version: 66.06
glider: 146
mission: 7
dive: 154
start: 6 18 112 17 55 32
data:
$ID,146
$MISSION,7
$DIVE,154
$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,600
$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,655.68689
$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,-291334.5
$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,55
$R_STBD_OVSHOOT,46
$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
$GPS1,173207,2254.611,-15800.927,57,1.1,57,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-69.3
$GPS2,175437,2254.728,-15800.811,10,1.3,14,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,TALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.057,-0.245
$KALMAN_X,-16582.9,-15.3,32.9,21536.9,1056.2
$KALMAN_Y,40333.9,-141.9,328.4,-14331.2,54.0
$MHEAD_RNG_PITCHd_Wd,183.0,18069,-18.2,-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,-1.31,-136.3,0.0,0.0,0,111,0.00,0.00,-85.60,0.000,6,0.000,0.000,466,2148,3705,0,0,0,0,0,0
$GC,117,-1.31,-136.3,3.5,-9.0,11,135,13.12,2.50,0.00,0.000,4,0.171,0.038,2853,621,3706,0,0,0,0,0,0
$GC,242,-1.14,-136.3,35.9,-17.3,27,248,0.20,2.42,0.00,0.000,6,0.120,0.017,2894,2200,3706,0,0,0,0,0,0
$GC,511,-1.08,-136.3,68.0,-11.5,51,515,0.00,2.58,0.00,0.000,4,0.000,0.043,2894,622,3706,0,0,0,0,0,0
$GC,533,-1.00,-136.3,71.3,-12.2,52,538,0.15,2.38,0.00,0.000,6,0.111,0.017,2926,2178,3706,0,0,0,0,0,0
$GC,797,-1.00,-136.3,97.1,-8.5,76,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2178,3706,0,0,0,0,0,0
$GC,1062,-1.00,-136.3,120.2,-9.0,101,1067,0.00,2.53,0.00,0.000,4,0.000,0.042,2926,623,3707,0,0,0,0,0,0
$GC,1121,-1.04,-136.3,125.9,-10.4,105,1126,0.00,2.40,0.00,0.000,6,0.000,0.025,2925,2179,3707,0,0,0,0,0,0
$GC,1388,-1.09,-136.3,150.5,-8.6,129,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2179,3707,0,0,0,0,0,0
$GC,1657,-1.15,-136.3,171.8,-7.9,154,1665,0.15,0.00,0.00,0.000,6,0.061,0.000,2868,2180,3707,0,0,0,0,0,0
$GC,1920,-1.11,-136.3,199.2,-9.8,179,1925,0.15,2.47,0.00,0.000,4,0.098,0.033,2886,3749,3708,0,0,0,0,0,0
$GC,1949,-1.11,-136.3,202.3,-10.3,180,1954,0.00,2.40,0.00,0.000,6,0.000,0.022,2902,2199,3707,0,0,0,0,0,0
$GC,2199,-1.11,-136.3,223.6,-8.4,186,2204,0.00,2.60,0.00,0.000,4,0.000,0.051,2840,606,3707,0,0,0,0,0,0
$GC,2227,-1.11,-136.3,225.9,-8.4,186,2231,0.00,2.40,0.00,0.000,6,0.000,0.018,2903,2182,3707,0,0,0,0,0,0
$GC,2479,-1.16,-136.3,246.5,-8.2,192,2483,0.00,2.47,0.00,0.000,4,0.000,0.041,2885,3751,3707,0,0,0,0,0,0
$GC,2512,-1.22,-136.3,249.6,-8.6,192,2518,0.10,2.45,0.00,0.000,6,0.081,0.028,2859,2174,3707,0,0,0,0,0,0
$GC,2762,-1.22,-136.3,271.7,-8.7,199,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2174,3706,0,0,0,0,0,0
$GC,3008,-1.22,-136.3,293.8,-9.2,205,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2174,3706,0,0,0,0,0,0
$GC,3249,-1.22,-136.3,316.9,-9.4,211,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2174,3705,0,0,0,0,0,0
$GC,3493,-1.22,-136.3,337.8,-8.2,217,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2174,3704,0,0,0,0,0,0
$GC,3737,-1.22,-136.3,358.5,-8.7,223,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2174,3703,0,0,0,0,0,0
$GC,3983,-1.22,-136.3,381.5,-9.7,229,3987,0.00,2.58,0.00,0.000,4,0.000,0.052,2846,3750,3701,0,0,0,0,0,0
$GC,4016,-1.22,-136.3,385.1,-10.4,229,4022,0.00,2.53,0.00,0.000,6,0.000,0.035,2859,2186,3701,0,0,0,0,0,0
$GC,4266,-1.22,-136.3,406.0,-8.1,236,4271,0.00,2.53,0.00,0.000,4,0.000,0.050,2859,3739,3699,0,0,0,0,0,0
$GC,4284,-1.22,-136.3,407.4,-7.7,236,4290,0.43,2.55,0.00,0.000,6,0.075,0.038,2943,2174,3699,1,0,0,0,0,0
$GC,4546,-1.45,-136.3,419.9,-4.6,243,4548,0.55,0.00,0.00,0.000,6,0.031,0.000,2805,2174,3697,0,0,0,0,0,0
$GC,4790,-1.36,-136.3,442.8,-9.6,249,4792,0.17,0.00,0.00,0.000,6,0.101,0.000,2843,2174,3696,0,0,0,0,0,0
$GC,5035,-1.36,-136.3,462.6,-8.2,255,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2174,3693,0,0,0,0,0,0
$GC,5277,-1.36,-136.3,482.6,-8.3,261,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2174,3692,0,0,0,0,0,0
$GC,5521,-1.36,-136.3,502.3,-8.0,267,5525,0.00,2.90,0.00,0.000,4,0.000,0.107,2829,597,3690,0,0,0,0,0,0
$GC,5542,-1.36,-136.3,504.3,-8.8,267,5547,0.00,2.53,0.00,0.000,6,0.000,0.038,2843,2149,3690,0,0,0,0,0,0
$GC,5799,-1.36,-136.3,525.2,-8.1,274,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2149,3688,0,0,0,0,0,0
$GC,6041,-1.36,-136.3,545.0,-8.1,280,6046,0.00,2.78,0.00,0.000,4,0.000,0.075,2842,3761,3687,0,0,0,0,0,0
$GC,6068,-1.36,-136.3,547.3,-8.4,280,6072,0.00,2.65,0.00,0.000,6,0.000,0.058,2843,2186,3686,0,0,0,0,0,0
$GC,6320,-1.36,-136.3,566.7,-7.6,286,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2185,3685,0,0,0,0,0,0
$GC,6562,-1.36,-136.3,584.6,-7.3,292,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2186,3683,0,0,0,0,0,0
$GC,6805,-1.36,-136.3,602.4,-7.3,298,6810,0.00,2.78,0.00,0.000,4,0.000,0.082,2844,3761,3682,0,0,0,0,0,0
$GC,6821,-1.36,-136.3,603.7,-7.3,298,6831,2.67,2.78,0.00,0.000,6,0.071,0.074,2929,2178,3682,9,0,0,0,0,0
$GC,7089,-2.51,-136.3,623.9,-8.9,305,7098,3.85,3.05,0.00,0.000,4,0.067,0.122,2547,590,3679,0,0,0,0,0,0
$GC,7183,-2.00,-136.3,635.3,-17.1,307,7189,0.60,2.80,0.00,0.000,6,0.111,0.077,2704,2187,3679,0,0,0,0,0,0
$GC,7464,-1.75,-136.3,668.4,-11.7,314,7466,0.28,0.00,0.00,0.000,6,0.110,0.000,2760,2187,3678,0,0,0,0,0,0
$GC,7706,-1.61,-136.3,692.7,-9.8,320,7708,0.15,0.00,0.00,0.000,6,0.119,0.000,2791,2187,3677,0,0,0,0,0,0
$STATE,7784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7784,begin apogee
$GC,7791,-0.31,0.0,700.2,9.5,322,7906,1.25,0.00,109.53,1.095,6,0.083,0.000,3073,2187,3150,0,0,0,0,0,0
$STATE,7909,end apogee,CONTROL_FINISHED_OK
$STATE,7909,begin climb
$GC,7912,1.31,136.3,702.7,0.0,325,8034,1.50,0.00,117.47,1.065,6,0.042,0.000,3432,2187,2594,0,0,0,0,0,0
$GC,8279,1.15,136.3,665.3,12.1,334,8285,0.20,2.97,0.00,0.000,4,0.123,0.110,3374,3765,2585,0,0,0,0,0,0
$GC,8324,1.07,136.3,659.8,11.0,335,8329,0.00,2.97,0.00,0.000,6,0.000,0.097,3354,2182,2584,0,0,0,0,0,0
$GC,8601,1.00,136.3,630.2,10.7,342,8603,0.15,0.00,0.00,0.000,6,0.123,0.000,3365,2181,2583,0,0,0,0,0,0
$GC,8847,1.03,160.6,608.2,8.8,348,8870,0.00,0.00,20.75,0.984,6,0.000,0.000,3365,2181,2495,0,0,0,0,0,0
$GC,9089,1.04,167.3,584.8,9.7,354,9103,0.00,2.90,6.78,0.828,4,0.000,0.078,3273,3767,2468,0,0,0,0,0,0
$GC,9148,1.04,167.3,578.4,10.3,355,9152,0.00,2.78,0.00,0.000,6,0.000,0.066,3365,2178,2467,0,0,0,0,0,0
$GC,9417,1.04,169.8,551.6,9.9,362,9418,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2178,2465,0,0,0,0,0,0
$GC,9660,1.06,182.3,528.4,9.4,368,9677,0.00,0.00,14.82,0.933,6,0.000,0.000,3365,2178,2406,0,0,0,0,0,0
$GC,9902,1.07,195.8,505.3,9.3,374,9918,0.00,0.00,13.40,0.910,6,0.000,0.000,3365,2178,2351,0,0,0,0,0,0
$GC,10148,1.07,196.1,481.8,10.0,380,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2178,2347,0,0,0,0,0,0
$GC,10389,1.07,196.1,456.6,10.4,386,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2177,2346,0,0,0,0,0,0
$GC,10633,1.07,196.1,431.9,10.1,392,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2178,2345,0,0,0,0,0,0
$GC,10878,1.12,200.6,407.7,9.8,398,10888,0.10,2.70,4.70,0.657,4,0.091,0.048,3369,3777,2332,0,0,0,0,0,0
$GC,10970,1.12,200.6,397.6,11.8,400,10975,0.00,2.65,0.00,0.000,6,0.000,0.044,3367,2183,2332,0,0,0,0,0,0
$GC,11248,1.13,203.3,369.1,9.9,407,11254,0.00,0.00,4.22,0.601,6,0.000,0.000,3394,2183,2321,0,0,0,0,0,0
$GC,11493,1.13,203.3,344.5,10.2,413,11494,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2183,2320,0,0,0,0,0,0
$GC,11735,1.13,203.3,318.2,10.9,419,11739,0.00,2.62,0.00,0.000,4,0.000,0.044,3381,3780,2320,0,0,0,0,0,0
$GC,11761,1.13,203.3,315.1,11.2,419,11766,0.00,2.58,0.00,0.000,6,0.000,0.031,3394,2196,2320,0,0,0,0,0,0
$GC,12011,1.13,203.3,289.0,10.4,425,12012,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2196,2320,0,0,0,0,0,0
$GC,12257,1.14,216.4,265.4,9.4,431,12272,0.00,0.00,13.57,0.742,6,0.000,0.000,3394,2196,2267,0,0,0,0,0,0
$GC,12498,1.14,216.4,240.4,10.5,437,12503,0.00,2.58,0.00,0.000,4,0.000,0.041,3382,3777,2263,0,0,0,0,0,0
$GC,12531,1.15,225.1,237.1,9.6,437,12545,0.00,2.55,8.70,0.672,6,0.000,0.028,3394,2193,2232,0,0,0,0,0,0
$GC,12828,1.20,237.5,209.4,9.4,445,12847,0.00,2.78,12.32,0.680,4,0.000,0.056,3384,597,2181,0,0,0,0,0,0
$GC,12871,1.20,237.5,204.1,11.0,446,12876,0.00,2.60,0.00,0.000,6,0.000,0.021,3394,2228,2179,0,0,0,0,0,0
$GC,13134,1.27,243.1,176.9,9.7,468,13150,0.10,2.53,6.03,0.560,4,0.090,0.037,3422,3755,2160,0,0,0,0,0,0
$GC,13188,1.27,243.1,171.2,11.5,472,13192,0.00,2.53,0.00,0.000,6,0.000,0.028,3405,2193,2159,0,0,0,0,0,0
$GC,13452,1.27,243.1,141.9,10.5,496,13461,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2193,2159,0,0,0,0,0,0
$GC,13717,1.27,243.1,113.3,10.7,521,13721,0.00,2.53,0.00,0.000,4,0.000,0.042,3425,3754,2159,0,0,0,0,0,0
$GC,13764,1.27,243.1,107.6,11.7,524,13773,0.00,2.50,0.00,0.000,6,0.000,0.028,3424,2214,2159,0,0,0,0,0,0
$GC,14030,1.28,251.0,80.4,9.6,549,14045,0.00,2.72,9.27,0.533,4,0.000,0.056,3417,593,2126,0,0,0,0,0,0
$GC,14086,1.28,251.0,74.4,10.9,553,14090,0.00,2.50,0.00,0.000,6,0.000,0.019,3424,2203,2125,0,0,0,0,0,0
$GC,14354,1.29,263.6,48.4,9.4,577,14372,0.00,2.55,11.98,0.522,4,0.000,0.035,3412,3752,2075,0,0,0,0,0,0
$GC,14433,1.36,263.6,39.9,11.6,583,14438,0.12,2.47,0.00,0.000,6,0.074,0.028,3466,2195,2075,0,0,0,0,0,0
$STATE,14724,end climb,SURFACE_DEPTH_REACHED
$STATE,14724,begin surface coast
$FINISH,-0.1,1.023502
$STATE,14767,end surface coast,CONTROL_FINISHED_OK
$STATE,14767,begin surface
$SM_CCo,14790,312.83,0.505,0,0,476,655.69
$SM_GC,0.08,0.00,0.00,312.83,0.000,0.000,0.505,466,2190,476,-12.32,0.28,655.69
$IRIDIUM_FIX,2246.36,-15758.45,120901,171754
$TT8_MAMPS,0.026078
$HUMID,55.63
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.00
$XPDR_PINGS,37
$24V_AH,23.4,21.995
$10V_AH,10.3,20.522
$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,38.100,115.025,353.550,312.825,0.000,142.993,226.688,541.953,9.250,0.000,16.125,1257.405,11047.128,776.538,2041.983,1328.029,33.361,1556.978,0.000,2052.229,0.000,0.537,0.000
$DEVICE_MAMPS,171.041,121.953,1095.276,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,426.272,304.034,423.030,739.220,1118.521,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,47868,626
$CAP_FILE_SIZE,141743,0
$CFSIZE,260165632,137105408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,10,0,0,0
$GPS,180612,220837,2252.811,-15800.389,38,1.3,38,10.1