version: 66.06
glider: 146
mission: 9
dive: 76
start: 3 23 114 22 43 53
data:
$ID,146
$MISSION,9
$DIVE,76
$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,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,-324836
$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,3004
$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,49
$R_STBD_OVSHOOT,39
$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,3060
$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
$GPS1,223206,2304.906,-15735.323,35,1.1,35,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-68.1
$GPS2,224300,2304.848,-15735.268,7,1.3,7,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.158,-0.206
$KALMAN_X,-56348.8,397.3,-332.1,90953.8,-45.5
$KALMAN_Y,47848.2,-195.4,-421.8,-18402.0,809.5
$MHEAD_RNG_PITCHd_Wd,207.3,69220,-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,-146.0,0.0,0.0,0,112,0.00,0.00,-88.32,0.000,6,0.000,0.000,467,2183,3657,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.5,-11.7,12,131,11.73,2.50,0.00,0.000,4,0.146,0.036,2717,643,3657,0,0,0,0,0,0
$GC,327,-1.16,-146.0,45.0,-14.1,36,332,0.15,2.47,0.00,0.000,6,0.121,0.020,2747,2222,3658,0,0,0,0,0,0
$GC,596,-1.10,-146.0,77.4,-12.0,60,601,0.00,2.58,0.00,0.000,4,0.000,0.044,2747,650,3659,0,0,0,0,0,0
$GC,618,-1.03,-146.0,80.6,-12.0,61,623,0.15,2.42,0.00,0.000,6,0.113,0.018,2777,2212,3659,0,0,0,0,0,0
$GC,886,-1.03,-146.0,105.4,-8.4,85,891,0.00,2.53,0.00,0.000,4,0.000,0.036,2777,3781,3659,0,0,0,0,0,0
$GC,956,-1.09,-146.0,112.5,-9.5,90,965,0.00,2.47,0.00,0.000,6,0.000,0.021,2777,2227,3659,0,0,0,0,0,0
$GC,1223,-1.14,-146.0,135.5,-8.3,115,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2228,3659,0,0,0,0,0,0
$GC,1486,-1.19,-146.0,157.5,-8.4,140,1488,0.15,0.00,0.00,0.000,6,0.060,0.000,2719,2227,3659,0,0,0,0,0,0
$GC,1742,-1.14,-146.0,186.8,-11.6,164,1747,0.17,2.62,0.00,0.000,4,0.091,0.048,2757,632,3659,0,0,0,0,0,0
$GC,1759,-1.14,-146.0,189.2,-11.5,165,1763,0.00,2.45,0.00,0.000,6,0.000,0.024,2757,2212,3660,0,0,0,0,0,0
$GC,2034,-1.14,-146.0,215.1,-9.2,179,2039,0.00,2.53,0.00,0.000,4,0.000,0.043,2757,3773,3660,0,0,0,0,0,0
$GC,2069,-1.18,-146.0,218.0,-8.1,179,2075,0.00,2.45,0.00,0.000,6,0.000,0.021,2757,2216,3660,0,0,0,0,0,0
$GC,2320,-1.23,-146.0,238.9,-8.7,186,2324,0.00,2.62,0.00,0.000,4,0.000,0.051,2757,633,3660,0,0,0,0,0,0
$GC,2341,-1.27,-146.0,241.0,-9.1,186,2346,0.12,2.47,0.00,0.000,6,0.068,0.021,2707,2217,3660,0,0,0,0,0,0
$GC,2598,-1.22,-146.0,267.3,-10.3,193,2600,0.12,0.00,0.00,0.000,6,0.103,0.000,2735,2217,3660,0,0,0,0,0,0
$GC,2840,-1.22,-146.0,287.7,-8.3,199,2845,0.00,2.62,0.00,0.000,4,0.000,0.054,2735,643,3660,0,0,0,0,0,0
$GC,2857,-1.22,-146.0,289.3,-8.9,199,2861,0.00,2.47,0.00,0.000,6,0.000,0.025,2735,2207,3660,0,0,0,0,0,0
$GC,3119,-1.22,-146.0,310.3,-7.7,206,3123,0.00,2.65,0.00,0.000,4,0.000,0.059,2735,644,3659,0,0,0,0,0,0
$GC,3146,-1.22,-146.0,312.6,-7.7,206,3150,0.00,2.50,0.00,0.000,6,0.000,0.029,2735,2204,3659,0,0,0,0,0,0
$GC,3396,-1.26,-146.0,332.0,-8.0,212,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2205,3658,0,0,0,0,0,0
$GC,3641,-1.31,-146.0,350.8,-7.6,218,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2204,3657,0,0,0,0,0,0
$GC,3884,-1.35,-146.0,370.1,-8.3,224,3889,0.12,2.67,0.00,0.000,4,0.071,0.052,2688,3789,3655,0,0,0,0,0,0
$GC,3917,-1.31,-146.0,373.7,-10.9,224,3923,0.15,2.55,0.00,0.000,6,0.097,0.031,2721,2226,3655,0,0,0,0,0,0
$GC,4168,-1.31,-146.0,395.7,-8.6,231,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2226,3654,0,0,0,0,0,0
$GC,4410,-1.31,-146.0,414.8,-7.7,237,4415,0.00,2.65,0.00,0.000,4,0.000,0.054,2721,3790,3652,0,0,0,0,0,0
$GC,4451,-1.34,-146.0,418.2,-8.5,238,4455,0.00,2.62,0.00,0.000,6,0.000,0.043,2721,2203,3652,0,0,0,0,0,0
$GC,4735,-1.34,-146.0,441.5,-8.3,245,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2203,3650,0,0,0,0,0,0
$GC,4978,-1.38,-146.0,460.5,-7.7,251,4983,0.00,2.72,0.00,0.000,4,0.000,0.067,2721,3785,3648,0,0,0,0,0,0
$GC,5028,-1.43,-146.0,464.5,-7.6,252,5033,0.12,2.62,0.00,0.000,6,0.070,0.043,2678,2213,3647,0,0,0,0,0,0
$GC,5302,-1.39,-146.0,490.6,-9.8,259,5308,0.10,2.72,0.00,0.000,4,0.114,0.070,2700,3781,3646,0,0,0,0,0,0
$GC,5335,-1.39,-146.0,494.0,-9.3,259,5341,0.00,2.62,0.00,0.000,6,0.000,0.055,2700,2226,3646,0,0,0,0,0,0
$GC,5587,-1.39,-146.0,514.2,-7.8,266,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2227,3644,0,0,0,0,0,0
$GC,5829,-1.39,-146.0,531.1,-6.7,272,5830,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2226,3643,0,0,0,0,0,0
$GC,6073,-1.39,-146.0,548.3,-7.1,278,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2226,3641,0,0,0,0,0,0
$GC,6317,-1.39,-146.0,568.2,-8.2,284,6321,0.00,2.80,0.00,0.000,4,0.000,0.088,2700,3778,3640,0,0,0,0,0,0
$GC,6357,-1.39,-146.0,571.7,-9.3,285,6362,0.00,2.65,0.00,0.000,6,0.000,0.059,2700,2236,3640,0,0,0,0,0,0
$GC,6641,-1.39,-146.0,594.4,-7.7,292,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2236,3639,0,0,0,0,0,0
$STATE,6720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6720,begin apogee
$GC,6726,-0.31,0.0,600.6,7.6,294,6848,1.05,0.00,118.20,1.019,6,0.073,0.000,2937,2360,3060,0,0,0,0,0,0
$STATE,6848,end apogee,CONTROL_FINISHED_OK
$STATE,6848,begin climb
$GC,6852,1.27,146.0,602.9,0.0,297,6988,1.42,2.88,124.12,0.990,4,0.038,0.081,3287,3929,2462,0,0,0,0,0,0
$GC,7023,1.12,146.0,590.7,11.9,301,7029,0.20,2.75,0.00,0.000,6,0.104,0.060,3246,2370,2459,0,0,0,0,0,0
$GC,7302,1.07,146.1,562.3,10.0,308,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2370,2453,0,0,0,0,0,0
$GC,7546,1.05,160.2,539.3,9.3,314,7560,0.00,0.00,12.12,0.883,6,0.000,0.000,3247,2370,2406,0,0,0,0,0,0
$GC,7790,1.01,160.2,515.0,10.1,320,7792,0.12,0.00,0.00,0.000,6,0.127,0.000,3223,2371,2402,0,0,0,0,0,0
$GC,8033,1.03,177.2,492.1,9.2,326,8050,0.00,0.00,15.95,0.899,6,0.000,0.000,3223,2370,2337,0,0,0,0,0,0
$GC,8276,1.08,217.2,471.6,8.2,332,8316,0.00,0.00,37.05,0.926,6,0.000,0.000,3223,2370,2173,0,0,0,0,0,0
$GC,8562,1.17,259.3,448.5,8.1,339,8602,0.15,0.00,38.03,0.908,6,0.073,0.000,3262,2370,2002,0,0,0,0,0,0
$GC,8844,1.17,259.3,414.4,12.6,346,8848,0.00,2.70,0.00,0.000,4,0.000,0.052,3262,3938,1996,0,0,0,0,0,0
$GC,8870,1.13,259.3,410.8,13.3,346,8875,0.00,2.62,0.00,0.000,6,0.000,0.040,3262,2368,1995,0,0,0,0,0,0
$GC,9121,1.13,259.3,378.2,13.1,352,9126,0.00,2.65,0.00,0.000,4,0.000,0.049,3262,3939,1994,0,0,0,0,0,0
$GC,9137,1.13,259.3,375.8,13.2,352,9141,0.00,2.60,0.00,0.000,6,0.000,0.030,3262,2363,1993,0,0,0,0,0,0
$GC,9404,1.13,259.3,343.2,12.0,359,9408,0.00,2.67,0.00,0.000,4,0.000,0.051,3262,3935,1993,0,0,0,0,0,0
$GC,9460,1.13,259.3,336.0,12.6,360,9464,0.00,2.55,0.00,0.000,6,0.000,0.030,3262,2385,1992,0,0,0,0,0,0
$GC,9726,1.13,259.3,305.1,11.5,367,9730,0.00,2.72,0.00,0.000,4,0.000,0.058,3262,782,1992,0,0,0,0,0,0
$GC,9758,1.13,259.3,301.1,12.7,367,9764,0.00,2.60,0.00,0.000,6,0.000,0.034,3262,2396,1991,0,0,0,0,0,0
$GC,10008,1.13,259.3,272.7,11.8,374,10012,0.00,2.72,0.00,0.000,4,0.000,0.052,3262,782,1990,0,0,0,0,0,0
$GC,10030,1.13,259.3,270.2,11.2,374,10034,0.00,2.58,0.00,0.000,6,0.000,0.028,3262,2379,1990,0,0,0,0,0,0
$GC,10285,1.13,259.3,242.8,10.6,381,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2379,1990,0,0,0,0,0,0
$GC,10528,1.13,259.3,216.7,10.8,387,10529,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2379,1990,0,0,0,0,0,0
$GC,10775,1.13,259.3,192.0,10.1,396,10780,0.00,2.65,0.00,0.000,4,0.000,0.046,3262,783,1990,0,0,0,0,0,0
$GC,10804,1.13,259.3,188.6,11.0,398,10809,0.00,2.55,0.00,0.000,6,0.000,0.025,3262,2387,1990,0,0,0,0,0,0
$GC,11067,1.17,263.9,161.2,9.8,422,11068,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2387,1990,0,0,0,0,0,0
$GC,11324,1.23,265.7,136.4,9.9,446,11338,0.00,2.67,5.22,0.507,4,0.000,0.044,3262,790,1975,0,0,0,0,0,0
$GC,11366,1.28,265.7,132.3,10.3,449,11370,0.00,2.47,0.00,0.000,6,0.000,0.022,3262,2370,1975,0,0,0,0,0,0
$GC,11634,1.38,304.2,109.6,8.2,473,11683,0.17,2.67,34.53,0.620,4,0.063,0.044,3314,3926,1818,0,0,0,0,0,0
$GC,11760,1.38,304.2,95.4,12.4,483,11765,0.00,2.50,0.00,0.000,6,0.000,0.024,3314,2369,1816,0,0,0,0,0,0
$GC,12026,1.38,304.2,61.1,12.8,507,12034,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2369,1815,0,0,0,0,0,0
$GC,12296,1.38,304.2,26.4,12.5,534,12305,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2370,1815,0,0,0,0,0,0
$STATE,12468,end climb,SURFACE_DEPTH_REACHED
$STATE,12468,begin surface coast
$FINISH,-0.2,1.011997
$STATE,12511,end surface coast,CONTROL_FINISHED_OK
$STATE,12511,begin surface
$SM_CCo,12533,60.97,0.525,0,0,1510,380.21
$SM_GC,0.47,0.00,0.00,60.97,0.000,0.000,0.525,467,2185,1510,-11.67,-0.71,380.21
$IRIDIUM_FIX,2258.07,-15733.62,170603,222210
$TT8_MAMPS,0.026078
$HUMID,60.71
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.90
$XPDR_PINGS,15
$24V_AH,23.3,10.808
$10V_AH,10.4,9.448
$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,27.700,115.075,385.225,60.975,0.000,62.174,109.379,267.166,3.750,0.000,8.934,1125.341,8926.812,540.640,1882.920,771.300,33.361,1267.070,0.000,1901.836,0.000,0.535,0.000
$DEVICE_MAMPS,145.730,89.739,1019.343,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,384.185,299.391,402.717,575.476,1095.924,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,44780,566
$CAP_FILE_SIZE,119612,0
$CFSIZE,260165632,175341568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240314,021506,2303.725,-15736.188,36,1.1,36,10.1