version: 66.06
glider: 146
mission: 9
dive: 200
start: 4 13 114 2 12 30
data:
$ID,146
$MISSION,9
$DIVE,200
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$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,266
$T_MISSION,540
$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,-327891.91
$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,30
$R_STBD_OVSHOOT,6
$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
$GPS1,015442,2241.270,-15806.321,15,1.9,26,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-65.7
$GPS2,021136,2241.329,-15806.461,43,1.3,43,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,-0.069
$KALMAN_X,-167797.0,-235.5,-199.8,149664.0,-659.6
$KALMAN_Y,31640.9,525.9,-51.8,-46857.0,-725.0
$MHEAD_RNG_PITCHd_Wd,109.0,1725,-32.6,-10.025
$D_GRID,800
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-2.09,-44.7,0.0,0.0,0,96,0.00,0.00,-76.05,0.000,6,0.000,0.000,463,2187,3244,0,0,0,0,0,0
$GC,99,-2.16,-101.2,1.2,-1.5,10,125,11.32,2.58,-5.47,0.000,4,0.163,0.050,2520,625,3469,0,0,0,0,0,0
$GC,278,-2.11,-101.2,40.6,-21.6,33,283,0.12,2.50,0.00,0.000,6,0.146,0.018,2542,2258,3470,0,0,0,0,0,0
$GC,546,-2.11,-101.2,92.5,-18.4,57,550,0.00,2.40,0.00,0.000,4,0.000,0.031,2542,3781,3470,0,0,0,0,0,0
$GC,625,-2.11,-101.2,108.6,-20.6,63,630,0.00,2.45,0.00,0.000,6,0.000,0.020,2542,2209,3470,0,0,0,0,0,0
$GC,893,-2.11,-101.2,156.3,-18.2,87,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2210,3471,0,0,0,0,0,0
$GC,1159,-2.11,-101.2,203.5,-17.3,112,1163,0.00,2.50,0.00,0.000,4,0.000,0.035,2542,3772,3471,0,0,0,0,0,0
$GC,1241,-2.11,-101.2,219.8,-18.6,118,1247,0.00,2.35,0.00,0.000,6,0.000,0.018,2542,2241,3471,0,0,0,0,0,0
$GC,1504,-2.19,-101.2,261.6,-14.9,143,1508,0.00,2.62,0.00,0.000,4,0.000,0.051,2542,646,3471,0,0,0,0,0,0
$GC,1556,-2.19,-101.2,269.3,-14.9,147,1561,0.00,2.42,0.00,0.000,6,0.000,0.021,2542,2216,3471,0,0,0,0,0,0
$GC,1819,-2.29,-101.2,307.3,-16.1,171,1824,0.15,2.53,0.00,0.000,4,0.060,0.041,2485,3778,3472,0,0,0,0,0,0
$GC,1960,-2.29,-101.2,332.0,-17.2,182,1966,0.00,2.40,0.00,0.000,6,0.000,0.025,2485,2246,3471,0,0,0,0,0,0
$GC,2223,-2.29,-101.2,370.5,-13.9,207,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2246,3471,0,0,0,0,0,0
$GC,2477,-2.29,-101.2,407.2,-14.1,231,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2247,3471,0,0,0,0,0,0
$GC,2731,-2.33,-101.2,443.7,-14.5,255,2736,0.00,2.60,0.00,0.000,4,0.000,0.074,2485,3772,3469,0,0,0,0,0,0
$GC,2753,-2.33,-101.2,446.3,-14.4,256,2758,0.00,2.55,0.00,0.000,6,0.000,0.048,2485,2238,3469,0,0,0,0,0,0
$GC,3022,-2.37,-101.2,483.7,-13.4,280,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2238,3468,0,0,0,0,0,0
$GC,3284,-2.43,-101.2,521.3,-14.3,305,3289,0.00,2.65,0.00,0.000,4,0.000,0.081,2485,3763,3465,0,0,0,0,0,0
$GC,3386,-2.43,-101.2,536.3,-15.3,313,3391,0.00,2.58,0.00,0.000,6,0.000,0.059,2485,2238,3465,0,0,0,0,0,0
$GC,3654,-2.48,-101.2,573.8,-14.0,337,3659,0.00,2.70,0.00,0.000,4,0.000,0.090,2485,3764,3462,0,0,0,0,0,0
$GC,3746,-2.48,-101.2,588.2,-15.0,344,3752,0.00,2.67,0.00,0.000,6,0.000,0.072,2485,2241,3461,0,0,0,0,0,0
$GC,4000,-2.54,-101.2,621.7,-12.8,357,4005,0.15,2.78,0.00,0.000,4,0.062,0.094,2435,3765,3460,0,0,0,0,0,0
$GC,4063,-2.46,-101.2,630.6,-14.3,358,4068,0.15,2.72,0.00,0.000,6,0.123,0.087,2463,2246,3459,0,0,0,0,0,0
$GC,4324,-2.46,-101.2,663.3,-12.1,365,4328,0.00,2.85,0.00,0.000,4,0.000,0.110,2463,3765,3457,0,0,0,0,0,0
$GC,4373,-2.46,-101.2,669.7,-12.6,366,4377,0.00,2.83,0.00,0.000,6,0.000,0.104,2464,2244,3457,0,0,0,0,0,0
$GC,4646,-2.46,-101.2,702.7,-11.9,373,4651,0.00,2.95,0.00,0.000,4,0.000,0.130,2463,3762,3454,0,0,0,0,0,0
$GC,4768,-2.46,-101.2,719.1,-13.6,375,4774,0.00,2.97,0.00,0.000,6,0.000,0.131,2463,2252,3453,0,0,0,0,0,0
$GC,5020,-2.46,-101.2,748.8,-11.8,382,5025,0.00,3.12,0.00,0.000,4,0.000,0.161,2463,3756,3452,0,0,0,0,0,0
$GC,5277,-2.46,-101.2,783.2,-12.9,387,5283,0.00,3.17,0.00,0.000,6,0.000,0.170,2463,2268,3450,0,0,1,0,0,0
$STATE,5443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5444,begin apogee
$GC,5451,-0.31,0.0,802.7,11.5,392,5539,2.25,0.00,82.75,1.155,6,0.113,0.000,2934,2331,3060,0,0,0,0,0,0
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5540,begin climb
$GC,5542,2.16,101.2,804.4,0.0,394,5645,2.20,3.78,89.18,1.131,4,0.030,0.204,3489,779,2645,0,0,0,0,0,0
$GC,5657,2.10,101.2,792.3,16.2,396,5663,0.15,3.42,0.00,0.000,6,0.140,0.163,3463,2371,2642,0,0,0,0,0,0
$GC,5906,2.10,101.2,750.8,16.3,402,5911,0.00,3.28,0.00,0.000,4,0.000,0.158,3462,3941,2636,0,0,0,0,0,0
$GC,5939,2.04,101.2,745.1,16.7,402,5945,0.00,3.20,0.00,0.000,6,0.000,0.137,3462,2367,2636,0,0,0,0,0,0
$GC,6190,2.04,101.2,706.3,15.4,409,6195,0.00,3.05,0.00,0.000,4,0.000,0.123,3463,3945,2633,0,0,0,0,0,0
$GC,6437,1.99,101.2,666.0,16.7,414,6442,0.12,2.88,0.00,0.000,6,0.140,0.091,3439,2387,2632,0,0,0,0,0,0
$GC,6694,2.03,101.2,631.5,13.1,421,6699,0.00,2.80,0.00,0.000,4,0.000,0.087,3439,3946,2630,0,0,0,0,0,0
$GC,6872,2.03,101.2,604.1,15.2,425,6877,0.00,2.65,0.00,0.000,6,0.000,0.058,3439,2411,2628,0,0,0,0,0,0
$GC,7147,2.07,101.2,566.1,13.8,448,7152,0.00,2.67,0.00,0.000,4,0.000,0.065,3439,3953,2627,0,0,0,0,0,0
$GC,7269,2.07,101.2,545.8,16.3,458,7274,0.00,2.58,0.00,0.000,6,0.000,0.045,3439,2423,2627,0,0,0,0,0,0
$GC,7532,2.13,101.2,510.4,13.7,482,7537,0.12,2.58,0.00,0.000,4,0.081,0.055,3471,3956,2626,0,0,0,0,0,0
$GC,7797,2.08,101.2,468.9,16.2,504,7807,0.00,2.50,0.00,0.000,6,0.000,0.035,3471,2452,2625,0,0,0,0,0,0
$GC,8064,2.08,101.2,431.0,14.2,529,8068,0.00,2.53,0.00,0.000,4,0.000,0.050,3471,3957,2625,0,0,0,0,0,0
$GC,8109,2.04,101.2,424.2,15.6,532,8114,0.12,2.50,0.00,0.000,6,0.139,0.034,3449,2426,2625,0,0,0,0,0,0
$GC,8376,2.10,101.2,389.8,12.7,556,8380,0.00,2.55,0.00,0.000,4,0.000,0.049,3449,3950,2624,0,0,0,0,0,0
$GC,8422,2.10,101.2,383.2,13.3,559,8427,0.00,2.45,0.00,0.000,6,0.000,0.033,3449,2440,2624,0,0,0,0,0,0
$GC,8684,2.17,101.2,352.1,11.8,584,8689,0.10,2.53,0.00,0.000,4,0.097,0.049,3477,3953,2624,0,0,0,0,0,0
$GC,8753,2.12,101.2,343.1,14.0,589,8757,0.00,2.45,0.00,0.000,6,0.000,0.030,3478,2433,2623,0,0,0,0,0,0
$GC,9019,2.12,101.2,308.6,12.9,613,9024,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2433,2623,0,0,0,0,0,0
$GC,9282,2.16,101.6,279.7,10.0,638,9286,0.00,2.53,0.00,0.000,4,0.000,0.047,3477,3953,2623,0,0,0,0,0,0
$GC,9292,2.17,103.7,278.6,9.7,638,9298,0.00,2.45,0.00,0.000,6,0.000,0.031,3477,2419,2623,0,0,0,0,0,0
$GC,9555,2.23,112.2,255.3,8.7,663,9570,0.00,2.60,6.05,0.638,4,0.000,0.046,3477,3952,2604,0,0,0,0,0,0
$GC,9818,2.23,113.2,228.8,9.9,685,9824,0.00,2.33,0.00,0.000,6,0.000,0.022,3478,2477,2603,0,0,0,0,0,0
$GC,10083,2.32,130.8,206.5,7.4,710,10108,0.12,2.83,18.15,0.699,4,0.085,0.047,3511,778,2524,0,0,0,0,0,0
$GC,10217,2.32,130.8,193.0,11.7,721,10222,0.00,2.78,0.00,0.000,6,0.000,0.024,3511,2530,2522,0,0,0,0,0,0
$GC,10485,2.32,130.8,163.0,12.9,745,10489,0.00,2.33,0.00,0.000,4,0.000,0.044,3511,3963,2522,0,0,0,0,0,0
$GC,10753,2.32,130.8,123.6,16.7,767,10758,0.00,2.28,0.00,0.000,6,0.000,0.023,3511,2515,2521,0,0,0,0,0,0
$GC,11020,2.36,130.8,89.1,11.7,791,11024,0.00,2.35,0.00,0.000,4,0.000,0.044,3512,3957,2522,0,0,0,0,0,0
$GC,11299,2.36,130.8,53.8,13.0,813,11309,0.00,2.28,0.00,0.000,6,0.000,0.023,3511,2521,2524,0,0,0,0,0,0
$GC,11581,2.40,130.8,19.7,12.8,843,11590,0.00,2.38,0.00,0.000,4,0.000,0.044,3511,3950,2525,0,0,0,0,0,0
$STATE,11710,end climb,SURFACE_DEPTH_REACHED
$STATE,11710,begin surface coast
$FINISH,-0.1,1.004829
$STATE,11747,end surface coast,CONTROL_FINISHED_OK
$STATE,11747,begin surface
$SM_CCo,11772,200.25,0.519,0,0,1509,380.21
$SM_GC,0.57,0.00,0.00,200.25,0.000,0.000,0.519,461,2195,1509,-11.70,-0.42,380.21
$IRIDIUM_FIX,2232.34,-15808.45,080703,020258
$TT8_MAMPS,0.026078
$HUMID,58.50
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.80
$XPDR_PINGS,14
$24V_AH,23.3,28.831
$10V_AH,10.2,32.411
$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,29.575,144.325,196.125,200.250,0.000,85.219,109.630,490.195,3.500,0.000,44.637,1620.276,6565.467,528.062,3186.241,1078.365,33.361,1532.261,0.000,3165.996,0.000,0.535,0.000
$DEVICE_MAMPS,163.371,204.022,1155.102,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,595.623,632.689,827.973,937.880,1785.974,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355304
$DATA_FILE_SIZE,73197,867
$CAP_FILE_SIZE,141004,0
$CFSIZE,260165632,165720064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,130414,053329,2240.757,-15805.758,34,1.5,44,10.0