version: 66.06
glider: 146
mission: 9
dive: 88
start: 3 25 114 20 24 1
data:
$ID,146
$MISSION,9
$DIVE,88
$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,-325054.81
$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,35
$R_STBD_OVSHOOT,38
$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
$GPS1,201606,2252.394,-15752.122,35,1.4,35,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-65.8
$GPS2,202306,2252.375,-15752.195,17,1.4,28,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.172,-0.195
$KALMAN_X,-58693.1,349.1,-48.4,64173.8,-665.5
$KALMAN_Y,49512.7,41.3,-157.7,-43671.0,-211.3
$MHEAD_RNG_PITCHd_Wd,211.4,32252,-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,-146.0,0.0,0.0,0,104,0.00,0.00,-86.40,0.000,2,0.000,0.000,461,2204,3599,0,0,0,0,0,0
$GC,108,-1.27,-146.0,3.1,-7.0,11,126,11.73,2.58,-1.05,0.000,4,0.143,0.050,2719,627,3657,0,0,0,0,0,0
$GC,369,-1.17,-146.0,48.3,-12.6,40,374,0.15,2.47,0.00,0.000,6,0.120,0.020,2749,2218,3658,0,0,0,0,0,0
$GC,638,-1.11,-146.0,79.4,-11.9,64,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2218,3659,0,0,0,0,0,0
$GC,902,-1.07,-146.0,111.7,-11.1,89,908,0.10,2.65,0.00,0.000,4,0.129,0.046,2768,630,3659,0,0,0,0,0,0
$GC,944,-1.07,-146.0,116.7,-11.4,92,948,0.00,2.45,0.00,0.000,6,0.000,0.021,2769,2212,3659,0,0,0,0,0,0
$GC,1207,-1.07,-146.0,141.7,-7.9,116,1211,0.00,2.55,0.00,0.000,4,0.000,0.036,2769,3783,3659,0,0,0,0,0,0
$GC,1255,-1.12,-146.0,145.3,-8.3,119,1260,0.00,2.45,0.00,0.000,6,0.000,0.020,2769,2214,3659,0,0,0,0,0,0
$GC,1518,-1.15,-146.0,167.0,-9.2,143,1523,0.00,2.58,0.00,0.000,4,0.000,0.046,2769,634,3660,0,0,0,0,0,0
$GC,1565,-1.22,-146.0,171.8,-10.2,146,1571,0.15,2.45,0.00,0.000,6,0.061,0.026,2712,2210,3660,0,0,0,0,0,0
$GC,1828,-1.16,-146.0,201.1,-10.4,171,1833,0.17,2.58,0.00,0.000,4,0.093,0.045,2750,641,3661,0,0,0,0,0,0
$GC,1869,-1.16,-146.0,205.0,-9.3,172,1873,0.00,2.42,0.00,0.000,6,0.000,0.019,2750,2207,3660,0,0,0,0,0,0
$GC,2152,-1.16,-146.0,227.7,-7.6,179,2156,0.00,2.58,0.00,0.000,4,0.000,0.046,2750,638,3661,0,0,0,0,0,0
$GC,2169,-1.16,-146.0,228.9,-7.1,179,2173,0.00,2.45,0.00,0.000,6,0.000,0.019,2750,2212,3661,0,0,0,0,0,0
$GC,2431,-1.20,-146.0,247.7,-7.4,186,2435,0.00,2.55,0.00,0.000,4,0.000,0.041,2750,3773,3661,0,0,0,0,0,0
$GC,2481,-1.24,-146.0,252.0,-8.7,187,2485,0.00,2.47,0.00,0.000,6,0.000,0.020,2750,2209,3661,0,0,0,0,0,0
$GC,2753,-1.29,-146.0,273.1,-7.9,194,2758,0.12,2.58,0.00,0.000,4,0.067,0.044,2699,3770,3661,0,0,0,0,0,0
$GC,2827,-1.25,-146.0,281.0,-11.3,195,2832,0.15,2.47,0.00,0.000,6,0.093,0.025,2732,2215,3661,0,0,0,0,0,0
$GC,3077,-1.25,-146.0,303.1,-8.8,201,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2215,3660,0,0,0,0,0,0
$GC,3322,-1.25,-146.0,324.5,-8.8,207,3326,0.00,2.60,0.00,0.000,4,0.000,0.048,2732,3768,3660,0,0,0,0,0,0
$GC,3343,-1.25,-146.0,326.6,-8.3,207,3348,0.00,2.47,0.00,0.000,6,0.000,0.025,2732,2232,3660,0,0,0,0,0,0
$GC,3599,-1.25,-146.0,347.5,-8.1,214,3603,0.00,2.78,0.00,0.000,4,0.000,0.072,2732,626,3658,0,0,0,0,0,0
$GC,3620,-1.25,-146.0,349.4,-8.2,214,3625,0.00,2.58,0.00,0.000,6,0.000,0.038,2732,2215,3659,0,0,0,0,0,0
$GC,3877,-1.29,-146.0,369.2,-7.7,221,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2215,3657,0,0,0,0,0,0
$GC,4119,-1.33,-146.0,389.1,-8.2,227,4124,0.00,2.67,0.00,0.000,4,0.000,0.056,2732,3796,3655,0,0,0,0,0,0
$GC,4136,-1.37,-146.0,390.5,-8.1,227,4141,0.12,2.58,0.00,0.000,6,0.068,0.030,2686,2222,3655,0,0,0,0,0,0
$GC,4399,-1.33,-146.0,415.6,-9.6,234,4401,0.12,0.00,0.00,0.000,6,0.104,0.000,2712,2222,3653,0,0,0,0,0,0
$GC,4641,-1.33,-146.0,436.6,-8.6,240,4645,0.00,2.88,0.00,0.000,4,0.000,0.090,2712,623,3653,0,0,0,0,0,0
$GC,4669,-1.33,-146.0,439.1,-8.8,240,4674,0.00,2.65,0.00,0.000,6,0.000,0.039,2712,2230,3652,0,0,0,0,0,0
$GC,4919,-1.33,-146.0,459.9,-8.2,246,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2230,3650,0,0,0,0,0,0
$GC,5163,-1.33,-146.0,478.4,-7.5,252,5167,0.00,2.67,0.00,0.000,4,0.000,0.062,2712,3797,3649,0,0,0,0,0,0
$GC,5195,-1.33,-146.0,481.0,-8.4,252,5201,0.00,2.62,0.00,0.000,6,0.000,0.041,2712,2222,3649,0,0,0,0,0,0
$GC,5446,-1.33,-146.0,497.8,-6.6,259,5451,0.00,2.67,0.00,0.000,4,0.000,0.060,2712,3793,3647,0,0,0,0,0,0
$GC,5462,-1.33,-146.0,499.2,-6.9,259,5466,0.00,2.62,0.00,0.000,6,0.000,0.042,2712,2224,3647,0,0,0,0,0,0
$GC,5723,-1.33,-146.0,517.3,-7.0,266,5728,0.00,2.72,0.00,0.000,4,0.000,0.065,2712,3796,3646,0,0,0,0,0,0
$GC,5740,-1.33,-146.0,518.6,-6.9,266,5745,0.00,2.65,0.00,0.000,6,0.000,0.055,2712,2234,3646,0,0,0,0,0,0
$GC,6001,-1.33,-146.0,537.7,-7.2,273,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2234,3644,0,0,0,0,0,0
$GC,6245,-1.33,-146.0,556.6,-7.9,279,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2235,3642,0,0,0,0,0,0
$GC,6490,-1.37,-146.0,576.1,-8.0,285,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2235,3641,0,0,0,0,0,0
$GC,6733,-1.42,-146.0,594.3,-7.4,291,6737,0.00,2.85,0.00,0.000,4,0.000,0.097,2712,3789,3640,0,0,0,0,0,0
$GC,6754,-1.42,-146.0,596.1,-8.1,291,6758,0.00,2.70,0.00,0.000,6,0.000,0.070,2712,2238,3640,0,0,0,0,0,0
$STATE,6803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6803,begin apogee
$GC,6811,-0.31,0.0,600.1,7.9,293,6933,0.98,0.00,119.18,1.019,6,0.074,0.000,2934,2378,3060,0,0,0,0,0,0
$STATE,6934,end apogee,CONTROL_FINISHED_OK
$STATE,6934,begin climb
$GC,6936,1.27,146.0,602.7,0.0,296,7073,1.42,2.92,124.88,0.991,4,0.035,0.081,3286,3932,2462,0,0,0,0,0,0
$GC,7150,1.12,146.0,585.3,12.6,301,7155,0.17,2.72,0.00,0.000,6,0.110,0.056,3252,2362,2458,0,0,0,0,0,0
$GC,7434,1.07,146.0,555.8,10.1,308,7438,0.00,2.72,0.00,0.000,4,0.000,0.065,3252,3927,2454,0,0,0,0,0,0
$GC,7458,0.99,146.0,553.4,10.7,308,7463,0.15,2.65,0.00,0.000,6,0.117,0.054,3221,2372,2452,0,0,0,0,0,0
$GC,7714,1.03,174.6,530.4,8.7,315,7744,0.00,3.15,24.62,0.934,4,0.000,0.123,3221,777,2347,0,0,0,0,0,0
$GC,7777,1.03,176.5,524.3,9.9,316,7782,0.00,2.72,0.00,0.000,6,0.000,0.054,3221,2369,2345,0,0,0,0,0,0
$GC,8033,1.06,202.7,501.4,8.8,323,8066,0.00,2.90,26.23,0.926,4,0.000,0.084,3221,781,2231,0,0,0,0,0,0
$GC,8078,1.08,218.3,497.3,9.3,324,8099,0.00,2.67,15.05,0.875,6,0.000,0.053,3221,2360,2170,0,0,0,0,0,0
$GC,8356,1.15,235.6,471.8,9.2,331,8381,0.15,2.72,16.52,0.881,4,0.071,0.060,3261,3937,2098,0,0,0,0,0,0
$GC,8399,1.09,235.6,466.8,12.0,332,8403,0.00,2.62,0.00,0.000,6,0.000,0.039,3262,2362,2096,0,0,0,0,0,0
$GC,8683,1.09,235.6,432.3,12.4,339,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2362,2094,0,0,0,0,0,0
$GC,8925,1.09,235.6,401.0,13.0,345,8929,0.00,2.62,0.00,0.000,4,0.000,0.049,3261,3938,2093,0,0,0,0,0,0
$GC,8946,1.09,235.6,397.9,14.1,345,8950,0.00,2.60,0.00,0.000,6,0.000,0.032,3261,2350,2091,0,0,0,0,0,0
$GC,9202,1.09,235.6,365.9,12.4,352,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2350,2092,0,0,0,0,0,0
$GC,9446,1.09,235.6,337.9,11.3,358,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2350,2091,0,0,0,0,0,0
$GC,9689,1.09,235.6,311.5,10.8,364,9693,0.00,2.65,0.00,0.000,4,0.000,0.050,3261,3948,2090,0,0,0,0,0,0
$GC,9800,1.09,235.6,297.9,11.9,366,9804,0.00,2.55,0.00,0.000,6,0.000,0.027,3262,2357,2089,0,0,0,0,0,0
$GC,10056,1.09,235.6,270.1,10.9,373,10060,0.00,2.62,0.00,0.000,4,0.000,0.051,3262,3939,2089,0,0,0,0,0,0
$GC,10077,1.09,235.6,267.4,12.1,373,10081,0.00,2.53,0.00,0.000,6,0.000,0.026,3261,2363,2089,0,0,0,0,0,0
$GC,10333,1.10,243.5,241.8,9.6,380,10341,0.00,0.00,6.53,0.640,6,0.000,0.000,3262,2363,2067,0,0,0,0,0,0
$GC,10578,1.11,253.0,218.7,9.6,386,10593,0.00,2.65,10.30,0.681,4,0.000,0.048,3262,3941,2027,0,0,0,0,0,0
$GC,10690,1.15,253.0,206.2,11.2,388,10695,0.00,2.53,0.00,0.000,6,0.000,0.026,3262,2369,2025,0,0,0,0,0,0
$GC,10954,1.15,253.0,177.7,10.3,407,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2369,2025,0,0,0,0,0,0
$GC,11210,1.21,263.5,151.8,9.5,431,11225,0.00,2.62,10.73,0.616,4,0.000,0.048,3262,787,1984,0,0,0,0,0,0
$GC,11256,1.25,264.3,147.4,10.0,434,11265,0.00,2.58,0.00,0.000,6,0.000,0.027,3262,2396,1983,0,0,0,0,0,0
$GC,11522,1.33,286.5,123.6,9.0,459,11550,0.12,2.60,21.00,0.621,4,0.074,0.044,3301,3924,1891,0,0,0,0,0,0
$GC,11573,1.33,286.5,117.8,12.0,463,11577,0.00,2.50,0.00,0.000,6,0.000,0.025,3301,2369,1890,0,0,0,0,0,0
$GC,11839,1.33,286.5,85.9,11.7,487,11844,0.00,2.60,0.00,0.000,4,0.000,0.048,3301,785,1889,0,0,0,0,0,0
$GC,11871,1.33,286.5,81.9,12.0,489,11876,0.00,2.47,0.00,0.000,6,0.000,0.021,3301,2375,1889,0,0,0,0,0,0
$GC,12140,1.33,286.5,51.5,11.1,513,12144,0.00,2.55,0.00,0.000,4,0.000,0.042,3301,3929,1889,0,0,0,0,0,0
$GC,12173,1.33,286.5,47.1,12.4,515,12177,0.00,2.47,0.00,0.000,6,0.000,0.024,3301,2366,1889,0,0,0,0,0,0
$GC,12468,1.33,286.5,12.0,11.3,550,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2366,1889,0,0,0,0,0,0
$STATE,12538,end climb,SURFACE_DEPTH_REACHED
$STATE,12538,begin surface coast
$FINISH,-0.2,0.998503
$STATE,12587,end surface coast,CONTROL_FINISHED_OK
$STATE,12587,begin surface
$SM_CCo,12609,75.78,0.523,0,0,1509,380.21
$SM_GC,0.41,0.00,0.00,75.78,0.000,0.000,0.523,469,2194,1509,-11.66,-0.45,380.21
$IRIDIUM_FIX,2244.02,-15748.90,190603,161624
$TT8_MAMPS,0.026078
$HUMID,60.12
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.10
$XPDR_PINGS,17
$24V_AH,23.3,12.411
$10V_AH,10.4,10.871
$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,27.125,152.475,375.025,75.775,0.000,28.174,36.151,198.947,4.250,0.000,30.468,1187.861,8768.343,533.809,2037.192,577.604,33.357,1332.641,0.000,2018.364,0.000,0.534,0.000
$DEVICE_MAMPS,142.662,122.720,1019.343,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.625,314.883,399.979,577.984,1101.401,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,44727,567
$CAP_FILE_SIZE,128548,0
$CFSIZE,260165632,174571520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250314,235645,2251.087,-15753.892,17,3.0,36,10.1