version: 66.06
glider: 146
mission: 9
dive: 80
start: 3 24 114 13 57 18
data:
$ID,146
$MISSION,9
$DIVE,80
$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,-324906.75
$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,58
$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
$GPS1,134930,2300.241,-15739.900,68,1.0,68,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-68.2
$GPS2,135624,2300.287,-15739.878,10,1.3,21,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.220,-0.138
$KALMAN_X,-55474.8,-157.8,-311.3,82744.0,1133.3
$KALMAN_Y,47501.3,389.3,168.1,-27681.8,415.4
$MHEAD_RNG_PITCHd_Wd,227.8,57754,-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,-88.95,0.000,6,0.000,0.000,463,2173,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.4,-11.1,12,133,11.95,2.65,0.00,0.000,4,0.151,0.031,2720,3793,3656,0,0,0,0,0,0
$GC,302,-1.18,-146.0,45.3,-20.6,34,311,0.08,2.53,0.00,0.000,6,0.100,0.025,2740,2233,3657,0,0,0,0,0,0
$GC,572,-1.09,-146.0,74.7,-10.3,59,577,0.12,2.65,0.00,0.000,4,0.121,0.047,2764,630,3658,0,0,0,0,0,0
$GC,618,-1.09,-146.0,80.1,-10.5,62,623,0.00,2.47,0.00,0.000,6,0.000,0.018,2765,2224,3658,0,0,0,0,0,0
$GC,880,-1.09,-146.0,108.4,-11.8,86,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2225,3658,0,0,0,0,0,0
$GC,1135,-1.09,-146.0,134.4,-9.7,110,1139,0.00,2.62,0.00,0.000,4,0.000,0.043,2764,630,3659,0,0,0,0,0,0
$GC,1155,-1.09,-146.0,136.2,-10.5,111,1159,0.00,2.45,0.00,0.000,6,0.000,0.021,2764,2217,3659,0,0,0,0,0,0
$GC,1418,-1.09,-146.0,160.3,-9.2,135,1423,0.00,2.62,0.00,0.000,4,0.000,0.044,2765,624,3659,0,0,0,0,0,0
$GC,1440,-1.09,-146.0,162.1,-9.2,136,1445,0.00,2.45,0.00,0.000,6,0.000,0.018,2765,2210,3659,0,0,0,0,0,0
$GC,1709,-1.13,-146.0,185.6,-8.7,160,1713,0.00,2.60,0.00,0.000,4,0.000,0.045,2764,629,3659,0,0,0,0,0,0
$GC,1730,-1.17,-146.0,188.2,-8.5,161,1736,0.00,2.45,0.00,0.000,6,0.000,0.026,2764,2207,3659,0,0,0,0,0,0
$GC,2009,-1.22,-146.0,209.6,-7.6,179,2014,0.12,2.62,0.00,0.000,4,0.068,0.048,2716,632,3660,0,0,0,0,0,0
$GC,2042,-1.17,-146.0,213.2,-10.7,179,2048,0.15,2.45,0.00,0.000,6,0.097,0.021,2748,2202,3660,0,0,0,0,0,0
$GC,2292,-1.17,-146.0,234.6,-8.2,186,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2202,3660,0,0,0,0,0,0
$GC,2537,-1.17,-146.0,253.3,-7.8,192,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2202,3660,0,0,0,0,0,0
$GC,2779,-1.17,-146.0,274.1,-8.5,198,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2202,3660,0,0,0,0,0,0
$GC,3024,-1.22,-146.0,295.0,-8.3,204,3028,0.00,2.65,0.00,0.000,4,0.000,0.057,2747,628,3659,0,0,0,0,0,0
$GC,3046,-1.26,-146.0,297.0,-8.5,204,3051,0.00,2.50,0.00,0.000,6,0.000,0.027,2747,2198,3659,0,0,0,0,0,0
$GC,3302,-1.31,-146.0,319.1,-8.6,211,3307,0.12,2.62,0.00,0.000,4,0.069,0.046,2700,3789,3659,0,0,0,0,0,0
$GC,3346,-1.31,-146.0,323.5,-10.0,212,3350,0.00,2.53,0.00,0.000,6,0.000,0.025,2699,2214,3658,0,0,0,0,0,0
$GC,3626,-1.31,-146.0,348.2,-8.7,219,3630,0.00,2.62,0.00,0.000,4,0.000,0.047,2700,3789,3657,0,0,0,0,0,0
$GC,3642,-1.28,-146.0,349.8,-9.1,219,3647,0.12,2.55,0.00,0.000,6,0.102,0.028,2727,2210,3657,0,0,0,0,0,0
$GC,3903,-1.28,-146.0,372.4,-8.8,226,3907,0.00,2.65,0.00,0.000,4,0.000,0.058,2728,3784,3656,0,0,0,0,0,0
$GC,3927,-1.28,-146.0,374.4,-8.5,226,3931,0.00,2.55,0.00,0.000,6,0.000,0.031,2727,2218,3656,0,0,0,0,0,0
$GC,4182,-1.28,-146.0,396.0,-8.5,233,4186,0.00,2.65,0.00,0.000,4,0.000,0.061,2727,3782,3654,0,0,0,0,0,0
$GC,4232,-1.33,-146.0,400.7,-9.1,234,4236,0.00,2.55,0.00,0.000,6,0.000,0.038,2727,2232,3654,0,0,0,0,0,0
$GC,4505,-1.37,-146.0,424.2,-8.7,241,4510,0.00,2.85,0.00,0.000,4,0.000,0.086,2727,621,3652,0,0,0,0,0,0
$GC,4566,-1.43,-146.0,429.6,-9.2,242,4572,0.15,2.62,0.00,0.000,6,0.061,0.041,2673,2213,3652,0,0,0,0,0,0
$GC,4830,-1.37,-146.0,453.5,-8.9,249,4831,0.15,0.00,0.00,0.000,6,0.098,0.000,2705,2213,3650,0,0,0,0,0,0
$GC,5071,-1.37,-146.0,471.9,-7.5,255,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2213,3649,0,0,0,0,0,0
$GC,5315,-1.37,-146.0,489.4,-7.2,261,5320,0.00,2.75,0.00,0.000,4,0.000,0.074,2705,3796,3647,0,0,0,0,0,0
$GC,5349,-1.37,-146.0,492.1,-8.2,261,5355,0.00,2.62,0.00,0.000,6,0.000,0.043,2705,2226,3646,0,0,0,0,0,0
$GC,5599,-1.37,-146.0,510.7,-7.5,268,5603,0.00,2.70,0.00,0.000,4,0.000,0.065,2705,3791,3646,0,0,0,0,0,0
$GC,5671,-1.37,-146.0,516.9,-8.2,269,5675,0.00,2.62,0.00,0.000,6,0.000,0.047,2705,2233,3645,0,0,0,0,0,0
$GC,5922,-1.37,-146.0,537.6,-8.4,275,5927,0.00,2.72,0.00,0.000,4,0.000,0.071,2704,3794,3644,0,0,0,0,0,0
$GC,5968,-1.37,-146.0,541.8,-9.2,276,5973,0.00,2.62,0.00,0.000,6,0.000,0.057,2705,2249,3644,0,0,0,0,0,0
$GC,6246,-1.37,-146.0,563.6,-7.7,283,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2249,3642,0,0,0,0,0,0
$GC,6491,-1.37,-146.0,580.0,-6.5,289,6496,0.00,2.80,0.00,0.000,4,0.000,0.087,2705,3794,3640,0,0,0,0,0,0
$GC,6518,-1.37,-146.0,582.0,-7.1,289,6523,0.00,2.67,0.00,0.000,6,0.000,0.061,2705,2255,3640,0,0,0,0,0,0
$GC,6768,-1.37,-146.0,598.9,-6.8,295,6773,0.00,3.15,0.00,0.000,4,0.000,0.124,2705,616,3638,0,0,0,0,0,0
$STATE,6781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6782,begin apogee
$GC,6792,-0.31,0.0,600.1,6.8,295,6914,1.00,0.00,118.35,1.015,6,0.077,0.000,2932,2369,3060,0,0,0,0,0,0
$STATE,6914,end apogee,CONTROL_FINISHED_OK
$STATE,6915,begin climb
$GC,6917,1.27,146.0,602.0,0.0,298,7056,1.48,2.95,124.35,0.987,4,0.035,0.091,3292,3938,2462,0,0,0,0,0,0
$GC,7063,1.12,146.0,592.9,10.3,302,7069,0.20,2.78,0.00,0.000,6,0.105,0.059,3251,2369,2460,0,0,0,0,0,0
$GC,7342,1.08,153.6,566.2,9.6,309,7350,0.00,0.00,6.57,0.772,6,0.000,0.000,3251,2369,2433,0,0,0,0,0,0
$GC,7586,1.03,153.6,540.9,10.4,315,7588,0.10,0.00,0.00,0.000,6,0.136,0.000,3231,2369,2430,0,0,0,0,0,0
$GC,7830,1.07,181.0,518.9,8.7,321,7861,0.00,2.83,25.58,0.932,4,0.000,0.067,3231,3946,2320,0,0,0,0,0,0
$GC,7889,1.07,181.0,513.2,10.4,322,7894,0.00,2.70,0.00,0.000,6,0.000,0.051,3231,2375,2318,0,0,0,0,0,0
$GC,8152,1.09,202.3,489.6,9.0,329,8173,0.00,0.00,19.80,0.907,6,0.000,0.000,3231,2376,2235,0,0,0,0,0,0
$GC,8394,1.09,202.3,465.3,10.2,335,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2376,2230,0,0,0,0,0,0
$GC,8638,1.10,208.5,441.4,9.7,341,8646,0.00,0.00,6.22,0.739,6,0.000,0.000,3231,2376,2209,0,0,0,0,0,0
$GC,8883,1.10,210.5,417.3,9.9,347,8888,0.00,2.92,0.00,0.000,4,0.000,0.093,3231,774,2207,0,0,0,0,0,0
$GC,8904,1.10,210.5,414.9,10.3,347,8908,0.00,2.65,0.00,0.000,6,0.000,0.034,3231,2387,2206,0,0,0,0,0,0
$GC,9165,1.10,210.5,388.6,10.1,354,9170,0.00,2.80,0.00,0.000,4,0.000,0.066,3231,778,2206,0,0,0,0,0,0
$GC,9222,1.14,210.5,383.0,10.4,355,9227,0.10,2.60,0.00,0.000,6,0.090,0.032,3260,2364,2204,0,0,0,0,0,0
$GC,9490,1.14,210.5,355.7,10.4,362,9494,0.00,2.65,0.00,0.000,4,0.000,0.055,3260,3939,2205,0,0,0,0,0,0
$GC,9563,1.11,210.5,347.1,11.8,363,9568,0.00,2.60,0.00,0.000,6,0.000,0.028,3260,2351,2204,0,0,0,0,0,0
$GC,9814,1.11,210.5,320.5,10.5,369,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2351,2203,0,0,0,0,0,0
$GC,10057,1.12,218.8,296.9,9.6,375,10072,0.00,2.70,10.02,0.748,4,0.000,0.048,3261,3931,2167,0,0,0,0,0,0
$GC,10156,1.12,218.8,286.2,11.5,377,10160,0.00,2.55,0.00,0.000,6,0.000,0.027,3261,2367,2165,0,0,0,0,0,0
$GC,10423,1.12,218.8,258.8,10.1,384,10428,0.00,2.67,0.00,0.000,4,0.000,0.055,3261,781,2165,0,0,0,0,0,0
$GC,10458,1.12,218.8,254.9,11.5,384,10463,0.00,2.58,0.00,0.000,6,0.000,0.026,3260,2387,2164,0,0,0,0,0,0
$GC,10708,1.14,237.0,231.1,9.2,391,10732,0.00,2.67,17.15,0.729,4,0.000,0.047,3260,3928,2092,0,0,0,0,0,0
$GC,10772,1.14,237.0,224.7,10.3,392,10777,0.00,2.53,0.00,0.000,6,0.000,0.026,3260,2376,2090,0,0,0,0,0,0
$GC,11034,1.18,237.0,198.2,10.1,399,11038,0.00,2.65,0.00,0.000,4,0.000,0.049,3260,784,2089,0,0,0,0,0,0
$GC,11092,1.22,237.0,192.3,10.1,403,11098,0.00,2.53,0.00,0.000,6,0.000,0.024,3260,2369,2089,0,0,0,0,0,0
$GC,11355,1.29,248.6,167.5,9.5,428,11380,0.10,2.60,11.30,0.635,4,0.087,0.044,3292,3931,2044,0,0,0,0,0,0
$GC,11408,1.29,248.6,161.2,12.8,432,11417,0.00,2.55,0.00,0.000,6,0.000,0.024,3293,2367,2044,0,0,0,0,0,0
$GC,11675,1.29,248.6,133.4,10.1,457,11679,0.00,2.60,0.00,0.000,4,0.000,0.044,3292,3925,2043,0,0,0,0,0,0
$GC,11754,1.29,248.6,124.8,11.2,463,11758,0.00,2.50,0.00,0.000,6,0.000,0.025,3292,2371,2043,0,0,0,0,0,0
$GC,12020,1.29,248.6,97.5,10.1,487,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2371,2043,0,0,0,0,0,0
$GC,12287,1.29,248.6,69.3,12.9,512,12292,0.00,2.58,0.00,0.000,4,0.000,0.046,3292,3925,2043,0,0,0,0,0,0
$GC,12320,1.29,248.6,64.5,14.5,514,12324,0.00,2.47,0.00,0.000,6,0.000,0.025,3292,2378,2043,0,0,0,0,0,0
$GC,12587,1.29,248.6,33.9,11.5,538,12596,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2378,2044,0,0,0,0,0,0
$STATE,12893,end climb,SURFACE_DEPTH_REACHED
$STATE,12894,begin surface coast
$FINISH,-0.2,1.009952
$STATE,12949,end surface coast,CONTROL_FINISHED_OK
$STATE,12949,begin surface
$SM_CCo,12970,106.88,0.520,0,0,1509,380.21
$SM_GC,0.52,0.00,0.00,106.88,0.000,0.000,0.520,469,2185,1509,-11.66,-0.68,380.21
$IRIDIUM_FIX,2251.04,-15730.19,180603,101055
$TT8_MAMPS,0.026078
$HUMID,59.25
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.40
$XPDR_PINGS,17
$24V_AH,23.3,11.370
$10V_AH,10.4,9.929
$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,27.200,153.625,339.350,106.875,0.000,35.539,37.126,197.238,4.250,0.000,23.945,1215.780,9031.195,560.228,2105.964,578.263,33.356,1360.016,0.000,2099.051,0.000,0.534,0.000
$DEVICE_MAMPS,151.099,124.254,1014.741,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,401.446,331.337,421.327,618.419,1177.744,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,44793,591
$CAP_FILE_SIZE,128068,0
$CFSIZE,260165632,175079424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240314,173654,2259.261,-15741.211,55,1.2,55,10.1