version: 66.06
glider: 146
mission: 9
dive: 189
start: 4 11 114 1 54 16
data:
$ID,146
$MISSION,9
$DIVE,189
$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,-327694.09
$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,55
$R_STBD_OVSHOOT,39
$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
$GPS1,014506,2254.250,-15745.485,22,1.9,22,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-71.3
$GPS2,015319,2254.177,-15745.502,12,1.6,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.212,-0.150
$KALMAN_X,-164633.3,322.5,-50.2,181557.6,-119.7
$KALMAN_Y,47838.3,-698.8,-409.1,-37656.8,-131.6
$MHEAD_RNG_PITCHd_Wd,224.7,43228,-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,-146.0,0.0,0.0,0,112,0.00,0.00,-90.10,0.000,6,0.000,0.000,464,2176,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.8,-8.5,12,133,12.43,2.45,0.00,0.000,4,0.166,0.034,2717,650,3657,0,0,0,0,0,0
$GC,325,-1.16,-146.0,43.9,-14.6,37,330,0.15,2.42,0.00,0.000,6,0.115,0.019,2748,2220,3658,0,0,0,0,0,0
$GC,593,-1.09,-146.0,78.0,-12.8,61,597,0.00,2.55,0.00,0.000,4,0.000,0.041,2748,654,3658,0,0,0,0,0,0
$GC,616,-1.00,-146.0,81.3,-13.2,62,621,0.17,2.38,0.00,0.000,6,0.103,0.018,2785,2208,3658,0,0,0,0,0,0
$GC,879,-1.00,-146.0,108.8,-9.3,86,883,0.00,2.50,0.00,0.000,4,0.000,0.034,2785,3773,3658,0,0,0,0,0,0
$GC,914,-1.04,-146.0,112.3,-9.5,88,924,0.00,2.45,0.00,0.000,6,0.000,0.020,2785,2218,3658,0,0,0,0,0,0
$GC,1183,-1.09,-146.0,134.6,-7.7,113,1187,0.00,2.50,0.00,0.000,4,0.000,0.035,2785,3771,3659,0,0,0,0,0,0
$GC,1216,-1.15,-146.0,137.7,-8.7,115,1221,0.17,2.42,0.00,0.000,6,0.054,0.020,2728,2210,3659,0,0,0,0,0,0
$GC,1482,-1.10,-146.0,167.1,-11.6,139,1487,0.17,2.55,0.00,0.000,4,0.091,0.044,2765,638,3660,0,0,0,0,0,0
$GC,1546,-1.15,-146.0,174.0,-9.3,144,1551,0.00,2.42,0.00,0.000,6,0.000,0.026,2765,2212,3660,0,0,0,0,0,0
$GC,1811,-1.19,-146.0,198.0,-7.9,168,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2213,3660,0,0,0,0,0,0
$GC,2079,-1.24,-146.0,218.9,-7.5,193,2085,0.15,0.00,0.00,0.000,6,0.058,0.000,2707,2213,3660,0,0,0,0,0,0
$GC,2343,-1.19,-146.0,242.9,-9.3,218,2348,0.17,2.53,0.00,0.000,4,0.089,0.041,2745,3781,3660,0,0,0,0,0,0
$GC,2411,-1.19,-146.0,248.8,-9.2,223,2415,0.00,2.45,0.00,0.000,6,0.000,0.021,2745,2208,3660,0,0,0,0,0,0
$GC,2678,-1.19,-146.0,274.0,-9.5,247,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2208,3660,0,0,0,0,0,0
$GC,2942,-1.23,-146.0,296.1,-7.5,272,2946,0.00,2.60,0.00,0.000,4,0.000,0.058,2745,639,3660,0,0,0,0,0,0
$GC,2974,-1.27,-146.0,298.5,-8.1,274,2979,0.00,2.45,0.00,0.000,6,0.000,0.027,2745,2191,3660,0,0,0,0,0,0
$GC,3243,-1.31,-146.0,319.4,-7.6,298,3248,0.12,2.60,0.00,0.000,4,0.068,0.050,2693,3789,3659,0,0,0,0,0,0
$GC,3287,-1.27,-146.0,324.0,-10.5,301,3292,0.15,2.47,0.00,0.000,6,0.094,0.025,2726,2225,3659,0,0,0,0,0,0
$GC,3553,-1.27,-146.0,347.0,-8.1,325,3557,0.00,2.58,0.00,0.000,4,0.000,0.054,2726,3787,3658,0,0,0,0,0,0
$GC,3570,-1.27,-146.0,348.9,-8.4,326,3574,0.00,2.50,0.00,0.000,6,0.000,0.035,2726,2220,3658,0,0,0,0,0,0
$GC,3833,-1.27,-146.0,371.4,-8.7,350,3837,0.00,2.75,0.00,0.000,4,0.000,0.078,2726,626,3656,0,0,0,0,0,0
$GC,3909,-1.27,-146.0,378.3,-8.5,356,3914,0.00,2.55,0.00,0.000,6,0.000,0.032,2726,2217,3656,0,0,0,0,0,0
$GC,4172,-1.27,-146.0,397.5,-6.8,380,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2217,3654,0,0,0,0,0,0
$GC,4426,-1.27,-146.0,415.6,-7.5,404,4431,0.00,2.70,0.00,0.000,4,0.000,0.068,2726,630,3653,0,0,0,0,0,0
$GC,4448,-1.27,-146.0,417.5,-8.0,405,4457,0.00,2.58,0.00,0.000,6,0.000,0.035,2725,2208,3653,0,0,0,0,0,0
$GC,4715,-1.27,-146.0,437.7,-7.7,430,4720,0.00,2.65,0.00,0.000,4,0.000,0.063,2726,3796,3651,0,0,0,0,0,0
$GC,4744,-1.31,-146.0,440.6,-8.0,432,4749,0.00,2.58,0.00,0.000,6,0.000,0.039,2726,2215,3650,0,0,0,0,0,0
$GC,5009,-1.35,-146.0,459.8,-7.2,456,5014,0.00,2.65,0.00,0.000,4,0.000,0.054,2726,3797,3649,0,0,0,0,0,0
$GC,5031,-1.35,-146.0,461.2,-7.2,457,5036,0.00,2.60,0.00,0.000,6,0.000,0.046,2726,2217,3649,0,0,0,0,0,0
$GC,5300,-1.40,-146.0,480.8,-6.9,481,5305,0.12,2.67,0.00,0.000,4,0.070,0.063,2678,3790,3647,0,0,0,0,0,0
$GC,5322,-1.40,-146.0,483.2,-8.1,482,5328,0.00,2.60,0.00,0.000,6,0.000,0.049,2678,2223,3647,0,0,0,0,0,0
$GC,5585,-1.36,-146.0,505.5,-8.4,507,5587,0.12,0.00,0.00,0.000,6,0.102,0.000,2705,2223,3646,0,0,0,0,0,0
$GC,5841,-1.36,-146.0,524.4,-7.3,531,5845,0.00,2.72,0.00,0.000,4,0.000,0.071,2705,3796,3644,0,0,0,0,0,0
$GC,5863,-1.36,-146.0,526.5,-8.0,532,5869,0.00,2.58,0.00,0.000,6,0.000,0.050,2705,2231,3644,0,0,0,0,0,0
$GC,6128,-1.36,-146.0,545.7,-7.5,557,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2231,3643,0,0,0,0,0,0
$GC,6389,-1.36,-146.0,567.9,-8.6,582,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2231,3641,0,0,0,0,0,0
$GC,6645,-1.36,-146.0,588.3,-7.4,606,6650,0.00,3.05,0.00,0.000,4,0.000,0.120,2705,619,3640,0,0,0,0,0,0
$GC,6679,-1.36,-146.0,591.0,-7.9,608,6685,0.00,2.78,0.00,0.000,6,0.000,0.064,2705,2237,3639,0,0,0,0,0,0
$STATE,6810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6810,begin apogee
$GC,6817,-0.31,0.0,600.9,7.3,621,6940,1.00,0.00,118.85,1.006,6,0.069,0.000,2934,2379,3060,0,0,0,0,0,0
$STATE,6941,end apogee,CONTROL_FINISHED_OK
$STATE,6941,begin climb
$GC,6943,1.27,146.0,603.2,0.0,624,7077,1.45,2.90,124.93,0.989,4,0.032,0.091,3291,3935,2463,0,0,0,0,0,0
$GC,7092,1.13,146.0,594.4,10.1,630,7097,0.20,2.75,0.00,0.000,6,0.102,0.058,3251,2364,2461,0,0,0,0,0,0
$GC,7354,1.12,172.8,570.0,8.8,654,7383,0.00,2.92,23.40,0.927,4,0.000,0.094,3250,783,2355,0,0,0,0,0,0
$GC,7411,1.06,172.8,564.9,10.0,658,7416,0.00,2.70,0.00,0.000,6,0.000,0.052,3250,2365,2353,0,0,0,0,0,0
$GC,7678,1.06,172.8,537.2,10.6,682,7682,0.00,2.72,0.00,0.000,4,0.000,0.071,3250,3932,2351,0,0,0,0,0,0
$GC,7729,1.01,172.8,530.9,11.1,686,7735,0.12,2.65,0.00,0.000,6,0.120,0.046,3226,2356,2349,0,0,0,0,0,0
$GC,7990,1.07,218.8,508.4,7.9,710,8033,0.00,0.00,41.58,0.935,6,0.000,0.000,3226,2356,2167,0,0,0,0,0,0
$GC,8284,1.07,218.8,479.9,10.5,738,8288,0.00,2.90,0.00,0.000,4,0.000,0.100,3225,780,2161,0,0,0,0,0,0
$GC,8305,1.07,218.8,478.1,10.6,739,8310,0.00,2.62,0.00,0.000,6,0.000,0.041,3226,2359,2159,0,0,0,0,0,0
$GC,8572,1.11,218.8,448.9,10.7,763,8576,0.00,2.65,0.00,0.000,4,0.000,0.054,3225,3939,2159,0,0,0,0,0,0
$GC,8590,1.11,218.8,446.5,10.6,764,8594,0.00,2.62,0.00,0.000,6,0.000,0.034,3226,2332,2159,0,0,0,0,0,0
$GC,8853,1.16,226.4,420.1,9.7,788,8862,0.15,0.00,6.68,0.741,6,0.068,0.000,3268,2332,2137,0,0,0,0,0,0
$GC,9115,1.16,226.4,389.5,12.0,813,9120,0.00,2.67,0.00,0.000,4,0.000,0.046,3268,3938,2135,0,0,0,0,0,0
$GC,9144,1.12,226.4,385.8,12.5,815,9148,0.00,2.58,0.00,0.000,6,0.000,0.036,3268,2354,2134,0,0,0,0,0,0
$GC,9408,1.12,226.4,354.8,11.4,839,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2354,2134,0,0,0,0,0,0
$GC,9669,1.12,226.4,326.7,10.5,864,9673,0.00,2.62,0.00,0.000,4,0.000,0.045,3268,3938,2134,0,0,0,0,0,0
$GC,9689,1.12,226.4,324.7,11.1,865,9693,0.00,2.55,0.00,0.000,6,0.000,0.031,3268,2342,2133,0,0,0,0,0,0
$GC,9957,1.12,226.4,298.2,10.3,889,9961,0.00,2.65,0.00,0.000,4,0.000,0.046,3268,3937,2132,0,0,0,0,0,0
$GC,9999,1.12,226.4,292.9,11.8,892,10004,0.00,2.55,0.00,0.000,6,0.000,0.026,3268,2349,2132,0,0,0,0,0,0
$GC,10267,1.12,226.4,265.1,10.2,916,10272,0.00,2.65,0.00,0.000,4,0.000,0.048,3268,3940,2132,0,0,0,0,0,0
$GC,10311,1.12,226.4,260.0,11.9,919,10315,0.00,2.53,0.00,0.000,6,0.000,0.025,3268,2360,2132,0,0,0,0,0,0
$GC,10578,1.12,226.4,232.9,10.7,943,10583,0.00,2.62,0.00,0.000,4,0.000,0.047,3268,3940,2132,0,0,0,0,0,0
$GC,10641,1.12,226.4,225.0,11.8,948,10645,0.00,2.50,0.00,0.000,6,0.000,0.027,3268,2374,2132,0,0,0,0,0,0
$GC,10905,1.15,245.5,199.4,9.1,972,10931,0.00,2.62,17.42,0.693,4,0.000,0.044,3268,3937,2058,0,0,0,0,0,0
$GC,11043,1.19,245.5,184.1,11.9,983,11048,0.00,2.45,0.00,0.000,6,0.000,0.025,3268,2405,2056,0,0,0,0,0,0
$GC,11311,1.21,265.7,157.0,9.1,1007,11336,0.00,2.62,19.00,0.650,4,0.000,0.044,3268,788,1975,0,0,0,0,0,0
$GC,11387,1.28,280.4,149.9,9.3,1013,11412,0.00,2.58,14.25,0.623,6,0.000,0.021,3268,2416,1914,0,0,0,0,0,0
$GC,11667,1.35,287.8,123.4,9.7,1039,11677,0.12,0.00,7.85,0.549,6,0.078,0.000,3307,2417,1886,0,0,0,0,0,0
$GC,11929,1.35,287.8,92.5,10.8,1064,11934,0.00,2.45,0.00,0.000,4,0.000,0.039,3307,3925,1884,0,0,0,0,0,0
$GC,11950,1.35,287.8,90.4,11.2,1065,11954,0.00,2.40,0.00,0.000,6,0.000,0.021,3307,2401,1883,0,0,0,0,0,0
$GC,12218,1.35,287.8,63.1,10.1,1089,12222,0.00,2.60,0.00,0.000,4,0.000,0.042,3307,794,1883,0,0,0,0,0,0
$GC,12253,1.35,287.8,58.3,10.7,1091,12263,0.00,2.55,0.00,0.000,6,0.000,0.024,3307,2408,1883,0,0,0,0,0,0
$GC,12523,1.35,287.8,27.2,12.9,1117,12532,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2408,1883,0,0,0,0,0,0
$STATE,12721,end climb,SURFACE_DEPTH_REACHED
$STATE,12721,begin surface coast
$FINISH,-0.2,1.000130
$STATE,12764,end surface coast,CONTROL_FINISHED_OK
$STATE,12764,begin surface
$SM_CCo,12785,75.35,0.519,0,0,1510,380.21
$SM_GC,0.39,0.00,0.00,75.35,0.000,0.000,0.519,461,2190,1510,-11.70,-0.57,380.21
$IRIDIUM_FIX,2246.36,-15743.68,050703,222233
$TT8_MAMPS,0.026078
$HUMID,61.06
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.00
$XPDR_PINGS,22
$24V_AH,23.4,27.217
$10V_AH,10.3,30.032
$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,28.325,156.475,373.950,75.350,0.000,31.506,34.241,257.327,5.500,0.000,14.227,2009.883,6261.314,562.817,3738.664,772.157,33.390,1664.761,0.000,3761.554,0.000,0.534,0.000
$DEVICE_MAMPS,165.672,120.419,1005.537,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,792.035,894.458,1173.413,1295.257,2465.905,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,95168,1152
$CAP_FILE_SIZE,155163,0
$CFSIZE,260165632,166658048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110414,053000,2252.629,-15746.318,41,1.2,41,10.1