version: 66.06
glider: 146
mission: 7
dive: 150
start: 6 18 112 1 4 59
data:
$ID,146
$MISSION,7
$DIVE,150
$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,-291206.41
$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,63
$R_STBD_OVSHOOT,45
$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
$GPS1,005331,2301.199,-15802.774,69,1.4,69,10.1
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-69.7
$GPS2,010404,2301.281,-15802.739,14,2.0,14,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,TALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.032,-0.250
$KALMAN_X,-22152.5,212.7,-37.2,23649.7,627.2
$KALMAN_Y,40004.0,164.3,-297.0,-1543.5,477.6
$MHEAD_RNG_PITCHd_Wd,177.1,30513,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.31,-136.3,0.0,0.0,0,112,0.00,0.00,-86.55,0.000,6,0.000,0.000,467,2136,3706,0,0,0,0,0,0
$GC,115,-1.31,-136.3,3.2,-7.9,11,133,13.12,2.47,0.00,0.000,4,0.172,0.043,2850,622,3707,0,0,0,0,0,0
$GC,257,-1.18,-136.3,35.3,-15.3,29,267,0.12,2.45,0.00,0.000,6,0.103,0.020,2880,2181,3708,0,0,0,0,0,0
$GC,527,-1.10,-136.3,68.3,-11.8,54,532,0.10,2.55,0.00,0.000,4,0.129,0.043,2902,626,3709,0,0,0,0,0,0
$GC,549,-1.02,-136.3,71.4,-11.4,55,554,0.00,2.40,0.00,0.000,6,0.000,0.017,2902,2198,3708,0,0,0,0,0,0
$GC,816,-1.02,-136.3,98.2,-10.3,79,820,0.00,2.47,0.00,0.000,4,0.000,0.033,2901,3753,3709,0,0,0,0,0,0
$GC,874,-1.02,-136.3,104.3,-10.6,83,878,0.00,2.40,0.00,0.000,6,0.000,0.021,2902,2210,3709,0,0,0,0,0,0
$GC,1140,-1.02,-136.3,130.6,-9.1,107,1144,0.00,2.42,0.00,0.000,4,0.000,0.037,2901,3743,3709,0,0,0,0,0,0
$GC,1174,-1.02,-136.3,133.8,-9.5,109,1178,0.00,2.42,0.00,0.000,6,0.000,0.030,2902,2189,3709,0,0,0,0,0,0
$GC,1440,-1.02,-136.3,158.6,-9.3,133,1444,0.00,2.58,0.00,0.000,4,0.000,0.048,2902,604,3710,0,0,0,0,0,0
$GC,1485,-1.07,-136.3,163.5,-10.0,136,1491,0.00,2.42,0.00,0.000,6,0.000,0.024,2902,2185,3709,0,0,0,0,0,0
$GC,1751,-1.11,-136.3,185.5,-8.1,161,1755,0.00,2.60,0.00,0.000,4,0.000,0.053,2902,598,3710,0,0,0,0,0,0
$GC,1782,-1.11,-136.3,188.2,-8.6,163,1787,0.00,2.45,0.00,0.000,6,0.000,0.021,2902,2181,3710,0,0,0,0,0,0
$GC,2051,-1.16,-136.3,210.7,-8.3,179,2055,0.00,2.47,0.00,0.000,4,0.000,0.038,2902,3750,3710,0,0,0,0,0,0
$GC,2084,-1.21,-136.3,213.6,-8.0,179,2090,0.10,2.45,0.00,0.000,6,0.079,0.028,2858,2183,3710,0,0,0,0,0,0
$GC,2336,-1.21,-136.3,237.9,-9.6,186,2337,0.10,0.00,0.00,0.000,6,0.122,0.000,2880,2182,3710,0,0,0,0,0,0
$GC,2578,-1.21,-136.3,260.8,-9.5,192,2582,0.00,2.62,0.00,0.000,4,0.000,0.058,2880,609,3709,0,0,0,0,0,0
$GC,2604,-1.21,-136.3,263.5,-10.1,192,2609,0.00,2.45,0.00,0.000,6,0.000,0.021,2880,2178,3709,0,0,0,0,0,0
$GC,2854,-1.21,-136.3,285.1,-8.2,198,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2178,3708,0,0,0,0,0,0
$GC,3100,-1.21,-136.3,303.8,-7.7,204,3105,0.00,2.65,0.00,0.000,4,0.000,0.058,2880,608,3707,0,0,0,0,0,0
$GC,3121,-1.21,-136.3,306.0,-8.9,204,3126,0.00,2.45,0.00,0.000,6,0.000,0.028,2880,2169,3707,0,0,0,0,0,0
$GC,3378,-1.25,-136.3,326.1,-7.6,211,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2169,3706,0,0,0,0,0,0
$GC,3623,-1.30,-136.3,342.9,-6.8,217,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2169,3705,0,0,0,0,0,0
$GC,3865,-1.35,-136.3,360.7,-7.3,223,3870,0.12,2.67,0.00,0.000,4,0.073,0.071,2835,613,3704,0,0,0,0,0,0
$GC,3892,-1.35,-136.3,363.2,-9.2,223,3897,0.00,2.47,0.00,0.000,6,0.000,0.029,2835,2170,3704,0,0,0,0,0,0
$GC,4144,-1.35,-136.3,385.5,-9.0,229,4149,0.00,2.67,0.00,0.000,4,0.000,0.074,2835,611,3702,0,0,0,0,0,0
$GC,4167,-1.31,-136.3,387.8,-9.2,229,4172,0.10,2.50,0.00,0.000,6,0.124,0.038,2856,2168,3702,0,0,0,0,0,0
$GC,4422,-1.31,-136.3,408.8,-8.2,236,4427,0.00,2.65,0.00,0.000,4,0.000,0.057,2856,3764,3701,0,0,0,0,0,0
$GC,4452,-1.31,-136.3,411.4,-8.5,236,4458,0.85,2.58,0.00,0.000,6,0.073,0.044,2882,2189,3700,3,0,0,0,0,0
$GC,4702,-1.91,-136.3,422.1,-4.8,242,4710,1.40,2.60,0.00,0.000,4,0.044,0.042,2719,3765,3698,0,0,0,0,0,0
$GC,4797,-1.65,-136.3,432.6,-13.4,244,4806,1.48,2.60,0.00,0.000,6,0.097,0.041,2906,2184,3698,4,0,0,0,0,0
$GC,5080,-2.20,-136.3,445.7,-5.1,251,5083,1.60,0.00,0.00,0.000,6,0.039,0.000,2657,2184,3696,0,0,0,0,0,0
$GC,5323,-1.85,-136.3,483.0,-16.6,257,5329,0.35,2.92,0.00,0.000,4,0.108,0.103,2733,588,3695,0,0,0,0,0,0
$GC,5342,-1.51,-136.3,485.9,-16.6,257,5347,0.38,2.62,0.00,0.000,6,0.110,0.041,2810,2184,3695,0,0,0,0,0,0
$STATE,5479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5479,begin apogee
$GC,5484,-0.31,0.0,501.7,10.9,261,5601,1.17,0.00,109.40,0.920,6,0.095,0.000,3076,2183,3150,0,0,0,0,0,0
$STATE,5602,end apogee,CONTROL_FINISHED_OK
$STATE,5602,begin climb
$GC,5604,1.31,136.3,505.2,0.0,264,5725,1.48,0.00,112.78,0.890,6,0.055,0.000,3429,2183,2593,0,0,0,0,0,0
$GC,5969,1.20,136.3,470.6,11.7,273,5975,0.12,2.83,0.00,0.000,4,0.128,0.077,3405,591,2586,0,0,0,0,0,0
$GC,6005,1.09,136.3,466.6,11.7,273,6011,0.00,2.62,0.00,0.000,6,0.000,0.039,3366,2176,2584,0,0,0,0,0,0
$GC,6255,1.03,136.3,440.3,10.4,280,6260,0.17,2.65,0.00,0.000,4,0.214,0.051,3370,3765,2583,0,0,0,0,0,0
$GC,6328,1.04,148.6,433.3,9.4,281,6343,0.00,2.62,10.10,0.774,6,0.000,0.037,3370,2183,2544,0,0,0,0,0,0
$GC,6623,1.09,185.3,408.5,8.2,289,6664,0.00,2.72,32.38,0.844,4,0.000,0.045,3370,3765,2392,0,0,0,0,0,0
$GC,6692,1.09,188.4,402.1,9.9,290,6702,0.00,2.60,4.18,0.556,6,0.000,0.038,3370,2196,2381,0,0,0,0,0,0
$GC,6955,1.15,208.6,378.5,9.0,297,6980,0.10,2.90,18.55,0.807,4,0.087,0.080,3399,586,2298,0,0,0,0,0,0
$GC,7004,1.11,208.6,372.7,12.1,298,7009,0.00,2.60,0.00,0.000,6,0.000,0.028,3387,2205,2296,0,0,0,0,0,0
$GC,7284,1.11,208.6,342.4,10.6,305,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2205,2294,0,0,0,0,0,0
$GC,7525,1.11,208.6,316.2,10.9,311,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2205,2293,0,0,0,0,0,0
$GC,7769,1.11,208.6,289.7,10.8,317,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2205,2292,0,0,0,0,0,0
$GC,8013,1.11,208.6,263.4,10.9,323,8017,0.00,2.53,0.00,0.000,4,0.000,0.044,3389,3766,2292,0,0,0,0,0,0
$GC,8036,1.11,208.6,261.0,10.9,323,8040,0.00,2.58,0.00,0.000,6,0.000,0.034,3399,2164,2291,0,0,0,0,0,0
$GC,8291,1.12,214.9,236.0,9.7,330,8302,0.00,2.65,5.93,0.598,4,0.000,0.059,3324,596,2272,0,0,0,0,0,0
$GC,8346,1.12,214.9,229.9,10.7,331,8350,0.00,2.53,0.00,0.000,6,0.000,0.021,3399,2188,2271,0,0,0,0,0,0
$GC,8615,1.13,223.9,203.4,9.6,338,8629,0.00,2.60,9.12,0.637,4,0.000,0.037,3399,3755,2236,0,0,0,0,0,0
$GC,8663,1.18,223.9,197.9,10.9,339,8673,0.00,2.60,0.00,0.000,6,0.000,0.031,3399,2174,2235,0,0,0,0,0,0
$GC,8932,1.23,223.9,169.6,11.3,364,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2173,2234,0,0,0,0,0,0
$GC,9197,1.31,241.3,143.4,9.2,389,9217,0.12,0.00,16.15,0.622,6,0.075,0.000,3436,2174,2165,0,0,0,0,0,0
$GC,9471,1.31,241.3,112.0,11.8,415,9475,0.00,2.55,0.00,0.000,4,0.000,0.037,3436,3757,2163,0,0,0,0,0,0
$GC,9534,1.31,241.3,103.9,12.1,420,9539,0.00,2.53,0.00,0.000,6,0.000,0.028,3436,2170,2163,0,0,0,0,0,0
$GC,9802,1.31,241.3,74.1,10.9,444,9807,0.00,2.55,0.00,0.000,4,0.000,0.041,3425,3758,2163,0,0,0,0,0,0
$GC,9835,1.31,241.3,69.9,11.1,446,9839,0.00,2.53,0.00,0.000,6,0.000,0.028,3437,2181,2163,0,0,0,0,0,0
$GC,10102,1.31,241.3,42.9,10.2,470,10107,0.00,2.53,0.00,0.000,4,0.000,0.034,3436,3759,2163,0,0,0,0,0,0
$GC,10137,1.34,241.3,38.7,12.4,472,10142,0.00,2.47,0.00,0.000,6,0.000,0.026,3436,2191,2162,0,0,0,0,0,0
$STATE,10447,end climb,SURFACE_DEPTH_REACHED
$STATE,10447,begin surface coast
$FINISH,-0.6,0.999811
$STATE,10489,end surface coast,CONTROL_FINISHED_OK
$STATE,10489,begin surface
$SM_CCo,10512,111.35,0.512,0,0,1600,380.21
$SM_GC,0.13,0.00,0.00,111.35,0.000,0.000,0.512,469,2187,1600,-12.31,0.20,380.21
$IRIDIUM_FIX,2251.04,-15800.62,120901,010134
$TT8_MAMPS,0.026078
$HUMID,60.19
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.00
$XPDR_PINGS,50
$24V_AH,23.5,21.397
$10V_AH,10.3,20.002
$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,34.775,123.225,318.575,111.350,0.000,55.124,65.904,297.847,12.500,0.000,15.861,1053.076,7053.535,527.464,1885.819,739.289,33.369,1215.485,0.000,1886.916,0.000,0.536,0.000
$DEVICE_MAMPS,213.993,102.778,919.633,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.335,295.235,395.871,747.238,1125.925,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355892
$DATA_FILE_SIZE,41455,518
$CAP_FILE_SIZE,112812,0
$CFSIZE,260165632,137396224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,7,0,0,0
$GPS,180612,040324,2300.218,-15802.162,40,0.9,40,10.1