version: 66.06
glider: 146
mission: 9
dive: 183
start: 4 10 114 3 2 53
data:
$ID,146
$MISSION,9
$DIVE,183
$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,-327554.59
$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,34
$R_STBD_OVSHOOT,42
$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
$GPS1,024705,2303.244,-15737.026,25,1.7,25,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.6
$GPS2,030200,2303.244,-15737.123,15,1.5,32,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.217,-0.143
$KALMAN_X,-165217.3,-153.5,-380.5,197257.1,564.4
$KALMAN_Y,53923.6,-338.6,-76.7,-27648.1,-28.9
$MHEAD_RNG_PITCHd_Wd,226.5,64881,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,115,0.00,0.00,-88.95,0.000,6,0.000,0.000,461,2138,3657,0,0,0,0,0,0
$GC,118,-1.27,-146.0,4.2,-10.2,12,136,12.35,2.65,0.00,0.000,4,0.163,0.028,2716,3789,3658,0,0,0,0,0,0
$GC,380,-1.18,-146.0,51.7,-13.4,40,386,0.15,2.50,0.00,0.000,6,0.114,0.022,2745,2208,3659,0,0,0,0,0,0
$GC,643,-1.10,-146.0,83.1,-11.2,64,648,0.00,2.55,0.00,0.000,4,0.000,0.044,2745,636,3659,0,0,0,0,0,0
$GC,698,-1.05,-146.0,89.4,-11.6,68,703,0.12,2.45,0.00,0.000,6,0.117,0.018,2772,2213,3659,0,0,0,0,0,0
$GC,961,-1.05,-146.0,115.5,-9.4,92,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2214,3659,0,0,0,0,0,0
$GC,1215,-1.05,-146.0,138.5,-8.4,116,1220,0.00,2.53,0.00,0.000,4,0.000,0.035,2772,3777,3660,0,0,0,0,0,0
$GC,1240,-1.05,-146.0,141.0,-9.4,117,1245,0.00,2.45,0.00,0.000,6,0.000,0.019,2772,2201,3659,0,0,0,0,0,0
$GC,1504,-1.05,-146.0,164.1,-8.8,142,1508,0.00,2.55,0.00,0.000,4,0.000,0.044,2772,639,3660,0,0,0,0,0,0
$GC,1533,-1.05,-146.0,166.8,-8.2,144,1537,0.00,2.42,0.00,0.000,6,0.000,0.021,2772,2219,3660,0,0,0,0,0,0
$GC,1796,-1.05,-146.0,189.3,-9.1,168,1800,0.00,2.58,0.00,0.000,4,0.000,0.042,2772,635,3660,0,0,0,0,0,0
$GC,1818,-1.09,-146.0,191.0,-9.2,169,1822,0.00,2.45,0.00,0.000,6,0.000,0.019,2772,2211,3660,0,0,0,0,0,0
$GC,2085,-1.14,-146.0,212.8,-7.5,193,2089,0.00,2.50,0.00,0.000,4,0.000,0.036,2771,3779,3660,0,0,0,0,0,0
$GC,2143,-1.23,-146.0,217.8,-8.3,197,2149,0.15,2.45,0.00,0.000,6,0.058,0.019,2715,2215,3660,0,0,0,0,0,0
$GC,2406,-1.18,-146.0,242.0,-9.6,222,2411,0.15,2.60,0.00,0.000,4,0.094,0.048,2748,632,3660,0,0,0,0,0,0
$GC,2441,-1.18,-146.0,245.4,-9.4,224,2447,0.00,2.47,0.00,0.000,6,0.000,0.025,2748,2220,3660,0,0,0,0,0,0
$GC,2704,-1.18,-146.0,265.7,-8.6,249,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2220,3660,0,0,0,0,0,0
$GC,2960,-1.22,-146.0,286.0,-7.4,273,2965,0.00,2.62,0.00,0.000,4,0.000,0.053,2748,637,3659,0,0,0,0,0,0
$GC,2983,-1.22,-146.0,287.6,-7.5,274,2987,0.00,2.47,0.00,0.000,6,0.000,0.028,2748,2209,3659,0,0,0,0,0,0
$GC,3251,-1.27,-146.0,307.0,-7.8,298,3256,0.00,2.60,0.00,0.000,4,0.000,0.045,2748,3784,3658,0,0,0,0,0,0
$GC,3319,-1.33,-146.0,313.3,-9.2,303,3329,0.12,2.50,0.00,0.000,6,0.031,0.024,2691,2236,3658,0,0,0,0,0,0
$GC,3584,-1.28,-146.0,340.2,-10.2,328,3589,0.15,2.78,0.00,0.000,4,0.097,0.072,2723,627,3658,0,0,0,0,0,0
$GC,3617,-1.28,-146.0,343.8,-9.0,330,3627,0.00,2.58,0.00,0.000,6,0.000,0.030,2723,2211,3657,0,0,0,0,0,0
$GC,3885,-1.28,-146.0,365.8,-8.6,355,3890,0.00,2.65,0.00,0.000,4,0.000,0.051,2723,3793,3656,0,0,0,0,0,0
$GC,3908,-1.28,-146.0,368.4,-9.1,356,3914,0.00,2.55,0.00,0.000,6,0.000,0.037,2723,2225,3656,0,0,0,0,0,0
$GC,4171,-1.28,-146.0,392.0,-8.5,381,4175,0.00,2.62,0.00,0.000,4,0.000,0.057,2723,3794,3654,0,0,0,0,0,0
$GC,4207,-1.32,-146.0,395.3,-9.2,383,4212,0.00,2.58,0.00,0.000,6,0.000,0.042,2723,2230,3654,0,0,0,0,0,0
$GC,4469,-1.32,-146.0,415.2,-7.3,408,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2231,3652,0,0,0,0,0,0
$GC,4724,-1.32,-146.0,434.6,-7.7,432,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2230,3651,0,0,0,0,0,0
$GC,4978,-1.32,-146.0,454.8,-8.2,456,4982,0.00,2.92,0.00,0.000,4,0.000,0.098,2723,625,3649,0,0,0,0,0,0
$GC,5035,-1.36,-146.0,459.0,-8.7,460,5039,0.00,2.65,0.00,0.000,6,0.000,0.048,2723,2223,3648,0,0,0,0,0,0
$GC,5302,-1.40,-146.0,480.6,-7.8,484,5307,0.10,0.00,0.00,0.000,6,0.080,0.000,2679,2223,3646,0,0,0,0,0,0
$GC,5567,-1.36,-146.0,504.8,-9.1,509,5572,0.12,2.75,0.00,0.000,4,0.099,0.069,2706,3803,3645,0,0,0,0,0,0
$GC,5584,-1.36,-146.0,506.7,-8.9,510,5589,0.00,2.65,0.00,0.000,6,0.000,0.051,2706,2221,3645,0,0,0,0,0,0
$GC,5848,-1.36,-146.0,528.5,-8.7,534,5853,0.00,2.95,0.00,0.000,4,0.000,0.107,2706,628,3643,0,0,0,0,0,0
$GC,5870,-1.36,-146.0,530.3,-9.0,535,5875,0.00,2.67,0.00,0.000,6,0.000,0.048,2706,2225,3643,0,0,0,0,0,0
$GC,6138,-1.36,-146.0,553.1,-8.2,559,6143,0.00,2.78,0.00,0.000,4,0.000,0.084,2707,3797,3642,0,0,0,0,0,0
$GC,6181,-1.36,-146.0,557.1,-9.0,562,6186,0.00,2.67,0.00,0.000,6,0.000,0.058,2706,2224,3642,0,0,0,0,0,0
$GC,6448,-1.36,-146.0,577.2,-7.5,586,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2225,3640,0,0,0,0,0,0
$GC,6711,-1.36,-146.0,597.0,-7.7,611,6716,0.00,2.80,0.00,0.000,4,0.000,0.089,2706,3796,3638,0,0,0,0,0,0
$STATE,6742,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6742,begin apogee
$GC,6751,-0.31,0.0,600.1,8.8,613,6876,0.98,0.00,118.70,1.006,6,0.072,0.000,2929,2373,3060,0,0,0,0,0,0
$STATE,6877,end apogee,CONTROL_FINISHED_OK
$STATE,6877,begin climb
$GC,6881,1.27,146.0,603.3,0.0,617,7015,1.45,2.75,124.38,0.985,4,0.035,0.077,3288,3931,2463,0,0,0,0,0,0
$GC,7092,1.13,146.0,586.5,12.2,627,7101,0.15,2.75,0.00,0.000,6,0.088,0.058,3252,2369,2458,0,0,0,0,0,0
$GC,7359,1.11,175.1,562.1,8.7,652,7392,0.00,2.85,25.55,0.929,4,0.000,0.071,3252,3928,2345,0,0,0,0,0,0
$GC,7405,1.07,195.3,557.4,9.1,656,7433,0.00,2.70,19.50,0.906,6,0.000,0.054,3253,2365,2264,0,0,0,0,0,0
$GC,7688,1.07,195.3,526.2,11.3,683,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2365,2258,0,0,0,0,0,0
$GC,7944,1.07,195.3,496.7,11.6,707,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2365,2257,0,0,0,0,0,0
$GC,8198,1.08,196.6,468.9,9.9,731,8203,0.00,2.70,0.00,0.000,4,0.000,0.053,3252,3943,2255,0,0,0,0,0,0
$GC,8232,1.08,196.6,465.8,11.1,733,8236,0.00,2.65,0.00,0.000,6,0.000,0.044,3253,2362,2254,0,0,0,0,0,0
$GC,8500,1.08,196.6,437.9,10.7,757,8504,0.00,2.83,0.00,0.000,4,0.000,0.087,3252,781,2253,0,0,0,0,0,0
$GC,8551,1.08,196.6,431.6,11.2,761,8555,0.00,2.60,0.00,0.000,6,0.000,0.035,3252,2364,2252,0,0,0,0,0,0
$GC,8815,1.08,196.8,404.8,10.0,785,8820,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2364,2252,0,0,0,0,0,0
$GC,9076,1.10,214.6,379.7,9.2,810,9096,0.00,0.00,16.58,0.838,6,0.000,0.000,3252,2364,2184,0,0,0,0,0,0
$GC,9354,1.10,215.8,353.3,9.9,836,9358,0.00,2.62,0.00,0.000,4,0.000,0.048,3252,3936,2181,0,0,0,0,0,0
$GC,9440,1.10,215.8,343.8,10.2,843,9445,0.00,2.58,0.00,0.000,6,0.000,0.034,3252,2355,2180,0,0,0,0,0,0
$GC,9704,1.10,215.8,318.0,10.3,867,9708,0.00,2.67,0.00,0.000,4,0.000,0.059,3252,778,2180,0,0,0,0,0,0
$GC,9725,1.10,215.8,315.9,10.7,868,9730,0.00,2.55,0.00,0.000,6,0.000,0.026,3252,2366,2178,0,0,0,0,0,0
$GC,9994,1.12,235.2,289.7,9.1,892,10018,0.00,2.67,18.90,0.778,4,0.000,0.049,3252,3931,2100,0,0,0,0,0,0
$GC,10118,1.12,235.2,275.8,10.7,903,10123,0.00,2.55,0.00,0.000,6,0.000,0.025,3252,2361,2097,0,0,0,0,0,0
$GC,10383,1.18,247.4,250.0,9.4,927,10400,0.00,2.70,11.70,0.715,4,0.000,0.050,3252,785,2051,0,0,0,0,0,0
$GC,10411,1.20,257.6,246.9,9.5,929,10429,0.00,2.55,10.65,0.690,6,0.000,0.025,3252,2373,2009,0,0,0,0,0,0
$GC,10686,1.25,258.0,219.8,10.0,955,10692,0.10,2.65,0.00,0.000,4,0.084,0.045,3285,785,2007,0,0,0,0,0,0
$GC,10716,1.25,258.0,216.0,12.4,957,10721,0.00,2.53,0.00,0.000,6,0.000,0.030,3285,2372,2006,0,0,0,0,0,0
$GC,10984,1.25,258.0,186.4,11.2,981,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2372,2006,0,0,0,0,0,0
$GC,11245,1.25,258.0,156.6,11.3,1006,11249,0.00,2.55,0.00,0.000,4,0.000,0.043,3284,3921,2006,0,0,0,0,0,0
$GC,11275,1.25,258.0,153.5,11.2,1008,11279,0.00,2.50,0.00,0.000,6,0.000,0.024,3285,2357,2005,0,0,0,0,0,0
$GC,11537,1.25,258.0,127.5,10.1,1032,11542,0.00,2.60,0.00,0.000,4,0.000,0.040,3285,3932,2005,0,0,0,0,0,0
$GC,11566,1.25,258.0,124.0,11.4,1034,11571,0.00,2.50,0.00,0.000,6,0.000,0.024,3285,2367,2005,0,0,0,0,0,0
$GC,11831,1.27,275.8,97.0,9.2,1058,11855,0.00,2.62,17.05,0.587,4,0.000,0.045,3285,784,1934,0,0,0,0,0,0
$GC,11883,1.27,275.8,91.5,10.1,1062,11893,0.00,2.53,0.00,0.000,6,0.000,0.021,3285,2363,1933,0,0,0,0,0,0
$GC,12153,1.32,281.8,65.7,9.7,1087,12168,0.00,2.62,6.75,0.487,4,0.000,0.041,3285,792,1910,0,0,0,0,0,0
$GC,12198,1.35,281.8,59.7,11.1,1090,12207,0.00,2.50,0.00,0.000,6,0.000,0.025,3284,2361,1909,0,0,0,0,0,0
$GC,12467,1.35,281.8,31.9,10.7,1115,12471,0.00,2.58,0.00,0.000,4,0.000,0.044,3285,789,1909,0,0,0,0,0,0
$GC,12495,1.35,281.8,28.3,11.4,1117,12504,0.00,2.45,0.00,0.000,6,0.000,0.020,3284,2340,1909,0,0,0,0,0,0
$STATE,12719,end climb,SURFACE_DEPTH_REACHED
$STATE,12719,begin surface coast
$FINISH,-0.2,1.018234
$STATE,12768,end surface coast,CONTROL_FINISHED_OK
$STATE,12768,begin surface
$SM_CCo,12789,80.47,0.520,0,0,1510,380.21
$SM_GC,0.41,0.00,0.00,80.47,0.000,0.000,0.520,458,2180,1510,-11.72,-0.85,380.21
$IRIDIUM_FIX,2258.07,-15738.85,050703,030328
$TT8_MAMPS,0.026078
$HUMID,61.53
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.80
$XPDR_PINGS,20
$24V_AH,23.4,26.403
$10V_AH,10.3,28.704
$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,27.325,162.000,369.750,80.475,0.000,86.760,155.804,334.047,5.000,0.000,34.293,2011.512,6334.978,552.517,3817.832,1033.465,33.367,1688.370,0.000,3816.012,0.000,0.536,0.000
$DEVICE_MAMPS,163.371,106.613,1005.537,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,794.654,894.537,1178.418,1310.325,2485.138,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355352
$DATA_FILE_SIZE,95329,1157
$CAP_FILE_SIZE,159363,0
$CFSIZE,260165632,167174144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100414,063836,2302.156,-15738.518,31,1.4,31,10.1