version: 66.06
glider: 146
mission: 9
dive: 241
start: 4 21 114 19 52 33
data:
$ID,146
$MISSION,9
$DIVE,241
$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,633.60986
$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,-328863.12
$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,25
$R_STBD_OVSHOOT,7
$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
$GPS1,192436,2238.669,-15738.479,58,1.2,58,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-68.1
$GPS2,195139,2238.436,-15738.722,10,3.1,29,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.183,-0.018
$KALMAN_X,-204018.6,-281.8,-329.5,233419.9,-1371.8
$KALMAN_Y,4552.3,33.4,-461.9,-24210.5,575.2
$MHEAD_RNG_PITCHd_Wd,85.6,1589,-25.7,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-1.70,-70.6,0.0,0.0,0,96,0.00,0.00,-76.68,0.000,6,0.000,0.000,459,2199,3349,0,0,0,0,0,0
$GC,99,-1.76,-123.9,2.2,-5.0,10,124,11.82,0.00,-4.70,0.000,6,0.160,0.000,2613,2200,3566,0,0,0,0,0,0
$GC,410,-1.68,-123.9,62.8,-18.7,46,419,0.12,0.00,0.00,0.000,6,0.146,0.000,2636,2199,3567,0,0,0,0,0,0
$GC,674,-1.68,-123.9,100.7,-13.7,71,678,0.00,2.60,0.00,0.000,4,0.000,0.044,2635,618,3567,0,0,0,0,0,0
$GC,708,-1.68,-123.9,105.1,-13.8,73,712,0.00,2.50,0.00,0.000,6,0.000,0.023,2635,2257,3567,0,0,0,0,0,0
$GC,974,-1.68,-123.9,142.1,-14.4,97,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2258,3567,0,0,0,0,0,0
$GC,1236,-1.68,-123.9,177.7,-13.7,122,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2258,3567,0,0,0,0,0,0
$GC,1490,-1.72,-123.9,212.1,-12.9,146,1495,0.00,2.70,0.00,0.000,4,0.000,0.048,2635,622,3567,0,0,0,0,0,0
$GC,1523,-1.72,-123.9,215.8,-12.8,148,1527,0.00,2.42,0.00,0.000,6,0.000,0.018,2635,2200,3567,0,0,0,0,0,0
$GC,1791,-1.79,-123.9,248.2,-11.4,172,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2201,3567,0,0,0,0,0,0
$GC,2052,-1.85,-123.9,279.3,-10.8,197,2058,0.15,2.58,0.00,0.000,4,0.061,0.041,2579,3775,3566,0,0,0,0,0,0
$GC,2077,-1.85,-123.9,282.0,-12.0,198,2085,0.08,2.53,0.00,0.000,6,0.090,0.023,2598,2206,3566,0,0,0,0,0,0
$GC,2342,-1.85,-123.9,314.1,-12.8,223,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2207,3565,0,0,0,0,0,0
$GC,2604,-1.85,-123.9,345.7,-12.3,248,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2207,3564,0,0,0,0,0,0
$GC,2857,-1.85,-123.9,377.1,-11.9,272,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2207,3563,0,0,0,0,0,0
$GC,3114,-1.85,-123.9,407.9,-11.3,296,3118,0.00,2.65,0.00,0.000,4,0.000,0.061,2598,3765,3561,0,0,0,0,0,0
$GC,3132,-1.85,-123.9,409.9,-11.4,297,3136,0.00,2.53,0.00,0.000,6,0.000,0.036,2598,2216,3561,0,0,0,0,0,0
$GC,3394,-1.85,-123.9,437.5,-10.4,321,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2216,3559,0,0,0,0,0,0
$GC,3649,-1.89,-123.9,464.5,-10.4,345,3654,0.00,2.67,0.00,0.000,4,0.000,0.062,2599,3769,3557,0,0,0,0,0,0
$GC,3774,-1.93,-123.9,478.8,-12.6,355,3779,0.00,2.58,0.00,0.000,6,0.000,0.047,2598,2238,3557,0,0,0,0,0,0
$GC,4042,-1.99,-123.9,508.4,-11.8,379,4048,0.12,0.00,0.00,0.000,6,0.070,0.000,2550,2238,3554,0,0,0,0,0,0
$GC,4306,-1.99,-123.9,545.1,-14.7,404,4312,0.10,0.00,0.00,0.000,6,0.125,0.000,2569,2238,3552,0,0,0,0,0,0
$GC,4567,-1.99,-123.9,582.3,-13.8,429,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2238,3550,0,0,0,0,0,0
$GC,4818,-1.99,-123.9,617.6,-14.4,444,4823,0.00,2.83,0.00,0.000,4,0.000,0.101,2568,3761,3548,0,0,0,0,0,0
$GC,4925,-1.99,-123.9,633.9,-14.9,446,4929,0.00,2.72,0.00,0.000,6,0.000,0.079,2569,2241,3548,0,0,0,0,0,0
$GC,5187,-1.99,-123.9,669.4,-13.2,453,5191,0.00,2.85,0.00,0.000,4,0.000,0.105,2569,3764,3546,0,0,0,0,0,0
$GC,5214,-1.99,-123.9,673.1,-12.9,453,5218,0.00,2.80,0.00,0.000,6,0.000,0.094,2569,2247,3545,0,0,0,0,0,0
$GC,5465,-1.99,-123.9,700.1,-10.3,459,5470,0.00,2.90,0.00,0.000,4,0.000,0.118,2569,3758,3543,0,0,0,0,0,0
$GC,5486,-1.99,-123.9,702.6,-10.4,459,5491,0.00,2.85,0.00,0.000,6,0.000,0.110,2569,2248,3543,0,0,0,0,0,0
$GC,5742,-2.00,-138.5,725.8,-8.6,466,5747,0.00,2.97,0.00,0.000,4,0.000,0.132,2569,3763,3542,0,0,0,0,0,0
$GC,5828,-2.01,-140.3,733.6,-9.9,468,5833,0.00,2.95,0.00,0.000,6,0.000,0.126,2569,2263,3541,0,0,0,0,0,0
$GC,6111,-2.01,-146.0,758.0,-8.6,475,6116,0.00,3.08,0.00,0.000,4,0.000,0.151,2569,3757,3540,0,0,0,0,0,0
$GC,6155,-2.01,-146.0,762.1,-10.1,476,6160,0.00,3.05,0.00,0.000,6,0.000,0.142,2569,2263,3539,0,0,0,0,0,0
$GC,6434,-2.01,-146.0,788.4,-9.7,483,6439,0.00,3.22,0.00,0.000,4,0.000,0.176,2569,3758,3538,0,0,0,0,0,0
$STATE,6538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6538,begin apogee
$GC,6547,-0.31,0.0,800.1,10.7,485,6653,1.65,0.00,101.65,1.156,6,0.095,0.000,2928,2368,3060,0,0,0,0,0,0
$STATE,6653,end apogee,CONTROL_FINISHED_OK
$STATE,6653,begin climb
$GC,6657,1.79,146.0,802.2,0.0,488,6798,1.92,3.67,129.07,1.131,4,0.032,0.199,3400,780,2462,0,0,0,0,0,0
$GC,6816,1.68,146.0,785.5,17.3,491,6823,0.15,3.22,0.00,0.000,6,0.121,0.143,3372,2327,2458,0,0,0,0,0,0
$GC,7066,1.64,146.0,746.0,15.7,498,7071,0.00,3.30,0.00,0.000,4,0.000,0.145,3372,3941,2453,0,0,0,0,0,0
$GC,7324,1.57,146.0,702.4,17.4,503,7330,0.12,2.95,0.00,0.000,6,0.130,0.104,3348,2395,2450,0,0,0,0,0,0
$GC,7573,1.57,146.0,666.3,14.5,510,7578,0.00,2.90,0.00,0.000,4,0.000,0.101,3348,3951,2449,0,0,0,0,0,0
$GC,7669,1.57,146.0,651.6,16.0,512,7673,0.00,2.78,0.00,0.000,6,0.000,0.075,3348,2409,2448,0,0,0,0,0,0
$GC,7940,1.57,146.0,613.6,13.8,519,7945,0.00,2.78,0.00,0.000,4,0.000,0.082,3348,3948,2446,0,0,0,0,0,0
$GC,7985,1.57,146.0,606.9,15.0,520,7989,0.00,2.65,0.00,0.000,6,0.000,0.058,3348,2421,2445,0,0,0,0,0,0
$GC,8254,1.57,146.0,570.8,13.8,540,8259,0.00,2.65,0.00,0.000,4,0.000,0.067,3348,3946,2445,0,0,0,0,0,0
$GC,8318,1.57,146.0,560.8,15.2,545,8323,0.00,2.60,0.00,0.000,6,0.000,0.047,3348,2422,2444,0,0,0,0,0,0
$GC,8582,1.57,146.0,525.7,13.3,569,8587,0.00,2.65,0.00,0.000,4,0.000,0.059,3348,3958,2444,0,0,0,0,0,0
$GC,8634,1.57,146.0,517.8,14.6,573,8638,0.00,2.58,0.00,0.000,6,0.000,0.042,3348,2431,2443,0,0,0,0,0,0
$GC,8898,1.57,146.0,483.9,12.1,597,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2431,2443,0,0,0,0,0,0
$GC,9163,1.61,146.0,452.3,12.3,622,9167,0.00,2.60,0.00,0.000,4,0.000,0.060,3348,3960,2443,0,0,0,0,0,0
$GC,9275,1.61,146.0,436.8,13.7,631,9279,0.00,2.53,0.00,0.000,6,0.000,0.036,3348,2429,2442,0,0,0,0,0,0
$GC,9543,1.65,146.0,404.4,11.3,655,9547,0.00,2.58,0.00,0.000,4,0.000,0.051,3348,3949,2442,0,0,0,0,0,0
$GC,9629,1.65,146.0,393.3,12.6,662,9633,0.00,2.47,0.00,0.000,6,0.000,0.031,3348,2432,2442,0,0,0,0,0,0
$GC,9893,1.71,146.0,364.0,10.6,686,9898,0.12,2.58,0.00,0.000,4,0.081,0.051,3384,3952,2441,0,0,0,0,0,0
$GC,9980,1.66,146.0,352.0,13.9,693,9984,0.00,2.47,0.00,0.000,6,0.000,0.029,3384,2434,2441,0,0,0,0,0,0
$GC,10244,1.66,146.0,317.3,13.4,717,10248,0.00,2.58,0.00,0.000,4,0.000,0.051,3384,3957,2441,0,0,0,0,0,0
$GC,10299,1.62,146.0,309.7,14.5,721,10304,0.12,2.47,0.00,0.000,6,0.124,0.030,3360,2432,2441,0,0,0,0,0,0
$GC,10564,1.67,146.0,277.7,12.3,745,10569,0.00,2.58,0.00,0.000,4,0.000,0.057,3360,3959,2441,0,0,0,0,0,0
$GC,10679,1.67,146.0,260.6,13.9,754,10684,0.00,2.47,0.00,0.000,6,0.000,0.026,3360,2426,2441,0,0,0,0,0,0
$GC,10943,1.74,146.0,229.5,10.5,779,10948,0.10,2.55,0.00,0.000,4,0.253,0.048,3389,3955,2440,0,0,0,0,0,0
$GC,11135,1.74,146.0,205.8,12.8,795,11139,0.00,2.42,0.00,0.000,6,0.000,0.026,3389,2448,2441,0,0,0,0,0,0
$GC,11402,1.74,148.3,179.1,9.8,819,11406,0.00,2.53,0.00,0.000,4,0.000,0.047,3389,3960,2441,0,0,0,0,0,0
$GC,11462,1.74,148.3,171.4,12.2,823,11467,0.00,2.45,0.00,0.000,6,0.000,0.025,3389,2428,2441,0,0,0,0,0,0
$GC,11725,1.80,160.7,146.0,8.8,848,11742,0.00,2.83,10.10,0.617,4,0.000,0.045,3389,759,2403,0,0,0,0,0,0
$GC,11777,1.81,166.8,140.6,9.4,852,11790,0.00,2.78,6.97,0.562,6,0.000,0.025,3389,2478,2379,0,0,0,0,0,0
$GC,12052,1.81,167.1,112.4,10.0,878,12056,0.00,2.45,0.00,0.000,4,0.000,0.046,3389,3958,2378,0,0,0,0,0,0
$GC,12103,1.81,167.1,106.1,11.1,882,12108,0.00,2.40,0.00,0.000,6,0.000,0.023,3389,2432,2378,0,0,0,0,0,0
$GC,12373,1.88,167.1,76.7,10.8,906,12378,0.10,2.72,0.00,0.000,4,0.083,0.044,3426,762,2378,0,0,0,0,0,0
$GC,12419,1.88,167.1,70.6,13.1,909,12423,0.00,2.70,0.00,0.000,6,0.000,0.025,3426,2476,2378,0,0,0,0,0,0
$GC,12688,1.89,174.4,41.6,9.3,933,12703,0.00,2.45,8.75,0.505,4,0.000,0.044,3426,3952,2347,0,0,0,0,0,0
$GC,12913,1.89,174.4,13.9,13.1,959,12922,0.00,2.42,0.00,0.000,6,0.000,0.025,3426,2446,2347,0,0,0,0,0,0
$STATE,13004,end climb,SURFACE_DEPTH_REACHED
$STATE,13004,begin surface coast
$FINISH,-0.1,1.023649
$STATE,13048,end surface coast,CONTROL_FINISHED_OK
$STATE,13048,begin surface
$SM_CCo,13070,367.60,0.512,0,0,477,633.61
$SM_GC,0.32,0.00,0.00,367.60,0.000,0.000,0.512,464,2166,477,-11.68,-1.27,633.61
$IRIDIUM_FIX,2230.01,-15743.29,160703,191947
$TT8_MAMPS,0.026078
$HUMID,57.99
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.60
$XPDR_PINGS,14
$24V_AH,23.3,36.305
$10V_AH,10.1,41.928
$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,28.550,152.150,256.550,367.600,0.000,133.311,189.628,802.475,3.500,0.000,32.152,1780.673,7527.761,739.805,3409.269,1593.004,33.367,1807.408,0.000,3393.753,0.000,0.536,0.000
$DEVICE_MAMPS,253.110,198.653,1155.869,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,673.428,714.638,933.656,1059.330,2016.423,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,82490,978
$CAP_FILE_SIZE,157420,0
$CFSIZE,260165632,161738752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210414,233759,2238.812,-15737.848,43,1.5,43,10.1