version: 66.06
glider: 146
mission: 9
dive: 45
start: 3 19 114 2 2 31
data:
$ID,146
$MISSION,9
$DIVE,45
$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,-324243.19
$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,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,51
$R_STBD_OVSHOOT,38
$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
$GPS1,015505,2250.889,-15750.143,36,1.4,36,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-68.7
$GPS2,020136,2250.858,-15750.213,14,1.8,17,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.174
$KALMAN_X,-36045.1,-283.3,105.2,45385.7,-349.6
$KALMAN_Y,15845.9,576.0,-158.8,-13346.1,-6.9
$MHEAD_RNG_PITCHd_Wd,122.1,31078,-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,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-89.20,0.000,6,0.000,0.000,474,2187,3653,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.4,-11.2,12,132,11.38,2.53,0.00,0.000,4,0.133,0.037,2717,640,3654,0,0,0,0,0,0
$GC,215,-1.16,-146.0,30.1,-14.7,26,220,0.15,2.47,0.00,0.000,6,0.111,0.019,2748,2220,3655,0,0,0,0,0,0
$GC,484,-1.10,-146.0,64.1,-12.5,50,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2220,3656,0,0,0,0,0,0
$GC,749,-1.04,-146.0,99.0,-12.9,75,754,0.12,2.60,0.00,0.000,4,0.116,0.043,2775,644,3656,0,0,0,0,0,0
$GC,766,-0.99,-146.0,101.7,-12.7,76,770,0.00,2.40,0.00,0.000,6,0.000,0.018,2775,2217,3656,0,0,0,0,0,0
$GC,1030,-0.99,-146.0,127.9,-9.7,100,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2217,3657,0,0,0,0,0,0
$GC,1297,-1.03,-146.0,150.4,-8.4,125,1301,0.00,2.55,0.00,0.000,4,0.000,0.044,2774,652,3657,0,0,0,0,0,0
$GC,1315,-1.08,-146.0,152.3,-8.1,126,1320,0.00,2.42,0.00,0.000,6,0.000,0.021,2774,2221,3657,0,0,0,0,0,0
$GC,1579,-1.14,-146.0,173.6,-7.9,150,1583,0.00,2.58,0.00,0.000,4,0.000,0.044,2774,647,3657,0,0,0,0,0,0
$GC,1621,-1.20,-146.0,177.1,-8.3,153,1626,0.15,2.42,0.00,0.000,6,0.061,0.019,2722,2208,3657,0,0,0,0,0,0
$GC,1901,-1.20,-146.0,203.6,-9.2,176,1906,0.00,2.53,0.00,0.000,4,0.000,0.039,2722,3778,3657,0,0,0,0,0,0
$GC,1930,-1.20,-146.0,206.3,-9.6,176,1935,0.00,2.45,0.00,0.000,6,0.000,0.028,2722,2222,3657,0,0,0,0,0,0
$GC,2180,-1.20,-146.0,229.8,-9.4,182,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2222,3658,0,0,0,0,0,0
$GC,2424,-1.20,-146.0,251.5,-8.6,188,2428,0.00,2.62,0.00,0.000,4,0.000,0.051,2721,641,3658,0,0,0,0,0,0
$GC,2486,-1.20,-146.0,257.0,-9.4,189,2490,0.00,2.50,0.00,0.000,6,0.000,0.031,2722,2226,3658,0,0,0,0,0,0
$GC,2746,-1.20,-146.0,279.4,-8.5,196,2751,0.00,2.65,0.00,0.000,4,0.000,0.053,2721,636,3658,0,0,0,0,0,0
$GC,2786,-1.20,-146.0,282.8,-8.8,197,2790,0.00,2.53,0.00,0.000,6,0.000,0.034,2722,2217,3657,0,0,0,0,0,0
$GC,3070,-1.20,-146.0,306.5,-8.3,204,3074,0.00,2.60,0.00,0.000,4,0.000,0.048,2722,3787,3657,0,0,0,0,0,0
$GC,3125,-1.20,-146.0,311.8,-9.7,205,3130,0.00,2.47,0.00,0.000,6,0.000,0.025,2721,2239,3657,0,0,0,0,0,0
$GC,3392,-1.20,-146.0,334.8,-8.6,212,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2239,3655,0,0,0,0,0,0
$GC,3637,-1.20,-146.0,357.1,-9.0,218,3641,0.00,2.60,0.00,0.000,4,0.000,0.051,2721,3785,3654,0,0,0,0,0,0
$GC,3677,-1.24,-146.0,360.8,-9.4,219,3681,0.00,2.53,0.00,0.000,6,0.000,0.036,2721,2238,3654,0,0,0,0,0,0
$GC,3961,-1.24,-146.0,384.9,-8.3,226,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2238,3653,0,0,0,0,0,0
$GC,4203,-1.24,-146.0,402.4,-7.2,232,4208,0.00,2.88,0.00,0.000,4,0.000,0.087,2721,631,3651,0,0,0,0,0,0
$GC,4225,-1.24,-146.0,404.1,-6.9,232,4229,0.00,2.60,0.00,0.000,6,0.000,0.044,2721,2225,3651,0,0,0,0,0,0
$GC,4480,-1.24,-146.0,422.1,-7.1,239,4484,0.00,2.67,0.00,0.000,4,0.000,0.060,2722,3800,3649,0,0,0,0,0,0
$GC,4508,-1.24,-146.0,424.2,-7.1,239,4513,0.00,2.60,0.00,0.000,6,0.000,0.045,2722,2233,3649,0,0,0,0,0,0
$GC,4759,-1.28,-146.0,444.2,-8.1,245,4763,0.00,2.92,0.00,0.000,4,0.000,0.097,2721,626,3648,0,0,0,0,0,0
$GC,4786,-1.33,-146.0,446.7,-8.8,245,4791,0.00,2.67,0.00,0.000,6,0.000,0.046,2721,2227,3647,0,0,0,0,0,0
$GC,5038,-1.37,-146.0,468.1,-8.6,251,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2227,3646,0,0,0,0,0,0
$GC,5280,-1.41,-146.0,488.7,-8.3,257,5285,0.10,2.70,0.00,0.000,4,0.085,0.074,2685,3794,3644,0,0,0,0,0,0
$GC,5359,-1.41,-146.0,496.7,-10.3,258,5365,0.00,2.62,0.00,0.000,6,0.000,0.048,2685,2242,3644,0,0,0,0,0,0
$GC,5609,-1.41,-146.0,520.2,-9.3,265,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2242,3643,0,0,0,0,0,0
$GC,5853,-1.41,-146.0,541.1,-8.5,271,5857,0.00,2.72,0.00,0.000,4,0.000,0.074,2685,3793,3641,0,0,0,0,0,0
$GC,5885,-1.41,-146.0,544.0,-8.9,271,5891,0.00,2.65,0.00,0.000,6,0.000,0.061,2685,2246,3641,0,0,0,0,0,0
$GC,6135,-1.41,-146.0,564.3,-8.1,278,6140,0.00,2.75,0.00,0.000,4,0.000,0.080,2685,3797,3639,0,0,0,0,0,0
$GC,6168,-1.41,-146.0,567.1,-8.5,278,6173,0.00,2.65,0.00,0.000,6,0.000,0.059,2685,2260,3639,0,0,0,0,0,0
$GC,6418,-1.41,-146.0,587.2,-7.9,285,6423,0.00,2.75,0.00,0.000,4,0.000,0.085,2685,3798,3638,0,0,0,0,0,0
$GC,6453,-1.41,-146.0,590.0,-8.7,285,6459,0.00,2.70,0.00,0.000,6,0.000,0.067,2685,2257,3637,0,0,0,0,0,0
$STATE,6579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6579,begin apogee
$GC,6585,-0.31,0.0,600.9,8.4,289,6706,1.10,0.00,117.55,1.019,6,0.074,0.000,2934,2378,3060,0,0,0,0,0,0
$STATE,6707,end apogee,CONTROL_FINISHED_OK
$STATE,6707,begin climb
$GC,6709,1.27,146.0,603.8,0.0,292,6845,1.45,2.90,123.85,0.990,4,0.038,0.085,3288,3932,2462,0,0,0,0,0,0
$GC,6895,1.11,146.0,590.4,12.1,296,6901,0.20,2.78,0.00,0.000,6,0.108,0.064,3247,2369,2458,0,0,0,0,0,0
$GC,7159,1.08,167.1,565.6,9.0,303,7184,0.00,2.88,18.40,0.920,4,0.000,0.077,3248,3923,2377,0,0,0,0,0,0
$GC,7235,1.02,167.1,557.4,11.8,304,7240,0.10,2.70,0.00,0.000,6,0.134,0.054,3228,2373,2375,0,0,0,0,0,0
$GC,7486,1.05,190.5,535.1,8.9,310,7510,0.00,0.00,21.60,0.927,6,0.000,0.000,3228,2373,2283,0,0,0,0,0,0
$GC,7729,1.06,201.9,511.9,9.5,316,7747,0.00,2.75,11.43,0.868,4,0.000,0.062,3228,3931,2236,0,0,0,0,0,0
$GC,7771,1.06,201.9,507.6,10.7,317,7775,0.00,2.67,0.00,0.000,6,0.000,0.051,3228,2382,2234,0,0,0,0,0,0
$GC,8055,1.07,206.9,479.8,9.8,324,8064,0.00,0.00,5.47,0.717,6,0.000,0.000,3228,2382,2215,0,0,0,0,0,0
$GC,8344,1.10,229.2,453.0,9.0,331,8372,0.00,3.05,21.35,0.898,4,0.000,0.106,3228,779,2123,0,0,0,0,0,0
$GC,8425,1.10,229.2,444.9,10.4,332,8430,0.00,2.70,0.00,0.000,6,0.000,0.044,3228,2391,2121,0,0,0,0,0,0
$GC,8675,1.13,229.2,419.0,10.5,339,8680,0.10,2.65,0.00,0.000,4,0.097,0.058,3254,3942,2120,0,0,0,0,0,0
$GC,8719,1.13,229.2,413.5,13.4,340,8723,0.00,2.60,0.00,0.000,6,0.000,0.041,3254,2385,2119,0,0,0,0,0,0
$GC,8998,1.13,229.2,379.9,12.2,347,9002,0.00,2.83,0.00,0.000,4,0.000,0.076,3254,782,2119,0,0,0,0,0,0
$GC,9058,1.13,229.2,372.2,12.4,348,9062,0.00,2.62,0.00,0.000,6,0.000,0.031,3254,2395,2117,0,0,0,0,0,0
$GC,9319,1.13,229.2,343.8,10.9,355,9323,0.00,2.60,0.00,0.000,4,0.000,0.058,3254,3935,2117,0,0,0,0,0,0
$GC,9347,1.13,229.2,340.8,10.9,355,9351,0.00,2.55,0.00,0.000,6,0.000,0.029,3254,2377,2116,0,0,0,0,0,0
$GC,9597,1.13,229.2,314.8,10.4,361,9598,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2377,2116,0,0,0,0,0,0
$GC,9840,1.13,229.2,290.6,10.1,367,9845,0.00,2.62,0.00,0.000,4,0.000,0.048,3254,3935,2116,0,0,0,0,0,0
$GC,9917,1.13,229.2,282.1,10.4,368,9923,0.00,2.55,0.00,0.000,6,0.000,0.028,3254,2365,2116,0,0,0,0,0,0
$GC,10169,1.14,235.9,258.1,9.7,375,10180,0.00,2.65,5.68,0.631,4,0.000,0.052,3254,789,2098,0,0,0,0,0,0
$GC,10219,1.16,249.5,253.2,9.4,376,10238,0.00,2.55,13.62,0.742,6,0.000,0.033,3254,2371,2043,0,0,0,0,0,0
$GC,10496,1.20,253.0,226.3,9.8,383,10502,0.00,0.00,4.55,0.544,6,0.000,0.000,3254,2372,2028,0,0,0,0,0,0
$GC,10739,1.26,268.1,203.2,9.3,389,10760,0.10,2.65,14.90,0.695,4,0.093,0.046,3283,3934,1966,0,0,0,0,0,0
$GC,10840,1.26,268.1,191.6,12.6,395,10844,0.00,2.53,0.00,0.000,6,0.000,0.026,3283,2379,1965,0,0,0,0,0,0
$GC,11102,1.26,268.1,159.8,11.6,419,11106,0.00,2.65,0.00,0.000,4,0.000,0.049,3283,786,1964,0,0,0,0,0,0
$GC,11178,1.26,268.1,150.0,12.4,425,11183,0.00,2.53,0.00,0.000,6,0.000,0.025,3283,2379,1963,0,0,0,0,0,0
$GC,11444,1.26,268.1,119.5,11.9,449,11449,0.00,2.53,0.00,0.000,4,0.000,0.045,3283,3923,1963,0,0,0,0,0,0
$GC,11523,1.26,268.1,110.3,11.2,455,11528,0.00,2.47,0.00,0.000,6,0.000,0.025,3283,2375,1963,0,0,0,0,0,0
$GC,11791,1.33,287.3,86.0,9.1,479,11815,0.00,2.65,18.02,0.590,4,0.000,0.047,3283,791,1886,0,0,0,0,0,0
$GC,11852,1.38,292.2,79.6,9.8,484,11867,0.00,2.50,5.40,0.466,6,0.000,0.023,3284,2379,1868,0,0,0,0,0,0
$GC,12123,1.41,292.2,52.7,11.1,509,12128,0.12,2.58,0.00,0.000,4,0.077,0.045,3321,3927,1868,0,0,0,0,0,0
$GC,12156,1.41,292.2,48.1,14.0,511,12160,0.00,2.50,0.00,0.000,6,0.000,0.026,3321,2372,1868,0,0,0,0,0,0
$GC,12452,1.37,292.2,11.1,10.5,546,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2372,1868,0,0,0,0,0,0
$STATE,12502,end climb,SURFACE_DEPTH_REACHED
$STATE,12502,begin surface coast
$FINISH,-0.3,1.015755
$STATE,12538,end surface coast,CONTROL_FINISHED_OK
$STATE,12538,begin surface
$SM_CCo,12561,70.80,0.528,0,0,1509,380.21
$SM_GC,0.29,0.00,0.00,70.80,0.000,0.000,0.528,470,2177,1509,-11.66,-0.93,380.21
$IRIDIUM_FIX,2244.02,-15751.94,120603,222254
$TT8_MAMPS,0.026078
$HUMID,60.47
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.10
$XPDR_PINGS,21
$24V_AH,23.3,6.750
$10V_AH,10.4,5.816
$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,26.575,158.050,381.825,70.800,0.000,27.406,35.044,187.650,5.250,0.000,19.186,1177.530,8689.379,552.167,2045.624,558.051,33.356,1369.890,0.000,2040.633,0.000,0.534,0.000
$DEVICE_MAMPS,134.225,105.846,1019.343,528.463,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.794,311.287,395.350,572.971,1090.356,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,44630,558
$CAP_FILE_SIZE,129382,0
$CFSIZE,260165632,177295360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190314,053424,2249.917,-15749.224,39,1.1,39,10.1