version: 66.06
glider: 146
mission: 9
dive: 40
start: 3 18 114 7 28 38
data:
$ID,146
$MISSION,9
$DIVE,40
$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,-324128.44
$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,27
$R_STBD_OVSHOOT,39
$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
$GPS1,071707,2254.975,-15754.430,34,1.9,34,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-69.6
$GPS2,072745,2255.022,-15754.440,33,2.1,52,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.148,-0.214
$KALMAN_X,-33126.6,470.9,-275.9,34876.9,340.1
$KALMAN_Y,12983.0,282.3,138.7,-2782.9,301.1
$MHEAD_RNG_PITCHd_Wd,135.3,41647,-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,-89.18,0.000,6,0.000,0.000,469,2205,3656,0,0,0,0,0,0
$GC,113,-1.27,-146.0,4.2,-10.7,12,131,11.43,2.55,0.00,0.000,4,0.133,0.035,2716,624,3657,0,0,0,0,0,0
$GC,216,-1.16,-146.0,30.1,-16.2,26,221,0.15,2.50,0.00,0.000,6,0.110,0.020,2746,2221,3658,0,0,0,0,0,0
$GC,483,-1.07,-146.0,62.8,-12.7,50,488,0.10,2.65,0.00,0.000,4,0.127,0.040,2767,619,3658,0,0,0,0,0,0
$GC,531,-1.07,-146.0,70.0,-12.4,53,536,0.00,2.47,0.00,0.000,6,0.000,0.018,2766,2204,3658,0,0,0,0,0,0
$GC,796,-1.07,-146.0,95.2,-11.1,77,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2204,3658,0,0,0,0,0,0
$GC,1058,-1.07,-146.0,121.5,-10.1,102,1062,0.00,2.53,0.00,0.000,4,0.000,0.038,2766,3775,3659,0,0,0,0,0,0
$GC,1110,-1.07,-146.0,127.2,-10.2,106,1114,0.00,2.47,0.00,0.000,6,0.000,0.021,2767,2189,3659,0,0,0,0,0,0
$GC,1379,-1.07,-146.0,151.0,-8.9,130,1383,0.00,2.55,0.00,0.000,4,0.000,0.044,2766,636,3659,0,0,0,0,0,0
$GC,1396,-1.07,-146.0,153.3,-9.0,131,1400,0.00,2.45,0.00,0.000,6,0.000,0.022,2766,2213,3659,0,0,0,0,0,0
$GC,1658,-1.07,-146.0,177.6,-8.8,155,1663,0.00,2.50,0.00,0.000,4,0.000,0.041,2767,3773,3660,0,0,0,0,0,0
$GC,1694,-1.12,-146.0,180.8,-8.7,157,1700,0.00,2.45,0.00,0.000,6,0.000,0.028,2766,2212,3660,0,0,0,0,0,0
$GC,1966,-1.17,-146.0,204.5,-8.9,180,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2213,3660,0,0,0,0,0,0
$GC,2210,-1.22,-146.0,224.6,-8.1,186,2215,0.12,2.60,0.00,0.000,4,0.071,0.048,2718,634,3660,0,0,0,0,0,0
$GC,2243,-1.18,-146.0,228.0,-10.4,186,2249,0.12,2.45,0.00,0.000,6,0.104,0.025,2745,2206,3660,0,0,0,0,0,0
$GC,2493,-1.18,-146.0,249.8,-8.6,193,2497,0.00,2.58,0.00,0.000,4,0.000,0.049,2745,644,3660,0,0,0,0,0,0
$GC,2539,-1.23,-146.0,254.0,-9.1,194,2543,0.00,2.45,0.00,0.000,6,0.000,0.028,2745,2198,3660,0,0,0,0,0,0
$GC,2817,-1.27,-146.0,275.5,-7.7,201,2821,0.00,2.58,0.00,0.000,4,0.000,0.043,2745,3783,3660,0,0,0,0,0,0
$GC,2872,-1.33,-146.0,280.4,-8.7,202,2877,0.15,2.50,0.00,0.000,6,0.062,0.022,2692,2206,3660,0,0,0,0,0,0
$GC,3140,-1.29,-146.0,308.2,-10.4,209,3142,0.12,0.00,0.00,0.000,6,0.106,0.000,2719,2206,3660,0,0,0,0,0,0
$GC,3383,-1.29,-146.0,327.6,-7.9,215,3387,0.00,2.67,0.00,0.000,4,0.000,0.069,2720,640,3659,0,0,0,0,0,0
$GC,3416,-1.29,-146.0,330.6,-8.8,215,3422,0.00,2.47,0.00,0.000,6,0.000,0.031,2720,2186,3659,0,0,0,0,0,0
$GC,3666,-1.29,-146.0,353.2,-9.1,222,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2186,3658,0,0,0,0,0,0
$GC,3910,-1.29,-146.0,373.3,-8.0,228,3914,0.00,2.67,0.00,0.000,4,0.000,0.056,2719,3792,3656,0,0,0,0,0,0
$GC,3931,-1.29,-146.0,375.1,-8.4,228,3936,0.00,2.58,0.00,0.000,6,0.000,0.040,2719,2221,3657,0,0,0,0,0,0
$GC,4187,-1.29,-146.0,394.2,-7.2,235,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2221,3655,0,0,0,0,0,0
$GC,4431,-1.29,-146.0,412.0,-7.3,241,4435,0.00,2.67,0.00,0.000,4,0.000,0.057,2719,3790,3653,0,0,0,0,0,0
$GC,4458,-1.29,-146.0,414.1,-7.9,241,4462,0.00,2.62,0.00,0.000,6,0.000,0.048,2719,2214,3653,0,0,0,0,0,0
$GC,4709,-1.33,-146.0,431.5,-6.8,247,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2214,3651,0,0,0,0,0,0
$GC,4952,-1.37,-146.0,449.0,-7.3,253,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2214,3649,0,0,0,0,0,0
$GC,5195,-1.41,-146.0,466.8,-7.4,259,5201,0.10,2.75,0.00,0.000,4,0.086,0.072,2683,3786,3647,0,0,0,0,0,0
$GC,5224,-1.41,-146.0,469.1,-8.3,259,5229,0.00,2.65,0.00,0.000,6,0.000,0.048,2683,2215,3647,0,0,0,0,0,0
$GC,5474,-1.41,-146.0,488.2,-7.2,265,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2215,3646,0,0,0,0,0,0
$GC,5718,-1.41,-146.0,506.6,-7.7,271,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2215,3644,0,0,0,0,0,0
$GC,5963,-1.41,-146.0,527.1,-8.8,277,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2215,3642,0,0,0,0,0,0
$GC,6205,-1.41,-146.0,548.7,-8.7,283,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2215,3641,0,0,0,0,0,0
$GC,6449,-1.41,-146.0,568.7,-8.2,289,6454,0.00,2.90,0.00,0.000,4,0.000,0.103,2683,3789,3639,0,0,0,0,0,0
$GC,6465,-1.41,-146.0,570.1,-8.1,289,6469,0.00,2.72,0.00,0.000,6,0.000,0.061,2683,2210,3640,0,0,0,0,0,0
$GC,6727,-1.41,-146.0,591.1,-8.2,296,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2210,3638,0,0,0,0,0,0
$STATE,6844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6845,begin apogee
$GC,6851,-0.31,0.0,601.2,8.2,299,6972,1.10,0.00,117.45,1.031,6,0.075,0.000,2931,2375,3060,0,0,0,0,0,0
$STATE,6972,end apogee,CONTROL_FINISHED_OK
$STATE,6973,begin climb
$GC,6975,1.27,146.0,603.7,0.0,302,7110,1.45,2.88,123.35,0.999,4,0.041,0.091,3281,3927,2463,0,0,0,0,0,0
$GC,7144,1.11,146.0,592.6,11.3,306,7149,0.17,2.78,0.00,0.000,6,0.114,0.063,3245,2370,2459,0,0,0,0,0,0
$GC,7423,1.12,190.6,569.2,7.9,313,7469,0.00,3.12,39.17,0.966,4,0.000,0.117,3245,778,2281,0,0,0,0,0,0
$GC,7506,1.08,201.8,562.3,9.5,315,7523,0.00,2.78,11.00,0.865,6,0.000,0.060,3245,2357,2237,0,0,0,0,0,0
$GC,7790,1.07,226.5,537.1,8.9,322,7820,0.00,2.92,22.77,0.935,4,0.000,0.081,3245,3934,2135,0,0,0,0,0,0
$GC,7833,1.04,234.7,533.1,9.6,323,7847,0.00,2.72,8.43,0.818,6,0.000,0.050,3245,2362,2104,0,0,0,0,0,0
$GC,8121,1.04,234.7,504.5,10.0,330,8126,0.00,3.08,0.00,0.000,4,0.000,0.120,3245,778,2099,0,0,0,0,0,0
$GC,8143,1.00,234.7,502.0,11.3,330,8148,0.12,2.70,0.00,0.000,6,0.127,0.049,3222,2377,2098,0,0,0,0,0,0
$GC,8398,1.00,234.7,475.3,10.5,337,8403,0.00,2.70,0.00,0.000,4,0.000,0.063,3222,3944,2097,0,0,0,0,0,0
$GC,8420,1.00,234.7,472.7,11.6,337,8425,0.00,2.65,0.00,0.000,6,0.000,0.040,3222,2359,2096,0,0,0,0,0,0
$GC,8675,1.00,237.0,447.1,9.9,344,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2359,2096,0,0,0,0,0,0
$GC,8919,1.04,237.0,422.1,10.3,350,8924,0.00,2.85,0.00,0.000,4,0.000,0.089,3221,783,2095,0,0,0,0,0,0
$GC,8940,1.04,237.0,419.7,10.2,350,8944,0.00,2.62,0.00,0.000,6,0.000,0.036,3221,2375,2094,0,0,0,0,0,0
$GC,9197,1.09,242.2,394.5,9.8,357,9206,0.00,0.00,6.85,0.760,6,0.000,0.000,3221,2375,2072,0,0,0,0,0,0
$GC,9440,1.14,243.4,370.7,9.9,363,9445,0.12,2.65,0.00,0.000,4,0.084,0.059,3254,3934,2071,0,0,0,0,0,0
$GC,9472,1.14,243.4,366.6,12.1,363,9479,0.00,2.62,0.00,0.000,6,0.000,0.035,3255,2351,2070,0,0,0,0,0,0
$GC,9724,1.14,243.4,337.2,11.9,370,9728,0.00,2.75,0.00,0.000,4,0.000,0.072,3254,777,2070,0,0,0,0,0,0
$GC,9745,1.14,243.4,334.5,11.6,370,9749,0.00,2.55,0.00,0.000,6,0.000,0.029,3254,2351,2069,0,0,0,0,0,0
$GC,10000,1.14,243.4,306.2,11.2,377,10001,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2351,2069,0,0,0,0,0,0
$GC,10245,1.14,243.4,281.0,10.2,383,10246,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2351,2069,0,0,0,0,0,0
$GC,10487,1.15,247.8,257.1,9.8,389,10501,0.00,2.65,6.30,0.663,4,0.000,0.049,3254,3935,2049,0,0,0,0,0,0
$GC,10535,1.15,247.8,252.0,10.5,390,10539,0.00,2.58,0.00,0.000,6,0.000,0.027,3254,2333,2048,0,0,0,0,0,0
$GC,10814,1.15,247.8,224.1,10.1,397,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2333,2048,0,0,0,0,0,0
$GC,11057,1.19,251.0,199.5,9.9,403,11069,0.00,2.70,4.40,0.509,4,0.000,0.045,3254,3934,2036,0,0,0,0,0,0
$GC,11104,1.23,251.0,194.5,11.2,407,11109,0.00,2.58,0.00,0.000,6,0.000,0.033,3255,2344,2036,0,0,0,0,0,0
$GC,11369,1.28,251.0,168.1,10.7,431,11374,0.10,2.60,0.00,0.000,4,0.093,0.049,3285,784,2036,0,0,0,0,0,0
$GC,11390,1.28,251.0,165.0,12.4,432,11400,0.00,2.53,0.00,0.000,6,0.000,0.028,3285,2361,2035,0,0,0,0,0,0
$GC,11658,1.28,251.0,133.4,12.2,457,11662,0.00,2.58,0.00,0.000,4,0.000,0.044,3285,3925,2035,0,0,0,0,0,0
$GC,11712,1.28,251.0,125.8,14.1,461,11717,0.00,2.55,0.00,0.000,6,0.000,0.025,3285,2332,2035,0,0,0,0,0,0
$GC,11980,1.31,274.4,98.8,8.9,485,12008,0.00,2.72,21.88,0.610,4,0.000,0.045,3285,3944,1940,0,0,0,0,0,0
$GC,12081,1.35,274.4,88.1,10.1,493,12086,0.00,2.53,0.00,0.000,6,0.000,0.025,3285,2372,1938,0,0,0,0,0,0
$GC,12348,1.44,349.1,67.7,6.5,518,12418,0.12,0.00,63.75,0.584,6,0.079,0.000,3323,2372,1634,0,0,0,0,0,0
$GC,12690,1.39,349.1,17.4,16.1,555,12699,0.00,2.62,0.00,0.000,4,0.000,0.044,3323,3923,1631,0,0,0,0,0,0
$GC,12717,1.39,349.1,12.4,17.3,558,12727,0.00,2.53,0.00,0.000,6,0.000,0.029,3323,2383,1629,0,0,0,0,0,0
$STATE,12775,end climb,SURFACE_DEPTH_REACHED
$STATE,12775,begin surface coast
$FINISH,-0.2,1.023932
$STATE,12811,end surface coast,CONTROL_FINISHED_OK
$STATE,12811,begin surface
$SM_CCo,12833,24.05,0.516,0,0,1508,380.21
$SM_GC,0.28,0.00,0.00,24.05,0.000,0.000,0.516,467,2164,1508,-11.66,-1.30,380.21
$IRIDIUM_FIX,2246.36,-15720.65,120603,070703
$TT8_MAMPS,0.026078
$HUMID,61.02
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.00
$XPDR_PINGS,17
$24V_AH,23.3,6.103
$10V_AH,10.4,5.237
$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,27.075,143.100,425.350,24.050,0.000,57.406,80.749,254.270,4.250,0.000,54.479,1154.646,9155.971,507.275,1972.887,704.728,33.356,1303.662,0.000,1936.326,0.000,0.534,0.000
$DEVICE_MAMPS,132.691,120.419,1030.848,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.054,305.338,401.114,567.873,1082.465,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,44615,571
$CAP_FILE_SIZE,127608,0
$CFSIZE,260165632,177606656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180314,110419,2253.709,-15753.483,28,2.0,41,10.1