version: 66.06
glider: 146
mission: 9
dive: 79
start: 3 24 114 10 15 0
data:
$ID,146
$MISSION,9
$DIVE,79
$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,-324882.19
$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,30
$R_STBD_OVSHOOT,38
$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
$GPS1,100354,2300.973,-15738.962,46,1.4,46,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-70.1
$GPS2,101406,2301.010,-15739.025,10,1.7,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.151,-0.211
$KALMAN_X,-55853.4,-278.2,-148.4,84538.4,-104.7
$KALMAN_Y,47398.7,-89.7,-435.8,-25154.5,955.9
$MHEAD_RNG_PITCHd_Wd,205.4,59730,-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,-88.78,0.000,6,0.000,0.000,459,2155,3658,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.5,-11.0,12,132,11.68,2.65,0.00,0.000,4,0.141,0.032,2718,3790,3658,0,0,0,0,0,0
$GC,301,-1.19,-146.0,39.9,-11.2,34,311,0.08,2.58,0.00,0.000,6,0.097,0.025,2738,2198,3659,0,0,0,0,0,0
$GC,570,-1.12,-146.0,73.6,-13.0,59,575,0.10,2.58,0.00,0.000,4,0.125,0.048,2759,635,3660,0,0,0,0,0,0
$GC,592,-1.05,-146.0,76.8,-12.5,60,596,0.00,2.45,0.00,0.000,6,0.000,0.017,2759,2220,3660,0,0,0,0,0,0
$GC,854,-1.05,-146.0,105.7,-10.5,84,859,0.00,2.60,0.00,0.000,4,0.000,0.044,2759,634,3660,0,0,0,0,0,0
$GC,890,-1.05,-146.0,109.7,-11.4,86,900,0.00,2.45,0.00,0.000,6,0.000,0.018,2759,2194,3660,0,0,0,0,0,0
$GC,1157,-1.05,-146.0,134.7,-9.2,111,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2194,3660,0,0,0,0,0,0
$GC,1423,-1.05,-146.0,161.8,-10.1,136,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2194,3661,0,0,0,0,0,0
$GC,1686,-1.08,-146.0,187.4,-9.2,161,1690,0.00,2.58,0.00,0.000,4,0.000,0.048,2759,629,3661,0,0,0,0,0,0
$GC,1720,-1.08,-146.0,190.2,-9.4,163,1725,0.00,2.42,0.00,0.000,6,0.000,0.026,2759,2189,3661,0,0,0,0,0,0
$GC,1996,-1.12,-146.0,214.5,-8.6,177,2000,0.00,2.58,0.00,0.000,4,0.000,0.038,2759,3777,3662,0,0,0,0,0,0
$GC,2017,-1.16,-146.0,216.6,-9.1,177,2022,0.00,2.53,0.00,0.000,6,0.000,0.020,2759,2174,3661,0,0,0,0,0,0
$GC,2275,-1.21,-146.0,239.0,-8.9,184,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2174,3661,0,0,0,0,0,0
$GC,2517,-1.26,-146.0,258.9,-7.9,190,2519,0.12,0.00,0.00,0.000,6,0.067,0.000,2708,2174,3661,0,0,0,0,0,0
$GC,2760,-1.26,-146.0,282.2,-9.7,196,2762,0.10,0.00,0.00,0.000,6,0.110,0.000,2730,2174,3661,0,0,0,0,0,0
$GC,3005,-1.26,-146.0,301.7,-7.9,202,3010,0.00,2.62,0.00,0.000,4,0.000,0.044,2730,3771,3660,0,0,0,0,0,0
$GC,3049,-1.26,-146.0,305.4,-7.9,203,3054,0.00,2.50,0.00,0.000,6,0.000,0.024,2730,2205,3660,0,0,0,0,0,0
$GC,3327,-1.26,-146.0,327.2,-8.1,210,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2205,3659,0,0,0,0,0,0
$GC,3572,-1.26,-146.0,347.6,-8.3,216,3577,0.00,2.60,0.00,0.000,4,0.000,0.048,2730,3770,3658,0,0,0,0,0,0
$GC,3594,-1.26,-146.0,349.8,-9.1,216,3599,0.00,2.53,0.00,0.000,6,0.000,0.028,2730,2195,3658,0,0,0,0,0,0
$GC,3850,-1.30,-146.0,369.7,-7.7,223,3855,0.00,2.65,0.00,0.000,4,0.000,0.051,2730,3771,3657,0,0,0,0,0,0
$GC,3892,-1.35,-146.0,372.8,-7.9,224,3896,0.00,2.58,0.00,0.000,6,0.000,0.033,2730,2191,3657,0,0,0,0,0,0
$GC,4176,-1.40,-146.0,395.0,-7.9,231,4177,0.12,0.00,0.00,0.000,6,0.069,0.000,2683,2191,3654,0,0,0,0,0,0
$GC,4421,-1.36,-146.0,417.6,-9.3,237,4422,0.10,0.00,0.00,0.000,6,0.116,0.000,2706,2191,3654,0,0,0,0,0,0
$GC,4664,-1.36,-146.0,436.6,-7.7,243,4668,0.00,2.72,0.00,0.000,4,0.000,0.065,2706,3772,3652,0,0,0,0,0,0
$GC,4691,-1.36,-146.0,438.8,-7.7,243,4695,0.00,2.62,0.00,0.000,6,0.000,0.044,2706,2198,3652,0,0,0,0,0,0
$GC,4940,-1.36,-146.0,457.9,-7.7,249,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2199,3650,0,0,0,0,0,0
$GC,5186,-1.36,-146.0,477.3,-8.0,255,5190,0.00,2.72,0.00,0.000,4,0.000,0.065,2706,3764,3648,0,0,0,0,0,0
$GC,5207,-1.36,-146.0,479.2,-8.3,255,5211,0.00,2.60,0.00,0.000,6,0.000,0.052,2706,2206,3648,0,0,0,0,0,0
$GC,5462,-1.36,-146.0,500.8,-8.5,262,5467,0.00,2.72,0.00,0.000,4,0.000,0.074,2707,3767,3646,0,0,0,0,0,0
$GC,5490,-1.36,-146.0,503.4,-9.2,262,5495,0.00,2.62,0.00,0.000,6,0.000,0.048,2706,2210,3646,0,0,0,0,0,0
$GC,5740,-1.36,-146.0,525.4,-8.8,268,5745,0.00,2.75,0.00,0.000,4,0.000,0.078,2707,3764,3645,0,0,0,0,0,0
$GC,5773,-1.36,-146.0,528.4,-8.8,268,5779,0.00,2.62,0.00,0.000,6,0.000,0.056,2706,2221,3645,0,0,0,0,0,0
$GC,6025,-1.36,-146.0,548.5,-7.9,275,6029,0.00,2.70,0.00,0.000,4,0.000,0.074,2706,3762,3643,0,0,0,0,0,0
$GC,6046,-1.36,-146.0,550.3,-7.9,275,6050,0.00,2.60,0.00,0.000,6,0.000,0.059,2706,2230,3643,0,0,0,0,0,0
$GC,6302,-1.36,-146.0,570.0,-7.6,282,6306,0.00,2.72,0.00,0.000,4,0.000,0.080,2706,3760,3642,0,0,0,0,0,0
$GC,6347,-1.36,-146.0,573.7,-7.9,283,6351,0.00,2.62,0.00,0.000,6,0.000,0.068,2706,2235,3642,0,0,0,0,0,0
$GC,6624,-1.36,-146.0,595.6,-7.8,290,6629,0.00,3.10,0.00,0.000,4,0.000,0.126,2706,618,3640,0,0,0,0,0,0
$GC,6640,-1.36,-146.0,597.1,-7.8,290,6645,0.00,2.78,0.00,0.000,6,0.000,0.068,2706,2205,3640,0,0,0,0,0,0
$STATE,6697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6697,begin apogee
$GC,6704,-0.31,0.0,601.4,7.6,292,6826,1.00,0.00,118.82,1.019,6,0.071,0.000,2934,2373,3060,0,0,0,0,0,0
$STATE,6827,end apogee,CONTROL_FINISHED_OK
$STATE,6827,begin climb
$GC,6830,1.27,146.0,603.8,0.0,295,6967,1.42,2.92,124.57,0.990,4,0.035,0.094,3287,3933,2462,0,0,0,0,0,0
$GC,6998,1.11,146.0,592.3,12.3,299,7004,0.20,2.78,0.00,0.000,6,0.103,0.060,3246,2366,2459,0,0,0,0,0,0
$GC,7282,1.09,157.3,564.6,9.5,306,7294,0.00,0.00,9.82,0.854,6,0.000,0.000,3245,2366,2418,0,0,0,0,0,0
$GC,7527,1.10,163.9,541.1,9.7,312,7541,0.00,2.85,7.12,0.795,4,0.000,0.066,3246,3935,2391,0,0,0,0,0,0
$GC,7571,1.04,163.9,536.3,11.2,313,7575,0.00,2.67,0.00,0.000,6,0.000,0.047,3246,2378,2390,0,0,0,0,0,0
$GC,7853,1.04,163.9,507.6,10.2,320,7858,0.00,2.70,0.00,0.000,4,0.000,0.058,3245,3938,2388,0,0,0,0,0,0
$GC,7882,0.99,163.9,504.4,11.5,320,7887,0.12,2.67,0.00,0.000,6,0.122,0.044,3220,2373,2387,0,0,0,0,0,0
$GC,8132,1.01,183.0,480.9,9.1,326,8152,0.00,0.00,18.17,0.903,6,0.000,0.000,3220,2372,2313,0,0,0,0,0,0
$GC,8376,1.03,202.9,458.8,9.1,332,8400,0.00,2.78,18.73,0.892,4,0.000,0.054,3221,3932,2231,0,0,0,0,0,0
$GC,8424,1.06,220.9,454.3,9.2,333,8448,0.00,2.65,17.58,0.874,6,0.000,0.038,3220,2370,2158,0,0,0,0,0,0
$GC,8705,1.13,239.7,428.5,9.1,340,8730,0.12,3.00,17.25,0.867,4,0.081,0.094,3254,786,2082,0,0,0,0,0,0
$GC,8753,1.13,239.7,423.4,11.5,341,8757,0.00,2.67,0.00,0.000,6,0.000,0.036,3254,2390,2080,0,0,0,0,0,0
$GC,9030,1.13,239.7,392.8,11.3,348,9034,0.00,2.83,0.00,0.000,4,0.000,0.066,3254,775,2078,0,0,0,0,0,0
$GC,9062,1.13,239.7,388.8,12.4,348,9068,0.00,2.62,0.00,0.000,6,0.000,0.034,3254,2376,2077,0,0,0,0,0,0
$GC,9313,1.13,239.7,361.9,10.6,355,9318,0.00,2.62,0.00,0.000,4,0.000,0.053,3255,3932,2077,0,0,0,0,0,0
$GC,9357,1.13,239.7,356.6,12.4,356,9361,0.00,2.58,0.00,0.000,6,0.000,0.035,3254,2361,2075,0,0,0,0,0,0
$GC,9640,1.13,239.7,324.1,11.5,363,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2361,2075,0,0,0,0,0,0
$GC,9885,1.13,239.7,296.8,11.1,369,9889,0.00,2.65,0.00,0.000,4,0.000,0.048,3254,3934,2075,0,0,0,0,0,0
$GC,9962,1.13,239.7,287.7,11.7,370,9968,0.00,2.50,0.00,0.000,6,0.000,0.027,3254,2392,2074,0,0,0,0,0,0
$GC,10212,1.14,248.2,262.8,9.6,377,10227,0.00,2.78,7.85,0.690,4,0.000,0.055,3254,783,2047,0,0,0,0,0,0
$GC,10268,1.20,257.6,257.3,9.6,378,10284,0.00,2.60,10.00,0.711,6,0.000,0.031,3255,2396,2009,0,0,0,0,0,0
$GC,10540,1.24,257.6,230.5,10.0,385,10544,0.00,2.58,0.00,0.000,4,0.000,0.048,3254,3934,2006,0,0,0,0,0,0
$GC,10585,1.29,257.6,225.4,11.3,386,10590,0.12,2.50,0.00,0.000,6,0.074,0.025,3290,2390,2005,0,0,0,0,0,0
$GC,10847,1.29,257.6,195.9,11.0,394,10851,0.00,2.67,0.00,0.000,4,0.000,0.051,3290,785,2005,0,0,0,0,0,0
$GC,10891,1.29,257.6,190.9,12.3,397,10895,0.00,2.55,0.00,0.000,6,0.000,0.027,3290,2397,2005,0,0,0,0,0,0
$GC,11158,1.29,257.6,159.7,11.8,421,11163,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2398,2005,0,0,0,0,0,0
$GC,11419,1.29,257.6,129.7,10.8,446,11424,0.00,2.65,0.00,0.000,4,0.000,0.044,3290,786,2005,0,0,0,0,0,0
$GC,11441,1.30,259.3,128.1,9.9,447,11445,0.00,2.53,0.00,0.000,6,0.000,0.023,3290,2397,2005,0,0,0,0,0,0
$GC,11707,1.31,274.0,102.7,9.3,471,11733,0.00,2.58,15.27,0.593,4,0.000,0.042,3290,3921,1942,0,0,0,0,0,0
$GC,11763,1.31,274.0,96.4,10.4,475,11768,0.00,2.50,0.00,0.000,6,0.000,0.024,3290,2371,1942,0,0,0,0,0,0
$GC,12029,1.31,274.0,66.9,12.8,500,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2372,1941,0,0,0,0,0,0
$GC,12294,1.31,274.0,32.7,11.9,525,12303,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2372,1941,0,0,0,0,0,0
$STATE,12604,end climb,SURFACE_DEPTH_REACHED
$STATE,12604,begin surface coast
$FINISH,-0.3,1.023940
$STATE,12651,end surface coast,CONTROL_FINISHED_OK
$STATE,12652,begin surface
$SM_CCo,12674,85.90,0.522,0,0,1509,380.21
$SM_GC,0.39,0.00,0.00,85.90,0.000,0.000,0.522,463,2173,1509,-11.69,-1.05,380.21
$IRIDIUM_FIX,2253.38,-15732.35,180603,101051
$TT8_MAMPS,0.026078
$HUMID,59.52
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.40
$XPDR_PINGS,19
$24V_AH,23.3,11.247
$10V_AH,10.4,9.810
$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,26.625,148.775,365.200,85.900,0.000,55.805,76.141,270.515,4.750,0.000,17.357,1181.693,8856.933,556.029,2060.472,715.319,33.359,1356.670,0.000,2054.852,0.000,0.534,0.000
$DEVICE_MAMPS,141.128,125.788,1019.343,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.560,302.340,412.143,608.410,1159.715,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,44805,578
$CAP_FILE_SIZE,128738,0
$CFSIZE,260165632,175140864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240314,134930,2300.241,-15739.900,68,1.0,68,10.1