version: 66.06
glider: 146
mission: 9
dive: 43
start: 3 18 114 18 36 27
data:
$ID,146
$MISSION,9
$DIVE,43
$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,-324209.19
$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,44
$R_STBD_OVSHOOT,41
$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
$GPS1,182906,2252.701,-15751.820,39,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-68.7
$GPS2,183531,2252.731,-15751.807,11,1.1,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.095,-0.242
$KALMAN_X,-35020.5,-376.5,-292.1,42124.7,-12.1
$KALMAN_Y,14898.6,-252.6,-95.0,-8171.7,1670.7
$MHEAD_RNG_PITCHd_Wd,148.5,35475,-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,-88.62,0.000,6,0.000,0.000,473,2195,3655,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.4,-11.9,12,131,11.48,2.53,0.00,0.000,4,0.134,0.036,2710,641,3656,0,0,0,0,0,0
$GC,207,-1.16,-146.0,30.7,-16.3,25,216,0.15,2.50,0.00,0.000,6,0.088,0.020,2745,2216,3657,0,0,0,0,0,0
$GC,477,-1.08,-146.0,66.4,-12.4,50,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2217,3657,0,0,0,0,0,0
$GC,741,-1.01,-146.0,98.9,-11.0,75,746,0.15,0.00,0.00,0.000,6,0.108,0.000,2778,2219,3658,0,0,0,0,0,0
$GC,1003,-1.01,-146.0,126.4,-9.9,100,1008,0.00,2.60,0.00,0.000,4,0.000,0.044,2778,645,3658,0,0,0,0,0,0
$GC,1032,-1.01,-146.0,129.8,-11.1,102,1037,0.00,2.42,0.00,0.000,6,0.000,0.019,2778,2211,3658,0,0,0,0,0,0
$GC,1295,-1.01,-146.0,153.2,-9.3,126,1299,0.00,2.53,0.00,0.000,4,0.000,0.038,2778,3778,3658,0,0,0,0,0,0
$GC,1326,-1.06,-146.0,156.1,-9.3,128,1330,0.00,2.47,0.00,0.000,6,0.000,0.021,2778,2199,3658,0,0,0,0,0,0
$GC,1589,-1.12,-146.0,176.9,-7.7,152,1593,0.00,2.55,0.00,0.000,4,0.000,0.045,2778,633,3659,0,0,0,0,0,0
$GC,1612,-1.17,-146.0,178.8,-7.6,153,1623,0.12,2.47,0.00,0.000,6,0.035,0.021,2724,2203,3659,0,0,0,0,0,0
$GC,1884,-1.17,-146.0,203.7,-8.7,176,1889,0.00,2.55,0.00,0.000,4,0.000,0.038,2724,3786,3659,0,0,0,0,0,0
$GC,1919,-1.14,-146.0,207.0,-8.9,176,1925,0.12,2.50,0.00,0.000,6,0.102,0.019,2751,2193,3659,0,0,0,0,0,0
$GC,2169,-1.14,-146.0,228.5,-9.0,183,2173,0.00,2.58,0.00,0.000,4,0.000,0.040,2751,3778,3659,0,0,0,0,0,0
$GC,2208,-1.14,-146.0,231.9,-9.0,184,2212,0.00,2.45,0.00,0.000,6,0.000,0.020,2751,2203,3660,0,0,0,0,0,0
$GC,2493,-1.19,-146.0,256.9,-9.0,191,2497,0.00,2.58,0.00,0.000,4,0.000,0.041,2751,3779,3660,0,0,0,0,0,0
$GC,2509,-1.24,-146.0,258.5,-8.5,191,2513,0.00,2.47,0.00,0.000,6,0.000,0.020,2751,2207,3659,0,0,0,0,0,0
$GC,2770,-1.29,-146.0,280.6,-8.5,198,2772,0.12,0.00,0.00,0.000,6,0.071,0.000,2703,2207,3659,0,0,0,0,0,0
$GC,3015,-1.25,-146.0,304.8,-9.7,204,3020,0.12,2.65,0.00,0.000,4,0.105,0.061,2729,641,3659,0,0,0,0,0,0
$GC,3036,-1.25,-146.0,306.8,-8.3,204,3041,0.00,2.50,0.00,0.000,6,0.000,0.035,2729,2203,3659,0,0,0,0,0,0
$GC,3292,-1.25,-146.0,325.2,-7.3,211,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2203,3658,0,0,0,0,0,0
$GC,3537,-1.25,-146.0,344.2,-7.8,217,3541,0.00,2.65,0.00,0.000,4,0.000,0.052,2729,3787,3657,0,0,0,0,0,0
$GC,3587,-1.29,-146.0,348.2,-8.1,218,3591,0.00,2.50,0.00,0.000,6,0.000,0.029,2729,2232,3657,0,0,0,0,0,0
$GC,3859,-1.29,-146.0,367.4,-6.9,225,3863,0.00,2.80,0.00,0.000,4,0.000,0.077,2729,624,3655,0,0,0,0,0,0
$GC,3881,-1.29,-146.0,369.0,-7.0,225,3886,0.00,2.58,0.00,0.000,6,0.000,0.044,2729,2209,3655,0,0,0,0,0,0
$GC,4137,-1.34,-146.0,387.7,-7.3,232,4141,0.00,2.67,0.00,0.000,4,0.000,0.055,2729,3793,3654,0,0,0,0,0,0
$GC,4153,-1.38,-146.0,389.1,-7.3,232,4158,0.15,2.55,0.00,0.000,6,0.068,0.034,2681,2223,3654,0,0,0,0,0,0
$GC,4416,-1.34,-146.0,413.8,-9.6,239,4421,0.12,2.65,0.00,0.000,4,0.107,0.055,2708,3793,3652,0,0,0,0,0,0
$GC,4471,-1.34,-146.0,419.6,-9.6,240,4476,0.00,2.60,0.00,0.000,6,0.000,0.041,2708,2225,3652,0,0,0,0,0,0
$GC,4739,-1.34,-146.0,442.5,-8.4,247,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2225,3650,0,0,0,0,0,0
$GC,4982,-1.34,-146.0,463.9,-8.8,253,4986,0.00,2.95,0.00,0.000,4,0.000,0.100,2708,619,3648,0,0,0,0,0,0
$GC,5026,-1.34,-146.0,468.0,-9.5,254,5030,0.00,2.70,0.00,0.000,6,0.000,0.048,2708,2233,3648,0,0,0,0,0,0
$GC,5305,-1.34,-146.0,491.7,-8.6,261,5309,0.00,2.70,0.00,0.000,4,0.000,0.069,2708,3794,3646,0,0,0,0,0,0
$GC,5378,-1.34,-146.0,498.4,-9.4,262,5383,0.00,2.62,0.00,0.000,6,0.000,0.054,2708,2240,3646,0,0,0,0,0,0
$GC,5628,-1.34,-146.0,517.8,-7.7,268,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2240,3644,0,0,0,0,0,0
$GC,5873,-1.34,-146.0,535.1,-7.2,274,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2240,3642,0,0,0,0,0,0
$GC,6115,-1.34,-146.0,553.8,-7.8,280,6120,0.00,2.78,0.00,0.000,4,0.000,0.080,2708,3795,3641,0,0,0,0,0,0
$GC,6149,-1.34,-146.0,556.4,-8.6,280,6155,0.00,2.67,0.00,0.000,6,0.000,0.063,2708,2241,3641,0,0,0,0,0,0
$GC,6401,-1.38,-146.0,575.8,-7.6,287,6406,0.00,2.78,0.00,0.000,4,0.000,0.084,2708,3798,3640,0,0,0,0,0,0
$GC,6428,-1.38,-146.0,578.1,-7.7,287,6432,0.00,2.67,0.00,0.000,6,0.000,0.063,2708,2257,3639,0,0,0,0,0,0
$GC,6678,-1.42,-146.0,597.1,-7.7,293,6683,0.00,2.78,0.00,0.000,4,0.000,0.094,2708,3794,3637,0,0,0,0,0,0
$GC,6706,-1.42,-146.0,599.5,-9.0,293,6711,0.00,2.70,0.00,0.000,6,0.000,0.071,2708,2262,3638,0,0,0,0,0,0
$STATE,6750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6751,begin apogee
$GC,6757,-0.31,0.0,603.3,8.3,294,6878,1.00,0.00,117.80,1.029,6,0.073,0.000,2934,2381,3060,0,0,0,0,0,0
$STATE,6880,end apogee,CONTROL_FINISHED_OK
$STATE,6880,begin climb
$GC,6882,1.27,146.0,607.2,0.0,297,7017,1.42,2.88,123.35,0.999,4,0.039,0.087,3282,3932,2464,0,0,0,0,0,0
$GC,7085,1.12,146.0,593.8,12.2,301,7092,0.17,2.80,0.00,0.000,6,0.112,0.065,3247,2360,2460,0,0,0,0,0,0
$GC,7337,1.09,167.7,571.0,9.0,308,7362,0.00,2.90,19.35,0.934,4,0.000,0.077,3247,3935,2375,0,0,0,0,0,0
$GC,7384,1.02,167.7,566.0,10.5,309,7389,0.12,2.75,0.00,0.000,6,0.123,0.057,3223,2371,2374,0,0,0,0,0,0
$GC,7657,1.04,188.1,541.3,9.1,316,7678,0.00,0.00,19.17,0.929,6,0.000,0.000,3223,2371,2292,0,0,0,0,0,0
$GC,7900,1.04,188.1,516.8,10.2,322,7904,0.00,3.05,0.00,0.000,4,0.000,0.115,3223,781,2288,0,0,0,0,0,0
$GC,7927,1.04,188.1,513.8,10.8,322,7931,0.00,2.72,0.00,0.000,6,0.000,0.055,3223,2370,2286,0,0,0,0,0,0
$GC,8177,1.05,194.6,489.3,9.7,328,8185,0.00,0.00,6.57,0.780,6,0.000,0.000,3223,2371,2266,0,0,0,0,0,0
$GC,8422,1.09,224.5,467.8,8.6,334,8456,0.00,2.80,27.75,0.927,4,0.000,0.067,3223,3934,2143,0,0,0,0,0,0
$GC,8467,1.13,256.3,463.5,8.5,335,8504,0.10,2.62,29.35,0.908,6,0.094,0.037,3249,2371,2014,0,0,0,0,0,0
$GC,8750,1.13,256.3,433.0,11.0,342,8755,0.00,2.90,0.00,0.000,4,0.000,0.087,3249,777,2009,0,0,0,0,0,0
$GC,8782,1.13,256.3,428.8,11.6,342,8788,0.00,2.70,0.00,0.000,6,0.000,0.038,3249,2396,2008,0,0,0,0,0,0
$GC,9032,1.13,256.3,400.1,11.6,349,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2396,2007,0,0,0,0,0,0
$GC,9276,1.13,256.3,372.1,11.5,355,9280,0.00,2.60,0.00,0.000,4,0.000,0.054,3249,3939,2006,0,0,0,0,0,0
$GC,9292,1.13,256.3,370.0,12.0,355,9297,0.00,2.60,0.00,0.000,6,0.000,0.031,3250,2363,2005,0,0,0,0,0,0
$GC,9553,1.13,256.3,340.0,11.3,362,9557,0.00,2.67,0.00,0.000,4,0.000,0.050,3249,3942,2005,0,0,0,0,0,0
$GC,9575,1.13,256.3,337.4,11.7,362,9580,0.00,2.55,0.00,0.000,6,0.000,0.028,3249,2378,2004,0,0,0,0,0,0
$GC,9831,1.13,256.3,308.1,11.6,369,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2379,2004,0,0,0,0,0,0
$GC,10073,1.13,256.3,282.4,10.5,375,10078,0.00,2.67,0.00,0.000,4,0.000,0.057,3249,787,2004,0,0,0,0,0,0
$GC,10113,1.13,256.3,278.1,10.9,376,10117,0.00,2.60,0.00,0.000,6,0.000,0.034,3249,2396,2004,0,0,0,0,0,0
$GC,10398,1.17,261.0,250.2,9.8,383,10402,0.00,2.67,0.00,0.000,4,0.000,0.051,3249,788,2004,0,0,0,0,0,0
$GC,10419,1.19,273.2,247.9,9.4,383,10439,0.00,2.55,14.50,0.747,6,0.000,0.025,3249,2384,1946,0,0,0,0,0,0
$GC,10719,1.23,273.2,218.3,10.1,391,10723,0.00,2.58,0.00,0.000,4,0.000,0.048,3249,3928,1943,0,0,0,0,0,0
$GC,10775,1.28,273.2,212.1,11.7,392,10780,0.12,2.50,0.00,0.000,6,0.080,0.026,3286,2370,1942,0,0,0,0,0,0
$GC,11040,1.28,273.2,179.9,11.6,410,11044,0.00,2.62,0.00,0.000,4,0.000,0.050,3286,788,1942,0,0,0,0,0,0
$GC,11074,1.28,273.2,176.5,12.7,412,11078,0.00,2.53,0.00,0.000,6,0.000,0.025,3286,2373,1941,0,0,0,0,0,0
$GC,11336,1.28,273.2,144.8,11.7,436,11341,0.00,2.62,0.00,0.000,4,0.000,0.046,3286,777,1941,0,0,0,0,0,0
$GC,11358,1.28,273.2,142.8,10.7,437,11362,0.00,2.53,0.00,0.000,6,0.000,0.027,3286,2368,1942,0,0,0,0,0,0
$GC,11625,1.28,273.2,112.7,11.0,461,11630,0.00,2.55,0.00,0.000,4,0.000,0.044,3286,3923,1942,0,0,0,0,0,0
$GC,11671,1.32,273.2,106.5,11.8,464,11680,0.00,2.50,0.00,0.000,6,0.000,0.025,3286,2373,1941,0,0,0,0,0,0
$GC,11937,1.32,273.2,78.4,10.1,489,11942,0.00,2.58,0.00,0.000,4,0.000,0.045,3286,788,1942,0,0,0,0,0,0
$GC,11969,1.32,273.2,74.7,10.9,491,11974,0.00,2.50,0.00,0.000,6,0.000,0.023,3286,2387,1942,0,0,0,0,0,0
$GC,12238,1.32,273.2,45.9,11.5,515,12243,0.00,2.53,0.00,0.000,4,0.000,0.044,3286,3925,1942,0,0,0,0,0,0
$GC,12296,1.32,273.2,38.5,11.7,519,12301,0.00,2.45,0.00,0.000,6,0.000,0.024,3286,2371,1943,0,0,0,0,0,0
$GC,12606,1.32,273.2,4.5,10.4,560,12615,0.00,2.60,0.00,0.000,4,0.000,0.046,3286,797,1943,0,0,0,0,0,0
$STATE,12623,end climb,SURFACE_DEPTH_REACHED
$STATE,12623,begin surface coast
$FINISH,1.3,1.023891
$STATE,12639,end surface coast,CONTROL_FINISHED_OK
$STATE,12639,begin surface
$SM_CCo,12662,86.47,0.532,0,0,1509,380.21
$SM_GC,0.39,0.00,0.00,86.47,0.000,0.000,0.532,469,2213,1509,-11.65,0.08,380.21
$IRIDIUM_FIX,2246.36,-15748.90,120603,141434
$TT8_MAMPS,0.026078
$HUMID,59.52
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.10
$XPDR_PINGS,17
$24V_AH,23.3,6.484
$10V_AH,10.4,5.585
$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,26.850,173.300,357.850,86.475,0.000,24.216,34.683,192.478,4.250,0.000,12.859,1188.488,8821.090,557.992,1998.861,569.283,33.351,1363.693,0.000,1999.930,0.000,0.535,0.000
$DEVICE_MAMPS,134.225,115.050,1028.547,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.060,312.682,397.292,572.732,1089.499,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,44714,564
$CAP_FILE_SIZE,131777,0
$CFSIZE,260165632,177414144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180314,221054,2251.999,-15751.267,75,1.1,75,10.1