version: 66.06
glider: 146
mission: 9
dive: 38
start: 3 18 114 0 0 40
data:
$ID,146
$MISSION,9
$DIVE,38
$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,-324057.09
$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,38
$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
$GPS1,234839,2256.464,-15756.736,8,99.0,27,10.1
$_CALLS,2
$_XMS_NAKs,15
$_XMS_TOUTs,2
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-68.3
$GPS2,235947,2256.460,-15756.814,12,99.0,31,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,-0.126
$KALMAN_X,-31790.4,-623.1,308.2,30007.4,-301.7
$KALMAN_Y,11360.4,614.3,434.2,888.9,-958.3
$MHEAD_RNG_PITCHd_Wd,109.0,46378,-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,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-88.68,0.000,6,0.000,0.000,470,2188,3653,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.4,-11.7,12,132,11.35,2.55,0.00,0.000,4,0.133,0.039,2713,631,3655,0,0,0,0,0,0
$GC,183,-1.14,-146.0,25.0,-17.0,21,193,0.15,2.50,0.00,0.000,6,0.098,0.020,2747,2213,3655,0,0,0,0,0,0
$GC,460,-1.08,-146.0,59.7,-12.0,48,465,0.00,2.60,0.00,0.000,4,0.000,0.044,2747,631,3655,0,0,0,0,0,0
$GC,494,-1.01,-146.0,64.4,-11.9,50,500,0.15,2.47,0.00,0.000,6,0.115,0.018,2778,2217,3656,0,0,0,0,0,0
$GC,758,-1.01,-146.0,90.8,-9.9,74,763,0.00,2.50,0.00,0.000,4,0.000,0.036,2778,3772,3656,0,0,0,0,0,0
$GC,811,-1.06,-146.0,96.8,-10.9,78,815,0.00,2.42,0.00,0.000,6,0.000,0.022,2778,2222,3656,0,0,0,0,0,0
$GC,1074,-1.11,-146.0,122.7,-9.9,102,1079,0.00,2.58,0.00,0.000,4,0.000,0.044,2778,640,3657,0,0,0,0,0,0
$GC,1122,-1.17,-146.0,126.9,-9.3,105,1127,0.15,2.47,0.00,0.000,6,0.062,0.022,2725,2228,3657,0,0,0,0,0,0
$GC,1385,-1.11,-146.0,156.1,-10.8,129,1390,0.15,2.62,0.00,0.000,4,0.097,0.046,2757,640,3657,0,0,0,0,0,0
$GC,1408,-1.07,-146.0,158.0,-10.6,130,1413,0.00,2.45,0.00,0.000,6,0.000,0.020,2757,2228,3657,0,0,0,0,0,0
$GC,1675,-1.07,-146.0,182.3,-8.6,154,1679,0.00,2.50,0.00,0.000,4,0.000,0.043,2757,3773,3657,0,0,0,0,0,0
$GC,1728,-1.13,-146.0,187.1,-8.4,158,1732,0.00,2.42,0.00,0.000,6,0.000,0.021,2758,2218,3657,0,0,0,0,0,0
$GC,2017,-1.16,-146.0,210.0,-8.0,176,2022,0.00,2.60,0.00,0.000,4,0.000,0.048,2757,632,3657,0,0,0,0,0,0
$GC,2068,-1.22,-146.0,214.1,-8.1,177,2074,0.10,2.45,0.00,0.000,6,0.082,0.028,2716,2210,3657,0,0,0,0,0,0
$GC,2341,-1.22,-146.0,240.0,-9.8,184,2345,0.00,2.65,0.00,0.000,4,0.000,0.051,2715,635,3657,0,0,0,0,0,0
$GC,2357,-1.19,-146.0,241.8,-9.7,184,2362,0.12,2.45,0.00,0.000,6,0.104,0.021,2742,2207,3657,0,0,0,0,0,0
$GC,2619,-1.19,-146.0,262.8,-7.8,191,2624,0.00,2.55,0.00,0.000,4,0.000,0.047,2742,3773,3657,0,0,0,0,0,0
$GC,2670,-1.25,-146.0,267.3,-9.0,192,2674,0.00,2.45,0.00,0.000,6,0.000,0.024,2742,2221,3657,0,0,0,0,0,0
$GC,2943,-1.30,-146.0,287.9,-7.5,199,2948,0.10,2.58,0.00,0.000,4,0.084,0.053,2699,3775,3656,0,0,0,0,0,0
$GC,2971,-1.30,-146.0,290.7,-9.9,199,2975,0.00,2.45,0.00,0.000,6,0.000,0.025,2700,2228,3656,0,0,0,0,0,0
$GC,3220,-1.30,-146.0,315.6,-10.5,205,3225,0.00,2.72,0.00,0.000,4,0.000,0.068,2699,637,3655,0,0,0,0,0,0
$GC,3261,-1.30,-146.0,319.3,-9.2,206,3265,0.00,2.53,0.00,0.000,6,0.000,0.039,2699,2194,3655,0,0,0,0,0,0
$GC,3544,-1.30,-146.0,346.2,-9.6,213,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2193,3654,0,0,0,0,0,0
$GC,3788,-1.30,-146.0,369.0,-9.4,219,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2193,3653,0,0,0,0,0,0
$GC,4031,-1.30,-146.0,392.7,-9.9,225,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2194,3651,0,0,0,0,0,0
$GC,4276,-1.30,-146.0,415.7,-9.3,231,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2194,3650,0,0,0,0,0,0
$GC,4519,-1.30,-146.0,437.9,-8.9,237,4523,0.00,2.75,0.00,0.000,4,0.000,0.065,2699,3793,3648,0,0,0,0,0,0
$GC,4592,-1.30,-146.0,444.7,-9.8,238,4597,0.00,2.65,0.00,0.000,6,0.000,0.044,2699,2210,3647,0,0,0,0,0,0
$GC,4843,-1.30,-146.0,466.4,-8.5,244,4848,0.00,2.75,0.00,0.000,4,0.000,0.066,2699,3790,3645,0,0,0,0,0,0
$GC,4859,-1.30,-146.0,468.2,-8.7,244,4863,0.00,2.65,0.00,0.000,6,0.000,0.052,2699,2209,3645,0,0,0,0,0,0
$GC,5120,-1.30,-146.0,490.4,-8.4,251,5124,0.00,2.75,0.00,0.000,4,0.000,0.071,2699,3785,3644,0,0,0,0,0,0
$GC,5154,-1.30,-146.0,493.4,-9.6,251,5159,0.00,2.65,0.00,0.000,6,0.000,0.056,2699,2220,3644,0,0,0,0,0,0
$GC,5403,-1.30,-146.0,512.2,-7.4,258,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2221,3643,0,0,0,0,0,0
$GC,5647,-1.30,-146.0,530.4,-7.5,264,5652,0.00,2.75,0.00,0.000,4,0.000,0.078,2699,3785,3641,0,0,0,0,0,0
$GC,5698,-1.30,-146.0,534.6,-8.3,265,5702,0.00,2.65,0.00,0.000,6,0.000,0.055,2699,2223,3640,0,0,0,0,0,0
$GC,5970,-1.30,-146.0,556.6,-8.1,272,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2223,3639,0,0,0,0,0,0
$GC,6215,-1.30,-146.0,576.9,-8.4,278,6220,0.00,2.80,0.00,0.000,4,0.000,0.087,2699,3783,3638,0,0,0,0,0,0
$GC,6271,-1.30,-146.0,582.3,-9.6,279,6276,0.00,2.72,0.00,0.000,6,0.000,0.067,2699,2228,3637,0,0,0,0,0,0
$STATE,6494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6494,begin apogee
$GC,6500,-0.31,0.0,602.0,8.6,285,6621,1.02,0.00,117.38,1.022,6,0.074,0.000,2931,2365,3060,0,0,0,0,0,0
$STATE,6622,end apogee,CONTROL_FINISHED_OK
$STATE,6622,begin climb
$GC,6625,1.27,146.0,605.3,0.0,288,6760,1.45,2.90,123.60,0.993,4,0.040,0.091,3284,3931,2463,0,0,0,0,0,0
$GC,6816,1.12,146.0,591.7,12.2,292,6821,0.20,2.78,0.00,0.000,6,0.109,0.065,3244,2370,2459,0,0,0,0,0,0
$GC,7073,1.08,155.7,566.9,9.6,299,7084,0.00,0.00,8.55,0.834,6,0.000,0.000,3244,2370,2425,0,0,0,0,0,0
$GC,7316,1.06,175.2,544.6,9.1,305,7336,0.00,0.00,18.80,0.924,6,0.000,0.000,3244,2370,2345,0,0,0,0,0,0
$GC,7559,1.07,181.3,521.1,9.7,311,7573,0.00,2.85,6.55,0.774,4,0.000,0.069,3244,3934,2319,0,0,0,0,0,0
$GC,7604,1.02,181.3,516.2,11.9,312,7609,0.00,2.70,0.00,0.000,6,0.000,0.050,3244,2371,2318,0,0,0,0,0,0
$GC,7889,1.02,182.5,487.2,9.9,319,7893,0.00,2.72,0.00,0.000,4,0.000,0.064,3244,3933,2316,0,0,0,0,0,0
$GC,7928,0.98,182.5,482.7,11.4,320,7933,0.15,2.65,0.00,0.000,6,0.119,0.052,3215,2380,2316,0,0,0,0,0,0
$GC,8213,1.07,225.2,459.4,8.0,327,8259,0.00,3.08,39.47,0.926,4,0.000,0.106,3214,780,2141,0,0,0,0,0,0
$GC,8296,1.15,246.2,452.6,9.0,329,8323,0.15,2.70,19.73,0.881,6,0.076,0.042,3253,2380,2056,0,0,0,0,0,0
$GC,8580,1.15,246.2,422.5,10.9,336,8584,0.00,2.67,0.00,0.000,4,0.000,0.057,3253,3941,2050,0,0,0,0,0,0
$GC,8664,1.15,246.2,412.3,11.7,338,8668,0.00,2.60,0.00,0.000,6,0.000,0.035,3253,2384,2048,0,0,0,0,0,0
$GC,8948,1.15,246.2,382.2,10.4,345,8952,0.00,2.85,0.00,0.000,4,0.000,0.078,3253,778,2047,0,0,0,0,0,0
$GC,8974,1.15,246.2,379.0,11.2,345,8979,0.00,2.65,0.00,0.000,6,0.000,0.037,3253,2398,2047,0,0,0,0,0,0
$GC,9230,1.15,246.2,351.2,11.1,352,9235,0.00,2.80,0.00,0.000,4,0.000,0.063,3253,781,2046,0,0,0,0,0,0
$GC,9252,1.15,246.2,348.4,13.1,352,9257,0.00,2.62,0.00,0.000,6,0.000,0.031,3253,2388,2046,0,0,0,0,0,0
$GC,9507,1.15,246.2,321.8,10.1,359,9511,0.00,2.75,0.00,0.000,4,0.000,0.058,3253,781,2046,0,0,0,0,0,0
$GC,9533,1.15,246.2,318.8,10.6,359,9538,0.00,2.62,0.00,0.000,6,0.000,0.035,3253,2395,2045,0,0,0,0,0,0
$GC,9784,1.15,246.2,293.1,10.4,365,9789,0.00,2.78,0.00,0.000,4,0.000,0.058,3254,773,2045,0,0,0,0,0,0
$GC,9805,1.15,246.2,290.4,12.1,365,9810,0.00,2.60,0.00,0.000,6,0.000,0.026,3253,2397,2045,0,0,0,0,0,0
$GC,10061,1.15,249.7,263.9,9.8,372,10066,0.00,2.58,0.00,0.000,4,0.000,0.051,3253,3934,2045,0,0,0,0,0,0
$GC,10147,1.15,249.7,254.8,11.1,374,10151,0.00,2.47,0.00,0.000,6,0.000,0.032,3253,2389,2044,0,0,0,0,0,0
$GC,10430,1.15,249.9,226.4,10.0,381,10435,0.00,2.67,0.00,0.000,4,0.000,0.053,3253,788,2045,0,0,0,0,0,0
$GC,10479,1.15,252.6,221.6,9.9,382,10489,0.00,2.58,5.00,0.571,6,0.000,0.032,3253,2402,2030,0,0,0,0,0,0
$GC,10747,1.15,252.6,194.9,10.3,391,10751,0.00,2.67,0.00,0.000,4,0.000,0.048,3253,787,2030,0,0,0,0,0,0
$GC,10790,1.15,252.6,190.0,11.6,394,10794,0.00,2.58,0.00,0.000,6,0.000,0.025,3253,2396,2030,0,0,0,0,0,0
$GC,11057,1.20,252.6,163.4,10.1,418,11062,0.00,2.65,0.00,0.000,4,0.000,0.047,3253,787,2030,0,0,0,0,0,0
$GC,11090,1.20,252.6,159.1,10.4,420,11099,0.00,2.58,0.00,0.000,6,0.000,0.025,3253,2387,2030,0,0,0,0,0,0
$GC,11358,1.27,266.7,134.2,9.3,445,11383,0.10,2.62,14.35,0.627,4,0.091,0.046,3283,3930,1971,0,0,0,0,0,0
$GC,11490,1.27,266.7,118.3,11.9,456,11494,0.00,2.45,0.00,0.000,6,0.000,0.025,3284,2401,1970,0,0,0,0,0,0
$GC,11753,1.27,266.7,91.6,10.3,480,11758,0.00,2.67,0.00,0.000,4,0.000,0.048,3284,787,1970,0,0,0,0,0,0
$GC,11806,1.29,283.6,86.3,9.2,484,11830,0.00,2.58,15.90,0.585,6,0.000,0.024,3284,2405,1902,0,0,0,0,0,0
$GC,12090,1.29,283.6,57.2,10.6,510,12094,0.00,2.50,0.00,0.000,4,0.000,0.043,3284,3927,1901,0,0,0,0,0,0
$GC,12162,1.33,283.6,49.0,10.5,515,12171,0.00,2.47,0.00,0.000,6,0.000,0.025,3284,2401,1901,0,0,0,0,0,0
$GC,12450,1.37,283.6,16.9,11.7,548,12459,0.00,2.67,0.00,0.000,4,0.000,0.045,3284,786,1901,0,0,0,0,0,0
$GC,12504,1.41,283.6,11.0,11.5,555,12513,0.08,2.55,0.00,0.000,6,0.057,0.024,3314,2386,1901,0,0,0,0,0,0
$STATE,12562,end climb,SURFACE_DEPTH_REACHED
$STATE,12562,begin surface coast
$FINISH,-0.3,1.012443
$STATE,12601,end surface coast,CONTROL_FINISHED_OK
$STATE,12601,begin surface
$SM_CCo,12622,77.32,0.531,0,0,1510,380.21
$SM_GC,0.39,0.00,0.00,77.32,0.000,0.000,0.531,468,2175,1510,-11.65,-0.99,380.21
$IRIDIUM_FIX,2246.36,-15756.28,120603,000038
$TT8_MAMPS,0.026078
$HUMID,60.39
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.70
$XPDR_PINGS,26
$24V_AH,23.3,5.823
$10V_AH,10.4,5.014
$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,26.925,173.825,369.325,77.325,0.000,61.789,67.105,309.809,6.500,0.000,34.216,1206.828,8720.271,548.076,2113.452,776.156,33.348,1393.075,0.000,2092.847,0.000,0.534,0.000
$DEVICE_MAMPS,132.691,121.186,1021.644,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.980,321.368,405.880,588.063,1121.213,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,44662,568
$CAP_FILE_SIZE,137412,0
$CFSIZE,260165632,177721344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180314,033336,2255.686,-15755.582,34,1.6,34,10.1