version: 66.06
glider: 146
mission: 9
dive: 46
start: 3 19 114 5 45 57
data:
$ID,146
$MISSION,9
$DIVE,46
$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,-324260.28
$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,55
$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
$GPS1,053424,2249.917,-15749.224,39,1.1,39,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-71.0
$GPS2,054501,2250.010,-15749.314,14,1.9,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.128,-0.226
$KALMAN_X,-36725.4,162.9,-420.5,47680.9,265.5
$KALMAN_Y,16614.3,481.4,-330.0,-15424.6,770.6
$MHEAD_RNG_PITCHd_Wd,140.4,28882,-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,-88.43,0.000,6,0.000,0.000,469,2177,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.7,-12.4,12,132,11.43,2.62,0.00,0.000,4,0.133,0.031,2717,3789,3657,0,0,0,0,0,0
$GC,266,-1.18,-146.0,38.7,-12.1,30,276,0.10,2.50,0.00,0.000,6,0.084,0.022,2743,2229,3658,0,0,0,0,0,0
$GC,534,-1.10,-146.0,70.9,-12.9,55,544,0.10,0.00,0.00,0.000,6,0.125,0.000,2763,2229,3658,0,0,0,0,0,0
$GC,797,-1.10,-146.0,102.4,-11.4,80,801,0.00,2.65,0.00,0.000,4,0.000,0.048,2763,634,3659,0,0,0,0,0,0
$GC,825,-1.10,-146.0,105.9,-11.4,82,830,0.00,2.45,0.00,0.000,6,0.000,0.018,2763,2222,3659,0,0,0,0,0,0
$GC,1089,-1.10,-146.0,134.2,-9.1,106,1093,0.00,2.50,0.00,0.000,4,0.000,0.036,2763,3780,3659,0,0,0,0,0,0
$GC,1110,-1.10,-146.0,135.9,-9.0,107,1114,0.00,2.45,0.00,0.000,6,0.000,0.020,2763,2211,3659,0,0,0,0,0,0
$GC,1374,-1.10,-146.0,156.7,-8.1,131,1378,0.00,2.53,0.00,0.000,4,0.000,0.036,2763,3776,3659,0,0,0,0,0,0
$GC,1392,-1.10,-146.0,158.5,-9.2,132,1397,0.00,2.45,0.00,0.000,6,0.000,0.020,2763,2218,3660,0,0,0,0,0,0
$GC,1655,-1.10,-146.0,182.7,-9.1,156,1659,0.00,2.58,0.00,0.000,4,0.000,0.048,2763,643,3660,0,0,0,0,0,0
$GC,1711,-1.15,-146.0,187.4,-9.1,160,1715,0.00,2.42,0.00,0.000,6,0.000,0.026,2763,2220,3660,0,0,0,0,0,0
$GC,1978,-1.19,-146.0,211.1,-8.8,176,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2220,3660,0,0,0,0,0,0
$GC,2221,-1.23,-146.0,230.7,-8.3,182,2226,0.12,2.53,0.00,0.000,4,0.072,0.040,2715,3776,3660,0,0,0,0,0,0
$GC,2276,-1.23,-146.0,236.7,-11.4,183,2280,0.00,2.42,0.00,0.000,6,0.000,0.022,2716,2235,3660,0,0,0,0,0,0
$GC,2550,-1.23,-146.0,263.4,-9.4,190,2555,0.00,2.62,0.00,0.000,4,0.000,0.052,2715,641,3660,0,0,0,0,0,0
$GC,2572,-1.23,-146.0,265.6,-8.9,190,2577,0.00,2.50,0.00,0.000,6,0.000,0.030,2716,2232,3660,0,0,0,0,0,0
$GC,2828,-1.23,-146.0,287.7,-8.7,197,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2232,3660,0,0,0,0,0,0
$GC,3072,-1.23,-146.0,307.7,-8.3,203,3077,0.10,2.58,0.00,0.000,4,0.114,0.050,2738,3787,3659,0,0,0,0,0,0
$GC,3123,-1.28,-146.0,311.7,-7.6,204,3128,0.00,2.47,0.00,0.000,6,0.000,0.026,2738,2245,3658,0,0,0,0,0,0
$GC,3395,-1.33,-146.0,330.4,-6.9,211,3397,0.10,0.00,0.00,0.000,6,0.083,0.000,2699,2245,3658,0,0,0,0,0,0
$GC,3640,-1.33,-146.0,351.8,-9.0,217,3644,0.00,2.55,0.00,0.000,4,0.000,0.050,2699,3778,3657,0,0,0,0,0,0
$GC,3661,-1.33,-146.0,354.0,-9.1,217,3666,0.00,2.50,0.00,0.000,6,0.000,0.031,2699,2241,3657,0,0,0,0,0,0
$GC,3917,-1.33,-146.0,376.8,-8.9,224,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2241,3655,0,0,0,0,0,0
$GC,4162,-1.33,-146.0,397.2,-8.3,230,4166,0.00,2.85,0.00,0.000,4,0.000,0.085,2699,629,3654,0,0,0,0,0,0
$GC,4233,-1.33,-146.0,403.7,-9.0,231,4238,0.00,2.62,0.00,0.000,6,0.000,0.039,2698,2231,3653,0,0,0,0,0,0
$GC,4485,-1.33,-146.0,424.9,-8.5,237,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2232,3652,0,0,0,0,0,0
$GC,4728,-1.33,-146.0,447.5,-9.4,243,4733,0.00,2.67,0.00,0.000,4,0.000,0.064,2698,3793,3650,0,0,0,0,0,0
$GC,4772,-1.33,-146.0,452.0,-9.6,244,4777,0.00,2.58,0.00,0.000,6,0.000,0.042,2698,2246,3650,0,0,0,0,0,0
$GC,5050,-1.33,-146.0,476.8,-8.7,251,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2247,3648,0,0,0,0,0,0
$GC,5295,-1.33,-146.0,497.7,-8.8,257,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2247,3646,0,0,0,0,0,0
$GC,5538,-1.33,-146.0,518.3,-8.4,263,5542,0.00,2.75,0.00,0.000,4,0.000,0.081,2698,3792,3645,0,0,0,0,0,0
$GC,5564,-1.33,-146.0,520.7,-8.6,263,5569,0.00,2.62,0.00,0.000,6,0.000,0.052,2699,2248,3644,0,0,0,0,0,0
$GC,5815,-1.33,-146.0,539.6,-7.5,269,5819,0.00,3.08,0.00,0.000,4,0.000,0.114,2698,617,3643,0,0,0,0,0,0
$GC,5837,-1.33,-146.0,541.3,-7.6,269,5842,0.00,2.78,0.00,0.000,6,0.000,0.057,2698,2243,3643,0,0,0,0,0,0
$GC,6092,-1.33,-146.0,559.1,-6.8,276,6097,0.00,2.80,0.00,0.000,4,0.000,0.089,2699,3801,3641,0,0,0,0,0,0
$GC,6159,-1.33,-146.0,563.9,-7.3,277,6163,0.00,2.65,0.00,0.000,6,0.000,0.061,2699,2246,3641,0,0,0,0,0,0
$GC,6415,-1.33,-146.0,581.9,-7.0,284,6419,0.00,2.75,0.00,0.000,4,0.000,0.081,2698,3800,3639,0,0,0,0,0,0
$GC,6459,-1.33,-146.0,585.7,-8.5,285,6463,0.00,2.67,0.00,0.000,6,0.000,0.062,2699,2257,3639,0,0,0,0,0,0
$STATE,6652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6652,begin apogee
$GC,6660,-0.31,0.0,601.2,8.0,290,6781,1.05,0.00,117.95,1.018,6,0.073,0.000,2936,2380,3060,0,0,0,0,0,0
$STATE,6782,end apogee,CONTROL_FINISHED_OK
$STATE,6782,begin climb
$GC,6784,1.27,146.0,604.1,0.0,293,6919,1.42,2.88,124.07,0.989,4,0.038,0.084,3286,3928,2462,0,0,0,0,0,0
$GC,6942,1.11,146.0,595.3,10.6,296,6949,0.20,2.78,0.00,0.000,6,0.107,0.062,3246,2370,2460,0,0,0,0,0,0
$GC,7193,1.09,170.5,573.0,8.9,303,7221,0.00,2.85,21.60,0.931,4,0.000,0.075,3245,3928,2363,0,0,0,0,0,0
$GC,7274,1.03,170.5,564.9,10.7,304,7280,0.00,2.70,0.00,0.000,6,0.000,0.054,3246,2382,2361,0,0,0,0,0,0
$GC,7524,0.99,170.5,539.0,10.6,311,7526,0.12,0.00,0.00,0.000,6,0.130,0.000,3221,2382,2358,0,0,0,0,0,0
$GC,7768,0.99,170.5,514.5,10.2,317,7772,0.00,2.70,0.00,0.000,4,0.000,0.063,3222,3930,2357,0,0,0,0,0,0
$GC,7784,0.99,170.5,512.7,10.5,317,7789,0.00,2.65,0.00,0.000,6,0.000,0.044,3221,2376,2356,0,0,0,0,0,0
$GC,8045,0.99,170.5,485.3,10.3,324,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2376,2355,0,0,0,0,0,0
$GC,8289,1.02,199.3,463.7,8.7,330,8320,0.00,3.05,25.15,0.912,4,0.000,0.107,3221,782,2247,0,0,0,0,0,0
$GC,8338,1.04,215.4,459.3,9.3,331,8361,0.00,2.70,16.10,0.867,6,0.000,0.044,3221,2368,2180,0,0,0,0,0,0
$GC,8612,1.07,239.4,434.7,8.9,338,8636,0.00,0.00,22.25,0.887,6,0.000,0.000,3221,2368,2082,0,0,0,0,0,0
$GC,8856,1.12,239.7,411.1,10.0,344,8861,0.12,2.70,0.00,0.000,4,0.086,0.058,3253,3938,2078,0,0,0,0,0,0
$GC,8879,1.12,239.7,408.4,11.7,344,8883,0.00,2.65,0.00,0.000,6,0.000,0.037,3253,2356,2077,0,0,0,0,0,0
$GC,9133,1.12,239.7,377.7,11.9,351,9138,0.00,2.75,0.00,0.000,4,0.000,0.074,3254,782,2077,0,0,0,0,0,0
$GC,9172,1.12,239.7,373.1,12.2,352,9177,0.00,2.60,0.00,0.000,6,0.000,0.031,3253,2378,2075,0,0,0,0,0,0
$GC,9457,1.12,239.7,342.1,10.7,359,9461,0.00,2.62,0.00,0.000,4,0.000,0.058,3254,3934,2075,0,0,0,0,0,0
$GC,9472,1.12,239.7,340.2,10.3,359,9477,0.00,2.60,0.00,0.000,6,0.000,0.028,3254,2345,2074,0,0,0,0,0,0
$GC,9733,1.12,239.7,312.9,10.6,366,9737,0.00,2.67,0.00,0.000,4,0.000,0.055,3253,3928,2074,0,0,0,0,0,0
$GC,9766,1.12,239.7,309.0,12.9,366,9772,0.00,2.58,0.00,0.000,6,0.000,0.029,3253,2354,2074,0,0,0,0,0,0
$GC,10016,1.12,239.7,282.8,10.5,373,10020,0.00,2.62,0.00,0.000,4,0.000,0.048,3254,3925,2074,0,0,0,0,0,0
$GC,10065,1.12,239.7,277.4,10.9,374,10069,0.00,2.50,0.00,0.000,6,0.000,0.027,3253,2380,2074,0,0,0,0,0,0
$GC,10345,1.18,254.5,250.8,9.3,381,10360,0.00,0.00,13.10,0.739,6,0.000,0.000,3254,2379,2022,0,0,0,0,0,0
$GC,10587,1.21,283.6,229.4,8.7,387,10621,0.00,2.72,26.52,0.742,4,0.000,0.048,3254,3929,1903,0,0,0,0,0,0
$GC,10649,1.25,283.6,223.4,10.5,388,10654,0.10,2.50,0.00,0.000,6,0.087,0.027,3282,2400,1902,0,0,0,0,0,0
$GC,10906,1.25,283.6,192.7,12.2,397,10911,0.00,2.70,0.00,0.000,4,0.000,0.050,3283,786,1900,0,0,0,0,0,0
$GC,10939,1.25,283.6,187.6,13.2,399,10948,0.00,2.60,0.00,0.000,6,0.000,0.027,3283,2392,1899,0,0,0,0,0,0
$GC,11206,1.25,283.6,157.3,11.6,424,11210,0.00,2.55,0.00,0.000,4,0.000,0.046,3283,3929,1899,0,0,0,0,0,0
$GC,11280,1.25,283.6,148.0,10.7,430,11284,0.00,2.45,0.00,0.000,6,0.000,0.025,3283,2402,1899,0,0,0,0,0,0
$GC,11544,1.25,283.6,119.4,11.5,454,11548,0.00,2.65,0.00,0.000,4,0.000,0.048,3283,787,1899,0,0,0,0,0,0
$GC,11578,1.25,283.6,115.1,11.5,456,11588,0.00,2.58,0.00,0.000,6,0.000,0.023,3283,2396,1899,0,0,0,0,0,0
$GC,11844,1.29,283.6,86.0,10.8,481,11849,0.00,2.62,0.00,0.000,4,0.000,0.043,3283,790,1899,0,0,0,0,0,0
$GC,11877,1.29,283.6,82.3,11.0,483,11882,0.00,2.53,0.00,0.000,6,0.000,0.021,3283,2395,1899,0,0,0,0,0,0
$GC,12145,1.33,315.9,54.8,8.5,507,12182,0.00,2.60,28.25,0.564,4,0.000,0.046,3283,3918,1771,0,0,0,0,0,0
$GC,12202,1.34,322.1,49.6,9.7,511,12217,0.00,2.45,6.70,0.469,6,0.000,0.024,3283,2379,1746,0,0,0,0,0,0
$GC,12498,1.34,322.1,12.8,12.3,546,12507,0.00,2.65,0.00,0.000,4,0.000,0.048,3283,794,1745,0,0,0,0,0,0
$GC,12533,1.34,322.1,8.6,12.5,550,12542,0.00,2.53,0.00,0.000,6,0.000,0.029,3283,2375,1744,0,0,0,0,0,0
$STATE,12565,end climb,SURFACE_DEPTH_REACHED
$STATE,12565,begin surface coast
$FINISH,-0.0,1.023900
$STATE,12601,end surface coast,CONTROL_FINISHED_OK
$STATE,12601,begin surface
$SM_CCo,12622,46.80,0.524,0,0,1509,380.21
$SM_GC,0.36,0.00,0.00,46.80,0.000,0.000,0.524,470,2184,1509,-11.66,-0.74,380.21
$IRIDIUM_FIX,2241.69,-15746.73,130603,050524
$TT8_MAMPS,0.026078
$HUMID,59.88
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,12
$24V_AH,23.3,6.886
$10V_AH,10.4,5.929
$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,26.325,163.375,401.700,46.800,0.000,52.191,77.033,298.196,3.000,0.000,16.480,1166.136,8872.062,535.927,1978.732,755.405,33.355,1356.663,0.000,1979.642,0.000,0.535,0.000
$DEVICE_MAMPS,132.691,114.283,1017.809,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.539,308.130,392.400,562.806,1072.793,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,44682,559
$CAP_FILE_SIZE,131233,0
$CFSIZE,260165632,177229824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190314,091829,2249.356,-15748.510,40,1.4,40,10.1