version: 66.06
glider: 146
mission: 7
dive: 36
start: 5 28 112 4 24 2
data:
$ID,146
$MISSION,7
$DIVE,36
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,233
$T_MISSION,500
$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,-288479.19
$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,2900
$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,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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
$GPS1,040931,2245.238,-15800.754,48,1.2,48,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-67.9
$GPS2,042307,2245.302,-15800.815,9,1.1,14,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.182,-0.014
$KALMAN_X,-66745.7,-34.2,194.4,71550.2,-1149.3
$KALMAN_Y,-22961.0,7.6,301.8,31384.2,-365.1
$MHEAD_RNG_PITCHd_Wd,84.3,1502,-25.9,-10.014
$D_GRID,700
$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,-1.71,-69.5,0.0,0.0,0,115,0.00,0.00,-91.00,0.000,6,0.000,0.000,471,2154,3233,0,0,0,0,0,0
$GC,118,-1.78,-133.7,1.2,-3.8,12,143,11.30,0.00,-6.65,0.000,6,0.174,0.000,2505,2154,3496,0,0,0,0,0,0
$GC,419,-1.31,-133.7,81.7,-28.1,46,425,0.55,2.55,0.00,0.000,4,0.150,0.028,2610,3751,3496,0,0,0,0,0,0
$GC,574,-0.98,-133.7,121.3,-23.1,58,584,0.32,2.55,0.00,0.000,6,0.127,0.025,2677,2143,3496,0,0,0,0,0,0
$GC,838,-0.78,-133.7,172.9,-17.5,83,844,0.25,2.60,0.00,0.000,4,0.135,0.035,2728,3753,3497,0,0,0,0,0,0
$GC,963,-0.69,-133.7,189.9,-11.4,93,968,0.10,2.53,0.00,0.000,6,0.150,0.028,2745,2145,3497,0,0,0,0,0,0
$GC,1228,-0.64,-133.7,216.8,-10.2,106,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2145,3498,0,0,0,0,0,0
$GC,1471,-0.64,-133.7,247.1,-12.7,112,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2144,3498,0,0,0,0,0,0
$GC,1716,-0.64,-133.7,277.1,-11.4,118,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2145,3498,0,0,0,0,0,0
$GC,1958,-0.64,-136.3,298.9,-8.5,124,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2145,3497,0,0,0,0,0,0
$GC,2202,-0.64,-136.3,320.8,-9.0,130,2207,0.00,2.65,0.00,0.000,4,0.000,0.044,2745,3744,3497,0,0,0,0,0,0
$GC,2338,-0.64,-136.3,336.2,-12.1,133,2342,0.00,2.62,0.00,0.000,6,0.000,0.041,2745,2145,3496,0,0,0,0,0,0
$GC,2615,-0.64,-136.3,368.2,-11.3,140,2620,0.00,2.83,0.00,0.000,4,0.000,0.092,2745,561,3495,0,0,0,0,0,0
$GC,2630,-0.64,-136.3,370.3,-11.5,140,2635,0.00,2.55,0.00,0.000,6,0.000,0.039,2745,2144,3494,0,0,0,0,0,0
$GC,2893,-0.64,-136.3,399.7,-11.0,147,2898,0.00,2.67,0.00,0.000,4,0.000,0.057,2745,3738,3493,0,0,0,0,0,0
$GC,2925,-0.64,-136.3,403.8,-11.7,147,2931,0.00,2.67,0.00,0.000,6,0.000,0.046,2745,2130,3493,0,0,0,0,0,0
$GC,3176,-0.64,-136.3,433.7,-12.2,154,3180,0.00,2.67,0.00,0.000,4,0.000,0.058,2745,3731,3491,0,0,0,0,0,0
$GC,3288,-0.64,-136.3,448.2,-12.5,156,3293,0.00,2.65,0.00,0.000,6,0.000,0.049,2746,2148,3490,0,0,0,0,0,0
$GC,3543,-0.64,-136.3,477.8,-11.6,163,3547,0.00,2.67,0.00,0.000,4,0.000,0.065,2745,3729,3488,0,0,0,0,0,0
$GC,3569,-0.64,-136.3,481.1,-12.5,163,3574,0.00,2.67,0.00,0.000,6,0.000,0.059,2745,2144,3488,0,0,0,0,0,0
$GC,3827,-0.64,-136.3,508.7,-10.8,170,3831,0.00,2.75,0.00,0.000,4,0.000,0.067,2745,3729,3487,0,0,0,0,0,0
$GC,3994,-0.64,-136.3,525.5,-8.8,173,4000,0.00,2.70,0.00,0.000,6,0.000,0.064,2745,2155,3486,0,0,0,0,0,0
$GC,4244,-0.64,-136.3,543.8,-7.4,180,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2156,3484,0,0,0,0,0,0
$GC,4489,-0.64,-136.3,560.5,-6.7,186,4494,0.00,2.78,0.00,0.000,4,0.000,0.076,2745,3728,3483,0,0,0,0,0,0
$GC,4578,-0.64,-136.3,567.1,-7.2,188,4583,0.00,2.70,0.00,0.000,6,0.000,0.068,2745,2167,3482,0,0,0,0,0,0
$GC,4858,-0.64,-136.3,587.5,-7.6,195,4863,0.00,3.08,0.00,0.000,4,0.000,0.123,2745,561,3480,0,0,0,0,0,0
$GC,4885,-0.64,-136.3,590.1,-8.9,195,4890,0.00,2.72,0.00,0.000,6,0.000,0.059,2745,2155,3480,0,0,0,0,0,0
$GC,5135,-0.64,-136.3,610.9,-8.3,201,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2155,3478,0,0,0,0,0,0
$GC,5379,-0.68,-136.3,631.2,-8.4,207,5384,0.00,2.95,0.00,0.000,4,0.000,0.107,2745,3743,3476,0,0,0,0,0,0
$GC,5510,-0.68,-136.3,641.6,-7.8,210,5515,0.00,2.83,0.00,0.000,6,0.000,0.091,2745,2181,3476,0,0,0,0,0,0
$GC,5794,-0.73,-136.3,659.6,-6.0,217,5799,0.00,2.88,0.00,0.000,4,0.000,0.100,2746,3738,3474,0,0,0,0,0,0
$GC,5884,-0.73,-136.3,665.2,-6.1,219,5889,0.00,2.75,0.00,0.000,6,0.000,0.081,2745,2184,3474,0,0,0,0,0,0
$GC,6162,-0.77,-136.3,681.1,-5.8,226,6167,0.00,2.83,0.00,0.000,4,0.000,0.094,2745,3740,3473,0,0,0,0,0,0
$GC,6197,-0.77,-136.3,683.3,-6.9,226,6202,0.00,2.75,0.00,0.000,6,0.000,0.076,2745,2188,3472,0,0,0,0,0,0
$GC,6447,-0.82,-136.3,698.1,-5.9,233,6449,0.10,0.00,0.00,0.000,6,0.097,0.000,2716,2188,3471,0,0,0,0,0,0
$STATE,6484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6484,begin apogee
$GC,6490,-0.31,0.0,700.8,6.1,234,6601,0.55,0.00,107.95,1.106,6,0.114,0.000,2827,2099,2950,0,0,0,0,0,0
$STATE,6602,end apogee,CONTROL_FINISHED_OK
$STATE,6602,begin climb
$GC,6606,1.79,136.3,703.8,0.0,236,6738,2.10,3.28,119.65,1.068,4,0.089,0.131,3287,514,2392,0,0,0,0,0,0
$GC,6750,2.24,158.8,693.6,7.8,239,6779,0.43,2.80,21.12,0.995,6,0.051,0.060,3389,2104,2301,0,0,0,0,0,0
$GC,7061,2.41,158.8,655.1,12.6,247,7067,0.15,2.85,0.00,0.000,4,0.088,0.088,3421,3689,2293,0,0,0,0,0,0
$GC,7101,2.53,158.8,648.8,14.8,248,7106,0.12,2.78,0.00,0.000,6,0.114,0.060,3449,2099,2292,0,0,0,0,0,0
$GC,7387,2.59,158.8,604.5,15.7,255,7391,0.00,2.75,0.00,0.000,4,0.000,0.054,3449,3699,2290,0,0,0,0,0,0
$GC,7447,2.67,158.8,594.9,14.8,256,7453,0.12,2.75,0.00,0.000,6,0.108,0.054,3478,2112,2289,0,0,0,0,0,0
$GC,7710,2.67,158.8,552.1,16.5,263,7714,0.00,2.70,0.00,0.000,4,0.000,0.051,3478,3701,2288,0,0,0,0,0,0
$GC,7732,2.67,158.8,547.5,18.1,263,7737,0.00,2.75,0.00,0.000,6,0.000,0.059,3478,2114,2288,0,0,0,0,0,0
$GC,7988,2.67,158.8,503.9,17.2,270,7992,0.00,2.70,0.00,0.000,4,0.000,0.057,3478,3703,2287,0,0,0,0,0,0
$GC,8084,2.67,158.8,487.0,17.5,272,8088,0.00,2.67,0.00,0.000,6,0.000,0.047,3478,2134,2286,0,0,0,0,0,0
$GC,8355,2.67,158.8,439.2,17.7,279,8360,0.00,2.60,0.00,0.000,4,0.000,0.051,3478,3697,2286,0,0,0,0,0,0
$GC,8405,2.70,158.8,429.6,19.7,280,8409,0.00,2.62,0.00,0.000,6,0.000,0.045,3478,2138,2285,0,0,0,0,0,0
$GC,8678,2.70,158.8,383.6,16.4,287,8682,0.00,2.58,0.00,0.000,4,0.000,0.049,3478,3697,2285,0,0,0,0,0,0
$GC,8744,2.75,158.8,372.3,16.0,288,8748,0.00,2.53,0.00,0.000,6,0.000,0.041,3478,2154,2285,0,0,0,0,0,0
$GC,9000,2.80,158.8,336.8,13.4,295,9005,0.12,2.55,0.00,0.000,4,0.092,0.048,3509,3697,2285,0,0,0,0,0,0
$GC,9062,2.80,158.8,328.1,14.7,296,9067,0.00,2.53,0.00,0.000,6,0.000,0.040,3509,2165,2284,0,0,0,0,0,0
$GC,9323,2.80,158.8,290.8,14.4,303,9328,0.00,2.55,0.00,0.000,4,0.000,0.044,3509,3703,2284,0,0,0,0,0,0
$GC,9356,2.80,158.8,285.6,15.2,303,9362,0.00,2.53,0.00,0.000,6,0.000,0.037,3509,2159,2284,0,0,0,0,0,0
$GC,9608,2.80,158.8,246.1,16.0,310,9612,0.00,2.53,0.00,0.000,4,0.000,0.041,3509,3703,2284,0,0,0,0,0,0
$GC,9702,2.80,158.8,229.5,17.5,312,9706,0.00,2.47,0.00,0.000,6,0.000,0.038,3509,2183,2283,0,0,0,0,0,0
$GC,9956,2.80,158.8,184.1,17.2,323,9961,0.00,2.83,0.00,0.000,4,0.000,0.061,3509,505,2284,0,0,0,0,0,0
$GC,9991,2.80,158.8,179.6,15.9,325,9995,0.00,2.75,0.00,0.000,6,0.000,0.026,3510,2228,2283,0,0,0,0,0,0
$GC,10257,2.80,158.8,141.9,13.2,349,10261,0.00,2.90,0.00,0.000,4,0.000,0.051,3509,504,2283,0,0,0,0,0,0
$GC,10275,2.80,158.8,138.9,13.2,350,10279,0.00,2.70,0.00,0.000,6,0.000,0.027,3509,2205,2283,0,0,0,0,0,0
$GC,10538,2.84,158.8,103.4,14.8,374,10542,0.00,2.40,0.00,0.000,4,0.000,0.041,3509,3705,2283,0,0,0,0,0,0
$GC,10607,2.89,158.8,93.5,14.2,379,10611,0.00,2.47,0.00,0.000,6,0.000,0.029,3510,2164,2283,0,0,0,0,0,0
$GC,10873,2.94,158.8,56.5,12.7,403,10878,0.12,2.47,0.00,0.000,4,0.084,0.036,3542,3709,2284,0,0,0,0,0,0
$GC,10907,2.94,158.8,51.7,14.5,405,10911,0.00,2.45,0.00,0.000,6,0.000,0.029,3542,2168,2284,0,0,0,0,0,0
$GC,11200,2.94,158.8,11.8,15.7,437,11210,0.00,2.50,0.00,0.000,4,0.000,0.036,3542,3700,2286,0,0,0,0,0,0
$STATE,11258,end climb,SURFACE_DEPTH_REACHED
$STATE,11258,begin surface coast
$FINISH,2.7,1.023822
$STATE,11267,end surface coast,CONTROL_FINISHED_OK
$STATE,11267,begin surface
$SM_CCo,11293,232.43,0.524,0,0,1114,450.13
$SM_GC,0.07,0.00,0.00,232.43,0.000,0.000,0.524,471,2122,1114,-11.17,-0.79,450.13
$IRIDIUM_FIX,2239.35,-15800.20,220801,040411
$TT8_MAMPS,0.026078
$HUMID,57.32
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.70
$XPDR_PINGS,49
$24V_AH,23.3,5.923
$10V_AH,10.3,5.440
$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,28.775,150.300,248.725,232.425,0.000,83.737,102.916,334.331,12.250,0.000,16.080,999.130,8144.970,602.708,1744.363,845.011,33.354,1346.939,0.000,1732.796,0.000,0.535,0.000
$DEVICE_MAMPS,174.109,131.157,1106.014,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,303.458,209.991,280.260,508.003,768.404,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356036
$DATA_FILE_SIZE,35183,446
$CAP_FILE_SIZE,121210,0
$CFSIZE,260165632,144953344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280512,073724,2245.413,-15800.056,33,1.2,36,10.1