version: 66.06
glider: 146
mission: 7
dive: 155
start: 6 18 112 22 23 14
data:
$ID,146
$MISSION,7
$DIVE,155
$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,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,-291349.06
$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,30
$R_STBD_OVSHOOT,44
$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
$GPS1,220837,2252.811,-15800.389,38,1.3,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-61.6
$GPS2,222219,2252.825,-15800.368,12,1.3,12,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,TALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.035,-0.249
$KALMAN_X,-15297.0,86.1,194.2,20742.2,643.9
$KALMAN_Y,40296.4,161.2,-31.4,-17760.9,-179.2
$MHEAD_RNG_PITCHd_Wd,177.8,14505,-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,16,begin dive
$GC,19,-1.31,-136.3,0.0,0.0,0,152,0.00,0.00,-130.35,0.000,6,0.000,0.000,465,2190,3706,0,0,0,0,0,0
$GC,155,-1.31,-136.3,2.4,-5.7,16,174,13.18,2.62,0.00,0.000,4,0.172,0.040,2814,598,3707,0,0,0,0,0,0
$GC,310,-1.14,-136.3,35.6,-13.4,35,315,0.20,2.45,0.00,0.000,6,0.117,0.018,2892,2196,3706,0,0,0,0,0,0
$GC,576,-1.09,-136.3,71.2,-12.3,59,581,0.00,2.47,0.00,0.000,4,0.000,0.031,2855,3750,3707,0,0,0,0,0,0
$GC,600,-1.05,-136.3,74.1,-12.4,60,605,0.10,2.47,0.00,0.000,6,0.121,0.021,2915,2171,3707,0,0,0,0,0,0
$GC,863,-1.05,-136.3,101.6,-9.9,84,867,0.00,2.55,0.00,0.000,4,0.000,0.044,2844,608,3707,0,0,0,0,0,0
$GC,896,-1.05,-136.3,105.4,-11.0,86,905,0.00,2.45,0.00,0.000,6,0.000,0.025,2915,2188,3706,0,0,0,0,0,0
$GC,1165,-1.05,-136.3,129.3,-8.2,111,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2188,3706,0,0,0,0,0,0
$GC,1430,-1.05,-136.3,151.4,-8.8,136,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2188,3706,0,0,0,0,0,0
$GC,1695,-1.10,-136.3,172.3,-7.6,161,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2188,3706,0,0,0,0,0,0
$GC,1958,-1.15,-136.3,193.4,-7.3,186,1962,0.00,2.45,0.00,0.000,4,0.000,0.038,2915,3747,3706,0,0,0,0,0,0
$GC,2000,-1.24,-136.3,196.5,-7.3,189,2005,0.17,2.42,0.00,0.000,6,0.053,0.022,2847,2180,3706,0,0,0,0,0,0
$GC,2282,-1.17,-136.3,225.8,-11.0,198,2287,0.17,2.60,0.00,0.000,4,0.102,0.049,2886,609,3706,0,0,0,0,0,0
$GC,2362,-1.17,-136.3,233.4,-9.1,199,2368,0.00,2.40,0.00,0.000,6,0.000,0.025,2886,2175,3706,0,0,0,0,0,0
$GC,2612,-1.17,-136.3,253.3,-7.6,206,2617,0.00,2.53,0.00,0.000,4,0.000,0.036,2886,3754,3705,0,0,0,0,0,0
$GC,2646,-1.22,-136.3,255.8,-7.7,206,2651,0.00,2.45,0.00,0.000,6,0.000,0.025,2886,2184,3705,0,0,0,0,0,0
$GC,2898,-1.22,-136.3,275.1,-7.9,213,2902,0.00,2.65,0.00,0.000,4,0.000,0.067,2822,605,3705,0,0,0,0,0,0
$GC,2925,-1.22,-136.3,277.5,-8.2,213,2929,0.00,2.45,0.00,0.000,6,0.000,0.022,2886,2185,3704,0,0,0,0,0,0
$GC,3175,-1.26,-136.3,298.6,-8.8,219,3180,0.00,2.65,0.00,0.000,4,0.000,0.061,2886,600,3703,0,0,0,0,0,0
$GC,3238,-1.31,-136.3,304.1,-9.1,220,3243,0.12,2.47,0.00,0.000,6,0.067,0.025,2833,2174,3703,0,0,0,0,0,0
$GC,3500,-1.25,-136.3,328.1,-9.0,227,3501,0.17,0.00,0.00,0.000,6,0.101,0.000,2870,2174,3702,0,0,0,0,0,0
$GC,3743,-1.25,-136.3,344.6,-6.6,233,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2174,3701,0,0,0,0,0,0
$GC,3987,-1.25,-136.3,362.6,-7.5,239,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2174,3699,0,0,0,0,0,0
$GC,4230,-1.25,-136.3,379.6,-7.1,245,4235,0.00,2.72,0.00,0.000,4,0.000,0.071,2870,603,3698,0,0,0,0,0,0
$GC,4331,-1.28,-136.3,388.1,-8.3,247,4335,0.00,2.50,0.00,0.000,6,0.000,0.035,2871,2162,3697,0,0,0,0,0,0
$GC,4599,-1.32,-136.3,407.2,-7.1,254,4604,0.00,2.65,0.00,0.000,4,0.000,0.058,2865,3769,3695,0,0,0,0,0,0
$GC,4639,-1.37,-136.3,410.4,-7.6,255,4644,0.10,2.60,0.00,0.000,6,0.090,0.044,2836,2182,3695,0,0,0,0,0,0
$GC,4925,-1.37,-136.3,434.8,-8.8,262,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2183,3693,0,0,0,0,0,0
$GC,5166,-1.37,-136.3,455.3,-8.3,268,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2183,3691,0,0,0,0,0,0
$GC,5410,-1.37,-136.3,474.7,-8.2,274,5415,0.00,2.92,0.00,0.000,4,0.000,0.103,2827,591,3690,0,0,0,0,0,0
$GC,5440,-1.33,-136.3,477.2,-9.1,274,5444,0.00,2.58,0.00,0.000,6,0.000,0.043,2836,2163,3689,0,0,0,0,0,0
$GC,5690,-1.33,-136.3,498.9,-8.8,280,5694,0.00,2.72,0.00,0.000,4,0.000,0.067,2827,3768,3688,0,0,0,0,0,0
$GC,5757,-1.33,-136.3,505.5,-10.1,281,5762,0.00,2.65,0.00,0.000,6,0.000,0.053,2836,2176,3687,0,0,0,0,0,0
$GC,6014,-1.33,-136.3,528.7,-9.1,288,6019,0.00,2.92,0.00,0.000,4,0.000,0.111,2836,594,3686,0,0,0,0,0,0
$GC,6047,-1.29,-136.3,531.9,-9.4,288,6054,0.65,2.62,0.00,0.000,6,0.087,0.049,2897,2174,3686,2,0,0,0,0,0
$GC,6297,-1.60,-136.3,541.6,-3.6,295,6300,0.77,0.00,0.00,0.000,6,0.053,0.000,2779,2174,3684,0,0,0,0,0,0
$GC,6543,-1.49,-136.3,564.4,-9.9,301,6545,0.20,0.00,0.00,0.000,6,0.100,0.000,2821,2174,3683,0,0,0,0,0,0
$GC,6784,-1.49,-136.3,584.6,-8.2,307,6789,0.00,2.83,0.00,0.000,4,0.000,0.091,2820,3767,3680,0,0,0,0,0,0
$GC,6812,-1.44,-136.3,587.0,-8.8,307,6816,0.00,2.75,0.00,0.000,6,0.000,0.064,2821,2176,3680,0,0,0,0,0,0
$GC,7064,-1.44,-136.3,606.4,-7.7,313,7068,0.00,2.80,0.00,0.000,4,0.000,0.083,2821,3762,3679,0,0,0,0,0,0
$GC,7103,-1.40,-136.3,609.7,-8.3,314,7108,0.00,2.80,0.00,0.000,6,0.000,0.075,2822,2174,3679,0,0,0,0,0,0
$GC,7389,-1.40,-136.3,630.2,-7.2,321,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2173,3677,0,0,0,0,0,0
$GC,7632,-1.40,-136.3,647.3,-7.0,327,7637,0.00,2.90,0.00,0.000,4,0.000,0.098,2813,3765,3676,0,0,0,0,0,0
$GC,7659,-1.40,-136.3,649.5,-7.4,327,7665,0.30,2.90,0.00,0.000,6,0.095,0.097,2868,2179,3676,1,0,0,0,0,0
$GC,7909,-1.54,-136.3,661.7,-4.8,333,7915,0.32,2.90,0.00,0.000,4,0.054,0.100,2792,3760,3675,0,0,0,0,0,0
$GC,7928,-1.57,-136.3,662.9,-5.5,333,7933,0.00,2.90,0.00,0.000,6,0.000,0.099,2799,2182,3674,0,0,0,0,0,0
$GC,8189,-1.51,-136.3,685.1,-8.6,340,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2183,3673,0,0,0,0,0,0
$STATE,8389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8389,begin apogee
$GC,8397,-0.31,0.0,703.6,9.3,345,8512,1.23,0.00,108.93,1.106,6,0.097,0.000,3073,2183,3149,0,0,0,0,0,0
$STATE,8513,end apogee,CONTROL_FINISHED_OK
$STATE,8513,begin climb
$GC,8515,1.31,136.3,706.5,0.0,348,8640,1.50,0.00,118.60,1.073,6,0.056,0.000,3429,2183,2594,0,0,0,0,0,0
$GC,8883,1.16,136.3,667.5,13.3,357,8888,0.15,2.97,0.00,0.000,4,0.130,0.100,3371,3761,2584,0,0,0,0,0,0
$GC,8916,1.06,136.3,662.6,12.9,357,8923,0.12,2.97,0.00,0.000,6,0.128,0.100,3377,2184,2583,0,0,0,0,0,0
$GC,9170,1.02,136.3,636.4,10.2,364,9175,0.00,2.90,0.00,0.000,4,0.000,0.089,3364,3766,2581,0,0,0,0,0,0
$GC,9206,0.97,136.3,632.3,11.3,364,9213,0.10,2.88,0.00,0.000,6,0.149,0.087,3358,2189,2581,0,0,0,0,0,0
$GC,9456,1.01,171.2,610.9,8.3,371,9488,0.00,0.00,29.83,1.009,6,0.000,0.000,3358,2188,2452,0,0,0,0,0,0
$GC,9700,1.05,200.9,590.3,8.5,377,9729,0.00,0.00,27.80,0.994,6,0.000,0.000,3357,2189,2331,0,0,0,0,0,0
$GC,9945,1.05,200.9,565.5,10.4,383,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2189,2325,0,0,0,0,0,0
$GC,10187,1.09,200.9,541.0,10.1,389,10189,0.10,0.00,0.00,0.000,6,0.094,0.000,3385,2189,2323,0,0,0,0,0,0
$GC,10431,1.09,200.9,514.5,10.9,395,10435,0.00,2.95,0.00,0.000,4,0.000,0.099,3384,582,2322,0,0,0,0,0,0
$GC,10465,1.04,200.9,510.5,11.7,395,10471,0.00,2.70,0.00,0.000,6,0.000,0.039,3384,2203,2321,0,0,0,0,0,0
$GC,10715,1.04,200.9,482.6,11.1,402,10719,0.00,2.65,0.00,0.000,4,0.000,0.058,3385,3767,2321,0,0,0,0,0,0
$GC,10775,1.04,200.9,475.6,12.0,403,10785,1.92,2.62,0.00,0.000,6,0.085,0.043,3828,2201,2320,6,0,0,0,0,0
$GC,11043,0.41,200.9,403.8,27.9,410,11052,2.88,2.62,0.00,0.000,4,0.130,0.041,3168,3765,2319,0,0,0,0,0,0
$GC,11114,0.85,293.9,396.5,5.4,411,11208,0.38,2.50,81.55,0.895,6,0.041,0.035,3339,2222,1950,0,0,0,0,0,0
$GC,11459,0.98,299.8,364.2,9.7,420,11469,0.00,2.85,5.07,0.644,4,0.000,0.067,3339,594,1927,0,0,0,0,0,0
$GC,11525,1.12,299.8,357.0,10.1,421,11531,0.20,2.65,0.00,0.000,6,0.058,0.031,3394,2233,1925,0,0,0,0,0,0
$GC,11782,1.12,299.8,324.8,12.7,428,11784,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2233,1923,0,0,0,0,0,0
$GC,12024,1.12,299.8,292.3,13.3,434,12029,0.00,2.78,0.00,0.000,4,0.000,0.058,3376,592,1923,0,0,0,0,0,0
$GC,12075,1.12,299.8,285.3,13.7,435,12079,0.00,2.62,0.00,0.000,6,0.000,0.025,3394,2234,1922,0,0,0,0,0,0
$GC,12349,1.16,299.8,253.1,11.7,442,12350,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2234,1921,0,0,0,0,0,0
$GC,12590,1.21,299.8,225.1,11.3,448,12595,0.00,2.75,0.00,0.000,4,0.000,0.051,3394,592,1921,0,0,0,0,0,0
$GC,12640,1.28,299.8,219.0,11.4,449,12645,0.12,2.58,0.00,0.000,6,0.077,0.027,3432,2234,1920,0,0,0,0,0,0
$GC,12902,1.28,299.8,183.8,13.9,463,12906,0.00,2.50,0.00,0.000,4,0.000,0.036,3422,3783,1920,0,0,0,0,0,0
$GC,12953,1.28,299.8,176.0,13.5,467,12964,2.80,2.53,0.00,0.000,6,0.282,0.030,3410,2204,1920,10,0,0,0,0,0
$GC,13219,0.72,299.8,91.9,31.8,492,13234,2.53,2.60,0.00,0.000,4,0.113,0.035,3305,3776,1919,0,0,0,0,0,0
$GC,13274,1.15,369.2,84.5,6.6,496,13344,0.95,2.53,58.67,0.607,6,0.024,0.026,3566,2211,1643,3,0,0,0,0,0
$GC,13614,0.91,369.2,11.7,20.8,532,13624,1.10,2.72,0.00,0.000,4,0.107,0.055,3344,599,1638,0,0,0,0,0,0
$GC,13677,1.29,443.7,4.6,6.3,540,13689,0.30,2.58,5.12,0.416,2,0.031,0.018,3432,2241,1622,0,0,0,0,0,0
$STATE,13689,end climb,SURFACE_DEPTH_REACHED
$STATE,13690,begin surface coast
$FINISH,-0.4,1.023564
$STATE,13725,end surface coast,CONTROL_FINISHED_OK
$STATE,13725,begin surface
$SM_CCo,13747,4.00,0.366,0,0,1600,380.21
$SM_GC,0.42,0.00,0.00,4.00,0.000,0.000,0.366,472,2121,1600,-12.30,-1.67,380.21
$IRIDIUM_FIX,2241.69,-15801.49,120901,222253
$TT8_MAMPS,0.026078
$HUMID,66.06
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,19.90
$XPDR_PINGS,52
$24V_AH,23.3,22.151
$10V_AH,10.2,20.632
$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,44.750,149.325,435.575,4.000,0.000,51.689,75.613,459.652,13.000,0.000,13.952,1151.410,10043.275,550.138,1862.164,962.151,33.374,1390.273,0.000,1862.076,0.000,0.535,0.000
$DEVICE_MAMPS,282.256,111.215,1106.014,365.859,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.948,260.895,345.250,591.581,896.452,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356184
$DATA_FILE_SIZE,41614,546
$CAP_FILE_SIZE,138785,0
$CFSIZE,260165632,137056256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,22,0,0,0
$GPS,190612,021507,2251.096,-15800.289,119,1.2,119,10.1