version: 66.06
glider: 146
mission: 9
dive: 85
start: 3 25 114 9 5 46
data:
$ID,146
$MISSION,9
$DIVE,85
$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,-324995.88
$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,77
$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
$GPS1,085629,2255.637,-15748.640,35,1.3,41,10.1
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-69.8
$GPS2,090449,2255.667,-15748.705,12,1.2,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.129,-0.225
$KALMAN_X,-58141.9,-306.3,78.8,70107.1,-566.0
$KALMAN_Y,48794.6,1.5,-335.9,-36643.8,693.7
$MHEAD_RNG_PITCHd_Wd,199.7,40773,-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,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-88.82,0.000,6,0.000,0.000,465,2156,3656,0,0,0,0,0,0
$GC,113,-1.27,-146.0,4.3,-10.7,12,131,11.77,2.42,0.00,0.000,4,0.143,0.035,2719,671,3657,0,0,0,0,0,0
$GC,240,-1.15,-146.0,34.0,-14.5,28,245,0.15,2.42,0.00,0.000,6,0.115,0.022,2750,2224,3658,0,0,0,0,0,0
$GC,508,-1.09,-146.0,67.6,-11.5,52,512,0.00,2.53,0.00,0.000,4,0.000,0.041,2750,675,3658,0,0,0,0,0,0
$GC,542,-1.03,-146.0,72.2,-12.0,54,547,0.15,2.40,0.00,0.000,6,0.110,0.018,2781,2215,3658,0,0,0,0,0,0
$GC,806,-1.03,-146.0,98.2,-10.0,78,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2215,3659,0,0,0,0,0,0
$GC,1072,-1.03,-146.0,122.4,-8.8,103,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2215,3659,0,0,0,0,0,0
$GC,1335,-1.07,-146.0,147.1,-9.6,128,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2215,3659,0,0,0,0,0,0
$GC,1591,-1.14,-146.0,169.2,-8.7,152,1596,0.10,2.53,0.00,0.000,4,0.082,0.044,2737,678,3659,0,0,0,0,0,0
$GC,1644,-1.14,-146.0,175.1,-11.2,156,1648,0.00,2.38,0.00,0.000,6,0.000,0.018,2737,2208,3659,0,0,0,0,0,0
$GC,1938,-1.14,-146.0,203.9,-9.0,180,1942,0.00,2.55,0.00,0.000,4,0.000,0.038,2737,3782,3660,0,0,0,0,0,0
$GC,1959,-1.14,-146.0,206.3,-9.7,180,1963,0.00,2.40,0.00,0.000,6,0.000,0.019,2737,2237,3660,0,0,0,0,0,0
$GC,2214,-1.14,-146.0,229.5,-9.0,187,2219,0.00,2.62,0.00,0.000,4,0.000,0.047,2737,636,3660,0,0,0,0,0,0
$GC,2294,-1.14,-146.0,237.0,-9.2,188,2299,0.00,2.42,0.00,0.000,6,0.000,0.021,2737,2189,3660,0,0,0,0,0,0
$GC,2543,-1.14,-146.0,259.0,-8.7,195,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2189,3660,0,0,0,0,0,0
$GC,2787,-1.14,-146.0,277.2,-7.0,201,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2189,3660,0,0,0,0,0,0
$GC,3031,-1.14,-146.0,295.9,-7.7,207,3035,0.00,2.62,0.00,0.000,4,0.000,0.045,2737,3779,3660,0,0,0,0,0,0
$GC,3082,-1.19,-146.0,299.9,-7.9,208,3086,0.00,2.53,0.00,0.000,6,0.000,0.023,2737,2198,3659,0,0,0,0,0,0
$GC,3354,-1.19,-146.0,320.1,-7.7,215,3358,0.00,2.65,0.00,0.000,4,0.000,0.064,2737,635,3659,0,0,0,0,0,0
$GC,3375,-1.19,-146.0,322.0,-7.9,215,3379,0.00,2.47,0.00,0.000,6,0.000,0.031,2737,2178,3659,0,0,0,0,0,0
$GC,3632,-1.23,-146.0,340.8,-7.3,222,3636,0.00,2.67,0.00,0.000,4,0.000,0.058,2737,3783,3658,0,0,0,0,0,0
$GC,3659,-1.28,-146.0,343.1,-7.7,222,3664,0.00,2.58,0.00,0.000,6,0.000,0.028,2737,2190,3658,0,0,0,0,0,0
$GC,3911,-1.33,-146.0,362.0,-7.7,228,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2190,3656,0,0,0,0,0,0
$GC,4153,-1.37,-146.0,381.6,-8.1,234,4155,0.15,0.00,0.00,0.000,6,0.060,0.000,2686,2190,3655,0,0,0,0,0,0
$GC,4397,-1.33,-146.0,404.4,-9.4,240,4399,0.12,0.00,0.00,0.000,6,0.107,0.000,2712,2190,3653,0,0,0,0,0,0
$GC,4641,-1.33,-146.0,424.6,-8.2,246,4646,0.00,2.70,0.00,0.000,4,0.000,0.058,2712,3782,3652,0,0,0,0,0,0
$GC,4663,-1.33,-146.0,426.6,-8.4,246,4667,0.00,2.60,0.00,0.000,6,0.000,0.042,2712,2201,3652,0,0,0,0,0,0
$GC,4918,-1.33,-146.0,447.4,-8.1,253,4922,0.00,2.70,0.00,0.000,4,0.000,0.059,2712,3779,3650,0,0,0,0,0,0
$GC,4950,-1.33,-146.0,450.4,-9.1,253,4956,0.00,2.62,0.00,0.000,6,0.000,0.044,2712,2202,3650,0,0,0,0,0,0
$GC,5202,-1.33,-146.0,471.5,-8.5,260,5206,0.00,2.72,0.00,0.000,4,0.000,0.064,2712,3780,3648,0,0,0,0,0,0
$GC,5223,-1.33,-146.0,473.6,-8.8,260,5227,0.00,2.62,0.00,0.000,6,0.000,0.044,2712,2210,3648,0,0,0,0,0,0
$GC,5478,-1.33,-146.0,495.1,-8.3,267,5483,0.00,2.75,0.00,0.000,4,0.000,0.074,2712,3779,3646,0,0,0,0,0,0
$GC,5512,-1.33,-146.0,497.8,-8.8,267,5517,0.00,2.65,0.00,0.000,6,0.000,0.054,2712,2211,3646,0,0,0,0,0,0
$GC,5762,-1.33,-146.0,517.2,-7.7,274,5766,0.00,2.97,0.00,0.000,4,0.000,0.113,2712,626,3645,0,0,0,0,0,0
$GC,5794,-1.33,-146.0,519.9,-8.6,274,5800,0.00,2.65,0.00,0.000,6,0.000,0.049,2712,2205,3644,0,0,0,0,0,0
$GC,6044,-1.33,-146.0,538.9,-7.6,281,6049,0.00,2.80,0.00,0.000,4,0.000,0.081,2713,3801,3643,0,0,0,0,0,0
$GC,6105,-1.37,-146.0,544.0,-7.8,282,6110,0.00,2.67,0.00,0.000,6,0.000,0.051,2712,2222,3643,0,0,0,0,0,0
$GC,6366,-1.37,-146.0,563.4,-7.3,289,6371,0.00,2.78,0.00,0.000,4,0.000,0.075,2712,3793,3641,0,0,0,0,0,0
$GC,6428,-1.37,-146.0,568.3,-7.6,290,6433,0.00,2.67,0.00,0.000,6,0.000,0.058,2712,2234,3641,0,0,0,0,0,0
$GC,6689,-1.41,-146.0,587.7,-7.3,297,6694,0.00,2.78,0.00,0.000,4,0.000,0.081,2712,3793,3639,0,0,0,0,0,0
$GC,6718,-1.45,-146.0,590.1,-8.6,297,6723,0.10,2.70,0.00,0.000,6,0.084,0.065,2677,2246,3639,0,0,0,0,0,0
$STATE,6843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6843,begin apogee
$GC,6849,-0.31,0.0,601.1,8.7,300,6972,1.15,0.00,119.00,1.018,6,0.078,0.000,2933,2383,3060,0,0,0,0,0,0
$STATE,6973,end apogee,CONTROL_FINISHED_OK
$STATE,6973,begin climb
$GC,6975,1.27,146.0,604.0,0.0,303,7113,1.45,2.92,124.78,0.992,4,0.036,0.082,3289,3934,2462,0,0,0,0,0,0
$GC,7165,1.12,146.0,589.9,12.0,307,7171,0.20,2.78,0.00,0.000,6,0.107,0.062,3248,2368,2459,0,0,0,0,0,0
$GC,7428,1.10,167.5,565.9,9.0,314,7452,0.00,2.85,18.88,0.927,4,0.000,0.077,3249,3929,2376,0,0,0,0,0,0
$GC,7504,1.05,174.3,558.4,9.7,315,7518,0.00,2.70,7.70,0.805,6,0.000,0.051,3249,2376,2348,0,0,0,0,0,0
$GC,7806,1.01,179.6,529.8,9.8,323,7817,0.12,2.75,5.78,0.740,4,0.122,0.067,3224,3939,2326,0,0,0,0,0,0
$GC,7839,1.01,179.6,526.0,10.0,323,7845,0.00,2.70,0.00,0.000,6,0.000,0.050,3224,2381,2325,0,0,0,0,0,0
$GC,8090,1.03,194.6,502.6,9.3,330,8110,0.00,3.17,14.90,0.894,4,0.000,0.122,3224,781,2265,0,0,0,0,0,0
$GC,8156,1.04,199.9,496.0,9.8,331,8171,0.00,2.72,6.30,0.755,6,0.000,0.054,3223,2374,2244,0,0,0,0,0,0
$GC,8415,1.07,223.9,472.4,8.9,338,8440,0.00,0.00,22.30,0.908,6,0.000,0.000,3224,2374,2147,0,0,0,0,0,0
$GC,8698,1.11,225.7,445.0,9.9,345,8703,0.00,2.67,0.00,0.000,4,0.000,0.057,3223,3941,2143,0,0,0,0,0,0
$GC,8760,1.16,225.7,437.9,11.5,346,8765,0.12,2.60,0.00,0.000,6,0.080,0.035,3261,2380,2141,0,0,0,0,0,0
$GC,9020,1.16,225.7,408.4,11.5,353,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2381,2141,0,0,0,0,0,0
$GC,9265,1.16,225.7,381.3,10.9,359,9270,0.00,2.83,0.00,0.000,4,0.000,0.075,3260,776,2140,0,0,0,0,0,0
$GC,9298,1.16,225.7,377.4,11.2,359,9305,0.00,2.62,0.00,0.000,6,0.000,0.036,3261,2392,2138,0,0,0,0,0,0
$GC,9548,1.16,227.2,352.3,9.9,366,9552,0.00,2.58,0.00,0.000,4,0.000,0.051,3260,3928,2139,0,0,0,0,0,0
$GC,9588,1.16,227.2,348.0,11.7,367,9593,0.00,2.55,0.00,0.000,6,0.000,0.029,3260,2371,2138,0,0,0,0,0,0
$GC,9871,1.16,227.2,316.3,11.1,374,9875,0.00,2.62,0.00,0.000,4,0.000,0.049,3260,3927,2138,0,0,0,0,0,0
$GC,9892,1.16,227.2,313.6,12.0,374,9896,0.00,2.53,0.00,0.000,6,0.000,0.029,3260,2376,2137,0,0,0,0,0,0
$GC,10149,1.16,227.2,287.2,10.2,381,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2376,2137,0,0,0,0,0,0
$GC,10391,1.16,227.2,261.5,10.5,387,10395,0.00,2.62,0.00,0.000,4,0.000,0.048,3260,3935,2138,0,0,0,0,0,0
$GC,10446,1.16,227.2,255.3,11.0,388,10450,0.00,2.53,0.00,0.000,6,0.000,0.026,3260,2380,2137,0,0,0,0,0,0
$GC,10714,1.16,231.3,229.4,9.8,395,10728,0.00,2.75,6.72,0.635,4,0.000,0.052,3261,778,2115,0,0,0,0,0,0
$GC,10778,1.16,231.3,222.3,11.4,396,10782,0.00,2.55,0.00,0.000,6,0.000,0.026,3261,2387,2115,0,0,0,0,0,0
$GC,11031,1.18,245.7,197.0,9.3,405,11050,0.00,0.00,13.85,0.683,6,0.000,0.000,3260,2387,2057,0,0,0,0,0,0
$GC,11309,1.24,260.9,170.3,9.3,431,11328,0.00,0.00,14.93,0.653,6,0.000,0.000,3261,2387,1994,0,0,0,0,0,0
$GC,11588,1.32,275.0,145.0,9.4,457,11613,0.12,2.72,13.57,0.620,4,0.074,0.045,3300,791,1937,0,0,0,0,0,0
$GC,11642,1.32,275.0,138.2,11.9,461,11648,0.00,2.55,0.00,0.000,6,0.000,0.024,3299,2388,1936,0,0,0,0,0,0
$GC,11906,1.32,275.0,109.2,11.7,486,11910,0.00,2.55,0.00,0.000,4,0.000,0.043,3299,3934,1936,0,0,0,0,0,0
$GC,11997,1.32,275.0,98.4,11.5,493,12001,0.00,2.45,0.00,0.000,6,0.000,0.024,3300,2389,1935,0,0,0,0,0,0
$GC,12266,1.32,275.0,68.2,11.4,517,12270,0.00,2.53,0.00,0.000,4,0.000,0.041,3299,3927,1935,0,0,0,0,0,0
$GC,12298,1.32,275.0,64.0,11.8,519,12303,0.00,2.45,0.00,0.000,6,0.000,0.024,3300,2398,1935,0,0,0,0,0,0
$GC,12566,1.32,275.0,32.5,11.1,543,12575,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2398,1935,0,0,0,0,0,0
$STATE,12800,end climb,SURFACE_DEPTH_REACHED
$STATE,12801,begin surface coast
$FINISH,-0.1,1.000464
$STATE,12843,end surface coast,CONTROL_FINISHED_OK
$STATE,12843,begin surface
$SM_CCo,12864,85.00,0.522,0,0,1510,380.21
$SM_GC,0.42,0.00,0.00,85.00,0.000,0.000,0.522,467,2183,1510,-11.67,-0.79,380.21
$IRIDIUM_FIX,2248.70,-15745.85,190603,050504
$TT8_MAMPS,0.026078
$HUMID,58.93
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.30
$XPDR_PINGS,25
$24V_AH,23.3,12.017
$10V_AH,10.4,10.531
$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,27.100,153.450,368.700,85.000,0.000,25.033,43.165,294.550,6.250,0.000,13.653,1198.699,8946.560,553.372,2075.983,677.357,33.356,1379.064,0.000,2076.633,0.000,0.535,0.000
$DEVICE_MAMPS,143.429,121.953,1017.809,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,395.327,323.372,414.456,588.154,1120.895,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,44775,583
$CAP_FILE_SIZE,131300,0
$CFSIZE,260165632,174759936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250314,124259,2254.746,-15749.479,40,1.6,40,10.1