version: 66.06
glider: 146
mission: 9
dive: 8
start: 3 13 114 9 41 58
data:
$ID,146
$MISSION,9
$DIVE,8
$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,-323253.72
$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,65
$R_STBD_OVSHOOT,36
$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
$GPS1,093356,2246.987,-15758.820,26,2.2,45,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-71.1
$GPS2,094105,2247.001,-15758.888,10,1.4,26,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.073,-0.249
$KALMAN_X,-1813.6,-40.2,-166.4,-3621.3,-628.8
$KALMAN_Y,896.1,250.2,-50.2,-5321.4,72.3
$MHEAD_RNG_PITCHd_Wd,186.1,4164,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-91.45,0.000,6,0.000,0.000,473,2166,3697,0,0,0,0,0,0
$GC,114,-1.27,-146.0,3.6,-9.5,12,131,11.70,2.42,0.00,0.000,4,0.131,0.037,2789,662,3696,0,0,0,0,0,0
$GC,233,-1.33,-146.0,27.5,-10.2,29,243,0.00,2.45,0.00,0.000,6,0.000,0.021,2789,2212,3698,0,0,0,0,0,0
$GC,507,-1.33,-146.0,53.8,-9.7,55,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2213,3698,0,0,0,0,0,0
$GC,773,-1.37,-146.0,81.0,-9.9,80,778,0.00,2.50,0.00,0.000,4,0.000,0.044,2789,666,3698,0,0,0,0,0,0
$GC,828,-1.43,-146.0,86.7,-9.9,84,833,0.12,2.38,0.00,0.000,6,0.072,0.020,2744,2215,3698,0,0,0,0,0,0
$GC,1090,-1.43,-146.0,117.1,-12.1,108,1094,0.00,2.50,0.00,0.000,4,0.000,0.044,2743,667,3699,0,0,0,0,0,0
$GC,1112,-1.43,-146.0,120.1,-12.4,109,1118,0.00,2.38,0.00,0.000,6,0.000,0.028,2743,2218,3699,0,0,0,0,0,0
$GC,1376,-1.43,-146.0,147.0,-9.5,134,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2218,3699,0,0,0,0,0,0
$GC,1628,-1.43,-146.0,169.6,-9.5,158,1632,0.00,2.47,0.00,0.000,4,0.000,0.041,2744,3778,3699,0,0,0,0,0,0
$GC,1646,-1.43,-146.0,171.2,-9.6,159,1650,0.00,2.38,0.00,0.000,6,0.000,0.021,2743,2238,3699,0,0,0,0,0,0
$GC,1918,-1.43,-146.0,197.1,-9.3,184,1922,0.00,2.62,0.00,0.000,4,0.000,0.050,2743,639,3700,0,0,0,0,0,0
$GC,2024,-1.43,-146.0,208.0,-9.4,188,2028,0.00,2.42,0.00,0.000,6,0.000,0.021,2744,2201,3700,0,0,0,0,0,0
$GC,2285,-1.43,-146.0,232.6,-9.5,195,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2201,3700,0,0,0,0,0,0
$GC,2530,-1.48,-146.0,254.7,-9.2,201,2534,0.00,2.60,0.00,0.000,4,0.000,0.053,2743,639,3700,0,0,0,0,0,0
$GC,2570,-1.54,-146.0,258.4,-9.4,202,2574,0.00,2.45,0.00,0.000,6,0.000,0.024,2743,2202,3700,0,0,0,0,0,0
$GC,2854,-1.59,-146.0,282.8,-8.4,209,2858,0.00,2.60,0.00,0.000,4,0.000,0.051,2743,3785,3699,0,0,0,0,0,0
$GC,2882,-1.64,-146.0,285.2,-8.5,209,2887,0.12,2.47,0.00,0.000,6,0.072,0.031,2699,2211,3699,0,0,0,0,0,0
$GC,3131,-1.64,-146.0,310.3,-10.3,215,3136,0.00,2.60,0.00,0.000,4,0.000,0.050,2699,3791,3699,0,0,0,0,0,0
$GC,3160,-1.64,-146.0,313.3,-10.7,215,3164,0.00,2.50,0.00,0.000,6,0.000,0.029,2699,2216,3699,0,0,0,0,0,0
$GC,3409,-1.64,-146.0,341.1,-11.0,221,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2215,3698,0,0,0,0,0,0
$GC,3654,-1.64,-146.0,365.3,-9.8,227,3659,0.00,2.78,0.00,0.000,4,0.000,0.083,2698,628,3697,0,0,0,0,0,0
$GC,3686,-1.64,-146.0,368.7,-10.1,227,3692,0.00,2.55,0.00,0.000,6,0.000,0.044,2698,2196,3696,0,0,0,0,0,0
$GC,3937,-1.64,-146.0,391.5,-9.1,234,3941,0.00,2.72,0.00,0.000,4,0.000,0.074,2698,626,3695,0,0,0,0,0,0
$GC,3964,-1.64,-146.0,394.4,-10.3,234,3969,0.00,2.58,0.00,0.000,6,0.000,0.041,2698,2212,3695,0,0,0,0,0,0
$GC,4214,-1.64,-146.0,418.5,-9.8,240,4218,0.00,2.65,0.00,0.000,4,0.000,0.061,2698,3796,3693,0,0,0,0,0,0
$GC,4235,-1.64,-146.0,420.8,-9.8,240,4240,0.00,2.58,0.00,0.000,6,0.000,0.041,2698,2207,3692,0,0,0,0,0,0
$GC,4492,-1.64,-146.0,445.6,-9.8,247,4496,0.00,2.70,0.00,0.000,4,0.000,0.067,2698,3793,3691,0,0,0,0,0,0
$GC,4524,-1.64,-146.0,448.9,-9.3,247,4530,0.00,2.62,0.00,0.000,6,0.000,0.048,2698,2214,3691,0,0,0,0,0,0
$GC,4775,-1.64,-146.0,471.6,-9.0,254,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2214,3689,0,0,0,0,0,0
$GC,5019,-1.64,-146.0,493.5,-9.0,260,5023,0.00,2.70,0.00,0.000,4,0.000,0.071,2698,3788,3687,0,0,0,0,0,0
$GC,5053,-1.64,-146.0,496.7,-9.7,260,5059,0.00,2.67,0.00,0.000,6,0.000,0.052,2699,2202,3687,0,0,0,0,0,0
$GC,5303,-1.64,-146.0,519.4,-8.9,267,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2201,3686,0,0,0,0,0,0
$GC,5547,-1.64,-146.0,541.8,-9.3,273,5551,0.00,3.00,0.00,0.000,4,0.000,0.121,2698,621,3684,0,0,0,0,0,0
$GC,5563,-1.64,-146.0,543.4,-9.3,273,5568,0.00,2.72,0.00,0.000,6,0.000,0.067,2698,2213,3684,0,0,0,0,0,0
$GC,5824,-1.64,-146.0,566.7,-8.9,280,5829,0.00,2.83,0.00,0.000,4,0.000,0.094,2698,3794,3683,0,0,0,0,0,0
$GC,5845,-1.64,-146.0,568.8,-8.8,280,5850,0.00,2.75,0.00,0.000,6,0.000,0.064,2698,2200,3682,0,0,0,0,0,0
$GC,6102,-1.64,-146.0,590.9,-8.8,287,6107,0.00,2.88,0.00,0.000,4,0.000,0.093,2698,3794,3680,0,0,0,0,0,0
$GC,6157,-1.68,-146.0,596.2,-9.6,288,6162,0.00,2.80,0.00,0.000,6,0.000,0.081,2698,2215,3680,0,0,0,0,0,0
$STATE,6218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6218,begin apogee
$GC,6225,-0.31,0.0,601.4,8.4,290,6346,1.38,0.00,116.82,1.032,6,0.074,0.000,3010,2375,3100,0,0,0,0,0,0
$STATE,6346,end apogee,CONTROL_FINISHED_OK
$STATE,6346,begin climb
$GC,6349,1.27,146.0,605.2,0.0,293,6482,1.40,2.92,122.47,1.002,4,0.035,0.100,3351,3933,2503,0,0,0,0,0,0
$GC,6628,0.97,146.0,577.8,15.5,299,6633,0.32,2.75,0.00,0.000,6,0.162,0.065,3287,2371,2496,0,0,0,0,0,0
$GC,6884,0.84,146.0,548.0,11.5,306,6889,0.15,2.80,0.00,0.000,4,0.141,0.080,3259,3933,2492,0,0,0,0,0,0
$GC,6941,0.72,146.0,541.5,11.1,307,6946,0.12,2.70,0.00,0.000,6,0.138,0.054,3235,2366,2492,0,0,0,0,0,0
$GC,7208,0.74,166.3,516.5,9.1,314,7232,0.00,3.15,16.58,0.919,4,0.000,0.119,3235,780,2421,0,0,0,0,0,0
$GC,7252,0.71,180.0,512.6,9.4,315,7271,0.00,2.75,13.50,0.890,6,0.000,0.058,3235,2368,2366,0,0,0,0,0,0
$GC,7538,0.73,191.4,485.5,9.5,322,7551,0.00,0.00,11.25,0.871,6,0.000,0.000,3235,2369,2319,0,0,0,0,0,0
$GC,7782,0.73,198.1,461.9,9.7,328,7796,0.00,2.78,7.35,0.798,4,0.000,0.065,3235,3939,2291,0,0,0,0,0,0
$GC,7809,0.73,198.1,459.0,10.2,328,7814,0.00,2.65,0.00,0.000,6,0.000,0.044,3235,2365,2291,0,0,0,0,0,0
$GC,8064,0.74,199.8,433.4,9.9,335,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2365,2289,0,0,0,0,0,0
$GC,8308,0.74,203.8,409.3,9.8,341,8321,0.00,2.70,6.32,0.751,4,0.000,0.062,3235,3939,2268,0,0,0,0,0,0
$GC,8333,0.76,221.8,407.0,9.2,341,8358,0.00,2.60,17.50,0.870,6,0.000,0.040,3234,2366,2194,0,0,0,0,0,0
$GC,8638,0.80,248.8,380.3,8.8,349,8668,0.00,2.88,24.20,0.873,4,0.000,0.083,3235,785,2085,0,0,0,0,0,0
$GC,8690,0.80,248.8,374.9,10.9,350,8695,0.00,2.60,0.00,0.000,6,0.000,0.036,3235,2379,2082,0,0,0,0,0,0
$GC,8956,0.80,248.8,348.1,10.1,357,8961,0.00,2.75,0.00,0.000,4,0.000,0.064,3235,784,2080,0,0,0,0,0,0
$GC,8972,0.80,248.8,346.3,10.2,357,8976,0.00,2.58,0.00,0.000,6,0.000,0.038,3235,2374,2080,0,0,0,0,0,0
$GC,9239,0.85,260.7,320.6,9.5,364,9258,0.10,2.75,11.30,0.786,4,0.096,0.059,3262,777,2036,0,0,0,0,0,0
$GC,9275,0.82,260.7,316.8,10.5,364,9280,0.00,2.60,0.00,0.000,6,0.000,0.030,3262,2376,2034,0,0,0,0,0,0
$GC,9524,0.82,260.7,290.1,10.7,371,9529,0.00,2.60,0.00,0.000,4,0.000,0.054,3262,3928,2033,0,0,0,0,0,0
$GC,9586,0.82,260.7,282.7,12.4,372,9591,0.00,2.50,0.00,0.000,6,0.000,0.035,3262,2376,2032,0,0,0,0,0,0
$GC,9846,0.82,260.7,254.5,10.8,379,9851,0.00,2.60,0.00,0.000,4,0.000,0.051,3262,3928,2032,0,0,0,0,0,0
$GC,9902,0.82,260.7,248.1,11.5,380,9906,0.00,2.47,0.00,0.000,6,0.000,0.028,3262,2394,2032,0,0,0,0,0,0
$GC,10169,0.82,268.2,221.7,9.7,387,10184,0.00,2.75,7.57,0.664,4,0.000,0.056,3262,789,2006,0,0,0,0,0,0
$GC,10229,0.82,268.2,215.5,10.5,388,10234,0.00,2.58,0.00,0.000,6,0.000,0.026,3262,2404,2004,0,0,0,0,0,0
$GC,10494,0.82,268.2,189.2,10.3,400,10499,0.00,2.67,0.00,0.000,4,0.000,0.048,3262,787,2004,0,0,0,0,0,0
$GC,10539,0.82,268.2,183.8,11.5,403,10544,0.00,2.55,0.00,0.000,6,0.000,0.025,3262,2402,2004,0,0,0,0,0,0
$GC,10801,0.82,268.2,155.5,10.7,428,10805,0.00,2.50,0.00,0.000,4,0.000,0.047,3262,3928,2004,0,0,0,0,0,0
$GC,10854,0.82,268.2,149.4,11.0,432,10858,0.00,2.45,0.00,0.000,6,0.000,0.023,3262,2378,2003,0,0,0,0,0,0
$GC,11116,0.87,268.2,122.0,10.4,456,11121,0.00,2.58,0.00,0.000,4,0.000,0.048,3262,794,2004,0,0,0,0,0,0
$GC,11151,0.92,268.2,118.2,10.7,458,11161,0.00,2.55,0.00,0.000,6,0.000,0.025,3262,2396,2004,0,0,0,0,0,0
$GC,11417,1.00,274.3,92.5,9.7,483,11432,0.12,2.58,6.95,0.533,4,0.084,0.048,3298,3932,1981,0,0,0,0,0,0
$GC,11466,1.00,274.3,86.8,12.3,487,11471,0.00,2.45,0.00,0.000,6,0.000,0.025,3298,2388,1980,0,0,0,0,0,0
$GC,11732,1.00,274.3,58.4,10.5,511,11737,0.00,2.60,0.00,0.000,4,0.000,0.046,3298,789,1980,0,0,0,0,0,0
$GC,11767,1.00,274.3,53.8,11.1,513,11776,0.00,2.55,0.00,0.000,6,0.000,0.022,3297,2399,1980,0,0,0,0,0,0
$GC,12046,1.00,274.3,23.3,11.3,542,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2399,1980,0,0,0,0,0,0
$STATE,12226,end climb,SURFACE_DEPTH_REACHED
$STATE,12226,begin surface coast
$FINISH,-0.3,0.998756
$STATE,12278,end surface coast,CONTROL_FINISHED_OK
$STATE,12278,begin surface
$SM_CCo,12299,102.60,0.535,0,0,1469,400.08
$SM_GC,0.29,0.00,0.00,102.60,0.000,0.000,0.535,470,2193,1469,-11.98,-0.48,400.08
$IRIDIUM_FIX,2237.01,-15800.20,070603,060644
$TT8_MAMPS,0.026078
$HUMID,61.93
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.30
$XPDR_PINGS,594
$24V_AH,23.4,1.738
$10V_AH,10.4,1.461
$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,26.925,168.800,361.825,102.600,0.000,27.831,37.588,211.875,148.500,0.000,29.169,1197.661,8323.825,572.236,2151.015,583.747,33.336,1405.381,0.000,2143.639,0.000,0.535,0.000
$DEVICE_MAMPS,161.837,121.186,1031.615,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,391.288,331.183,421.032,638.855,1216.597,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356156
$DATA_FILE_SIZE,44809,576
$CAP_FILE_SIZE,129876,0
$CFSIZE,260165632,179589120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130314,131023,2245.664,-15759.912,43,1.3,61,10.1