3509,0,0,0,0,0,0
$GC,1478,0.23,-136.3,191.9,-9.1,135,1483,0.00,2.50,0.00,0.000,6,0.000,0.030,2898,2115,3509,0,0,0,0,0,0
$GC,1743,0.23,-136.3,212.8,-7.7,148,1747,0.00,2.55,0.00,0.000,4,0.000,0.035,2898,3697,3509,0,0,0,0,0,0
$GC,1775,0.23,-136.3,215.6,-7.9,148,1781,0.00,2.47,0.00,0.000,6,0.000,0.028,2898,2129,3509,0,0,0,0,0,0
$GC,2026,0.19,-136.3,234.0,-7.6,155,2030,0.00,2.67,0.00,0.000,4,0.000,0.061,2898,519,3509,0,0,0,0,0,0
$GC,2104,0.15,-136.3,240.3,-7.9,156,2109,0.00,2.55,0.00,0.000,6,0.000,0.028,2898,2145,3509,0,0,0,0,0,0
$GC,2354,0.10,-136.3,257.0,-6.6,163,2359,0.12,2.47,0.00,0.000,4,0.077,0.040,2855,3674,3509,0,0,0,0,0,0
$GC,2389,0.10,-136.3,259.7,-8.4,163,2394,0.00,2.47,0.00,0.000,6,0.000,0.029,2855,2118,3508,0,0,0,0,0,0
$GC,2638,0.10,-136.3,277.0,-7.0,170,2643,0.00,2.50,0.00,0.000,4,0.000,0.042,2855,3669,3508,0,0,0,0,0,0
$GC,2660,0.10,-136.3,278.6,-7.4,170,2664,0.00,2.45,0.00,0.000,6,0.000,0.030,2855,2121,3508,0,0,0,0,0,0
$GC,2916,0.10,-136.3,295.1,-6.5,177,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2121,3507,0,0,0,0,0,0
$GC,3159,0.10,-136.3,312.2,-7.1,183,3163,0.00,2.53,0.00,0.000,4,0.000,0.041,2855,3672,3506,0,0,0,0,0,0
$GC,3208,0.10,-136.3,316.4,-8.6,184,3212,0.00,2.50,0.00,0.000,6,0.000,0.035,2855,2122,3506,0,0,0,0,0,0
$GC,3482,0.10,-136.3,339.5,-8.7,191,3486,0.00,2.53,0.00,0.000,4,0.000,0.047,2855,3666,3505,0,0,0,0,0,0
$GC,3503,0.10,-136.3,341.6,-8.9,191,3507,0.00,2.47,0.00,0.000,6,0.000,0.038,2855,2132,3504,0,0,0,0,0,0
$GC,3758,0.10,-136.3,362.1,-7.8,198,3762,0.00,2.55,0.00,0.000,4,0.000,0.050,2855,3669,3503,0,0,0,0,0,0
$GC,3775,0.10,-136.3,363.4,-7.1,198,3780,0.00,2.47,0.00,0.000,6,0.000,0.041,2855,2138,3503,0,0,0,0,0,0
$GC,4037,0.10,-136.3,379.0,-5.5,205,4041,0.00,2.53,0.00,0.000,4,0.000,0.046,2855,3671,3501,0,0,0,0,0,0
$GC,4080,0.10,-136.3,381.7,-6.3,206,4085,0.00,2.50,0.00,0.000,6,0.000,0.043,2855,2144,3501,0,0,0,0,0,0
$GC,4360,0.10,-136.3,398.1,-6.1,213,4365,0.00,2.55,0.00,0.000,4,0.000,0.054,2855,3674,3499,0,0,0,0,0,0
$GC,4376,0.10,-136.3,399.3,-6.7,213,4381,0.00,2.50,0.00,0.000,6,0.000,0.042,2855,2151,3499,0,0,0,0,0,0
$GC,4638,0.10,-136.3,417.6,-7.1,220,4642,0.00,2.55,0.00,0.000,4,0.000,0.051,2855,3673,3498,0,0,0,0,0,0
$GC,4683,0.10,-136.3,421.0,-7.7,221,4687,0.00,2.53,0.00,0.000,6,0.000,0.043,2855,2153,3498,0,0,0,0,0,0
$GC,4961,0.10,-136.3,441.0,-7.1,228,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2153,3496,0,0,0,0,0,0
$GC,5204,0.10,-136.3,457.1,-6.4,234,5209,0.00,3.03,0.00,0.000,4,0.000,0.103,2855,513,3495,0,0,0,0,0,0
$GC,5227,0.10,-136.3,458.6,-6.6,234,5232,0.00,2.67,0.00,0.000,6,0.000,0.046,2855,2137,3494,0,0,0,0,0,0
$GC,5482,0.10,-136.3,474.4,-6.1,241,5487,0.00,2.65,0.00,0.000,4,0.000,0.067,2855,3691,3493,0,0,0,0,0,0
$GC,5538,0.10,-136.3,478.0,-6.2,242,5543,0.00,2.55,0.00,0.000,6,0.000,0.050,2855,2160,3493,0,0,0,0,0,0
$GC,5807,0.10,-136.3,493.9,-6.0,249,5811,0.00,2.60,0.00,0.000,4,0.000,0.058,2855,3692,3491,0,0,0,0,0,0
$GC,5846,0.10,-136.3,496.6,-7.0,250,5850,0.00,2.58,0.00,0.000,6,0.000,0.049,2855,2162,3491,0,0,0,0,0,0
$STATE,5923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5923,begin apogee
$GC,5931,-0.31,0.0,501.5,6.2,252,6046,0.30,0.00,108.12,0.946,6,0.051,0.000,2773,2047,2950,0,0,0,0,0,0
$STATE,6046,end apogee,CONTROL_FINISHED_OK
$STATE,6047,begin climb
$GC,6049,1.31,136.3,507.7,0.0,255,6176,1.67,3.15,114.75,0.913,4,0.105,0.114,3129,461,2392,0,0,0,0,0,0
$GC,6251,1.93,157.3,493.3,9.0,259,6277,0.62,2.67,19.17,0.848,6,0.056,0.044,3277,2051,2308,0,0,0,0,0,0
$GC,6546,2.28,180.5,467.4,8.9,267,6575,0.25,2.78,21.02,0.854,4,0.056,0.061,3350,3648,2213,0,0,0,0,0,0
$GC,6631,2.36,180.5,457.7,12.6,268,6636,0.00,2.65,0.00,0.000,6,0.000,0.047,3350,2099,2210,0,0,0,0,0,0
$GC,6881,2.42,180.5,427.2,11.9,275,6886,0.10,3.08,0.00,0.000,4,0.103,0.101,3376,462,2208,0,0,0,0,0,0
$GC,6915,2.42,180.5,422.7,13.8,275,6921,0.00,2.70,0.00,0.000,6,0.000,0.035,3376,2094,2206,0,0,0,0,0,0
$GC,7165,2.42,180.5,393.3,11.5,282,7169,0.00,2.55,0.00,0.000,4,0.000,0.048,3377,3637,2206,0,0,0,0,0,0
$GC,7205,2.42,180.5,389.0,10.7,283,7210,0.00,2.58,0.00,0.000,6,0.000,0.044,3377,2098,2205,0,0,0,0,0,0
$GC,7490,2.42,180.5,359.4,10.1,290,7494,0.00,2.55,0.00,0.000,4,0.000,0.040,3376,3646,2204,0,0,0,0,0,0
$GC,7516,2.42,180.5,356.3,10.2,290,7521,0.00,2.53,0.00,0.000,6,0.000,0.041,3376,2110,2203,0,0,0,0,0,0
$GC,7772,2.45,205.7,333.0,8.8,297,7796,0.00,0.00,21.77,0.802,6,0.000,0.000,3377,2110,2111,0,0,0,0,0,0
$GC,8061,2.49,238.5,308.2,8.4,304,8092,0.00,0.00,29.70,0.797,6,0.000,0.000,3377,2110,1977,0,0,0,0,0,0
$GC,8302,2.53,238.5,284.2,10.1,310,8307,0.10,2.55,0.00,0.000,4,0.099,0.041,3403,3638,1974,0,0,0,0,0,0
$GC,8342,2.53,238.5,279.6,11.8,311,8346,0.00,2.53,0.00,0.000,6,0.000,0.037,3403,2110,1973,0,0,0,0,0,0
$GC,8626,2.53,238.5,243.9,13.1,318,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2110,1972,0,0,0,0,0,0
$GC,8868,2.53,238.5,212.4,12.8,324,8873,0.00,2.80,0.00,0.000,4,0.000,0.065,3403,461,1972,0,0,0,0,0,0
$GC,8879,2.53,238.5,210.9,12.8,324,8884,0.00,2.67,0.00,0.000,6,0.000,0.020,3403,2147,1970,0,0,0,0,0,0
$GC,9144,2.53,238.5,178.8,12.5,342,9148,0.00,2.42,0.00,0.000,4,0.000,0.037,3403,3641,1971,0,0,0,0,0,0
$GC,9166,2.53,238.5,175.8,12.1,343,9171,0.00,2.50,0.00,0.000,6,0.000,0.031,3403,2095,1970,0,0,0,0,0,0
$GC,9428,2.53,238.5,144.8,11.7,368,9432,0.00,2.53,0.00,0.000,4,0.000,0.035,3403,3650,1970,0,0,0,0,0,0
$GC,9459,2.57,238.5,141.2,12.1,370,9463,0.00,2.47,0.00,0.000,6,0.000,0.035,3403,2119,1970,0,0,0,0,0,0
$GC,9721,2.61,238.5,111.3,12.1,394,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2119,1970,0,0,0,0,0,0
$GC,9976,2.66,238.5,82.2,10.8,418,9982,0.12,2.78,0.00,0.000,4,0.088,0.056,3438,467,1970,0,0,0,0,0,0
$GC,9997,2.66,238.5,79.9,11.3,419,10002,0.00,2.62,0.00,0.000,6,0.000,0.020,3438,2145,1970,0,0,0,0,0,0
$GC,10265,2.66,238.5,47.2,11.8,443,10269,0.00,2.80,0.00,0.000,4,0.000,0.052,3438,467,1970,0,0,0,0,0,0
$GC,10288,2.66,238.5,43.5,12.7,444,10298,0.00,2.62,0.00,0.000,6,0.000,0.020,3438,2124,1970,0,0,0,0,0,0
$GC,10595,2.66,238.5,8.3,10.3,482,10604,0.00,2.45,0.00,0.000,4,0.000,0.035,3438,3645,1971,0,0,0,0,0,0
$STATE,10639,end climb,SURFACE_DEPTH_REACHED
$STATE,10639,begin surface coast
$FINISH,-0.8,1.010910
$STATE,10695,end surface coast,CONTROL_FINISHED_OK
$STATE,10695,begin surface
$SM_CCo,10721,170.25,0.517,0,0,1115,450.13
$SM_GC,-0.07,0.00,0.00,170.25,0.000,0.000,0.517,471,2085,1115,-10.94,-0.42,450.13
$IRIDIUM_FIX,2230.01,-15811.48,190801,161642
$TT8_MAMPS,0.026078
$HUMID,58.38
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,21.80
$XPDR_PINGS,57
$24V_AH,23.4,4.001
$10V_AH,10.3,3.859
$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,28.675,155.425,314.550,170.250,0.000,22.181,47.400,162.566,14.250,0.000,15.223,1044.315,7242.957,602.919,1834.040,542.302,33.355,1335.526,0.000,1835.107,0.000,0.534,0.000
$DEVICE_MAMPS,177.177,113.516,946.478,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.089,262.792,357.839,654.968,990.645,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356060
$DATA_FILE_SIZE,38317,496
$CAP_FILE_SIZE,114553,0
$CFSIZE,260165632,145813504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250512,220701,2240.086,-15808.827,40,1.2,40,10.0