version: 66.06
glider: 146
mission: 9
dive: 186
start: 4 10 114 14 33 59
data:
$ID,146
$MISSION,9
$DIVE,186
$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,-327632.44
$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,62
$R_STBD_OVSHOOT,40
$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
$GPS1,142406,2259.501,-15741.922,25,1.5,25,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-71.0
$GPS2,143303,2259.454,-15741.959,9,2.7,28,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.203,-0.162
$KALMAN_X,-166039.1,15.3,-211.9,189487.8,-27.4
$KALMAN_Y,51711.9,210.3,-205.7,-32878.7,-166.2
$MHEAD_RNG_PITCHd_Wd,221.4,54038,-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,-90.80,0.000,6,0.000,0.000,458,2175,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.4,-8.1,12,132,12.38,2.45,0.00,0.000,4,0.164,0.035,2716,659,3657,0,0,0,0,0,0
$GC,293,-1.15,-146.0,39.0,-13.6,34,301,0.12,2.45,0.00,0.000,6,0.094,0.019,2747,2216,3658,0,0,0,0,0,0
$GC,561,-1.08,-146.0,73.6,-13.4,59,570,0.10,0.00,0.00,0.000,6,0.126,0.000,2767,2217,3658,0,0,0,0,0,0
$GC,823,-1.08,-146.0,103.8,-9.9,84,828,0.00,2.53,0.00,0.000,4,0.000,0.041,2767,662,3658,0,0,0,0,0,0
$GC,844,-1.08,-146.0,105.6,-10.2,85,848,0.00,2.42,0.00,0.000,6,0.000,0.017,2767,2234,3659,0,0,0,0,0,0
$GC,1112,-1.08,-146.0,130.2,-9.2,109,1116,0.00,2.47,0.00,0.000,4,0.000,0.033,2767,3774,3659,0,0,0,0,0,0
$GC,1157,-1.11,-146.0,134.9,-8.5,112,1166,0.00,2.42,0.00,0.000,6,0.000,0.020,2767,2242,3659,0,0,0,0,0,0
$GC,1424,-1.11,-146.0,156.1,-8.4,137,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2243,3659,0,0,0,0,0,0
$GC,1685,-1.11,-146.0,180.0,-8.9,162,1690,0.00,2.60,0.00,0.000,4,0.000,0.044,2767,635,3660,0,0,0,0,0,0
$GC,1721,-1.16,-146.0,183.1,-8.8,164,1730,0.00,2.47,0.00,0.000,6,0.000,0.026,2767,2214,3659,0,0,0,0,0,0
$GC,1985,-1.20,-146.0,205.0,-7.3,189,1990,0.10,2.58,0.00,0.000,4,0.078,0.044,2719,640,3660,0,0,0,0,0,0
$GC,2041,-1.15,-146.0,210.2,-9.5,193,2046,0.15,2.42,0.00,0.000,6,0.096,0.018,2751,2213,3660,0,0,0,0,0,0
$GC,2306,-1.15,-146.0,231.4,-7.4,217,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2214,3660,0,0,0,0,0,0
$GC,2567,-1.15,-146.0,250.3,-7.3,242,2571,0.00,2.53,0.00,0.000,4,0.000,0.048,2751,3774,3660,0,0,0,0,0,0
$GC,2586,-1.19,-146.0,251.5,-7.3,243,2590,0.00,2.45,0.00,0.000,6,0.000,0.028,2751,2196,3660,0,0,0,0,0,0
$GC,2849,-1.23,-146.0,272.4,-7.7,267,2853,0.00,2.58,0.00,0.000,4,0.000,0.056,2751,641,3660,0,0,0,0,0,0
$GC,2928,-1.29,-146.0,278.8,-8.6,273,2933,0.12,2.40,0.00,0.000,6,0.068,0.024,2698,2165,3660,0,0,0,0,0,0
$GC,3189,-1.24,-146.0,305.4,-10.3,297,3194,0.15,2.67,0.00,0.000,4,0.095,0.046,2732,3781,3659,0,0,0,0,0,0
$GC,3213,-1.24,-146.0,307.9,-10.0,298,3219,0.00,2.53,0.00,0.000,6,0.000,0.025,2732,2190,3659,0,0,0,0,0,0
$GC,3476,-1.24,-146.0,329.0,-7.8,323,3480,0.00,2.67,0.00,0.000,4,0.000,0.069,2731,633,3658,0,0,0,0,0,0
$GC,3499,-1.24,-146.0,330.9,-8.2,324,3508,0.00,2.47,0.00,0.000,6,0.000,0.028,2732,2169,3658,0,0,0,0,0,0
$GC,3765,-1.24,-146.0,353.5,-8.9,349,3770,0.00,2.67,0.00,0.000,4,0.000,0.052,2732,3790,3657,0,0,0,0,0,0
$GC,3793,-1.24,-146.0,356.4,-8.3,351,3798,0.00,2.60,0.00,0.000,6,0.000,0.031,2732,2179,3657,0,0,0,0,0,0
$GC,4058,-1.28,-146.0,377.3,-7.8,375,4062,0.00,2.72,0.00,0.000,4,0.000,0.081,2732,632,3655,0,0,0,0,0,0
$GC,4079,-1.28,-146.0,378.9,-8.2,376,4084,0.00,2.50,0.00,0.000,6,0.000,0.038,2732,2179,3655,0,0,0,0,0,0
$GC,4348,-1.32,-146.0,398.8,-7.3,400,4352,0.00,2.70,0.00,0.000,4,0.000,0.053,2732,3794,3653,0,0,0,0,0,0
$GC,4400,-1.37,-146.0,403.6,-8.2,404,4405,0.12,2.60,0.00,0.000,6,0.067,0.035,2682,2197,3654,0,0,0,0,0,0
$GC,4661,-1.32,-146.0,427.6,-8.6,428,4667,0.15,2.85,0.00,0.000,4,0.095,0.091,2715,620,3652,0,0,0,0,0,0
$GC,4683,-1.32,-146.0,429.6,-8.6,429,4693,0.00,2.60,0.00,0.000,6,0.000,0.036,2715,2194,3651,0,0,0,0,0,0
$GC,4951,-1.32,-146.0,451.2,-8.9,454,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2194,3650,0,0,0,0,0,0
$GC,5212,-1.32,-146.0,474.4,-8.2,479,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2194,3647,0,0,0,0,0,0
$GC,5468,-1.32,-146.0,495.3,-8.5,503,5473,0.00,2.75,0.00,0.000,4,0.000,0.066,2715,3796,3646,0,0,0,0,0,0
$GC,5524,-1.32,-146.0,500.7,-9.6,507,5533,0.00,2.67,0.00,0.000,6,0.000,0.047,2715,2211,3646,0,0,0,0,0,0
$GC,5792,-1.32,-146.0,523.3,-8.2,532,5797,0.00,2.75,0.00,0.000,4,0.000,0.068,2715,3795,3644,0,0,0,0,0,0
$GC,5815,-1.32,-146.0,525.8,-8.5,533,5821,0.00,2.70,0.00,0.000,6,0.000,0.054,2715,2194,3644,0,0,0,0,0,0
$GC,6079,-1.32,-146.0,544.4,-6.5,558,6084,0.00,2.70,0.00,0.000,4,0.000,0.111,2715,736,3643,0,0,0,0,0,0
$GC,6124,-1.32,-146.0,547.5,-7.0,561,6133,0.00,2.47,0.00,0.000,6,0.000,0.050,2715,2193,3643,0,0,0,0,0,0
$GC,6391,-1.36,-146.0,563.6,-6.2,586,6395,0.00,2.83,0.00,0.000,4,0.000,0.082,2715,3800,3641,0,0,0,0,0,0
$GC,6436,-1.40,-146.0,566.4,-6.8,589,6440,0.00,2.75,0.00,0.000,6,0.000,0.056,2715,2192,3641,0,0,0,0,0,0
$GC,6704,-1.45,-146.0,584.2,-6.8,613,6710,0.12,2.83,0.00,0.000,4,0.070,0.077,2668,3795,3640,0,0,0,0,0,0
$GC,6750,-1.39,-146.0,588.3,-9.4,616,6755,0.15,2.75,0.00,0.000,6,0.099,0.064,2699,2210,3639,0,0,0,0,0,0
$STATE,6885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6885,begin apogee
$GC,6891,-0.31,0.0,600.3,8.7,628,7014,1.05,0.00,119.03,1.011,6,0.069,0.000,2938,2378,3060,0,0,0,0,0,0
$STATE,7016,end apogee,CONTROL_FINISHED_OK
$STATE,7016,begin climb
$GC,7018,1.27,146.0,604.1,0.0,631,7153,1.40,2.70,124.40,0.991,4,0.034,0.078,3287,3928,2463,0,0,0,0,0,0
$GC,7216,1.13,146.0,591.1,11.8,640,7221,0.17,2.72,0.00,0.000,6,0.105,0.061,3251,2370,2458,0,0,0,0,0,0
$GC,7481,1.08,146.0,563.8,10.8,664,7486,0.00,2.75,0.00,0.000,4,0.000,0.068,3252,3930,2453,0,0,0,0,0,0
$GC,7515,1.00,146.0,559.6,11.5,666,7525,0.10,2.70,0.00,0.000,6,0.096,0.051,3226,2372,2453,0,0,0,0,0,0
$GC,7781,1.01,152.1,532.9,9.7,691,7792,0.00,3.03,4.43,0.648,4,0.000,0.107,3226,778,2440,0,0,0,0,0,0
$GC,7819,1.01,152.1,528.8,10.8,694,7824,0.00,2.70,0.00,0.000,6,0.000,0.048,3225,2370,2439,0,0,0,0,0,0
$GC,8087,1.05,190.1,504.6,8.2,718,8132,0.00,2.80,35.38,0.934,4,0.000,0.062,3226,3928,2283,0,0,0,0,0,0
$GC,8167,1.05,190.1,496.6,10.4,725,8172,0.00,2.65,0.00,0.000,6,0.000,0.039,3226,2363,2281,0,0,0,0,0,0
$GC,8431,1.10,227.0,474.2,8.3,749,8468,0.00,0.00,33.45,0.914,6,0.000,0.000,3226,2364,2134,0,0,0,0,0,0
$GC,8724,1.14,227.0,446.7,10.3,777,8729,0.10,2.88,0.00,0.000,4,0.086,0.091,3259,782,2128,0,0,0,0,0,0
$GC,8757,1.14,227.0,442.6,12.6,779,8763,0.00,2.62,0.00,0.000,6,0.000,0.041,3259,2368,2127,0,0,0,0,0,0
$GC,9020,1.14,227.0,412.1,12.0,804,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2368,2126,0,0,0,0,0,0
$GC,9275,1.14,227.0,383.7,11.4,828,9279,0.00,2.62,0.00,0.000,4,0.000,0.054,3259,3935,2125,0,0,0,0,0,0
$GC,9354,1.14,227.0,373.8,12.4,834,9363,0.00,2.58,0.00,0.000,6,0.000,0.031,3259,2376,2123,0,0,0,0,0,0
$GC,9621,1.14,227.0,344.4,10.7,859,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2376,2123,0,0,0,0,0,0
$GC,9882,1.14,227.0,315.6,10.2,884,9886,0.00,2.70,0.00,0.000,4,0.000,0.058,3259,780,2123,0,0,0,0,0,0
$GC,9916,1.15,232.4,312.9,9.7,886,9928,0.00,2.60,4.50,0.591,6,0.000,0.025,3259,2400,2111,0,0,0,0,0,0
$GC,10183,1.17,252.8,287.7,9.1,911,10206,0.00,0.00,19.60,0.782,6,0.000,0.000,3259,2400,2028,0,0,0,0,0,0
$GC,10464,1.17,252.8,261.5,10.4,937,10469,0.00,2.70,0.00,0.000,4,0.000,0.048,3259,782,2025,0,0,0,0,0,0
$GC,10492,1.17,252.8,257.9,10.3,939,10496,0.00,2.55,0.00,0.000,6,0.000,0.024,3259,2389,2024,0,0,0,0,0,0
$GC,10756,1.17,252.8,231.2,10.8,963,10760,0.00,2.53,0.00,0.000,4,0.000,0.043,3259,3921,2024,0,0,0,0,0,0
$GC,10784,1.17,252.8,227.5,11.9,965,10789,0.00,2.47,0.00,0.000,6,0.000,0.025,3259,2371,2023,0,0,0,0,0,0
$GC,11049,1.23,267.8,201.2,9.3,989,11068,0.00,0.00,14.07,0.685,6,0.000,0.000,3259,2371,1967,0,0,0,0,0,0
$GC,11326,1.29,272.1,174.7,9.8,1015,11338,0.10,2.55,5.28,0.537,4,0.090,0.040,3290,3920,1950,0,0,0,0,0,0
$GC,11362,1.29,272.1,169.8,12.5,1018,11366,0.00,2.45,0.00,0.000,6,0.000,0.024,3290,2385,1950,0,0,0,0,0,0
$GC,11625,1.29,272.1,139.6,12.1,1042,11630,0.00,2.60,0.00,0.000,4,0.000,0.045,3290,790,1949,0,0,0,0,0,0
$GC,11646,1.29,272.1,137.2,12.3,1043,11650,0.00,2.50,0.00,0.000,6,0.000,0.023,3290,2391,1948,0,0,0,0,0,0
$GC,11914,1.29,272.1,105.2,11.4,1067,11918,0.00,2.47,0.00,0.000,4,0.000,0.040,3290,3929,1948,0,0,0,0,0,0
$GC,11982,1.29,272.1,96.1,12.5,1072,11991,0.00,2.45,0.00,0.000,6,0.000,0.023,3289,2394,1948,0,0,0,0,0,0
$GC,12251,1.31,292.1,69.7,9.1,1097,12271,0.00,0.00,18.60,0.569,6,0.000,0.000,3290,2394,1869,0,0,0,0,0,0
$GC,12529,1.31,292.1,37.4,12.1,1123,12537,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2394,1867,0,0,0,0,0,0
$GC,12837,1.31,292.1,9.1,12.7,1165,12847,0.00,2.65,0.00,0.000,4,0.000,0.044,3290,784,1867,0,0,0,0,0,0
$GC,12858,1.31,292.1,6.2,13.3,1167,12868,0.00,2.55,0.00,0.000,6,0.000,0.021,3290,2400,1867,0,0,0,0,0,0
$STATE,12875,end climb,SURFACE_DEPTH_REACHED
$STATE,12875,begin surface coast
$FINISH,-0.1,1.017482
$STATE,12918,end surface coast,CONTROL_FINISHED_OK
$STATE,12918,begin surface
$SM_CCo,12941,70.97,0.523,0,0,1509,380.21
$SM_GC,0.37,0.00,0.00,70.97,0.000,0.000,0.523,460,2202,1509,-11.70,-0.23,380.21
$IRIDIUM_FIX,2251.04,-15802.79,050703,101053
$TT8_MAMPS,0.026845
$HUMID,61.49
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.60
$XPDR_PINGS,23
$24V_AH,23.4,26.815
$10V_AH,10.2,29.380
$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,27.875,162.700,378.725,70.975,0.000,24.984,35.746,282.984,5.750,0.000,31.112,2033.166,6274.617,562.659,3868.180,797.462,33.368,1733.679,0.000,3872.507,0.000,0.534,0.000
$DEVICE_MAMPS,164.138,111.215,1010.906,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,806.923,914.874,1196.945,1338.099,2544.135,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355308
$DATA_FILE_SIZE,98564,1175
$CAP_FILE_SIZE,158250,0
$CFSIZE,260165632,166907904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100414,181206,2258.024,-15742.857,33,1.1,33,10.1