version: 66.06
glider: 146
mission: 9
dive: 96
start: 3 27 114 2 35 30
data:
$ID,146
$MISSION,9
$DIVE,96
$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,-325307.75
$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,44
$R_STBD_OVSHOOT,36
$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
$GPS1,022206,2242.774,-15804.509,40,1.0,40,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-68.7
$GPS2,023436,2242.833,-15804.552,9,1.3,14,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.085,-0.245
$KALMAN_X,-64150.3,-56.8,-220.9,49114.0,-327.2
$KALMAN_Y,51464.5,-85.2,37.5,-63366.2,600.9
$MHEAD_RNG_PITCHd_Wd,189.0,4980,-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,-89.07,0.000,6,0.000,0.000,465,2193,3657,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.9,-9.3,12,132,11.82,2.50,0.00,0.000,4,0.144,0.034,2716,641,3658,0,0,0,0,0,0
$GC,222,-1.16,-146.0,28.7,-14.5,27,230,0.12,2.47,0.00,0.000,6,0.095,0.018,2746,2219,3658,0,0,0,0,0,0
$GC,491,-1.09,-146.0,62.9,-12.2,52,495,0.00,2.50,0.00,0.000,4,0.000,0.035,2746,3775,3659,0,0,0,0,0,0
$GC,513,-1.02,-146.0,66.0,-11.7,53,518,0.15,2.45,0.00,0.000,6,0.100,0.020,2779,2209,3659,0,0,0,0,0,0
$GC,780,-1.02,-146.0,93.1,-10.9,77,784,0.00,2.58,0.00,0.000,4,0.000,0.044,2779,635,3660,0,0,0,0,0,0
$GC,796,-1.02,-146.0,95.6,-11.1,78,801,0.00,2.45,0.00,0.000,6,0.000,0.016,2779,2223,3660,0,0,0,0,0,0
$GC,1060,-1.02,-146.0,123.3,-10.4,102,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2223,3660,0,0,0,0,0,0
$GC,1314,-1.07,-146.0,145.1,-8.1,126,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2223,3661,0,0,0,0,0,0
$GC,1569,-1.13,-146.0,164.2,-7.8,150,1574,0.00,2.60,0.00,0.000,4,0.000,0.046,2779,636,3660,0,0,0,0,0,0
$GC,1662,-1.21,-146.0,172.9,-9.0,157,1668,0.17,2.40,0.00,0.000,6,0.053,0.017,2715,2203,3661,0,0,0,0,0,0
$GC,1945,-1.15,-146.0,205.2,-11.3,181,1950,0.17,2.58,0.00,0.000,4,0.089,0.037,2754,3779,3660,0,0,0,0,0,0
$GC,2007,-1.20,-146.0,211.4,-8.5,182,2011,0.00,2.47,0.00,0.000,6,0.000,0.021,2754,2206,3660,0,0,0,0,0,0
$GC,2268,-1.24,-146.0,231.0,-7.6,189,2272,0.00,2.58,0.00,0.000,4,0.000,0.051,2753,636,3661,0,0,0,0,0,0
$GC,2296,-1.28,-146.0,233.2,-7.7,189,2301,0.12,2.40,0.00,0.000,6,0.068,0.022,2703,2194,3661,0,0,0,0,0,0
$GC,2546,-1.21,-146.0,257.6,-10.1,195,2551,0.17,2.60,0.00,0.000,4,0.091,0.048,2741,3774,3661,0,0,0,0,0,0
$GC,2575,-1.21,-146.0,260.2,-8.6,195,2579,0.00,2.45,0.00,0.000,6,0.000,0.025,2741,2204,3660,0,0,0,0,0,0
$GC,2825,-1.21,-146.0,281.3,-8.5,201,2829,0.00,2.58,0.00,0.000,4,0.000,0.042,2741,3776,3660,0,0,0,0,0,0
$GC,2857,-1.21,-146.0,284.0,-8.1,201,2863,0.00,2.45,0.00,0.000,6,0.000,0.021,2741,2216,3660,0,0,0,0,0,0
$GC,3109,-1.25,-146.0,302.5,-7.3,208,3114,0.00,2.60,0.00,0.000,4,0.000,0.053,2741,3779,3660,0,0,0,0,0,0
$GC,3160,-1.31,-146.0,306.5,-8.3,209,3164,0.00,2.45,0.00,0.000,6,0.000,0.025,2741,2232,3660,0,0,0,0,0,0
$GC,3432,-1.35,-146.0,328.7,-8.3,216,3434,0.15,0.00,0.00,0.000,6,0.059,0.000,2685,2233,3658,0,0,0,0,0,0
$GC,3677,-1.29,-146.0,354.5,-10.8,222,3682,0.17,2.78,0.00,0.000,4,0.091,0.074,2725,634,3657,0,0,0,0,0,0
$GC,3710,-1.29,-146.0,358.4,-10.7,222,3716,0.00,2.55,0.00,0.000,6,0.000,0.037,2725,2216,3657,0,0,0,0,0,0
$GC,3960,-1.29,-146.0,381.7,-9.2,229,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2216,3656,0,0,0,0,0,0
$GC,4205,-1.29,-146.0,405.1,-9.7,235,4210,0.00,2.78,0.00,0.000,4,0.000,0.073,2724,628,3654,0,0,0,0,0,0
$GC,4277,-1.36,-146.0,412.3,-9.3,236,4282,0.00,2.58,0.00,0.000,6,0.000,0.040,2725,2205,3654,0,0,0,0,0,0
$GC,4528,-1.40,-146.0,429.0,-6.3,242,4530,0.12,0.00,0.00,0.000,6,0.070,0.000,2675,2206,3652,0,0,0,0,0,0
$GC,4773,-1.35,-146.0,448.4,-8.2,248,4778,0.15,2.75,0.00,0.000,4,0.094,0.064,2710,3802,3651,0,0,0,0,0,0
$GC,4789,-1.35,-146.0,450.2,-8.9,248,4794,0.00,2.62,0.00,0.000,6,0.000,0.045,2710,2200,3650,0,0,0,0,0,0
$GC,5050,-1.35,-146.0,472.4,-8.7,255,5054,0.00,2.72,0.00,0.000,4,0.000,0.059,2709,3799,3648,0,0,0,0,0,0
$GC,5102,-1.35,-146.0,477.0,-8.9,256,5107,0.00,2.65,0.00,0.000,6,0.000,0.045,2709,2205,3648,0,0,0,0,0,0
$GC,5374,-1.35,-146.0,500.0,-8.2,263,5378,0.00,2.75,0.00,0.000,4,0.000,0.064,2710,3794,3646,0,0,0,0,0,0
$GC,5402,-1.35,-146.0,502.4,-8.6,263,5407,0.00,2.67,0.00,0.000,6,0.000,0.049,2709,2213,3646,0,0,0,0,0,0
$GC,5652,-1.35,-146.0,520.7,-7.1,269,5653,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2213,3645,0,0,0,0,0,0
$GC,5896,-1.35,-146.0,538.3,-7.3,275,5900,0.00,2.75,0.00,0.000,4,0.000,0.079,2709,3790,3643,0,0,0,0,0,0
$GC,5923,-1.35,-146.0,540.5,-8.2,275,5927,0.00,2.67,0.00,0.000,6,0.000,0.054,2709,2212,3643,0,0,0,0,0,0
$GC,6173,-1.35,-146.0,560.1,-8.0,281,6178,0.00,3.08,0.00,0.000,4,0.000,0.127,2710,618,3642,0,0,0,0,0,0
$GC,6189,-1.35,-146.0,561.5,-8.0,281,6193,0.00,2.72,0.00,0.000,6,0.000,0.061,2709,2211,3641,0,0,0,0,0,0
$GC,6449,-1.35,-146.0,581.2,-7.5,288,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2210,3640,0,0,0,0,0,0
$GC,6695,-1.38,-146.0,598.8,-7.2,294,6699,0.00,2.90,0.00,0.000,4,0.000,0.099,2709,3793,3638,0,0,0,0,0,0
$STATE,6708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6708,begin apogee
$GC,6716,-0.31,0.0,600.1,6.7,294,6838,0.98,0.00,117.95,1.017,6,0.071,0.000,2933,2364,3060,0,0,0,0,0,0
$STATE,6839,end apogee,CONTROL_FINISHED_OK
$STATE,6839,begin climb
$GC,6841,1.27,146.0,602.0,0.0,297,6979,1.42,2.90,124.25,0.987,4,0.035,0.077,3287,3935,2462,0,0,0,0,0,0
$GC,7036,1.13,146.0,585.7,13.1,301,7041,0.17,2.75,0.00,0.000,6,0.109,0.058,3251,2363,2457,0,0,0,0,0,0
$GC,7293,1.08,149.1,559.5,9.9,308,7298,0.00,2.97,0.00,0.000,4,0.000,0.106,3251,782,2453,0,0,0,0,0,0
$GC,7320,1.02,149.1,556.6,10.1,308,7326,0.12,2.75,0.00,0.000,6,0.119,0.061,3227,2374,2452,0,0,0,0,0,0
$GC,7570,1.09,206.9,537.5,7.3,314,7630,0.00,3.03,52.62,0.955,4,0.000,0.090,3226,785,2215,0,0,0,0,0,0
$GC,7643,1.13,237.3,531.8,8.6,315,7677,0.10,2.72,28.12,0.923,6,0.088,0.057,3255,2360,2091,0,0,0,0,0,0
$GC,7941,1.13,237.3,497.5,12.0,323,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2361,2085,0,0,0,0,0,0
$GC,8182,1.13,237.3,467.7,12.4,329,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2360,2083,0,0,0,0,0,0
$GC,8426,1.13,237.3,437.0,12.8,335,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2360,2081,0,0,0,0,0,0
$GC,8670,1.13,237.3,407.3,12.0,341,8674,0.00,2.78,0.00,0.000,4,0.000,0.068,3255,774,2081,0,0,0,0,0,0
$GC,8698,1.13,237.3,403.9,12.3,341,8702,0.00,2.60,0.00,0.000,6,0.000,0.035,3255,2373,2079,0,0,0,0,0,0
$GC,8947,1.13,237.3,376.4,11.2,347,8948,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2373,2080,0,0,0,0,0,0
$GC,9191,1.13,237.3,348.8,11.2,353,9195,0.00,2.62,0.00,0.000,4,0.000,0.052,3255,3939,2079,0,0,0,0,0,0
$GC,9230,1.13,237.3,344.2,12.4,354,9234,0.00,2.62,0.00,0.000,6,0.000,0.028,3255,2330,2077,0,0,0,0,0,0
$GC,9513,1.13,237.3,311.1,11.5,361,9517,0.00,2.62,0.00,0.000,4,0.000,0.061,3256,786,2077,0,0,0,0,0,0
$GC,9539,1.13,237.3,308.0,10.9,361,9543,0.00,2.50,0.00,0.000,6,0.000,0.029,3255,2348,2076,0,0,0,0,0,0
$GC,9789,1.13,237.3,282.1,10.6,367,9790,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2348,2077,0,0,0,0,0,0
$GC,10034,1.13,237.3,253.5,12.2,373,10038,0.00,2.62,0.00,0.000,4,0.000,0.050,3255,3931,2077,0,0,0,0,0,0
$GC,10060,1.13,237.3,250.1,11.7,373,10065,0.00,2.53,0.00,0.000,6,0.000,0.025,3255,2345,2076,0,0,0,0,0,0
$GC,10311,1.13,237.3,222.9,10.8,379,10315,0.00,2.65,0.00,0.000,4,0.000,0.048,3256,3934,2076,0,0,0,0,0,0
$GC,10337,1.13,237.3,219.9,10.5,379,10341,0.00,2.50,0.00,0.000,6,0.000,0.025,3255,2366,2076,0,0,0,0,0,0
$GC,10595,1.19,256.0,195.8,9.1,388,10617,0.00,2.65,14.98,0.696,4,0.000,0.051,3256,787,2015,0,0,0,0,0,0
$GC,10657,1.23,256.0,189.2,10.2,393,10666,0.00,2.58,0.00,0.000,6,0.000,0.033,3256,2372,2014,0,0,0,0,0,0
$GC,10924,1.27,256.0,163.5,10.2,418,10929,0.10,2.60,0.00,0.000,4,0.088,0.045,3287,3934,2013,0,0,0,0,0,0
$GC,10952,1.27,256.0,159.5,12.4,420,10957,0.00,2.50,0.00,0.000,6,0.000,0.024,3288,2363,2012,0,0,0,0,0,0
$GC,11216,1.27,256.0,130.6,12.1,444,11220,0.00,2.60,0.00,0.000,4,0.000,0.049,3288,788,2012,0,0,0,0,0,0
$GC,11292,1.27,256.0,120.9,12.4,450,11296,0.00,2.47,0.00,0.000,6,0.000,0.022,3288,2357,2012,0,0,0,0,0,0
$GC,11556,1.33,299.8,95.4,8.0,474,11603,0.00,2.67,38.58,0.614,4,0.000,0.044,3287,3921,1837,0,0,0,0,0,0
$GC,11676,1.38,299.8,83.5,10.9,484,11680,0.00,2.55,0.00,0.000,6,0.000,0.025,3288,2338,1833,0,0,0,0,0,0
$GC,11944,1.38,299.8,54.3,11.9,508,11948,0.00,2.55,0.00,0.000,4,0.000,0.047,3288,788,1832,0,0,0,0,0,0
$GC,11965,1.38,299.8,51.5,11.5,509,11970,0.00,2.45,0.00,0.000,6,0.000,0.021,3288,2363,1832,0,0,0,0,0,0
$GC,12251,1.38,299.8,18.3,11.9,540,12260,0.00,2.58,0.00,0.000,4,0.000,0.042,3288,3914,1832,0,0,0,0,0,0
$GC,12298,1.44,299.8,12.4,12.7,546,12306,0.08,2.55,0.00,0.000,6,0.046,0.028,3324,2350,1832,0,0,0,0,0,0
$STATE,12361,end climb,SURFACE_DEPTH_REACHED
$STATE,12361,begin surface coast
$FINISH,-0.2,1.023891
$STATE,12407,end surface coast,CONTROL_FINISHED_OK
$STATE,12407,begin surface
$SM_CCo,12428,65.35,0.526,0,0,1510,380.21
$SM_GC,0.50,0.00,0.00,65.35,0.000,0.000,0.526,467,2177,1510,-11.67,-0.90,380.21
$IRIDIUM_FIX,2234.68,-15800.20,210603,020206
$TT8_MAMPS,0.026078
$HUMID,61.02
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.90
$XPDR_PINGS,18
$24V_AH,23.4,13.489
$10V_AH,10.4,11.796
$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,27.800,162.750,376.500,65.350,0.000,58.982,73.626,399.544,4.500,0.000,15.574,1165.352,8679.826,523.558,2006.698,867.171,33.360,1326.643,0.000,2006.093,0.000,0.536,0.000
$DEVICE_MAMPS,144.196,127.322,1017.042,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.711,315.185,407.144,592.905,1127.612,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,44618,561
$CAP_FILE_SIZE,133549,0
$CFSIZE,260165632,174063616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270314,060505,2241.438,-15805.613,34,1.3,39,10.0