version: 66.06
glider: 146
mission: 9
dive: 44
start: 3 18 114 22 24 9
data:
$ID,146
$MISSION,9
$DIVE,44
$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,-324223.38
$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,3004
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,221054,2251.999,-15751.267,75,1.1,75,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-69.7
$GPS2,222313,2252.019,-15751.256,12,1.2,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.178,-0.189
$KALMAN_X,-35549.3,-584.9,261.8,43255.1,-210.7
$KALMAN_Y,15409.9,251.2,481.2,-11075.3,183.7
$MHEAD_RNG_PITCHd_Wd,126.6,33866,-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,16,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-87.75,0.000,6,0.000,0.000,468,2214,3655,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.8,-12.2,12,131,11.43,2.58,0.00,0.000,4,0.131,0.035,2718,629,3656,0,0,0,0,0,0
$GC,202,-1.17,-146.0,28.0,-15.1,24,211,0.10,2.53,0.00,0.000,6,0.089,0.019,2742,2223,3657,0,0,0,0,0,0
$GC,481,-1.09,-146.0,63.3,-13.1,50,490,0.10,0.00,0.00,0.000,6,0.126,0.000,2764,2224,3658,0,0,0,0,0,0
$GC,747,-1.09,-146.0,94.2,-10.9,75,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2224,3658,0,0,0,0,0,0
$GC,1008,-1.09,-146.0,123.2,-10.1,100,1012,0.00,2.60,0.00,0.000,4,0.000,0.043,2764,634,3658,0,0,0,0,0,0
$GC,1042,-1.09,-146.0,126.7,-10.3,102,1052,0.00,2.47,0.00,0.000,6,0.000,0.020,2764,2204,3658,0,0,0,0,0,0
$GC,1310,-1.09,-146.0,150.2,-9.2,127,1315,0.00,2.58,0.00,0.000,4,0.000,0.044,2764,633,3658,0,0,0,0,0,0
$GC,1328,-1.09,-146.0,152.7,-9.4,128,1332,0.00,2.42,0.00,0.000,6,0.000,0.020,2764,2211,3658,0,0,0,0,0,0
$GC,1592,-1.14,-146.0,176.0,-8.3,152,1597,0.00,2.58,0.00,0.000,4,0.000,0.044,2764,635,3659,0,0,0,0,0,0
$GC,1628,-1.17,-146.0,178.9,-9.4,154,1632,0.00,2.40,0.00,0.000,6,0.000,0.025,2763,2190,3659,0,0,0,0,0,0
$GC,1896,-1.22,-146.0,200.6,-7.4,178,1898,0.12,0.00,0.00,0.000,6,0.071,0.000,2717,2191,3658,0,0,0,0,0,0
$GC,2133,-1.18,-146.0,225.5,-10.5,184,2138,0.12,2.58,0.00,0.000,4,0.102,0.047,2745,630,3659,0,0,0,0,0,0
$GC,2149,-1.18,-146.0,227.1,-9.9,184,2154,0.00,2.40,0.00,0.000,6,0.000,0.026,2745,2184,3658,0,0,0,0,0,0
$GC,2412,-1.18,-146.0,249.6,-8.6,191,2416,0.00,2.58,0.00,0.000,4,0.000,0.041,2745,3776,3658,0,0,0,0,0,0
$GC,2456,-1.22,-146.0,253.8,-9.1,192,2461,0.00,2.53,0.00,0.000,6,0.000,0.021,2745,2176,3659,0,0,0,0,0,0
$GC,2734,-1.22,-146.0,277.2,-8.2,199,2738,0.00,2.60,0.00,0.000,4,0.000,0.042,2745,3774,3658,0,0,0,0,0,0
$GC,2768,-1.26,-146.0,279.9,-7.9,199,2773,0.00,2.50,0.00,0.000,6,0.000,0.022,2745,2194,3658,0,0,0,0,0,0
$GC,3018,-1.31,-146.0,300.5,-8.3,206,3023,0.12,2.65,0.00,0.000,4,0.072,0.045,2700,3782,3658,0,0,0,0,0,0
$GC,3034,-1.31,-146.0,302.1,-8.2,206,3039,0.00,2.50,0.00,0.000,6,0.000,0.023,2700,2208,3658,0,0,0,0,0,0
$GC,3297,-1.26,-146.0,326.4,-9.2,213,3299,0.12,0.00,0.00,0.000,6,0.105,0.000,2727,2208,3657,0,0,0,0,0,0
$GC,3539,-1.26,-146.0,347.0,-8.4,219,3543,0.00,2.60,0.00,0.000,4,0.000,0.051,2726,3771,3656,0,0,0,0,0,0
$GC,3588,-1.26,-146.0,351.4,-8.6,220,3593,0.00,2.50,0.00,0.000,6,0.000,0.030,2726,2216,3656,0,0,0,0,0,0
$GC,3862,-1.26,-146.0,374.3,-8.2,227,3866,0.00,2.60,0.00,0.000,4,0.000,0.052,2726,3770,3654,0,0,0,0,0,0
$GC,3912,-1.30,-146.0,378.7,-8.4,228,3916,0.00,2.55,0.00,0.000,6,0.000,0.038,2726,2217,3654,0,0,0,0,0,0
$GC,4185,-1.34,-146.0,400.5,-7.9,235,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2217,3653,0,0,0,0,0,0
$GC,4428,-1.38,-146.0,418.6,-7.5,241,4430,0.10,0.00,0.00,0.000,6,0.086,0.000,2689,2216,3651,0,0,0,0,0,0
$GC,4671,-1.38,-146.0,441.3,-9.4,247,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2216,3649,0,0,0,0,0,0
$GC,4916,-1.38,-146.0,464.1,-9.2,253,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2216,3648,0,0,0,0,0,0
$GC,5159,-1.38,-146.0,485.0,-8.5,259,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2216,3646,0,0,0,0,0,0
$GC,5402,-1.38,-146.0,505.4,-8.3,265,5407,0.00,2.72,0.00,0.000,4,0.000,0.078,2689,3765,3645,0,0,0,0,0,0
$GC,5424,-1.38,-146.0,507.3,-8.8,265,5428,0.00,2.62,0.00,0.000,6,0.000,0.052,2689,2228,3645,0,0,0,0,0,0
$GC,5680,-1.38,-146.0,528.4,-8.3,272,5685,0.00,2.72,0.00,0.000,4,0.000,0.081,2689,3770,3643,0,0,0,0,0,0
$GC,5707,-1.38,-146.0,531.1,-9.3,272,5711,0.00,2.65,0.00,0.000,6,0.000,0.055,2689,2224,3643,0,0,0,0,0,0
$GC,5957,-1.38,-146.0,553.9,-9.2,278,5962,0.00,2.75,0.00,0.000,4,0.000,0.079,2689,3770,3641,0,0,0,0,0,0
$GC,5998,-1.38,-146.0,557.7,-9.9,279,6002,0.00,2.65,0.00,0.000,6,0.000,0.059,2689,2235,3641,0,0,0,0,0,0
$GC,6281,-1.38,-146.0,583.1,-8.5,286,6286,0.00,2.78,0.00,0.000,4,0.000,0.091,2689,3770,3639,0,0,0,0,0,0
$GC,6320,-1.38,-146.0,586.5,-8.5,287,6325,0.00,2.67,0.00,0.000,6,0.000,0.067,2689,2242,3639,0,0,0,0,0,0
$STATE,6519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6519,begin apogee
$GC,6527,-0.31,0.0,602.9,7.9,292,6648,1.10,0.00,117.93,1.019,6,0.074,0.000,2937,2343,3060,0,0,0,0,0,0
$STATE,6649,end apogee,CONTROL_FINISHED_OK
$STATE,6649,begin climb
$GC,6652,1.27,146.0,605.3,0.0,295,6788,1.48,2.95,123.70,0.992,4,0.038,0.086,3291,3934,2463,0,0,0,0,0,0
$GC,6806,1.11,146.0,595.6,11.1,299,6812,0.22,2.80,0.00,0.000,6,0.107,0.065,3245,2367,2461,0,0,0,0,0,0
$GC,7091,1.09,169.4,569.4,8.9,306,7117,0.00,2.85,20.42,0.930,4,0.000,0.075,3245,3934,2369,0,0,0,0,0,0
$GC,7163,1.03,169.4,562.3,11.1,307,7167,0.00,2.72,0.00,0.000,6,0.000,0.057,3245,2376,2366,0,0,0,0,0,0
$GC,7413,0.99,169.4,537.6,10.1,313,7418,0.12,2.78,0.00,0.000,4,0.130,0.067,3222,3936,2363,0,0,0,0,0,0
$GC,7454,0.99,169.4,533.6,10.1,314,7458,0.00,2.67,0.00,0.000,6,0.000,0.053,3221,2391,2363,0,0,0,0,0,0
$GC,7737,0.99,170.8,505.6,9.9,321,7742,0.00,3.12,0.00,0.000,4,0.000,0.123,3221,783,2361,0,0,0,0,0,0
$GC,7776,0.99,171.6,501.6,10.0,322,7781,0.00,2.75,0.00,0.000,6,0.000,0.052,3221,2386,2360,0,0,0,0,0,0
$GC,8060,0.99,172.3,473.6,10.0,329,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2386,2359,0,0,0,0,0,0
$GC,8303,1.02,193.4,451.0,9.0,335,8331,0.00,2.90,21.38,0.898,4,0.000,0.075,3221,780,2270,0,0,0,0,0,0
$GC,8349,1.04,205.8,446.6,9.4,336,8369,0.00,2.70,12.18,0.844,6,0.000,0.038,3221,2390,2220,0,0,0,0,0,0
$GC,8632,1.09,222.7,420.2,9.2,343,8655,0.00,2.70,16.23,0.867,4,0.000,0.055,3222,3939,2151,0,0,0,0,0,0
$GC,8667,1.13,247.6,416.7,8.8,343,8697,0.12,2.62,23.35,0.870,6,0.084,0.031,3253,2369,2050,0,0,0,0,0,0
$GC,8961,1.13,247.6,385.3,10.8,351,8966,0.00,2.78,0.00,0.000,4,0.000,0.074,3253,785,2046,0,0,0,0,0,0
$GC,8988,1.13,247.6,381.9,11.3,351,8992,0.00,2.62,0.00,0.000,6,0.000,0.033,3253,2388,2044,0,0,0,0,0,0
$GC,9238,1.13,247.6,354.6,11.1,357,9242,0.00,2.58,0.00,0.000,4,0.000,0.052,3253,3926,2044,0,0,0,0,0,0
$GC,9293,1.13,247.6,347.8,12.4,358,9298,0.00,2.55,0.00,0.000,6,0.000,0.031,3253,2368,2042,0,0,0,0,0,0
$GC,9559,1.13,247.6,318.0,11.2,365,9564,0.00,2.62,0.00,0.000,4,0.000,0.049,3253,3931,2042,0,0,0,0,0,0
$GC,9586,1.13,247.6,314.7,12.9,365,9590,0.00,2.55,0.00,0.000,6,0.000,0.028,3253,2365,2041,0,0,0,0,0,0
$GC,9837,1.13,247.6,286.0,11.3,371,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2365,2041,0,0,0,0,0,0
$GC,10080,1.13,247.6,261.4,10.1,377,10084,0.00,2.67,0.00,0.000,4,0.000,0.055,3253,777,2041,0,0,0,0,0,0
$GC,10120,1.13,247.6,257.2,11.1,378,10124,0.00,2.60,0.00,0.000,6,0.000,0.027,3253,2395,2040,0,0,0,0,0,0
$GC,10404,1.15,267.3,230.8,9.1,385,10429,0.00,2.65,17.12,0.732,4,0.000,0.050,3253,3927,1969,0,0,0,0,0,0
$GC,10463,1.20,267.3,224.7,11.1,386,10467,0.00,2.50,0.00,0.000,6,0.000,0.027,3253,2394,1968,0,0,0,0,0,0
$GC,10729,1.24,267.3,197.5,10.5,393,10734,0.00,2.70,0.00,0.000,4,0.000,0.051,3253,780,1967,0,0,0,0,0,0
$GC,10800,1.29,267.3,189.7,10.7,398,10806,0.15,2.58,0.00,0.000,6,0.074,0.025,3294,2419,1966,0,0,0,0,0,0
$GC,11062,1.29,267.3,157.5,12.3,423,11066,0.00,2.70,0.00,0.000,4,0.000,0.045,3294,780,1966,0,0,0,0,0,0
$GC,11118,1.29,267.3,150.4,13.9,427,11123,0.00,2.55,0.00,0.000,6,0.000,0.027,3294,2393,1966,0,0,0,0,0,0
$GC,11384,1.29,267.3,117.6,11.1,451,11389,0.00,2.53,0.00,0.000,4,0.000,0.045,3294,3924,1966,0,0,0,0,0,0
$GC,11443,1.29,267.3,110.0,12.1,455,11448,0.00,2.47,0.00,0.000,6,0.000,0.025,3294,2378,1966,0,0,0,0,0,0
$GC,11705,1.29,267.3,81.2,10.5,480,11709,0.00,2.60,0.00,0.000,4,0.000,0.046,3294,780,1966,0,0,0,0,0,0
$GC,11749,1.29,267.3,76.6,10.5,483,11753,0.00,2.55,0.00,0.000,6,0.000,0.024,3294,2393,1966,0,0,0,0,0,0
$GC,12018,1.29,267.3,48.7,11.1,507,12022,0.00,2.53,0.00,0.000,4,0.000,0.045,3294,3934,1966,0,0,0,0,0,0
$GC,12051,1.29,267.3,44.3,12.3,509,12055,0.00,2.42,0.00,0.000,6,0.000,0.025,3294,2393,1967,0,0,0,0,0,0
$GC,12348,1.29,267.3,11.3,10.0,545,12357,0.00,2.65,0.00,0.000,4,0.000,0.048,3294,795,1968,0,0,0,0,0,0
$GC,12375,1.29,267.3,8.0,11.8,548,12385,0.00,2.53,0.00,0.000,6,0.000,0.022,3294,2388,1968,0,0,0,0,0,0
$STATE,12414,end climb,SURFACE_DEPTH_REACHED
$STATE,12414,begin surface coast
$FINISH,-0.3,1.023860
$STATE,12463,end surface coast,CONTROL_FINISHED_OK
$STATE,12463,begin surface
$SM_CCo,12485,92.05,0.529,0,0,1510,380.21
$SM_GC,0.28,0.00,0.00,92.05,0.000,0.000,0.529,474,2187,1510,-11.64,-0.65,380.21
$IRIDIUM_FIX,2241.69,-15751.94,120603,222246
$TT8_MAMPS,0.026078
$HUMID,58.78
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.10
$XPDR_PINGS,18
$24V_AH,23.3,6.625
$10V_AH,10.4,5.703
$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,26.750,163.275,352.300,92.050,0.000,55.419,70.983,407.945,4.500,0.000,13.572,1179.319,8695.493,554.477,2025.572,862.182,33.356,1358.750,0.000,2033.612,0.000,0.537,0.000
$DEVICE_MAMPS,131.157,122.720,1019.343,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.503,314.760,399.007,585.626,1116.334,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355768
$DATA_FILE_SIZE,44726,560
$CAP_FILE_SIZE,133801,0
$CFSIZE,260165632,177352704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190314,015505,2250.889,-15750.143,36,1.4,36,10.1