version: 66.06
glider: 146
mission: 7
dive: 43
start: 5 29 112 4 13 59
data:
$ID,146
$MISSION,7
$DIVE,43
$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,-288629.59
$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,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,19
$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
$GPS1,040701,2244.865,-15758.755,38,1.1,38,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-65.0
$GPS2,041302,2244.910,-15758.765,10,1.4,10,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.036,-0.138
$KALMAN_X,-73439.3,90.9,292.5,81517.3,-1900.2
$KALMAN_Y,-19353.2,94.8,-228.3,27494.8,938.5
$MHEAD_RNG_PITCHd_Wd,184.6,2116,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-2.09,-44.6,0.0,0.0,0,114,0.00,0.00,-88.68,0.000,6,0.000,0.000,471,2064,3132,0,0,0,0,0,0
$GC,119,-2.16,-102.5,0.6,-1.3,12,143,11.27,2.42,-6.72,0.000,4,0.171,0.048,2521,576,3368,0,0,0,0,0,0
$GC,334,-1.84,-102.5,50.6,-22.9,38,344,0.35,2.55,0.00,0.000,6,0.144,0.016,2590,2211,3368,0,0,0,0,0,0
$GC,602,-1.69,-102.5,100.5,-18.0,63,607,0.20,0.00,0.00,0.000,6,0.150,0.000,2626,2211,3369,0,0,0,0,0,0
$GC,864,-1.62,-102.5,145.3,-15.5,88,869,0.10,2.42,0.00,0.000,4,0.166,0.035,2643,3727,3370,0,0,0,0,0,0
$GC,887,-1.54,-102.5,147.9,-13.7,89,891,0.00,2.47,0.00,0.000,6,0.000,0.020,2643,2141,3370,0,0,0,0,0,0
$GC,1150,-1.50,-102.5,184.4,-13.2,113,1155,0.15,2.58,0.00,0.000,4,0.143,0.031,2671,3736,3371,0,0,0,0,0,0
$GC,1170,-1.50,-102.5,187.1,-14.1,114,1174,0.00,2.45,0.00,0.000,6,0.000,0.025,2671,2169,3371,0,0,0,0,0,0
$GC,1446,-1.50,-102.5,220.0,-11.6,128,1451,0.00,2.50,0.00,0.000,4,0.000,0.038,2671,3729,3371,0,0,0,0,0,0
$GC,1558,-1.50,-102.5,233.8,-11.9,130,1562,0.00,2.45,0.00,0.000,6,0.000,0.027,2671,2165,3371,0,0,0,0,0,0
$GC,1821,-1.50,-102.5,264.8,-12.3,137,1825,0.00,2.53,0.00,0.000,4,0.000,0.041,2671,3726,3371,0,0,0,0,0,0
$GC,1887,-1.50,-102.5,272.8,-12.1,138,1891,0.00,2.47,0.00,0.000,6,0.000,0.028,2671,2165,3371,0,0,0,0,0,0
$GC,2148,-1.55,-110.4,297.9,-8.8,145,2153,0.00,2.67,0.00,0.000,4,0.000,0.067,2670,594,3371,0,0,0,0,0,0
$GC,2234,-1.56,-118.8,305.7,-8.8,147,2238,0.00,2.47,0.00,0.000,6,0.000,0.031,2671,2138,3371,0,0,0,0,0,0
$GC,2519,-1.61,-121.5,331.7,-9.6,154,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2139,3371,0,0,0,0,0,0
$GC,2763,-1.67,-125.5,354.6,-9.4,160,2765,0.15,0.00,0.00,0.000,6,0.069,0.000,2622,2138,3370,0,0,0,0,0,0
$GC,3004,-1.67,-125.7,378.9,-10.0,166,3009,0.00,2.67,0.00,0.000,4,0.000,0.054,2622,3750,3369,0,0,0,0,0,0
$GC,3089,-1.62,-126.9,387.4,-9.8,168,3094,0.12,2.58,0.00,0.000,6,0.134,0.038,2645,2186,3368,0,0,0,0,0,0
$GC,3374,-1.62,-130.0,414.6,-9.5,175,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2186,3367,0,0,0,0,0,0
$GC,3616,-1.63,-136.3,435.6,-8.6,181,3621,0.00,2.62,0.00,0.000,4,0.000,0.051,2645,3749,3366,0,0,0,0,0,0
$GC,3777,-1.63,-136.3,450.5,-10.1,184,3782,0.00,2.65,0.00,0.000,6,0.000,0.051,2645,2172,3365,0,0,0,0,0,0
$GC,4032,-1.63,-136.3,472.4,-8.6,191,4037,0.00,2.67,0.00,0.000,4,0.000,0.058,2645,3747,3363,0,0,0,0,0,0
$GC,4246,-1.63,-136.3,492.0,-9.5,195,4252,0.00,2.60,0.00,0.000,6,0.000,0.054,2645,2176,3363,0,0,0,0,0,0
$GC,4496,-1.63,-136.3,513.9,-8.9,202,4501,0.00,2.70,0.00,0.000,4,0.000,0.067,2645,3749,3361,0,0,0,0,0,0
$GC,4689,-1.63,-136.3,532.9,-9.0,206,4693,0.00,2.65,0.00,0.000,6,0.000,0.058,2645,2186,3360,0,0,0,0,0,0
$GC,4955,-1.67,-136.3,553.8,-7.4,213,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2186,3358,0,0,0,0,0,0
$GC,5199,-1.71,-136.3,573.3,-8.2,219,5203,0.00,2.75,0.00,0.000,4,0.000,0.082,2645,3741,3357,0,0,0,0,0,0
$GC,5244,-1.71,-136.3,577.6,-9.3,220,5249,0.00,2.70,0.00,0.000,6,0.000,0.070,2645,2182,3357,0,0,0,0,0,0
$GC,5523,-1.75,-136.3,601.1,-8.1,227,5528,0.12,2.78,0.00,0.000,4,0.084,0.079,2608,3742,3355,0,0,0,0,0,0
$GC,5622,-1.70,-136.3,609.5,-8.2,229,5627,0.10,2.78,0.00,0.000,6,0.150,0.074,2626,2175,3354,0,0,0,0,0,0
$GC,5894,-1.70,-136.3,628.1,-6.4,236,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2175,3353,0,0,0,0,0,0
$GC,6138,-1.70,-136.3,645.3,-7.0,242,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2175,3351,0,0,0,0,0,0
$GC,6382,-1.70,-136.3,663.3,-7.5,248,6386,0.00,2.90,0.00,0.000,4,0.000,0.103,2626,3739,3350,0,0,0,0,0,0
$GC,6483,-1.70,-136.3,671.5,-8.5,250,6488,0.00,2.88,0.00,0.000,6,0.000,0.097,2626,2184,3349,0,0,0,0,0,0
$GC,6750,-1.70,-136.3,691.4,-7.3,257,6754,0.00,2.95,0.00,0.000,4,0.000,0.116,2626,3745,3348,0,0,0,0,0,0
$STATE,6864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6864,begin apogee
$GC,6875,-0.31,0.0,700.2,7.1,259,6965,1.45,0.00,82.90,1.104,6,0.127,0.000,2922,2120,2950,0,0,0,0,0,0
$STATE,6966,end apogee,CONTROL_FINISHED_OK
$STATE,6966,begin climb
$GC,6968,2.20,136.3,701.8,0.0,262,7102,2.47,3.22,120.10,1.073,4,0.072,0.124,3480,533,2393,0,0,0,0,0,0
$GC,7119,2.37,136.3,682.7,18.5,265,7124,0.15,2.75,0.00,0.000,6,0.084,0.053,3515,2106,2389,0,0,0,0,0,0
$GC,7377,2.51,136.3,633.8,19.2,272,7382,0.12,2.88,0.00,0.000,4,0.093,0.083,3543,3717,2383,0,0,0,0,0,0
$GC,7485,2.61,136.3,611.2,20.5,274,7490,0.10,2.75,0.00,0.000,6,0.113,0.052,3566,2125,2382,0,0,0,0,0,0
$GC,7748,2.67,136.3,560.0,19.0,281,7752,0.00,2.67,0.00,0.000,4,0.000,0.055,3565,3712,2380,0,0,0,0,0,0
$GC,7866,2.74,136.3,535.5,19.7,283,7872,0.12,2.70,0.00,0.000,6,0.100,0.054,3592,2141,2379,0,0,0,0,0,0
$GC,8116,2.74,136.3,480.6,22.2,289,8121,0.00,2.65,0.00,0.000,4,0.000,0.044,3592,3721,2378,0,0,0,0,0,0
$GC,8265,2.74,136.3,447.6,22.3,292,8270,0.00,2.62,0.00,0.000,6,0.000,0.040,3592,2151,2377,0,0,0,0,0,0
$GC,8531,2.74,136.3,395.2,19.3,299,8536,0.00,2.60,0.00,0.000,4,0.000,0.041,3592,3718,2376,0,0,0,0,0,0
$GC,8697,2.74,136.3,363.7,20.2,302,8701,0.00,2.58,0.00,0.000,6,0.000,0.039,3592,2160,2375,0,0,0,0,0,0
$GC,8947,2.78,136.3,313.9,19.8,308,8951,0.00,2.58,0.00,0.000,4,0.000,0.043,3592,3729,2375,0,0,0,0,0,0
$GC,9049,2.83,136.3,293.7,18.8,310,9054,0.10,2.53,0.00,0.000,6,0.107,0.039,3613,2188,2374,0,0,0,0,0,0
$GC,9315,2.83,136.3,245.4,17.7,317,9319,0.00,2.50,0.00,0.000,4,0.000,0.043,3613,3719,2374,0,0,0,0,0,0
$GC,9364,2.83,136.3,236.0,19.4,318,9368,0.00,2.50,0.00,0.000,6,0.000,0.038,3613,2194,2373,0,0,0,0,0,0
$GC,9619,2.88,136.3,189.1,18.1,326,9623,0.00,2.50,0.00,0.000,4,0.000,0.044,3613,3718,2373,0,0,0,0,0,0
$GC,9740,2.93,136.3,166.6,18.7,336,9745,0.10,2.47,0.00,0.000,6,0.110,0.036,3635,2193,2373,0,0,0,0,0,0
$GC,10000,2.93,136.3,119.5,18.2,360,10004,0.00,2.50,0.00,0.000,4,0.000,0.040,3635,3725,2373,0,0,0,0,0,0
$GC,10201,2.93,136.3,80.6,19.2,376,10210,0.00,2.50,0.00,0.000,6,0.000,0.030,3635,2188,2373,0,0,0,0,0,0
$GC,10469,2.97,136.3,32.5,18.3,401,10473,0.00,2.50,0.00,0.000,4,0.000,0.039,3635,3722,2373,0,0,0,0,0,0
$GC,10621,3.02,136.3,4.7,18.7,422,10630,0.00,2.50,0.00,0.000,6,0.000,0.033,3635,2191,2375,0,0,0,0,0,0
$STATE,10637,end climb,SURFACE_DEPTH_REACHED
$STATE,10637,begin surface coast
$FINISH,-0.6,1.019223
$STATE,10665,end surface coast,CONTROL_FINISHED_OK
$STATE,10665,begin surface
$SM_CCo,10689,249.68,0.537,0,0,1115,450.13
$SM_GC,0.02,0.00,0.00,249.68,0.000,0.000,0.537,469,2187,1115,-11.64,0.48,450.13
$IRIDIUM_FIX,2239.35,-15800.20,230801,010144
$TT8_MAMPS,0.025311
$HUMID,58.54
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,19.90
$XPDR_PINGS,40
$24V_AH,23.3,6.804
$10V_AH,10.3,6.120
$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,30.075,126.300,203.000,249.675,0.000,27.841,31.010,165.034,10.000,0.000,11.591,982.851,7428.631,561.386,1815.232,515.477,33.353,1327.027,0.000,1807.252,0.000,0.534,0.000
$DEVICE_MAMPS,171.041,124.254,1104.480,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,291.118,200.860,274.193,500.680,757.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356064
$DATA_FILE_SIZE,32086,428
$CAP_FILE_SIZE,110258,0
$CFSIZE,260165632,144568320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290512,071757,2243.462,-15759.258,58,1.2,58,10.1