version: 66.06
glider: 146
mission: 9
dive: 41
start: 3 18 114 11 12 41
data:
$ID,146
$MISSION,9
$DIVE,41
$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,-324160
$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,37
$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
$GPS1,110419,2253.709,-15753.483,28,2.0,41,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-69.0
$GPS2,111148,2253.687,-15753.493,11,2.0,29,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.243,-0.092
$KALMAN_X,-33919.2,535.5,317.4,36632.2,-1170.0
$KALMAN_Y,13331.3,-270.9,449.3,-5352.6,-720.4
$MHEAD_RNG_PITCHd_Wd,100.6,38737,-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,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-88.62,0.000,6,0.000,0.000,466,2163,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.6,-11.8,12,132,11.45,2.45,0.00,0.000,4,0.133,0.038,2714,657,3657,0,0,0,0,0,0
$GC,143,0.09,-146.0,18.0,-40.6,15,153,1.35,2.45,0.00,0.000,6,0.081,0.019,3014,2216,3658,0,0,0,0,0,0
$GC,442,-0.48,-146.0,46.2,-9.0,50,448,0.47,2.55,0.00,0.000,4,0.052,0.041,2892,657,3658,0,0,0,0,0,0
$GC,502,-0.95,-146.0,51.0,-6.7,54,508,0.40,2.40,0.00,0.000,6,0.042,0.018,2783,2208,3658,0,0,0,0,0,0
$GC,771,-0.95,-146.0,73.3,-5.3,78,776,0.00,2.55,0.00,0.000,4,0.000,0.036,2783,3778,3658,0,0,0,0,0,0
$GC,819,-1.00,-146.0,77.1,-8.4,81,824,0.00,2.45,0.00,0.000,6,0.000,0.021,2782,2214,3658,0,0,0,0,0,0
$GC,1087,-1.00,-146.0,104.5,-10.4,105,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2214,3659,0,0,0,0,0,0
$GC,1350,-1.05,-146.0,130.3,-9.2,130,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2213,3660,0,0,0,0,0,0
$GC,1608,-1.11,-146.0,151.7,-8.3,154,1613,0.10,0.00,0.00,0.000,6,0.083,0.000,2741,2213,3660,0,0,0,0,0,0
$GC,1869,-1.11,-146.0,179.1,-10.4,179,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2213,3660,0,0,0,0,0,0
$GC,2123,-1.11,-146.0,205.3,-10.2,200,2127,0.00,2.58,0.00,0.000,4,0.000,0.045,2741,632,3661,0,0,0,0,0,0
$GC,2146,-1.11,-146.0,207.6,-9.9,200,2150,0.00,2.45,0.00,0.000,6,0.000,0.026,2741,2215,3661,0,0,0,0,0,0
$GC,2401,-1.11,-146.0,230.2,-8.5,207,2405,0.00,2.55,0.00,0.000,4,0.000,0.040,2741,3780,3661,0,0,0,0,0,0
$GC,2416,-1.11,-146.0,231.6,-8.3,207,2421,0.00,2.47,0.00,0.000,6,0.000,0.020,2741,2204,3661,0,0,0,0,0,0
$GC,2679,-1.11,-146.0,254.8,-9.4,214,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2204,3661,0,0,0,0,0,0
$GC,2921,-1.11,-146.0,276.4,-8.4,220,2926,0.00,2.58,0.00,0.000,4,0.000,0.043,2741,3776,3661,0,0,0,0,0,0
$GC,2938,-1.11,-146.0,277.6,-7.7,220,2942,0.00,2.45,0.00,0.000,6,0.000,0.021,2741,2212,3660,0,0,0,0,0,0
$GC,3200,-1.16,-146.0,297.2,-7.2,227,3204,0.00,2.65,0.00,0.000,4,0.000,0.061,2741,636,3661,0,0,0,0,0,0
$GC,3244,-1.22,-146.0,300.6,-7.3,228,3249,0.00,2.50,0.00,0.000,6,0.000,0.031,2741,2205,3660,0,0,0,0,0,0
$GC,3524,-1.27,-146.0,319.8,-6.7,235,3528,0.00,2.65,0.00,0.000,4,0.000,0.050,2741,3794,3660,0,0,0,0,0,0
$GC,3545,-1.31,-146.0,321.4,-6.6,235,3551,0.12,2.53,0.00,0.000,6,0.069,0.025,2697,2225,3660,0,0,0,0,0,0
$GC,3801,-1.31,-146.0,342.7,-8.7,242,3805,0.00,2.62,0.00,0.000,4,0.000,0.054,2697,3794,3659,0,0,0,0,0,0
$GC,3823,-1.31,-146.0,344.9,-9.5,242,3828,0.00,2.55,0.00,0.000,6,0.000,0.032,2697,2211,3658,0,0,0,0,0,0
$GC,4079,-1.31,-146.0,367.1,-8.9,249,4084,0.00,2.78,0.00,0.000,4,0.000,0.074,2696,621,3657,0,0,0,0,0,0
$GC,4134,-1.31,-146.0,372.9,-10.7,250,4138,0.00,2.58,0.00,0.000,6,0.000,0.036,2696,2210,3656,0,0,0,0,0,0
$GC,4402,-1.31,-146.0,399.5,-10.0,257,4406,0.00,2.67,0.00,0.000,4,0.000,0.057,2696,3796,3655,0,0,0,0,0,0
$GC,4486,-1.31,-146.0,408.1,-9.9,259,4490,0.00,2.60,0.00,0.000,6,0.000,0.039,2697,2225,3654,0,0,0,0,0,0
$GC,4769,-1.31,-146.0,432.2,-8.4,266,4774,0.00,2.90,0.00,0.000,4,0.000,0.093,2696,622,3653,0,0,0,0,0,0
$GC,4786,-1.31,-146.0,433.6,-8.2,266,4791,0.00,2.65,0.00,0.000,6,0.000,0.049,2696,2214,3653,0,0,0,0,0,0
$GC,5046,-1.31,-146.0,454.4,-7.8,273,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2214,3650,0,0,0,0,0,0
$GC,5290,-1.31,-146.0,474.8,-8.4,279,5295,0.00,2.70,0.00,0.000,4,0.000,0.074,2696,3794,3649,0,0,0,0,0,0
$GC,5318,-1.31,-146.0,477.2,-8.8,279,5323,0.00,2.65,0.00,0.000,6,0.000,0.051,2696,2223,3649,0,0,0,0,0,0
$GC,5568,-1.31,-146.0,498.1,-8.2,285,5573,0.00,2.72,0.00,0.000,4,0.000,0.066,2696,3793,3648,0,0,0,0,0,0
$GC,5584,-1.31,-146.0,499.6,-8.4,285,5589,0.00,2.65,0.00,0.000,6,0.000,0.048,2696,2214,3647,0,0,0,0,0,0
$GC,5846,-1.31,-146.0,522.0,-8.6,292,5851,0.00,2.95,0.00,0.000,4,0.000,0.107,2697,623,3645,0,0,0,0,0,0
$GC,5868,-1.31,-146.0,524.1,-8.5,292,5872,0.00,2.70,0.00,0.000,6,0.000,0.054,2696,2215,3645,0,0,0,0,0,0
$GC,6123,-1.31,-146.0,546.1,-8.7,299,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2216,3644,0,0,0,0,0,0
$GC,6368,-1.31,-146.0,566.6,-8.2,305,6372,0.00,2.85,0.00,0.000,4,0.000,0.098,2696,3796,3642,0,0,0,0,0,0
$GC,6417,-1.31,-146.0,570.8,-8.9,306,6422,0.00,2.75,0.00,0.000,6,0.000,0.068,2696,2209,3641,0,0,0,0,0,0
$GC,6689,-1.31,-146.0,591.0,-7.1,313,6694,0.00,2.88,0.00,0.000,4,0.000,0.087,2696,3801,3640,0,0,0,0,0,0
$GC,6711,-1.31,-146.0,592.6,-7.1,313,6716,0.00,2.78,0.00,0.000,6,0.000,0.069,2696,2225,3640,0,0,0,0,0,0
$STATE,6842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6842,begin apogee
$GC,6848,-0.31,0.0,601.6,6.7,317,6970,1.05,0.00,118.12,1.028,6,0.073,0.000,2933,2375,3060,0,0,0,0,0,0
$STATE,6971,end apogee,CONTROL_FINISHED_OK
$STATE,6971,begin climb
$GC,6973,1.27,146.0,602.2,0.0,320,7108,1.42,2.88,123.57,0.994,4,0.039,0.083,3282,3937,2462,0,0,0,0,0,0
$GC,7119,1.13,146.0,591.0,12.2,323,7125,0.17,2.78,0.00,0.000,6,0.114,0.063,3247,2370,2460,0,0,0,0,0,0
$GC,7376,1.07,146.0,561.9,11.2,330,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2369,2454,0,0,0,0,0,0
$GC,7619,1.01,146.0,536.6,10.3,336,7624,0.12,2.78,0.00,0.000,4,0.130,0.069,3224,3934,2452,0,0,0,0,0,0
$GC,7635,0.97,151.9,534.9,9.7,336,7645,0.00,2.67,4.47,0.658,6,0.000,0.050,3224,2370,2440,0,0,0,0,0,0
$GC,7902,1.00,176.1,511.1,8.9,343,7927,0.00,0.00,23.02,0.932,6,0.000,0.000,3224,2370,2341,0,0,0,0,0,0
$GC,8145,1.03,200.7,489.5,8.9,349,8174,0.00,3.15,23.05,0.920,4,0.000,0.115,3223,782,2241,0,0,0,0,0,0
$GC,8219,1.03,200.7,482.1,10.8,350,8223,0.00,2.72,0.00,0.000,6,0.000,0.048,3223,2377,2238,0,0,0,0,0,0
$GC,8470,1.03,201.8,457.3,10.0,356,8475,0.00,2.70,0.00,0.000,4,0.000,0.061,3223,3939,2235,0,0,0,0,0,0
$GC,8510,1.03,201.8,452.9,10.9,357,8514,0.00,2.65,0.00,0.000,6,0.000,0.038,3223,2363,2235,0,0,0,0,0,0
$GC,8792,1.03,201.8,424.6,10.1,364,8797,0.00,2.85,0.00,0.000,4,0.000,0.087,3223,781,2233,0,0,0,0,0,0
$GC,8832,1.03,201.8,420.5,11.7,365,8837,0.00,2.65,0.00,0.000,6,0.000,0.038,3223,2382,2232,0,0,0,0,0,0
$GC,9116,1.06,223.7,394.1,9.0,372,9141,0.00,2.67,20.30,0.875,4,0.000,0.054,3223,3933,2148,0,0,0,0,0,0
$GC,9186,1.06,223.7,386.9,10.6,373,9190,0.00,2.58,0.00,0.000,6,0.000,0.037,3223,2384,2145,0,0,0,0,0,0
$GC,9438,1.12,234.1,363.0,9.5,379,9453,0.00,2.88,10.50,0.805,4,0.000,0.073,3223,776,2104,0,0,0,0,0,0
$GC,9481,1.12,237.1,358.4,9.9,380,9491,0.10,2.62,3.97,0.562,6,0.093,0.031,3251,2387,2093,0,0,0,0,0,0
$GC,9765,1.12,237.1,326.0,11.7,387,9766,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2387,2091,0,0,0,0,0,0
$GC,10008,1.12,237.1,298.1,11.2,393,10012,0.00,2.60,0.00,0.000,4,0.000,0.052,3251,3934,2091,0,0,0,0,0,0
$GC,10091,1.12,237.1,288.2,11.9,395,10096,0.00,2.53,0.00,0.000,6,0.000,0.028,3251,2387,2089,0,0,0,0,0,0
$GC,10376,1.13,240.2,259.0,9.9,402,10380,0.00,2.70,0.00,0.000,4,0.000,0.058,3251,786,2089,0,0,0,0,0,0
$GC,10453,1.13,240.2,250.6,10.5,403,10459,0.00,2.55,0.00,0.000,6,0.000,0.028,3251,2386,2089,0,0,0,0,0,0
$GC,10703,1.13,240.2,223.9,10.8,410,10707,0.00,2.58,0.00,0.000,4,0.000,0.049,3251,3930,2088,0,0,0,0,0,0
$GC,10731,1.13,240.2,220.6,11.2,410,10735,0.00,2.53,0.00,0.000,6,0.000,0.027,3251,2373,2088,0,0,0,0,0,0
$GC,10983,1.19,253.1,194.9,9.4,419,11008,0.00,2.67,14.85,0.705,4,0.000,0.048,3251,3922,2027,0,0,0,0,0,0
$GC,11056,1.24,253.1,187.7,10.4,425,11060,0.00,2.45,0.00,0.000,6,0.000,0.027,3251,2404,2026,0,0,0,0,0,0
$GC,11319,1.33,279.4,164.9,8.8,449,11353,0.15,2.75,23.70,0.685,4,0.072,0.050,3294,783,1920,0,0,0,0,0,0
$GC,11381,1.28,279.4,158.0,12.8,454,11386,0.00,2.60,0.00,0.000,6,0.000,0.031,3294,2407,1919,0,0,0,0,0,0
$GC,11644,1.28,279.4,125.3,12.5,478,11648,0.00,2.53,0.00,0.000,4,0.000,0.044,3294,3933,1918,0,0,0,0,0,0
$GC,11712,1.28,279.4,116.5,13.4,483,11716,0.00,2.45,0.00,0.000,6,0.000,0.025,3295,2400,1917,0,0,0,0,0,0
$GC,11978,1.30,290.8,87.4,9.5,507,11997,0.00,0.00,11.38,0.571,6,0.000,0.000,3294,2400,1873,0,0,0,0,0,0
$GC,12257,1.30,290.8,55.6,11.9,533,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2400,1872,0,0,0,0,0,0
$GC,12536,1.30,290.8,21.7,10.6,563,12545,0.00,2.55,0.00,0.000,4,0.000,0.043,3295,3923,1872,0,0,0,0,0,0
$GC,12555,1.30,290.8,19.1,11.7,565,12565,0.00,2.40,0.00,0.000,6,0.000,0.022,3295,2421,1872,0,0,0,0,0,0
$STATE,12684,end climb,SURFACE_DEPTH_REACHED
$STATE,12684,begin surface coast
$FINISH,0.1,1.023949
$STATE,12723,end surface coast,CONTROL_FINISHED_OK
$STATE,12723,begin surface
$SM_CCo,12745,71.97,0.532,0,0,1509,380.21
$SM_GC,0.28,0.00,0.00,71.97,0.000,0.000,0.532,472,2182,1509,-11.63,-0.79,380.21
$IRIDIUM_FIX,2248.70,-15753.23,120603,070721
$TT8_MAMPS,0.026078
$HUMID,60.27
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.80
$XPDR_PINGS,20
$24V_AH,23.3,6.232
$10V_AH,10.4,5.358
$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,28.425,164.275,376.950,71.975,0.000,29.136,38.553,228.654,5.000,0.000,30.935,1215.343,8733.264,549.922,2161.858,604.918,33.351,1388.129,0.000,2144.002,0.000,0.536,0.000
$DEVICE_MAMPS,133.458,115.050,1027.780,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,399.958,334.390,425.610,633.775,1208.064,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,44804,589
$CAP_FILE_SIZE,131303,0
$CFSIZE,260165632,177541120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180314,144737,2252.936,-15752.743,35,1.5,36,10.1