version: 66.06
glider: 146
mission: 9
dive: 187
start: 4 10 114 18 26 23
data:
$ID,146
$MISSION,9
$DIVE,187
$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,-327663.16
$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,37
$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
$GPS1,181206,2258.024,-15742.857,33,1.1,33,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-68.9
$GPS2,182527,2257.874,-15742.848,8,5.4,27,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.243,-0.091
$KALMAN_X,-165605.1,191.5,53.7,187086.2,416.8
$KALMAN_Y,50683.5,-2.4,86.9,-34850.5,-943.4
$MHEAD_RNG_PITCHd_Wd,239.4,50997,-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,-90.07,0.000,6,0.000,0.000,459,2202,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.6,-9.0,12,132,12.43,2.55,0.00,0.000,4,0.167,0.030,2716,3793,3657,0,0,0,0,0,0
$GC,326,-1.16,-146.0,42.0,-12.7,37,336,0.12,2.53,0.00,0.000,6,0.096,0.021,2745,2208,3658,0,0,0,0,0,0
$GC,594,-1.09,-146.0,75.4,-13.8,62,599,0.10,2.60,0.00,0.000,4,0.131,0.045,2765,636,3658,0,0,0,0,0,0
$GC,618,-1.03,-146.0,78.6,-13.2,63,622,0.00,2.42,0.00,0.000,6,0.000,0.022,2764,2215,3658,0,0,0,0,0,0
$GC,884,-1.03,-146.0,110.8,-11.7,87,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2215,3658,0,0,0,0,0,0
$GC,1147,-1.03,-146.0,137.1,-8.3,112,1151,0.00,2.50,0.00,0.000,4,0.000,0.037,2765,3775,3659,0,0,0,0,0,0
$GC,1226,-1.03,-146.0,144.7,-9.3,118,1236,0.00,2.50,0.00,0.000,6,0.000,0.020,2765,2184,3659,0,0,0,0,0,0
$GC,1494,-1.03,-146.0,169.0,-9.4,143,1498,0.00,2.47,0.00,0.000,4,0.000,0.044,2765,643,3659,0,0,0,0,0,0
$GC,1515,-1.03,-146.0,172.1,-10.2,144,1524,0.00,2.40,0.00,0.000,6,0.000,0.024,2764,2190,3659,0,0,0,0,0,0
$GC,1783,-1.06,-146.0,196.7,-8.6,169,1787,0.00,2.53,0.00,0.000,4,0.000,0.044,2764,643,3659,0,0,0,0,0,0
$GC,1816,-1.11,-146.0,199.4,-8.2,171,1820,0.00,2.33,0.00,0.000,6,0.000,0.025,2764,2178,3659,0,0,0,0,0,0
$GC,2088,-1.16,-146.0,219.1,-6.8,196,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2179,3659,0,0,0,0,0,0
$GC,2353,-1.21,-146.0,237.2,-6.5,221,2358,0.10,0.00,0.00,0.000,6,0.080,0.000,2719,2179,3659,0,0,0,0,0,0
$GC,2615,-1.21,-146.0,261.3,-9.6,246,2617,0.10,0.00,0.00,0.000,6,0.110,0.000,2741,2179,3659,0,0,0,0,0,0
$GC,2870,-1.21,-146.0,282.9,-8.8,270,2874,0.00,2.58,0.00,0.000,4,0.000,0.049,2741,3769,3659,0,0,0,0,0,0
$GC,2903,-1.25,-146.0,286.4,-10.5,272,2909,0.00,2.47,0.00,0.000,6,0.000,0.022,2741,2190,3658,0,0,0,0,0,0
$GC,3168,-1.25,-146.0,309.5,-8.3,297,3172,0.00,2.60,0.00,0.000,4,0.000,0.064,2742,637,3658,0,0,0,0,0,0
$GC,3236,-1.29,-146.0,315.6,-8.6,302,3242,0.00,2.40,0.00,0.000,6,0.000,0.027,2741,2157,3658,0,0,0,0,0,0
$GC,3501,-1.33,-146.0,335.5,-7.5,327,3506,0.12,2.65,0.00,0.000,4,0.067,0.049,2690,3772,3657,0,0,0,0,0,0
$GC,3523,-1.33,-146.0,337.4,-8.5,328,3529,0.10,2.53,0.00,0.000,6,0.113,0.032,2712,2184,3657,0,0,0,0,0,0
$GC,3788,-1.33,-146.0,359.7,-8.3,352,3793,0.00,2.70,0.00,0.000,4,0.000,0.077,2712,623,3656,0,0,0,0,0,0
$GC,3817,-1.33,-146.0,362.4,-8.8,354,3821,0.00,2.45,0.00,0.000,6,0.000,0.029,2712,2163,3656,0,0,0,0,0,0
$GC,4081,-1.33,-146.0,385.1,-9.0,378,4085,0.00,2.70,0.00,0.000,4,0.000,0.053,2712,3789,3654,0,0,0,0,0,0
$GC,4110,-1.33,-146.0,388.0,-9.4,380,4114,0.00,2.58,0.00,0.000,6,0.000,0.036,2712,2195,3654,0,0,0,0,0,0
$GC,4373,-1.33,-146.0,410.0,-8.0,404,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2195,3652,0,0,0,0,0,0
$GC,4627,-1.33,-146.0,430.0,-8.1,428,4632,0.00,2.67,0.00,0.000,4,0.000,0.054,2712,3793,3651,0,0,0,0,0,0
$GC,4661,-1.33,-146.0,432.4,-8.4,430,4666,0.00,2.62,0.00,0.000,6,0.000,0.038,2712,2185,3651,0,0,0,0,0,0
$GC,4929,-1.33,-146.0,454.2,-8.3,454,4934,0.00,2.80,0.00,0.000,4,0.000,0.097,2712,629,3649,0,0,0,0,0,0
$GC,4957,-1.33,-146.0,457.0,-8.2,456,4962,0.00,2.55,0.00,0.000,6,0.000,0.039,2712,2193,3649,0,0,0,0,0,0
$GC,5221,-1.33,-146.0,477.9,-7.4,480,5226,0.00,2.70,0.00,0.000,4,0.000,0.064,2712,3799,3646,0,0,0,0,0,0
$GC,5266,-1.33,-146.0,481.7,-8.0,483,5275,0.00,2.67,0.00,0.000,6,0.000,0.045,2712,2191,3646,0,0,0,0,0,0
$GC,5533,-1.33,-146.0,500.7,-7.9,508,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2191,3645,0,0,0,0,0,0
$GC,5795,-1.33,-146.0,522.9,-8.5,533,5800,0.00,2.75,0.00,0.000,4,0.000,0.066,2712,3798,3644,0,0,0,0,0,0
$GC,5851,-1.33,-146.0,527.8,-8.7,537,5860,0.00,2.67,0.00,0.000,6,0.000,0.049,2713,2211,3644,0,0,0,0,0,0
$GC,6119,-1.33,-146.0,547.1,-7.3,562,6124,0.00,2.72,0.00,0.000,4,0.000,0.071,2712,3790,3642,0,0,0,0,0,0
$GC,6147,-1.33,-146.0,549.7,-7.9,564,6152,0.00,2.65,0.00,0.000,6,0.000,0.053,2712,2204,3642,0,0,0,0,0,0
$GC,6412,-1.33,-146.0,568.3,-7.6,588,6416,0.00,2.75,0.00,0.000,4,0.000,0.074,2712,3791,3640,0,0,0,0,0,0
$GC,6441,-1.33,-146.0,570.8,-7.6,590,6445,0.00,2.67,0.00,0.000,6,0.000,0.061,2712,2219,3640,0,0,0,0,0,0
$GC,6704,-1.37,-146.0,589.4,-7.0,614,6709,0.00,2.95,0.00,0.000,4,0.000,0.110,2712,622,3638,0,0,0,0,0,0
$GC,6738,-1.41,-146.0,592.1,-7.8,616,6744,0.00,2.70,0.00,0.000,6,0.000,0.059,2712,2208,3638,0,0,0,0,0,0
$STATE,6862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6863,begin apogee
$GC,6869,-0.31,0.0,600.5,6.7,628,6991,0.98,0.00,118.53,1.007,6,0.068,0.000,2935,2377,3060,0,0,0,0,0,0
$STATE,6992,end apogee,CONTROL_FINISHED_OK
$STATE,6992,begin climb
$GC,6995,1.27,146.0,602.3,0.0,631,7134,1.42,2.88,124.85,0.987,4,0.034,0.086,3289,3935,2461,0,0,0,0,0,0
$GC,7165,1.12,146.0,590.0,12.3,640,7170,0.20,2.72,0.00,0.000,6,0.104,0.055,3248,2364,2458,0,0,0,0,0,0
$GC,7430,1.08,154.4,562.8,9.6,664,7440,0.00,0.00,7.28,0.792,6,0.000,0.000,3248,2365,2430,0,0,0,0,0,0
$GC,7699,1.11,171.4,537.2,9.2,689,7719,0.00,0.00,16.20,0.901,6,0.000,0.000,3248,2365,2361,0,0,0,0,0,0
$GC,7976,1.12,185.2,511.7,9.4,715,7997,0.00,2.78,13.32,0.876,4,0.000,0.058,3248,3943,2305,0,0,0,0,0,0
$GC,8027,1.07,185.2,505.8,11.0,719,8033,0.00,2.65,0.00,0.000,6,0.000,0.040,3248,2366,2303,0,0,0,0,0,0
$GC,8290,1.07,185.2,477.5,10.5,744,8294,0.00,2.67,0.00,0.000,4,0.000,0.058,3248,3942,2301,0,0,0,0,0,0
$GC,8320,1.07,185.2,474.1,11.6,746,8324,0.00,2.62,0.00,0.000,6,0.000,0.039,3248,2364,2300,0,0,0,0,0,0
$GC,8582,1.07,186.9,447.6,9.9,770,8587,0.00,2.65,0.00,0.000,4,0.000,0.057,3248,3939,2299,0,0,0,0,0,0
$GC,8616,1.04,186.9,444.3,11.5,772,8621,0.00,2.55,0.00,0.000,6,0.000,0.035,3248,2379,2299,0,0,0,0,0,0
$GC,8884,1.04,188.7,417.0,9.9,796,8889,0.00,2.80,0.00,0.000,4,0.000,0.080,3248,783,2298,0,0,0,0,0,0
$GC,8927,1.04,188.7,412.2,11.0,799,8931,0.00,2.58,0.00,0.000,6,0.000,0.036,3248,2382,2296,0,0,0,0,0,0
$GC,9195,1.06,201.9,387.1,9.4,823,9216,0.00,2.62,15.73,0.844,4,0.000,0.054,3248,3931,2234,0,0,0,0,0,0
$GC,9286,1.06,201.9,377.2,10.5,831,9291,0.00,2.55,0.00,0.000,6,0.000,0.035,3248,2368,2233,0,0,0,0,0,0
$GC,9551,1.09,228.0,353.0,8.8,855,9583,0.00,2.78,23.85,0.838,4,0.000,0.064,3248,782,2128,0,0,0,0,0,0
$GC,9612,1.09,230.5,346.5,9.9,860,9618,0.00,2.60,0.00,0.000,6,0.000,0.028,3248,2392,2127,0,0,0,0,0,0
$GC,9876,1.09,230.5,319.4,11.0,885,9880,0.00,2.55,0.00,0.000,4,0.000,0.050,3248,3928,2125,0,0,0,0,0,0
$GC,9905,1.09,230.5,315.9,10.8,887,9909,0.00,2.50,0.00,0.000,6,0.000,0.032,3248,2374,2123,0,0,0,0,0,0
$GC,10169,1.11,248.5,290.8,9.2,911,10194,0.00,2.70,18.20,0.778,4,0.000,0.054,3247,783,2047,0,0,0,0,0,0
$GC,10233,1.15,249.8,284.9,9.9,916,10237,0.00,2.58,0.00,0.000,6,0.000,0.025,3247,2395,2046,0,0,0,0,0,0
$GC,10501,1.20,249.8,256.5,10.9,940,10505,0.00,2.53,0.00,0.000,4,0.000,0.047,3248,3924,2045,0,0,0,0,0,0
$GC,10553,1.25,249.8,249.9,11.6,944,10558,0.12,2.45,0.00,0.000,6,0.078,0.025,3284,2389,2044,0,0,0,0,0,0
$GC,10814,1.25,249.8,219.5,12.6,968,10818,0.00,2.62,0.00,0.000,4,0.000,0.048,3284,789,2044,0,0,0,0,0,0
$GC,10836,1.25,249.8,216.6,12.8,969,10846,0.00,2.55,0.00,0.000,6,0.000,0.027,3285,2392,2043,0,0,0,0,0,0
$GC,11099,1.25,249.8,187.4,11.4,994,11103,0.00,2.50,0.00,0.000,4,0.000,0.044,3285,3920,2043,0,0,0,0,0,0
$GC,11193,1.25,249.8,176.3,11.5,1001,11198,0.00,2.40,0.00,0.000,6,0.000,0.025,3284,2410,2042,0,0,0,0,0,0
$GC,11455,1.25,249.8,148.6,10.2,1026,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2410,2042,0,0,0,0,0,0
$GC,11710,1.25,249.8,123.0,11.0,1050,11714,0.00,2.47,0.00,0.000,4,0.000,0.041,3284,3923,2042,0,0,0,0,0,0
$GC,11766,1.25,249.8,116.1,11.4,1054,11776,0.00,2.38,0.00,0.000,6,0.000,0.024,3285,2431,2043,0,0,0,0,0,0
$GC,12035,1.30,268.3,89.9,9.1,1079,12061,0.00,2.45,18.62,0.584,4,0.000,0.041,3284,3916,1964,0,0,0,0,0,0
$GC,12112,1.31,271.4,82.0,9.9,1085,12123,0.00,2.33,4.18,0.410,6,0.000,0.023,3285,2427,1952,0,0,0,0,0,0
$GC,12382,1.31,271.4,55.6,10.3,1110,12387,0.00,2.65,0.00,0.000,4,0.000,0.044,3285,791,1952,0,0,0,0,0,0
$GC,12415,1.31,271.4,52.1,11.6,1112,12419,0.00,2.55,0.00,0.000,6,0.000,0.020,3285,2427,1951,0,0,0,0,0,0
$GC,12694,1.31,271.4,22.9,11.0,1140,12703,0.00,2.45,0.00,0.000,4,0.000,0.041,3284,3921,1951,0,0,0,0,0,0
$GC,12747,1.36,271.4,16.7,11.2,1147,12757,0.00,2.38,0.00,0.000,6,0.000,0.025,3284,2430,1951,0,0,0,0,0,0
$STATE,12871,end climb,SURFACE_DEPTH_REACHED
$STATE,12871,begin surface coast
$FINISH,-0.1,1.005485
$STATE,12923,end surface coast,CONTROL_FINISHED_OK
$STATE,12923,begin surface
$SM_CCo,12945,87.95,0.520,0,0,1509,380.21
$SM_GC,0.47,0.00,0.00,87.95,0.000,0.000,0.520,462,2185,1509,-11.69,-0.71,380.21
$IRIDIUM_FIX,2251.04,-15740.63,050703,181832
$TT8_MAMPS,0.026078
$HUMID,60.82
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.90
$XPDR_PINGS,26
$24V_AH,23.4,26.955
$10V_AH,10.2,29.604
$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,27.125,171.475,360.750,87.950,0.000,54.394,73.991,415.526,6.500,0.000,30.102,2034.180,6336.139,563.837,3868.521,1019.523,33.365,1729.708,0.000,3877.564,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,109.681,1007.071,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,804.942,915.779,1195.320,1328.189,2526.872,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355344
$DATA_FILE_SIZE,98504,1172
$CAP_FILE_SIZE,162503,0
$CFSIZE,260165632,166817792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100414,220500,2256.226,-15744.139,42,1.5,42,10.1