version: 66.06
glider: 146
mission: 7
dive: 148
start: 6 17 112 19 14 23
data:
$ID,146
$MISSION,7
$DIVE,148
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,166
$T_MISSION,400
$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,380
$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,-291170.41
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3144
$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,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,53
$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,3150
$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
$GPS1,190724,2303.909,-15804.006,32,1.9,48,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-70.7
$GPS2,191329,2303.939,-15804.000,16,1.8,17,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,TALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.026,-0.251
$KALMAN_X,-24150.3,38.7,295.4,23329.8,278.8
$KALMAN_Y,39490.2,78.8,217.1,3465.5,-270.6
$MHEAD_RNG_PITCHd_Wd,163.9,35734,-18.2,-10.040
$D_GRID,500
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.31,-136.3,0.0,0.0,0,112,0.00,0.00,-87.30,0.000,6,0.000,0.000,468,2174,3706,0,0,0,0,0,0
$GC,117,-1.31,-136.3,3.1,-7.7,11,136,13.48,2.55,0.00,0.000,4,0.172,0.041,2924,598,3707,1,0,0,0,0,0
$GC,283,-1.31,-136.3,34.8,-11.4,32,288,0.28,2.45,0.00,0.000,6,0.043,0.016,2839,2191,3708,0,0,0,0,0,0
$GC,551,-1.17,-136.3,73.4,-14.0,56,556,0.22,2.45,0.00,0.000,4,0.095,0.029,2874,3750,3707,0,0,0,0,0,0
$GC,587,-1.17,-136.3,79.3,-12.1,58,597,0.00,2.47,0.00,0.000,6,0.000,0.021,2889,2181,3708,0,0,0,0,0,0
$GC,852,-1.17,-136.3,106.8,-11.3,83,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2181,3707,0,0,0,0,0,0
$GC,1115,-1.17,-136.3,134.4,-10.3,108,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2181,3707,0,0,0,0,0,0
$GC,1368,-1.17,-136.3,160.0,-9.8,132,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2181,3708,0,0,0,0,0,0
$GC,1623,-1.17,-136.3,185.2,-10.1,156,1627,0.00,2.45,0.00,0.000,4,0.000,0.036,2883,3745,3707,0,0,0,0,0,0
$GC,1651,-1.17,-136.3,188.1,-10.2,158,1656,0.00,2.40,0.00,0.000,6,0.000,0.025,2888,2189,3707,0,0,0,0,0,0
$GC,1909,-1.17,-136.3,211.8,-9.0,173,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2189,3707,0,0,0,0,0,0
$GC,2151,-1.17,-136.3,232.3,-8.3,179,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2189,3707,0,0,0,0,0,0
$GC,2395,-1.17,-136.3,252.3,-8.4,185,2399,0.00,2.62,0.00,0.000,4,0.000,0.062,2889,613,3706,0,0,0,0,0,0
$GC,2422,-1.21,-136.3,254.9,-9.6,185,2426,0.00,2.40,0.00,0.000,6,0.000,0.027,2889,2174,3705,0,0,0,0,0,0
$GC,2674,-1.25,-136.3,274.9,-7.6,191,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2174,3705,0,0,0,0,0,0
$GC,2916,-1.30,-136.3,293.9,-8.0,197,2921,0.12,2.62,0.00,0.000,4,0.077,0.058,2845,611,3704,0,0,0,0,0,0
$GC,2956,-1.24,-136.3,297.5,-9.7,198,2962,0.12,2.45,0.00,0.000,6,0.119,0.025,2871,2177,3704,0,0,0,0,0,0
$GC,3242,-1.24,-136.3,320.4,-7.9,205,3246,0.00,2.53,0.00,0.000,4,0.000,0.044,2871,3757,3702,0,0,0,0,0,0
$GC,3282,-1.29,-136.3,324.0,-8.8,206,3286,0.00,2.50,0.00,0.000,6,0.000,0.033,2871,2199,3702,0,0,0,0,0,0
$GC,3567,-1.29,-136.3,347.3,-8.1,213,3571,0.00,2.78,0.00,0.000,4,0.000,0.076,2871,597,3700,0,0,0,0,0,0
$GC,3610,-1.29,-136.3,351.2,-8.5,214,3615,0.00,2.50,0.00,0.000,6,0.000,0.035,2871,2178,3700,0,0,0,0,0,0
$GC,3889,-1.32,-136.3,373.4,-7.9,221,3893,0.00,2.58,0.00,0.000,4,0.000,0.049,2865,3766,3698,0,0,0,0,0,0
$GC,3923,-1.32,-136.3,376.2,-8.4,221,3929,0.00,2.58,0.00,0.000,6,0.000,0.035,2871,2178,3698,0,0,0,0,0,0
$GC,4174,-1.37,-136.3,395.5,-7.5,228,4179,0.10,2.60,0.00,0.000,4,0.091,0.048,2837,3760,3697,0,0,0,0,0,0
$GC,4201,-1.37,-136.3,397.9,-8.3,228,4205,0.00,2.58,0.00,0.000,6,0.000,0.037,2837,2174,3696,0,0,0,0,0,0
$GC,4453,-1.37,-136.3,420.1,-8.8,234,4457,0.00,2.60,0.00,0.000,4,0.000,0.053,2837,3758,3694,0,0,0,0,0,0
$GC,4480,-1.37,-136.3,422.8,-9.1,234,4484,0.00,2.60,0.00,0.000,6,0.000,0.044,2837,2176,3694,0,0,0,0,0,0
$GC,4730,-1.37,-136.3,446.2,-9.3,240,4734,0.00,2.62,0.00,0.000,4,0.000,0.051,2837,3760,3693,0,0,0,0,0,0
$GC,4753,-1.37,-136.3,448.3,-8.8,240,4757,0.00,2.60,0.00,0.000,6,0.000,0.046,2837,2190,3693,0,0,0,0,0,0
$GC,5008,-1.37,-136.3,470.4,-8.6,247,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2190,3690,0,0,0,0,0,0
$GC,5252,-1.37,-136.3,490.8,-8.4,253,5256,0.00,2.92,0.00,0.000,4,0.000,0.111,2837,589,3689,0,0,0,0,0,0
$GC,5286,-1.37,-136.3,493.7,-8.9,253,5292,0.00,2.62,0.00,0.000,6,0.000,0.040,2837,2180,3688,0,0,0,0,0,0
$STATE,5371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5371,begin apogee
$GC,5377,-0.31,0.0,501.1,8.4,256,5488,1.05,0.00,107.40,0.923,6,0.077,0.000,3077,2179,3150,0,0,0,0,0,0
$STATE,5488,end apogee,CONTROL_FINISHED_OK
$STATE,5488,begin climb
$GC,5491,1.31,136.3,502.5,0.0,258,5608,1.48,0.00,112.82,0.891,6,0.047,0.000,3428,2179,2594,0,0,0,0,0,0
$GC,5823,1.20,136.3,470.7,11.8,267,5825,0.12,0.00,0.00,0.000,6,0.133,0.000,3405,2179,2586,0,0,0,0,0,0
$GC,6065,1.13,136.3,445.3,10.1,273,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2179,2584,0,0,0,0,0,0
$GC,6311,1.08,145.5,421.6,9.6,279,6325,0.12,2.70,7.60,0.733,4,0.129,0.053,3380,3758,2556,0,0,0,0,0,0
$GC,6389,1.08,145.5,413.5,10.2,280,6393,0.00,2.60,0.00,0.000,6,0.000,0.037,3380,2181,2554,0,0,0,0,0,0
$GC,6638,1.10,156.0,389.6,9.5,286,6650,0.00,0.00,10.07,0.770,6,0.000,0.000,3380,2181,2514,0,0,0,0,0,0
$GC,6882,1.13,179.1,367.2,8.9,292,6909,0.00,2.67,20.92,0.811,4,0.000,0.038,3374,3771,2418,0,0,0,0,0,0
$GC,6967,1.13,183.0,359.6,9.9,294,6977,0.00,2.60,4.57,0.581,6,0.000,0.037,3380,2185,2404,0,0,0,0,0,0
$GC,7250,1.15,199.9,333.5,9.2,301,7268,0.00,0.00,16.02,0.776,6,0.000,0.000,3380,2185,2335,0,0,0,0,0,0
$GC,7496,1.20,204.9,309.8,9.8,307,7504,0.10,0.00,5.65,0.630,6,0.088,0.000,3408,2185,2314,0,0,0,0,0,0
$GC,7737,1.20,204.9,282.8,11.2,313,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2185,2311,0,0,0,0,0,0
$GC,7981,1.20,204.9,256.6,10.8,319,7985,0.00,2.60,0.00,0.000,4,0.000,0.037,3408,3772,2310,0,0,0,0,0,0
$GC,8015,1.20,204.9,252.8,12.0,319,8024,1.77,2.53,0.00,0.000,6,0.080,0.030,3473,2185,2309,6,0,0,0,0,0
$GC,8265,0.62,204.9,191.4,25.1,326,8276,2.58,2.62,0.00,0.000,4,0.117,0.037,3283,3766,2309,0,0,0,0,0,0
$GC,8313,1.08,324.3,186.8,4.1,330,8432,1.95,2.50,101.12,0.694,6,0.029,0.035,3779,2198,1825,6,0,0,0,0,0
$GC,8687,0.55,324.3,74.0,32.6,364,8702,2.53,2.60,0.00,0.000,4,0.123,0.038,3265,3763,1816,0,0,0,0,0,0
$GC,8756,1.09,403.0,65.5,6.1,369,8827,0.47,2.47,64.20,0.589,6,0.041,0.025,3389,2217,1507,0,0,0,0,0,0
$GC,9093,1.24,403.0,28.2,11.0,399,9103,0.10,2.75,0.00,0.000,4,0.084,0.051,3420,598,1501,0,0,0,0,0,0
$GC,9222,1.35,403.0,11.7,13.0,417,9231,0.00,2.55,0.00,0.000,6,0.000,0.020,3417,2202,1499,0,0,0,0,0,0
$STATE,9279,end climb,SURFACE_DEPTH_REACHED
$STATE,9280,begin surface coast
$FINISH,-0.3,1.023605
$STATE,9315,end surface coast,CONTROL_FINISHED_OK
$STATE,9316,begin surface
$SM_CCo,9398,0.00,0.000,0,0,1495,405.97
$SM_GC,0.30,11.82,0.00,0.00,0.021,0.000,0.000,467,2204,1495,-12.19,0.68,405.97
$IRIDIUM_FIX,2255.72,-15807.13,110901,181819
$TT8_MAMPS,0.026078
$HUMID,67.91
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,20.30
$XPDR_PINGS,35
$24V_AH,23.6,21.170
$10V_AH,10.3,19.769
$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,38.425,92.675,450.400,0.000,0.000,23.480,45.574,160.318,8.750,0.000,18.751,858.842,6373.340,498.137,1549.047,484.604,33.346,1125.217,0.000,1549.750,0.000,0.536,0.000
$DEVICE_MAMPS,171.808,111.215,923.468,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,289.913,228.496,312.894,611.418,925.349,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,32102,430
$CAP_FILE_SIZE,91704,0
$CFSIZE,260165632,137531392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,13,0,0,0
$GPS,170612,215206,2302.637,-15803.257,11,0.9,27,10.1