version: 66.06
glider: 146
mission: 9
dive: 77
start: 3 24 114 2 34 37
data:
$ID,146
$MISSION,9
$DIVE,77
$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,-324847.94
$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,46
$R_STBD_OVSHOOT,37
$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
$GPS1,021506,2303.725,-15736.188,36,1.1,36,10.1
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-67.7
$GPS2,023343,2303.640,-15736.229,9,1.5,9,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.201,-0.164
$KALMAN_X,-56210.8,219.8,-49.3,89071.2,142.2
$KALMAN_Y,47708.5,-498.2,279.4,-20895.4,51.1
$MHEAD_RNG_PITCHd_Wd,220.7,66520,-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,17,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-89.25,0.000,6,0.000,0.000,466,2185,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.7,-9.0,12,133,11.85,2.50,0.00,0.000,4,0.148,0.034,2717,636,3656,0,0,0,0,0,0
$GC,375,-1.17,-146.0,49.6,-13.4,41,380,0.15,2.47,0.00,0.000,6,0.120,0.019,2746,2217,3657,0,0,0,0,0,0
$GC,644,-1.11,-146.0,80.3,-11.2,65,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2218,3658,0,0,0,0,0,0
$GC,906,-1.11,-146.0,106.5,-8.8,90,910,0.00,2.53,0.00,0.000,4,0.000,0.038,2746,3780,3657,0,0,0,0,0,0
$GC,1010,-1.11,-146.0,116.0,-8.5,98,1019,0.00,2.47,0.00,0.000,6,0.000,0.021,2746,2229,3658,0,0,0,0,0,0
$GC,1277,-1.11,-146.0,141.0,-10.7,123,1281,0.00,2.62,0.00,0.000,4,0.000,0.045,2746,632,3658,0,0,0,0,0,0
$GC,1321,-1.11,-146.0,146.8,-11.7,126,1330,0.00,2.47,0.00,0.000,6,0.000,0.025,2746,2211,3658,0,0,0,0,0,0
$GC,1589,-1.11,-146.0,174.1,-9.1,151,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2211,3658,0,0,0,0,0,0
$GC,1850,-1.11,-146.0,197.2,-9.2,176,1855,0.00,2.58,0.00,0.000,4,0.000,0.046,2746,639,3658,0,0,0,0,0,0
$GC,1914,-1.11,-146.0,203.1,-9.2,179,1918,0.00,2.45,0.00,0.000,6,0.000,0.025,2746,2214,3658,0,0,0,0,0,0
$GC,2174,-1.11,-146.0,225.3,-8.3,186,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2214,3658,0,0,0,0,0,0
$GC,2418,-1.11,-146.0,244.2,-7.9,192,2423,0.00,2.53,0.00,0.000,4,0.000,0.040,2746,3776,3658,0,0,0,0,0,0
$GC,2441,-1.11,-146.0,246.1,-8.5,192,2446,0.00,2.47,0.00,0.000,6,0.000,0.021,2746,2210,3658,0,0,0,0,0,0
$GC,2697,-1.11,-146.0,267.3,-8.4,199,2701,0.00,2.62,0.00,0.000,4,0.000,0.054,2746,639,3658,0,0,0,0,0,0
$GC,2736,-1.11,-146.0,270.9,-8.8,200,2740,0.00,2.45,0.00,0.000,6,0.000,0.030,2746,2210,3658,0,0,0,0,0,0
$GC,3021,-1.15,-146.0,295.3,-8.6,207,3025,0.00,2.62,0.00,0.000,4,0.000,0.046,2746,3786,3657,0,0,0,0,0,0
$GC,3042,-1.21,-146.0,297.4,-8.7,207,3047,0.00,2.50,0.00,0.000,6,0.000,0.023,2746,2220,3657,0,0,0,0,0,0
$GC,3298,-1.27,-146.0,315.6,-6.8,214,3303,0.00,2.70,0.00,0.000,4,0.000,0.065,2746,635,3656,0,0,0,0,0,0
$GC,3351,-1.34,-146.0,319.3,-7.4,215,3356,0.15,2.53,0.00,0.000,6,0.061,0.032,2693,2204,3656,0,0,0,0,0,0
$GC,3624,-1.30,-146.0,343.2,-8.6,222,3629,0.12,2.65,0.00,0.000,4,0.107,0.051,2720,3796,3655,0,0,0,0,0,0
$GC,3675,-1.30,-146.0,347.5,-8.6,223,3680,0.00,2.55,0.00,0.000,6,0.000,0.036,2720,2224,3654,0,0,0,0,0,0
$GC,3948,-1.30,-146.0,368.1,-7.7,230,3952,0.00,2.62,0.00,0.000,4,0.000,0.051,2720,3786,3653,0,0,0,0,0,0
$GC,3969,-1.30,-146.0,370.1,-8.6,230,3973,0.00,2.55,0.00,0.000,6,0.000,0.031,2719,2217,3653,0,0,0,0,0,0
$GC,4225,-1.30,-146.0,393.2,-9.3,237,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2217,3651,0,0,0,0,0,0
$GC,4468,-1.30,-146.0,414.0,-8.4,243,4472,0.00,2.65,0.00,0.000,4,0.000,0.055,2719,3785,3649,0,0,0,0,0,0
$GC,4495,-1.30,-146.0,416.3,-8.5,243,4499,0.00,2.58,0.00,0.000,6,0.000,0.041,2720,2226,3649,0,0,0,0,0,0
$GC,4746,-1.30,-146.0,435.4,-7.5,249,4750,0.00,2.67,0.00,0.000,4,0.000,0.059,2719,3792,3647,0,0,0,0,0,0
$GC,4767,-1.30,-146.0,437.3,-8.3,249,4772,0.00,2.60,0.00,0.000,6,0.000,0.041,2719,2224,3647,0,0,0,0,0,0
$GC,5023,-1.34,-146.0,456.5,-7.5,256,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2225,3645,0,0,0,0,0,0
$GC,5268,-1.34,-146.0,475.5,-7.8,262,5272,0.00,2.70,0.00,0.000,4,0.000,0.067,2720,3785,3644,0,0,0,0,0,0
$GC,5283,-1.34,-146.0,476.9,-7.8,262,5288,0.00,2.62,0.00,0.000,6,0.000,0.050,2720,2214,3644,0,0,0,0,0,0
$GC,5545,-1.38,-146.0,495.6,-7.1,269,5549,0.00,2.72,0.00,0.000,4,0.000,0.067,2719,3783,3643,0,0,0,0,0,0
$GC,5566,-1.42,-146.0,497.3,-7.3,269,5572,0.12,2.62,0.00,0.000,6,0.071,0.046,2678,2227,3643,0,0,0,0,0,0
$GC,5823,-1.42,-146.0,518.3,-8.3,276,5828,0.00,3.03,0.00,0.000,4,0.000,0.115,2678,624,3641,0,0,0,0,0,0
$GC,5845,-1.38,-146.0,520.4,-8.8,276,5851,0.12,2.67,0.00,0.000,6,0.109,0.051,2704,2209,3640,0,0,0,0,0,0
$GC,6102,-1.38,-146.0,539.4,-7.2,283,6107,0.00,2.78,0.00,0.000,4,0.000,0.077,2704,3793,3639,0,0,0,0,0,0
$GC,6124,-1.38,-146.0,541.4,-8.5,283,6129,0.00,2.65,0.00,0.000,6,0.000,0.049,2704,2226,3639,0,0,0,0,0,0
$GC,6380,-1.38,-146.0,561.4,-7.6,290,6385,0.00,2.78,0.00,0.000,4,0.000,0.081,2704,3796,3638,0,0,0,0,0,0
$GC,6408,-1.38,-146.0,563.5,-8.2,290,6413,0.00,2.67,0.00,0.000,6,0.000,0.054,2704,2235,3637,0,0,0,0,0,0
$GC,6658,-1.38,-146.0,581.5,-7.1,296,6663,0.00,2.78,0.00,0.000,4,0.000,0.077,2704,3794,3636,0,0,0,0,0,0
$GC,6679,-1.38,-146.0,583.2,-7.6,296,6684,0.00,2.70,0.00,0.000,6,0.000,0.062,2704,2240,3636,0,0,0,0,0,0
$STATE,6932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6932,begin apogee
$GC,6940,-0.31,0.0,602.1,7.4,303,7061,1.02,0.00,117.47,1.022,6,0.071,0.000,2936,2376,3060,0,0,0,0,0,0
$STATE,7063,end apogee,CONTROL_FINISHED_OK
$STATE,7063,begin climb
$GC,7065,1.27,146.0,605.2,0.0,306,7194,1.45,0.00,125.07,0.993,6,0.036,0.000,3289,2376,2464,0,0,0,0,0,0
$GC,7418,1.15,146.0,574.6,11.2,315,7424,0.17,2.78,0.00,0.000,4,0.117,0.075,3254,3931,2455,0,0,0,0,0,0
$GC,7481,1.06,146.0,567.4,11.5,316,7486,0.00,2.70,0.00,0.000,6,0.000,0.051,3254,2370,2454,0,0,0,0,0,0
$GC,7742,1.00,146.0,539.4,10.7,323,7747,0.15,2.75,0.00,0.000,4,0.120,0.064,3224,3937,2452,0,0,0,0,0,0
$GC,7776,1.00,146.0,535.7,11.0,323,7781,0.00,2.67,0.00,0.000,6,0.000,0.046,3224,2372,2451,0,0,0,0,0,0
$GC,8026,1.03,164.7,512.2,9.1,330,8047,0.00,3.12,15.43,0.904,4,0.000,0.121,3224,782,2389,0,0,0,0,0,0
$GC,8065,1.04,179.2,508.6,9.3,331,8084,0.00,2.72,14.62,0.886,6,0.000,0.050,3224,2370,2329,0,0,0,0,0,0
$GC,8347,1.07,202.4,483.3,8.9,338,8377,0.00,2.97,21.88,0.911,4,0.000,0.081,3224,781,2233,0,0,0,0,0,0
$GC,8400,1.08,209.5,478.1,9.7,339,8414,0.00,2.70,7.88,0.790,6,0.000,0.044,3224,2375,2204,0,0,0,0,0,0
$GC,8677,1.08,209.5,450.5,10.1,346,8682,0.00,2.67,0.00,0.000,4,0.000,0.058,3224,3937,2201,0,0,0,0,0,0
$GC,8693,1.08,209.5,448.5,10.3,346,8698,0.00,2.62,0.00,0.000,6,0.000,0.037,3224,2358,2200,0,0,0,0,0,0
$GC,8955,1.14,217.9,423.0,9.6,353,8966,0.12,0.00,8.18,0.795,6,0.078,0.000,3260,2358,2171,0,0,0,0,0,0
$GC,9240,1.14,217.9,393.6,10.3,360,9244,0.00,2.67,0.00,0.000,4,0.000,0.048,3260,3936,2168,0,0,0,0,0,0
$GC,9256,1.14,217.9,391.6,10.5,360,9260,0.00,2.60,0.00,0.000,6,0.000,0.030,3260,2363,2167,0,0,0,0,0,0
$GC,9516,1.14,217.9,363.6,10.8,367,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2362,2167,0,0,0,0,0,0
$GC,9760,1.14,217.9,336.0,11.3,373,9764,0.00,2.67,0.00,0.000,4,0.000,0.050,3260,3945,2166,0,0,0,0,0,0
$GC,9866,1.14,217.9,324.0,10.9,375,9871,0.00,2.55,0.00,0.000,6,0.000,0.028,3260,2372,2165,0,0,0,0,0,0
$GC,10127,1.15,226.3,298.4,9.6,382,10141,0.00,2.75,8.07,0.728,4,0.000,0.058,3260,788,2136,0,0,0,0,0,0
$GC,10221,1.15,226.3,288.8,10.2,384,10225,0.00,2.55,0.00,0.000,6,0.000,0.026,3260,2371,2135,0,0,0,0,0,0
$GC,10498,1.16,240.1,262.5,9.4,391,10518,0.00,2.67,13.48,0.751,4,0.000,0.050,3260,3916,2080,0,0,0,0,0,0
$GC,10536,1.19,256.8,259.1,9.2,391,10558,0.00,2.55,16.25,0.748,6,0.000,0.026,3260,2360,2012,0,0,0,0,0,0
$GC,10825,1.19,256.8,230.2,10.5,399,10829,0.00,2.65,0.00,0.000,4,0.000,0.052,3260,780,2008,0,0,0,0,0,0
$GC,10846,1.19,256.8,227.7,11.1,399,10850,0.00,2.55,0.00,0.000,6,0.000,0.024,3260,2376,2007,0,0,0,0,0,0
$GC,11102,1.19,256.8,201.3,10.3,406,11107,0.00,2.65,0.00,0.000,4,0.000,0.047,3260,786,2007,0,0,0,0,0,0
$GC,11129,1.19,256.8,198.2,10.7,406,11133,0.00,2.50,0.00,0.000,6,0.000,0.024,3260,2360,2007,0,0,0,0,0,0
$GC,11396,1.24,258.6,172.6,9.9,430,11401,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2360,2007,0,0,0,0,0,0
$GC,11663,1.29,258.6,144.3,11.4,455,11668,0.10,0.00,0.00,0.000,6,0.089,0.000,3291,2360,2007,0,0,0,0,0,0
$GC,11926,1.29,258.6,111.5,11.5,480,11930,0.00,2.58,0.00,0.000,4,0.000,0.044,3291,3926,2007,0,0,0,0,0,0
$GC,11978,1.29,258.6,105.2,10.9,484,11982,0.00,2.50,0.00,0.000,6,0.000,0.023,3291,2357,2007,0,0,0,0,0,0
$GC,12240,1.29,258.6,79.8,10.3,508,12245,0.00,2.58,0.00,0.000,4,0.000,0.042,3292,3929,2007,0,0,0,0,0,0
$GC,12324,1.29,258.6,70.7,11.2,514,12328,0.00,2.50,0.00,0.000,6,0.000,0.024,3291,2363,2007,0,0,0,0,0,0
$GC,12591,1.29,258.6,41.3,10.1,538,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2363,2008,0,0,0,0,0,0
$GC,12894,1.29,258.6,8.9,11.9,577,12903,0.00,2.62,0.00,0.000,4,0.000,0.050,3291,791,2009,0,0,0,0,0,0
$GC,12921,1.34,258.6,6.0,10.8,580,12931,0.00,2.47,0.00,0.000,6,0.000,0.019,3291,2370,2009,0,0,0,0,0,0
$STATE,12938,end climb,SURFACE_DEPTH_REACHED
$STATE,12939,begin surface coast
$FINISH,-0.2,1.011564
$STATE,12988,end surface coast,CONTROL_FINISHED_OK
$STATE,12988,begin surface
$SM_CCo,13010,99.35,0.524,0,0,1509,380.21
$SM_GC,0.37,0.00,0.00,99.35,0.000,0.000,0.524,465,2182,1509,-11.68,-0.82,380.21
$IRIDIUM_FIX,2258.07,-15733.62,180603,020204
$TT8_MAMPS,0.026078
$HUMID,59.45
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.20
$XPDR_PINGS,18
$24V_AH,23.3,10.967
$10V_AH,10.4,9.573
$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,26.825,168.975,348.325,99.350,0.000,84.845,112.693,654.900,4.500,0.000,11.322,1227.606,9139.786,588.178,2093.510,1177.107,33.360,1398.882,0.000,2094.943,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,121.186,1022.411,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,400.383,325.398,417.351,600.923,1145.352,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,44628,589
$CAP_FILE_SIZE,141948,0
$CFSIZE,260165632,175255552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240314,061429,2302.383,-15737.349,36,1.4,41,10.1