version: 66.06
glider: 146
mission: 9
dive: 31
start: 3 16 114 20 44 54
data:
$ID,146
$MISSION,9
$DIVE,31
$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,633.60986
$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,-323836.06
$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,3001
$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,42
$R_STBD_OVSHOOT,38
$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
$GPS1,202200,2303.646,-15803.430,95,1.0,95,10.1
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-67.4
$GPS2,204401,2303.777,-15803.450,15,1.4,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.176,-0.191
$KALMAN_X,-28971.3,-369.4,175.6,15724.6,113.9
$KALMAN_Y,10166.6,326.6,625.8,15716.6,-74.3
$MHEAD_RNG_PITCHd_Wd,127.3,64008,-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,-87.95,0.000,6,0.000,0.000,469,2188,3654,0,0,0,0,0,0
$GC,116,-1.27,-146.0,4.9,-13.5,12,132,11.38,2.60,0.00,0.000,4,0.133,0.035,2717,3789,3656,0,0,0,0,0,0
$GC,326,-1.17,-146.0,49.4,-16.9,35,331,0.12,2.53,0.00,0.000,6,0.114,0.027,2744,2209,3655,0,0,0,0,0,0
$GC,594,-1.09,-146.0,85.9,-11.9,59,598,0.00,2.58,0.00,0.000,4,0.000,0.039,2744,3786,3656,0,0,0,0,0,0
$GC,628,-1.01,-146.0,90.7,-11.7,61,635,0.15,2.50,0.00,0.000,6,0.104,0.025,2778,2214,3656,0,0,0,0,0,0
$GC,892,-1.01,-146.0,115.8,-9.5,86,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2214,3656,0,0,0,0,0,0
$GC,1158,-1.06,-146.0,139.8,-8.6,111,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2214,3657,0,0,0,0,0,0
$GC,1426,-1.11,-146.0,163.8,-9.6,136,1430,0.00,2.55,0.00,0.000,4,0.000,0.044,2778,3790,3656,0,0,0,0,0,0
$GC,1448,-1.17,-146.0,166.6,-9.0,137,1454,0.15,2.47,0.00,0.000,6,0.062,0.021,2724,2214,3656,0,0,0,0,0,0
$GC,1712,-1.13,-146.0,193.8,-10.1,162,1717,0.15,2.60,0.00,0.000,4,0.097,0.051,2756,642,3657,0,0,0,0,0,0
$GC,1770,-1.18,-146.0,199.5,-8.7,166,1775,0.00,2.45,0.00,0.000,6,0.000,0.027,2757,2214,3657,0,0,0,0,0,0
$GC,2032,-1.22,-146.0,221.4,-8.4,174,2036,0.00,2.55,0.00,0.000,4,0.000,0.041,2756,3781,3657,0,0,0,0,0,0
$GC,2089,-1.29,-146.0,226.0,-8.0,175,2094,0.15,2.45,0.00,0.000,6,0.061,0.021,2705,2222,3657,0,0,0,0,0,0
$GC,2356,-1.23,-146.0,251.1,-9.5,182,2361,0.12,2.65,0.00,0.000,4,0.107,0.056,2731,643,3656,0,0,0,0,0,0
$GC,2397,-1.23,-146.0,254.5,-8.4,183,2401,0.00,2.47,0.00,0.000,6,0.000,0.025,2731,2221,3656,0,0,0,0,0,0
$GC,2680,-1.23,-146.0,276.5,-7.5,190,2685,0.00,2.55,0.00,0.000,4,0.000,0.044,2732,3782,3656,0,0,0,0,0,0
$GC,2703,-1.23,-146.0,278.3,-7.7,190,2708,0.00,2.47,0.00,0.000,6,0.000,0.023,2731,2224,3656,0,0,0,0,0,0
$GC,2959,-1.23,-146.0,299.8,-8.6,197,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2224,3655,0,0,0,0,0,0
$GC,3202,-1.23,-146.0,320.4,-8.4,203,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2224,3654,0,0,0,0,0,0
$GC,3446,-1.23,-146.0,340.6,-8.1,209,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2224,3652,0,0,0,0,0,0
$GC,3692,-1.27,-146.0,357.9,-6.9,215,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2224,3651,0,0,0,0,0,0
$GC,3934,-1.31,-146.0,375.4,-7.2,221,3939,0.00,2.60,0.00,0.000,4,0.000,0.054,2731,3776,3650,0,0,0,0,0,0
$GC,3956,-1.35,-146.0,377.1,-7.5,221,3961,0.10,2.53,0.00,0.000,6,0.084,0.035,2693,2237,3649,0,0,0,0,0,0
$GC,4212,-1.35,-146.0,399.4,-8.8,228,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2237,3647,0,0,0,0,0,0
$GC,4457,-1.35,-146.0,421.9,-9.4,234,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2236,3645,0,0,0,0,0,0
$GC,4699,-1.35,-146.0,443.7,-8.8,240,4703,0.00,2.65,0.00,0.000,4,0.000,0.062,2693,3776,3643,0,0,0,0,0,0
$GC,4720,-1.35,-146.0,445.7,-9.1,240,4724,0.00,2.60,0.00,0.000,6,0.000,0.050,2692,2227,3643,0,0,0,0,0,0
$GC,4976,-1.35,-146.0,468.5,-8.9,247,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2227,3642,0,0,0,0,0,0
$GC,5219,-1.35,-146.0,489.6,-8.5,253,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2227,3640,0,0,0,0,0,0
$GC,5462,-1.35,-146.0,510.5,-8.7,259,5467,0.00,3.03,0.00,0.000,4,0.000,0.113,2692,618,3638,0,0,0,0,0,0
$GC,5485,-1.35,-146.0,512.5,-9.4,259,5490,0.00,2.70,0.00,0.000,6,0.000,0.055,2692,2209,3638,0,0,0,0,0,0
$GC,5740,-1.35,-146.0,534.6,-8.5,266,5745,0.00,2.80,0.00,0.000,4,0.000,0.083,2692,3800,3636,0,0,0,0,0,0
$GC,5795,-1.35,-146.0,539.7,-9.0,267,5800,0.00,2.65,0.00,0.000,6,0.000,0.056,2693,2247,3636,0,0,0,0,0,0
$GC,6063,-1.35,-146.0,561.2,-7.9,274,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2247,3634,0,0,0,0,0,0
$GC,6305,-1.35,-146.0,579.3,-7.4,280,6310,0.00,2.78,0.00,0.000,4,0.000,0.087,2692,3800,3633,0,0,0,0,0,0
$GC,6332,-1.35,-146.0,581.5,-8.3,280,6336,0.00,2.70,0.00,0.000,6,0.000,0.067,2693,2243,3633,0,0,0,0,0,0
$STATE,6579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6580,begin apogee
$GC,6587,-0.31,0.0,600.7,7.7,286,6707,1.08,0.00,116.55,1.026,6,0.077,0.000,2933,2377,3060,0,0,0,0,0,0
$STATE,6708,end apogee,CONTROL_FINISHED_OK
$STATE,6708,begin climb
$GC,6710,1.27,146.0,602.9,0.0,289,6845,1.48,2.92,123.70,0.998,4,0.040,0.089,3287,3934,2463,0,0,0,0,0,0
$GC,6873,1.10,146.0,591.8,12.4,293,6879,0.22,2.80,0.00,0.000,6,0.106,0.066,3241,2371,2459,0,0,0,0,0,0
$GC,7146,1.05,149.7,564.4,9.8,300,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2371,2454,0,0,0,0,0,0
$GC,7391,1.00,149.8,540.0,10.0,306,7396,0.10,2.80,0.00,0.000,4,0.143,0.074,3221,3930,2453,0,0,0,0,0,0
$GC,7419,0.96,149.8,536.9,10.4,306,7423,0.00,2.70,0.00,0.000,6,0.000,0.055,3222,2377,2452,0,0,0,0,0,0
$GC,7669,0.99,169.5,513.9,9.1,312,7691,0.00,0.00,20.05,0.931,6,0.000,0.000,3222,2378,2368,0,0,0,0,0,0
$GC,7914,1.00,177.5,490.6,9.6,318,7928,0.00,3.12,8.07,0.820,4,0.000,0.112,3222,780,2336,0,0,0,0,0,0
$GC,7961,1.00,177.5,485.5,10.4,319,7965,0.00,2.75,0.00,0.000,6,0.000,0.053,3222,2380,2335,0,0,0,0,0,0
$GC,8239,1.01,190.1,458.9,9.4,326,8254,0.00,0.00,12.57,0.871,6,0.000,0.000,3222,2380,2285,0,0,0,0,0,0
$GC,8484,1.02,195.8,435.4,9.7,332,8493,0.00,0.00,6.70,0.762,6,0.000,0.000,3222,2380,2261,0,0,0,0,0,0
$GC,8727,1.03,207.3,412.0,9.5,338,8746,0.00,2.95,11.57,0.841,4,0.000,0.074,3222,776,2213,0,0,0,0,0,0
$GC,8763,1.06,228.9,408.6,9.0,338,8789,0.00,2.67,20.65,0.871,6,0.000,0.037,3222,2379,2126,0,0,0,0,0,0
$GC,9054,1.10,230.9,381.2,9.9,346,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2379,2122,0,0,0,0,0,0
$GC,9295,1.16,239.7,357.5,9.6,352,9308,0.12,0.00,10.18,0.796,6,0.088,0.000,3255,2379,2082,0,0,0,0,0,0
$GC,9538,1.16,239.7,329.5,11.7,358,9542,0.00,2.78,0.00,0.000,4,0.000,0.058,3255,768,2080,0,0,0,0,0,0
$GC,9566,1.16,239.7,326.2,11.6,358,9570,0.00,2.60,0.00,0.000,6,0.000,0.034,3254,2383,2078,0,0,0,0,0,0
$GC,9815,1.16,239.7,300.4,10.1,364,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2384,2078,0,0,0,0,0,0
$GC,10059,1.18,261.3,277.9,9.0,370,10085,0.00,2.80,20.27,0.792,4,0.000,0.056,3254,768,1992,0,0,0,0,0,0
$GC,10103,1.20,271.0,273.8,9.6,371,10118,0.00,2.62,9.88,0.721,6,0.000,0.031,3254,2365,1955,0,0,0,0,0,0
$GC,10379,1.20,271.0,244.0,11.1,378,10384,0.00,2.62,0.00,0.000,4,0.000,0.051,3255,3928,1951,0,0,0,0,0,0
$GC,10522,1.20,271.0,226.1,12.2,381,10527,0.00,2.53,0.00,0.000,6,0.000,0.028,3255,2362,1950,0,0,0,0,0,0
$GC,10794,1.20,271.0,195.9,10.7,388,10798,0.00,2.62,0.00,0.000,4,0.000,0.051,3254,782,1950,0,0,0,0,0,0
$GC,10815,1.20,271.0,193.5,10.7,389,10821,0.00,2.58,0.00,0.000,6,0.000,0.031,3255,2390,1949,0,0,0,0,0,0
$GC,11080,1.25,280.4,167.8,9.6,414,11095,0.00,2.70,9.15,0.634,4,0.000,0.047,3255,781,1915,0,0,0,0,0,0
$GC,11133,1.29,280.4,162.5,10.3,418,11138,0.12,2.58,0.00,0.000,6,0.084,0.027,3287,2380,1914,0,0,0,0,0,0
$GC,11394,1.29,280.4,131.4,11.6,442,11398,0.00,2.55,0.00,0.000,4,0.000,0.044,3287,3930,1914,0,0,0,0,0,0
$GC,11440,1.29,280.4,125.4,12.6,445,11445,0.00,2.50,0.00,0.000,6,0.000,0.024,3287,2369,1913,0,0,0,0,0,0
$GC,11704,1.29,280.4,97.1,10.5,470,11708,0.00,2.58,0.00,0.000,4,0.000,0.043,3287,3927,1913,0,0,0,0,0,0
$GC,11725,1.29,280.4,94.2,10.8,471,11731,0.00,2.47,0.00,0.000,6,0.000,0.023,3287,2372,1913,0,0,0,0,0,0
$GC,11995,1.29,280.9,68.5,10.0,496,11999,0.00,2.55,0.00,0.000,4,0.000,0.044,3287,3930,1913,0,0,0,0,0,0
$GC,12028,1.29,280.9,64.1,12.0,498,12032,0.00,2.42,0.00,0.000,6,0.000,0.025,3287,2394,1913,0,0,0,0,0,0
$GC,12295,1.29,280.9,32.4,12.4,522,12300,0.00,2.62,0.00,0.000,4,0.000,0.047,3287,790,1913,0,0,0,0,0,0
$GC,12317,1.29,280.9,29.9,11.1,523,12326,0.00,2.55,0.00,0.000,6,0.000,0.021,3288,2405,1913,0,0,0,0,0,0
$STATE,12526,end climb,SURFACE_DEPTH_REACHED
$STATE,12526,begin surface coast
$FINISH,-0.3,1.023641
$STATE,12575,end surface coast,CONTROL_FINISHED_OK
$STATE,12575,begin surface
$SM_CCo,12598,280.52,0.523,0,0,476,633.61
$SM_GC,0.06,0.00,0.00,280.52,0.000,0.000,0.523,468,2163,476,-11.65,-1.33,633.61
$IRIDIUM_FIX,2253.38,-15804.96,100603,202023
$TT8_MAMPS,0.026078
$HUMID,57.52
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,21.90
$XPDR_PINGS,10
$24V_AH,23.3,4.750
$10V_AH,10.4,4.162
$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,26.725,132.425,369.350,280.525,0.000,137.014,244.691,511.021,2.500,0.000,17.326,1145.604,9141.526,750.624,1913.835,1244.375,33.356,1483.899,0.000,1916.260,0.000,0.536,0.000
$DEVICE_MAMPS,142.662,112.749,1026.246,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,381.361,307.538,395.156,560.261,1066.394,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,44793,561
$CAP_FILE_SIZE,133870,0
$CFSIZE,260165632,178167808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170314,002054,2302.583,-15802.261,39,1.6,39,10.1