version: 66.06
glider: 146
mission: 7
dive: 42
start: 5 29 112 1 3 52
data:
$ID,146
$MISSION,7
$DIVE,42
$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,-288617.38
$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,44
$R_STBD_OVSHOOT,12
$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
$GPS1,005637,2244.702,-15759.457,28,1.3,28,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-66.2
$GPS2,010256,2244.747,-15759.510,11,1.7,11,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.143,-0.001
$KALMAN_X,-72825.2,-10.9,460.9,79565.3,-1760.6
$KALMAN_Y,-19861.9,-180.2,245.2,27503.3,473.9
$MHEAD_RNG_PITCHd_Wd,80.3,959,-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,17,begin dive
$GC,19,-2.09,-44.6,0.0,0.0,0,115,0.00,0.00,-88.85,0.000,6,0.000,0.000,474,2128,3131,0,0,0,0,0,0
$GC,119,-2.17,-104.8,0.5,-1.0,12,145,11.38,0.00,-7.47,0.000,6,0.176,0.000,2519,2128,3378,0,0,0,0,0,0
$GC,426,-1.91,-104.8,69.6,-23.0,48,431,0.30,2.65,0.00,0.000,4,0.156,0.028,2576,3781,3379,0,0,0,0,0,0
$GC,595,-1.72,-104.8,102.5,-18.0,61,600,0.22,2.53,0.00,0.000,6,0.153,0.021,2618,2162,3379,0,0,0,0,0,0
$GC,861,-1.64,-104.8,142.7,-13.7,85,866,0.12,2.62,0.00,0.000,4,0.160,0.031,2640,3780,3381,0,0,0,0,0,0
$GC,880,-1.56,-104.8,145.6,-13.2,86,885,0.00,2.53,0.00,0.000,6,0.000,0.020,2640,2173,3381,0,0,0,0,0,0
$GC,1143,-1.52,-104.8,182.0,-14.0,110,1145,0.15,0.00,0.00,0.000,6,0.151,0.000,2668,2173,3381,0,0,0,0,0,0
$GC,1413,-1.52,-104.8,213.7,-10.8,127,1417,0.00,2.58,0.00,0.000,4,0.000,0.038,2667,3771,3382,0,0,0,0,0,0
$GC,1496,-1.52,-104.8,224.2,-12.6,129,1501,0.00,2.50,0.00,0.000,6,0.000,0.019,2668,2160,3382,0,0,0,0,0,0
$GC,1780,-1.52,-104.8,256.1,-11.3,136,1784,0.00,2.60,0.00,0.000,4,0.000,0.038,2668,3772,3382,0,0,0,0,0,0
$GC,1803,-1.52,-104.8,258.5,-10.6,136,1807,0.00,2.55,0.00,0.000,6,0.000,0.022,2668,2164,3382,0,0,0,0,0,0
$GC,2057,-1.53,-114.3,281.7,-8.6,143,2062,0.00,2.62,0.00,0.000,4,0.000,0.041,2668,3768,3382,0,0,0,0,0,0
$GC,2176,-1.53,-116.4,292.3,-9.7,145,2180,0.00,2.55,0.00,0.000,6,0.000,0.031,2668,2166,3382,0,0,0,0,0,0
$GC,2426,-1.59,-127.4,313.4,-8.4,151,2431,0.00,2.62,0.00,0.000,4,0.000,0.045,2668,3768,3382,0,0,0,0,0,0
$GC,2443,-1.60,-136.3,315.1,-8.5,151,2447,0.00,2.58,0.00,0.000,6,0.000,0.029,2668,2175,3382,0,0,0,0,0,0
$GC,2705,-1.64,-136.3,339.9,-9.7,158,2707,0.12,0.00,0.00,0.000,6,0.077,0.000,2627,2175,3381,0,0,0,0,0,0
$GC,2946,-1.64,-136.3,364.9,-10.4,164,2951,0.00,2.62,0.00,0.000,4,0.000,0.044,2626,3765,3380,0,0,0,0,0,0
$GC,3200,-1.59,-136.3,392.4,-10.8,169,3205,0.12,2.62,0.00,0.000,6,0.136,0.041,2650,2172,3379,0,0,0,0,0,0
$GC,3450,-1.59,-136.3,415.5,-8.8,175,3454,0.00,2.67,0.00,0.000,4,0.000,0.049,2650,3764,3377,0,0,0,0,0,0
$GC,3563,-1.59,-136.3,426.6,-10.7,177,3567,0.00,2.65,0.00,0.000,6,0.000,0.045,2650,2169,3376,0,0,0,0,0,0
$GC,3818,-1.59,-136.3,451.3,-9.4,184,3822,0.00,2.70,0.00,0.000,4,0.000,0.054,2649,3765,3375,0,0,0,0,0,0
$GC,3981,-1.59,-136.3,468.3,-10.4,187,3985,0.00,2.65,0.00,0.000,6,0.000,0.052,2649,2182,3374,0,0,0,0,0,0
$GC,4233,-1.63,-136.3,490.5,-8.9,193,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2182,3373,0,0,0,0,0,0
$GC,4475,-1.67,-136.3,512.0,-9.0,199,4479,0.00,2.72,0.00,0.000,4,0.000,0.065,2650,3765,3372,0,0,0,0,0,0
$GC,4732,-1.67,-136.3,534.2,-8.3,204,4737,0.00,2.70,0.00,0.000,6,0.000,0.057,2649,2177,3370,0,0,0,0,0,0
$GC,4982,-1.71,-136.3,552.6,-7.2,211,4987,0.00,2.75,0.00,0.000,4,0.000,0.074,2649,3762,3369,0,0,0,0,0,0
$GC,5051,-1.71,-136.3,557.6,-7.9,212,5055,0.00,2.72,0.00,0.000,6,0.000,0.063,2649,2178,3368,0,0,0,0,0,0
$GC,5306,-1.76,-136.3,576.7,-7.6,219,5312,0.15,3.00,0.00,0.000,4,0.071,0.114,2605,583,3367,0,0,0,0,0,0
$GC,5319,-1.76,-136.3,577.6,-7.7,219,5324,0.00,2.72,0.00,0.000,6,0.000,0.055,2605,2178,3366,0,0,0,0,0,0
$GC,5587,-1.76,-136.3,601.1,-8.6,226,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2178,3365,0,0,0,0,0,0
$GC,5829,-1.76,-136.3,623.1,-9.1,232,5833,0.00,2.92,0.00,0.000,4,0.000,0.105,2606,3754,3364,0,0,0,0,0,0
$GC,5889,-1.71,-136.3,629.3,-10.6,233,5895,0.10,2.83,0.00,0.000,6,0.153,0.080,2622,2177,3364,0,0,0,0,0,0
$GC,6153,-1.71,-136.3,653.5,-9.2,240,6157,0.00,2.90,0.00,0.000,4,0.000,0.101,2622,3755,3362,0,0,0,0,0,0
$GC,6202,-1.71,-136.3,658.3,-9.3,241,6207,0.00,2.80,0.00,0.000,6,0.000,0.084,2622,2187,3361,0,0,0,0,0,0
$GC,6475,-1.71,-136.3,680.8,-8.0,248,6479,0.00,2.88,0.00,0.000,4,0.000,0.096,2622,3754,3360,0,0,0,0,0,0
$GC,6613,-1.71,-136.3,691.2,-8.1,251,6618,0.00,2.75,0.00,0.000,6,0.000,0.074,2622,2199,3359,0,0,0,0,0,0
$STATE,6766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6766,begin apogee
$GC,6772,-0.31,0.0,702.7,7.1,255,6861,1.50,0.00,84.88,1.109,6,0.127,0.000,2926,2118,2950,0,0,0,0,0,0
$STATE,6862,end apogee,CONTROL_FINISHED_OK
$STATE,6862,begin climb
$GC,6866,2.20,136.3,703.6,0.0,257,6998,2.45,3.17,120.53,1.072,4,0.072,0.122,3479,533,2393,0,0,0,0,0,0
$GC,7004,2.39,136.3,686.1,16.8,260,7009,0.17,2.80,0.00,0.000,6,0.078,0.054,3520,2128,2390,0,0,0,0,0,0
$GC,7273,2.53,136.3,633.5,19.9,267,7278,0.12,2.83,0.00,0.000,4,0.098,0.079,3548,3714,2383,0,0,0,0,0,0
$GC,7358,2.62,136.3,614.6,22.1,269,7363,0.10,2.72,0.00,0.000,6,0.120,0.058,3569,2133,2382,0,0,0,0,0,0
$GC,7643,2.68,136.3,552.8,21.4,276,7648,0.00,2.70,0.00,0.000,4,0.000,0.055,3569,3721,2380,0,0,0,0,0,0
$GC,7749,2.75,136.3,530.5,20.0,278,7754,0.12,2.72,0.00,0.000,6,0.100,0.051,3597,2132,2379,0,0,0,0,0,0
$GC,8013,2.75,136.3,479.6,18.9,285,8018,0.00,2.67,0.00,0.000,4,0.000,0.048,3596,3722,2377,0,0,0,0,0,0
$GC,8159,2.75,136.3,449.2,20.7,288,8164,0.00,2.62,0.00,0.000,6,0.000,0.048,3597,2154,2377,0,0,0,0,0,0
$GC,8427,2.75,136.3,400.5,17.7,295,8431,0.00,2.60,0.00,0.000,4,0.000,0.044,3597,3729,2375,0,0,0,0,0,0
$GC,8532,2.75,136.3,380.5,19.1,297,8536,0.00,2.60,0.00,0.000,6,0.000,0.037,3597,2169,2375,0,0,0,0,0,0
$GC,8794,2.79,136.3,335.7,17.4,304,8798,0.00,2.58,0.00,0.000,4,0.000,0.048,3597,3726,2374,0,0,0,0,0,0
$GC,8948,2.83,136.3,305.7,20.8,307,8952,0.00,2.53,0.00,0.000,6,0.000,0.035,3597,2192,2374,0,0,0,0,0,0
$GC,9208,2.89,136.3,255.1,19.0,314,9213,0.12,2.53,0.00,0.000,4,0.092,0.044,3626,3718,2374,0,0,0,0,0,0
$GC,9296,2.89,136.3,236.6,22.1,316,9300,0.00,2.47,0.00,0.000,6,0.000,0.041,3626,2198,2373,0,0,0,0,0,0
$GC,9550,2.89,136.3,187.5,17.5,326,9555,0.00,2.47,0.00,0.000,4,0.000,0.041,3626,3717,2373,0,0,0,0,0,0
$GC,9617,2.89,136.3,175.4,19.0,331,9621,0.00,2.47,0.00,0.000,6,0.000,0.033,3626,2194,2373,0,0,0,0,0,0
$GC,9885,2.92,136.3,132.2,14.7,355,9889,0.00,2.53,0.00,0.000,4,0.000,0.040,3626,3730,2373,0,0,0,0,0,0
$GC,10041,2.92,136.3,105.2,18.2,367,10045,0.00,2.45,0.00,0.000,6,0.000,0.031,3626,2215,2373,0,0,0,0,0,0
$GC,10307,2.98,136.3,58.1,17.2,391,10312,0.10,2.42,0.00,0.000,4,0.100,0.039,3651,3721,2373,0,0,0,0,0,0
$GC,10428,2.98,136.3,34.3,20.3,400,10432,0.00,2.42,0.00,0.000,6,0.000,0.029,3651,2212,2373,0,0,0,0,0,0
$STATE,10607,end climb,SURFACE_DEPTH_REACHED
$STATE,10607,begin surface coast
$FINISH,-0.7,1.014961
$STATE,10636,end surface coast,CONTROL_FINISHED_OK
$STATE,10636,begin surface
$SM_CCo,10659,250.18,0.534,0,0,1114,450.13
$SM_GC,0.02,0.00,0.00,250.18,0.000,0.000,0.534,471,2064,1114,-11.63,-3.00,450.13
$IRIDIUM_FIX,2237.01,-15802.37,220801,212152
$TT8_MAMPS,0.026078
$HUMID,58.23
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,19.80
$XPDR_PINGS,43
$24V_AH,23.3,6.689
$10V_AH,10.4,6.027
$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,30.325,133.100,205.400,250.175,0.000,27.731,38.743,173.384,10.750,0.000,13.055,999.598,7358.998,565.183,1838.167,529.874,33.355,1328.766,0.000,1826.195,0.000,0.534,0.000
$DEVICE_MAMPS,175.643,133.458,1109.082,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,291.663,209.720,277.070,498.445,753.949,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356036
$DATA_FILE_SIZE,32182,428
$CAP_FILE_SIZE,112324,0
$CFSIZE,260165632,144621568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290512,040701,2244.865,-15758.755,38,1.1,38,10.1