version: 66.06
glider: 146
mission: 9
dive: 35
start: 3 17 114 12 39 2
data:
$ID,146
$MISSION,9
$DIVE,35
$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,-323956.03
$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,64
$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
$GPS1,121254,2258.945,-15758.394,58,1.1,58,10.1
$_CALLS,5
$_XMS_NAKs,30
$_XMS_TOUTs,2
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-66.1
$GPS2,123807,2258.725,-15758.492,14,1.5,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,-0.062
$KALMAN_X,-29982.1,188.3,330.8,24494.2,-1358.1
$KALMAN_Y,10535.0,-611.9,362.6,7209.5,-1021.2
$MHEAD_RNG_PITCHd_Wd,93.7,51387,-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,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,103,0.00,0.00,-84.50,0.000,6,0.000,0.000,471,2167,3657,0,0,0,0,0,0
$GC,106,-1.27,-146.0,4.0,-9.7,11,123,11.40,2.45,0.00,0.000,4,0.133,0.035,2718,658,3657,0,0,0,0,0,0
$GC,194,-1.15,-146.0,31.1,-18.5,23,199,0.15,2.42,0.00,0.000,6,0.110,0.019,2749,2221,3659,0,0,0,0,0,0
$GC,462,-1.07,-146.0,63.2,-15.3,47,466,0.00,2.58,0.00,0.000,4,0.000,0.047,2749,664,3659,0,0,0,0,0,0
$GC,483,-1.01,-146.0,66.5,-14.5,48,488,0.15,2.40,0.00,0.000,6,0.109,0.018,2781,2209,3658,0,0,0,0,0,0
$GC,747,-1.01,-146.0,93.8,-10.5,72,751,0.00,2.53,0.00,0.000,4,0.000,0.042,2780,662,3659,0,0,0,0,0,0
$GC,781,-1.01,-146.0,97.8,-11.1,74,791,0.00,2.40,0.00,0.000,6,0.000,0.018,2781,2192,3658,0,0,0,0,0,0
$GC,1049,-1.01,-146.0,121.0,-8.6,99,1054,0.00,2.53,0.00,0.000,4,0.000,0.036,2780,3771,3658,0,0,0,0,0,0
$GC,1084,-1.06,-146.0,124.6,-8.4,101,1090,0.00,2.40,0.00,0.000,6,0.000,0.021,2781,2229,3658,0,0,0,0,0,0
$GC,1348,-1.11,-146.0,146.8,-8.1,126,1353,0.00,2.58,0.00,0.000,4,0.000,0.044,2780,641,3659,0,0,0,0,0,0
$GC,1407,-1.20,-146.0,151.3,-7.6,130,1412,0.17,2.40,0.00,0.000,6,0.057,0.028,2722,2193,3659,0,0,0,0,0,0
$GC,1672,-1.14,-146.0,178.4,-10.5,154,1677,0.15,2.58,0.00,0.000,4,0.099,0.045,2754,642,3659,0,0,0,0,0,0
$GC,1717,-1.14,-146.0,182.5,-9.3,157,1721,0.00,2.38,0.00,0.000,6,0.000,0.027,2754,2180,3659,0,0,0,0,0,0
$GC,2009,-1.14,-146.0,207.5,-8.2,178,2013,0.00,2.60,0.00,0.000,4,0.000,0.039,2754,3786,3659,0,0,0,0,0,0
$GC,2059,-1.18,-146.0,212.2,-9.1,179,2063,0.00,2.50,0.00,0.000,6,0.000,0.020,2754,2176,3658,0,0,0,0,0,0
$GC,2331,-1.18,-146.0,236.6,-9.3,186,2335,0.00,2.62,0.00,0.000,4,0.000,0.040,2754,3780,3659,0,0,0,0,0,0
$GC,2398,-1.25,-146.0,242.9,-9.1,187,2404,0.12,2.47,0.00,0.000,6,0.070,0.021,2707,2204,3659,0,0,0,0,0,0
$GC,2654,-1.21,-146.0,268.3,-9.6,194,2659,0.12,2.60,0.00,0.000,4,0.105,0.053,2734,641,3658,0,0,0,0,0,0
$GC,2672,-1.21,-146.0,269.9,-9.6,194,2676,0.00,2.42,0.00,0.000,6,0.000,0.022,2734,2195,3658,0,0,0,0,0,0
$GC,2933,-1.21,-146.0,291.7,-8.1,201,2937,0.00,2.60,0.00,0.000,4,0.000,0.054,2734,642,3658,0,0,0,0,0,0
$GC,2960,-1.25,-146.0,294.0,-8.3,201,2964,0.00,2.47,0.00,0.000,6,0.000,0.027,2734,2193,3657,0,0,0,0,0,0
$GC,3211,-1.25,-146.0,312.9,-7.4,207,3215,0.00,2.60,0.00,0.000,4,0.000,0.047,2734,3787,3657,0,0,0,0,0,0
$GC,3272,-1.30,-146.0,318.0,-7.9,208,3277,0.00,2.50,0.00,0.000,6,0.000,0.026,2734,2212,3656,0,0,0,0,0,0
$GC,3533,-1.34,-146.0,337.3,-7.4,215,3535,0.10,0.00,0.00,0.000,6,0.085,0.000,2695,2213,3655,0,0,0,0,0,0
$GC,3778,-1.34,-146.0,359.6,-9.4,221,3782,0.00,2.62,0.00,0.000,4,0.000,0.054,2695,3783,3654,0,0,0,0,0,0
$GC,3816,-1.34,-146.0,363.6,-10.0,222,3821,0.00,2.58,0.00,0.000,6,0.000,0.033,2695,2204,3654,0,0,0,0,0,0
$GC,4100,-1.34,-146.0,390.0,-9.3,229,4104,0.00,2.65,0.00,0.000,4,0.000,0.057,2695,3783,3651,0,0,0,0,0,0
$GC,4128,-1.34,-146.0,392.7,-9.9,229,4132,0.00,2.58,0.00,0.000,6,0.000,0.038,2695,2214,3651,0,0,0,0,0,0
$GC,4378,-1.34,-146.0,415.0,-8.8,235,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2215,3649,0,0,0,0,0,0
$GC,4621,-1.34,-146.0,435.9,-8.6,241,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2215,3648,0,0,0,0,0,0
$GC,4866,-1.34,-146.0,456.1,-8.3,247,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2215,3646,0,0,0,0,0,0
$GC,5109,-1.34,-146.0,477.4,-8.7,253,5113,0.00,2.95,0.00,0.000,4,0.000,0.104,2695,620,3644,0,0,0,0,0,0
$GC,5136,-1.34,-146.0,480.0,-9.4,253,5140,0.00,2.65,0.00,0.000,6,0.000,0.052,2695,2196,3644,0,0,0,0,0,0
$GC,5387,-1.34,-146.0,503.0,-9.5,259,5391,0.00,2.78,0.00,0.000,4,0.000,0.074,2695,3800,3642,0,0,0,0,0,0
$GC,5402,-1.34,-146.0,504.8,-9.7,259,5407,0.00,2.67,0.00,0.000,6,0.000,0.051,2695,2212,3642,0,0,0,0,0,0
$GC,5663,-1.34,-146.0,528.8,-9.1,266,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2212,3641,0,0,0,0,0,0
$GC,5907,-1.34,-146.0,548.7,-7.9,272,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2212,3639,0,0,0,0,0,0
$GC,6151,-1.34,-146.0,567.2,-7.4,278,6155,0.00,2.85,0.00,0.000,4,0.000,0.085,2695,3796,3637,0,0,0,0,0,0
$GC,6211,-1.34,-146.0,572.0,-8.4,279,6216,0.00,2.78,0.00,0.000,6,0.000,0.070,2694,2200,3637,0,0,0,0,0,0
$GC,6472,-1.34,-146.0,591.9,-7.8,286,6477,0.00,2.88,0.00,0.000,4,0.000,0.085,2695,3798,3635,0,0,0,0,0,0
$GC,6494,-1.34,-146.0,593.8,-8.6,286,6499,0.00,2.83,0.00,0.000,6,0.000,0.071,2695,2195,3635,0,0,0,0,0,0
$STATE,6584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6584,begin apogee
$GC,6590,-0.31,0.0,601.4,8.2,289,6711,1.05,0.00,117.15,1.026,6,0.075,0.000,2931,2373,3060,0,0,0,0,0,0
$STATE,6712,end apogee,CONTROL_FINISHED_OK
$STATE,6712,begin climb
$GC,6714,1.27,146.0,604.3,0.0,292,6850,1.45,2.88,123.88,0.995,4,0.042,0.085,3280,3931,2463,0,0,0,0,0,0
$GC,6925,1.12,146.0,587.8,12.5,297,6931,0.17,2.78,0.00,0.000,6,0.113,0.063,3245,2366,2458,0,0,0,0,0,0
$GC,7211,1.08,153.4,559.6,9.7,304,7224,0.00,2.83,6.43,0.779,4,0.000,0.073,3245,3931,2433,0,0,0,0,0,0
$GC,7281,1.00,153.4,552.1,10.2,305,7286,0.12,2.70,0.00,0.000,6,0.128,0.053,3220,2374,2431,0,0,0,0,0,0
$GC,7538,1.04,192.3,530.6,8.2,312,7579,0.00,3.17,35.47,0.952,4,0.000,0.119,3220,789,2275,0,0,0,0,0,0
$GC,7591,1.10,237.9,526.2,7.9,313,7640,0.00,2.78,41.25,0.938,6,0.000,0.057,3220,2384,2090,0,0,0,0,0,0
$GC,7905,1.12,250.6,496.9,9.4,321,7925,0.10,3.05,11.75,0.861,4,0.098,0.088,3244,775,2037,0,0,0,0,0,0
$GC,7958,1.12,250.6,490.5,11.5,322,7962,0.00,2.72,0.00,0.000,6,0.000,0.050,3244,2367,2035,0,0,0,0,0,0
$GC,8231,1.12,250.6,458.8,11.8,329,8235,0.00,2.85,0.00,0.000,4,0.000,0.079,3244,781,2033,0,0,0,0,0,0
$GC,8247,1.12,250.6,456.4,12.6,329,8252,0.00,2.65,0.00,0.000,6,0.000,0.043,3244,2356,2032,0,0,0,0,0,0
$GC,8507,1.12,250.6,424.6,12.3,336,8512,0.00,2.70,0.00,0.000,4,0.000,0.059,3244,3938,2032,0,0,0,0,0,0
$GC,8528,1.12,250.6,421.8,12.2,336,8533,0.00,2.65,0.00,0.000,6,0.000,0.041,3244,2351,2030,0,0,0,0,0,0
$GC,8785,1.12,250.6,392.9,11.0,343,8790,0.00,2.83,0.00,0.000,4,0.000,0.085,3244,777,2030,0,0,0,0,0,0
$GC,8818,1.12,250.6,389.2,10.4,343,8823,0.00,2.58,0.00,0.000,6,0.000,0.041,3245,2358,2029,0,0,0,0,0,0
$GC,9067,1.12,250.6,363.0,10.6,350,9072,0.00,2.65,0.00,0.000,4,0.000,0.054,3244,3928,2029,0,0,0,0,0,0
$GC,9122,1.12,250.6,356.4,12.1,351,9127,0.00,2.58,0.00,0.000,6,0.000,0.032,3244,2360,2028,0,0,0,0,0,0
$GC,9391,1.12,250.6,326.1,11.6,358,9395,0.00,2.65,0.00,0.000,4,0.000,0.051,3244,3929,2028,0,0,0,0,0,0
$GC,9417,1.12,250.6,322.6,12.7,358,9422,0.00,2.50,0.00,0.000,6,0.000,0.028,3244,2375,2028,0,0,0,0,0,0
$GC,9667,1.12,250.6,294.4,11.3,364,9668,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2375,2028,0,0,0,0,0,0
$GC,9912,1.12,250.6,268.6,10.6,370,9916,0.00,2.60,0.00,0.000,4,0.000,0.048,3244,3930,2028,0,0,0,0,0,0
$GC,9956,1.16,250.6,263.5,11.1,371,9960,0.00,2.50,0.00,0.000,6,0.000,0.029,3244,2371,2027,0,0,0,0,0,0
$GC,10234,1.21,251.2,236.6,10.0,378,10238,0.00,2.62,0.00,0.000,4,0.000,0.055,3244,790,2027,0,0,0,0,0,0
$GC,10262,1.21,251.2,233.6,10.3,378,10266,0.00,2.58,0.00,0.000,6,0.000,0.034,3244,2392,2026,0,0,0,0,0,0
$GC,10512,1.27,263.0,209.7,9.5,384,10529,0.12,2.70,10.70,0.690,4,0.084,0.049,3279,787,1986,0,0,0,0,0,0
$GC,10563,1.27,263.0,203.7,12.9,385,10568,0.00,2.55,0.00,0.000,6,0.000,0.033,3279,2365,1985,0,0,0,0,0,0
$GC,10825,1.27,263.0,173.2,11.3,405,10829,0.00,2.60,0.00,0.000,4,0.000,0.046,3279,3937,1985,0,0,0,0,0,0
$GC,10904,1.27,263.0,163.2,11.3,411,10914,0.00,2.55,0.00,0.000,6,0.000,0.025,3279,2360,1984,0,0,0,0,0,0
$GC,11168,1.27,263.0,135.4,10.5,436,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2360,1984,0,0,0,0,0,0
$GC,11420,1.27,263.0,109.3,10.2,460,11421,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2360,1984,0,0,0,0,0,0
$GC,11677,1.31,263.0,83.7,10.0,484,11681,0.00,2.55,0.00,0.000,4,0.000,0.046,3279,788,1983,0,0,0,0,0,0
$GC,11699,1.37,263.0,81.1,10.3,485,11705,0.00,2.50,0.00,0.000,6,0.000,0.021,3279,2384,1984,0,0,0,0,0,0
$GC,11968,1.37,263.0,55.4,12.8,510,11972,0.00,2.50,0.00,0.000,4,0.000,0.041,3279,3920,1984,0,0,0,0,0,0
$GC,12013,1.37,263.0,48.7,14.2,513,12017,0.00,2.45,0.00,0.000,6,0.000,0.024,3279,2372,1984,0,0,0,0,0,0
$GC,12303,1.37,263.0,15.2,12.5,546,12313,0.00,2.65,0.00,0.000,4,0.000,0.053,3279,789,1986,0,0,0,0,0,0
$GC,12323,1.37,263.0,13.3,10.2,548,12332,0.00,2.50,0.00,0.000,6,0.000,0.021,3279,2381,1986,0,0,0,0,0,0
$STATE,12419,end climb,SURFACE_DEPTH_REACHED
$STATE,12420,begin surface coast
$FINISH,-0.4,1.023929
$STATE,12457,end surface coast,CONTROL_FINISHED_OK
$STATE,12457,begin surface
$SM_CCo,12480,94.38,0.532,0,0,1509,380.21
$SM_GC,0.38,0.00,0.00,94.38,0.000,0.000,0.532,474,2167,1509,-11.62,-1.24,380.21
$IRIDIUM_FIX,2251.04,-15755.40,110603,121221
$TT8_MAMPS,0.026078
$HUMID,59.13
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.30
$XPDR_PINGS,19
$24V_AH,23.3,5.408
$10V_AH,10.4,4.662
$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,26.625,173.800,346.625,94.375,0.000,157.594,184.444,750.206,4.750,0.000,15.863,1198.324,8812.270,553.029,2067.245,1457.787,33.354,1361.830,0.000,2069.238,0.000,0.536,0.000
$DEVICE_MAMPS,132.691,118.885,1026.246,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.785,322.925,408.850,595.755,1134.131,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,44647,567
$CAP_FILE_SIZE,145521,0
$CFSIZE,260165632,177909760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170314,160959,2258.299,-15757.734,41,1.9,41,10.1