version: 66.06
glider: 146
mission: 9
dive: 120
start: 3 30 114 21 24 55
data:
$ID,146
$MISSION,9
$DIVE,120
$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,-325930.91
$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,56
$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
$GPS1,210556,2256.841,-15756.040,87,1.1,87,10.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-72.5
$GPS2,212401,2256.911,-15756.051,12,1.2,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.195,-0.171
$KALMAN_X,-79573.6,27.8,99.2,78649.7,50.5
$KALMAN_Y,60721.6,-221.4,626.7,-46992.1,-548.5
$MHEAD_RNG_PITCHd_Wd,121.2,46084,-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,-88.65,0.000,6,0.000,0.000,457,2185,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.8,-9.4,12,133,12.52,2.50,0.00,0.000,4,0.167,0.038,2715,650,3657,0,0,0,0,0,0
$GC,210,-1.15,-146.0,28.2,-15.0,25,220,0.12,2.47,0.00,0.000,6,0.096,0.021,2745,2211,3658,0,0,0,0,0,0
$GC,489,-1.09,-146.0,62.3,-12.9,51,498,0.10,0.00,0.00,0.000,6,0.131,0.000,2764,2211,3659,0,0,0,0,0,0
$GC,751,-1.09,-146.0,96.0,-11.8,76,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2211,3659,0,0,0,0,0,0
$GC,1004,-1.09,-146.0,125.4,-10.5,100,1009,0.00,2.55,0.00,0.000,4,0.000,0.044,2764,654,3659,0,0,0,0,0,0
$GC,1026,-1.09,-146.0,127.8,-10.5,101,1032,0.00,2.42,0.00,0.000,6,0.000,0.018,2764,2229,3659,0,0,0,0,0,0
$GC,1291,-1.09,-146.0,153.0,-8.7,126,1295,0.00,2.58,0.00,0.000,4,0.000,0.044,2764,654,3659,0,0,0,0,0,0
$GC,1311,-1.09,-146.0,154.9,-9.3,127,1315,0.00,2.42,0.00,0.000,6,0.000,0.021,2764,2225,3659,0,0,0,0,0,0
$GC,1579,-1.14,-146.0,176.3,-7.9,151,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2225,3659,0,0,0,0,0,0
$GC,1842,-1.18,-146.0,196.6,-7.4,176,1847,0.00,2.58,0.00,0.000,4,0.000,0.046,2764,652,3660,0,0,0,0,0,0
$GC,1900,-1.25,-146.0,201.3,-7.9,180,1905,0.15,2.42,0.00,0.000,6,0.059,0.020,2707,2211,3660,0,0,0,0,0,0
$GC,2167,-1.19,-146.0,226.6,-9.5,187,2172,0.17,2.58,0.00,0.000,4,0.090,0.040,2745,3779,3660,0,0,0,0,0,0
$GC,2235,-1.24,-146.0,233.8,-10.6,188,2240,0.00,2.42,0.00,0.000,6,0.000,0.020,2745,2232,3659,0,0,0,0,0,0
$GC,2491,-1.24,-146.0,259.5,-9.8,195,2495,0.00,2.55,0.00,0.000,4,0.000,0.042,2745,3779,3659,0,0,0,0,0,0
$GC,2512,-1.24,-146.0,261.6,-9.2,195,2517,0.00,2.42,0.00,0.000,6,0.000,0.021,2745,2229,3659,0,0,0,0,0,0
$GC,2770,-1.28,-146.0,281.3,-7.4,202,2774,0.00,2.65,0.00,0.000,4,0.000,0.056,2745,637,3659,0,0,0,0,0,0
$GC,2865,-1.33,-146.0,288.6,-7.3,204,2870,0.12,2.47,0.00,0.000,6,0.068,0.025,2694,2202,3658,0,0,0,0,0,0
$GC,3139,-1.28,-146.0,311.6,-8.6,211,3144,0.15,2.62,0.00,0.000,4,0.095,0.046,2727,3793,3658,0,0,0,0,0,0
$GC,3178,-1.28,-146.0,315.5,-9.0,212,3183,0.00,2.50,0.00,0.000,6,0.000,0.024,2727,2230,3658,0,0,0,0,0,0
$GC,3462,-1.28,-146.0,338.7,-8.1,219,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2230,3656,0,0,0,0,0,0
$GC,3706,-1.28,-146.0,357.2,-7.5,225,3711,0.00,2.78,0.00,0.000,4,0.000,0.075,2727,635,3655,0,0,0,0,0,0
$GC,3722,-1.28,-146.0,358.6,-7.4,225,3727,0.00,2.55,0.00,0.000,6,0.000,0.041,2727,2224,3655,0,0,0,0,0,0
$GC,3983,-1.28,-146.0,376.7,-6.7,232,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2224,3653,0,0,0,0,0,0
$GC,4229,-1.32,-146.0,393.6,-7.0,238,4233,0.00,2.75,0.00,0.000,4,0.000,0.071,2727,632,3652,0,0,0,0,0,0
$GC,4290,-1.38,-146.0,398.4,-7.8,239,4295,0.10,2.58,0.00,0.000,6,0.081,0.044,2683,2217,3651,0,0,0,0,0,0
$GC,4551,-1.38,-146.0,420.7,-8.5,246,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2217,3649,0,0,0,0,0,0
$GC,4796,-1.34,-146.0,441.4,-8.5,252,4798,0.12,0.00,0.00,0.000,6,0.102,0.000,2711,2217,3648,0,0,0,0,0,0
$GC,5038,-1.34,-146.0,458.7,-6.9,258,5043,0.00,2.70,0.00,0.000,4,0.000,0.070,2711,3793,3646,0,0,0,0,0,0
$GC,5123,-1.34,-146.0,465.4,-7.9,260,5127,0.00,2.62,0.00,0.000,6,0.000,0.041,2711,2220,3645,0,0,0,0,0,0
$GC,5407,-1.34,-146.0,488.1,-8.1,267,5412,0.00,2.90,0.00,0.000,4,0.000,0.100,2711,625,3644,0,0,0,0,0,0
$GC,5428,-1.34,-146.0,490.1,-8.7,267,5433,0.00,2.65,0.00,0.000,6,0.000,0.053,2711,2211,3644,0,0,0,0,0,0
$GC,5683,-1.34,-146.0,511.5,-8.6,274,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2211,3642,0,0,0,0,0,0
$GC,5928,-1.34,-146.0,531.4,-8.0,280,5933,0.00,2.78,0.00,0.000,4,0.000,0.075,2711,3796,3641,0,0,0,0,0,0
$GC,5968,-1.38,-146.0,535.0,-9.1,281,5973,0.00,2.70,0.00,0.000,6,0.000,0.051,2710,2205,3640,0,0,0,0,0,0
$GC,6252,-1.42,-146.0,558.9,-8.3,288,6256,0.00,3.03,0.00,0.000,4,0.000,0.122,2710,623,3638,0,0,0,0,0,0
$GC,6314,-1.45,-146.0,564.2,-8.5,289,6320,0.10,2.70,0.00,0.000,6,0.084,0.062,2670,2205,3638,0,0,0,0,0,0
$GC,6576,-1.41,-146.0,588.0,-8.9,296,6581,0.12,2.92,0.00,0.000,4,0.100,0.096,2698,3803,3635,0,0,0,0,0,0
$GC,6611,-1.41,-146.0,590.9,-8.4,296,6616,0.00,2.78,0.00,0.000,6,0.000,0.066,2697,2216,3636,0,0,0,0,0,0
$STATE,6736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6736,begin apogee
$GC,6742,-0.31,0.0,600.9,7.8,300,6864,1.05,0.00,118.05,1.016,6,0.070,0.000,2936,2383,3060,0,0,0,0,0,0
$STATE,6865,end apogee,CONTROL_FINISHED_OK
$STATE,6865,begin climb
$GC,6867,1.27,146.0,603.4,0.0,303,7005,1.42,2.90,124.68,0.989,4,0.035,0.081,3288,3928,2462,0,0,0,0,0,0
$GC,7089,1.12,146.0,584.4,13.7,308,7095,0.20,2.75,0.00,0.000,6,0.108,0.060,3248,2369,2457,0,0,0,0,0,0
$GC,7364,1.09,156.8,557.8,9.5,315,7379,0.00,3.05,9.35,0.846,4,0.000,0.109,3247,782,2420,0,0,0,0,0,0
$GC,7403,1.04,156.8,553.8,10.3,316,7408,0.00,2.70,0.00,0.000,6,0.000,0.052,3247,2351,2419,0,0,0,0,0,0
$GC,7688,1.06,172.0,527.2,9.3,323,7708,0.00,2.95,14.77,0.900,4,0.000,0.089,3247,774,2357,0,0,0,0,0,0
$GC,7742,1.02,172.0,521.4,10.7,324,7746,0.00,2.67,0.00,0.000,6,0.000,0.046,3247,2348,2355,0,0,0,0,0,0
$GC,8008,1.02,172.0,493.8,10.2,331,8012,0.00,2.75,0.00,0.000,4,0.000,0.063,3247,3938,2354,0,0,0,0,0,0
$GC,8041,0.97,172.0,490.1,11.6,331,8048,0.15,2.70,0.00,0.000,6,0.151,0.041,3217,2345,2353,0,0,0,0,0,0
$GC,8292,1.04,197.5,467.8,8.8,338,8321,0.00,3.03,23.50,0.911,4,0.000,0.107,3216,780,2253,0,0,0,0,0,0
$GC,8335,1.04,200.1,463.7,9.9,339,8340,0.00,2.65,0.00,0.000,6,0.000,0.046,3216,2351,2251,0,0,0,0,0,0
$GC,8618,1.11,216.6,437.3,9.2,346,8643,0.12,2.78,17.70,0.879,4,0.077,0.052,3253,3936,2176,0,0,0,0,0,0
$GC,8734,1.11,216.6,423.3,13.2,348,8738,0.00,2.65,0.00,0.000,6,0.000,0.040,3253,2352,2174,0,0,0,0,0,0
$GC,8989,1.11,216.6,394.1,11.3,355,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2352,2172,0,0,0,0,0,0
$GC,9232,1.11,216.6,366.5,11.2,361,9237,0.00,2.75,0.00,0.000,4,0.000,0.071,3253,778,2171,0,0,0,0,0,0
$GC,9259,1.11,216.6,363.3,12.0,361,9263,0.00,2.60,0.00,0.000,6,0.000,0.029,3253,2388,2170,0,0,0,0,0,0
$GC,9510,1.11,216.6,336.6,10.6,367,9514,0.00,2.58,0.00,0.000,4,0.000,0.048,3253,3934,2170,0,0,0,0,0,0
$GC,9536,1.11,216.6,333.5,11.4,367,9541,0.00,2.58,0.00,0.000,6,0.000,0.027,3253,2356,2169,0,0,0,0,0,0
$GC,9787,1.12,227.9,309.3,9.5,373,9803,0.00,2.70,10.68,0.764,4,0.000,0.061,3252,784,2129,0,0,0,0,0,0
$GC,9820,1.13,231.6,306.0,9.8,373,9830,0.00,2.53,4.93,0.610,6,0.000,0.025,3253,2359,2115,0,0,0,0,0,0
$GC,10109,1.13,231.6,277.0,10.0,381,10113,0.00,2.62,0.00,0.000,4,0.000,0.047,3253,3930,2113,0,0,0,0,0,0
$GC,10194,1.17,231.6,267.8,10.6,383,10199,0.00,2.53,0.00,0.000,6,0.000,0.026,3253,2373,2111,0,0,0,0,0,0
$GC,10478,1.21,231.6,239.1,10.3,390,10482,0.00,2.65,0.00,0.000,4,0.000,0.052,3253,786,2111,0,0,0,0,0,0
$GC,10499,1.21,231.6,236.8,10.6,390,10503,0.00,2.55,0.00,0.000,6,0.000,0.027,3253,2384,2110,0,0,0,0,0,0
$GC,10761,1.26,243.6,211.6,9.4,397,10780,0.10,2.60,11.48,0.693,4,0.085,0.048,3286,3925,2066,0,0,0,0,0,0
$GC,10814,1.26,243.6,205.9,10.7,398,10818,0.00,2.50,0.00,0.000,6,0.000,0.025,3286,2380,2064,0,0,0,0,0,0
$GC,11081,1.26,243.6,179.5,10.4,418,11085,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2380,2064,0,0,0,0,0,0
$GC,11342,1.28,254.4,154.2,9.5,443,11357,0.00,2.65,10.75,0.624,4,0.000,0.045,3286,783,2022,0,0,0,0,0,0
$GC,11375,1.29,260.5,151.5,9.7,445,11389,0.00,2.55,7.07,0.566,6,0.000,0.028,3286,2389,1998,0,0,0,0,0,0
$GC,11655,1.29,260.5,121.7,10.6,471,11659,0.00,2.53,0.00,0.000,4,0.000,0.041,3286,3927,1996,0,0,0,0,0,0
$GC,11782,1.35,260.5,107.4,10.5,481,11787,0.00,2.47,0.00,0.000,6,0.000,0.023,3286,2378,1995,0,0,0,0,0,0
$GC,12048,1.37,278.1,81.7,9.2,505,12074,0.00,2.58,16.77,0.576,4,0.000,0.039,3286,3925,1924,0,0,0,0,0,0
$GC,12092,1.37,278.1,77.1,10.7,508,12096,0.00,2.45,0.00,0.000,6,0.000,0.022,3286,2400,1924,0,0,0,0,0,0
$GC,12360,1.41,278.1,48.2,10.4,532,12369,0.10,0.00,0.00,0.000,6,0.089,0.000,3319,2400,1923,0,0,0,0,0,0
$GC,12655,1.41,278.1,11.0,13.8,568,12664,0.00,2.67,0.00,0.000,4,0.000,0.044,3319,785,1923,0,0,0,0,0,0
$GC,12689,1.41,278.1,6.2,14.1,572,12698,0.00,2.55,0.00,0.000,6,0.000,0.021,3319,2392,1923,0,0,0,0,0,0
$STATE,12706,end climb,SURFACE_DEPTH_REACHED
$STATE,12706,begin surface coast
$FINISH,-0.3,1.021014
$STATE,12742,end surface coast,CONTROL_FINISHED_OK
$STATE,12742,begin surface
$SM_CCo,12764,82.30,0.524,0,0,1510,380.21
$SM_GC,0.41,0.00,0.00,82.30,0.000,0.000,0.524,463,2181,1510,-11.69,-0.82,380.21
$IRIDIUM_FIX,2246.36,-15754.11,240603,212144
$TT8_MAMPS,0.026078
$HUMID,60.78
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.80
$XPDR_PINGS,23
$24V_AH,23.4,16.841
$10V_AH,10.4,14.645
$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,28.275,164.375,369.725,82.300,0.000,75.750,107.294,618.774,5.750,0.000,14.332,1224.093,8877.371,551.408,2136.331,1138.168,33.357,1414.956,0.000,2127.508,0.000,0.535,0.000
$DEVICE_MAMPS,167.206,121.953,1015.508,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.169,321.863,412.114,584.852,1114.098,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355776
$DATA_FILE_SIZE,44656,579
$CAP_FILE_SIZE,145196,0
$CFSIZE,260165632,172527616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310314,010136,2255.956,-15755.361,112,1.1,112,10.1