version: 66.06
glider: 146
mission: 9
dive: 94
start: 3 26 114 19 11 9
data:
$ID,146
$MISSION,9
$DIVE,94
$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,-325276.03
$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,52
$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
$GPS1,190335,2245.443,-15801.501,37,1.2,41,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-69.5
$GPS2,191013,2245.457,-15801.589,15,1.2,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.149,-0.213
$KALMAN_X,-62569.7,73.3,166.2,52080.2,-827.0
$KALMAN_Y,50536.1,112.4,224.7,-57959.8,-623.7
$MHEAD_RNG_PITCHd_Wd,204.8,11879,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-89.40,0.000,6,0.000,0.000,466,2189,3655,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.0,-10.2,12,132,11.70,2.60,0.00,0.000,4,0.143,0.033,2716,3790,3657,0,0,0,0,0,0
$GC,337,-1.18,-146.0,46.4,-12.8,37,342,0.15,2.50,0.00,0.000,6,0.114,0.023,2746,2218,3658,0,0,0,0,0,0
$GC,606,-1.12,-146.0,79.0,-11.0,61,611,0.00,2.58,0.00,0.000,4,0.000,0.047,2746,640,3659,0,0,0,0,0,0
$GC,647,-1.06,-146.0,84.6,-11.2,64,652,0.12,2.45,0.00,0.000,6,0.117,0.018,2770,2222,3658,0,0,0,0,0,0
$GC,911,-1.06,-146.0,110.4,-8.9,88,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2223,3659,0,0,0,0,0,0
$GC,1176,-1.06,-146.0,137.1,-10.9,113,1180,0.00,2.60,0.00,0.000,4,0.000,0.045,2771,637,3659,0,0,0,0,0,0
$GC,1233,-1.11,-146.0,142.9,-10.4,117,1238,0.00,2.42,0.00,0.000,6,0.000,0.024,2771,2198,3660,0,0,0,0,0,0
$GC,1496,-1.16,-146.0,163.4,-7.5,141,1501,0.00,2.55,0.00,0.000,4,0.000,0.045,2770,639,3660,0,0,0,0,0,0
$GC,1527,-1.21,-146.0,166.0,-8.8,143,1532,0.12,2.40,0.00,0.000,6,0.071,0.025,2720,2188,3660,0,0,0,0,0,0
$GC,1788,-1.17,-146.0,195.9,-11.4,167,1793,0.12,2.58,0.00,0.000,4,0.100,0.037,2749,3784,3660,0,0,0,0,0,0
$GC,1835,-1.21,-146.0,200.7,-10.1,170,1839,0.00,2.50,0.00,0.000,6,0.000,0.020,2748,2191,3660,0,0,0,0,0,0
$GC,2112,-1.21,-146.0,224.6,-8.6,177,2117,0.00,2.55,0.00,0.000,4,0.000,0.050,2748,633,3661,0,0,0,0,0,0
$GC,2179,-1.21,-146.0,230.9,-9.3,178,2183,0.00,2.40,0.00,0.000,6,0.000,0.025,2748,2178,3660,0,0,0,0,0,0
$GC,2435,-1.21,-146.0,252.9,-8.4,185,2440,0.00,2.53,0.00,0.000,4,0.000,0.049,2748,641,3661,0,0,0,0,0,0
$GC,2452,-1.24,-146.0,254.3,-8.0,185,2456,0.00,2.42,0.00,0.000,6,0.000,0.028,2748,2190,3660,0,0,0,0,0,0
$GC,2713,-1.29,-146.0,274.6,-7.8,192,2718,0.10,2.60,0.00,0.000,4,0.081,0.045,2705,3776,3660,0,0,0,0,0,0
$GC,2754,-1.29,-146.0,278.3,-9.7,193,2758,0.00,2.47,0.00,0.000,6,0.000,0.021,2705,2196,3660,0,0,0,0,0,0
$GC,3037,-1.29,-146.0,303.8,-9.3,200,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2196,3659,0,0,0,0,0,0
$GC,3281,-1.29,-146.0,327.6,-9.7,206,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2196,3658,0,0,0,0,0,0
$GC,3526,-1.29,-146.0,349.4,-8.7,212,3530,0.00,2.67,0.00,0.000,4,0.000,0.071,2705,638,3658,0,0,0,0,0,0
$GC,3558,-1.29,-146.0,352.4,-8.7,212,3564,0.00,2.47,0.00,0.000,6,0.000,0.033,2705,2171,3657,0,0,0,0,0,0
$GC,3808,-1.29,-146.0,372.5,-8.0,219,3813,0.00,2.72,0.00,0.000,4,0.000,0.054,2705,3794,3656,0,0,0,0,0,0
$GC,3876,-1.29,-146.0,378.6,-9.1,220,3881,0.00,2.58,0.00,0.000,6,0.000,0.031,2705,2212,3656,0,0,0,0,0,0
$GC,4131,-1.29,-146.0,400.6,-8.7,227,4136,0.00,2.80,0.00,0.000,4,0.000,0.086,2705,626,3654,0,0,0,0,0,0
$GC,4153,-1.29,-146.0,402.7,-9.8,227,4158,0.00,2.60,0.00,0.000,6,0.000,0.038,2705,2211,3654,0,0,0,0,0,0
$GC,4409,-1.29,-146.0,425.0,-8.7,234,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2211,3652,0,0,0,0,0,0
$GC,4652,-1.29,-146.0,443.5,-7.7,240,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2211,3650,0,0,0,0,0,0
$GC,4895,-1.29,-146.0,462.9,-8.1,246,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2211,3649,0,0,0,0,0,0
$GC,5139,-1.29,-146.0,483.6,-8.5,252,5144,0.00,2.72,0.00,0.000,4,0.000,0.074,2705,3794,3647,0,0,0,0,0,0
$GC,5162,-1.29,-146.0,485.8,-9.9,252,5167,0.00,2.65,0.00,0.000,6,0.000,0.045,2705,2208,3647,0,0,0,0,0,0
$GC,5417,-1.29,-146.0,506.3,-7.6,259,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2209,3646,0,0,0,0,0,0
$GC,5661,-1.29,-146.0,523.6,-6.9,265,5666,0.00,2.75,0.00,0.000,4,0.000,0.069,2705,3790,3644,0,0,0,0,0,0
$GC,5697,-1.29,-146.0,526.0,-7.5,265,5703,0.00,2.67,0.00,0.000,6,0.000,0.052,2705,2217,3644,0,0,0,0,0,0
$GC,5947,-1.29,-146.0,542.5,-6.4,272,5952,0.00,2.75,0.00,0.000,4,0.000,0.079,2705,3790,3643,0,0,0,0,0,0
$GC,6008,-1.29,-146.0,546.9,-7.1,273,6012,0.00,2.67,0.00,0.000,6,0.000,0.063,2705,2224,3642,0,0,0,0,0,0
$GC,6269,-1.29,-146.0,564.5,-6.9,280,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2224,3641,0,0,0,0,0,0
$GC,6512,-1.29,-146.0,582.7,-7.5,286,6517,0.00,2.83,0.00,0.000,4,0.000,0.085,2705,3794,3640,0,0,0,0,0,0
$GC,6556,-1.29,-146.0,586.5,-8.7,287,6561,0.00,2.72,0.00,0.000,6,0.000,0.066,2705,2221,3639,0,0,0,0,0,0
$STATE,6750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6750,begin apogee
$GC,6757,-0.31,0.0,602.5,8.2,292,6879,1.02,0.00,118.70,1.022,6,0.074,0.000,2935,2373,3060,0,0,0,0,0,0
$STATE,6880,end apogee,CONTROL_FINISHED_OK
$STATE,6880,begin climb
$GC,6882,1.27,146.0,605.8,0.0,295,7012,1.45,0.00,125.68,0.993,6,0.035,0.000,3289,2373,2464,0,0,0,0,0,0
$GC,7238,1.15,146.0,574.0,11.5,304,7243,0.17,2.75,0.00,0.000,4,0.111,0.076,3254,3927,2455,0,0,0,0,0,0
$GC,7288,1.07,146.0,568.1,11.0,305,7292,0.00,2.70,0.00,0.000,6,0.000,0.052,3254,2370,2454,0,0,0,0,0,0
$GC,7561,1.05,179.8,544.5,8.4,312,7596,0.00,3.15,29.23,0.946,4,0.000,0.119,3254,780,2326,0,0,0,0,0,0
$GC,7609,1.02,199.1,540.5,9.1,312,7634,0.12,2.75,18.85,0.908,6,0.120,0.053,3228,2369,2248,0,0,0,0,0,0
$GC,7888,1.03,211.2,515.0,9.4,319,7907,0.00,2.85,11.55,0.867,4,0.000,0.069,3228,3937,2198,0,0,0,0,0,0
$GC,7948,1.03,211.2,508.3,11.4,320,7952,0.00,2.67,0.00,0.000,6,0.000,0.044,3228,2374,2195,0,0,0,0,0,0
$GC,8214,1.06,232.9,483.2,9.0,327,8240,0.00,3.08,20.52,0.905,4,0.000,0.110,3228,776,2108,0,0,0,0,0,0
$GC,8257,1.08,245.0,479.2,9.4,328,8276,0.00,2.72,11.98,0.849,6,0.000,0.051,3228,2381,2061,0,0,0,0,0,0
$GC,8539,1.08,245.0,451.1,10.3,335,8544,0.00,2.62,0.00,0.000,4,0.000,0.057,3228,3938,2056,0,0,0,0,0,0
$GC,8572,1.08,245.0,447.1,11.6,335,8578,0.00,2.60,0.00,0.000,6,0.000,0.037,3228,2378,2056,0,0,0,0,0,0
$GC,8824,1.11,245.0,418.6,11.4,342,8828,0.00,2.85,0.00,0.000,4,0.000,0.087,3228,782,2056,0,0,0,0,0,0
$GC,8856,1.11,245.0,414.4,12.0,342,8862,0.00,2.62,0.00,0.000,6,0.000,0.033,3228,2388,2054,0,0,0,0,0,0
$GC,9107,1.16,245.0,386.7,11.1,349,9112,0.12,2.83,0.00,0.000,4,0.079,0.067,3263,776,2054,0,0,0,0,0,0
$GC,9134,1.16,245.0,383.1,12.8,349,9138,0.00,2.58,0.00,0.000,6,0.000,0.031,3262,2371,2053,0,0,0,0,0,0
$GC,9390,1.16,245.0,352.8,11.5,356,9394,0.00,2.60,0.00,0.000,4,0.000,0.050,3263,3934,2053,0,0,0,0,0,0
$GC,9433,1.16,245.0,347.7,10.7,357,9438,0.00,2.58,0.00,0.000,6,0.000,0.029,3263,2362,2052,0,0,0,0,0,0
$GC,9711,1.16,245.0,319.0,10.5,364,9715,0.00,2.70,0.00,0.000,4,0.000,0.064,3263,784,2052,0,0,0,0,0,0
$GC,9744,1.16,245.0,315.0,13.1,364,9750,0.00,2.58,0.00,0.000,6,0.000,0.029,3263,2377,2051,0,0,0,0,0,0
$GC,9994,1.16,245.0,284.9,12.0,371,9995,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2377,2052,0,0,0,0,0,0
$GC,10238,1.17,247.2,260.3,9.9,377,10242,0.00,2.58,0.00,0.000,4,0.000,0.050,3263,3935,2051,0,0,0,0,0,0
$GC,10305,1.17,247.2,253.1,11.2,378,10309,0.00,2.55,0.00,0.000,6,0.000,0.027,3263,2360,2051,0,0,0,0,0,0
$GC,10560,1.18,254.6,228.2,9.7,385,10574,0.00,2.67,8.27,0.670,4,0.000,0.052,3263,789,2022,0,0,0,0,0,0
$GC,10632,1.18,257.2,221.2,9.9,386,10641,0.00,2.50,4.07,0.502,6,0.000,0.031,3263,2364,2011,0,0,0,0,0,0
$GC,10893,1.18,257.2,194.7,11.1,396,10898,0.00,2.60,0.00,0.000,4,0.000,0.046,3263,3934,2010,0,0,0,0,0,0
$GC,10949,1.18,257.2,188.6,11.7,400,10953,0.00,2.50,0.00,0.000,6,0.000,0.023,3263,2365,2009,0,0,0,0,0,0
$GC,11217,1.25,270.8,160.4,9.4,424,11238,0.00,2.67,13.77,0.644,4,0.000,0.048,3263,784,1954,0,0,0,0,0,0
$GC,11256,1.34,299.5,156.9,8.7,427,11291,0.12,2.55,26.08,0.656,6,0.071,0.024,3302,2388,1838,0,0,0,0,0,0
$GC,11542,1.34,299.5,123.8,11.9,454,11546,0.00,2.53,0.00,0.000,4,0.000,0.041,3302,3927,1836,0,0,0,0,0,0
$GC,11598,1.34,299.5,116.9,11.7,458,11608,0.00,2.50,0.00,0.000,6,0.000,0.024,3302,2379,1834,0,0,0,0,0,0
$GC,11865,1.34,299.5,87.4,11.7,483,11870,0.00,2.62,0.00,0.000,4,0.000,0.047,3302,785,1834,0,0,0,0,0,0
$GC,11886,1.34,299.5,83.7,13.1,484,11896,0.00,2.53,0.00,0.000,6,0.000,0.021,3302,2372,1834,0,0,0,0,0,0
$GC,12155,1.34,299.5,50.5,12.9,509,12160,0.00,2.53,0.00,0.000,4,0.000,0.041,3302,3924,1834,0,0,0,0,0,0
$GC,12189,1.34,299.5,45.6,14.2,511,12193,0.00,2.47,0.00,0.000,6,0.000,0.025,3302,2376,1834,0,0,0,0,0,0
$GC,12486,1.34,299.5,9.5,11.8,547,12495,0.00,2.62,0.00,0.000,4,0.000,0.045,3302,792,1834,0,0,0,0,0,0
$STATE,12531,end climb,SURFACE_DEPTH_REACHED
$STATE,12531,begin surface coast
$FINISH,-0.2,1.012043
$STATE,12573,end surface coast,CONTROL_FINISHED_OK
$STATE,12573,begin surface
$SM_CCo,12597,65.05,0.521,0,0,1509,380.21
$SM_GC,0.41,0.00,0.00,65.05,0.000,0.000,0.521,460,2222,1509,-11.70,0.34,380.21
$IRIDIUM_FIX,2239.35,-15802.37,200603,151522
$TT8_MAMPS,0.026078
$HUMID,60.15
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.10
$XPDR_PINGS,18
$24V_AH,23.4,13.225
$10V_AH,10.4,11.567
$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,26.675,167.950,388.700,65.050,0.000,31.164,35.606,189.862,4.500,0.000,16.904,1173.297,8755.564,581.951,1985.990,564.100,33.361,1369.594,0.000,1979.546,0.000,0.533,0.000
$DEVICE_MAMPS,143.429,118.885,1022.411,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.421,304.928,390.773,557.710,1062.550,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,44654,559
$CAP_FILE_SIZE,127327,0
$CFSIZE,260165632,174190592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260314,224335,2243.943,-15803.217,41,1.0,41,10.0