version: 66.06
glider: 146
mission: 9
dive: 87
start: 3 25 114 16 38 54
data:
$ID,146
$MISSION,9
$DIVE,87
$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,-325023.72
$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,33
$R_STBD_OVSHOOT,39
$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
$GPS1,162626,2253.586,-15750.343,53,2.1,72,10.1
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-68.1
$GPS2,163800,2253.601,-15750.364,11,2.0,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.210,-0.152
$KALMAN_X,-58239.4,307.0,120.2,66716.0,-150.7
$KALMAN_Y,49249.8,254.2,352.8,-41852.9,-610.1
$MHEAD_RNG_PITCHd_Wd,224.1,36093,-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,17,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-88.28,0.000,6,0.000,0.000,465,2154,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.4,-10.9,12,132,11.88,2.65,0.00,0.000,4,0.147,0.033,2718,3784,3657,0,0,0,0,0,0
$GC,327,-1.18,-146.0,45.3,-13.7,36,332,0.12,2.50,0.00,0.000,6,0.113,0.024,2743,2206,3658,0,0,0,0,0,0
$GC,594,-1.11,-146.0,78.2,-11.9,60,599,0.00,2.60,0.00,0.000,4,0.000,0.049,2742,628,3659,0,0,0,0,0,0
$GC,625,-1.03,-146.0,83.0,-13.1,62,630,0.17,2.47,0.00,0.000,6,0.107,0.018,2779,2224,3658,0,0,0,0,0,0
$GC,888,-1.03,-146.0,110.2,-10.4,86,893,0.00,2.65,0.00,0.000,4,0.000,0.046,2779,628,3659,0,0,0,0,0,0
$GC,923,-1.03,-146.0,114.0,-10.3,88,933,0.00,2.47,0.00,0.000,6,0.000,0.018,2779,2205,3658,0,0,0,0,0,0
$GC,1192,-1.07,-146.0,137.3,-8.8,113,1196,0.00,2.55,0.00,0.000,4,0.000,0.036,2779,3778,3659,0,0,0,0,0,0
$GC,1234,-1.15,-146.0,141.6,-9.0,116,1239,0.12,2.50,0.00,0.000,6,0.070,0.021,2731,2196,3659,0,0,0,0,0,0
$GC,1494,-1.15,-146.0,170.2,-10.0,140,1499,0.10,2.58,0.00,0.000,4,0.114,0.048,2751,634,3659,0,0,0,0,0,0
$GC,1535,-1.15,-146.0,174.0,-9.1,143,1539,0.00,2.45,0.00,0.000,6,0.000,0.026,2752,2210,3659,0,0,0,0,0,0
$GC,1799,-1.15,-146.0,196.2,-8.4,167,1803,0.00,2.62,0.00,0.000,4,0.000,0.047,2752,640,3660,0,0,0,0,0,0
$GC,1820,-1.15,-146.0,198.3,-8.6,168,1830,0.00,2.45,0.00,0.000,6,0.000,0.026,2752,2200,3660,0,0,0,0,0,0
$GC,2092,-1.15,-146.0,221.6,-8.3,177,2096,0.00,2.58,0.00,0.000,4,0.000,0.047,2752,642,3660,0,0,0,0,0,0
$GC,2166,-1.15,-146.0,227.9,-8.9,178,2171,0.00,2.42,0.00,0.000,6,0.000,0.023,2752,2197,3660,0,0,0,0,0,0
$GC,2417,-1.18,-146.0,249.2,-8.5,184,2421,0.00,2.58,0.00,0.000,4,0.000,0.041,2752,3775,3660,0,0,0,0,0,0
$GC,2468,-1.24,-146.0,253.8,-9.4,185,2472,0.00,2.50,0.00,0.000,6,0.000,0.021,2752,2195,3660,0,0,0,0,0,0
$GC,2740,-1.28,-146.0,276.2,-7.9,192,2745,0.12,2.60,0.00,0.000,4,0.071,0.042,2701,3773,3659,0,0,0,0,0,0
$GC,2796,-1.23,-146.0,281.7,-10.0,193,2801,0.15,2.50,0.00,0.000,6,0.096,0.024,2734,2204,3659,0,0,0,0,0,0
$GC,3064,-1.23,-146.0,304.2,-8.3,200,3068,0.00,2.60,0.00,0.000,4,0.000,0.044,2734,3778,3659,0,0,0,0,0,0
$GC,3096,-1.23,-146.0,307.2,-8.2,200,3102,0.00,2.53,0.00,0.000,6,0.000,0.024,2734,2204,3659,0,0,0,0,0,0
$GC,3346,-1.23,-146.0,324.7,-6.9,207,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2204,3658,0,0,0,0,0,0
$GC,3592,-1.27,-146.0,343.1,-7.6,213,3596,0.00,2.62,0.00,0.000,4,0.000,0.050,2734,3771,3657,0,0,0,0,0,0
$GC,3647,-1.32,-146.0,347.8,-8.3,214,3652,0.00,2.53,0.00,0.000,6,0.000,0.028,2734,2217,3657,0,0,0,0,0,0
$GC,3915,-1.37,-146.0,367.7,-7.4,221,3917,0.12,0.00,0.00,0.000,6,0.071,0.000,2686,2218,3655,0,0,0,0,0,0
$GC,4158,-1.32,-146.0,388.7,-8.6,227,4163,0.12,2.83,0.00,0.000,4,0.105,0.078,2714,622,3654,0,0,0,0,0,0
$GC,4185,-1.32,-146.0,391.1,-8.5,227,4190,0.00,2.58,0.00,0.000,6,0.000,0.035,2714,2201,3653,0,0,0,0,0,0
$GC,4437,-1.32,-146.0,410.7,-7.8,233,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2200,3652,0,0,0,0,0,0
$GC,4679,-1.32,-146.0,430.2,-8.1,239,4684,0.00,2.72,0.00,0.000,4,0.000,0.061,2714,3796,3650,0,0,0,0,0,0
$GC,4700,-1.32,-146.0,432.2,-8.4,239,4705,0.00,2.60,0.00,0.000,6,0.000,0.037,2714,2222,3650,0,0,0,0,0,0
$GC,4956,-1.32,-146.0,453.2,-8.1,246,4960,0.00,2.67,0.00,0.000,4,0.000,0.056,2714,3792,3649,0,0,0,0,0,0
$GC,4984,-1.32,-146.0,455.5,-7.9,246,4988,0.00,2.60,0.00,0.000,6,0.000,0.041,2714,2230,3649,0,0,0,0,0,0
$GC,5234,-1.32,-146.0,474.2,-7.3,252,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2231,3647,0,0,0,0,0,0
$GC,5478,-1.32,-146.0,492.0,-7.3,258,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2231,3646,0,0,0,0,0,0
$GC,5723,-1.32,-146.0,510.2,-7.3,264,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2231,3644,0,0,0,0,0,0
$GC,5965,-1.32,-146.0,529.6,-7.9,270,5970,0.00,2.78,0.00,0.000,4,0.000,0.077,2714,3790,3642,0,0,0,0,0,0
$GC,6004,-1.32,-146.0,532.9,-9.2,271,6009,0.00,2.65,0.00,0.000,6,0.000,0.051,2714,2234,3642,0,0,0,0,0,0
$GC,6289,-1.36,-146.0,552.8,-7.0,278,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2235,3640,0,0,0,0,0,0
$GC,6531,-1.40,-146.0,569.8,-7.0,284,6536,0.00,2.78,0.00,0.000,4,0.000,0.083,2714,3791,3639,0,0,0,0,0,0
$GC,6553,-1.40,-146.0,571.6,-7.6,284,6557,0.00,2.67,0.00,0.000,6,0.000,0.064,2714,2240,3640,0,0,0,0,0,0
$GC,6810,-1.44,-146.0,589.9,-7.3,291,6815,0.10,2.78,0.00,0.000,4,0.081,0.083,2676,3784,3638,0,0,0,0,0,0
$GC,6831,-1.44,-146.0,592.1,-9.0,291,6836,0.00,2.67,0.00,0.000,6,0.000,0.065,2676,2251,3638,0,0,0,0,0,0
$STATE,6921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6921,begin apogee
$GC,6927,-0.31,0.0,600.7,9.4,294,7050,1.15,0.00,118.57,1.020,6,0.077,0.000,2933,2375,3060,0,0,0,0,0,0
$STATE,7052,end apogee,CONTROL_FINISHED_OK
$STATE,7052,begin climb
$GC,7054,1.27,146.0,603.6,0.0,297,7188,1.48,2.90,125.10,0.992,4,0.035,0.085,3294,3926,2463,0,0,0,0,0,0
$GC,7218,1.10,146.0,592.8,12.1,301,7223,0.22,2.75,0.00,0.000,6,0.102,0.061,3247,2371,2460,0,0,0,0,0,0
$GC,7492,1.06,147.8,565.7,9.9,308,7493,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2371,2454,0,0,0,0,0,0
$GC,7734,1.02,151.2,541.5,9.8,314,7744,0.00,2.80,3.80,0.583,4,0.000,0.068,3247,3930,2443,0,0,0,0,0,0
$GC,7767,0.95,151.2,538.0,10.5,314,7772,0.17,2.70,0.00,0.000,6,0.107,0.048,3212,2363,2442,0,0,0,0,0,0
$GC,8019,1.04,193.9,517.5,8.0,320,8060,0.00,0.00,40.03,0.948,6,0.000,0.000,3212,2363,2269,0,0,0,0,0,0
$GC,8301,1.13,222.0,493.6,8.7,327,8333,0.17,3.08,25.45,0.919,4,0.066,0.114,3259,780,2153,0,0,0,0,0,0
$GC,8357,1.09,222.0,487.4,11.8,328,8361,0.00,2.72,0.00,0.000,6,0.000,0.048,3259,2374,2151,0,0,0,0,0,0
$GC,8622,1.09,222.0,457.3,11.2,335,8627,0.00,2.67,0.00,0.000,4,0.000,0.057,3259,3937,2150,0,0,0,0,0,0
$GC,8644,1.04,222.0,454.7,11.8,335,8649,0.12,2.62,0.00,0.000,6,0.120,0.035,3233,2365,2148,0,0,0,0,0,0
$GC,8900,1.04,222.0,428.9,10.1,342,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2366,2147,0,0,0,0,0,0
$GC,9143,1.04,222.0,404.2,10.3,348,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2366,2147,0,0,0,0,0,0
$GC,9387,1.04,224.8,380.0,9.9,354,9391,0.00,2.80,0.00,0.000,4,0.000,0.077,3233,781,2146,0,0,0,0,0,0
$GC,9420,1.04,224.8,376.3,11.1,354,9426,0.00,2.62,0.00,0.000,6,0.000,0.030,3233,2392,2145,0,0,0,0,0,0
$GC,9672,1.09,231.2,352.0,9.7,361,9682,0.00,0.00,8.25,0.759,6,0.000,0.000,3233,2392,2117,0,0,0,0,0,0
$GC,9914,1.14,231.2,327.5,10.2,367,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2393,2115,0,0,0,0,0,0
$GC,10158,1.22,260.3,305.2,8.7,373,10188,0.15,0.00,27.23,0.811,6,0.180,0.000,3275,2392,1998,0,0,0,0,0,0
$GC,10402,1.22,260.3,278.3,11.5,379,10404,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2392,1994,0,0,0,0,0,0
$GC,10645,1.22,260.3,249.0,12.1,385,10649,0.00,2.58,0.00,0.000,4,0.000,0.046,3275,3935,1993,0,0,0,0,0,0
$GC,10677,1.22,260.3,245.0,12.7,385,10683,0.00,2.55,0.00,0.000,6,0.000,0.026,3275,2362,1992,0,0,0,0,0,0
$GC,10928,1.22,260.3,217.2,11.2,392,10933,0.00,2.62,0.00,0.000,4,0.000,0.046,3275,3928,1992,0,0,0,0,0,0
$GC,10989,1.22,260.3,209.5,11.5,393,10993,0.00,2.45,0.00,0.000,6,0.000,0.025,3275,2399,1992,0,0,0,0,0,0
$GC,11253,1.22,260.3,180.6,10.9,411,11257,0.00,2.65,0.00,0.000,4,0.000,0.048,3275,787,1991,0,0,0,0,0,0
$GC,11311,1.22,260.3,173.7,12.1,415,11317,0.00,2.58,0.00,0.000,6,0.000,0.024,3275,2401,1991,0,0,0,0,0,0
$GC,11573,1.22,260.3,144.8,10.9,440,11578,0.00,2.67,0.00,0.000,4,0.000,0.044,3275,782,1991,0,0,0,0,0,0
$GC,11610,1.22,260.3,140.6,11.1,442,11619,0.00,2.58,0.00,0.000,6,0.000,0.023,3275,2393,1991,0,0,0,0,0,0
$GC,11876,1.29,285.3,114.9,8.8,467,11904,0.00,2.60,21.88,0.622,4,0.000,0.042,3274,3921,1896,0,0,0,0,0,0
$GC,11935,1.34,285.3,108.9,10.3,472,11940,0.00,2.50,0.00,0.000,6,0.000,0.024,3275,2377,1895,0,0,0,0,0,0
$GC,12198,1.41,295.5,84.8,9.5,496,12217,0.15,2.70,10.43,0.552,4,0.068,0.045,3319,789,1854,0,0,0,0,0,0
$GC,12263,1.41,295.5,77.5,12.6,501,12267,0.00,2.55,0.00,0.000,6,0.000,0.021,3319,2399,1853,0,0,0,0,0,0
$GC,12530,1.41,295.5,43.9,12.3,525,12535,0.00,2.50,0.00,0.000,4,0.000,0.041,3319,3924,1853,0,0,0,0,0,0
$GC,12565,1.41,295.5,39.0,13.6,527,12569,0.00,2.45,0.00,0.000,6,0.000,0.025,3319,2390,1853,0,0,0,0,0,0
$STATE,12828,end climb,SURFACE_DEPTH_REACHED
$STATE,12828,begin surface coast
$FINISH,0.0,1.023871
$STATE,12864,end surface coast,CONTROL_FINISHED_OK
$STATE,12864,begin surface
$SM_CCo,12886,68.55,0.525,0,0,1510,380.21
$SM_GC,0.55,0.00,0.00,68.55,0.000,0.000,0.525,463,2203,1510,-11.69,-0.17,380.21
$IRIDIUM_FIX,2246.36,-15756.28,190603,161624
$TT8_MAMPS,0.026078
$HUMID,60.94
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.90
$XPDR_PINGS,14
$24V_AH,23.3,12.285
$10V_AH,10.4,10.758
$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,28.075,152.425,380.725,68.550,0.000,53.948,76.233,359.879,3.500,0.000,12.998,1183.573,9164.465,564.618,1928.848,805.680,33.362,1320.212,0.000,1932.365,0.000,0.535,0.000
$DEVICE_MAMPS,180.245,113.516,1020.110,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.379,310.870,396.950,560.262,1067.573,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,44849,567
$CAP_FILE_SIZE,132391,0
$CFSIZE,260165632,174628864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250314,201606,2252.394,-15752.122,35,1.4,35,10.1