version: 66.06
glider: 146
mission: 7
dive: 47
start: 5 29 112 18 4 33
data:
$ID,146
$MISSION,7
$DIVE,47
$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,-288711.41
$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,52
$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
$GPS1,175431,2245.623,-15758.973,50,1.3,50,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-66.6
$GPS2,180338,2245.621,-15759.021,10,1.4,10,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.024,-0.141
$KALMAN_X,-76763.6,-69.5,186.6,84665.8,-1374.5
$KALMAN_Y,-19079.0,-168.7,138.3,28424.4,528.0
$MHEAD_RNG_PITCHd_Wd,179.6,2029,-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,-87.32,0.000,6,0.000,0.000,469,2127,3132,0,0,0,0,0,0
$GC,119,-2.16,-98.7,0.7,-1.9,12,145,11.30,2.53,-6.38,0.000,4,0.171,0.051,2522,606,3353,0,0,0,0,0,0
$GC,432,-1.86,-98.7,69.5,-18.6,46,438,0.38,2.47,0.00,0.000,6,0.146,0.018,2591,2217,3353,0,0,0,0,0,0
$GC,697,-1.72,-98.7,113.0,-16.1,70,702,0.17,2.65,0.00,0.000,4,0.152,0.041,2623,605,3354,0,0,0,0,0,0
$GC,728,-1.58,-98.7,119.1,-17.8,72,733,0.15,2.40,0.00,0.000,6,0.153,0.022,2651,2177,3354,0,0,0,0,0,0
$GC,992,-1.54,-98.7,160.4,-16.4,96,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2177,3354,0,0,0,0,0,0
$GC,1259,-1.54,-104.7,191.8,-9.1,121,1264,0.00,2.47,-0.17,0.000,4,0.000,0.048,2651,3733,3383,0,0,0,0,0,0
$GC,1277,-1.51,-105.6,194.2,-9.9,122,1281,0.00,2.40,0.00,0.000,6,0.000,0.026,2651,2180,3383,0,0,0,0,0,0
$GC,1539,-1.51,-105.6,226.3,-12.8,132,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2179,3384,0,0,0,0,0,0
$GC,1783,-1.51,-105.6,253.3,-10.7,138,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2180,3384,0,0,0,0,0,0
$GC,2028,-1.51,-107.5,278.2,-9.7,144,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2180,3384,0,0,0,0,0,0
$GC,2270,-1.51,-107.5,303.4,-10.6,150,2274,0.00,2.53,0.00,0.000,4,0.000,0.040,2651,3722,3383,0,0,0,0,0,0
$GC,2405,-1.51,-109.1,317.2,-9.8,153,2410,0.00,2.45,0.00,0.000,6,0.000,0.028,2651,2191,3383,0,0,0,0,0,0
$GC,2684,-1.52,-112.6,343.1,-9.5,160,2688,0.00,2.50,0.00,0.000,4,0.000,0.045,2651,3721,3382,0,0,0,0,0,0
$GC,2757,-1.52,-114.4,350.2,-9.7,161,2761,0.00,2.50,0.00,0.000,6,0.000,0.037,2651,2175,3382,0,0,0,0,0,0
$GC,3008,-1.52,-114.4,375.2,-10.3,167,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2175,3381,0,0,0,0,0,0
$GC,3250,-1.52,-114.4,399.5,-10.1,173,3254,0.00,2.55,0.00,0.000,4,0.000,0.047,2651,3717,3380,0,0,0,0,0,0
$GC,3277,-1.52,-114.7,402.2,-10.0,173,3281,0.00,2.53,0.00,0.000,6,0.000,0.040,2651,2178,3380,0,0,0,0,0,0
$GC,3527,-1.53,-124.4,424.1,-8.6,179,3531,0.00,2.58,0.00,0.000,4,0.000,0.051,2651,3725,3378,0,0,0,0,0,0
$GC,3550,-1.54,-127.7,426.2,-9.5,179,3554,0.00,2.60,0.00,0.000,6,0.000,0.044,2652,2171,3378,0,0,0,0,0,0
$GC,3805,-1.54,-134.1,449.6,-9.0,186,3809,0.00,2.60,0.00,0.000,4,0.000,0.061,2651,3714,3376,0,0,0,0,0,0
$GC,3899,-1.55,-136.3,458.0,-8.8,188,3903,0.00,2.55,0.00,0.000,6,0.000,0.048,2651,2185,3376,0,0,0,0,0,0
$GC,4173,-1.59,-136.3,479.6,-8.0,195,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2185,3374,0,0,0,0,0,0
$GC,4415,-1.63,-136.3,501.5,-9.1,201,4419,0.00,2.65,0.00,0.000,4,0.000,0.070,2652,3716,3373,0,0,0,0,0,0
$GC,4456,-1.63,-136.3,505.2,-9.3,202,4461,0.00,2.58,0.00,0.000,6,0.000,0.051,2651,2191,3373,0,0,0,0,0,0
$GC,4740,-1.67,-136.3,529.8,-8.5,209,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2191,3371,0,0,0,0,0,0
$GC,4983,-1.71,-136.3,549.4,-8.1,215,4989,0.10,2.67,0.00,0.000,4,0.094,0.074,2621,3718,3369,0,0,0,0,0,0
$GC,5088,-1.67,-136.3,558.3,-8.5,217,5092,0.00,2.62,0.00,0.000,6,0.000,0.059,2621,2194,3369,0,0,0,0,0,0
$GC,5354,-1.67,-136.3,581.2,-8.4,224,5358,0.00,2.65,0.00,0.000,4,0.000,0.073,2621,3714,3367,0,0,0,0,0,0
$GC,5381,-1.67,-136.3,583.5,-8.3,224,5385,0.00,2.62,0.00,0.000,6,0.000,0.067,2621,2196,3367,0,0,0,0,0,0
$GC,5633,-1.67,-136.3,603.6,-8.0,230,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2195,3366,0,0,0,0,0,0
$GC,5875,-1.67,-136.3,622.4,-7.5,236,5879,0.00,2.72,0.00,0.000,4,0.000,0.092,2621,3709,3364,0,0,0,0,0,0
$GC,6132,-1.63,-136.3,644.8,-8.7,241,6140,0.08,2.72,0.00,0.000,6,0.125,0.087,2638,2200,3362,0,0,0,0,0,0
$GC,6382,-1.66,-136.3,665.0,-8.3,248,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2200,3361,0,0,0,0,0,0
$GC,6627,-1.66,-136.3,683.5,-7.3,254,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2200,3360,0,0,0,0,0,0
$GC,6870,-1.70,-136.3,699.2,-6.5,260,6874,0.00,2.88,0.00,0.000,4,0.000,0.120,2638,3707,3358,0,0,0,0,0,0
$STATE,6877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6877,begin apogee
$GC,6886,-0.31,0.0,700.1,6.4,260,6974,1.40,0.00,84.07,1.117,6,0.129,0.000,2924,2119,2950,0,0,0,0,0,0
$STATE,6975,end apogee,CONTROL_FINISHED_OK
$STATE,6975,begin climb
$GC,6979,2.20,136.3,701.8,0.0,262,7107,2.50,0.00,120.53,1.068,6,0.071,0.000,3479,2119,2394,0,0,0,0,0,0
$GC,7358,2.41,136.3,646.1,16.1,272,7363,0.20,2.70,0.00,0.000,4,0.075,0.067,3526,3666,2384,0,0,0,0,0,0
$GC,7415,2.54,136.3,636.0,18.3,273,7420,0.12,2.70,0.00,0.000,6,0.106,0.064,3553,2119,2383,0,0,0,0,0,0
$GC,7682,2.62,136.3,583.8,19.7,280,7687,0.00,2.65,0.00,0.000,4,0.000,0.053,3553,3670,2380,0,0,0,0,0,0
$GC,7860,2.70,136.3,547.4,20.4,284,7865,0.15,2.65,0.00,0.000,6,0.087,0.056,3587,2134,2379,0,0,0,0,0,0
$GC,8137,2.70,136.3,488.9,20.6,291,8142,0.00,2.60,0.00,0.000,4,0.000,0.050,3587,3678,2378,0,0,0,0,0,0
$GC,8298,2.75,136.3,456.6,20.5,294,8303,0.00,2.58,0.00,0.000,6,0.000,0.045,3587,2145,2376,0,0,0,0,0,0
$GC,8554,2.79,136.3,407.7,19.0,301,8558,0.00,2.53,0.00,0.000,4,0.000,0.040,3587,3671,2375,0,0,0,0,0,0
$GC,8732,2.84,136.3,373.4,20.1,305,8737,0.12,2.45,0.00,0.000,6,0.099,0.039,3615,2173,2375,0,0,0,0,0,0
$GC,9010,2.84,136.3,317.6,20.2,312,9014,0.00,2.50,0.00,0.000,4,0.000,0.042,3615,3680,2374,0,0,0,0,0,0
$GC,9152,2.84,136.3,289.5,21.3,315,9156,0.00,2.45,0.00,0.000,6,0.000,0.034,3614,2183,2374,0,0,0,0,0,0
$GC,9424,2.84,136.3,234.4,20.0,322,9428,0.00,2.47,0.00,0.000,4,0.000,0.048,3615,3681,2373,0,0,0,0,0,0
$GC,9536,2.89,136.3,213.0,18.3,324,9540,0.00,2.42,0.00,0.000,6,0.000,0.038,3614,2199,2373,0,0,0,0,0,0
$GC,9803,2.94,136.3,164.0,17.9,343,9807,0.10,2.42,0.00,0.000,4,0.104,0.044,3640,3683,2373,0,0,0,0,0,0
$GC,9832,2.94,136.3,158.2,18.1,345,9836,0.00,2.35,0.00,0.000,6,0.000,0.029,3640,2214,2373,0,0,0,0,0,0
$GC,10100,2.94,136.3,111.7,17.9,369,10104,0.00,2.38,0.00,0.000,4,0.000,0.037,3640,3675,2373,0,0,0,0,0,0
$GC,10202,2.94,136.3,91.2,20.0,377,10206,0.00,2.35,0.00,0.000,6,0.000,0.031,3639,2217,2373,0,0,0,0,0,0
$GC,10470,2.99,136.3,42.2,17.3,401,10474,0.00,2.35,0.00,0.000,4,0.000,0.039,3640,3673,2373,0,0,0,0,0,0
$STATE,10689,end climb,SURFACE_DEPTH_REACHED
$STATE,10689,begin surface coast
$FINISH,0.3,1.023699
$STATE,10705,end surface coast,CONTROL_FINISHED_OK
$STATE,10705,begin surface
$SM_CCo,10732,251.02,0.528,0,0,1114,450.13
$SM_GC,0.15,0.00,0.00,251.02,0.000,0.000,0.528,470,2134,1114,-11.64,-1.02,450.13
$IRIDIUM_FIX,2237.01,-15757.16,230801,181834
$TT8_MAMPS,0.026078
$HUMID,58.78
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,19.90
$XPDR_PINGS,41
$24V_AH,23.3,7.291
$10V_AH,10.4,6.518
$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,29.575,112.325,204.600,251.025,0.000,56.877,127.771,162.421,10.250,0.000,13.581,965.198,7667.039,549.863,1716.771,631.525,33.354,1263.979,0.000,1706.166,0.000,0.534,0.000
$DEVICE_MAMPS,171.041,120.419,1116.752,528.463,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,292.840,209.000,276.534,495.255,749.001,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356036
$DATA_FILE_SIZE,32180,430
$CAP_FILE_SIZE,105927,0
$CFSIZE,260165632,144351232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290512,210915,2244.288,-15759.129,38,2.2,57,10.1