version: 66.06
glider: 146
mission: 9
dive: 9
start: 3 13 114 13 18 1
data:
$ID,146
$MISSION,9
$DIVE,9
$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,-323270
$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,43
$R_STBD_OVSHOOT,34
$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
$GPS1,131023,2245.664,-15759.912,43,1.3,61,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-70.3
$GPS2,131707,2245.720,-15759.988,14,1.3,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.044,-0.165
$KALMAN_X,-2863.8,9.2,-174.7,-4494.5,-548.3
$KALMAN_Y,1747.1,26.2,-64.1,-8309.0,651.3
$MHEAD_RNG_PITCHd_Wd,155.0,1334,-27.6,-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,-1.80,-61.5,0.0,0.0,0,103,0.00,0.00,-80.75,0.000,6,0.000,0.000,469,2193,3346,0,0,0,0,0,0
$GC,106,-1.87,-115.3,1.9,-4.1,11,132,11.02,2.60,-4.85,0.000,4,0.130,0.058,2660,641,3573,0,0,0,0,0,0
$GC,195,-1.96,-115.3,21.7,-16.4,23,205,0.00,2.50,0.00,0.000,6,0.000,0.021,2660,2219,3574,0,0,0,0,0,0
$GC,474,-2.04,-115.3,67.3,-16.4,51,479,0.12,2.60,0.00,0.000,4,0.071,0.043,2616,634,3574,0,0,0,0,0,0
$GC,507,-2.04,-115.3,74.6,-18.1,53,517,0.00,2.47,0.00,0.000,6,0.000,0.018,2616,2218,3574,0,0,0,0,0,0
$GC,771,-2.09,-115.3,117.3,-16.1,78,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2218,3574,0,0,0,0,0,0
$GC,1023,-2.15,-115.3,156.1,-16.3,102,1027,0.00,2.58,0.00,0.000,4,0.000,0.045,2616,637,3574,0,0,0,0,0,0
$GC,1043,-2.20,-115.3,158.9,-16.2,103,1048,0.00,2.42,0.00,0.000,6,0.000,0.019,2616,2217,3574,0,0,0,0,0,0
$GC,1337,-2.28,-115.3,206.5,-15.7,127,1342,0.15,2.60,0.00,0.000,4,0.064,0.047,2562,637,3575,0,0,0,0,0,0
$GC,1358,-2.28,-115.3,210.6,-16.6,127,1362,0.00,2.40,0.00,0.000,6,0.000,0.028,2562,2198,3575,0,0,0,0,0,0
$GC,1620,-2.28,-115.3,252.5,-15.8,134,1625,0.00,2.55,0.00,0.000,4,0.000,0.048,2562,646,3575,0,0,0,0,0,0
$GC,1659,-2.28,-115.3,258.8,-16.0,135,1664,0.00,2.42,0.00,0.000,6,0.000,0.032,2562,2198,3575,0,0,0,0,0,0
$GC,1943,-2.28,-115.3,302.9,-15.4,142,1947,0.00,2.60,0.00,0.000,4,0.000,0.048,2562,3786,3575,0,0,0,0,0,0
$GC,2110,-2.28,-115.3,330.0,-15.6,145,2116,0.00,2.50,0.00,0.000,6,0.000,0.031,2562,2229,3575,0,0,0,0,0,0
$GC,2360,-2.28,-115.3,364.3,-13.4,152,2364,0.00,2.80,0.00,0.000,4,0.000,0.080,2562,632,3575,0,0,0,0,0,0
$GC,2426,-2.28,-115.3,373.8,-14.6,153,2430,0.00,2.53,0.00,0.000,6,0.000,0.042,2562,2187,3574,0,0,0,0,0,0
$GC,2682,-2.32,-115.3,408.0,-13.3,160,2687,0.00,2.70,0.00,0.000,4,0.000,0.062,2562,3793,3573,0,0,0,0,0,0
$GC,2725,-2.32,-115.3,414.2,-13.6,161,2730,0.00,2.62,0.00,0.000,6,0.000,0.049,2562,2197,3573,0,0,0,0,0,0
$GC,3004,-2.36,-115.3,448.9,-12.6,168,3009,0.00,2.75,0.00,0.000,4,0.000,0.071,2562,3796,3571,0,0,0,0,0,0
$GC,3071,-2.41,-115.3,458.3,-13.3,169,3075,0.00,2.67,0.00,0.000,6,0.000,0.051,2562,2190,3571,0,0,0,0,0,0
$GC,3326,-2.47,-115.3,491.2,-13.0,176,3328,0.10,0.00,0.00,0.000,6,0.088,0.000,2528,2190,3569,0,0,0,0,0,0
$GC,3570,-2.47,-115.3,526.2,-14.4,182,3575,0.00,2.83,0.00,0.000,4,0.000,0.085,2528,3789,3567,0,0,0,0,0,0
$GC,3602,-2.47,-115.3,531.2,-14.7,182,3608,0.00,2.70,0.00,0.000,6,0.000,0.067,2527,2211,3567,0,0,0,0,0,0
$GC,3852,-2.47,-115.3,565.4,-13.8,189,3857,0.00,2.83,0.00,0.000,4,0.000,0.091,2527,3788,3565,0,0,0,0,0,0
$GC,3919,-2.47,-115.3,575.3,-14.8,190,3924,0.00,2.78,0.00,0.000,6,0.000,0.074,2527,2214,3564,0,0,0,0,0,0
$STATE,4131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4131,begin apogee
$GC,4137,-0.31,0.0,605.4,14.1,196,4235,2.17,0.00,93.70,1.012,6,0.091,0.000,3004,2369,3100,0,0,0,0,0,0
$STATE,4236,end apogee,CONTROL_FINISHED_OK
$STATE,4236,begin climb
$GC,4239,1.87,115.3,607.3,0.0,198,4346,2.00,2.95,96.65,0.987,4,0.033,0.100,3487,3941,2628,0,0,0,0,0,0
$GC,4357,1.63,115.3,600.5,13.5,201,4363,0.28,2.83,0.00,0.000,6,0.130,0.076,3435,2370,2626,0,0,0,0,0,0
$GC,4613,1.51,115.3,563.8,14.3,208,4619,0.15,2.85,0.00,0.000,4,0.135,0.083,3407,3934,2620,0,0,0,0,0,0
$GC,4715,1.40,115.3,549.7,14.0,210,4720,0.12,2.70,0.00,0.000,6,0.140,0.059,3383,2374,2619,0,0,0,0,0,0
$GC,4982,1.40,115.3,519.8,10.8,217,4986,0.00,2.75,0.00,0.000,4,0.000,0.068,3383,3942,2617,0,0,0,0,0,0
$GC,5201,1.33,115.3,495.3,10.4,222,5205,0.00,2.62,0.00,0.000,6,0.000,0.044,3383,2386,2615,0,0,0,0,0,0
$GC,5484,1.34,117.8,467.9,9.7,229,5489,0.00,3.03,0.00,0.000,4,0.000,0.110,3383,775,2613,0,0,0,0,0,0
$GC,5512,1.30,117.8,464.9,11.1,229,5517,0.12,2.72,0.00,0.000,6,0.150,0.048,3362,2392,2612,0,0,0,0,0,0
$GC,5761,1.30,119.4,440.6,9.8,235,5766,0.00,2.83,0.00,0.000,4,0.000,0.074,3362,777,2611,0,0,0,0,0,0
$GC,5782,1.30,119.4,438.3,10.4,235,5787,0.00,2.70,0.00,0.000,6,0.000,0.051,3362,2391,2611,0,0,0,0,0,0
$GC,6039,1.30,119.4,412.1,10.2,242,6043,0.00,2.62,0.00,0.000,4,0.000,0.060,3362,3940,2610,0,0,0,0,0,0
$GC,6082,1.30,119.4,407.4,10.2,243,6087,0.00,2.55,0.00,0.000,6,0.000,0.035,3362,2369,2610,0,0,0,0,0,0
$GC,6361,1.35,119.6,379.2,10.0,250,6365,0.00,2.65,0.00,0.000,4,0.000,0.057,3362,3941,2610,0,0,0,0,0,0
$GC,6545,1.35,119.6,359.0,11.4,254,6549,0.00,2.50,0.00,0.000,6,0.000,0.030,3362,2398,2609,0,0,0,0,0,0
$GC,6824,1.42,131.1,334.5,8.8,261,6842,0.00,2.83,11.43,0.798,4,0.000,0.070,3362,782,2564,0,0,0,0,0,0
$GC,6900,1.43,141.0,328.2,8.9,262,6916,0.10,2.62,9.88,0.771,6,0.105,0.034,3388,2406,2525,0,0,0,0,0,0
$GC,7196,1.44,147.9,300.2,9.3,270,7205,0.00,0.00,7.00,0.706,6,0.000,0.000,3388,2406,2497,0,0,0,0,0,0
$GC,7439,1.44,148.1,275.7,10.0,276,7443,0.00,2.55,0.00,0.000,4,0.000,0.051,3388,3940,2495,0,0,0,0,0,0
$GC,7580,1.44,149.7,260.3,9.8,279,7584,0.00,2.45,0.00,0.000,6,0.000,0.027,3387,2391,2494,0,0,0,0,0,0
$GC,7853,1.48,149.7,231.5,10.9,286,7857,0.00,2.55,0.00,0.000,4,0.000,0.053,3388,3932,2494,0,0,0,0,0,0
$GC,8111,1.48,149.7,203.2,10.3,291,8117,0.00,2.40,0.00,0.000,6,0.000,0.028,3388,2421,2494,0,0,0,0,0,0
$GC,8377,1.55,161.0,181.4,8.8,313,8400,0.10,2.55,12.48,0.676,4,0.091,0.045,3418,3930,2442,0,0,0,0,0,0
$GC,8563,1.55,161.0,157.6,14.4,329,8567,0.00,2.40,0.00,0.000,6,0.000,0.025,3418,2410,2440,0,0,0,0,0,0
$GC,8831,1.55,161.0,125.3,10.4,354,8835,0.00,2.53,0.00,0.000,4,0.000,0.046,3418,3940,2441,0,0,0,0,0,0
$GC,8865,1.55,161.0,120.6,14.2,356,8875,0.00,2.45,0.00,0.000,6,0.000,0.025,3418,2410,2440,0,0,0,0,0,0
$GC,9132,1.59,161.0,93.2,10.4,381,9136,0.00,2.50,0.00,0.000,4,0.000,0.052,3418,3937,2440,0,0,0,0,0,0
$GC,9384,1.59,161.0,66.3,11.1,401,9389,0.00,2.40,0.00,0.000,6,0.000,0.025,3418,2401,2441,0,0,0,0,0,0
$GC,9654,1.66,168.2,42.4,9.2,425,9667,0.00,2.55,7.80,0.501,4,0.000,0.047,3418,3937,2415,0,0,0,0,0,0
$GC,9758,1.66,168.2,30.5,11.4,433,9767,0.00,2.40,0.00,0.000,6,0.000,0.024,3419,2427,2414,0,0,0,0,0,0
$STATE,10001,end climb,SURFACE_DEPTH_REACHED
$STATE,10001,begin surface coast
$FINISH,-0.2,1.023792
$STATE,10043,end surface coast,CONTROL_FINISHED_OK
$STATE,10043,begin surface
$SM_CCo,10066,185.38,0.532,0,0,1469,400.08
$SM_GC,0.32,0.00,0.00,185.38,0.000,0.000,0.532,472,2196,1469,-11.97,-0.40,400.08
$IRIDIUM_FIX,2237.01,-15800.20,070603,090946
$TT8_MAMPS,0.025311
$HUMID,59.01
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.30
$XPDR_PINGS,310
$24V_AH,23.4,1.854
$10V_AH,10.4,1.567
$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,28.300,131.550,238.925,185.375,0.000,24.662,41.815,201.017,77.500,0.000,15.660,1031.181,6558.830,533.799,2006.426,524.490,33.356,1295.116,0.000,1998.729,0.000,0.535,0.000
$DEVICE_MAMPS,150.332,109.681,1012.440,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.238,274.177,348.652,539.077,1023.581,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356132
$DATA_FILE_SIZE,38308,475
$CAP_FILE_SIZE,109109,0
$CFSIZE,260165632,179556352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130314,161059,2245.230,-15800.021,85,1.4,85,10.1