version: 66.06
glider: 146
mission: 7
dive: 24
start: 5 25 112 22 13 57
data:
$ID,146
$MISSION,7
$DIVE,24
$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,-288223.84
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,220701,2240.086,-15808.827,40,1.2,40,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-68.5
$GPS2,221302,2240.054,-15808.884,14,1.3,14,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.215,0.132
$KALMAN_X,-42805.3,-94.1,-114.1,34195.0,-1049.2
$KALMAN_Y,-25333.9,-214.2,338.2,24224.0,-657.4
$MHEAD_RNG_PITCHd_Wd,48.4,17723,-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,-101.45,0.000,6,0.000,0.000,470,2084,3506,0,0,0,0,0,0
$GC,129,-1.31,-136.3,1.7,-5.1,13,146,11.70,2.60,0.00,0.000,4,0.179,0.034,2556,3706,3507,0,0,0,0,0,0
$GC,316,-0.67,-136.3,53.8,-25.5,34,322,0.73,2.58,0.00,0.000,6,0.141,0.023,2697,2086,3507,0,0,0,0,0,0
$GC,580,-0.27,-136.3,107.6,-17.9,58,590,0.45,0.00,0.00,0.000,6,0.120,0.000,2786,2085,3507,0,0,0,0,0,0
$GC,848,-0.05,-136.3,143.6,-12.9,83,853,0.25,2.58,0.00,0.000,4,0.117,0.036,2838,3695,3508,0,0,0,0,0,0
$GC,890,0.05,-136.3,149.4,-11.6,86,895,0.10,2.50,0.00,0.000,6,0.143,0.030,2858,2105,3508,0,0,0,0,0,0
$GC,1153,0.12,-136.3,174.4,-8.7,110,1158,0.00,2.55,0.00,0.000,4,0.000,0.032,2858,3693,3508,0,0,0,0,0,0
$GC,1209,0.18,-136.3,179.8,-9.4,114,1219,0.10,2.53,0.00,0.000,6,0.096,0.029,2883,2114,3508,0,0,0,0,0,0
$GC,1475,0.18,-136.3,199.9,-7.5,139,1480,0.00,2.62,0.00,0.000,4,0.000,0.054,2883,529,3509,0,0,0,0,0,0
$GC,1491,0.18,-136.3,201.9,-8.3,139,1495,0.00,2.50,0.00,0.000,6,0.000,0.018,2883,2144,3509,0,0,0,0,0,0
$GC,1753,0.18,-136.3,222.6,-7.9,146,1758,0.00,2.42,0.00,0.000,4,0.000,0.040,2883,3670,3509,0,0,0,0,0,0
$GC,1798,0.18,-136.3,226.8,-9.0,147,1802,0.00,2.42,0.00,0.000,6,0.000,0.025,2883,2119,3509,0,0,0,0,0,0
$GC,2077,0.18,-136.3,246.4,-6.7,154,2082,0.00,2.50,0.00,0.000,4,0.000,0.044,2883,3671,3508,0,0,0,0,0,0
$GC,2105,0.18,-136.3,248.5,-6.9,154,2109,0.00,2.42,0.00,0.000,6,0.000,0.025,2883,2132,3508,0,0,0,0,0,0
$GC,2355,0.18,-136.3,264.7,-6.4,160,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2132,3508,0,0,0,0,0,0
$GC,2599,0.18,-136.3,283.8,-7.9,166,2603,0.00,2.50,0.00,0.000,4,0.000,0.044,2883,3673,3507,0,0,0,0,0,0
$GC,2627,0.18,-136.3,286.3,-8.8,166,2632,0.00,2.45,0.00,0.000,6,0.000,0.027,2883,2142,3507,0,0,0,0,0,0
$GC,2877,0.18,-136.3,307.1,-8.1,172,2881,0.00,2.50,0.00,0.000,4,0.000,0.041,2884,3661,3506,0,0,0,0,0,0
$GC,2928,0.14,-136.3,311.0,-7.6,173,2932,0.00,2.40,0.00,0.000,6,0.000,0.035,2883,2156,3506,0,0,0,0,0,0
$GC,3202,0.09,-136.3,329.5,-6.7,180,3207,0.00,2.83,0.00,0.000,4,0.000,0.075,2883,520,3505,0,0,0,0,0,0
$GC,3235,0.09,-136.3,331.8,-6.7,180,3240,0.00,2.60,0.00,0.000,6,0.000,0.034,2884,2134,3504,0,0,0,0,0,0
$GC,3487,0.04,-136.3,346.7,-5.9,187,3492,0.12,2.55,0.00,0.000,4,0.074,0.049,2842,3681,3504,0,0,0,0,0,0
$GC,3514,0.04,-136.3,348.6,-6.7,187,3518,0.00,2.47,0.00,0.000,6,0.000,0.038,2842,2154,3503,0,0,0,0,0,0
$GC,3764,0.04,-136.3,363.4,-5.9,193,3768,0.00,2.53,0.00,0.000,4,0.000,0.046,2843,3680,3502,0,0,0,0,0,0
$GC,3780,0.04,-136.3,364.5,-5.8,193,3785,0.00,2.42,0.00,0.000,6,0.000,0.038,2843,2178,3502,0,0,0,0,0,0
$GC,4043,0.04,-136.3,380.4,-6.2,200,4048,0.00,2.47,0.00,0.000,4,0.000,0.053,2843,3682,3500,0,0,0,0,0,0
$GC,4067,0.04,-136.3,382.0,-6.7,200,4071,0.00,2.42,0.00,0.000,6,0.000,0.043,2843,2191,3500,0,0,0,0,0,0
$GC,4322,0.04,-136.3,398.4,-6.4,207,4326,0.00,2.50,0.00,0.000,4,0.000,0.051,2842,3678,3498,0,0,0,0,0,0
$GC,4373,0.04,-136.3,402.0,-7.1,208,4377,0.00,2.45,0.00,0.000,6,0.000,0.047,2843,2185,3498,0,0,0,0,0,0
$GC,4644,0.04,-136.3,422.0,-7.5,215,4649,0.00,2.50,0.00,0.000,4,0.000,0.050,2843,3677,3496,0,0,0,0,0,0
$GC,4666,0.04,-136.3,423.8,-8.1,215,4670,0.00,2.47,0.00,0.000,6,0.000,0.044,2843,2197,3497,0,0,0,0,0,0
$GC,4924,0.04,-136.3,441.9,-6.9,222,4928,0.00,3.10,0.00,0.000,4,0.000,0.109,2843,521,3495,0,0,0,0,0,0
$GC,4939,0.04,-136.3,443.1,-6.7,222,4944,0.00,2.72,0.00,0.000,6,0.000,0.040,2842,2172,3495,0,0,0,0,0,0
$GC,5200,0.04,-136.3,459.5,-6.1,229,5204,0.00,2.55,0.00,0.000,4,0.000,0.069,2842,3678,3493,0,0,0,0,0,0
$GC,5286,0.04,-136.3,464.2,-5.8,231,5290,0.00,2.47,0.00,0.000,6,0.000,0.047,2843,2196,3494,0,0,0,0,0,0
$GC,5569,0.04,-136.3,478.2,-4.9,238,5573,0.00,2.50,0.00,0.000,4,0.000,0.060,2842,3682,3491,0,0,0,0,0,0
$GC,5638,0.04,-136.3,482.3,-6.3,239,5642,0.00,2.47,0.00,0.000,6,0.000,0.048,2842,2212,3491,0,0,0,0,0,0
$GC,5893,0.04,-136.3,497.7,-6.1,246,5898,0.00,3.17,0.00,0.000,4,0.000,0.113,2843,522,3490,0,0,0,0,0,0
$GC,5914,0.04,-136.3,499.3,-6.8,246,5919,0.00,2.78,0.00,0.000,6,0.000,0.050,2843,2182,3489,0,0,0,0,0,0
$STATE,5964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5964,begin apogee
$GC,5972,-0.31,0.0,502.8,7.0,248,6086,0.25,0.00,108.03,0.949,6,0.058,0.000,2774,2049,2950,0,0,0,0,0,0
$STATE,6087,end apogee,CONTROL_FINISHED_OK
$STATE,6087,begin climb
$GC,6089,1.31,136.3,509.0,0.0,251,6216,1.65,2.88,115.05,0.915,4,0.103,0.069,3127,3628,2393,0,0,0,0,0,0
$GC,6269,1.98,191.3,500.4,7.3,255,6324,0.68,2.70,48.00,0.889,6,0.056,0.046,3285,2056,2170,0,0,0,0,0,0
$GC,6586,2.35,242.0,478.0,7.5,263,6637,0.28,3.08,44.50,0.887,4,0.052,0.107,3364,459,1962,0,0,0,0,0,0
$GC,6746,2.41,242.0,455.9,15.0,266,6751,0.00,2.72,0.00,0.000,6,0.000,0.041,3364,2075,1958,0,0,0,0,0,0
$GC,6998,2.45,242.0,418.9,15.1,272,7002,0.00,2.62,0.00,0.000,4,0.000,0.050,3364,3642,1956,0,0,0,0,0,0
$GC,7032,2.50,242.0,413.4,15.8,272,7038,0.12,2.65,0.00,0.000,6,0.094,0.043,3396,2080,1954,0,0,0,0,0,0
$GC,7284,2.50,242.0,372.8,16.1,279,7288,0.00,2.60,0.00,0.000,4,0.000,0.045,3396,3643,1954,0,0,0,0,0,0
$GC,7293,2.50,242.0,370.7,15.9,279,7298,0.00,2.58,0.00,0.000,6,0.000,0.035,3396,2082,1953,0,0,0,0,0,0
$GC,7561,2.50,242.0,332.5,14.1,286,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2082,1953,0,0,0,0,0,0
$GC,7803,2.50,242.0,301.4,12.7,292,7807,0.00,2.58,0.00,0.000,4,0.000,0.040,3396,3645,1952,0,0,0,0,0,0
$GC,7824,2.50,242.0,298.5,13.0,292,7828,0.00,2.53,0.00,0.000,6,0.000,0.034,3396,2101,1951,0,0,0,0,0,0
$GC,8081,2.50,242.0,265.7,12.9,299,8086,0.00,2.83,0.00,0.000,4,0.000,0.070,3395,466,1951,0,0,0,0,0,0
$GC,8098,2.50,242.0,263.2,13.6,299,8103,0.00,2.62,0.00,0.000,6,0.000,0.022,3396,2119,1950,0,0,0,0,0,0
$GC,8358,2.50,242.0,230.0,12.5,306,8363,0.00,2.50,0.00,0.000,4,0.000,0.041,3396,3652,1950,0,0,0,0,0,0
$GC,8404,2.58,242.0,224.3,12.6,307,8409,0.00,2.53,0.00,0.000,6,0.000,0.033,3396,2108,1949,0,0,0,0,0,0
$GC,8663,2.58,242.0,192.7,12.7,315,8667,0.00,2.80,0.00,0.000,4,0.000,0.060,3396,464,1950,0,0,0,0,0,0
$GC,8684,2.58,242.0,190.5,12.7,316,8689,0.00,2.70,0.00,0.000,6,0.000,0.021,3396,2166,1949,0,0,0,0,0,0
$GC,8952,2.61,242.0,161.0,10.1,340,8958,0.10,2.85,0.00,0.000,4,0.097,0.054,3422,463,1950,0,0,0,0,0,0
$GC,8985,2.61,242.0,156.8,11.0,342,8995,0.00,2.67,0.00,0.000,6,0.000,0.027,3422,2133,1949,0,0,0,0,0,0
$GC,9253,2.64,261.5,132.4,9.1,367,9278,0.00,2.50,16.05,0.631,4,0.000,0.037,3422,3642,1883,0,0,0,0,0,0
$GC,9290,2.66,278.7,128.2,9.2,370,9314,0.00,2.53,16.25,0.614,6,0.000,0.029,3422,2092,1812,0,0,0,0,0,0
$GC,9571,2.66,278.7,96.8,11.5,396,9572,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2091,1809,0,0,0,0,0,0
$GC,9828,2.66,278.7,66.6,11.3,420,9832,0.00,2.72,0.00,0.000,4,0.000,0.054,3422,469,1809,0,0,0,0,0,0
$GC,9872,2.66,278.7,61.2,12.8,423,9876,0.00,2.60,0.00,0.000,6,0.000,0.019,3422,2125,1809,0,0,0,0,0,0
$GC,10141,2.66,278.7,31.8,11.3,447,10145,0.00,2.42,0.00,0.000,4,0.000,0.033,3422,3652,1808,0,0,0,0,0,0
$GC,10189,2.73,278.7,25.9,11.5,452,10198,0.00,2.50,0.00,0.000,6,0.000,0.028,3422,2112,1808,0,0,0,0,0,0
$STATE,10370,end climb,SURFACE_DEPTH_REACHED
$STATE,10374,begin surface coast
$FINISH,-0.8,1.023577
$STATE,10416,end surface coast,CONTROL_FINISHED_OK
$STATE,10416,begin surface
$SM_CCo,10437,137.65,0.517,0,0,1115,450.13
$SM_GC,-0.22,0.00,0.00,137.65,0.000,0.000,0.517,470,2107,1115,-10.95,0.20,450.13
$IRIDIUM_FIX,2232.34,-15808.45,190801,191904
$TT8_MAMPS,0.026078
$HUMID,58.38
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,21.90
$XPDR_PINGS,55
$24V_AH,23.4,4.123
$10V_AH,10.4,3.963
$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,28.475,156.000,347.875,137.650,0.000,30.766,32.900,154.215,13.750,0.000,15.614,1026.623,6989.904,578.667,1818.743,523.090,33.351,1329.653,0.000,1814.437,0.000,0.534,0.000
$DEVICE_MAMPS,178.711,112.749,948.779,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.818,260.539,352.837,635.879,961.663,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356024
$DATA_FILE_SIZE,38355,484
$CAP_FILE_SIZE,114214,0
$CFSIZE,260165632,145760256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260512,011119,2240.200,-15808.574,9,1.9,26,10.0