version: 66.06
glider: 146
mission: 9
dive: 90
start: 3 26 114 3 52 0
data:
$ID,146
$MISSION,9
$DIVE,90
$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,-325173.72
$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,63
$R_STBD_OVSHOOT,33
$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
$GPS1,033951,2250.095,-15755.048,9,3.8,28,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-65.2
$GPS2,035106,2250.115,-15755.074,28,2.0,34,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.170,-0.196
$KALMAN_X,-59337.6,-324.8,118.9,60405.4,-258.2
$KALMAN_Y,50099.3,-268.3,317.1,-48607.1,150.7
$MHEAD_RNG_PITCHd_Wd,210.9,25801,-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,-89.00,0.000,6,0.000,0.000,474,2162,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.3,-11.2,12,131,11.52,2.42,0.00,0.000,4,0.138,0.034,2716,656,3657,0,0,0,0,0,0
$GC,278,-1.15,-146.0,38.8,-14.6,32,288,0.12,2.45,0.00,0.000,6,0.095,0.018,2747,2223,3658,0,0,0,0,0,0
$GC,547,-1.09,-146.0,71.0,-11.9,57,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2223,3658,0,0,0,0,0,0
$GC,807,-1.04,-146.0,103.2,-11.2,82,812,0.15,2.55,0.00,0.000,4,0.113,0.043,2778,663,3659,0,0,0,0,0,0
$GC,829,-1.04,-146.0,105.2,-11.4,83,833,0.00,2.40,0.00,0.000,6,0.000,0.020,2778,2228,3659,0,0,0,0,0,0
$GC,1096,-1.04,-146.0,131.0,-8.9,107,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2228,3659,0,0,0,0,0,0
$GC,1360,-1.10,-146.0,152.3,-7.8,132,1364,0.00,2.50,0.00,0.000,4,0.000,0.037,2778,3773,3659,0,0,0,0,0,0
$GC,1382,-1.16,-146.0,153.9,-7.8,133,1387,0.12,2.40,0.00,0.000,6,0.069,0.020,2729,2224,3659,0,0,0,0,0,0
$GC,1648,-1.16,-146.0,179.8,-9.5,157,1654,0.10,0.00,0.00,0.000,6,0.111,0.000,2751,2224,3660,0,0,0,0,0,0
$GC,1931,-1.16,-146.0,204.4,-9.1,181,1935,0.00,2.53,0.00,0.000,4,0.000,0.038,2751,3772,3660,0,0,0,0,0,0
$GC,1952,-1.16,-146.0,206.6,-9.2,181,1956,0.00,2.40,0.00,0.000,6,0.000,0.019,2751,2222,3660,0,0,0,0,0,0
$GC,2208,-1.16,-146.0,230.4,-9.5,188,2213,0.00,2.53,0.00,0.000,4,0.000,0.040,2751,3778,3660,0,0,0,0,0,0
$GC,2283,-1.21,-146.0,237.6,-9.4,189,2287,0.00,2.42,0.00,0.000,6,0.000,0.020,2751,2234,3660,0,0,0,0,0,0
$GC,2534,-1.25,-146.0,259.1,-8.3,195,2539,0.00,2.62,0.00,0.000,4,0.000,0.054,2751,642,3660,0,0,0,0,0,0
$GC,2595,-1.30,-146.0,264.1,-8.7,196,2601,0.12,2.45,0.00,0.000,6,0.068,0.028,2698,2219,3660,0,0,0,0,0,0
$GC,2857,-1.25,-146.0,289.0,-9.6,203,2862,0.15,2.67,0.00,0.000,4,0.097,0.055,2730,635,3659,0,0,0,0,0,0
$GC,2943,-1.25,-146.0,296.2,-7.8,205,2948,0.00,2.45,0.00,0.000,6,0.000,0.032,2730,2197,3659,0,0,0,0,0,0
$GC,3226,-1.25,-146.0,318.9,-8.2,212,3231,0.00,2.60,0.00,0.000,4,0.000,0.048,2730,3785,3658,0,0,0,0,0,0
$GC,3299,-1.25,-146.0,325.7,-9.0,213,3304,0.00,2.50,0.00,0.000,6,0.000,0.025,2730,2221,3658,0,0,0,0,0,0
$GC,3549,-1.25,-146.0,347.2,-8.5,219,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2221,3657,0,0,0,0,0,0
$GC,3793,-1.25,-146.0,366.0,-7.5,225,3798,0.00,2.78,0.00,0.000,4,0.000,0.076,2730,629,3655,0,0,0,0,0,0
$GC,3821,-1.25,-146.0,368.0,-7.5,225,3826,0.00,2.53,0.00,0.000,6,0.000,0.034,2730,2195,3655,0,0,0,0,0,0
$GC,4072,-1.29,-146.0,384.6,-6.6,231,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2195,3654,0,0,0,0,0,0
$GC,4316,-1.34,-146.0,402.1,-7.3,237,4320,0.00,2.67,0.00,0.000,4,0.000,0.062,2730,3793,3652,0,0,0,0,0,0
$GC,4384,-1.39,-146.0,407.7,-8.1,238,4389,0.12,2.55,0.00,0.000,6,0.070,0.035,2685,2230,3651,0,0,0,0,0,0
$GC,4640,-1.36,-146.0,432.0,-9.5,245,4641,0.10,0.00,0.00,0.000,6,0.117,0.000,2707,2230,3650,0,0,0,0,0,0
$GC,4883,-1.36,-146.0,451.7,-8.0,251,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2230,3648,0,0,0,0,0,0
$GC,5128,-1.36,-146.0,470.8,-7.9,257,5132,0.00,2.67,0.00,0.000,4,0.000,0.063,2707,3789,3646,0,0,0,0,0,0
$GC,5155,-1.36,-146.0,473.2,-8.3,257,5159,0.00,2.60,0.00,0.000,6,0.000,0.043,2707,2226,3647,0,0,0,0,0,0
$GC,5405,-1.36,-146.0,492.2,-7.4,263,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2226,3645,0,0,0,0,0,0
$GC,5650,-1.36,-146.0,510.8,-7.6,269,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2226,3644,0,0,0,0,0,0
$GC,5892,-1.36,-146.0,531.8,-9.0,275,5897,0.00,2.75,0.00,0.000,4,0.000,0.075,2707,3789,3643,0,0,0,0,0,0
$GC,5936,-1.36,-146.0,535.8,-8.4,276,5940,0.00,2.65,0.00,0.000,6,0.000,0.057,2707,2232,3642,0,0,0,0,0,0
$GC,6215,-1.36,-146.0,557.1,-7.3,283,6219,0.00,2.75,0.00,0.000,4,0.000,0.082,2707,3785,3640,0,0,0,0,0,0
$GC,6254,-1.36,-146.0,560.1,-7.0,284,6259,0.00,2.65,0.00,0.000,6,0.000,0.055,2707,2235,3640,0,0,0,0,0,0
$GC,6537,-1.36,-146.0,579.2,-6.9,291,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2235,3639,0,0,0,0,0,0
$GC,6782,-1.36,-146.0,597.4,-7.5,297,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2235,3637,0,0,0,0,0,0
$STATE,6819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6819,begin apogee
$GC,6825,-0.31,0.0,600.4,7.7,298,6947,1.00,0.00,118.78,1.019,6,0.070,0.000,2935,2373,3060,0,0,0,0,0,0
$STATE,6948,end apogee,CONTROL_FINISHED_OK
$STATE,6948,begin climb
$GC,6950,1.27,146.0,603.7,0.0,301,7089,1.42,2.95,125.05,0.991,4,0.035,0.084,3287,3934,2462,0,0,0,0,0,0
$GC,7134,1.12,146.0,591.7,11.9,305,7139,0.20,2.75,0.00,0.000,6,0.106,0.062,3246,2368,2459,0,0,0,0,0,0
$GC,7403,1.09,157.9,566.6,9.4,312,7418,0.00,3.08,10.32,0.859,4,0.000,0.114,3246,782,2415,0,0,0,0,0,0
$GC,7442,1.04,157.9,562.2,10.9,313,7447,0.00,2.72,0.00,0.000,6,0.000,0.057,3246,2354,2414,0,0,0,0,0,0
$GC,7726,1.04,157.9,531.1,11.0,320,7731,0.00,2.80,0.00,0.000,4,0.000,0.081,3246,3935,2412,0,0,0,0,0,0
$GC,7816,0.98,157.9,520.5,11.9,322,7821,0.15,2.65,0.00,0.000,6,0.115,0.043,3216,2370,2411,0,0,0,0,0,0
$GC,8094,1.02,188.4,495.1,8.6,329,8128,0.00,2.80,28.00,0.927,4,0.000,0.063,3216,3934,2291,0,0,0,0,0,0
$GC,8146,1.03,197.8,490.2,9.6,330,8162,0.00,2.67,10.05,0.828,6,0.000,0.046,3216,2375,2253,0,0,0,0,0,0
$GC,8418,1.10,218.7,465.5,9.0,337,8444,0.12,3.08,19.55,0.893,4,0.077,0.107,3252,778,2167,0,0,0,0,0,0
$GC,8468,1.07,218.7,460.4,10.8,338,8472,0.00,2.67,0.00,0.000,6,0.000,0.043,3252,2379,2165,0,0,0,0,0,0
$GC,8739,1.07,218.7,430.1,11.0,345,8744,0.00,2.65,0.00,0.000,4,0.000,0.061,3252,3936,2163,0,0,0,0,0,0
$GC,8772,1.07,218.7,426.0,12.2,345,8778,0.00,2.60,0.00,0.000,6,0.000,0.034,3252,2368,2162,0,0,0,0,0,0
$GC,9023,1.07,218.7,399.0,10.7,352,9028,0.00,2.83,0.00,0.000,4,0.000,0.083,3252,781,2162,0,0,0,0,0,0
$GC,9044,1.07,218.7,396.4,10.9,352,9049,0.00,2.60,0.00,0.000,6,0.000,0.031,3252,2380,2160,0,0,0,0,0,0
$GC,9300,1.07,222.9,371.0,9.8,359,9309,0.00,2.62,3.92,0.559,4,0.000,0.052,3252,3937,2151,0,0,0,0,0,0
$GC,9345,1.07,222.9,366.2,10.7,360,9349,0.00,2.58,0.00,0.000,6,0.000,0.035,3251,2362,2150,0,0,0,0,0,0
$GC,9628,1.09,236.4,339.4,9.4,367,9647,0.00,2.78,13.93,0.805,4,0.000,0.066,3252,782,2095,0,0,0,0,0,0
$GC,9681,1.09,239.7,334.2,9.9,368,9691,0.00,2.55,4.35,0.579,6,0.000,0.028,3252,2355,2082,0,0,0,0,0,0
$GC,9960,1.09,239.7,306.9,10.1,375,9964,0.00,2.62,0.00,0.000,4,0.000,0.051,3252,3926,2080,0,0,0,0,0,0
$GC,10009,1.09,239.7,301.3,11.3,376,10013,0.00,2.58,0.00,0.000,6,0.000,0.034,3252,2349,2079,0,0,0,0,0,0
$GC,10281,1.09,239.7,273.2,10.0,383,10286,0.00,2.62,0.00,0.000,4,0.000,0.056,3252,785,2079,0,0,0,0,0,0
$GC,10343,1.09,239.7,266.3,11.2,384,10347,0.00,2.53,0.00,0.000,6,0.000,0.026,3252,2361,2078,0,0,0,0,0,0
$GC,10604,1.11,256.3,241.2,9.2,391,10625,0.00,2.67,15.82,0.736,4,0.000,0.048,3252,785,2013,0,0,0,0,0,0
$GC,10637,1.16,295.4,238.3,8.2,391,10678,0.00,2.53,35.50,0.749,6,0.000,0.025,3252,2350,1855,0,0,0,0,0,0
$GC,10924,1.21,295.4,208.3,10.8,398,10928,0.00,2.62,0.00,0.000,4,0.000,0.046,3252,3926,1850,0,0,0,0,0,0
$GC,10996,1.29,295.4,199.3,12.6,399,11001,0.12,2.53,0.00,0.000,6,0.074,0.027,3289,2354,1849,0,0,0,0,0,0
$GC,11257,1.29,295.4,164.7,13.0,423,11261,0.00,2.60,0.00,0.000,4,0.000,0.048,3289,783,1848,0,0,0,0,0,0
$GC,11290,1.29,295.4,160.2,14.0,425,11296,0.00,2.53,0.00,0.000,6,0.000,0.025,3289,2373,1847,0,0,0,0,0,0
$GC,11554,1.29,295.4,129.7,11.4,450,11558,0.00,2.55,0.00,0.000,4,0.000,0.042,3290,3935,1847,0,0,0,0,0,0
$GC,11606,1.29,295.4,122.8,12.8,454,11610,0.00,2.53,0.00,0.000,6,0.000,0.024,3289,2357,1847,0,0,0,0,0,0
$GC,11869,1.29,295.4,92.6,11.0,478,11874,0.00,2.58,0.00,0.000,4,0.000,0.046,3289,784,1847,0,0,0,0,0,0
$GC,11890,1.29,295.4,90.2,11.2,479,11894,0.00,2.50,0.00,0.000,6,0.000,0.021,3289,2378,1847,0,0,0,0,0,0
$GC,12159,1.29,295.4,60.7,12.2,503,12163,0.00,2.53,0.00,0.000,4,0.000,0.042,3289,3920,1847,0,0,0,0,0,0
$GC,12217,1.33,295.4,52.4,13.3,507,12222,0.00,2.47,0.00,0.000,6,0.000,0.023,3289,2362,1847,0,0,0,0,0,0
$GC,12503,1.33,295.4,17.6,12.3,538,12512,0.00,2.58,0.00,0.000,4,0.000,0.044,3290,794,1848,0,0,0,0,0,0
$GC,12537,1.33,295.4,12.9,13.6,542,12546,0.00,2.50,0.00,0.000,6,0.000,0.021,3290,2376,1848,0,0,0,0,0,0
$STATE,12614,end climb,SURFACE_DEPTH_REACHED
$STATE,12614,begin surface coast
$FINISH,-0.1,1.023928
$STATE,12658,end surface coast,CONTROL_FINISHED_OK
$STATE,12658,begin surface
$SM_CCo,12681,67.97,0.525,0,0,1510,380.21
$SM_GC,0.51,0.00,0.00,67.97,0.000,0.000,0.525,470,2196,1510,-11.66,-0.40,380.21
$IRIDIUM_FIX,2241.69,-15757.16,200603,030348
$TT8_MAMPS,0.025311
$HUMID,60.71
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.80
$XPDR_PINGS,20
$24V_AH,23.4,12.673
$10V_AH,10.4,11.100
$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,26.750,162.450,385.275,67.975,0.000,57.502,71.959,313.442,5.000,0.000,37.462,1193.036,8805.218,542.973,2099.668,782.109,33.362,1384.811,0.000,2076.552,0.000,0.536,0.000
$DEVICE_MAMPS,138.060,114.283,1018.576,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.050,311.702,394.250,567.844,1080.540,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,44779,559
$CAP_FILE_SIZE,136760,0
$CFSIZE,260165632,174440448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260314,072535,2248.869,-15756.585,24,1.0,24,10.1