version: 66.06
glider: 146
mission: 7
dive: 41
start: 5 28 112 21 45 37
data:
$ID,146
$MISSION,7
$DIVE,41
$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,-288603.69
$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,3000
$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,2170
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,29
$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
$GPS1,213455,2245.279,-15759.778,12,2.0,29,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-64.9
$GPS2,214443,2245.319,-15759.861,13,2.0,24,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.066,-0.127
$KALMAN_X,-71883.3,32.5,-223.5,78667.0,-1005.3
$KALMAN_Y,-20325.5,-295.2,105.6,29273.9,904.6
$MHEAD_RNG_PITCHd_Wd,142.6,636,-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,19,-2.09,-44.6,0.0,0.0,0,115,0.00,0.00,-87.75,0.000,6,0.000,0.000,472,2073,3131,0,0,0,0,0,0
$GC,119,-2.16,-98.6,0.8,-1.9,12,144,11.32,2.47,-5.90,0.000,4,0.174,0.048,2519,557,3352,0,0,0,0,0,0
$GC,434,-1.83,-98.6,71.5,-20.6,46,439,0.40,2.53,0.00,0.000,6,0.150,0.018,2594,2205,3353,0,0,0,0,0,0
$GC,697,-1.70,-98.6,117.6,-19.3,70,702,0.17,2.70,0.00,0.000,4,0.153,0.049,2626,574,3353,0,0,0,0,0,0
$GC,843,-1.55,-98.6,145.4,-20.1,81,848,0.17,2.47,0.00,0.000,6,0.150,0.023,2658,2182,3354,0,0,0,0,0,0
$GC,1105,-1.55,-98.6,187.3,-13.1,105,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2182,3353,0,0,0,0,0,0
$GC,1385,-1.56,-100.8,216.6,-9.7,120,1390,0.00,2.47,0.00,0.000,4,0.000,0.038,2658,3732,3354,0,0,0,0,0,0
$GC,1395,-1.56,-100.8,218.3,-10.7,120,1400,0.00,2.47,0.00,0.000,6,0.000,0.019,2658,2145,3354,0,0,0,0,0,0
$GC,1668,-1.56,-100.8,250.4,-11.7,127,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2145,3355,0,0,0,0,0,0
$GC,1912,-1.56,-102.1,275.0,-9.8,133,1916,0.00,2.55,0.00,0.000,4,0.000,0.039,2658,3726,3355,0,0,0,0,0,0
$GC,1946,-1.56,-102.1,278.4,-10.5,133,1951,0.00,2.45,0.00,0.000,6,0.000,0.023,2658,2183,3355,0,0,0,0,0,0
$GC,2196,-1.57,-110.5,300.6,-8.7,140,2200,0.00,2.53,0.00,0.000,4,0.000,0.043,2658,3730,3354,0,0,0,0,0,0
$GC,2211,-1.58,-121.9,302.1,-8.3,140,2216,0.00,2.50,0.00,0.000,6,0.000,0.030,2658,2173,3354,0,0,0,0,0,0
$GC,2474,-1.60,-136.3,322.4,-7.5,147,2479,0.00,2.50,0.00,0.000,4,0.000,0.041,2657,3720,3354,0,0,0,0,0,0
$GC,2490,-1.60,-136.3,323.9,-7.5,147,2495,0.00,2.50,0.00,0.000,6,0.000,0.031,2658,2171,3354,0,0,0,0,0,0
$GC,2751,-1.60,-136.3,344.8,-8.4,154,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2171,3353,0,0,0,0,0,0
$GC,2997,-1.60,-136.3,366.5,-8.8,160,3001,0.00,2.78,0.00,0.000,4,0.000,0.077,2658,589,3352,0,0,0,0,0,0
$GC,3007,-1.60,-136.3,367.6,-8.7,160,3011,0.00,2.53,0.00,0.000,6,0.000,0.038,2657,2144,3352,0,0,0,0,0,0
$GC,3273,-1.60,-136.3,390.6,-8.6,167,3278,0.00,2.67,0.00,0.000,4,0.000,0.057,2658,3756,3350,0,0,0,0,0,0
$GC,3364,-1.60,-136.3,398.6,-8.1,169,3369,0.00,2.55,0.00,0.000,6,0.000,0.038,2658,2193,3350,0,0,0,0,0,0
$GC,3643,-1.64,-136.3,419.4,-7.4,176,3648,0.00,2.90,0.00,0.000,4,0.000,0.091,2658,584,3348,0,0,0,0,0,0
$GC,3659,-1.64,-136.3,420.7,-6.7,176,3663,0.00,2.62,0.00,0.000,6,0.000,0.040,2658,2176,3348,0,0,0,0,0,0
$GC,3922,-1.68,-136.3,438.5,-6.6,183,3927,0.10,2.70,0.00,0.000,4,0.093,0.066,2625,3759,3347,0,0,0,0,0,0
$GC,4000,-1.63,-136.3,445.0,-8.0,184,4006,0.00,2.62,0.00,0.000,6,0.000,0.044,2625,2190,3346,0,0,0,0,0,0
$GC,4252,-1.63,-136.3,464.9,-8.1,191,4256,0.00,2.65,0.00,0.000,4,0.000,0.058,2625,3757,3345,0,0,0,0,0,0
$GC,4296,-1.58,-136.3,469.6,-10.7,192,4301,0.15,2.65,0.00,0.000,6,0.130,0.051,2653,2182,3345,0,0,0,0,0,0
$GC,4574,-1.62,-136.3,492.2,-7.8,199,4579,0.00,2.70,0.00,0.000,4,0.000,0.061,2654,3755,3343,0,0,0,0,0,0
$GC,4609,-1.62,-136.3,494.9,-8.5,199,4615,0.00,2.65,0.00,0.000,6,0.000,0.049,2653,2187,3342,0,0,0,0,0,0
$GC,4860,-1.66,-136.3,512.9,-7.0,206,4864,0.00,2.70,0.00,0.000,4,0.000,0.063,2653,3754,3341,0,0,0,0,0,0
$GC,4886,-1.66,-136.3,515.0,-7.9,206,4891,0.00,2.67,0.00,0.000,6,0.000,0.053,2654,2179,3341,0,0,0,0,0,0
$GC,5139,-1.71,-136.3,531.6,-6.6,212,5144,0.12,2.75,0.00,0.000,4,0.086,0.065,2616,3756,3340,0,0,0,0,0,0
$GC,5324,-1.66,-136.3,545.8,-7.4,216,5329,0.10,2.67,0.00,0.000,6,0.148,0.062,2634,2196,3338,0,0,0,0,0,0
$GC,5598,-1.66,-136.3,566.2,-7.7,223,5603,0.00,2.72,0.00,0.000,4,0.000,0.073,2634,3751,3337,0,0,0,0,0,0
$GC,5745,-1.66,-136.3,578.7,-8.6,226,5749,0.00,2.67,0.00,0.000,6,0.000,0.065,2634,2213,3336,0,0,0,0,0,0
$GC,6012,-1.66,-136.3,601.5,-8.9,233,6017,0.00,2.72,0.00,0.000,4,0.000,0.078,2634,3751,3335,0,0,0,0,0,0
$GC,6028,-1.66,-136.3,603.1,-8.8,233,6033,0.00,2.72,0.00,0.000,6,0.000,0.070,2634,2202,3335,0,0,0,0,0,0
$GC,6289,-1.66,-136.3,626.1,-8.8,240,6293,0.00,2.78,0.00,0.000,4,0.000,0.092,2634,3753,3333,0,0,0,0,0,0
$GC,6351,-1.66,-136.3,631.6,-9.0,241,6356,0.00,2.75,0.00,0.000,6,0.000,0.080,2634,2218,3332,0,0,0,0,0,0
$GC,6612,-1.66,-136.3,652.2,-7.6,248,6617,0.00,3.20,0.00,0.000,4,0.000,0.134,2634,582,3332,0,0,0,0,0,0
$GC,6628,-1.66,-136.3,653.5,-7.1,248,6633,0.00,2.88,0.00,0.000,6,0.000,0.077,2634,2200,3331,0,0,0,0,0,0
$GC,6890,-1.66,-136.3,670.9,-6.5,255,6895,0.00,2.92,0.00,0.000,4,0.000,0.113,2634,3762,3330,0,0,0,0,0,0
$GC,7002,-1.66,-136.3,678.6,-7.1,257,7006,0.00,2.75,0.00,0.000,6,0.000,0.081,2634,2217,3330,0,0,0,0,0,0
$GC,7259,-1.66,-136.3,693.2,-5.7,264,7263,0.00,2.80,0.00,0.000,4,0.000,0.089,2634,3762,3329,0,0,0,0,0,0
$STATE,7373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7373,begin apogee
$GC,7382,-0.31,0.0,700.3,6.2,266,7464,1.42,0.00,78.35,1.122,6,0.127,0.000,2925,2119,2950,0,0,0,0,0,0
$STATE,7466,end apogee,CONTROL_FINISHED_OK
$STATE,7467,begin climb
$GC,7469,2.20,136.3,701.4,0.0,268,7598,2.45,0.00,120.82,1.074,6,0.071,0.000,3480,2119,2394,0,0,0,0,0,0
$GC,7835,2.40,136.3,646.0,16.8,277,7840,0.17,2.80,0.00,0.000,4,0.077,0.063,3522,3719,2384,0,0,0,0,0,0
$GC,7933,2.55,136.3,627.3,20.2,279,7938,0.15,2.80,0.00,0.000,6,0.100,0.061,3554,2115,2382,0,0,0,0,0,0
$GC,8206,2.63,136.3,570.8,20.6,286,8210,0.00,2.75,0.00,0.000,4,0.000,0.056,3554,3721,2380,0,0,0,0,0,0
$GC,8324,2.72,136.3,546.5,19.8,288,8330,0.17,2.75,0.00,0.000,6,0.090,0.058,3592,2131,2379,0,0,0,0,0,0
$GC,8574,2.72,136.3,494.5,20.4,294,8579,0.00,2.70,0.00,0.000,4,0.000,0.052,3592,3721,2378,0,0,0,0,0,0
$GC,8727,2.72,136.3,461.9,21.4,297,8732,0.00,2.67,0.00,0.000,6,0.000,0.044,3592,2139,2376,0,0,0,0,0,0
$GC,8988,2.72,136.3,408.6,20.3,304,8992,0.00,2.65,0.00,0.000,4,0.000,0.048,3592,3726,2376,0,0,0,0,0,0
$GC,9233,2.72,136.3,355.7,22.8,309,9238,0.00,2.55,0.00,0.000,6,0.000,0.039,3591,2178,2375,0,0,0,0,0,0
$GC,9490,2.78,136.3,303.3,20.3,316,9494,0.00,2.58,0.00,0.000,4,0.000,0.045,3592,3732,2375,0,0,0,0,0,0
$GC,9545,2.83,136.3,292.1,19.5,317,9550,0.10,2.55,0.00,0.000,6,0.111,0.032,3612,2178,2374,0,0,0,0,0,0
$GC,9813,2.83,136.3,238.5,20.1,324,9817,0.00,2.55,0.00,0.000,4,0.000,0.044,3612,3721,2374,0,0,0,0,0,0
$GC,9897,2.87,136.3,220.6,19.8,326,9902,0.00,2.50,0.00,0.000,6,0.000,0.034,3612,2192,2374,0,0,0,0,0,0
$GC,10160,2.92,136.3,174.1,16.9,342,10165,0.10,2.50,0.00,0.000,4,0.111,0.041,3634,3727,2373,0,0,0,0,0,0
$GC,10258,2.92,136.3,154.9,20.1,350,10263,0.00,2.50,0.00,0.000,6,0.000,0.033,3634,2191,2373,0,0,0,0,0,0
$GC,10523,2.92,136.3,107.6,18.0,374,10527,0.00,2.50,0.00,0.000,4,0.000,0.038,3635,3726,2373,0,0,0,0,0,0
$GC,10568,2.92,136.3,99.1,19.2,377,10572,0.00,2.47,0.00,0.000,6,0.000,0.031,3634,2195,2373,0,0,0,0,0,0
$GC,10836,2.96,136.3,50.7,17.2,401,10840,0.00,2.50,0.00,0.000,4,0.000,0.041,3634,3728,2373,0,0,0,0,0,0
$GC,11072,3.00,136.3,6.5,18.7,428,11081,0.00,2.47,0.00,0.000,6,0.000,0.033,3634,2215,2374,0,0,0,0,0,0
$STATE,11088,end climb,SURFACE_DEPTH_REACHED
$STATE,11088,begin surface coast
$FINISH,-0.6,1.023724
$STATE,11116,end surface coast,CONTROL_FINISHED_OK
$STATE,11116,begin surface
$SM_CCo,11141,250.65,0.534,0,0,1115,450.13
$SM_GC,-0.07,0.00,0.00,250.65,0.000,0.000,0.534,475,2127,1115,-11.62,-1.22,450.13
$IRIDIUM_FIX,2234.68,-15800.20,220801,212158
$TT8_MAMPS,0.026078
$HUMID,58.78
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,19.70
$XPDR_PINGS,53
$24V_AH,23.3,6.573
$10V_AH,10.3,5.934
$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,29.975,153.750,199.175,250.650,0.000,60.436,127.289,183.835,13.250,0.000,25.851,1011.002,7930.221,573.204,1793.252,671.390,33.350,1339.956,0.000,1772.387,0.000,0.534,0.000
$DEVICE_MAMPS,174.109,134.225,1122.121,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,295.526,198.817,268.966,477.371,723.705,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356072
$DATA_FILE_SIZE,32059,434
$CAP_FILE_SIZE,118676,0
$CFSIZE,260165632,144674816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290512,005637,2244.702,-15759.457,28,1.3,28,10.1