version: 66.06
glider: 146
mission: 9
dive: 48
start: 3 19 114 13 7 44
data:
$ID,146
$MISSION,9
$DIVE,48
$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,-324306.41
$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,50
$R_STBD_OVSHOOT,32
$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
$GPS1,125959,2248.658,-15747.548,39,1.7,39,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-68.7
$GPS2,130651,2248.682,-15747.576,9,2.9,28,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.236,-0.109
$KALMAN_X,-38286.8,225.2,287.7,51439.8,-1398.4
$KALMAN_Y,18889.0,-166.4,401.8,-20244.7,-289.6
$MHEAD_RNG_PITCHd_Wd,104.8,25064,-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,-89.70,0.000,6,0.000,0.000,472,2190,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.1,-10.8,12,132,11.40,2.50,0.00,0.000,4,0.133,0.034,2720,639,3657,0,0,0,0,0,0
$GC,278,-1.17,-146.0,38.3,-14.6,32,283,0.12,2.47,0.00,0.000,6,0.118,0.019,2744,2222,3658,0,0,0,0,0,0
$GC,547,-1.11,-146.0,72.9,-14.5,56,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2223,3658,0,0,0,0,0,0
$GC,812,-1.04,-146.0,107.2,-12.5,81,817,0.15,0.00,0.00,0.000,6,0.109,0.000,2776,2223,3658,0,0,0,0,0,0
$GC,1076,-1.04,-146.0,131.0,-8.2,106,1080,0.00,2.60,0.00,0.000,4,0.000,0.044,2776,646,3659,0,0,0,0,0,0
$GC,1096,-1.04,-146.0,132.8,-8.5,107,1100,0.00,2.45,0.00,0.000,6,0.000,0.018,2776,2224,3659,0,0,0,0,0,0
$GC,1360,-1.09,-146.0,153.5,-8.5,131,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2225,3659,0,0,0,0,0,0
$GC,1623,-1.16,-146.0,175.4,-7.8,156,1625,0.10,0.00,0.00,0.000,6,0.081,0.000,2734,2225,3660,0,0,0,0,0,0
$GC,1879,-1.16,-146.0,198.7,-7.9,180,1883,0.00,2.50,0.00,0.000,4,0.000,0.038,2734,3778,3660,0,0,0,0,0,0
$GC,1912,-1.16,-146.0,202.0,-8.9,181,1918,0.00,2.47,0.00,0.000,6,0.000,0.021,2734,2205,3660,0,0,0,0,0,0
$GC,2162,-1.16,-146.0,223.7,-8.7,188,2167,0.00,2.58,0.00,0.000,4,0.000,0.048,2734,641,3660,0,0,0,0,0,0
$GC,2213,-1.16,-146.0,228.0,-8.1,189,2218,0.00,2.40,0.00,0.000,6,0.000,0.028,2734,2194,3660,0,0,0,0,0,0
$GC,2486,-1.16,-146.0,250.8,-8.6,196,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2194,3661,0,0,0,0,0,0
$GC,2729,-1.16,-146.0,272.0,-8.7,202,2734,0.00,2.58,0.00,0.000,4,0.000,0.043,2733,3778,3660,0,0,0,0,0,0
$GC,2757,-1.16,-146.0,274.3,-8.2,202,2762,0.00,2.47,0.00,0.000,6,0.000,0.024,2734,2202,3660,0,0,0,0,0,0
$GC,3007,-1.16,-146.0,292.9,-7.4,208,3012,0.00,2.60,0.00,0.000,4,0.000,0.047,2733,3777,3660,0,0,0,0,0,0
$GC,3024,-1.16,-146.0,294.3,-7.9,208,3028,0.00,2.50,0.00,0.000,6,0.000,0.024,2733,2193,3660,0,0,0,0,0,0
$GC,3286,-1.16,-146.0,315.5,-8.0,215,3290,0.00,2.67,0.00,0.000,4,0.000,0.067,2733,631,3658,0,0,0,0,0,0
$GC,3301,-1.16,-146.0,316.9,-8.1,215,3306,0.00,2.50,0.00,0.000,6,0.000,0.031,2733,2197,3658,0,0,0,0,0,0
$GC,3563,-1.20,-146.0,337.9,-7.9,222,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2197,3658,0,0,0,0,0,0
$GC,3808,-1.24,-146.0,356.3,-7.4,228,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2197,3656,0,0,0,0,0,0
$GC,4050,-1.29,-146.0,373.9,-7.1,234,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2197,3655,0,0,0,0,0,0
$GC,4294,-1.34,-146.0,391.2,-7.1,240,4298,0.00,2.67,0.00,0.000,4,0.000,0.060,2733,3786,3653,0,0,0,0,0,0
$GC,4322,-1.40,-146.0,393.3,-8.0,240,4328,0.15,2.58,0.00,0.000,6,0.064,0.038,2683,2215,3653,0,0,0,0,0,0
$GC,4573,-1.36,-146.0,417.1,-9.7,246,4578,0.12,2.67,0.00,0.000,4,0.107,0.055,2709,3792,3651,0,0,0,0,0,0
$GC,4658,-1.36,-146.0,425.4,-9.2,248,4662,0.00,2.60,0.00,0.000,6,0.000,0.047,2709,2211,3650,0,0,0,0,0,0
$GC,4942,-1.36,-146.0,449.6,-8.3,255,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2211,3649,0,0,0,0,0,0
$GC,5184,-1.36,-146.0,468.1,-7.5,261,5189,0.00,2.70,0.00,0.000,4,0.000,0.065,2709,3783,3647,0,0,0,0,0,0
$GC,5274,-1.36,-146.0,475.0,-7.9,263,5279,0.00,2.62,0.00,0.000,6,0.000,0.048,2709,2231,3646,0,0,0,0,0,0
$GC,5552,-1.36,-146.0,495.6,-7.6,270,5556,0.00,2.95,0.00,0.000,4,0.000,0.104,2709,621,3646,0,0,0,0,0,0
$GC,5573,-1.36,-146.0,497.4,-8.0,270,5578,0.00,2.67,0.00,0.000,6,0.000,0.049,2709,2215,3645,0,0,0,0,0,0
$GC,5829,-1.36,-146.0,517.8,-8.1,277,5834,0.00,2.75,0.00,0.000,4,0.000,0.074,2709,3798,3644,0,0,0,0,0,0
$GC,5862,-1.36,-146.0,521.0,-8.8,277,5868,0.00,2.65,0.00,0.000,6,0.000,0.058,2709,2223,3643,0,0,0,0,0,0
$GC,6113,-1.36,-146.0,542.2,-8.5,284,6117,0.00,3.05,0.00,0.000,4,0.000,0.120,2709,622,3642,0,0,0,0,0,0
$GC,6140,-1.36,-146.0,544.6,-9.2,284,6145,0.00,2.70,0.00,0.000,6,0.000,0.058,2709,2215,3642,0,0,0,0,0,0
$GC,6391,-1.36,-146.0,564.0,-7.6,290,6396,0.00,2.83,0.00,0.000,4,0.000,0.086,2709,3797,3641,0,0,0,0,0,0
$GC,6418,-1.36,-146.0,566.3,-8.0,290,6422,0.00,2.70,0.00,0.000,6,0.000,0.058,2709,2223,3640,0,0,0,0,0,0
$GC,6668,-1.36,-146.0,585.9,-7.8,296,6672,0.00,2.80,0.00,0.000,4,0.000,0.086,2709,3799,3639,0,0,0,0,0,0
$GC,6690,-1.36,-146.0,587.5,-7.2,296,6695,0.00,2.75,0.00,0.000,6,0.000,0.064,2709,2221,3639,0,0,0,0,0,0
$STATE,6862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6862,begin apogee
$GC,6868,-0.31,0.0,600.3,7.3,301,6990,1.00,0.00,118.28,1.022,6,0.072,0.000,2936,2386,3060,0,0,0,0,0,0
$STATE,6991,end apogee,CONTROL_FINISHED_OK
$STATE,6991,begin climb
$GC,6993,1.27,146.0,603.5,0.0,304,7129,1.45,2.85,123.93,0.993,4,0.039,0.084,3288,3931,2462,0,0,0,0,0,0
$GC,7204,1.12,146.0,587.6,12.2,309,7210,0.20,2.78,0.00,0.000,6,0.105,0.061,3247,2364,2458,0,0,0,0,0,0
$GC,7490,1.08,156.9,560.2,9.5,316,7501,0.00,0.00,9.50,0.852,6,0.000,0.000,3246,2364,2420,0,0,0,0,0,0
$GC,7732,1.05,161.1,536.3,9.8,322,7739,0.00,0.00,4.93,0.691,6,0.000,0.000,3247,2364,2403,0,0,0,0,0,0
$GC,7977,1.00,161.1,511.6,10.2,328,7979,0.12,0.00,0.00,0.000,6,0.130,0.000,3223,2364,2401,0,0,0,0,0,0
$GC,8219,1.04,194.9,490.4,8.4,334,8252,0.00,0.00,31.55,0.934,6,0.000,0.000,3224,2364,2265,0,0,0,0,0,0
$GC,8462,1.07,213.4,468.3,9.1,340,8481,0.00,0.00,17.30,0.893,6,0.000,0.000,3224,2364,2189,0,0,0,0,0,0
$GC,8745,1.09,230.1,442.7,9.2,347,8766,0.00,2.75,15.52,0.873,4,0.000,0.061,3224,3939,2122,0,0,0,0,0,0
$GC,8800,1.13,230.1,437.1,10.0,348,8805,0.10,2.65,0.00,0.000,6,0.092,0.039,3251,2372,2120,0,0,0,0,0,0
$GC,9066,1.13,230.1,409.0,10.5,355,9071,0.00,2.67,0.00,0.000,4,0.000,0.055,3252,3933,2119,0,0,0,0,0,0
$GC,9088,1.13,230.1,406.4,11.8,355,9093,0.00,2.58,0.00,0.000,6,0.000,0.040,3252,2376,2118,0,0,0,0,0,0
$GC,9345,1.13,230.1,378.3,11.0,362,9350,0.00,2.65,0.00,0.000,4,0.000,0.052,3252,3934,2117,0,0,0,0,0,0
$GC,9384,1.13,230.1,373.8,11.2,363,9388,0.00,2.55,0.00,0.000,6,0.000,0.038,3252,2391,2117,0,0,0,0,0,0
$GC,9668,1.13,230.1,345.1,10.0,370,9673,0.00,2.78,0.00,0.000,4,0.000,0.066,3251,783,2116,0,0,0,0,0,0
$GC,9695,1.13,230.1,342.1,10.4,370,9699,0.00,2.62,0.00,0.000,6,0.000,0.030,3252,2398,2116,0,0,0,0,0,0
$GC,9945,1.13,230.1,315.4,10.9,376,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2398,2116,0,0,0,0,0,0
$GC,10189,1.13,230.1,289.8,10.3,382,10194,0.00,2.72,0.00,0.000,4,0.000,0.053,3251,773,2115,0,0,0,0,0,0
$GC,10261,1.13,230.1,282.1,10.4,383,10265,0.00,2.62,0.00,0.000,6,0.000,0.036,3251,2390,2114,0,0,0,0,0,0
$GC,10511,1.13,230.7,257.7,10.0,389,10516,0.00,2.60,0.00,0.000,4,0.000,0.054,3251,3937,2115,0,0,0,0,0,0
$GC,10573,1.13,230.7,250.6,11.4,390,10578,0.00,2.53,0.00,0.000,6,0.000,0.028,3251,2382,2114,0,0,0,0,0,0
$GC,10834,1.13,230.7,223.3,10.4,397,10838,0.00,2.67,0.00,0.000,4,0.000,0.053,3251,786,2114,0,0,0,0,0,0
$GC,10888,1.13,230.7,217.4,10.6,398,10893,0.00,2.58,0.00,0.000,6,0.000,0.028,3251,2390,2113,0,0,0,0,0,0
$GC,11148,1.21,263.4,195.0,8.5,407,11182,0.00,2.72,28.75,0.719,4,0.000,0.048,3251,785,1986,0,0,0,0,0,0
$GC,11210,1.24,288.6,189.9,8.8,412,11245,0.10,2.60,23.50,0.699,6,0.090,0.027,3279,2389,1882,0,0,0,0,0,0
$GC,11500,1.24,288.6,157.7,11.4,439,11504,0.00,2.58,0.00,0.000,4,0.000,0.045,3279,3934,1879,0,0,0,0,0,0
$GC,11556,1.30,288.6,150.2,11.8,443,11561,0.00,2.50,0.00,0.000,6,0.000,0.026,3279,2388,1877,0,0,0,0,0,0
$GC,11820,1.34,288.6,121.2,10.9,468,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2388,1877,0,0,0,0,0,0
$GC,12085,1.40,288.6,93.4,10.9,493,12090,0.12,2.58,0.00,0.000,4,0.077,0.044,3318,3927,1877,0,0,0,0,0,0
$GC,12154,1.40,288.6,83.9,13.0,498,12164,0.00,2.45,0.00,0.000,6,0.000,0.025,3318,2418,1877,0,0,0,0,0,0
$GC,12422,1.40,288.6,50.7,13.4,523,12431,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2418,1877,0,0,0,0,0,0
$GC,12715,1.40,288.6,13.8,11.5,558,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2418,1878,0,0,0,0,0,0
$STATE,12791,end climb,SURFACE_DEPTH_REACHED
$STATE,12791,begin surface coast
$FINISH,-0.3,1.009723
$STATE,12827,end surface coast,CONTROL_FINISHED_OK
$STATE,12827,begin surface
$SM_CCo,12848,73.10,0.531,0,0,1510,380.21
$SM_GC,0.35,0.00,0.00,73.10,0.000,0.000,0.531,467,2188,1510,-11.67,-0.62,380.21
$IRIDIUM_FIX,2241.69,-15748.90,130603,090936
$TT8_MAMPS,0.026078
$HUMID,60.08
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.90
$XPDR_PINGS,16
$24V_AH,23.3,7.139
$10V_AH,10.4,6.158
$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,26.650,137.650,373.250,73.100,0.000,23.383,34.501,199.503,4.000,0.000,30.818,1170.048,9032.231,544.395,2021.443,564.534,33.353,1344.925,0.000,2008.491,0.000,0.534,0.000
$DEVICE_MAMPS,132.691,119.652,1022.411,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.447,317.674,405.504,572.928,1092.102,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,44773,574
$CAP_FILE_SIZE,124026,0
$CFSIZE,260165632,177115136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190314,164450,2248.092,-15746.571,41,2.9,60,10.1