version: 66.06
glider: 146
mission: 9
dive: 184
start: 4 10 114 6 48 15
data:
$ID,146
$MISSION,9
$DIVE,184
$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,-327570.22
$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,58
$R_STBD_OVSHOOT,43
$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
$GPS1,063836,2302.156,-15738.518,31,1.4,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-69.4
$GPS2,064718,2302.167,-15738.575,8,1.1,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.228,-0.124
$KALMAN_X,-165465.1,-117.7,-20.6,194635.1,394.4
$KALMAN_Y,53187.2,-130.6,179.1,-29372.3,-525.4
$MHEAD_RNG_PITCHd_Wd,231.4,61698,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-90.05,0.000,6,0.000,0.000,457,2180,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.7,-9.4,12,133,12.43,2.47,0.00,0.000,4,0.166,0.035,2717,653,3657,0,0,0,0,0,0
$GC,329,-1.14,-146.0,43.8,-13.8,37,334,0.17,2.45,0.00,0.000,6,0.112,0.020,2751,2218,3658,0,0,0,0,0,0
$GC,597,-1.07,-146.0,74.9,-11.0,61,601,0.00,2.55,0.00,0.000,4,0.000,0.041,2751,650,3658,0,0,0,0,0,0
$GC,632,-1.01,-146.0,79.1,-11.3,63,637,0.15,2.42,0.00,0.000,6,0.107,0.018,2782,2212,3658,0,0,0,0,0,0
$GC,899,-1.01,-146.0,103.1,-8.8,87,903,0.00,2.53,0.00,0.000,4,0.000,0.041,2782,659,3658,0,0,0,0,0,0
$GC,957,-1.09,-146.0,108.5,-9.8,91,961,0.00,2.38,0.00,0.000,6,0.000,0.018,2782,2193,3659,0,0,0,0,0,0
$GC,1224,-1.14,-146.0,131.5,-7.8,115,1230,0.12,0.00,0.00,0.000,6,0.066,0.000,2732,2194,3659,0,0,0,0,0,0
$GC,1488,-1.08,-146.0,160.6,-11.4,140,1493,0.15,2.55,0.00,0.000,4,0.095,0.035,2766,3775,3659,0,0,0,0,0,0
$GC,1534,-1.13,-146.0,164.8,-9.3,143,1539,0.00,2.50,0.00,0.000,6,0.000,0.020,2765,2185,3659,0,0,0,0,0,0
$GC,1803,-1.13,-146.0,187.1,-7.9,167,1807,0.00,2.53,0.00,0.000,4,0.000,0.044,2765,640,3659,0,0,0,0,0,0
$GC,1836,-1.13,-146.0,190.1,-8.4,169,1840,0.00,2.38,0.00,0.000,6,0.000,0.026,2765,2171,3659,0,0,0,0,0,0
$GC,2104,-1.13,-146.0,213.6,-8.8,193,2108,0.00,2.58,0.00,0.000,4,0.000,0.036,2766,3777,3659,0,0,0,0,0,0
$GC,2156,-1.20,-146.0,219.2,-9.3,197,2160,0.00,2.53,0.00,0.000,6,0.000,0.021,2766,2166,3660,0,0,0,0,0,0
$GC,2419,-1.25,-146.0,242.2,-9.1,221,2424,0.15,2.53,0.00,0.000,4,0.058,0.048,2707,642,3660,0,0,0,0,0,0
$GC,2454,-1.19,-146.0,245.3,-11.2,223,2459,0.17,2.38,0.00,0.000,6,0.094,0.027,2743,2176,3660,0,0,0,0,0,0
$GC,2719,-1.19,-146.0,268.7,-7.5,247,2724,0.00,2.60,0.00,0.000,4,0.000,0.040,2743,3773,3660,0,0,0,0,0,0
$GC,2738,-1.19,-146.0,270.4,-7.8,248,2742,0.00,2.50,0.00,0.000,6,0.000,0.020,2743,2168,3660,0,0,0,0,0,0
$GC,3001,-1.19,-146.0,291.0,-8.0,272,3005,0.00,2.65,0.00,0.000,4,0.000,0.041,2743,3777,3660,0,0,0,0,0,0
$GC,3043,-1.23,-146.0,294.4,-7.9,275,3047,0.00,2.53,0.00,0.000,6,0.000,0.021,2743,2182,3660,0,0,0,0,0,0
$GC,3306,-1.27,-146.0,315.6,-8.5,299,3310,0.00,2.60,0.00,0.000,4,0.000,0.044,2744,3765,3659,0,0,0,0,0,0
$GC,3376,-1.32,-146.0,321.8,-8.4,304,3382,0.12,2.50,0.00,0.000,6,0.067,0.025,2691,2194,3659,0,0,0,0,0,0
$GC,3639,-1.27,-146.0,347.3,-9.5,329,3645,0.17,2.70,0.00,0.000,4,0.092,0.072,2728,633,3658,0,0,0,0,0,0
$GC,3723,-1.27,-146.0,354.6,-8.5,335,3728,0.00,2.47,0.00,0.000,6,0.000,0.033,2728,2166,3658,0,0,0,0,0,0
$GC,3985,-1.27,-146.0,374.6,-7.4,360,3990,0.00,2.72,0.00,0.000,4,0.000,0.054,2728,3797,3656,0,0,0,0,0,0
$GC,4056,-1.31,-146.0,380.6,-8.2,365,4061,0.00,2.60,0.00,0.000,6,0.000,0.031,2728,2203,3656,0,0,0,0,0,0
$GC,4318,-1.31,-146.0,400.0,-7.0,390,4323,0.00,2.67,0.00,0.000,4,0.000,0.053,2728,3790,3654,0,0,0,0,0,0
$GC,4342,-1.31,-146.0,401.4,-7.2,391,4347,0.00,2.62,0.00,0.000,6,0.000,0.035,2728,2191,3654,0,0,0,0,0,0
$GC,4609,-1.34,-146.0,421.7,-7.7,415,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2190,3652,0,0,0,0,0,0
$GC,4874,-1.39,-146.0,443.0,-8.1,440,4879,0.12,2.83,0.00,0.000,4,0.068,0.096,2679,627,3651,0,0,0,0,0,0
$GC,4892,-1.39,-146.0,444.9,-8.5,441,4897,0.10,2.58,0.00,0.000,6,0.110,0.042,2701,2188,3650,0,0,0,0,0,0
$GC,5152,-1.39,-146.0,467.8,-8.4,465,5157,0.00,2.75,0.00,0.000,4,0.000,0.061,2701,3803,3649,0,0,0,0,0,0
$GC,5174,-1.39,-146.0,469.3,-8.8,466,5179,0.00,2.67,0.00,0.000,6,0.000,0.040,2701,2193,3648,0,0,0,0,0,0
$GC,5441,-1.39,-146.0,491.4,-8.1,490,5446,0.00,2.75,0.00,0.000,4,0.000,0.061,2701,3800,3647,0,0,0,0,0,0
$GC,5464,-1.39,-146.0,493.8,-8.6,491,5469,0.00,2.67,0.00,0.000,6,0.000,0.046,2701,2202,3646,0,0,0,0,0,0
$GC,5727,-1.39,-146.0,514.6,-8.3,516,5731,0.00,2.75,0.00,0.000,4,0.000,0.064,2701,3793,3645,0,0,0,0,0,0
$GC,5750,-1.39,-146.0,516.7,-8.5,517,5756,0.00,2.67,0.00,0.000,6,0.000,0.049,2701,2212,3645,0,0,0,0,0,0
$GC,6013,-1.39,-146.0,539.1,-8.4,542,6018,0.00,2.78,0.00,0.000,4,0.000,0.076,2701,3800,3644,0,0,0,0,0,0
$GC,6035,-1.39,-146.0,541.3,-9.0,543,6044,0.00,2.72,0.00,0.000,6,0.000,0.054,2701,2212,3644,0,0,0,0,0,0
$GC,6302,-1.39,-146.0,563.0,-8.2,568,6307,0.00,2.80,0.00,0.000,4,0.000,0.077,2701,3791,3642,0,0,0,0,0,0
$GC,6358,-1.39,-146.0,568.6,-8.9,572,6364,0.00,2.70,0.00,0.000,6,0.000,0.064,2701,2220,3642,0,0,0,0,0,0
$GC,6623,-1.39,-146.0,589.2,-7.8,597,6627,0.00,2.80,0.00,0.000,4,0.000,0.080,2701,3792,3640,0,0,0,0,0,0
$GC,6663,-1.39,-146.0,592.7,-8.8,600,6668,0.00,2.72,0.00,0.000,6,0.000,0.067,2701,2227,3640,0,0,0,0,0,0
$STATE,6762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6762,begin apogee
$GC,6770,-0.31,0.0,600.8,7.7,609,6892,1.02,0.00,119.03,1.007,6,0.069,0.000,2935,2379,3060,0,0,0,0,0,0
$STATE,6894,end apogee,CONTROL_FINISHED_OK
$STATE,6895,begin climb
$GC,6897,1.27,146.0,603.7,0.0,612,7035,1.42,2.88,124.10,0.989,4,0.035,0.078,3288,3930,2461,0,0,0,0,0,0
$GC,7113,1.12,146.0,587.6,11.3,622,7119,0.17,2.72,0.00,0.000,6,0.107,0.057,3251,2362,2457,0,0,0,0,0,0
$GC,7377,1.10,171.2,563.6,8.8,647,7405,0.00,2.85,22.00,0.926,4,0.000,0.071,3251,3937,2360,0,0,0,0,0,0
$GC,7439,1.04,171.2,556.8,10.9,652,7445,0.00,2.70,0.00,0.000,6,0.000,0.048,3251,2372,2358,0,0,0,0,0,0
$GC,7702,1.04,171.2,530.1,10.4,677,7706,0.00,2.72,0.00,0.000,4,0.000,0.063,3251,3940,2355,0,0,0,0,0,0
$GC,7755,0.99,171.2,524.1,11.9,681,7760,0.15,2.65,0.00,0.000,6,0.114,0.044,3221,2379,2355,0,0,0,0,0,0
$GC,8016,1.02,194.9,499.6,8.9,705,8043,0.00,3.10,21.60,0.909,4,0.000,0.112,3221,784,2264,0,0,0,0,0,0
$GC,8056,1.06,228.7,496.0,8.4,708,8099,0.00,2.72,31.25,0.913,6,0.000,0.041,3221,2377,2126,0,0,0,0,0,0
$GC,8355,1.12,246.6,467.7,9.2,736,8375,0.12,0.00,16.73,0.876,6,0.078,0.000,3256,2377,2054,0,0,0,0,0,0
$GC,8626,1.12,246.6,436.6,11.3,762,8630,0.00,2.80,0.00,0.000,4,0.000,0.066,3256,777,2049,0,0,0,0,0,0
$GC,8667,1.12,246.6,431.8,12.3,765,8672,0.00,2.65,0.00,0.000,6,0.000,0.035,3256,2384,2048,0,0,0,0,0,0
$GC,8931,1.12,246.6,403.3,10.3,789,8935,0.00,2.62,0.00,0.000,4,0.000,0.054,3256,3933,2047,0,0,0,0,0,0
$GC,8952,1.12,246.6,401.2,10.7,790,8957,0.00,2.60,0.00,0.000,6,0.000,0.036,3256,2357,2046,0,0,0,0,0,0
$GC,9220,1.12,246.6,370.5,12.5,814,9224,0.00,2.65,0.00,0.000,4,0.000,0.051,3256,3934,2046,0,0,0,0,0,0
$GC,9241,1.12,246.6,366.8,12.8,815,9247,0.00,2.58,0.00,0.000,6,0.000,0.030,3255,2364,2045,0,0,0,0,0,0
$GC,9504,1.12,246.6,334.7,11.4,840,9508,0.00,2.70,0.00,0.000,4,0.000,0.061,3256,780,2045,0,0,0,0,0,0
$GC,9532,1.12,246.6,331.1,12.1,842,9537,0.00,2.58,0.00,0.000,6,0.000,0.028,3256,2385,2044,0,0,0,0,0,0
$GC,9795,1.12,246.6,302.3,10.9,866,9799,0.00,2.58,0.00,0.000,4,0.000,0.048,3256,3927,2044,0,0,0,0,0,0
$GC,9829,1.12,246.6,298.9,11.8,868,9833,0.00,2.53,0.00,0.000,6,0.000,0.033,3256,2370,2044,0,0,0,0,0,0
$GC,10095,1.13,256.6,270.9,9.5,892,10109,0.00,2.65,8.85,0.713,4,0.000,0.047,3256,3923,2013,0,0,0,0,0,0
$GC,10158,1.18,256.6,263.7,11.3,897,10167,0.00,2.53,0.00,0.000,6,0.000,0.027,3256,2389,2011,0,0,0,0,0,0
$GC,10424,1.22,259.9,236.1,9.9,922,10435,0.00,2.70,4.22,0.529,4,0.000,0.050,3256,782,2000,0,0,0,0,0,0
$GC,10466,1.26,259.9,231.1,10.4,925,10472,0.00,2.58,0.00,0.000,6,0.000,0.027,3256,2396,2000,0,0,0,0,0,0
$GC,10729,1.31,259.9,204.5,10.1,950,10731,0.12,0.00,0.00,0.000,6,0.077,0.000,3293,2396,1999,0,0,0,0,0,0
$GC,10984,1.31,259.9,175.4,12.1,974,10988,0.00,2.65,0.00,0.000,4,0.000,0.044,3293,785,1999,0,0,0,0,0,0
$GC,11019,1.31,259.9,170.7,13.0,976,11028,0.00,2.58,0.00,0.000,6,0.000,0.022,3293,2398,1999,0,0,0,0,0,0
$GC,11286,1.31,259.9,142.6,10.6,1001,11290,0.00,2.47,0.00,0.000,4,0.000,0.041,3293,3924,1999,0,0,0,0,0,0
$GC,11350,1.31,259.9,133.9,12.6,1006,11355,0.00,2.45,0.00,0.000,6,0.000,0.023,3292,2387,1999,0,0,0,0,0,0
$GC,11613,1.31,259.9,105.9,10.4,1030,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2388,1999,0,0,0,0,0,0
$GC,11867,1.31,259.9,79.9,10.3,1054,11872,0.00,2.62,0.00,0.000,4,0.000,0.044,3293,783,1999,0,0,0,0,0,0
$GC,11936,1.31,259.9,73.1,10.3,1059,11941,0.00,2.53,0.00,0.000,6,0.000,0.021,3293,2395,1999,0,0,0,0,0,0
$GC,12205,1.31,259.9,45.4,10.7,1083,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2396,1999,0,0,0,0,0,0
$GC,12495,1.31,259.9,17.2,10.5,1117,12505,0.00,2.67,0.00,0.000,4,0.000,0.044,3293,786,2000,0,0,0,0,0,0
$GC,12516,1.31,259.9,14.3,12.8,1119,12525,0.00,2.53,0.00,0.000,6,0.000,0.020,3293,2387,2000,0,0,0,0,0,0
$STATE,12599,end climb,SURFACE_DEPTH_REACHED
$STATE,12599,begin surface coast
$FINISH,-0.2,1.024032
$STATE,12650,end surface coast,CONTROL_FINISHED_OK
$STATE,12650,begin surface
$SM_CCo,12671,97.90,0.522,0,0,1509,380.21
$SM_GC,0.47,0.00,0.00,97.90,0.000,0.000,0.522,458,2139,1509,-11.71,-2.01,380.21
$IRIDIUM_FIX,2258.07,-15724.07,050703,030300
$TT8_MAMPS,0.026078
$HUMID,60.23
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.70
$XPDR_PINGS,27
$24V_AH,23.4,26.534
$10V_AH,10.2,28.920
$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,28.125,184.250,347.775,97.900,0.000,27.549,38.463,273.908,6.750,0.000,15.000,2014.438,6127.252,566.509,3763.331,809.419,33.366,1705.034,0.000,3782.832,0.000,0.535,0.000
$DEVICE_MAMPS,165.672,111.982,1007.071,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,781.678,883.809,1159.726,1295.250,2453.740,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355344
$DATA_FILE_SIZE,92469,1138
$CAP_FILE_SIZE,160549,0
$CFSIZE,260165632,167088128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100414,102235,2300.817,-15740.136,35,1.4,47,10.1