version: 66.06
glider: 146
mission: 9
dive: 182
start: 4 9 114 23 10 20
data:
$ID,146
$MISSION,9
$DIVE,182
$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,-327519.69
$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,85
$R_STBD_OVSHOOT,35
$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
$GPS1,230036,2304.833,-15735.444,30,1.2,30,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-69.7
$GPS2,230925,2304.790,-15735.519,10,1.9,10,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.186,-0.181
$KALMAN_X,-165274.8,-130.8,162.9,199488.5,-595.6
$KALMAN_Y,54750.8,-300.5,-270.8,-25459.0,-277.8
$MHEAD_RNG_PITCHd_Wd,215.8,68825,-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,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-89.68,0.000,6,0.000,0.000,458,2160,3657,0,0,0,0,0,0
$GC,114,-1.27,-146.0,3.7,-8.8,12,132,12.43,2.65,0.00,0.000,4,0.163,0.031,2717,3798,3657,0,0,0,0,0,0
$GC,299,-1.17,-146.0,39.6,-14.2,35,304,0.15,2.45,0.00,0.000,6,0.117,0.022,2746,2258,3658,0,0,0,0,0,0
$GC,567,-1.11,-146.0,72.6,-11.8,59,572,0.00,2.67,0.00,0.000,4,0.000,0.045,2746,637,3659,0,0,0,0,0,0
$GC,651,-1.06,-146.0,83.3,-11.8,65,657,0.12,2.45,0.00,0.000,6,0.113,0.018,2772,2213,3659,0,0,0,0,0,0
$GC,918,-1.06,-146.0,110.7,-10.1,89,922,0.00,2.60,0.00,0.000,4,0.000,0.041,2772,627,3659,0,0,0,0,0,0
$GC,936,-1.06,-146.0,112.9,-9.8,90,940,0.00,2.40,0.00,0.000,6,0.000,0.017,2772,2194,3659,0,0,0,0,0,0
$GC,1198,-1.06,-146.0,138.8,-10.0,114,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2195,3660,0,0,0,0,0,0
$GC,1453,-1.06,-146.0,164.0,-9.9,138,1458,0.00,2.55,0.00,0.000,4,0.000,0.042,2772,629,3660,0,0,0,0,0,0
$GC,1499,-1.12,-146.0,168.4,-10.2,141,1504,0.00,2.42,0.00,0.000,6,0.000,0.025,2772,2185,3660,0,0,0,0,0,0
$GC,1768,-1.17,-146.0,191.5,-8.7,165,1773,0.10,2.60,0.00,0.000,4,0.080,0.036,2727,3783,3660,0,0,0,0,0,0
$GC,1861,-1.17,-146.0,202.3,-10.9,172,1868,0.10,2.50,0.00,0.000,6,0.111,0.019,2749,2190,3661,0,0,0,0,0,0
$GC,2126,-1.17,-146.0,226.6,-8.5,197,2130,0.00,2.53,0.00,0.000,4,0.000,0.048,2749,641,3660,0,0,0,0,0,0
$GC,2159,-1.17,-146.0,229.3,-8.9,199,2163,0.00,2.42,0.00,0.000,6,0.000,0.019,2749,2203,3661,0,0,0,0,0,0
$GC,2427,-1.17,-146.0,253.3,-8.9,223,2431,0.00,2.60,0.00,0.000,4,0.000,0.049,2749,639,3661,0,0,0,0,0,0
$GC,2444,-1.17,-146.0,255.4,-8.4,224,2448,0.00,2.42,0.00,0.000,6,0.000,0.021,2749,2192,3660,0,0,0,0,0,0
$GC,2712,-1.21,-146.0,275.3,-6.7,249,2716,0.00,2.60,0.00,0.000,4,0.000,0.042,2749,3775,3660,0,0,0,0,0,0
$GC,2747,-1.27,-146.0,277.9,-7.0,251,2753,0.00,2.47,0.00,0.000,6,0.000,0.021,2749,2197,3660,0,0,0,0,0,0
$GC,3010,-1.32,-146.0,295.4,-7.2,276,3015,0.15,2.60,0.00,0.000,4,0.058,0.044,2691,3774,3659,0,0,0,0,0,0
$GC,3068,-1.27,-146.0,300.6,-10.6,280,3073,0.17,2.53,0.00,0.000,6,0.087,0.025,2729,2199,3659,0,0,0,0,0,0
$GC,3333,-1.27,-146.0,322.6,-8.1,304,3337,0.00,2.70,0.00,0.000,4,0.000,0.071,2729,634,3659,0,0,0,0,0,0
$GC,3362,-1.27,-146.0,325.2,-8.1,306,3367,0.00,2.50,0.00,0.000,6,0.000,0.035,2729,2186,3658,0,0,0,0,0,0
$GC,3625,-1.27,-146.0,347.1,-8.9,330,3629,0.00,2.70,0.00,0.000,4,0.000,0.052,2729,3796,3657,0,0,0,0,0,0
$GC,3702,-1.31,-146.0,354.3,-9.3,336,3706,0.00,2.58,0.00,0.000,6,0.000,0.030,2729,2211,3657,0,0,0,0,0,0
$GC,3965,-1.31,-146.0,374.4,-7.4,360,3969,0.00,2.65,0.00,0.000,4,0.000,0.050,2729,3788,3655,0,0,0,0,0,0
$GC,4000,-1.35,-146.0,377.3,-8.2,362,4006,0.00,2.58,0.00,0.000,6,0.000,0.038,2729,2216,3655,0,0,0,0,0,0
$GC,4263,-1.39,-146.0,396.6,-7.5,387,4265,0.12,0.00,0.00,0.000,6,0.067,0.000,2681,2216,3653,0,0,0,0,0,0
$GC,4519,-1.34,-146.0,421.2,-9.6,411,4524,0.15,2.67,0.00,0.000,4,0.093,0.057,2713,3785,3652,0,0,0,0,0,0
$GC,4577,-1.34,-146.0,427.1,-9.1,415,4583,0.00,2.58,0.00,0.000,6,0.000,0.047,2713,2224,3651,0,0,0,0,0,0
$GC,4841,-1.34,-146.0,447.0,-7.2,440,4846,0.00,2.88,0.00,0.000,4,0.000,0.093,2713,618,3650,0,0,0,0,0,0
$GC,4873,-1.34,-146.0,449.5,-7.8,442,4878,0.00,2.62,0.00,0.000,6,0.000,0.041,2713,2209,3649,0,0,0,0,0,0
$GC,5141,-1.34,-146.0,468.4,-6.8,466,5146,0.00,2.78,0.00,0.000,4,0.000,0.077,2713,624,3648,0,0,0,0,0,0
$GC,5184,-1.34,-146.0,471.7,-7.2,469,5189,0.00,2.62,0.00,0.000,6,0.000,0.043,2713,2207,3647,0,0,0,0,0,0
$GC,5453,-1.34,-146.0,490.7,-7.5,493,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2207,3645,0,0,0,0,0,0
$GC,5715,-1.34,-146.0,511.7,-7.9,518,5720,0.00,2.75,0.00,0.000,4,0.000,0.070,2713,3794,3644,0,0,0,0,0,0
$GC,5819,-1.34,-146.0,520.8,-8.2,526,5824,0.00,2.62,0.00,0.000,6,0.000,0.051,2713,2228,3644,0,0,0,0,0,0
$GC,6083,-1.34,-146.0,540.6,-7.3,551,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2228,3643,0,0,0,0,0,0
$GC,6344,-1.34,-146.0,559.7,-7.6,576,6349,0.00,2.75,0.00,0.000,4,0.000,0.076,2713,3793,3641,0,0,0,0,0,0
$GC,6368,-1.34,-146.0,561.0,-7.0,577,6372,0.00,2.65,0.00,0.000,6,0.000,0.054,2713,2234,3642,0,0,0,0,0,0
$GC,6634,-1.34,-146.0,580.5,-7.0,601,6639,0.00,2.78,0.00,0.000,4,0.000,0.079,2713,3797,3639,0,0,0,0,0,0
$GC,6668,-1.34,-146.0,583.5,-8.3,603,6678,0.00,2.72,0.00,0.000,6,0.000,0.061,2713,2235,3638,0,0,0,0,0,0
$STATE,6905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6905,begin apogee
$GC,6911,-0.31,0.0,600.2,6.7,626,7033,0.98,0.00,118.43,1.009,6,0.067,0.000,2936,2374,3060,0,0,0,0,0,0
$STATE,7034,end apogee,CONTROL_FINISHED_OK
$STATE,7034,begin climb
$GC,7036,1.27,146.0,601.9,0.0,629,7175,1.42,2.88,123.88,0.993,4,0.035,0.078,3288,3921,2462,0,0,0,0,0,0
$GC,7216,1.13,146.0,587.5,13.0,639,7226,0.15,2.75,0.00,0.000,6,0.089,0.065,3253,2368,2458,0,0,0,0,0,0
$GC,7484,1.08,157.5,561.0,9.5,664,7499,0.00,2.78,10.18,0.858,4,0.000,0.066,3253,3930,2416,0,0,0,0,0,0
$GC,7516,1.02,170.2,557.1,9.4,666,7536,0.10,2.70,12.60,0.877,6,0.097,0.055,3229,2383,2365,0,0,0,0,0,0
$GC,7791,1.04,179.1,532.4,9.6,692,7805,0.00,3.05,9.05,0.838,4,0.000,0.106,3228,784,2329,0,0,0,0,0,0
$GC,7856,1.04,179.1,525.9,11.1,697,7860,0.00,2.70,0.00,0.000,6,0.000,0.047,3228,2370,2327,0,0,0,0,0,0
$GC,8123,1.04,179.1,498.3,10.3,721,8128,0.00,2.85,0.00,0.000,4,0.000,0.077,3229,775,2325,0,0,0,0,0,0
$GC,8145,1.04,179.1,495.2,10.8,722,8150,0.00,2.67,0.00,0.000,6,0.000,0.049,3228,2366,2324,0,0,0,0,0,0
$GC,8409,1.05,194.3,470.4,9.3,747,8432,0.00,2.80,14.48,0.882,4,0.000,0.058,3229,3940,2267,0,0,0,0,0,0
$GC,8459,1.05,194.3,465.5,10.6,751,8464,0.00,2.67,0.00,0.000,6,0.000,0.039,3229,2353,2265,0,0,0,0,0,0
$GC,8727,1.11,240.2,443.3,7.9,775,8775,0.00,2.92,41.72,0.909,4,0.000,0.088,3228,783,2078,0,0,0,0,0,0
$GC,8810,1.11,240.2,435.3,10.2,782,8816,0.00,2.65,0.00,0.000,6,0.000,0.038,3228,2364,2076,0,0,0,0,0,0
$GC,9075,1.14,260.7,410.9,9.1,807,9100,0.10,2.80,18.55,0.856,4,0.090,0.065,3259,781,1998,0,0,0,0,0,0
$GC,9127,1.10,260.7,404.9,12.0,811,9131,0.00,2.58,0.00,0.000,6,0.000,0.031,3259,2352,1995,0,0,0,0,0,0
$GC,9395,1.10,260.7,373.5,11.9,835,9399,0.00,2.67,0.00,0.000,4,0.000,0.055,3259,3941,1993,0,0,0,0,0,0
$GC,9427,1.10,260.7,368.6,12.5,837,9436,0.00,2.65,0.00,0.000,6,0.000,0.035,3259,2353,1992,0,0,0,0,0,0
$GC,9695,1.10,260.7,338.8,11.5,862,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2353,1991,0,0,0,0,0,0
$GC,9956,1.10,260.7,307.8,11.7,887,9960,0.00,2.65,0.00,0.000,4,0.000,0.044,3259,3935,1991,0,0,0,0,0,0
$GC,9978,1.10,260.7,305.1,11.9,888,9988,0.00,2.65,0.00,0.000,6,0.000,0.033,3259,2332,1990,0,0,0,0,0,0
$GC,10246,1.10,260.7,274.6,11.6,913,10250,0.00,2.67,0.00,0.000,4,0.000,0.044,3259,3939,1990,0,0,0,0,0,0
$GC,10313,1.10,260.7,266.0,10.8,918,10322,0.00,2.60,0.00,0.000,6,0.000,0.026,3259,2356,1989,0,0,0,0,0,0
$GC,10581,1.10,260.7,239.2,10.3,943,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2356,1989,0,0,0,0,0,0
$GC,10844,1.14,262.4,212.2,9.9,968,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2356,1989,0,0,0,0,0,0
$GC,11100,1.19,270.7,188.7,9.6,992,11115,0.00,2.65,9.27,0.640,4,0.000,0.041,3259,3938,1955,0,0,0,0,0,0
$GC,11142,1.22,270.7,184.4,10.3,995,11147,0.00,2.58,0.00,0.000,6,0.000,0.024,3259,2342,1954,0,0,0,0,0,0
$GC,11411,1.28,270.7,156.4,10.3,1019,11416,0.10,2.55,0.00,0.000,4,0.089,0.047,3290,788,1954,0,0,0,0,0,0
$GC,11468,1.28,270.7,148.5,12.7,1023,11474,0.00,2.47,0.00,0.000,6,0.000,0.021,3290,2367,1954,0,0,0,0,0,0
$GC,11732,1.28,270.7,115.7,11.9,1048,11736,0.00,2.55,0.00,0.000,4,0.000,0.041,3290,3921,1954,0,0,0,0,0,0
$GC,11825,1.28,270.7,104.1,11.2,1055,11831,0.00,2.53,0.00,0.000,6,0.000,0.024,3290,2338,1954,0,0,0,0,0,0
$GC,12094,1.28,270.7,76.0,10.3,1080,12098,0.00,2.53,0.00,0.000,4,0.000,0.044,3290,791,1953,0,0,0,0,0,0
$GC,12152,1.28,270.7,69.5,10.5,1084,12156,0.00,2.42,0.00,0.000,6,0.000,0.023,3290,2339,1954,0,0,0,0,0,0
$GC,12419,1.28,270.7,42.8,10.1,1108,12424,0.00,2.53,0.00,0.000,4,0.000,0.042,3290,781,1954,0,0,0,0,0,0
$GC,12442,1.28,270.7,40.3,10.2,1109,12446,0.00,2.42,0.00,0.000,6,0.000,0.020,3290,2334,1954,0,0,0,0,0,0
$GC,12746,1.28,270.7,8.6,12.1,1148,12756,0.00,2.55,0.00,0.000,4,0.000,0.043,3290,791,1955,0,0,0,0,0,0
$GC,12767,1.28,270.7,6.1,11.7,1150,12776,0.00,2.40,0.00,0.000,6,0.000,0.022,3290,2318,1955,0,0,0,0,0,0
$STATE,12784,end climb,SURFACE_DEPTH_REACHED
$STATE,12784,begin surface coast
$FINISH,-0.1,1.023993
$STATE,12827,end surface coast,CONTROL_FINISHED_OK
$STATE,12827,begin surface
$SM_CCo,12848,88.97,0.521,0,0,1510,380.21
$SM_GC,0.42,0.00,0.00,88.97,0.000,0.000,0.521,462,2137,1510,-11.69,-2.06,380.21
$IRIDIUM_FIX,2253.38,-15830.18,040703,191919
$TT8_MAMPS,0.026078
$HUMID,61.41
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.00
$XPDR_PINGS,21
$24V_AH,23.4,26.264
$10V_AH,10.2,28.483
$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,27.625,178.900,358.150,88.975,0.000,28.150,34.865,293.379,5.250,0.000,12.436,2021.207,6237.214,560.241,3822.392,812.391,33.366,1720.969,0.000,3846.878,0.000,0.534,0.000
$DEVICE_MAMPS,162.604,105.846,1009.372,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,795.697,896.842,1180.471,1302.835,2481.553,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355344
$DATA_FILE_SIZE,95217,1158
$CAP_FILE_SIZE,160196,0
$CFSIZE,260165632,167256064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100414,024705,2303.244,-15737.026,25,1.7,25,10.1