version: 66.06
glider: 146
mission: 7
dive: 37
start: 5 28 112 8 0 50
data:
$ID,146
$MISSION,7
$DIVE,37
$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,-288513.59
$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,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,39
$R_STBD_OVSHOOT,13
$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
$GPS1,073724,2245.413,-15800.056,33,1.2,36,10.1
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.14
$_SM_ANGLEo,-66.8
$GPS2,075956,2245.592,-15800.159,32,1.2,32,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.084,-0.130
$KALMAN_X,-67683.7,-152.0,-154.1,74077.9,-910.4
$KALMAN_Y,-21981.5,81.5,-89.8,31249.9,734.6
$MHEAD_RNG_PITCHd_Wd,137.0,1130,-30.3,-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,18,-1.95,-51.5,0.0,0.0,0,114,0.00,0.00,-87.85,0.000,6,0.000,0.000,470,2122,3157,0,0,0,0,0,0
$GC,117,-2.03,-115.3,0.6,-1.7,12,143,10.85,2.53,-7.88,0.000,4,0.170,0.048,2447,568,3419,0,0,0,0,0,0
$GC,260,-1.54,-115.3,33.8,-28.2,32,270,0.60,2.53,0.00,0.000,6,0.146,0.017,2562,2194,3420,0,0,0,0,0,0
$GC,528,-1.27,-115.3,89.1,-17.9,57,533,0.28,2.40,0.00,0.000,4,0.154,0.028,2616,3713,3420,0,0,0,0,0,0
$GC,571,-1.08,-115.3,97.1,-15.6,60,576,0.22,2.42,0.00,0.000,6,0.140,0.021,2659,2152,3420,0,0,0,0,0,0
$GC,835,-0.98,-115.3,133.6,-14.9,84,840,0.12,2.50,0.00,0.000,4,0.152,0.037,2681,3712,3420,0,0,0,0,0,0
$GC,927,-0.92,-115.3,149.0,-17.4,91,932,0.00,2.42,0.00,0.000,6,0.000,0.026,2681,2157,3420,0,0,0,0,0,0
$GC,1196,-0.88,-115.3,186.4,-12.2,115,1201,0.12,2.47,0.00,0.000,4,0.151,0.034,2703,3711,3421,0,0,0,0,0,0
$GC,1239,-0.88,-115.3,193.3,-14.8,118,1244,0.00,2.40,0.00,0.000,6,0.000,0.021,2704,2165,3420,0,0,0,0,0,0
$GC,1493,-0.88,-115.3,226.5,-12.3,127,1497,0.00,2.62,0.00,0.000,4,0.000,0.051,2704,578,3420,0,0,0,0,0,0
$GC,1525,-0.88,-115.3,230.9,-13.3,127,1531,0.00,2.45,0.00,0.000,6,0.000,0.026,2703,2163,3421,0,0,0,0,0,0
$GC,1775,-0.88,-115.3,258.4,-10.7,134,1779,0.00,2.47,0.00,0.000,4,0.000,0.037,2703,3720,3421,0,0,0,0,0,0
$GC,1803,-0.88,-115.3,261.5,-11.2,134,1807,0.00,2.42,0.00,0.000,6,0.000,0.022,2704,2168,3421,0,0,0,0,0,0
$GC,2053,-0.88,-117.7,286.8,-9.7,140,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2168,3420,0,0,0,0,0,0
$GC,2297,-0.92,-117.7,312.4,-10.3,146,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2168,3420,0,0,0,0,0,0
$GC,2540,-0.96,-117.7,337.1,-10.1,152,2545,0.00,2.53,0.00,0.000,4,0.000,0.043,2703,3714,3419,0,0,0,0,0,0
$GC,2797,-0.96,-120.7,361.6,-9.6,157,2803,0.00,2.50,0.00,0.000,6,0.000,0.041,2704,2176,3418,0,0,0,0,0,0
$GC,3049,-1.02,-128.8,383.7,-9.0,164,3051,0.12,0.00,0.00,0.000,6,0.080,0.000,2663,2176,3417,0,0,0,0,0,0
$GC,3291,-1.03,-134.1,406.8,-9.3,170,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2176,3415,0,0,0,0,0,0
$GC,3534,-1.03,-136.3,428.3,-8.6,176,3539,0.00,2.58,0.00,0.000,4,0.000,0.052,2664,3707,3414,0,0,0,0,0,0
$GC,3694,-1.03,-136.3,441.4,-8.5,179,3699,0.00,2.58,0.00,0.000,6,0.000,0.054,2663,2161,3413,0,0,0,0,0,0
$GC,3949,-1.03,-136.3,465.1,-9.6,186,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2161,3411,0,0,0,0,0,0
$GC,4192,-1.03,-136.3,490.1,-10.1,192,4197,0.00,2.65,0.00,0.000,4,0.000,0.063,2663,3702,3409,0,0,0,0,0,0
$GC,4360,-1.03,-136.3,507.7,-9.6,195,4365,0.00,2.62,0.00,0.000,6,0.000,0.056,2663,2158,3408,0,0,0,0,0,0
$GC,4610,-1.03,-136.3,528.1,-8.0,202,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2158,3407,0,0,0,0,0,0
$GC,4853,-1.03,-136.3,546.8,-7.9,208,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2158,3405,0,0,0,0,0,0
$GC,5099,-1.03,-136.3,568.2,-8.9,214,5104,0.00,3.08,0.00,0.000,4,0.000,0.125,2663,564,3403,0,0,0,0,0,0
$GC,5154,-0.97,-136.3,573.8,-9.7,215,5160,0.12,2.67,0.00,0.000,6,0.144,0.057,2686,2129,3403,0,0,0,0,0,0
$GC,5424,-1.02,-136.3,595.9,-8.2,222,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2130,3401,0,0,0,0,0,0
$GC,5665,-1.07,-136.3,616.4,-8.4,228,5670,0.00,2.95,0.00,0.000,4,0.000,0.107,2686,3735,3400,0,0,0,0,0,0
$GC,5777,-1.07,-136.3,626.5,-8.9,230,5782,0.00,2.80,0.00,0.000,6,0.000,0.078,2686,2166,3399,0,0,0,0,0,0
$GC,6034,-1.12,-136.3,647.1,-7.9,237,6040,0.12,2.88,0.00,0.000,4,0.085,0.097,2651,3735,3397,0,0,0,0,0,0
$GC,6113,-1.12,-136.3,653.9,-8.0,238,6118,0.00,2.80,0.00,0.000,6,0.000,0.084,2650,2170,3397,0,0,0,0,0,0
$GC,6363,-1.12,-136.3,672.6,-7.5,245,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2170,3395,0,0,0,0,0,0
$GC,6608,-1.12,-136.3,690.7,-7.5,251,6613,0.00,2.88,0.00,0.000,4,0.000,0.103,2650,3745,3394,0,0,0,0,0,0
$STATE,6723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6723,begin apogee
$GC,6731,-0.31,0.0,700.0,8.1,253,6827,0.85,0.00,92.22,1.104,6,0.123,0.000,2825,2094,2950,0,0,0,0,0,0
$STATE,6828,end apogee,CONTROL_FINISHED_OK
$STATE,6828,begin climb
$GC,6832,2.06,136.3,702.5,0.0,256,6964,2.38,3.20,120.15,1.071,4,0.087,0.125,3347,519,2393,0,0,0,0,0,0
$GC,6977,2.42,136.3,691.0,10.2,259,6983,0.35,2.75,0.00,0.000,6,0.061,0.054,3427,2098,2391,0,0,0,0,0,0
$GC,7239,2.65,136.3,655.5,13.5,266,7244,0.20,2.85,0.00,0.000,4,0.084,0.079,3476,3693,2385,0,0,0,0,0,0
$GC,7317,2.80,136.3,643.0,16.2,267,7323,0.15,2.75,0.00,0.000,6,0.093,0.059,3509,2106,2382,0,0,0,0,0,0
$GC,7569,2.88,136.3,601.5,16.8,274,7574,0.00,2.70,0.00,0.000,4,0.000,0.057,3509,3700,2381,0,0,0,0,0,0
$GC,7658,2.98,136.3,585.6,17.6,276,7663,0.17,2.70,0.00,0.000,6,0.098,0.056,3544,2125,2380,0,0,0,0,0,0
$GC,7936,2.98,136.3,534.8,18.2,283,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,2125,2378,0,0,0,0,0,0
$GC,8179,2.98,136.3,491.1,18.1,289,8184,0.00,2.65,0.00,0.000,4,0.000,0.047,3545,3700,2377,0,0,0,0,0,0
$GC,8337,3.02,136.3,461.9,19.7,292,8342,0.00,2.58,0.00,0.000,6,0.000,0.047,3546,2152,2376,0,0,0,0,0,0
$GC,8594,3.06,136.3,414.1,18.9,299,8598,0.00,2.58,0.00,0.000,4,0.000,0.047,3545,3703,2376,0,0,0,0,0,0
$GC,8660,3.11,136.3,401.5,18.8,300,8665,0.12,2.58,0.00,0.000,6,0.111,0.044,3574,2157,2375,0,0,0,0,0,0
$GC,8917,3.11,136.3,354.0,18.5,307,8922,0.00,2.55,0.00,0.000,4,0.000,0.044,3574,3698,2375,0,0,0,0,0,0
$GC,9064,3.11,136.3,327.4,17.6,310,9068,0.00,2.53,0.00,0.000,6,0.000,0.037,3573,2166,2374,0,0,0,0,0,0
$GC,9330,3.11,136.3,278.9,18.3,317,9334,0.00,2.50,0.00,0.000,4,0.000,0.047,3574,3697,2374,0,0,0,0,0,0
$GC,9558,3.11,136.3,234.6,19.2,322,9562,0.00,2.47,0.00,0.000,6,0.000,0.033,3574,2184,2373,0,0,0,0,0,0
$GC,9817,3.14,136.3,190.8,16.1,330,9821,0.00,2.50,0.00,0.000,4,0.000,0.038,3574,3707,2373,0,0,0,0,0,0
$GC,9958,3.18,136.3,170.4,13.9,341,9964,0.00,2.47,0.00,0.000,6,0.000,0.031,3574,2184,2373,0,0,0,0,0,0
$GC,10223,3.24,136.3,134.2,14.0,366,10228,0.12,2.47,0.00,0.000,4,0.091,0.036,3605,3708,2373,0,0,0,0,0,0
$GC,10314,3.24,136.3,119.2,18.6,373,10318,0.00,2.45,0.00,0.000,6,0.000,0.031,3605,2194,2373,0,0,0,0,0,0
$GC,10582,3.24,136.3,72.0,18.6,397,10586,0.00,2.45,0.00,0.000,4,0.000,0.036,3605,3703,2373,0,0,0,0,0,0
$GC,10688,3.24,136.3,52.7,17.8,405,10693,0.00,2.42,0.00,0.000,6,0.000,0.030,3605,2196,2374,0,0,0,0,0,0
$STATE,10988,end climb,SURFACE_DEPTH_REACHED
$STATE,10988,begin surface coast
$FINISH,-0.6,1.011614
$STATE,11017,end surface coast,CONTROL_FINISHED_OK
$STATE,11017,begin surface
$SM_CCo,11041,249.90,0.528,0,0,1115,450.13
$SM_GC,-0.06,0.00,0.00,249.90,0.000,0.000,0.528,474,2080,1115,-11.16,-1.98,450.13
$IRIDIUM_FIX,2237.01,-15802.37,220801,080834
$TT8_MAMPS,0.026078
$HUMID,58.74
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.20
$XPDR_PINGS,40
$24V_AH,23.3,6.075
$10V_AH,10.4,5.544
$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,29.750,120.350,212.375,249.900,0.000,142.191,191.205,577.893,10.000,0.000,33.784,987.372,8026.531,567.450,1814.925,1248.998,33.349,1303.953,0.000,1788.551,0.000,0.535,0.000
$DEVICE_MAMPS,170.274,125.021,1103.713,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,301.963,209.409,285.513,514.421,778.008,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356032
$DATA_FILE_SIZE,35265,444
$CAP_FILE_SIZE,122863,0
$CFSIZE,260165632,144900096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280512,111007,2245.062,-15759.653,25,1.4,25,10.1