version: 66.06
glider: 146
mission: 9
dive: 49
start: 3 19 114 16 52 44
data:
$ID,146
$MISSION,9
$DIVE,49
$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,-324337.09
$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,45
$R_STBD_OVSHOOT,34
$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
$GPS1,164450,2248.092,-15746.571,41,2.9,60,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-68.8
$GPS2,165151,2248.131,-15746.620,7,3.0,26,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.148,-0.213
$KALMAN_X,-38730.4,-140.9,-108.3,54271.7,-830.0
$KALMAN_Y,20057.6,-180.2,-476.6,-21539.3,1447.4
$MHEAD_RNG_PITCHd_Wd,135.1,23220,-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,-90.20,0.000,6,0.000,0.000,466,2188,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.8,-9.9,12,131,11.62,2.53,0.00,0.000,4,0.138,0.038,2719,641,3657,0,0,0,0,0,0
$GC,336,-1.17,-146.0,50.9,-14.7,36,346,0.10,2.50,0.00,0.000,6,0.102,0.020,2743,2226,3658,0,0,0,0,0,0
$GC,604,-1.11,-146.0,83.6,-14.1,61,608,0.00,2.58,0.00,0.000,4,0.000,0.042,2743,645,3658,0,0,0,0,0,0
$GC,638,-1.03,-146.0,89.0,-15.2,63,643,0.17,2.42,0.00,0.000,6,0.111,0.020,2777,2206,3658,0,0,0,0,0,0
$GC,906,-1.03,-146.0,115.9,-8.6,87,910,0.00,2.53,0.00,0.000,4,0.000,0.037,2778,3781,3659,0,0,0,0,0,0
$GC,937,-1.03,-146.0,119.2,-10.2,89,941,0.00,2.47,0.00,0.000,6,0.000,0.022,2778,2212,3659,0,0,0,0,0,0
$GC,1205,-1.08,-146.0,141.7,-7.5,113,1209,0.00,2.53,0.00,0.000,4,0.000,0.037,2778,3778,3659,0,0,0,0,0,0
$GC,1240,-1.15,-146.0,144.7,-8.8,115,1245,0.12,2.47,0.00,0.000,6,0.071,0.022,2730,2209,3659,0,0,0,0,0,0
$GC,1507,-1.15,-146.0,173.3,-11.1,139,1512,0.10,2.60,0.00,0.000,4,0.116,0.046,2750,637,3660,0,0,0,0,0,0
$GC,1524,-1.15,-146.0,176.0,-11.0,140,1529,0.00,2.47,0.00,0.000,6,0.000,0.019,2751,2243,3660,0,0,0,0,0,0
$GC,1787,-1.15,-146.0,201.1,-10.0,164,1791,0.00,2.45,0.00,0.000,4,0.000,0.038,2751,3775,3660,0,0,0,0,0,0
$GC,1820,-1.15,-146.0,204.6,-10.3,164,1826,0.00,2.42,0.00,0.000,6,0.000,0.019,2751,2229,3660,0,0,0,0,0,0
$GC,2071,-1.15,-146.0,227.3,-9.2,171,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2229,3660,0,0,0,0,0,0
$GC,2315,-1.20,-146.0,247.3,-7.8,177,2319,0.00,2.62,0.00,0.000,4,0.000,0.050,2750,641,3661,0,0,0,0,0,0
$GC,2377,-1.25,-146.0,252.2,-8.0,178,2381,0.00,2.47,0.00,0.000,6,0.000,0.025,2751,2229,3661,0,0,0,0,0,0
$GC,2638,-1.30,-146.0,272.4,-7.9,185,2640,0.12,0.00,0.00,0.000,6,0.069,0.000,2700,2229,3661,0,0,0,0,0,0
$GC,2883,-1.27,-146.0,296.3,-9.9,191,2888,0.12,2.55,0.00,0.000,4,0.104,0.046,2727,3781,3661,0,0,0,0,0,0
$GC,2950,-1.30,-146.0,302.5,-8.8,192,2954,0.00,2.42,0.00,0.000,6,0.000,0.024,2726,2262,3660,0,0,0,0,0,0
$GC,3205,-1.30,-146.0,322.5,-7.9,199,3209,0.00,2.78,0.00,0.000,4,0.000,0.069,2727,638,3660,0,0,0,0,0,0
$GC,3250,-1.30,-146.0,326.4,-8.9,200,3254,0.00,2.58,0.00,0.000,6,0.000,0.033,2727,2243,3659,0,0,0,0,0,0
$GC,3527,-1.30,-146.0,350.9,-8.9,207,3532,0.00,2.75,0.00,0.000,4,0.000,0.063,2727,637,3658,0,0,0,0,0,0
$GC,3567,-1.30,-146.0,354.3,-9.1,208,3571,0.00,2.60,0.00,0.000,6,0.000,0.042,2727,2243,3658,0,0,0,0,0,0
$GC,3851,-1.30,-146.0,375.8,-7.5,215,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2243,3656,0,0,0,0,0,0
$GC,4094,-1.35,-146.0,394.0,-7.4,221,4098,0.00,2.75,0.00,0.000,4,0.000,0.071,2727,646,3655,0,0,0,0,0,0
$GC,4121,-1.39,-146.0,396.3,-8.1,221,4126,0.12,2.62,0.00,0.000,6,0.071,0.041,2682,2239,3655,0,0,0,0,0,0
$GC,4373,-1.34,-146.0,419.7,-9.5,227,4378,0.12,2.65,0.00,0.000,4,0.106,0.067,2708,3797,3653,0,0,0,0,0,0
$GC,4417,-1.34,-146.0,424.0,-9.0,228,4421,0.00,2.53,0.00,0.000,6,0.000,0.036,2708,2261,3653,0,0,0,0,0,0
$GC,4696,-1.34,-146.0,447.6,-8.7,235,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2260,3651,0,0,0,0,0,0
$GC,4938,-1.34,-146.0,468.0,-8.2,241,4943,0.00,2.62,0.00,0.000,4,0.000,0.063,2708,3797,3650,0,0,0,0,0,0
$GC,4983,-1.34,-146.0,472.1,-8.8,242,4987,0.00,2.55,0.00,0.000,6,0.000,0.050,2708,2270,3650,0,0,0,0,0,0
$GC,5261,-1.34,-146.0,495.0,-8.2,249,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2270,3648,0,0,0,0,0,0
$GC,5504,-1.34,-146.0,513.8,-7.5,255,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2270,3646,0,0,0,0,0,0
$GC,5748,-1.34,-146.0,532.6,-7.8,261,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2270,3645,0,0,0,0,0,0
$GC,5991,-1.34,-146.0,552.6,-8.3,267,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2270,3644,0,0,0,0,0,0
$GC,6236,-1.34,-146.0,571.4,-7.6,273,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2270,3641,0,0,0,0,0,0
$GC,6479,-1.34,-146.0,589.3,-7.4,279,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2270,3641,0,0,0,0,0,0
$STATE,6639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6639,begin apogee
$GC,6645,-0.31,0.0,600.8,7.1,283,6767,1.00,0.00,118.43,1.021,6,0.074,0.000,2934,2374,3060,0,0,0,0,0,0
$STATE,6767,end apogee,CONTROL_FINISHED_OK
$STATE,6767,begin climb
$GC,6771,1.27,146.0,602.9,0.0,286,6907,1.45,2.95,124.03,0.988,4,0.038,0.100,3288,3928,2463,0,0,0,0,0,0
$GC,6987,1.11,146.0,584.7,13.5,291,6993,0.20,2.70,0.00,0.000,6,0.108,0.060,3247,2391,2459,0,0,0,0,0,0
$GC,7265,1.06,146.0,555.8,10.2,298,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2391,2454,0,0,0,0,0,0
$GC,7510,1.01,152.4,531.7,9.7,304,7521,0.10,3.05,5.25,0.709,4,0.140,0.104,3227,778,2438,0,0,0,0,0,0
$GC,7533,1.01,152.4,529.4,10.0,304,7538,0.00,2.72,0.00,0.000,6,0.000,0.051,3227,2365,2437,0,0,0,0,0,0
$GC,7789,1.04,173.1,505.6,9.0,311,7814,0.00,2.80,19.80,0.911,4,0.000,0.067,3227,3935,2354,0,0,0,0,0,0
$GC,7836,1.04,173.1,500.8,10.1,312,7841,0.00,2.70,0.00,0.000,6,0.000,0.044,3227,2355,2352,0,0,0,0,0,0
$GC,8110,1.04,177.3,473.9,9.8,319,8117,0.00,0.00,4.60,0.654,6,0.000,0.000,3226,2355,2337,0,0,0,0,0,0
$GC,8353,1.04,177.3,448.4,10.5,325,8357,0.00,2.72,0.00,0.000,4,0.000,0.054,3227,3946,2336,0,0,0,0,0,0
$GC,8373,1.04,177.3,445.8,12.0,325,8378,0.00,2.67,0.00,0.000,6,0.000,0.046,3227,2357,2334,0,0,0,0,0,0
$GC,8630,1.05,182.3,420.3,9.8,332,8638,0.00,0.00,6.12,0.732,6,0.000,0.000,3227,2357,2316,0,0,0,0,0,0
$GC,8873,1.09,210.4,398.3,8.7,338,8906,0.00,2.75,26.23,0.880,4,0.000,0.051,3227,3943,2201,0,0,0,0,0,0
$GC,8958,1.09,210.4,390.1,10.1,340,8962,0.00,2.62,0.00,0.000,6,0.000,0.035,3227,2369,2199,0,0,0,0,0,0
$GC,9242,1.14,253.8,366.3,8.0,347,9287,0.10,2.85,38.62,0.860,4,0.096,0.072,3254,784,2024,0,0,0,0,0,0
$GC,9328,1.14,253.8,358.2,10.6,349,9333,0.00,2.65,0.00,0.000,6,0.000,0.035,3254,2395,2021,0,0,0,0,0,0
$GC,9612,1.14,253.8,327.9,11.3,356,9617,0.00,2.78,0.00,0.000,4,0.000,0.057,3254,780,2019,0,0,0,0,0,0
$GC,9651,1.14,253.8,323.1,12.7,357,9656,0.00,2.60,0.00,0.000,6,0.000,0.031,3254,2381,2018,0,0,0,0,0,0
$GC,9934,1.14,253.8,292.3,10.7,364,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2381,2017,0,0,0,0,0,0
$GC,10179,1.14,253.8,266.7,10.5,370,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2381,2017,0,0,0,0,0,0
$GC,10421,1.14,253.8,241.5,10.5,376,10426,0.00,2.67,0.00,0.000,4,0.000,0.048,3254,771,2016,0,0,0,0,0,0
$GC,10465,1.17,253.8,236.9,10.4,377,10470,0.00,2.60,0.00,0.000,6,0.000,0.028,3254,2385,2015,0,0,0,0,0,0
$GC,10745,1.23,262.0,209.7,9.6,384,10754,0.00,0.00,7.25,0.629,6,0.000,0.000,3254,2385,1992,0,0,0,0,0,0
$GC,10993,1.27,262.0,184.9,10.6,399,10998,0.12,2.58,0.00,0.000,4,0.080,0.045,3289,3928,1991,0,0,0,0,0,0
$GC,11063,1.27,262.0,175.5,13.5,404,11068,0.00,2.53,0.00,0.000,6,0.000,0.025,3289,2360,1990,0,0,0,0,0,0
$GC,11329,1.27,262.0,145.3,10.3,429,11333,0.00,2.60,0.00,0.000,4,0.000,0.044,3289,3926,1990,0,0,0,0,0,0
$GC,11369,1.27,262.0,140.8,10.0,432,11373,0.00,2.45,0.00,0.000,6,0.000,0.025,3289,2384,1990,0,0,0,0,0,0
$GC,11633,1.28,271.3,114.7,9.6,456,11648,0.00,2.62,10.12,0.577,4,0.000,0.042,3289,3925,1953,0,0,0,0,0,0
$GC,11746,1.28,271.3,102.5,11.4,465,11750,0.00,2.40,0.00,0.000,6,0.000,0.025,3289,2410,1951,0,0,0,0,0,0
$GC,12014,1.28,271.3,74.3,11.3,489,12023,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2411,1951,0,0,0,0,0,0
$GC,12280,1.28,271.3,46.3,10.9,514,12289,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2410,1951,0,0,0,0,0,0
$GC,12573,1.28,271.3,13.0,12.4,549,12582,0.00,2.67,0.00,0.000,4,0.000,0.047,3289,798,1952,0,0,0,0,0,0
$GC,12600,1.28,271.3,9.5,12.6,552,12609,0.00,2.58,0.00,0.000,6,0.000,0.028,3289,2417,1952,0,0,0,0,0,0
$STATE,12645,end climb,SURFACE_DEPTH_REACHED
$STATE,12645,begin surface coast
$FINISH,-0.2,1.009290
$STATE,12687,end surface coast,CONTROL_FINISHED_OK
$STATE,12687,begin surface
$SM_CCo,12710,87.55,0.525,0,0,1510,380.21
$SM_GC,0.31,0.00,0.00,87.55,0.000,0.000,0.525,473,2201,1510,-11.64,-0.23,380.21
$IRIDIUM_FIX,2239.35,-15744.57,130603,131349
$TT8_MAMPS,0.026078
$HUMID,59.09
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.50
$XPDR_PINGS,11
$24V_AH,23.3,7.263
$10V_AH,10.4,6.271
$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,26.875,131.275,360.450,87.550,0.000,31.050,33.703,205.552,2.750,0.000,30.061,1162.541,8934.150,529.249,2021.496,569.123,33.354,1316.570,0.000,2006.592,0.000,0.535,0.000
$DEVICE_MAMPS,140.361,103.545,1020.877,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.270,308.005,395.259,572.936,1090.787,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,44755,564
$CAP_FILE_SIZE,121922,0
$CFSIZE,260165632,177057792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190314,202706,2247.356,-15745.926,23,1.7,23,10.1