version: 66.06
glider: 146
mission: 9
dive: 82
start: 3 24 114 21 40 15
data:
$ID,146
$MISSION,9
$DIVE,82
$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,-324947.88
$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,81
$R_STBD_OVSHOOT,42
$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
$GPS1,212706,2258.195,-15743.447,40,1.0,40,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-68.8
$GPS2,213919,2258.140,-15743.526,14,1.2,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.186,-0.182
$KALMAN_X,-56450.5,10.0,-144.0,77169.5,-514.8
$KALMAN_Y,47145.6,186.7,-379.9,-30551.9,-154.8
$MHEAD_RNG_PITCHd_Wd,215.5,50421,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-88.60,0.000,6,0.000,0.000,466,2156,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.2,-10.1,12,133,11.75,2.62,0.00,0.000,4,0.146,0.031,2716,3782,3657,0,0,0,0,0,0
$GC,301,-1.17,-146.0,42.6,-14.4,33,306,0.15,2.45,0.00,0.000,6,0.105,0.023,2748,2252,3657,0,0,0,0,0,0
$GC,570,-1.10,-146.0,75.3,-12.6,57,574,0.00,2.67,0.00,0.000,4,0.000,0.048,2748,628,3657,0,0,0,0,0,0
$GC,604,-1.03,-146.0,80.2,-13.0,59,609,0.15,2.47,0.00,0.000,6,0.107,0.018,2779,2222,3657,0,0,0,0,0,0
$GC,872,-1.03,-146.0,106.8,-8.6,83,876,0.00,2.60,0.00,0.000,4,0.000,0.044,2779,636,3658,0,0,0,0,0,0
$GC,905,-1.03,-146.0,109.8,-9.1,85,909,0.00,2.42,0.00,0.000,6,0.000,0.018,2779,2210,3658,0,0,0,0,0,0
$GC,1174,-1.07,-146.0,131.4,-7.4,109,1178,0.00,2.58,0.00,0.000,4,0.000,0.044,2779,636,3658,0,0,0,0,0,0
$GC,1195,-1.13,-146.0,133.3,-6.8,110,1204,0.08,2.42,0.00,0.000,6,0.041,0.025,2736,2180,3658,0,0,0,0,0,0
$GC,1457,-1.09,-146.0,157.1,-8.8,135,1462,0.15,2.60,0.00,0.000,4,0.095,0.037,2768,3779,3659,0,0,0,0,0,0
$GC,1570,-1.17,-146.0,166.9,-8.7,144,1575,0.00,2.47,0.00,0.000,6,0.000,0.021,2768,2192,3659,0,0,0,0,0,0
$GC,1835,-1.21,-146.0,188.8,-7.6,168,1840,0.12,2.58,0.00,0.000,4,0.068,0.048,2715,640,3659,0,0,0,0,0,0
$GC,1857,-1.21,-146.0,190.7,-8.3,169,1862,0.12,2.45,0.00,0.000,6,0.102,0.027,2742,2214,3659,0,0,0,0,0,0
$GC,2132,-1.21,-146.0,213.4,-8.1,183,2136,0.00,2.55,0.00,0.000,4,0.000,0.038,2742,3785,3659,0,0,0,0,0,0
$GC,2210,-1.21,-146.0,221.2,-10.4,184,2216,0.00,2.47,0.00,0.000,6,0.000,0.020,2742,2213,3659,0,0,0,0,0,0
$GC,2461,-1.21,-146.0,244.5,-9.2,191,2465,0.00,2.60,0.00,0.000,4,0.000,0.051,2742,636,3659,0,0,0,0,0,0
$GC,2482,-1.21,-146.0,246.4,-8.5,191,2486,0.00,2.47,0.00,0.000,6,0.000,0.021,2742,2219,3659,0,0,0,0,0,0
$GC,2738,-1.21,-146.0,268.3,-8.6,198,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2219,3659,0,0,0,0,0,0
$GC,2981,-1.21,-146.0,289.4,-8.5,204,2985,0.00,2.65,0.00,0.000,4,0.000,0.055,2742,644,3658,0,0,0,0,0,0
$GC,2997,-1.25,-146.0,290.7,-8.2,204,3001,0.00,2.47,0.00,0.000,6,0.000,0.025,2742,2201,3658,0,0,0,0,0,0
$GC,3259,-1.29,-146.0,310.8,-7.5,211,3264,0.00,2.62,0.00,0.000,4,0.000,0.047,2742,3791,3657,0,0,0,0,0,0
$GC,3316,-1.35,-146.0,315.1,-7.2,212,3321,0.15,2.53,0.00,0.000,6,0.061,0.025,2688,2219,3657,0,0,0,0,0,0
$GC,3584,-1.29,-146.0,341.2,-10.2,219,3589,0.15,2.75,0.00,0.000,4,0.095,0.071,2721,634,3656,0,0,0,0,0,0
$GC,3662,-1.29,-146.0,349.5,-9.7,220,3668,0.00,2.50,0.00,0.000,6,0.000,0.031,2721,2186,3656,0,0,0,0,0,0
$GC,3912,-1.29,-146.0,369.7,-7.6,227,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2187,3654,0,0,0,0,0,0
$GC,4157,-1.29,-146.0,389.4,-8.3,233,4161,0.00,2.70,0.00,0.000,4,0.000,0.054,2721,3793,3653,0,0,0,0,0,0
$GC,4206,-1.29,-146.0,394.0,-9.2,234,4210,0.00,2.60,0.00,0.000,6,0.000,0.033,2721,2189,3653,0,0,0,0,0,0
$GC,4478,-1.29,-146.0,417.4,-8.5,241,4482,0.00,2.78,0.00,0.000,4,0.000,0.087,2721,623,3651,0,0,0,0,0,0
$GC,4511,-1.29,-146.0,420.1,-8.4,241,4517,0.00,2.58,0.00,0.000,6,0.000,0.048,2721,2179,3651,0,0,0,0,0,0
$GC,4761,-1.29,-146.0,440.8,-8.3,248,4766,0.00,2.75,0.00,0.000,4,0.000,0.062,2721,3799,3649,0,0,0,0,0,0
$GC,4813,-1.34,-146.0,445.2,-8.3,249,4817,0.00,2.65,0.00,0.000,6,0.000,0.038,2721,2195,3649,0,0,0,0,0,0
$GC,5087,-1.37,-146.0,467.4,-8.1,256,5091,0.00,2.72,0.00,0.000,4,0.000,0.061,2721,3793,3647,0,0,0,0,0,0
$GC,5108,-1.37,-146.0,469.2,-7.5,256,5112,0.00,2.65,0.00,0.000,6,0.000,0.048,2721,2201,3647,0,0,0,0,0,0
$GC,5363,-1.42,-146.0,486.3,-6.4,263,5369,0.10,2.75,0.00,0.000,4,0.082,0.062,2681,3792,3645,0,0,0,0,0,0
$GC,5398,-1.37,-146.0,488.8,-8.0,263,5405,0.10,2.65,0.00,0.000,6,0.117,0.049,2703,2213,3645,0,0,0,0,0,0
$GC,5648,-1.37,-146.0,506.9,-7.2,270,5653,0.00,2.75,0.00,0.000,4,0.000,0.066,2704,3797,3644,0,0,0,0,0,0
$GC,5689,-1.37,-146.0,510.3,-8.7,271,5694,0.00,2.67,0.00,0.000,6,0.000,0.055,2703,2217,3644,0,0,0,0,0,0
$GC,5972,-1.37,-146.0,534.5,-8.6,278,5977,0.00,2.78,0.00,0.000,4,0.000,0.072,2703,3795,3642,0,0,0,0,0,0
$GC,6033,-1.37,-146.0,539.7,-8.3,279,6037,0.00,2.70,0.00,0.000,6,0.000,0.055,2703,2218,3642,0,0,0,0,0,0
$GC,6295,-1.37,-146.0,557.4,-6.4,286,6299,0.00,2.78,0.00,0.000,4,0.000,0.077,2704,3792,3640,0,0,0,0,0,0
$GC,6338,-1.37,-146.0,560.5,-7.1,287,6343,0.00,2.67,0.00,0.000,6,0.000,0.056,2704,2233,3639,0,0,0,0,0,0
$GC,6616,-1.37,-146.0,578.4,-6.5,294,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2233,3638,0,0,0,0,0,0
$GC,6861,-1.37,-146.0,596.9,-7.8,300,6866,0.00,3.12,0.00,0.000,4,0.000,0.132,2704,622,3637,0,0,0,0,0,0
$GC,6888,-1.37,-146.0,599.5,-8.7,300,6893,0.00,2.80,0.00,0.000,6,0.000,0.067,2704,2225,3637,0,0,0,0,0,0
$STATE,6932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6932,begin apogee
$GC,6939,-0.31,0.0,603.3,8.4,301,7060,1.02,0.00,118.18,1.020,6,0.071,0.000,2936,2378,3060,0,0,0,0,0,0
$STATE,7061,end apogee,CONTROL_FINISHED_OK
$STATE,7061,begin climb
$GC,7065,1.27,146.0,606.3,0.0,304,7202,1.42,2.95,124.60,0.992,4,0.035,0.094,3289,3935,2462,0,0,0,0,0,0
$GC,7237,1.11,146.0,594.4,12.8,308,7242,0.20,2.78,0.00,0.000,6,0.104,0.061,3248,2361,2459,0,0,0,0,0,0
$GC,7515,1.07,146.0,565.6,10.2,315,7520,0.00,2.97,0.00,0.000,4,0.000,0.106,3247,782,2453,0,0,0,0,0,0
$GC,7564,1.01,146.0,560.2,10.9,316,7570,0.12,2.72,0.00,0.000,6,0.120,0.054,3224,2362,2452,0,0,0,0,0,0
$GC,7838,1.03,158.0,533.9,9.4,323,7853,0.00,2.83,9.80,0.855,4,0.000,0.075,3224,3935,2415,0,0,0,0,0,0
$GC,7881,1.03,158.0,529.6,10.2,324,7885,0.00,2.70,0.00,0.000,6,0.000,0.044,3223,2357,2414,0,0,0,0,0,0
$GC,8160,1.07,192.8,505.8,8.4,331,8201,0.00,2.83,32.45,0.938,4,0.000,0.057,3224,3934,2272,0,0,0,0,0,0
$GC,8212,1.10,213.1,500.9,9.1,332,8237,0.00,2.70,19.27,0.899,6,0.000,0.045,3224,2366,2190,0,0,0,0,0,0
$GC,8487,1.10,213.1,472.9,10.3,339,8492,0.00,3.03,0.00,0.000,4,0.000,0.113,3223,781,2185,0,0,0,0,0,0
$GC,8504,1.10,213.1,471.2,10.3,339,8508,0.00,2.67,0.00,0.000,6,0.000,0.042,3223,2374,2184,0,0,0,0,0,0
$GC,8765,1.14,213.8,444.6,10.0,346,8770,0.12,2.67,0.00,0.000,4,0.079,0.055,3260,3935,2183,0,0,0,0,0,0
$GC,8792,1.10,213.8,441.2,11.8,346,8797,0.00,2.62,0.00,0.000,6,0.000,0.037,3260,2365,2182,0,0,0,0,0,0
$GC,9043,1.10,213.8,413.9,10.7,352,9048,0.00,2.88,0.00,0.000,4,0.000,0.090,3260,779,2182,0,0,0,0,0,0
$GC,9064,1.06,213.8,411.5,10.7,352,9070,0.12,2.60,0.00,0.000,6,0.122,0.035,3235,2372,2181,0,0,0,0,0,0
$GC,9321,1.06,213.8,384.9,10.7,359,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2372,2181,0,0,0,0,0,0
$GC,9565,1.06,213.8,359.7,10.2,365,9569,0.00,2.62,0.00,0.000,4,0.000,0.052,3235,3935,2181,0,0,0,0,0,0
$GC,9625,1.06,213.8,353.2,10.2,366,9629,0.00,2.55,0.00,0.000,6,0.000,0.030,3235,2374,2179,0,0,0,0,0,0
$GC,9887,1.12,231.1,329.2,9.2,373,9908,0.00,2.78,15.65,0.807,4,0.000,0.064,3235,785,2116,0,0,0,0,0,0
$GC,9954,1.17,231.1,322.4,11.1,374,9959,0.10,2.60,0.00,0.000,6,0.086,0.030,3266,2374,2114,0,0,0,0,0,0
$GC,10209,1.17,231.1,293.6,11.2,381,10210,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2374,2114,0,0,0,0,0,0
$GC,10453,1.17,231.1,266.6,11.2,387,10457,0.00,2.62,0.00,0.000,4,0.000,0.050,3266,3940,2113,0,0,0,0,0,0
$GC,10486,1.17,231.1,262.7,11.8,387,10492,0.00,2.55,0.00,0.000,6,0.000,0.028,3266,2373,2112,0,0,0,0,0,0
$GC,10736,1.17,231.1,236.2,10.3,394,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2373,2112,0,0,0,0,0,0
$GC,10979,1.17,231.1,211.1,10.4,400,10984,0.00,2.65,0.00,0.000,4,0.000,0.052,3266,785,2112,0,0,0,0,0,0
$GC,11001,1.17,231.1,208.7,11.1,400,11006,0.00,2.55,0.00,0.000,6,0.000,0.029,3266,2385,2111,0,0,0,0,0,0
$GC,11265,1.19,253.3,182.8,9.0,419,11291,0.00,2.65,19.98,0.690,4,0.000,0.046,3266,3920,2025,0,0,0,0,0,0
$GC,11381,1.25,253.3,171.3,10.4,428,11387,0.00,2.50,0.00,0.000,6,0.000,0.025,3266,2378,2024,0,0,0,0,0,0
$GC,11648,1.29,253.3,144.9,10.3,453,11653,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2378,2023,0,0,0,0,0,0
$GC,11912,1.37,270.4,118.2,9.2,478,11931,0.15,0.00,16.20,0.611,6,0.070,0.000,3309,2378,1957,0,0,0,0,0,0
$GC,12183,1.37,270.4,86.5,11.4,504,12188,0.00,2.62,0.00,0.000,4,0.000,0.047,3309,787,1954,0,0,0,0,0,0
$GC,12205,1.37,270.4,84.5,11.8,505,12209,0.00,2.53,0.00,0.000,6,0.000,0.022,3309,2389,1954,0,0,0,0,0,0
$GC,12472,1.37,270.4,53.9,11.2,529,12476,0.00,2.50,0.00,0.000,4,0.000,0.041,3309,3919,1954,0,0,0,0,0,0
$GC,12505,1.37,270.4,49.6,11.9,531,12510,0.00,2.45,0.00,0.000,6,0.000,0.023,3309,2380,1954,0,0,0,0,0,0
$GC,12793,1.37,270.4,17.9,11.1,563,12802,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2380,1954,0,0,0,0,0,0
$STATE,12928,end climb,SURFACE_DEPTH_REACHED
$STATE,12928,begin surface coast
$FINISH,-0.3,1.010153
$STATE,12995,end surface coast,CONTROL_FINISHED_OK
$STATE,12995,begin surface
$SM_CCo,13016,88.62,0.524,0,0,1510,380.21
$SM_GC,0.44,0.00,0.00,88.62,0.000,0.000,0.524,459,2194,1510,-11.71,-0.45,380.21
$IRIDIUM_FIX,2248.70,-15742.79,180603,212106
$TT8_MAMPS,0.027612
$HUMID,60.27
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.10
$XPDR_PINGS,20
$24V_AH,23.3,11.629
$10V_AH,10.4,10.171
$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,27.700,180.725,356.125,88.625,0.000,95.094,108.634,262.758,5.000,0.000,16.228,1252.933,9066.041,550.985,2158.535,811.152,33.358,1406.195,0.000,2155.066,0.000,0.535,0.000
$DEVICE_MAMPS,145.730,131.924,1020.110,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,401.989,332.343,423.068,603.079,1148.908,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,47880,592
$CAP_FILE_SIZE,141900,0
$CFSIZE,260165632,174940160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250314,012005,2257.512,-15745.160,38,1.7,43,10.1