version: 66.06
glider: 146
mission: 7
dive: 38
start: 5 28 112 11 17 58
data:
$ID,146
$MISSION,7
$DIVE,38
$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,-288529.5
$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,11
$R_STBD_OVSHOOT,14
$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
$GPS1,111007,2245.062,-15759.653,25,1.4,25,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-65.6
$GPS2,111702,2245.106,-15759.665,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.023,-0.141
$KALMAN_X,-68215.1,-59.6,-82.4,75282.4,-372.4
$KALMAN_Y,-21207.3,137.5,1.0,29436.5,982.6
$MHEAD_RNG_PITCHd_Wd,179.3,605,-32.6,-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,-2.09,-44.6,0.0,0.0,0,114,0.00,0.00,-87.90,0.000,6,0.000,0.000,474,2080,3131,0,0,0,0,0,0
$GC,118,-2.15,-89.1,1.3,-3.3,12,144,10.85,2.55,-4.72,0.000,4,0.175,0.052,2429,550,3315,0,0,0,0,0,0
$GC,432,-1.70,-89.1,74.8,-23.4,45,438,0.50,2.55,0.00,0.000,6,0.147,0.016,2524,2203,3316,0,0,0,0,0,0
$GC,699,-1.46,-89.1,128.2,-20.0,69,704,0.28,2.70,0.00,0.000,4,0.153,0.039,2576,550,3317,0,0,0,0,0,0
$GC,734,-1.24,-89.1,134.9,-17.9,71,740,0.28,2.55,0.00,0.000,6,0.151,0.019,2627,2205,3317,0,0,0,0,0,0
$GC,999,-1.17,-89.1,171.8,-12.8,95,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2205,3318,0,0,0,0,0,0
$GC,1271,-1.11,-89.1,205.4,-11.0,118,1276,0.15,2.75,0.00,0.000,4,0.146,0.053,2654,547,3318,0,0,0,0,0,0
$GC,1417,-1.06,-103.6,219.4,-7.8,121,1421,0.00,2.58,0.00,0.000,6,0.000,0.021,2654,2205,3318,0,0,0,0,0,0
$GC,1685,-1.07,-108.9,242.8,-9.2,128,1686,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2205,3319,0,0,0,0,0,0
$GC,1926,-1.07,-111.5,267.2,-9.6,134,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2205,3319,0,0,0,0,0,0
$GC,2170,-1.10,-130.8,285.0,-7.1,140,2174,0.00,2.53,0.00,0.000,4,0.000,0.038,2654,3756,3318,0,0,0,0,0,0
$GC,2191,-1.10,-136.3,286.9,-8.9,140,2196,0.00,2.58,0.00,0.000,6,0.000,0.029,2654,2139,3319,0,0,0,0,0,0
$GC,2448,-1.10,-136.3,312.6,-10.4,147,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2139,3317,0,0,0,0,0,0
$GC,2691,-1.10,-136.3,334.9,-8.9,153,2695,0.00,2.62,0.00,0.000,4,0.000,0.043,2654,3749,3317,0,0,0,0,0,0
$GC,2911,-1.10,-136.3,353.4,-9.2,158,2915,0.00,2.58,0.00,0.000,6,0.000,0.040,2654,2160,3316,0,0,0,0,0,0
$GC,3194,-1.10,-136.3,376.6,-7.8,165,3195,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2159,3315,0,0,0,0,0,0
$GC,3438,-1.10,-136.3,393.7,-7.1,171,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2159,3314,0,0,0,0,0,0
$GC,3683,-1.10,-136.3,412.7,-7.8,177,3688,0.00,2.62,0.00,0.000,4,0.000,0.050,2654,3744,3312,0,0,0,0,0,0
$GC,3941,-1.10,-136.3,434.5,-7.5,182,3947,0.00,2.67,0.00,0.000,6,0.000,0.050,2654,2142,3311,0,0,0,0,0,0
$GC,4193,-1.10,-136.3,450.5,-6.6,189,4198,0.00,2.70,0.00,0.000,4,0.000,0.058,2654,3744,3310,0,0,0,0,0,0
$GC,4450,-1.10,-136.3,470.3,-7.5,194,4456,0.00,2.67,0.00,0.000,6,0.000,0.048,2654,2145,3309,0,0,0,0,0,0
$GC,4703,-1.14,-136.3,488.8,-7.5,201,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2145,3307,0,0,0,0,0,0
$GC,4945,-1.18,-136.3,505.7,-6.9,207,4949,0.00,2.92,0.00,0.000,4,0.000,0.108,2654,565,3306,0,0,0,0,0,0
$GC,4971,-1.18,-136.3,507.5,-6.7,207,4976,0.00,2.62,0.00,0.000,6,0.000,0.050,2654,2144,3306,0,0,0,0,0,0
$GC,5224,-1.22,-136.3,522.2,-5.9,213,5228,0.00,2.85,0.00,0.000,4,0.000,0.087,2654,559,3304,0,0,0,0,0,0
$GC,5263,-1.22,-136.3,525.0,-6.7,214,5268,0.00,2.62,0.00,0.000,6,0.000,0.048,2654,2129,3304,0,0,0,0,0,0
$GC,5548,-1.27,-136.3,545.2,-7.6,221,5554,0.15,2.85,0.00,0.000,4,0.075,0.089,2613,559,3303,0,0,0,0,0,0
$GC,5582,-1.17,-136.3,548.3,-9.2,221,5588,0.15,2.65,0.00,0.000,6,0.140,0.052,2640,2129,3303,0,0,0,0,0,0
$GC,5832,-1.17,-136.3,569.4,-8.4,228,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2129,3301,0,0,0,0,0,0
$GC,6077,-1.17,-136.3,588.7,-7.6,234,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2128,3300,0,0,0,0,0,0
$GC,6321,-1.17,-136.3,604.3,-6.1,240,6326,0.00,2.95,0.00,0.000,4,0.000,0.105,2640,3736,3299,0,0,0,0,0,0
$GC,6505,-1.17,-136.3,614.9,-5.6,244,6510,0.00,2.80,0.00,0.000,6,0.000,0.071,2640,2130,3298,0,0,0,0,0,0
$GC,6779,-1.17,-136.3,630.4,-6.0,251,6784,0.00,2.88,0.00,0.000,4,0.000,0.087,2640,3735,3297,0,0,0,0,0,0
$GC,6818,-1.17,-136.3,633.1,-7.2,252,6823,0.00,2.85,0.00,0.000,6,0.000,0.077,2640,2135,3297,0,0,0,0,0,0
$GC,7103,-1.17,-136.3,650.6,-6.2,259,7108,0.00,3.05,0.00,0.000,4,0.000,0.128,2640,562,3295,0,0,0,0,0,0
$GC,7159,-1.17,-136.3,654.3,-7.0,260,7163,0.00,2.75,0.00,0.000,6,0.000,0.080,2640,2127,3295,0,0,0,0,0,0
$GC,7425,-1.17,-136.3,670.0,-5.9,267,7430,0.00,3.00,0.00,0.000,4,0.000,0.112,2640,3735,3294,0,0,0,0,0,0
$GC,7637,-1.17,-136.3,683.5,-6.3,271,7643,0.00,2.80,0.00,0.000,6,0.000,0.072,2640,2140,3293,0,0,0,0,0,0
$GC,7887,-1.21,-136.3,699.1,-6.2,278,7892,0.00,2.90,0.00,0.000,4,0.000,0.089,2640,3747,3292,0,0,0,0,0,0
$STATE,7901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7901,begin apogee
$GC,7911,-0.31,0.0,700.3,6.4,278,7986,0.90,0.00,71.28,1.115,6,0.125,0.000,2823,2094,2950,0,0,0,0,0,0
$STATE,7987,end apogee,CONTROL_FINISHED_OK
$STATE,7987,begin climb
$GC,7989,2.20,136.3,702.7,0.0,280,8124,2.50,3.22,120.95,1.083,4,0.085,0.125,3377,511,2393,0,0,0,0,0,0
$GC,8141,2.56,136.3,691.2,11.2,283,8147,0.35,2.78,0.00,0.000,6,0.072,0.054,3458,2099,2390,0,0,0,0,0,0
$GC,8397,2.79,136.3,653.1,15.1,290,8402,0.20,2.85,0.00,0.000,4,0.080,0.080,3505,3693,2385,0,0,0,0,0,0
$GC,8486,2.95,136.3,637.4,17.9,292,8491,0.15,2.72,0.00,0.000,6,0.102,0.055,3537,2111,2382,0,0,0,0,0,0
$GC,8769,3.04,136.3,581.5,19.6,299,8775,0.10,2.70,0.00,0.000,4,0.120,0.051,3559,3696,2381,0,0,0,0,0,0
$GC,8948,3.10,136.3,544.4,21.2,303,8953,0.00,2.70,0.00,0.000,6,0.000,0.051,3560,2129,2379,0,0,0,0,0,0
$GC,9226,3.17,136.3,489.4,20.1,310,9231,0.12,2.62,0.00,0.000,4,0.101,0.050,3587,3696,2378,0,0,0,0,0,0
$GC,9283,3.17,136.3,477.0,22.1,311,9288,0.00,2.65,0.00,0.000,6,0.000,0.048,3587,2139,2377,0,0,0,0,0,0
$GC,9549,3.17,136.3,423.0,20.1,318,9553,0.00,2.58,0.00,0.000,4,0.000,0.047,3588,3697,2376,0,0,0,0,0,0
$GC,9714,3.17,136.3,389.9,18.4,321,9718,0.00,2.58,0.00,0.000,6,0.000,0.037,3587,2147,2376,0,0,0,0,0,0
$GC,9963,3.17,136.3,340.4,19.8,327,9968,0.00,2.55,0.00,0.000,4,0.000,0.044,3588,3698,2375,0,0,0,0,0,0
$GC,10133,3.21,136.3,307.4,18.9,330,10139,0.00,2.53,0.00,0.000,6,0.000,0.035,3588,2162,2374,0,0,0,0,0,0
$GC,10383,3.26,136.3,260.6,18.6,337,10388,0.10,2.55,0.00,0.000,4,0.104,0.045,3610,3706,2374,0,0,0,0,0,0
$GC,10539,3.26,136.3,225.9,22.0,340,10543,0.00,2.47,0.00,0.000,6,0.000,0.033,3610,2182,2374,0,0,0,0,0,0
$GC,10801,3.26,136.3,179.2,17.2,355,10806,0.00,2.47,0.00,0.000,4,0.000,0.041,3610,3702,2374,0,0,0,0,0,0
$GC,11024,3.31,136.3,139.9,18.6,373,11030,0.00,2.47,0.00,0.000,6,0.000,0.032,3610,2182,2374,0,0,0,0,0,0
$GC,11287,3.37,136.3,94.6,17.1,398,11292,0.10,2.45,0.00,0.000,4,0.110,0.040,3633,3701,2374,0,0,0,0,0,0
$GC,11393,3.37,136.3,76.5,18.5,406,11397,0.00,2.42,0.00,0.000,6,0.000,0.031,3633,2196,2373,0,0,0,0,0,0
$GC,11662,3.43,136.3,27.4,16.6,431,11672,0.00,2.47,0.00,0.000,4,0.000,0.041,3633,3697,2374,0,0,0,0,0,0
$STATE,11791,end climb,SURFACE_DEPTH_REACHED
$STATE,11791,begin surface coast
$FINISH,-0.7,1.023747
$STATE,11823,end surface coast,CONTROL_FINISHED_OK
$STATE,11823,begin surface
$SM_CCo,11848,250.90,0.534,0,0,1115,450.13
$SM_GC,-0.10,0.00,0.00,250.90,0.000,0.000,0.534,474,2136,1115,-11.16,-0.40,450.13
$IRIDIUM_FIX,2237.01,-15800.20,220801,080849
$TT8_MAMPS,0.026078
$HUMID,59.72
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,19.50
$XPDR_PINGS,39
$24V_AH,23.2,6.191
$10V_AH,10.3,5.639
$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,29.675,134.450,192.225,250.900,0.000,25.754,33.175,213.683,9.750,0.000,15.294,1050.148,8398.966,556.137,1930.507,581.255,33.354,1379.164,0.000,1913.744,0.000,0.535,0.000
$DEVICE_MAMPS,174.876,128.089,1115.218,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,308.364,203.878,277.198,476.015,719.990,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356036
$DATA_FILE_SIZE,35216,453
$CAP_FILE_SIZE,118789,0
$CFSIZE,260165632,144838656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280512,144055,2244.052,-15800.119,36,1.9,36,10.1