version: 66.06
glider: 146
mission: 9
dive: 199
start: 4 12 114 22 29 43
data:
$ID,146
$MISSION,9
$DIVE,199
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$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,266
$T_MISSION,540
$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,-327846.66
$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,65
$R_STBD_OVSHOOT,41
$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
$GPS1,221630,2240.905,-15806.965,40,1.9,40,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-67.9
$GPS2,222848,2240.895,-15807.149,10,1.4,15,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.152,0.054
$KALMAN_X,-166507.9,-452.5,-42.6,147268.1,-480.3
$KALMAN_Y,31734.1,227.2,286.5,-47787.8,-1595.8
$MHEAD_RNG_PITCHd_Wd,60.3,2095,-29.2,-10.025
$D_GRID,800
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.89,-55.3,0.0,0.0,0,100,0.00,0.00,-77.82,0.000,6,0.000,0.000,456,2163,3285,0,0,0,0,0,0
$GC,103,-1.97,-121.2,1.4,-2.0,10,129,11.52,2.47,-6.68,0.000,4,0.163,0.051,2561,665,3555,0,0,0,0,0,0
$GC,147,-1.55,-121.2,9.5,-18.9,15,156,0.45,2.42,0.00,0.000,6,0.109,0.017,2657,2228,3555,0,0,0,0,0,0
$GC,437,-1.65,-121.2,55.2,-15.8,49,441,0.00,2.47,0.00,0.000,4,0.000,0.033,2657,3773,3556,0,0,0,0,0,0
$GC,471,-1.75,-121.2,61.1,-16.6,51,476,0.15,2.40,0.00,0.000,6,0.058,0.021,2603,2229,3555,0,0,0,0,0,0
$GC,739,-1.75,-121.2,105.3,-16.4,75,744,0.10,2.47,0.00,0.000,4,0.125,0.032,2623,3777,3556,0,0,0,0,0,0
$GC,760,-1.80,-121.2,110.3,-17.1,76,769,0.00,2.47,0.00,0.000,6,0.000,0.020,2623,2209,3556,0,0,0,0,0,0
$GC,1028,-1.87,-121.2,153.8,-16.4,101,1034,0.10,0.00,0.00,0.000,6,0.079,0.000,2576,2209,3556,0,0,0,0,0,0
$GC,1291,-1.87,-121.2,201.2,-16.6,126,1296,0.10,2.50,0.00,0.000,4,0.125,0.033,2596,3768,3557,0,0,0,0,0,0
$GC,1439,-1.96,-121.2,225.6,-15.9,138,1443,0.00,2.38,0.00,0.000,6,0.000,0.021,2596,2233,3557,0,0,0,0,0,0
$GC,1702,-2.04,-121.2,259.5,-12.5,162,1707,0.15,2.62,0.00,0.000,4,0.060,0.051,2536,640,3558,0,0,0,0,0,0
$GC,1714,-2.09,-121.2,261.3,-12.6,162,1723,0.00,2.47,0.00,0.000,6,0.000,0.029,2536,2214,3558,0,0,0,0,0,0
$GC,1980,-2.09,-121.2,303.6,-15.5,187,1984,0.00,2.55,0.00,0.000,4,0.000,0.044,2536,3776,3558,0,0,0,0,0,0
$GC,2113,-2.09,-121.2,326.2,-17.8,198,2118,0.00,2.40,0.00,0.000,6,0.000,0.027,2536,2253,3558,0,0,0,0,0,0
$GC,2376,-2.09,-121.2,366.3,-15.1,222,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2254,3558,0,0,0,0,0,0
$GC,2630,-2.09,-121.2,405.2,-15.5,246,2635,0.00,2.90,0.00,0.000,4,0.000,0.092,2536,634,3557,0,0,0,0,0,0
$GC,2652,-2.09,-121.2,407.9,-15.1,247,2656,0.00,2.58,0.00,0.000,6,0.000,0.047,2536,2214,3557,0,0,0,0,0,0
$GC,2920,-2.12,-121.2,445.4,-13.5,271,2924,0.00,2.70,0.00,0.000,4,0.000,0.073,2536,3793,3555,0,0,0,0,0,0
$GC,2929,-2.12,-121.2,447.9,-13.8,271,2935,0.00,2.55,0.00,0.000,6,0.000,0.041,2536,2244,3555,0,0,0,0,0,0
$GC,3193,-2.16,-121.2,483.1,-13.0,296,3198,0.00,2.95,0.00,0.000,4,0.000,0.101,2536,628,3554,0,0,0,0,0,0
$GC,3226,-2.16,-121.2,487.0,-13.3,298,3230,0.00,2.65,0.00,0.000,6,0.000,0.047,2536,2233,3553,0,0,0,0,0,0
$GC,3493,-2.21,-121.2,520.7,-12.3,322,3497,0.00,2.70,0.00,0.000,4,0.000,0.084,2536,3795,3552,0,0,0,0,0,0
$GC,3544,-2.21,-121.2,528.1,-13.0,326,3548,0.00,2.65,0.00,0.000,6,0.000,0.054,2536,2229,3552,0,0,0,0,0,0
$GC,3808,-2.26,-121.2,559.9,-12.6,350,3813,0.10,2.75,0.00,0.000,4,0.093,0.078,2495,3793,3549,0,0,0,0,0,0
$GC,3922,-2.21,-121.2,576.7,-15.5,359,3927,0.12,2.70,0.00,0.000,6,0.123,0.067,2519,2239,3548,0,0,0,0,0,0
$GC,4211,-2.21,-121.2,616.7,-13.7,377,4215,0.00,2.83,0.00,0.000,4,0.000,0.094,2519,3794,3546,0,0,0,0,0,0
$GC,4364,-2.21,-121.2,639.1,-14.4,380,4368,0.00,2.83,0.00,0.000,6,0.000,0.091,2519,2244,3544,0,0,0,0,0,0
$GC,4624,-2.21,-121.2,672.5,-12.5,387,4629,0.00,3.25,0.00,0.000,4,0.000,0.146,2519,617,3542,0,0,0,0,0,0
$GC,4640,-2.21,-121.2,674.5,-12.7,387,4645,0.00,3.00,0.00,0.000,6,0.000,0.101,2519,2241,3542,0,0,0,0,0,0
$GC,4902,-2.21,-121.2,706.6,-12.1,394,4907,0.00,3.15,0.00,0.000,4,0.000,0.150,2519,3797,3540,0,0,0,0,0,0
$GC,5054,-2.21,-121.2,726.9,-13.9,397,5059,0.00,3.08,0.00,0.000,6,0.000,0.136,2519,2260,3539,0,0,0,0,0,0
$GC,5315,-2.25,-121.2,760.2,-12.8,404,5320,0.00,3.25,0.00,0.000,4,0.000,0.169,2519,3797,3537,0,0,0,0,0,0
$GC,5383,-2.25,-121.2,769.3,-14.4,405,5388,0.00,3.20,0.00,0.000,6,0.000,0.160,2519,2268,3537,0,0,1,0,0,0
$GC,5638,-2.29,-121.2,799.4,-11.3,412,5643,0.00,3.40,0.00,0.000,4,0.000,0.189,2519,3796,3535,0,0,0,0,0,0
$STATE,5646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5646,begin apogee
$GC,5657,-0.31,0.0,800.6,11.1,412,5763,1.92,0.00,100.62,1.157,6,0.098,0.000,2931,2372,3060,0,0,0,0,0,0
$STATE,5764,end apogee,CONTROL_FINISHED_OK
$STATE,5764,begin climb
$GC,5766,1.97,121.2,802.7,0.0,415,5884,2.08,3.80,106.43,1.131,4,0.031,0.203,3451,777,2564,0,0,0,0,0,0
$GC,5891,1.89,121.2,789.6,16.1,417,5897,0.17,3.38,0.00,0.000,6,0.124,0.154,3418,2370,2562,0,0,0,0,0,0
$GC,6170,1.89,121.2,742.1,16.9,424,6175,0.00,3.22,0.00,0.000,4,0.000,0.151,3418,3941,2555,0,0,0,0,0,0
$GC,6203,1.82,121.2,736.2,18.0,424,6209,0.00,3.17,0.00,0.000,6,0.000,0.132,3418,2363,2554,0,0,0,0,0,0
$GC,6454,1.82,121.2,695.5,16.2,431,6459,0.00,3.03,0.00,0.000,4,0.000,0.120,3418,3943,2551,0,0,0,0,0,0
$GC,6666,1.76,121.2,659.1,16.5,435,6673,0.15,2.88,0.00,0.000,6,0.124,0.089,3389,2377,2550,0,0,0,0,0,0
$GC,6918,1.76,121.2,625.0,13.3,442,6922,0.00,2.85,0.00,0.000,4,0.000,0.087,3389,3949,2548,0,0,0,0,0,0
$GC,6996,1.76,121.2,614.0,14.5,443,7002,0.00,2.72,0.00,0.000,6,0.000,0.065,3389,2393,2547,0,0,0,0,0,0
$GC,7253,1.79,121.2,580.9,13.3,459,7257,0.00,2.72,0.00,0.000,4,0.000,0.080,3389,3947,2546,0,0,0,0,0,0
$GC,7357,1.79,121.2,565.5,15.5,467,7362,0.00,2.60,0.00,0.000,6,0.000,0.054,3389,2410,2546,0,0,0,0,0,0
$GC,7621,1.84,121.2,529.3,13.8,492,7625,0.00,2.62,0.00,0.000,4,0.000,0.061,3389,3952,2545,0,0,0,0,0,0
$GC,7767,1.84,121.2,506.8,15.0,504,7772,0.00,2.55,0.00,0.000,6,0.000,0.040,3389,2422,2545,0,0,0,0,0,0
$GC,8031,1.89,121.2,473.4,13.1,528,8037,0.12,2.58,0.00,0.000,4,0.077,0.060,3426,3948,2544,0,0,0,0,0,0
$GC,8191,1.83,121.2,449.2,14.8,541,8196,0.12,2.50,0.00,0.000,6,0.127,0.036,3403,2429,2543,0,0,0,0,0,0
$GC,8461,1.87,121.2,414.5,12.7,565,8466,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2430,2543,0,0,0,0,0,0
$GC,8722,1.92,121.2,380.2,13.3,590,8727,0.00,2.55,0.00,0.000,4,0.000,0.054,3402,3955,2542,0,0,0,0,0,0
$GC,8790,1.92,121.2,371.8,13.7,595,8795,0.00,2.47,0.00,0.000,6,0.000,0.036,3402,2426,2542,0,0,0,0,0,0
$GC,9057,1.97,121.2,339.3,12.0,619,9062,0.12,2.55,0.00,0.000,4,0.079,0.052,3439,3952,2542,0,0,0,0,0,0
$GC,9263,1.92,121.2,313.3,11.8,636,9267,0.00,2.40,0.00,0.000,6,0.000,0.028,3439,2450,2541,0,0,0,0,0,0
$GC,9525,1.92,121.2,285.0,10.9,660,9530,0.00,2.50,0.00,0.000,4,0.000,0.051,3439,3954,2541,0,0,0,0,0,0
$GC,9793,1.86,121.2,252.0,12.1,682,9799,0.15,2.38,0.00,0.000,6,0.120,0.024,3410,2455,2541,0,0,0,0,0,0
$GC,10058,1.96,138.7,229.8,7.9,707,10082,0.00,2.88,11.98,0.695,4,0.000,0.050,3409,766,2493,0,0,0,0,0,0
$GC,10192,2.03,138.7,217.3,10.3,718,10198,0.15,2.80,0.00,0.000,6,0.065,0.030,3452,2529,2492,0,0,0,0,0,0
$GC,10453,2.03,138.7,189.1,10.7,742,10457,0.00,2.35,0.00,0.000,4,0.000,0.045,3452,3960,2491,0,0,0,0,0,0
$GC,10640,2.03,138.7,163.6,14.7,757,10644,0.00,2.33,0.00,0.000,6,0.000,0.022,3452,2479,2491,0,0,0,0,0,0
$GC,10908,2.06,138.7,131.4,12.1,781,10913,0.00,2.42,0.00,0.000,4,0.000,0.044,3451,3955,2491,0,0,0,0,0,0
$GC,11051,2.06,138.7,111.8,13.3,792,11060,0.00,2.33,0.00,0.000,6,0.000,0.023,3452,2491,2492,0,0,0,0,0,0
$GC,11319,2.11,145.4,84.3,9.2,817,11334,0.00,2.47,7.88,0.515,4,0.000,0.045,3452,3955,2466,0,0,0,0,0,0
$GC,11583,2.11,145.4,53.7,12.8,838,11587,0.00,2.30,0.00,0.000,6,0.000,0.023,3452,2489,2466,0,0,0,0,0,0
$GC,11869,2.16,145.4,19.1,10.4,869,11878,0.00,2.42,0.00,0.000,4,0.000,0.046,3452,3946,2466,0,0,0,0,0,0
$STATE,11979,end climb,SURFACE_DEPTH_REACHED
$STATE,11979,begin surface coast
$FINISH,-0.2,1.007390
$STATE,12016,end surface coast,CONTROL_FINISHED_OK
$STATE,12016,begin surface
$SM_CCo,12041,189.27,0.517,0,0,1509,380.21
$SM_GC,0.55,0.00,0.00,189.27,0.000,0.000,0.517,465,2188,1509,-11.68,-0.62,380.21
$IRIDIUM_FIX,2232.34,-15808.45,070703,222212
$TT8_MAMPS,0.026078
$HUMID,57.36
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.90
$XPDR_PINGS,19
$24V_AH,23.3,28.702
$10V_AH,10.2,32.237
$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,29.900,168.475,226.900,189.275,0.000,54.450,76.942,358.050,4.750,0.000,17.240,1666.114,6598.727,554.093,3223.541,910.218,33.368,1587.349,0.000,3234.969,0.000,0.535,0.000
$DEVICE_MAMPS,162.604,203.255,1157.403,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,611.298,656.221,852.755,975.636,1857.108,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355352
$DATA_FILE_SIZE,73374,890
$CAP_FILE_SIZE,144705,0
$CFSIZE,260165632,165793792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,130414,015442,2241.270,-15806.321,15,1.9,26,10.0