version: 66.06
glider: 146
mission: 9
dive: 11
start: 3 13 114 19 7 9
data:
$ID,146
$MISSION,9
$DIVE,11
$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,-323337.81
$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,63
$R_STBD_OVSHOOT,14
$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
$GPS1,185951,2245.236,-15759.871,11,2.1,30,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-69.7
$GPS2,190615,2245.248,-15759.954,15,2.2,34,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.113,-0.234
$KALMAN_X,-4642.9,-195.0,107.7,-2736.1,-1240.2
$KALMAN_Y,3600.3,187.7,232.6,-11498.8,597.1
$MHEAD_RNG_PITCHd_Wd,195.7,13567,-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,16,-1.27,-146.0,0.0,0.0,0,105,0.00,0.00,-86.50,0.000,2,0.000,0.000,470,2166,3585,0,0,0,0,0,0
$GC,108,-1.27,-146.0,3.1,-7.8,11,134,11.75,2.50,-2.05,0.000,4,0.132,0.055,2787,668,3697,0,0,0,0,0,0
$GC,270,-1.33,-146.0,29.8,-10.6,34,280,0.00,2.50,0.00,0.000,6,0.000,0.022,2788,2241,3698,0,0,0,0,0,0
$GC,538,-1.33,-146.0,55.6,-9.0,59,543,0.00,2.58,0.00,0.000,4,0.000,0.041,2788,656,3698,0,0,0,0,0,0
$GC,597,-1.37,-146.0,61.2,-9.2,63,601,0.00,2.42,0.00,0.000,6,0.000,0.018,2787,2217,3699,0,0,0,0,0,0
$GC,864,-1.43,-146.0,85.9,-9.0,87,869,0.10,0.00,0.00,0.000,6,0.084,0.000,2746,2218,3699,0,0,0,0,0,0
$GC,1125,-1.43,-146.0,114.4,-10.3,112,1129,0.00,2.53,0.00,0.000,4,0.000,0.044,2746,662,3699,0,0,0,0,0,0
$GC,1153,-1.43,-146.0,117.4,-10.8,114,1157,0.00,2.38,0.00,0.000,6,0.000,0.022,2746,2200,3699,0,0,0,0,0,0
$GC,1426,-1.43,-146.0,145.2,-9.8,139,1431,0.00,2.50,0.00,0.000,4,0.000,0.044,2746,660,3700,0,0,0,0,0,0
$GC,1471,-1.43,-146.0,150.5,-10.2,142,1481,0.00,2.40,0.00,0.000,6,0.000,0.025,2747,2189,3700,0,0,0,0,0,0
$GC,1734,-1.43,-146.0,178.0,-10.6,167,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2189,3700,0,0,0,0,0,0
$GC,2016,-1.43,-146.0,204.3,-8.8,191,2021,0.00,2.50,0.00,0.000,4,0.000,0.048,2746,658,3701,0,0,0,0,0,0
$GC,2045,-1.43,-146.0,207.0,-9.7,191,2049,0.00,2.38,0.00,0.000,6,0.000,0.026,2746,2194,3701,0,0,0,0,0,0
$GC,2295,-1.43,-146.0,231.5,-9.9,197,2299,0.00,2.53,0.00,0.000,4,0.000,0.047,2746,659,3701,0,0,0,0,0,0
$GC,2316,-1.43,-146.0,233.7,-10.1,197,2320,0.00,2.38,0.00,0.000,6,0.000,0.022,2746,2196,3701,0,0,0,0,0,0
$GC,2578,-1.48,-146.0,256.7,-8.5,204,2582,0.00,2.58,0.00,0.000,4,0.000,0.053,2746,3776,3700,0,0,0,0,0,0
$GC,2634,-1.56,-146.0,261.8,-9.0,205,2639,0.00,2.42,0.00,0.000,6,0.000,0.031,2746,2236,3701,0,0,0,0,0,0
$GC,2901,-1.61,-146.0,284.8,-8.5,212,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2236,3700,0,0,0,0,0,0
$GC,3145,-1.67,-146.0,304.3,-8.0,218,3151,0.15,2.72,0.00,0.000,4,0.064,0.064,2697,635,3699,0,0,0,0,0,0
$GC,3173,-1.67,-146.0,307.1,-9.9,218,3177,0.00,2.47,0.00,0.000,6,0.000,0.030,2697,2195,3699,0,0,0,0,0,0
$GC,3423,-1.67,-146.0,332.2,-10.0,224,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2195,3698,0,0,0,0,0,0
$GC,3667,-1.67,-146.0,354.3,-8.8,230,3672,0.00,2.65,0.00,0.000,4,0.000,0.066,2696,638,3697,0,0,0,0,0,0
$GC,3734,-1.67,-146.0,360.7,-9.5,231,3738,0.00,2.55,0.00,0.000,6,0.000,0.037,2697,2213,3697,0,0,0,0,0,0
$GC,3989,-1.67,-146.0,383.0,-8.7,238,3993,0.00,2.65,0.00,0.000,4,0.000,0.058,2697,3798,3695,0,0,0,0,0,0
$GC,4033,-1.67,-146.0,387.3,-9.5,239,4038,0.00,2.55,0.00,0.000,6,0.000,0.044,2696,2230,3695,0,0,0,0,0,0
$GC,4311,-1.67,-146.0,413.2,-9.2,246,4316,0.00,2.85,0.00,0.000,4,0.000,0.091,2697,628,3693,0,0,0,0,0,0
$GC,4338,-1.67,-146.0,415.7,-9.5,246,4343,0.00,2.62,0.00,0.000,6,0.000,0.044,2697,2221,3693,0,0,0,0,0,0
$GC,4589,-1.67,-146.0,437.8,-8.8,252,4594,0.00,2.83,0.00,0.000,4,0.000,0.080,2697,621,3691,0,0,0,0,0,0
$GC,4616,-1.67,-146.0,440.5,-9.3,252,4621,0.00,2.60,0.00,0.000,6,0.000,0.046,2697,2206,3691,0,0,0,0,0,0
$GC,4866,-1.67,-146.0,462.2,-8.4,258,4871,0.00,2.80,0.00,0.000,4,0.000,0.084,2697,629,3689,0,0,0,0,0,0
$GC,4883,-1.67,-146.0,463.8,-8.4,258,4888,0.00,2.62,0.00,0.000,6,0.000,0.050,2697,2205,3689,0,0,0,0,0,0
$GC,5144,-1.67,-146.0,487.4,-9.1,265,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2205,3688,0,0,0,0,0,0
$GC,5388,-1.67,-146.0,508.6,-8.6,271,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2205,3686,0,0,0,0,0,0
$GC,5633,-1.67,-146.0,529.8,-8.6,277,5637,0.00,2.80,0.00,0.000,4,0.000,0.081,2697,3801,3685,0,0,0,0,0,0
$GC,5673,-1.67,-146.0,533.4,-9.5,278,5677,0.00,2.70,0.00,0.000,6,0.000,0.054,2697,2205,3684,0,0,0,0,0,0
$GC,5956,-1.67,-146.0,557.8,-8.7,285,5960,0.00,2.80,0.00,0.000,4,0.000,0.081,2697,3791,3682,0,0,0,0,0,0
$GC,6012,-1.67,-146.0,563.4,-9.9,286,6016,0.00,2.70,0.00,0.000,6,0.000,0.064,2697,2212,3682,0,0,0,0,0,0
$GC,6278,-1.67,-146.0,587.4,-8.8,293,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2212,3680,0,0,0,0,0,0
$STATE,6438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6438,begin apogee
$GC,6444,-0.31,0.0,601.7,8.8,297,6564,1.38,0.00,116.75,1.033,6,0.075,0.000,3008,2372,3100,0,0,0,0,0,0
$STATE,6565,end apogee,CONTROL_FINISHED_OK
$STATE,6565,begin climb
$GC,6568,1.27,146.0,605.7,0.0,300,6701,1.42,2.95,122.25,1.003,4,0.034,0.093,3356,3940,2503,0,0,0,0,0,0
$GC,6718,0.97,146.0,598.4,13.1,303,6724,0.35,2.78,0.00,0.000,6,0.113,0.068,3286,2373,2500,0,0,0,0,0,0
$GC,6969,0.83,146.0,568.3,11.9,309,6971,0.15,0.00,0.00,0.000,6,0.138,0.000,3259,2373,2495,0,0,0,0,0,0
$GC,7212,0.75,152.2,544.1,9.7,315,7222,0.00,2.78,5.03,0.707,4,0.000,0.075,3259,3937,2479,0,0,0,0,0,0
$GC,7269,0.64,152.2,538.5,10.2,316,7275,0.20,2.67,0.00,0.000,6,0.121,0.053,3218,2370,2477,0,0,0,0,0,0
$GC,7536,0.70,195.0,517.1,8.0,323,7577,0.00,0.00,38.53,0.960,6,0.000,0.000,3218,2369,2305,0,0,0,0,0,0
$GC,7821,0.71,205.6,490.2,9.5,330,7833,0.00,0.00,10.27,0.866,6,0.000,0.000,3219,2369,2261,0,0,0,0,0,0
$GC,8066,0.72,214.6,467.3,9.6,336,8077,0.00,0.00,9.10,0.840,6,0.000,0.000,3218,2369,2225,0,0,0,0,0,0
$GC,8309,0.73,218.6,443.1,9.8,342,8319,0.00,2.90,4.88,0.685,4,0.000,0.092,3218,780,2208,0,0,0,0,0,0
$GC,8336,0.74,232.1,440.2,9.4,342,8355,0.00,2.67,13.77,0.873,6,0.000,0.048,3218,2386,2153,0,0,0,0,0,0
$GC,8637,0.81,252.2,412.5,9.1,350,8658,0.15,0.00,18.80,0.884,6,0.081,0.000,3256,2386,2071,0,0,0,0,0,0
$GC,8877,0.81,252.2,386.0,11.0,356,8878,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2386,2067,0,0,0,0,0,0
$GC,9121,0.81,252.2,358.3,11.1,362,9125,0.00,2.60,0.00,0.000,4,0.000,0.054,3256,3942,2066,0,0,0,0,0,0
$GC,9145,0.81,252.2,355.7,11.6,362,9149,0.00,2.60,0.00,0.000,6,0.000,0.031,3256,2357,2065,0,0,0,0,0,0
$GC,9399,0.81,252.2,327.6,10.9,369,9404,0.00,2.72,0.00,0.000,4,0.000,0.070,3255,786,2065,0,0,0,0,0,0
$GC,9448,0.81,252.2,321.7,11.6,370,9453,0.00,2.58,0.00,0.000,6,0.000,0.036,3256,2375,2064,0,0,0,0,0,0
$GC,9722,0.81,252.2,293.7,10.4,377,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2375,2064,0,0,0,0,0,0
$GC,9965,0.82,254.6,268.8,9.9,383,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2375,2064,0,0,0,0,0,0
$GC,10208,0.82,258.2,245.1,9.8,389,10219,0.00,2.58,5.53,0.626,4,0.000,0.049,3256,3928,2046,0,0,0,0,0,0
$GC,10304,0.82,258.2,233.8,12.3,391,10309,0.00,2.55,0.00,0.000,6,0.000,0.028,3256,2348,2046,0,0,0,0,0,0
$GC,10576,0.86,259.5,206.4,9.9,398,10581,0.00,2.60,0.00,0.000,4,0.000,0.052,3256,785,2046,0,0,0,0,0,0
$GC,10639,0.90,259.5,199.6,10.9,399,10643,0.00,2.47,0.00,0.000,6,0.000,0.025,3256,2359,2045,0,0,0,0,0,0
$GC,10902,0.97,281.3,174.2,9.0,423,10930,0.12,2.62,21.55,0.696,4,0.086,0.044,3288,3930,1952,0,0,0,0,0,0
$GC,10952,0.97,281.3,168.8,13.0,427,10957,0.00,2.55,0.00,0.000,6,0.000,0.025,3288,2344,1951,0,0,0,0,0,0
$GC,11218,0.97,281.3,133.6,12.9,451,11223,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2344,1950,0,0,0,0,0,0
$GC,11480,0.97,281.3,102.4,11.2,476,11485,0.00,2.55,0.00,0.000,4,0.000,0.044,3288,782,1950,0,0,0,0,0,0
$GC,11509,0.97,281.3,99.1,11.0,478,11513,0.00,2.47,0.00,0.000,6,0.000,0.023,3288,2362,1950,0,0,0,0,0,0
$GC,11776,0.97,281.3,70.8,11.1,502,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2362,1949,0,0,0,0,0,0
$GC,12043,0.97,281.3,43.1,10.3,527,12052,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2362,1949,0,0,0,0,0,0
$GC,12344,0.98,285.9,11.5,9.8,565,12354,0.00,2.60,5.55,0.433,4,0.000,0.041,3289,3927,1934,0,0,0,0,0,0
$STATE,12409,end climb,SURFACE_DEPTH_REACHED
$STATE,12409,begin surface coast
$FINISH,1.1,1.023676
$STATE,12431,end surface coast,CONTROL_FINISHED_OK
$STATE,12431,begin surface
$SM_CCo,12455,92.10,0.535,0,0,1468,400.08
$SM_GC,0.22,0.00,0.00,92.10,0.000,0.000,0.535,474,2202,1468,-11.96,-0.23,400.08
$IRIDIUM_FIX,2237.01,-15800.20,070603,161644
$TT8_MAMPS,0.026078
$HUMID,61.18
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.20
$XPDR_PINGS,61
$24V_AH,23.4,2.091
$10V_AH,10.4,1.783
$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,27.200,130.800,372.000,92.100,0.000,24.272,32.902,182.711,15.250,0.000,37.123,1164.523,8619.094,546.523,2085.847,520.826,33.346,1318.633,0.000,2068.918,0.000,0.534,0.000
$DEVICE_MAMPS,138.060,95.108,1033.149,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.197,333.214,418.196,636.310,1212.955,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,44621,577
$CAP_FILE_SIZE,119000,0
$CFSIZE,260165632,179425280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130314,223736,2243.555,-15801.132,37,1.0,37,10.0