version: 66.06
glider: 146
mission: 9
dive: 7
start: 3 13 114 6 1 38
data:
$ID,146
$MISSION,9
$DIVE,7
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,200
$T_MISSION,440
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52418
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2245
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-323223.94
$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,3075
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,40
$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,3100
$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,-29.187134
$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,0.0043272944
$SEABIRD_T_H,0.00062241661
$SEABIRD_T_I,2.3207038e-05
$SEABIRD_T_J,2.4640995e-06
$SEABIRD_C_G,-9.7986097
$SEABIRD_C_H,1.0845124
$SEABIRD_C_I,-0.0017415414
$SEABIRD_C_J,0.00021607026
$GPS1,055121,2248.285,-15757.053,9,99.0,29,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-69.2
$GPS2,060045,2248.310,-15757.161,11,2.3,30,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.146,-0.215
$KALMAN_X,-471.9,-293.0,-73.6,-1855.9,-22.0
$KALMAN_Y,630.8,262.3,41.0,-2738.6,345.6
$MHEAD_RNG_PITCHd_Wd,204.0,7815,-17.5,-10.000
$D_GRID,600
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-91.78,0.000,6,0.000,0.000,468,2181,3697,0,0,0,0,0,0
$GC,114,-1.27,-146.0,3.3,-8.1,12,131,11.65,2.47,0.00,0.000,4,0.131,0.040,2788,653,3697,0,0,0,0,0,0
$GC,220,-1.32,-146.0,26.6,-10.9,27,230,0.00,2.42,0.00,0.000,6,0.000,0.019,2788,2209,3697,0,0,0,0,0,0
$GC,500,-1.32,-146.0,53.5,-9.6,54,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2210,3697,0,0,0,0,0,0
$GC,767,-1.37,-146.0,79.7,-9.8,79,771,0.00,2.55,0.00,0.000,4,0.000,0.044,2788,656,3696,0,0,0,0,0,0
$GC,807,-1.42,-146.0,84.2,-10.0,82,812,0.10,2.38,0.00,0.000,6,0.084,0.019,2748,2201,3696,0,0,0,0,0,0
$GC,1070,-1.42,-146.0,113.6,-10.4,106,1074,0.00,2.47,0.00,0.000,4,0.000,0.043,2747,662,3697,0,0,0,0,0,0
$GC,1115,-1.42,-146.0,117.9,-10.4,109,1119,0.00,2.35,0.00,0.000,6,0.000,0.021,2747,2188,3696,0,0,0,0,0,0
$GC,1382,-1.42,-146.0,141.8,-8.2,133,1386,0.00,2.53,0.00,0.000,4,0.000,0.038,2747,3785,3697,0,0,0,0,0,0
$GC,1399,-1.42,-146.0,144.0,-9.2,134,1403,0.00,2.45,0.00,0.000,6,0.000,0.021,2747,2200,3697,0,0,0,0,0,0
$GC,1662,-1.42,-146.0,167.0,-8.7,158,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2201,3697,0,0,0,0,0,0
$GC,1916,-1.42,-146.0,189.2,-9.3,182,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2201,3697,0,0,0,0,0,0
$GC,2194,-1.42,-146.0,215.7,-9.5,197,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2201,3697,0,0,0,0,0,0
$GC,2439,-1.46,-146.0,238.4,-9.3,203,2443,0.00,2.53,0.00,0.000,4,0.000,0.051,2747,644,3696,0,0,0,0,0,0
$GC,2489,-1.53,-146.0,243.4,-9.8,204,2493,0.00,2.40,0.00,0.000,6,0.000,0.031,2747,2186,3696,0,0,0,0,0,0
$GC,2761,-1.59,-146.0,266.0,-7.9,211,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2186,3695,0,0,0,0,0,0
$GC,3006,-1.65,-146.0,283.4,-7.0,217,3011,0.15,2.58,0.00,0.000,4,0.064,0.059,2697,646,3694,0,0,0,0,0,0
$GC,3056,-1.65,-146.0,288.2,-9.6,218,3060,0.00,2.42,0.00,0.000,6,0.000,0.036,2697,2179,3694,0,0,0,0,0,0
$GC,3328,-1.65,-146.0,313.1,-9.1,225,3332,0.00,2.65,0.00,0.000,4,0.000,0.055,2697,3792,3693,0,0,0,0,0,0
$GC,3413,-1.65,-146.0,321.4,-9.6,227,3417,0.00,2.53,0.00,0.000,6,0.000,0.034,2697,2215,3693,0,0,0,0,0,0
$GC,3695,-1.65,-146.0,349.4,-10.1,234,3700,0.00,2.62,0.00,0.000,4,0.000,0.060,2697,3792,3690,0,0,0,0,0,0
$GC,3722,-1.65,-146.0,352.5,-11.3,234,3727,0.00,2.58,0.00,0.000,6,0.000,0.044,2697,2202,3690,0,0,0,0,0,0
$GC,3973,-1.65,-146.0,379.0,-10.6,240,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2201,3689,0,0,0,0,0,0
$GC,4216,-1.65,-146.0,402.0,-9.2,246,4221,0.00,2.75,0.00,0.000,4,0.000,0.084,2696,627,3687,0,0,0,0,0,0
$GC,4250,-1.65,-146.0,405.3,-10.3,246,4256,0.00,2.55,0.00,0.000,6,0.000,0.044,2697,2191,3687,0,0,0,0,0,0
$GC,4501,-1.65,-146.0,427.6,-8.8,253,4505,0.00,2.70,0.00,0.000,4,0.000,0.063,2697,3793,3685,0,0,0,0,0,0
$GC,4540,-1.65,-146.0,431.2,-8.9,254,4545,0.00,2.58,0.00,0.000,6,0.000,0.050,2697,2208,3685,0,0,0,0,0,0
$GC,4823,-1.65,-146.0,455.9,-8.8,261,4828,0.00,2.67,0.00,0.000,4,0.000,0.068,2697,3794,3683,0,0,0,0,0,0
$GC,4857,-1.65,-146.0,459.2,-10.0,261,4863,0.00,2.62,0.00,0.000,6,0.000,0.046,2697,2209,3683,0,0,0,0,0,0
$GC,5107,-1.65,-146.0,481.6,-8.9,268,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2209,3681,0,0,0,0,0,0
$GC,5351,-1.65,-146.0,501.2,-8.0,274,5355,0.00,2.75,0.00,0.000,4,0.000,0.077,2696,3789,3678,0,0,0,0,0,0
$GC,5373,-1.65,-146.0,502.9,-8.3,274,5377,0.00,2.65,0.00,0.000,6,0.000,0.054,2697,2209,3678,0,0,0,0,0,0
$GC,5628,-1.65,-146.0,522.7,-7.7,281,5632,0.00,2.97,0.00,0.000,4,0.000,0.116,2697,626,3676,0,0,0,0,0,0
$GC,5667,-1.65,-146.0,526.2,-9.2,282,5672,0.00,2.70,0.00,0.000,6,0.000,0.064,2697,2213,3676,0,0,0,0,0,0
$GC,5951,-1.65,-146.0,550.5,-8.6,289,5955,0.00,2.83,0.00,0.000,4,0.000,0.097,2697,3800,3674,0,0,0,0,0,0
$GC,5972,-1.65,-146.0,552.5,-8.6,289,5977,0.00,2.70,0.00,0.000,6,0.000,0.061,2697,2204,3674,0,0,0,0,0,0
$GC,6227,-1.65,-146.0,574.1,-8.3,296,6232,0.00,2.85,0.00,0.000,4,0.000,0.093,2697,3796,3672,0,0,0,0,0,0
$GC,6283,-1.65,-146.0,579.1,-8.6,297,6288,0.00,2.75,0.00,0.000,6,0.000,0.071,2697,2220,3672,0,0,0,0,0,0
$STATE,6547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6547,begin apogee
$GC,6553,-0.31,0.0,601.2,8.1,304,6671,1.38,0.00,114.07,1.037,6,0.075,0.000,3009,2381,3099,0,0,0,0,0,0
$STATE,6672,end apogee,CONTROL_FINISHED_OK
$STATE,6672,begin climb
$GC,6674,1.27,146.0,604.7,0.0,307,6807,1.40,2.92,121.62,1.004,4,0.044,0.096,3351,3926,2503,0,0,0,0,0,0
$GC,6892,0.97,146.0,586.9,14.5,312,6897,0.32,2.75,0.00,0.000,6,0.116,0.067,3287,2370,2497,0,0,0,0,0,0
$GC,7171,0.83,146.0,557.4,10.3,319,7176,0.15,2.80,0.00,0.000,4,0.142,0.082,3260,3931,2492,0,0,0,0,0,0
$GC,7266,0.71,146.0,547.2,10.2,321,7271,0.15,2.70,0.00,0.000,6,0.131,0.058,3231,2369,2491,0,0,0,0,0,0
$GC,7540,0.76,185.2,524.7,8.2,328,7581,0.00,3.12,32.85,0.956,4,0.000,0.120,3231,789,2343,0,0,0,0,0,0
$GC,7604,0.77,187.6,518.9,9.9,329,7608,0.00,2.75,0.00,0.000,6,0.000,0.061,3231,2382,2341,0,0,0,0,0,0
$GC,7865,0.78,201.9,494.7,9.3,336,7886,0.00,2.97,15.60,0.907,4,0.000,0.090,3231,777,2274,0,0,0,0,0,0
$GC,7914,0.78,201.9,489.6,10.3,337,7918,0.00,2.75,0.00,0.000,6,0.000,0.060,3231,2382,2273,0,0,0,0,0,0
$GC,8186,0.78,201.9,462.2,10.1,344,8190,0.00,2.67,0.00,0.000,4,0.000,0.069,3231,3941,2271,0,0,0,0,0,0
$GC,8225,0.78,201.9,458.0,10.9,345,8230,0.00,2.60,0.00,0.000,6,0.000,0.042,3231,2376,2270,0,0,0,0,0,0
$GC,8509,0.80,217.5,431.4,9.3,352,8524,0.00,0.00,14.10,0.879,6,0.000,0.000,3231,2376,2213,0,0,0,0,0,0
$GC,8752,0.83,237.2,409.3,9.1,358,8773,0.10,0.00,18.60,0.879,6,0.102,0.000,3256,2376,2132,0,0,0,0,0,0
$GC,9036,0.83,237.2,379.3,10.8,365,9040,0.00,2.85,0.00,0.000,4,0.000,0.087,3257,781,2128,0,0,0,0,0,0
$GC,9057,0.79,237.2,376.8,11.4,365,9061,0.00,2.65,0.00,0.000,6,0.000,0.035,3256,2398,2127,0,0,0,0,0,0
$GC,9312,0.79,237.2,347.8,11.5,372,9316,0.00,2.80,0.00,0.000,4,0.000,0.068,3256,774,2127,0,0,0,0,0,0
$GC,9339,0.79,237.2,344.4,12.2,372,9344,0.00,2.62,0.00,0.000,6,0.000,0.035,3256,2386,2126,0,0,0,0,0,0
$GC,9589,0.79,237.2,315.0,11.8,378,9593,0.00,2.60,0.00,0.000,4,0.000,0.058,3256,3935,2126,0,0,0,0,0,0
$GC,9615,0.79,237.2,311.5,12.6,378,9620,0.00,2.47,0.00,0.000,6,0.000,0.031,3256,2386,2126,0,0,0,0,0,0
$GC,9872,0.79,237.2,284.2,10.4,385,9876,0.00,2.58,0.00,0.000,4,0.000,0.052,3256,3931,2125,0,0,0,0,0,0
$GC,9926,0.79,237.2,278.0,11.7,386,9931,0.00,2.42,0.00,0.000,6,0.000,0.030,3256,2416,2125,0,0,0,0,0,0
$GC,10193,0.79,237.2,250.4,10.4,393,10198,0.00,2.75,0.00,0.000,4,0.000,0.066,3256,784,2124,0,0,0,0,0,0
$GC,10266,0.79,237.2,242.7,10.9,394,10270,0.00,2.60,0.00,0.000,6,0.000,0.029,3256,2410,2124,0,0,0,0,0,0
$GC,10515,0.79,237.2,217.9,10.0,400,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2410,2123,0,0,0,0,0,0
$GC,10765,0.82,261.0,194.5,8.9,409,10791,0.00,2.75,20.73,0.723,4,0.000,0.049,3256,783,2034,0,0,0,0,0,0
$GC,10809,0.84,280.7,190.8,9.1,412,10834,0.00,2.60,18.45,0.699,6,0.000,0.031,3256,2409,1954,0,0,0,0,0,0
$GC,11101,0.89,280.7,161.5,11.0,439,11105,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2409,1951,0,0,0,0,0,0
$GC,11363,0.94,280.7,130.9,11.0,464,11365,0.10,0.00,0.00,0.000,6,0.097,0.000,3283,2410,1950,0,0,0,0,0,0
$GC,11618,0.96,295.7,105.0,9.3,488,11634,0.00,0.00,13.50,0.608,6,0.000,0.000,3283,2409,1894,0,0,0,0,0,0
$GC,11891,1.02,309.4,79.1,9.4,513,11910,0.00,2.70,13.12,0.574,4,0.000,0.044,3282,784,1837,0,0,0,0,0,0
$GC,11977,1.08,324.6,70.2,9.3,519,12001,0.08,2.58,14.23,0.565,6,0.057,0.021,3311,2405,1775,0,0,0,0,0,0
$GC,12257,1.08,324.6,37.8,11.6,545,12261,0.00,2.42,0.00,0.000,4,0.000,0.039,3311,3927,1772,0,0,0,0,0,0
$GC,12291,1.08,324.6,33.6,12.6,547,12295,0.00,2.42,0.00,0.000,6,0.000,0.024,3311,2389,1772,0,0,0,0,0,0
$STATE,12530,end climb,SURFACE_DEPTH_REACHED
$STATE,12530,begin surface coast
$FINISH,-0.4,1.009727
$STATE,12566,end surface coast,CONTROL_FINISHED_OK
$STATE,12566,begin surface
$SM_CCo,12589,61.33,0.531,0,0,1468,400.08
$SM_GC,0.37,0.00,0.00,61.33,0.000,0.000,0.531,474,2165,1468,-11.96,-1.27,400.08
$IRIDIUM_FIX,2239.35,-15754.99,070603,060650
$TT8_MAMPS,0.026078
$HUMID,65.04
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,22.20
$XPDR_PINGS,39
$24V_AH,23.4,1.591
$10V_AH,10.5,1.340
$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,27.025,148.450,396.875,61.325,0.000,52.247,78.936,239.403,9.750,0.000,32.968,1198.257,8674.653,528.329,2169.587,652.520,33.328,1359.977,0.000,2154.226,0.000,0.536,0.000
$DEVICE_MAMPS,141.895,119.652,1036.984,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.109,336.130,426.688,626.089,1192.376,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356120
$DATA_FILE_SIZE,44817,586
$CAP_FILE_SIZE,128375,0
$CFSIZE,260165632,179646464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130314,093356,2246.987,-15758.820,26,2.2,45,10.1