version: 66.06
glider: 146
mission: 9
dive: 34
start: 3 17 114 8 29 38
data:
$ID,146
$MISSION,9
$DIVE,34
$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,-323939.53
$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,43
$R_STBD_OVSHOOT,33
$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
$GPS1,081454,2300.464,-15759.475,42,1.9,42,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-61.5
$GPS2,082845,2300.420,-15759.463,14,99.0,33,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.193
$KALMAN_X,-29656.5,566.3,41.7,22416.4,-118.3
$KALMAN_Y,10969.3,-131.6,231.2,9557.3,155.5
$MHEAD_RNG_PITCHd_Wd,127.8,54815,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,150,0.00,0.00,-130.02,0.000,6,0.000,0.000,467,2186,3657,0,0,0,0,0,0
$GC,153,-1.27,-146.0,3.0,-7.0,17,171,11.38,2.55,0.00,0.000,4,0.133,0.040,2714,637,3658,0,0,0,0,0,0
$GC,183,0.08,-146.0,15.2,-35.4,20,191,1.35,2.53,0.00,0.000,6,0.080,0.018,3014,2232,3658,0,0,0,0,0,0
$GC,477,-0.50,-146.0,43.0,-9.1,56,483,0.50,2.60,0.00,0.000,4,0.052,0.041,2886,642,3659,0,0,0,0,0,0
$GC,539,-0.95,-146.0,47.9,-7.5,60,544,0.38,2.45,0.00,0.000,6,0.041,0.018,2782,2222,3658,0,0,0,0,0,0
$GC,807,-0.95,-146.0,72.5,-10.0,84,811,0.00,2.47,0.00,0.000,4,0.000,0.035,2782,3767,3658,0,0,0,0,0,0
$GC,852,-0.99,-146.0,77.7,-11.4,87,857,0.00,2.47,0.00,0.000,6,0.000,0.022,2782,2206,3658,0,0,0,0,0,0
$GC,1120,-0.99,-146.0,106.4,-10.2,111,1124,0.00,2.55,0.00,0.000,4,0.000,0.044,2781,638,3658,0,0,0,0,0,0
$GC,1189,-1.04,-146.0,113.6,-9.2,116,1198,0.00,2.42,0.00,0.000,6,0.000,0.018,2782,2182,3658,0,0,0,0,0,0
$GC,1456,-1.08,-146.0,136.5,-8.8,141,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2182,3658,0,0,0,0,0,0
$GC,1724,-1.15,-146.0,158.7,-7.0,166,1730,0.12,2.58,0.00,0.000,4,0.071,0.036,2734,3778,3658,0,0,0,0,0,0
$GC,1781,-1.15,-146.0,164.7,-9.5,170,1787,0.00,2.47,0.00,0.000,6,0.000,0.020,2734,2195,3658,0,0,0,0,0,0
$GC,2044,-1.15,-146.0,188.5,-8.4,195,2048,0.00,2.55,0.00,0.000,4,0.000,0.037,2733,3778,3658,0,0,0,0,0,0
$GC,2067,-1.15,-146.0,190.2,-8.9,196,2071,0.00,2.45,0.00,0.000,6,0.000,0.020,2734,2212,3658,0,0,0,0,0,0
$GC,2353,-1.15,-146.0,214.5,-8.5,211,2357,0.00,2.58,0.00,0.000,4,0.000,0.048,2733,638,3658,0,0,0,0,0,0
$GC,2379,-1.15,-146.0,217.1,-9.5,211,2384,0.00,2.45,0.00,0.000,6,0.000,0.025,2733,2217,3658,0,0,0,0,0,0
$GC,2631,-1.15,-146.0,238.6,-8.6,217,2635,0.00,2.53,0.00,0.000,4,0.000,0.041,2733,3782,3658,0,0,0,0,0,0
$GC,2697,-1.15,-146.0,244.9,-8.9,218,2701,0.00,2.42,0.00,0.000,6,0.000,0.021,2734,2226,3658,0,0,0,0,0,0
$GC,2953,-1.15,-146.0,265.8,-8.2,225,2958,0.00,2.62,0.00,0.000,4,0.000,0.054,2733,642,3658,0,0,0,0,0,0
$GC,2986,-1.15,-146.0,268.8,-8.6,225,2992,0.00,2.47,0.00,0.000,6,0.000,0.029,2733,2219,3658,0,0,0,0,0,0
$GC,3238,-1.15,-146.0,289.3,-8.2,232,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2219,3657,0,0,0,0,0,0
$GC,3480,-1.15,-146.0,308.8,-7.8,238,3485,0.00,2.67,0.00,0.000,4,0.000,0.060,2733,636,3656,0,0,0,0,0,0
$GC,3503,-1.15,-146.0,310.7,-8.4,238,3508,0.00,2.53,0.00,0.000,6,0.000,0.031,2733,2214,3655,0,0,0,0,0,0
$GC,3759,-1.19,-146.0,329.1,-6.9,245,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2215,3654,0,0,0,0,0,0
$GC,4002,-1.24,-146.0,346.7,-7.3,251,4007,0.00,2.70,0.00,0.000,4,0.000,0.067,2733,639,3653,0,0,0,0,0,0
$GC,4031,-1.27,-146.0,348.7,-8.0,251,4036,0.00,2.58,0.00,0.000,6,0.000,0.036,2733,2226,3653,0,0,0,0,0,0
$GC,4281,-1.32,-146.0,368.7,-7.9,257,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2226,3651,0,0,0,0,0,0
$GC,4525,-1.38,-146.0,387.8,-8.0,263,4530,0.15,2.65,0.00,0.000,4,0.065,0.058,2683,3796,3649,0,0,0,0,0,0
$GC,4548,-1.38,-146.0,390.0,-9.3,263,4553,0.00,2.55,0.00,0.000,6,0.000,0.036,2683,2240,3649,0,0,0,0,0,0
$GC,4804,-1.34,-146.0,416.4,-10.4,270,4809,0.12,2.62,0.00,0.000,4,0.112,0.055,2708,3793,3647,0,0,0,0,0,0
$GC,4831,-1.34,-146.0,419.3,-9.9,270,4836,0.00,2.60,0.00,0.000,6,0.000,0.045,2708,2229,3647,0,0,0,0,0,0
$GC,5082,-1.34,-146.0,442.3,-9.1,276,5086,0.00,2.67,0.00,0.000,4,0.000,0.064,2708,3799,3645,0,0,0,0,0,0
$GC,5097,-1.34,-146.0,443.8,-8.7,276,5102,0.00,2.62,0.00,0.000,6,0.000,0.044,2708,2228,3645,0,0,0,0,0,0
$GC,5359,-1.34,-146.0,463.7,-7.3,283,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2229,3643,0,0,0,0,0,0
$GC,5603,-1.34,-146.0,481.1,-7.3,289,5608,0.00,2.72,0.00,0.000,4,0.000,0.076,2708,3787,3641,0,0,0,0,0,0
$GC,5619,-1.34,-146.0,482.5,-7.4,289,5623,0.00,2.60,0.00,0.000,6,0.000,0.052,2708,2241,3641,0,0,0,0,0,0
$GC,5880,-1.34,-146.0,502.3,-7.7,296,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2241,3640,0,0,0,0,0,0
$GC,6125,-1.34,-146.0,523.4,-8.8,302,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2241,3638,0,0,0,0,0,0
$GC,6368,-1.34,-146.0,543.5,-8.1,308,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2241,3636,0,0,0,0,0,0
$GC,6612,-1.34,-146.0,562.1,-7.5,314,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2241,3635,0,0,0,0,0,0
$GC,6855,-1.34,-146.0,580.0,-7.4,320,6860,0.00,3.15,0.00,0.000,4,0.000,0.129,2708,621,3633,0,0,0,0,0,0
$GC,6878,-1.34,-146.0,581.7,-7.9,320,6883,0.00,2.83,0.00,0.000,6,0.000,0.067,2708,2240,3634,0,0,0,0,0,0
$STATE,7131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7131,begin apogee
$GC,7137,-0.31,0.0,600.9,7.4,327,7257,1.00,0.00,116.88,1.026,6,0.078,0.000,2933,2377,3060,0,0,0,0,0,0
$STATE,7259,end apogee,CONTROL_FINISHED_OK
$STATE,7259,begin climb
$GC,7262,1.27,146.0,603.5,0.0,330,7392,1.48,0.00,125.72,0.996,6,0.039,0.000,3287,2378,2464,0,0,0,0,0,0
$GC,7618,1.14,146.0,570.7,11.8,339,7620,0.17,0.00,0.00,0.000,6,0.119,0.000,3251,2377,2455,0,0,0,0,0,0
$GC,7861,1.08,146.0,544.2,10.9,345,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2377,2453,0,0,0,0,0,0
$GC,8106,1.02,150.9,519.7,9.8,351,8108,0.12,0.00,0.00,0.000,6,0.132,0.000,3227,2378,2451,0,0,0,0,0,0
$GC,8348,1.09,200.7,500.2,7.7,357,8397,0.00,0.00,47.25,0.948,6,0.000,0.000,3227,2378,2241,0,0,0,0,0,0
$GC,8633,1.11,221.3,475.2,9.0,364,8658,0.00,3.00,18.67,0.898,4,0.000,0.085,3226,785,2156,0,0,0,0,0,0
$GC,8698,1.12,224.4,468.9,9.9,365,8703,0.00,2.70,0.00,0.000,6,0.000,0.048,3226,2376,2153,0,0,0,0,0,0
$GC,8959,1.12,225.2,443.0,10.0,372,8965,0.00,0.00,4.30,0.624,6,0.000,0.000,3226,2376,2141,0,0,0,0,0,0
$GC,9202,1.12,225.2,418.5,10.0,378,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2376,2139,0,0,0,0,0,0
$GC,9447,1.12,225.2,393.4,10.5,384,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2376,2138,0,0,0,0,0,0
$GC,9690,1.16,228.3,368.8,9.9,390,9696,0.12,0.00,3.60,0.533,6,0.216,0.000,3259,2376,2129,0,0,0,0,0,0
$GC,9933,1.16,228.3,343.0,10.6,396,9934,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2376,2128,0,0,0,0,0,0
$GC,10177,1.17,239.0,319.2,9.5,402,10190,0.00,0.00,11.25,0.789,6,0.000,0.000,3259,2376,2085,0,0,0,0,0,0
$GC,10422,1.17,239.0,295.4,10.1,408,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2376,2082,0,0,0,0,0,0
$GC,10664,1.17,239.0,269.9,10.4,414,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2376,2082,0,0,0,0,0,0
$GC,10908,1.17,239.0,244.8,10.2,420,10912,0.00,2.70,0.00,0.000,4,0.000,0.048,3260,766,2081,0,0,0,0,0,0
$GC,10929,1.17,239.0,242.4,10.8,420,10933,0.00,2.60,0.00,0.000,6,0.000,0.028,3260,2382,2080,0,0,0,0,0,0
$GC,11186,1.21,269.6,219.5,8.6,427,11221,0.00,2.65,27.50,0.740,4,0.000,0.045,3260,3922,1959,0,0,0,0,0,0
$GC,11350,1.21,269.6,202.1,10.8,430,11354,0.00,2.50,0.00,0.000,6,0.000,0.025,3260,2373,1955,0,0,0,0,0,0
$GC,11616,1.25,269.6,174.4,11.1,451,11621,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2373,1955,0,0,0,0,0,0
$GC,11878,1.30,269.6,145.5,10.1,476,11883,0.10,2.65,0.00,0.000,4,0.095,0.047,3289,782,1955,0,0,0,0,0,0
$GC,11909,1.30,269.6,141.5,12.5,478,11913,0.00,2.53,0.00,0.000,6,0.000,0.030,3289,2381,1954,0,0,0,0,0,0
$GC,12171,1.30,269.6,113.2,11.1,502,12176,0.00,2.53,0.00,0.000,4,0.000,0.042,3289,3920,1954,0,0,0,0,0,0
$GC,12266,1.30,269.6,101.8,11.7,509,12271,0.00,2.45,0.00,0.000,6,0.000,0.024,3289,2385,1954,0,0,0,0,0,0
$GC,12533,1.30,269.6,74.2,11.4,534,12537,0.00,2.60,0.00,0.000,4,0.000,0.046,3289,791,1954,0,0,0,0,0,0
$GC,12579,1.30,269.6,68.5,11.2,537,12584,0.00,2.50,0.00,0.000,6,0.000,0.023,3289,2389,1954,0,0,0,0,0,0
$GC,12847,1.30,269.6,42.4,11.2,561,12851,0.00,2.53,0.00,0.000,4,0.000,0.043,3289,3930,1954,0,0,0,0,0,0
$GC,12879,1.30,269.6,37.5,14.7,563,12884,0.00,2.42,0.00,0.000,6,0.000,0.024,3289,2389,1955,0,0,0,0,0,0
$STATE,13136,end climb,SURFACE_DEPTH_REACHED
$STATE,13136,begin surface coast
$FINISH,-0.3,1.023924
$STATE,13185,end surface coast,CONTROL_FINISHED_OK
$STATE,13185,begin surface
$SM_CCo,13208,88.05,0.526,0,0,1509,380.21
$SM_GC,0.39,0.00,0.00,88.05,0.000,0.000,0.526,473,2167,1509,-11.63,-1.22,380.21
$IRIDIUM_FIX,2253.38,-15757.57,110603,080850
$TT8_MAMPS,0.026078
$HUMID,59.37
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.30
$XPDR_PINGS,12
$24V_AH,23.3,5.237
$10V_AH,10.4,4.535
$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,28.300,119.550,355.175,88.050,0.000,59.686,81.927,454.550,3.000,0.000,36.057,1195.349,9390.632,573.573,2050.732,913.108,33.356,1307.095,0.000,2041.059,0.000,0.536,0.000
$DEVICE_MAMPS,215.527,128.856,1026.246,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.255,345.582,436.553,651.379,1240.765,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355824
$DATA_FILE_SIZE,47856,605
$CAP_FILE_SIZE,124383,0
$CFSIZE,260165632,177987584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170314,121254,2258.945,-15758.394,58,1.1,58,10.1