version: 66.06
glider: 146
mission: 9
dive: 86
start: 3 25 114 12 50 37
data:
$ID,146
$MISSION,9
$DIVE,86
$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,-325010.09
$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
$GPS1,124259,2254.746,-15749.479,40,1.6,40,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-67.3
$GPS2,124943,2254.776,-15749.447,10,1.5,10,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.156,-0.208
$KALMAN_X,-58022.1,-2.7,-102.5,68588.1,365.1
$KALMAN_Y,49357.1,277.4,-129.3,-39335.3,1082.9
$MHEAD_RNG_PITCHd_Wd,206.8,38719,-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,-88.30,0.000,6,0.000,0.000,467,2183,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.9,-12.7,12,133,11.90,2.55,0.00,0.000,4,0.150,0.041,2716,645,3657,0,0,0,0,0,0
$GC,254,-1.15,-146.0,39.2,-15.6,28,262,0.12,2.50,0.00,0.000,6,0.091,0.021,2747,2221,3659,0,0,0,0,0,0
$GC,523,-1.09,-146.0,70.6,-12.0,53,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2221,3659,0,0,0,0,0,0
$GC,784,-1.03,-146.0,102.0,-11.4,78,789,0.15,2.60,0.00,0.000,4,0.109,0.044,2779,646,3659,0,0,0,0,0,0
$GC,807,-1.03,-146.0,104.9,-11.9,79,814,0.00,2.42,0.00,0.000,6,0.000,0.018,2779,2219,3659,0,0,0,0,0,0
$GC,1070,-1.03,-146.0,128.3,-9.0,104,1074,0.00,2.50,0.00,0.000,4,0.000,0.037,2779,3771,3660,0,0,0,0,0,0
$GC,1099,-1.07,-146.0,131.2,-9.7,106,1103,0.00,2.42,0.00,0.000,6,0.000,0.020,2779,2222,3659,0,0,0,0,0,0
$GC,1367,-1.12,-146.0,154.3,-7.5,130,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2223,3660,0,0,0,0,0,0
$GC,1632,-1.17,-146.0,176.6,-8.7,155,1637,0.15,2.60,0.00,0.000,4,0.060,0.047,2721,640,3660,0,0,0,0,0,0
$GC,1699,-1.14,-146.0,184.1,-11.8,160,1704,0.15,2.45,0.00,0.000,6,0.100,0.018,2753,2217,3660,0,0,0,0,0,0
$GC,1977,-1.14,-146.0,211.0,-8.8,177,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2217,3660,0,0,0,0,0,0
$GC,2221,-1.14,-146.0,232.1,-8.8,183,2225,0.00,2.60,0.00,0.000,4,0.000,0.047,2753,634,3660,0,0,0,0,0,0
$GC,2282,-1.19,-146.0,238.0,-9.3,184,2286,0.00,2.45,0.00,0.000,6,0.000,0.020,2753,2206,3661,0,0,0,0,0,0
$GC,2544,-1.19,-146.0,260.1,-8.2,191,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2206,3661,0,0,0,0,0,0
$GC,2787,-1.23,-146.0,276.7,-6.7,197,2791,0.00,2.58,0.00,0.000,4,0.000,0.043,2753,3783,3661,0,0,0,0,0,0
$GC,2826,-1.29,-146.0,279.3,-6.6,198,2832,0.12,2.50,0.00,0.000,6,0.070,0.021,2704,2201,3661,0,0,0,0,0,0
$GC,3112,-1.25,-146.0,305.4,-9.9,205,3117,0.12,2.60,0.00,0.000,4,0.105,0.045,2731,3773,3660,0,0,0,0,0,0
$GC,3151,-1.25,-146.0,309.5,-9.4,206,3156,0.00,2.50,0.00,0.000,6,0.000,0.024,2731,2196,3660,0,0,0,0,0,0
$GC,3435,-1.25,-146.0,332.0,-7.6,213,3439,0.00,2.67,0.00,0.000,4,0.000,0.069,2731,628,3660,0,0,0,0,0,0
$GC,3463,-1.25,-146.0,334.3,-8.2,213,3467,0.00,2.50,0.00,0.000,6,0.000,0.035,2731,2177,3659,0,0,0,0,0,0
$GC,3713,-1.25,-146.0,353.7,-7.7,219,3717,0.00,2.70,0.00,0.000,4,0.000,0.051,2731,3794,3658,0,0,0,0,0,0
$GC,3757,-1.30,-146.0,357.4,-8.2,220,3761,0.00,2.60,0.00,0.000,6,0.000,0.030,2731,2194,3658,0,0,0,0,0,0
$GC,4036,-1.30,-146.0,377.4,-6.9,227,4040,0.00,2.67,0.00,0.000,4,0.000,0.051,2731,3790,3656,0,0,0,0,0,0
$GC,4075,-1.34,-146.0,380.3,-7.2,228,4080,0.00,2.58,0.00,0.000,6,0.000,0.038,2731,2202,3656,0,0,0,0,0,0
$GC,4360,-1.38,-146.0,400.9,-7.3,235,4366,0.12,2.78,0.00,0.000,4,0.068,0.081,2684,626,3655,0,0,0,0,0,0
$GC,4434,-1.33,-146.0,407.7,-9.6,236,4439,0.12,2.58,0.00,0.000,6,0.107,0.038,2711,2196,3655,0,0,0,0,0,0
$GC,4685,-1.33,-146.0,428.0,-8.2,242,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2196,3653,0,0,0,0,0,0
$GC,4927,-1.33,-146.0,447.7,-8.2,248,4932,0.00,2.72,0.00,0.000,4,0.000,0.062,2711,3793,3651,0,0,0,0,0,0
$GC,4982,-1.33,-146.0,452.7,-8.7,249,4987,0.00,2.62,0.00,0.000,6,0.000,0.039,2711,2208,3650,0,0,0,0,0,0
$GC,5250,-1.33,-146.0,474.5,-8.1,256,5255,0.00,2.70,0.00,0.000,4,0.000,0.065,2711,3796,3649,0,0,0,0,0,0
$GC,5294,-1.33,-146.0,478.6,-8.8,257,5299,0.00,2.62,0.00,0.000,6,0.000,0.042,2711,2207,3649,0,0,0,0,0,0
$GC,5572,-1.33,-146.0,500.7,-8.2,264,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2208,3647,0,0,0,0,0,0
$GC,5817,-1.33,-146.0,520.9,-8.3,270,5822,0.00,2.78,0.00,0.000,4,0.000,0.077,2711,3790,3646,0,0,0,0,0,0
$GC,5844,-1.33,-146.0,523.5,-9.3,270,5849,0.00,2.67,0.00,0.000,6,0.000,0.049,2711,2210,3646,0,0,0,0,0,0
$GC,6094,-1.33,-146.0,542.8,-7.4,276,6099,0.00,2.80,0.00,0.000,4,0.000,0.078,2711,3793,3644,0,0,0,0,0,0
$GC,6121,-1.33,-146.0,545.2,-8.5,276,6126,0.00,2.67,0.00,0.000,6,0.000,0.053,2711,2213,3644,0,0,0,0,0,0
$GC,6373,-1.33,-146.0,563.1,-7.0,282,6377,0.00,2.78,0.00,0.000,4,0.000,0.080,2711,3786,3642,0,0,0,0,0,0
$GC,6417,-1.37,-146.0,566.6,-7.5,283,6421,0.00,2.70,0.00,0.000,6,0.000,0.058,2711,2210,3642,0,0,0,0,0,0
$GC,6696,-1.41,-146.0,584.4,-6.4,290,6701,0.00,2.85,0.00,0.000,4,0.000,0.085,2711,3791,3640,0,0,0,0,0,0
$GC,6751,-1.45,-146.0,588.6,-7.8,291,6756,0.00,2.72,0.00,0.000,6,0.000,0.065,2711,2220,3640,0,0,0,0,0,0
$STATE,6934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6934,begin apogee
$GC,6940,-0.31,0.0,601.7,7.1,296,7062,1.00,0.00,119.00,1.019,6,0.074,0.000,2937,2371,3060,0,0,0,0,0,0
$STATE,7063,end apogee,CONTROL_FINISHED_OK
$STATE,7063,begin climb
$GC,7067,1.27,146.0,604.5,0.0,299,7204,1.42,2.95,124.97,0.990,4,0.037,0.085,3288,3931,2462,0,0,0,0,0,0
$GC,7257,1.13,146.0,590.2,13.2,303,7262,0.17,2.78,0.00,0.000,6,0.108,0.061,3252,2365,2458,0,0,0,0,0,0
$GC,7518,1.08,146.0,562.3,10.7,310,7523,0.00,2.80,0.00,0.000,4,0.000,0.071,3253,3936,2453,0,0,0,0,0,0
$GC,7551,1.00,146.0,558.5,11.8,310,7557,0.15,2.70,0.00,0.000,6,0.115,0.051,3222,2377,2453,0,0,0,0,0,0
$GC,7802,1.03,173.4,535.8,8.7,317,7828,0.00,0.00,24.00,0.935,6,0.000,0.000,3222,2376,2352,0,0,0,0,0,0
$GC,8044,1.06,193.5,513.9,9.1,323,8065,0.00,0.00,18.90,0.913,6,0.000,0.000,3222,2376,2271,0,0,0,0,0,0
$GC,8288,1.08,216.4,492.2,8.9,329,8317,0.00,3.08,21.80,0.912,4,0.000,0.107,3222,782,2175,0,0,0,0,0,0
$GC,8353,1.12,216.4,485.9,10.5,330,8359,0.10,2.72,0.00,0.000,6,0.090,0.047,3253,2390,2173,0,0,0,0,0,0
$GC,8614,1.12,216.4,457.7,10.7,337,8619,0.00,2.65,0.00,0.000,4,0.000,0.058,3253,3939,2171,0,0,0,0,0,0
$GC,8638,1.08,216.4,455.2,11.3,337,8642,0.00,2.60,0.00,0.000,6,0.000,0.035,3253,2385,2170,0,0,0,0,0,0
$GC,8894,1.08,216.4,427.6,10.8,344,8898,0.00,2.65,0.00,0.000,4,0.000,0.051,3253,3941,2170,0,0,0,0,0,0
$GC,8915,1.04,216.4,424.8,11.6,344,8920,0.10,2.58,0.00,0.000,6,0.132,0.033,3234,2389,2169,0,0,0,0,0,0
$GC,9172,1.05,221.6,399.8,9.8,351,9181,0.00,2.92,4.55,0.631,4,0.000,0.085,3233,775,2156,0,0,0,0,0,0
$GC,9215,1.05,221.6,394.8,11.1,352,9219,0.00,2.62,0.00,0.000,6,0.000,0.038,3234,2395,2155,0,0,0,0,0,0
$GC,9492,1.05,221.6,366.2,10.2,359,9497,0.00,2.78,0.00,0.000,4,0.000,0.060,3233,780,2155,0,0,0,0,0,0
$GC,9532,1.05,221.6,362.0,10.9,360,9537,0.00,2.58,0.00,0.000,6,0.000,0.032,3234,2372,2154,0,0,0,0,0,0
$GC,9816,1.11,241.5,335.6,9.1,367,9840,0.00,2.67,18.92,0.819,4,0.000,0.051,3233,3926,2075,0,0,0,0,0,0
$GC,9880,1.13,255.9,329.9,9.3,368,9901,0.00,2.55,14.38,0.787,6,0.000,0.027,3233,2367,2015,0,0,0,0,0,0
$GC,10147,1.22,284.8,306.9,8.7,375,10181,0.15,2.80,26.50,0.798,4,0.068,0.058,3275,789,1898,0,0,0,0,0,0
$GC,10203,1.22,284.8,300.2,12.2,376,10208,0.00,2.58,0.00,0.000,6,0.000,0.029,3275,2359,1896,0,0,0,0,0,0
$GC,10471,1.22,284.8,267.3,12.3,383,10476,0.00,2.65,0.00,0.000,4,0.000,0.049,3275,3934,1894,0,0,0,0,0,0
$GC,10543,1.22,284.8,257.8,13.0,384,10548,0.00,2.53,0.00,0.000,6,0.000,0.028,3276,2377,1892,0,0,0,0,0,0
$GC,10794,1.22,284.8,226.8,12.6,390,10798,0.00,2.67,0.00,0.000,4,0.000,0.053,3276,783,1893,0,0,0,0,0,0
$GC,10810,1.22,284.8,224.5,13.3,390,10815,0.00,2.55,0.00,0.000,6,0.000,0.025,3276,2378,1892,0,0,0,0,0,0
$GC,11062,1.22,284.8,191.9,12.8,399,11066,0.00,2.67,0.00,0.000,4,0.000,0.048,3275,777,1892,0,0,0,0,0,0
$GC,11096,1.22,284.8,187.5,12.9,401,11102,0.00,2.53,0.00,0.000,6,0.000,0.025,3276,2354,1892,0,0,0,0,0,0
$GC,11360,1.22,284.8,157.7,11.0,426,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2354,1892,0,0,0,0,0,0
$GC,11612,1.22,284.8,130.1,10.9,450,11616,0.00,2.60,0.00,0.000,4,0.000,0.046,3275,785,1892,0,0,0,0,0,0
$GC,11658,1.22,284.8,125.2,12.0,453,11662,0.00,2.47,0.00,0.000,6,0.000,0.023,3276,2363,1892,0,0,0,0,0,0
$GC,11924,1.27,284.8,96.0,11.3,477,11929,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2363,1891,0,0,0,0,0,0
$GC,12192,1.32,284.8,67.6,10.5,502,12196,0.00,2.55,0.00,0.000,4,0.000,0.042,3275,3928,1892,0,0,0,0,0,0
$GC,12238,1.38,284.8,62.1,11.4,505,12243,0.12,2.55,0.00,0.000,6,0.077,0.024,3316,2334,1892,0,0,0,0,0,0
$GC,12503,1.38,284.8,28.8,12.0,529,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2334,1892,0,0,0,0,0,0
$STATE,12697,end climb,SURFACE_DEPTH_REACHED
$STATE,12699,begin surface coast
$FINISH,-0.1,1.023867
$STATE,12735,end surface coast,CONTROL_FINISHED_OK
$STATE,12735,begin surface
$SM_CCo,12757,76.78,0.525,0,0,1509,380.21
$SM_GC,0.40,0.00,0.00,76.78,0.000,0.000,0.525,465,2155,1509,-11.68,-1.55,380.21
$IRIDIUM_FIX,2246.36,-15745.85,190603,090930
$TT8_MAMPS,0.026078
$HUMID,60.67
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.90
$XPDR_PINGS,16
$24V_AH,23.4,12.145
$10V_AH,10.4,10.644
$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,27.550,164.225,373.025,76.775,0.000,30.033,39.391,197.063,4.000,0.000,13.600,1201.343,8835.713,560.115,2058.412,580.723,33.361,1385.411,0.000,2058.599,0.000,0.534,0.000
$DEVICE_MAMPS,149.565,107.380,1018.576,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.625,309.396,394.727,565.166,1076.090,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,44751,563
$CAP_FILE_SIZE,132504,0
$CFSIZE,260165632,174694400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250314,162626,2253.586,-15750.343,53,2.1,72,10.1