version: 66.06
glider: 146
mission: 9
dive: 33
start: 3 17 114 4 33 32
data:
$ID,146
$MISSION,9
$DIVE,33
$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,-323902.84
$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,50
$R_STBD_OVSHOOT,36
$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
$GPS1,040400,2301.724,-15800.811,90,1.0,90,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-65.7
$GPS2,043236,2301.474,-15800.798,11,1.7,28,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.143,-0.216
$KALMAN_X,-29686.9,413.7,-313.4,20677.6,68.6
$KALMAN_Y,10775.0,324.1,-678.4,12154.2,663.1
$MHEAD_RNG_PITCHd_Wd,136.3,57796,-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,-90.28,0.000,6,0.000,0.000,468,2188,3656,0,0,0,0,0,0
$GC,116,-1.27,-146.0,4.4,-11.7,12,133,11.38,2.53,0.00,0.000,4,0.133,0.038,2717,649,3656,0,0,0,0,0,0
$GC,191,-1.16,-146.0,28.8,-19.3,22,201,0.10,2.47,0.00,0.000,6,0.091,0.018,2742,2224,3657,0,0,0,0,0,0
$GC,458,-1.08,-146.0,61.5,-12.3,47,468,0.10,0.00,0.00,0.000,6,0.127,0.000,2763,2224,3657,0,0,0,0,0,0
$GC,720,-1.08,-146.0,91.5,-10.4,72,725,0.00,2.60,0.00,0.000,4,0.000,0.043,2762,650,3657,0,0,0,0,0,0
$GC,766,-1.08,-146.0,96.0,-10.6,75,770,0.00,2.42,0.00,0.000,6,0.000,0.019,2762,2206,3657,0,0,0,0,0,0
$GC,1033,-1.08,-146.0,124.2,-10.8,99,1038,0.00,2.55,0.00,0.000,4,0.000,0.044,2762,652,3657,0,0,0,0,0,0
$GC,1050,-1.08,-146.0,126.8,-10.8,100,1055,0.00,2.40,0.00,0.000,6,0.000,0.021,2762,2210,3657,0,0,0,0,0,0
$GC,1319,-1.08,-146.0,151.1,-8.8,124,1324,0.00,2.53,0.00,0.000,4,0.000,0.038,2762,3771,3657,0,0,0,0,0,0
$GC,1372,-1.12,-146.0,156.7,-9.6,128,1376,0.00,2.42,0.00,0.000,6,0.000,0.021,2762,2226,3657,0,0,0,0,0,0
$GC,1637,-1.12,-146.0,179.8,-8.2,152,1642,0.00,2.60,0.00,0.000,4,0.000,0.048,2762,637,3658,0,0,0,0,0,0
$GC,1669,-1.16,-146.0,182.7,-8.2,154,1674,0.00,2.45,0.00,0.000,6,0.000,0.020,2762,2223,3657,0,0,0,0,0,0
$GC,1961,-1.20,-146.0,207.8,-8.8,175,1966,0.10,2.62,0.00,0.000,4,0.086,0.046,2723,634,3658,0,0,0,0,0,0
$GC,2002,-1.16,-146.0,212.2,-11.0,176,2007,0.10,2.42,0.00,0.000,6,0.114,0.021,2746,2205,3658,0,0,0,0,0,0
$GC,2285,-1.16,-146.0,238.4,-8.8,183,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2204,3657,0,0,0,0,0,0
$GC,2530,-1.16,-146.0,260.2,-8.9,189,2534,0.00,2.58,0.00,0.000,4,0.000,0.044,2746,3785,3656,0,0,0,0,0,0
$GC,2557,-1.20,-146.0,262.9,-9.5,189,2562,0.00,2.50,0.00,0.000,6,0.000,0.023,2746,2212,3656,0,0,0,0,0,0
$GC,2808,-1.24,-146.0,283.1,-7.7,195,2812,0.00,2.58,0.00,0.000,4,0.000,0.044,2746,3780,3656,0,0,0,0,0,0
$GC,2865,-1.30,-146.0,287.5,-8.0,196,2870,0.12,2.47,0.00,0.000,6,0.071,0.025,2702,2214,3656,0,0,0,0,0,0
$GC,3132,-1.26,-146.0,310.5,-8.7,203,3137,0.10,2.72,0.00,0.000,4,0.119,0.067,2724,634,3655,0,0,0,0,0,0
$GC,3211,-1.26,-146.0,317.6,-9.0,204,3217,0.00,2.53,0.00,0.000,6,0.000,0.039,2724,2191,3654,0,0,0,0,0,0
$GC,3461,-1.26,-146.0,338.5,-8.4,211,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2191,3653,0,0,0,0,0,0
$GC,3704,-1.26,-146.0,359.0,-8.4,217,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2191,3652,0,0,0,0,0,0
$GC,3948,-1.26,-146.0,378.2,-7.9,223,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2191,3651,0,0,0,0,0,0
$GC,4193,-1.26,-146.0,396.3,-7.4,229,4198,0.00,2.67,0.00,0.000,4,0.000,0.058,2724,3789,3648,0,0,0,0,0,0
$GC,4215,-1.26,-146.0,398.0,-6.8,229,4220,0.00,2.55,0.00,0.000,6,0.000,0.037,2724,2224,3648,0,0,0,0,0,0
$GC,4471,-1.26,-146.0,416.0,-7.1,236,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2224,3647,0,0,0,0,0,0
$GC,4716,-1.26,-146.0,433.5,-7.2,242,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2224,3645,0,0,0,0,0,0
$GC,4959,-1.30,-146.0,452.4,-7.9,248,4963,0.00,2.67,0.00,0.000,4,0.000,0.061,2724,3789,3643,0,0,0,0,0,0
$GC,4980,-1.30,-146.0,454.4,-8.5,248,4984,0.00,2.62,0.00,0.000,6,0.000,0.047,2724,2214,3643,0,0,0,0,0,0
$GC,5236,-1.35,-146.0,475.3,-8.0,255,5240,0.00,2.70,0.00,0.000,4,0.000,0.064,2724,3794,3641,0,0,0,0,0,0
$GC,5298,-1.39,-146.0,480.4,-8.4,256,5303,0.12,2.62,0.00,0.000,6,0.076,0.048,2682,2225,3641,0,0,0,0,0,0
$GC,5559,-1.39,-146.0,503.2,-8.7,263,5564,0.00,2.72,0.00,0.000,4,0.000,0.070,2682,3785,3639,0,0,0,0,0,0
$GC,5583,-1.35,-146.0,505.4,-10.0,263,5588,0.10,2.65,0.00,0.000,6,0.120,0.054,2704,2231,3640,0,0,0,0,0,0
$GC,5838,-1.35,-146.0,526.0,-7.5,270,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2231,3637,0,0,0,0,0,0
$GC,6082,-1.35,-146.0,543.1,-7.0,276,6087,0.00,2.78,0.00,0.000,4,0.000,0.087,2704,3788,3635,0,0,0,0,0,0
$GC,6144,-1.35,-146.0,547.9,-7.7,277,6149,0.00,2.65,0.00,0.000,6,0.000,0.058,2704,2239,3635,0,0,0,0,0,0
$GC,6405,-1.35,-146.0,566.8,-7.2,284,6409,0.00,2.75,0.00,0.000,4,0.000,0.081,2704,3782,3634,0,0,0,0,0,0
$GC,6449,-1.35,-146.0,570.2,-8.3,285,6453,0.00,2.65,0.00,0.000,6,0.000,0.063,2704,2243,3634,0,0,0,0,0,0
$GC,6727,-1.35,-146.0,589.8,-7.0,292,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2243,3632,0,0,0,0,0,0
$STATE,6886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6886,begin apogee
$GC,6892,-0.31,0.0,601.0,6.9,296,7012,1.02,0.00,116.65,1.024,6,0.075,0.000,2935,2364,3060,0,0,0,0,0,0
$STATE,7013,end apogee,CONTROL_FINISHED_OK
$STATE,7013,begin climb
$GC,7015,1.27,146.0,603.5,0.0,299,7153,1.42,2.90,124.25,0.991,4,0.040,0.087,3281,3930,2462,0,0,0,0,0,0
$GC,7199,1.12,146.0,590.8,12.0,303,7205,0.17,2.78,0.00,0.000,6,0.114,0.064,3246,2371,2458,0,0,0,0,0,0
$GC,7468,1.08,158.1,565.1,9.4,310,7480,0.00,0.00,10.75,0.871,6,0.000,0.000,3245,2372,2415,0,0,0,0,0,0
$GC,7710,1.03,158.1,540.8,10.0,316,7715,0.00,2.80,0.00,0.000,4,0.000,0.074,3245,3937,2410,0,0,0,0,0,0
$GC,7771,0.97,158.1,534.2,11.4,317,7776,0.17,2.70,0.00,0.000,6,0.115,0.052,3211,2376,2409,0,0,0,0,0,0
$GC,8033,1.01,196.1,512.2,8.2,324,8075,0.00,3.22,34.33,0.950,4,0.000,0.122,3210,782,2259,0,0,0,0,0,0
$GC,8086,1.04,217.0,507.1,9.0,325,8113,0.00,2.80,19.75,0.901,6,0.000,0.054,3210,2391,2175,0,0,0,0,0,0
$GC,8358,1.11,241.0,482.7,8.9,332,8383,0.12,0.00,21.75,0.907,6,0.186,0.000,3242,2391,2077,0,0,0,0,0,0
$GC,8644,1.11,241.0,450.8,11.1,339,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2390,2072,0,0,0,0,0,0
$GC,8888,1.11,241.0,422.4,11.7,345,8892,0.00,2.65,0.00,0.000,4,0.000,0.064,3242,3938,2071,0,0,0,0,0,0
$GC,8938,1.11,241.0,416.2,12.2,346,8943,0.00,2.60,0.00,0.000,6,0.000,0.037,3242,2383,2069,0,0,0,0,0,0
$GC,9210,1.11,241.0,386.0,10.9,353,9214,0.00,2.85,0.00,0.000,4,0.000,0.084,3242,784,2069,0,0,0,0,0,0
$GC,9242,1.11,241.0,382.0,11.9,353,9248,0.00,2.67,0.00,0.000,6,0.000,0.034,3242,2406,2068,0,0,0,0,0,0
$GC,9493,1.11,241.0,354.9,10.8,360,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2406,2068,0,0,0,0,0,0
$GC,9735,1.11,241.0,330.2,10.0,366,9740,0.00,2.80,0.00,0.000,4,0.000,0.061,3242,782,2067,0,0,0,0,0,0
$GC,9779,1.11,241.0,325.4,10.4,367,9783,0.00,2.60,0.00,0.000,6,0.000,0.035,3242,2387,2067,0,0,0,0,0,0
$GC,10058,1.11,241.0,297.3,10.2,374,10062,0.00,2.75,0.00,0.000,4,0.000,0.057,3242,777,2066,0,0,0,0,0,0
$GC,10101,1.15,241.0,292.4,10.9,375,10106,0.00,2.60,0.00,0.000,6,0.000,0.033,3242,2376,2065,0,0,0,0,0,0
$GC,10380,1.21,259.6,266.6,9.1,382,10404,0.10,2.67,16.12,0.769,4,0.093,0.051,3269,3938,2000,0,0,0,0,0,0
$GC,10423,1.17,259.6,262.4,11.0,383,10428,0.00,2.58,0.00,0.000,6,0.000,0.032,3269,2360,1999,0,0,0,0,0,0
$GC,10706,1.17,259.6,232.5,10.2,390,10710,0.00,2.62,0.00,0.000,4,0.000,0.048,3269,3933,1997,0,0,0,0,0,0
$GC,10738,1.17,259.6,229.0,11.4,390,10744,0.00,2.53,0.00,0.000,6,0.000,0.027,3269,2373,1997,0,0,0,0,0,0
$GC,10989,1.17,259.6,202.1,10.9,397,10990,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2374,1997,0,0,0,0,0,0
$GC,11245,1.17,259.6,174.1,10.8,418,11249,0.00,2.60,0.00,0.000,4,0.000,0.046,3269,3930,1997,0,0,0,0,0,0
$GC,11261,1.17,259.6,172.0,10.6,419,11266,0.00,2.47,0.00,0.000,6,0.000,0.024,3269,2383,1997,0,0,0,0,0,0
$GC,11529,1.17,259.6,144.9,10.3,443,11533,0.00,2.58,0.00,0.000,4,0.000,0.044,3269,3932,1997,0,0,0,0,0,0
$GC,11562,1.17,259.6,140.6,10.7,445,11568,0.00,2.45,0.00,0.000,6,0.000,0.024,3269,2399,1997,0,0,0,0,0,0
$GC,11827,1.22,267.6,115.0,9.6,470,11839,0.00,0.00,8.20,0.563,6,0.000,0.000,3269,2399,1968,0,0,0,0,0,0
$GC,12099,1.27,267.6,86.7,10.3,495,12103,0.00,2.65,0.00,0.000,4,0.000,0.044,3269,788,1968,0,0,0,0,0,0
$GC,12132,1.32,272.0,83.5,9.8,497,12143,0.00,2.58,5.60,0.479,6,0.000,0.021,3269,2431,1950,0,0,0,0,0,0
$GC,12403,1.32,272.0,57.3,11.6,522,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2431,1950,0,0,0,0,0,0
$GC,12672,1.39,298.2,31.5,8.8,547,12704,0.15,2.72,23.55,0.540,4,0.071,0.040,3315,790,1844,0,0,0,0,0,0
$GC,12722,1.34,298.2,24.5,13.4,552,12732,0.08,2.62,0.00,0.000,6,0.097,0.022,3296,2420,1843,0,0,0,0,0,0
$STATE,12874,end climb,SURFACE_DEPTH_REACHED
$STATE,12874,begin surface coast
$FINISH,-0.2,1.023902
$STATE,12910,end surface coast,CONTROL_FINISHED_OK
$STATE,12910,begin surface
$SM_CCo,12931,265.02,0.518,0,0,476,633.61
$SM_GC,0.08,0.00,0.00,265.02,0.000,0.000,0.518,468,2186,476,-11.65,-0.68,633.61
$IRIDIUM_FIX,2253.38,-15802.79,110603,040415
$TT8_MAMPS,0.026078
$HUMID,57.24
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,22.20
$XPDR_PINGS,18
$24V_AH,23.3,5.094
$10V_AH,10.4,4.409
$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,26.875,147.825,380.950,265.025,0.000,141.487,228.741,906.739,4.500,0.000,33.164,1192.224,9297.430,737.956,2042.582,1644.703,33.360,1545.486,0.000,2034.966,0.000,0.536,0.000
$DEVICE_MAMPS,185.614,121.953,1023.945,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.139,326.774,410.374,590.613,1124.254,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355776
$DATA_FILE_SIZE,44782,579
$CAP_FILE_SIZE,144300,0
$CFSIZE,260165632,178024448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170314,081454,2300.464,-15759.475,42,1.9,42,10.1