version: 66.06
glider: 146
mission: 9
dive: 185
start: 4 10 114 10 42 29
data:
$ID,146
$MISSION,9
$DIVE,185
$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,-327600.69
$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,33
$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
$GPS1,102235,2300.817,-15740.136,35,1.4,47,10.1
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-68.8
$GPS2,104133,2300.848,-15740.234,8,2.3,27,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.199,-0.167
$KALMAN_X,-165847.2,-53.0,222.0,191876.9,-516.2
$KALMAN_Y,52347.1,98.4,-150.1,-30873.5,-486.3
$MHEAD_RNG_PITCHd_Wd,219.9,57955,-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,16,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-89.45,0.000,6,0.000,0.000,457,2140,3655,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.0,-10.1,12,132,12.32,2.67,0.00,0.000,4,0.164,0.031,2716,3792,3656,0,0,0,0,0,0
$GC,144,0.02,-146.0,16.5,-38.2,15,154,1.38,2.55,0.00,0.000,6,0.076,0.029,3001,2209,3657,0,0,0,0,0,0
$GC,460,-0.59,-146.0,35.0,-7.1,58,466,0.50,2.58,0.00,0.000,4,0.051,0.041,2869,628,3657,0,0,0,0,0,0
$GC,572,-0.84,-146.0,42.3,-6.4,66,577,0.20,2.50,0.00,0.000,6,0.048,0.019,2795,2246,3657,0,0,0,0,0,0
$GC,840,-0.87,-146.0,65.6,-9.4,90,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2246,3657,0,0,0,0,0,0
$GC,1107,-0.91,-146.0,90.5,-8.7,115,1111,0.00,2.62,0.00,0.000,4,0.000,0.041,2794,633,3657,0,0,0,0,0,0
$GC,1139,-0.97,-146.0,93.7,-9.9,117,1143,0.00,2.45,0.00,0.000,6,0.000,0.018,2795,2212,3657,0,0,0,0,0,0
$GC,1407,-1.01,-146.0,117.7,-7.5,141,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2212,3657,0,0,0,0,0,0
$GC,1670,-1.07,-146.0,138.0,-7.6,166,1676,0.10,2.60,0.00,0.000,4,0.077,0.043,2744,627,3657,0,0,0,0,0,0
$GC,1693,-1.07,-146.0,139.6,-7.8,167,1698,0.12,2.45,0.00,0.000,6,0.098,0.019,2771,2213,3658,0,0,0,0,0,0
$GC,1958,-1.11,-146.0,161.5,-8.5,191,1963,0.00,2.60,0.00,0.000,4,0.000,0.044,2772,631,3658,0,0,0,0,0,0
$GC,2017,-1.18,-146.0,166.8,-9.8,195,2022,0.12,2.42,0.00,0.000,6,0.067,0.019,2719,2194,3657,0,0,0,0,0,0
$GC,2282,-1.11,-146.0,196.8,-11.9,219,2287,0.20,2.53,0.00,0.000,4,0.086,0.034,2763,3778,3658,0,0,0,0,0,0
$GC,2318,-1.16,-146.0,200.6,-9.6,221,2324,0.00,2.50,0.00,0.000,6,0.000,0.019,2762,2184,3658,0,0,0,0,0,0
$GC,2581,-1.19,-146.0,221.4,-7.4,246,2586,0.00,2.50,0.00,0.000,4,0.000,0.045,2762,643,3658,0,0,0,0,0,0
$GC,2639,-1.28,-146.0,225.6,-8.1,250,2644,0.17,2.40,0.00,0.000,6,0.053,0.018,2698,2189,3658,0,0,0,0,0,0
$GC,2904,-1.21,-146.0,251.5,-9.7,274,2910,0.20,0.00,0.00,0.000,6,0.087,0.000,2741,2189,3658,0,0,0,0,0,0
$GC,3169,-1.21,-146.0,272.2,-7.8,299,3173,0.00,2.60,0.00,0.000,4,0.000,0.044,2742,3773,3658,0,0,0,0,0,0
$GC,3202,-1.21,-146.0,274.8,-8.3,301,3206,0.00,2.50,0.00,0.000,6,0.000,0.021,2741,2193,3658,0,0,0,0,0,0
$GC,3470,-1.21,-146.0,297.3,-8.9,325,3474,0.00,2.58,0.00,0.000,4,0.000,0.042,2742,3771,3657,0,0,0,0,0,0
$GC,3513,-1.26,-146.0,301.7,-9.2,328,3518,0.00,2.50,0.00,0.000,6,0.000,0.030,2741,2202,3657,0,0,0,0,0,0
$GC,3782,-1.30,-146.0,324.1,-7.5,352,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2202,3656,0,0,0,0,0,0
$GC,4045,-1.35,-146.0,344.8,-8.2,377,4050,0.12,2.75,0.00,0.000,4,0.067,0.073,2689,628,3654,0,0,0,0,0,0
$GC,4067,-1.35,-146.0,347.2,-9.6,378,4076,0.00,2.53,0.00,0.000,6,0.000,0.037,2689,2177,3654,0,0,0,0,0,0
$GC,4335,-1.30,-146.0,374.3,-9.8,403,4340,0.15,0.00,0.00,0.000,6,0.093,0.000,2722,2177,3653,0,0,0,0,0,0
$GC,4599,-1.30,-146.0,395.4,-7.3,428,4603,0.00,2.70,0.00,0.000,4,0.000,0.054,2722,3794,3651,0,0,0,0,0,0
$GC,4655,-1.30,-146.0,400.3,-8.1,432,4664,0.00,2.60,0.00,0.000,6,0.000,0.035,2722,2222,3651,0,0,0,0,0,0
$GC,4921,-1.30,-146.0,419.4,-7.5,457,4926,0.00,2.65,0.00,0.000,4,0.000,0.059,2722,3797,3649,0,0,0,0,0,0
$GC,4939,-1.30,-146.0,421.2,-8.0,458,4944,0.00,2.60,0.00,0.000,6,0.000,0.038,2722,2208,3649,0,0,0,0,0,0
$GC,5202,-1.30,-146.0,441.1,-7.6,482,5207,0.00,2.85,0.00,0.000,4,0.000,0.094,2722,623,3647,0,0,0,0,0,0
$GC,5235,-1.30,-146.0,443.3,-8.1,484,5240,0.00,2.60,0.00,0.000,6,0.000,0.041,2722,2210,3647,0,0,0,0,0,0
$GC,5502,-1.30,-146.0,462.2,-6.5,508,5506,0.00,2.72,0.00,0.000,4,0.000,0.063,2722,3804,3645,0,0,0,0,0,0
$GC,5554,-1.34,-146.0,465.9,-6.7,512,5558,0.00,2.62,0.00,0.000,6,0.000,0.039,2722,2217,3645,0,0,0,0,0,0
$GC,5819,-1.38,-146.0,482.3,-6.9,536,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2218,3644,0,0,0,0,0,0
$GC,6083,-1.43,-146.0,503.2,-8.5,561,6092,0.12,0.00,0.00,0.000,6,0.067,0.000,2674,2218,3642,0,0,0,0,0,0
$GC,6350,-1.39,-146.0,529.1,-9.5,586,6356,0.12,2.75,0.00,0.000,4,0.101,0.068,2701,3792,3640,0,0,0,0,0,0
$GC,6396,-1.39,-146.0,533.2,-8.5,589,6400,0.00,2.62,0.00,0.000,6,0.000,0.049,2701,2235,3639,0,0,0,0,0,0
$GC,6662,-1.39,-146.0,552.4,-7.2,613,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2235,3639,0,0,0,0,0,0
$GC,6925,-1.39,-146.0,572.2,-7.5,638,6929,0.00,2.75,0.00,0.000,4,0.000,0.087,2702,3790,3637,0,0,0,0,0,0
$GC,6957,-1.39,-146.0,574.5,-8.0,640,6961,0.00,2.67,0.00,0.000,6,0.000,0.064,2701,2235,3637,0,0,0,0,0,0
$GC,7223,-1.39,-146.0,594.1,-6.9,664,7228,0.00,2.97,0.00,0.000,4,0.000,0.108,2702,622,3635,0,0,0,0,0,0
$GC,7253,-1.39,-146.0,596.6,-7.4,666,7257,0.00,2.78,0.00,0.000,6,0.000,0.061,2701,2233,3635,0,0,0,0,0,0
$STATE,7304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7304,begin apogee
$GC,7310,-0.31,0.0,600.2,7.3,670,7432,1.02,0.00,118.15,1.009,6,0.069,0.000,2935,2374,3060,0,0,0,0,0,0
$STATE,7434,end apogee,CONTROL_FINISHED_OK
$STATE,7434,begin climb
$GC,7436,1.27,146.0,601.7,0.0,673,7574,1.45,2.95,124.50,0.988,4,0.033,0.091,3290,3937,2463,0,0,0,0,0,0
$GC,7597,1.12,146.0,588.3,14.0,683,7604,0.20,2.75,0.00,0.000,6,0.107,0.054,3249,2362,2459,0,0,0,0,0,0
$GC,7862,1.07,146.0,558.8,10.8,708,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2362,2454,0,0,0,0,0,0
$GC,8127,1.04,151.0,531.4,9.8,733,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2362,2452,0,0,0,0,0,0
$GC,8392,1.02,167.0,507.0,9.3,758,8415,0.12,2.75,17.77,0.903,4,0.119,0.054,3224,3940,2378,0,0,0,0,0,0
$GC,8453,1.02,167.0,501.0,10.4,763,8458,0.00,2.62,0.00,0.000,6,0.000,0.039,3224,2375,2376,0,0,0,0,0,0
$GC,8721,1.03,181.5,476.9,9.3,787,8742,0.00,3.03,14.00,0.873,4,0.000,0.103,3223,786,2318,0,0,0,0,0,0
$GC,8759,1.05,195.4,473.2,9.4,790,8781,0.00,2.67,13.95,0.858,6,0.000,0.041,3224,2374,2263,0,0,0,0,0,0
$GC,9035,1.10,234.8,448.6,8.2,816,9083,0.00,2.72,35.88,0.900,4,0.000,0.053,3224,3927,2100,0,0,0,0,0,0
$GC,9099,1.11,246.0,442.7,9.5,821,9120,0.10,2.62,10.98,0.812,6,0.087,0.036,3253,2363,2057,0,0,0,0,0,0
$GC,9374,1.11,246.0,412.0,11.5,847,9379,0.00,2.80,0.00,0.000,4,0.000,0.077,3253,781,2052,0,0,0,0,0,0
$GC,9395,1.11,246.0,408.9,12.2,848,9401,0.00,2.60,0.00,0.000,6,0.000,0.030,3253,2372,2051,0,0,0,0,0,0
$GC,9659,1.11,246.0,379.6,11.2,873,9664,0.00,2.62,0.00,0.000,4,0.000,0.052,3253,3929,2050,0,0,0,0,0,0
$GC,9714,1.11,246.0,373.2,11.6,877,9719,0.00,2.55,0.00,0.000,6,0.000,0.028,3253,2374,2049,0,0,0,0,0,0
$GC,9982,1.11,246.0,343.4,11.3,901,9987,0.00,2.70,0.00,0.000,4,0.000,0.064,3253,785,2049,0,0,0,0,0,0
$GC,10025,1.11,246.0,337.9,11.8,904,10029,0.00,2.58,0.00,0.000,6,0.000,0.026,3253,2386,2048,0,0,0,0,0,0
$GC,10291,1.11,246.0,307.9,11.1,928,10296,0.00,2.55,0.00,0.000,4,0.000,0.054,3253,3926,2048,0,0,0,0,0,0
$GC,10325,1.11,246.0,303.4,11.7,930,10335,0.00,2.58,0.00,0.000,6,0.000,0.031,3253,2357,2047,0,0,0,0,0,0
$GC,10592,1.13,263.3,277.4,9.2,955,10609,0.00,0.00,15.23,0.768,6,0.000,0.000,3252,2357,1986,0,0,0,0,0,0
$GC,10865,1.18,263.3,246.9,11.2,981,10869,0.00,2.60,0.00,0.000,4,0.000,0.044,3253,3924,1984,0,0,0,0,0,0
$GC,10910,1.23,263.3,241.4,11.6,984,10919,0.00,2.55,0.00,0.000,6,0.000,0.026,3253,2364,1983,0,0,0,0,0,0
$GC,11177,1.29,263.3,213.0,10.9,1009,11182,0.12,2.62,0.00,0.000,4,0.076,0.048,3290,788,1983,0,0,0,0,0,0
$GC,11245,1.29,263.3,203.7,12.1,1014,11254,0.00,2.53,0.00,0.000,6,0.000,0.023,3290,2365,1982,0,0,0,0,0,0
$GC,11512,1.29,263.3,173.4,11.5,1039,11517,0.00,2.55,0.00,0.000,4,0.000,0.041,3290,3929,1982,0,0,0,0,0,0
$GC,11546,1.29,263.3,169.3,12.1,1041,11550,0.00,2.50,0.00,0.000,6,0.000,0.023,3290,2366,1982,0,0,0,0,0,0
$GC,11814,1.29,263.3,140.2,10.7,1065,11818,0.00,2.58,0.00,0.000,4,0.000,0.040,3290,3929,1982,0,0,0,0,0,0
$GC,11846,1.29,263.3,136.1,12.7,1067,11851,0.00,2.45,0.00,0.000,6,0.000,0.024,3290,2392,1982,0,0,0,0,0,0
$GC,12114,1.29,263.3,106.6,10.8,1091,12118,0.00,2.53,0.00,0.000,4,0.000,0.041,3290,3922,1982,0,0,0,0,0,0
$GC,12169,1.29,263.3,99.4,12.9,1095,12173,0.00,2.42,0.00,0.000,6,0.000,0.025,3290,2403,1982,0,0,0,0,0,0
$GC,12437,1.29,263.3,69.3,11.3,1119,12441,0.00,2.53,0.00,0.000,4,0.000,0.042,3290,3927,1982,0,0,0,0,0,0
$GC,12471,1.29,263.3,65.2,11.5,1121,12475,0.00,2.40,0.00,0.000,6,0.000,0.024,3290,2421,1982,0,0,0,0,0,0
$GC,12739,1.29,263.3,36.3,11.0,1145,12743,0.00,2.67,0.00,0.000,4,0.000,0.044,3290,780,1982,0,0,0,0,0,0
$GC,12785,1.29,263.3,31.2,10.7,1148,12790,0.00,2.58,0.00,0.000,6,0.000,0.021,3290,2431,1982,0,0,0,0,0,0
$STATE,13069,end climb,SURFACE_DEPTH_REACHED
$STATE,13069,begin surface coast
$FINISH,-0.2,1.011644
$STATE,13112,end surface coast,CONTROL_FINISHED_OK
$STATE,13112,begin surface
$SM_CCo,13134,94.65,0.522,0,0,1510,380.21
$SM_GC,0.49,0.00,0.00,94.65,0.000,0.000,0.522,458,2175,1510,-11.71,-0.96,380.21
$IRIDIUM_FIX,2253.38,-15744.96,050703,101049
$TT8_MAMPS,0.026078
$HUMID,61.18
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.80
$XPDR_PINGS,24
$24V_AH,23.4,26.684
$10V_AH,10.2,29.158
$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,30.050,167.925,350.450,94.650,0.000,122.889,145.954,482.813,6.000,0.000,29.843,2076.151,6464.846,574.677,3999.801,1239.767,33.395,1736.901,0.000,4016.123,0.000,0.538,0.000
$DEVICE_MAMPS,164.138,108.147,1009.372,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,821.119,940.409,1221.010,1419.451,2700.758,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355320
$DATA_FILE_SIZE,98487,1196
$CAP_FILE_SIZE,169892,0
$CFSIZE,260165632,166985728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100414,142406,2259.501,-15741.922,25,1.5,25,10.1