version: 66.06
glider: 146
mission: 9
dive: 50
start: 3 19 114 20 43 8
data:
$ID,146
$MISSION,9
$DIVE,50
$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,-324368.88
$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,39
$R_STBD_OVSHOOT,27
$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
$GPS1,202706,2247.356,-15745.926,23,1.7,23,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-68.6
$GPS2,204215,2247.503,-15745.884,9,99.0,28,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.086,-0.245
$KALMAN_X,-38997.2,-356.7,-154.3,56057.5,170.5
$KALMAN_Y,20866.8,0.6,-63.1,-24099.7,1500.3
$MHEAD_RNG_PITCHd_Wd,150.6,21519,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,113,0.00,0.00,-89.43,0.000,6,0.000,0.000,471,2202,3656,0,0,0,0,0,0
$GC,117,-1.27,-146.0,4.0,-10.7,12,133,11.30,2.53,0.00,0.000,4,0.130,0.032,2717,634,3658,0,0,0,0,0,0
$GC,255,-1.15,-146.0,34.8,-13.9,30,260,0.17,2.50,0.00,0.000,6,0.100,0.020,2754,2228,3659,0,0,0,0,0,0
$GC,524,-1.09,-146.0,67.3,-12.2,54,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2228,3659,0,0,0,0,0,0
$GC,789,-1.03,-146.0,97.4,-11.4,79,794,0.10,2.62,0.00,0.000,4,0.121,0.043,2777,635,3659,0,0,0,0,0,0
$GC,807,-0.98,-146.0,99.7,-11.0,80,812,0.00,2.42,0.00,0.000,6,0.000,0.021,2777,2213,3659,0,0,0,0,0,0
$GC,1071,-0.98,-146.0,125.9,-9.0,104,1075,0.00,2.50,0.00,0.000,4,0.000,0.036,2777,3775,3659,0,0,0,0,0,0
$GC,1124,-0.98,-146.0,131.3,-9.5,108,1128,0.00,2.47,0.00,0.000,6,0.000,0.021,2777,2205,3659,0,0,0,0,0,0
$GC,1388,-1.02,-146.0,154.3,-7.6,132,1393,0.00,2.53,0.00,0.000,4,0.000,0.037,2777,3772,3659,0,0,0,0,0,0
$GC,1429,-1.08,-146.0,158.1,-8.8,135,1433,0.00,2.42,0.00,0.000,6,0.000,0.020,2777,2226,3659,0,0,0,0,0,0
$GC,1693,-1.14,-146.0,180.4,-8.4,159,1698,0.00,2.58,0.00,0.000,4,0.000,0.046,2777,643,3660,0,0,0,0,0,0
$GC,1739,-1.24,-146.0,184.5,-8.2,162,1748,0.15,2.45,0.00,0.000,6,0.031,0.027,2717,2200,3660,0,0,0,0,0,0
$GC,2028,-1.19,-146.0,214.0,-10.9,181,2033,0.12,2.58,0.00,0.000,4,0.103,0.038,2744,3792,3660,0,0,0,0,0,0
$GC,2090,-1.19,-146.0,220.4,-9.4,182,2094,0.00,2.45,0.00,0.000,6,0.000,0.020,2744,2218,3660,0,0,0,0,0,0
$GC,2352,-1.19,-146.0,243.4,-8.5,189,2356,0.00,2.60,0.00,0.000,4,0.000,0.049,2744,641,3660,0,0,0,0,0,0
$GC,2367,-1.19,-146.0,244.9,-8.2,189,2372,0.00,2.45,0.00,0.000,6,0.000,0.025,2744,2218,3660,0,0,0,0,0,0
$GC,2629,-1.19,-146.0,264.6,-7.6,196,2633,0.00,2.62,0.00,0.000,4,0.000,0.048,2744,635,3660,0,0,0,0,0,0
$GC,2650,-1.19,-146.0,266.5,-8.1,196,2654,0.00,2.47,0.00,0.000,6,0.000,0.022,2744,2214,3659,0,0,0,0,0,0
$GC,2907,-1.23,-146.0,286.3,-8.2,203,2911,0.00,2.60,0.00,0.000,4,0.000,0.052,2744,644,3659,0,0,0,0,0,0
$GC,2923,-1.27,-146.0,288.0,-9.1,203,2927,0.00,2.45,0.00,0.000,6,0.000,0.032,2744,2204,3659,0,0,0,0,0,0
$GC,3185,-1.31,-146.0,311.5,-9.0,210,3190,0.12,2.62,0.00,0.000,4,0.071,0.047,2698,3783,3659,0,0,0,0,0,0
$GC,3208,-1.31,-146.0,313.9,-9.6,210,3213,0.00,2.47,0.00,0.000,6,0.000,0.025,2698,2223,3658,0,0,0,0,0,0
$GC,3464,-1.28,-146.0,337.4,-8.9,217,3470,0.12,2.75,0.00,0.000,4,0.105,0.071,2725,633,3657,0,0,0,0,0,0
$GC,3488,-1.28,-146.0,339.4,-8.2,217,3492,0.00,2.50,0.00,0.000,6,0.000,0.038,2725,2194,3657,0,0,0,0,0,0
$GC,3742,-1.28,-146.0,357.5,-7.2,224,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2194,3656,0,0,0,0,0,0
$GC,3986,-1.28,-146.0,376.2,-7.8,230,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2195,3654,0,0,0,0,0,0
$GC,4232,-1.28,-146.0,394.4,-7.4,236,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2195,3653,0,0,0,0,0,0
$GC,4474,-1.32,-146.0,414.6,-8.4,242,4479,0.00,2.70,0.00,0.000,4,0.000,0.066,2725,3797,3651,0,0,0,0,0,0
$GC,4529,-1.36,-146.0,419.5,-8.7,243,4534,0.00,2.62,0.00,0.000,6,0.000,0.042,2724,2201,3651,0,0,0,0,0,0
$GC,4797,-1.40,-146.0,439.8,-7.5,250,4803,0.12,2.70,0.00,0.000,4,0.073,0.064,2680,3789,3649,0,0,0,0,0,0
$GC,4853,-1.40,-146.0,444.9,-9.5,251,4858,0.00,2.65,0.00,0.000,6,0.000,0.044,2680,2204,3649,0,0,0,0,0,0
$GC,5120,-1.37,-146.0,467.6,-8.6,258,5125,0.12,2.90,0.00,0.000,4,0.106,0.101,2707,622,3646,0,0,0,0,0,0
$GC,5149,-1.37,-146.0,470.0,-8.3,258,5153,0.00,2.62,0.00,0.000,6,0.000,0.047,2706,2203,3646,0,0,0,0,0,0
$GC,5399,-1.37,-146.0,490.1,-8.1,264,5403,0.00,2.72,0.00,0.000,4,0.000,0.068,2707,3794,3645,0,0,0,0,0,0
$GC,5442,-1.37,-146.0,494.0,-8.9,265,5447,0.00,2.65,0.00,0.000,6,0.000,0.048,2707,2213,3645,0,0,0,0,0,0
$GC,5722,-1.37,-146.0,517.5,-8.2,272,5726,0.00,2.75,0.00,0.000,4,0.000,0.073,2706,3797,3643,0,0,0,0,0,0
$GC,5754,-1.37,-146.0,520.4,-8.5,272,5760,0.00,2.70,0.00,0.000,6,0.000,0.059,2706,2209,3643,0,0,0,0,0,0
$GC,6006,-1.37,-146.0,539.9,-7.8,279,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2209,3641,0,0,0,0,0,0
$GC,6249,-1.37,-146.0,558.7,-7.8,285,6250,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2209,3640,0,0,0,0,0,0
$GC,6492,-1.37,-146.0,578.3,-7.9,291,6496,0.00,2.85,0.00,0.000,4,0.000,0.090,2707,3790,3638,0,0,0,0,0,0
$GC,6524,-1.37,-146.0,581.1,-8.0,291,6530,0.00,2.72,0.00,0.000,6,0.000,0.063,2707,2215,3638,0,0,0,0,0,0
$GC,6776,-1.37,-146.0,599.1,-7.2,298,6780,0.00,2.85,0.00,0.000,4,0.000,0.087,2706,3795,3636,0,0,0,0,0,0
$STATE,6789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6789,begin apogee
$GC,6797,-0.31,0.0,600.3,6.7,298,6918,0.98,0.00,117.57,1.019,6,0.074,0.000,2930,2365,3060,0,0,0,0,0,0
$STATE,6920,end apogee,CONTROL_FINISHED_OK
$STATE,6920,begin climb
$GC,6923,1.27,146.0,602.4,0.0,301,7062,1.50,2.97,124.15,0.988,4,0.038,0.083,3290,3931,2462,0,0,0,0,0,0
$GC,7118,1.11,146.0,586.6,12.9,306,7123,0.20,2.75,0.00,0.000,6,0.107,0.061,3248,2371,2458,0,0,0,0,0,0
$GC,7392,1.06,151.3,559.9,9.8,313,7402,0.00,2.80,4.25,0.615,4,0.000,0.077,3248,3932,2443,0,0,0,0,0,0
$GC,7413,1.00,154.7,557.6,9.8,313,7424,0.12,2.72,5.07,0.692,6,0.124,0.051,3224,2365,2429,0,0,0,0,0,0
$GC,7669,1.02,171.8,534.3,9.2,319,7694,0.00,3.17,16.55,0.910,4,0.000,0.119,3224,782,2358,0,0,0,0,0,0
$GC,7750,1.02,171.8,525.8,10.2,320,7757,0.00,2.72,0.00,0.000,6,0.000,0.053,3224,2369,2356,0,0,0,0,0,0
$GC,8000,1.04,189.4,502.7,9.2,327,8019,0.00,0.00,17.00,0.903,6,0.000,0.000,3223,2369,2287,0,0,0,0,0,0
$GC,8245,1.06,200.2,479.7,9.5,333,8261,0.00,2.78,10.57,0.847,4,0.000,0.064,3224,3938,2243,0,0,0,0,0,0
$GC,8300,1.06,200.2,473.8,10.7,334,8304,0.00,2.70,0.00,0.000,6,0.000,0.043,3224,2350,2241,0,0,0,0,0,0
$GC,8566,1.06,207.1,447.6,9.7,341,8581,0.00,2.97,7.32,0.779,4,0.000,0.098,3223,782,2214,0,0,0,0,0,0
$GC,8627,1.07,208.3,441.9,9.9,342,8631,0.00,2.60,0.00,0.000,6,0.000,0.038,3224,2343,2213,0,0,0,0,0,0
$GC,8893,1.11,241.2,419.0,8.5,349,8933,0.00,2.78,31.35,0.897,4,0.000,0.054,3223,3935,2074,0,0,0,0,0,0
$GC,8982,1.15,241.2,410.7,10.6,351,8987,0.12,2.67,0.00,0.000,6,0.081,0.040,3260,2322,2072,0,0,0,0,0,0
$GC,9266,1.15,241.2,375.9,12.5,358,9270,0.00,2.70,0.00,0.000,4,0.000,0.073,3260,785,2071,0,0,0,0,0,0
$GC,9304,1.15,241.2,371.0,12.7,359,9309,0.00,2.55,0.00,0.000,6,0.000,0.032,3260,2356,2068,0,0,0,0,0,0
$GC,9589,1.15,241.2,338.0,11.7,366,9593,0.00,2.65,0.00,0.000,4,0.000,0.051,3260,3925,2068,0,0,0,0,0,0
$GC,9637,1.15,241.2,331.3,13.3,367,9642,0.00,2.60,0.00,0.000,6,0.000,0.038,3260,2347,2067,0,0,0,0,0,0
$GC,9911,1.15,241.2,301.1,10.7,374,9915,0.00,2.67,0.00,0.000,4,0.000,0.049,3260,3931,2067,0,0,0,0,0,0
$GC,9943,1.15,241.2,297.5,10.6,374,9949,0.00,2.55,0.00,0.000,6,0.000,0.029,3260,2356,2066,0,0,0,0,0,0
$GC,10193,1.15,241.2,272.0,10.5,381,10197,0.00,2.65,0.00,0.000,4,0.000,0.058,3260,776,2066,0,0,0,0,0,0
$GC,10236,1.15,241.2,266.9,11.7,382,10241,0.00,2.53,0.00,0.000,6,0.000,0.026,3259,2366,2066,0,0,0,0,0,0
$GC,10522,1.17,253.8,239.8,9.4,389,10538,0.00,2.62,10.88,0.703,4,0.000,0.048,3260,3928,2024,0,0,0,0,0,0
$GC,10634,1.17,253.8,227.8,11.0,391,10639,0.00,2.53,0.00,0.000,6,0.000,0.027,3260,2358,2022,0,0,0,0,0,0
$GC,10891,1.17,258.1,202.3,9.8,398,10900,0.00,0.00,5.47,0.571,6,0.000,0.000,3260,2358,2005,0,0,0,0,0,0
$GC,11159,1.22,258.1,170.9,12.2,420,11164,0.00,2.62,0.00,0.000,4,0.000,0.044,3259,3932,2004,0,0,0,0,0,0
$GC,11190,1.26,258.1,167.1,12.5,422,11194,0.00,2.55,0.00,0.000,6,0.000,0.026,3260,2354,2004,0,0,0,0,0,0
$GC,11453,1.34,276.6,141.4,9.1,446,11473,0.15,0.00,17.38,0.637,6,0.073,0.000,3304,2354,1932,0,0,0,0,0,0
$GC,11726,1.34,276.6,111.4,10.7,472,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2354,1930,0,0,0,0,0,0
$GC,11981,1.34,276.6,83.8,10.8,496,11985,0.00,2.58,0.00,0.000,4,0.000,0.042,3304,3925,1930,0,0,0,0,0,0
$GC,12052,1.34,276.6,75.6,11.9,501,12061,0.00,2.55,0.00,0.000,6,0.000,0.026,3304,2354,1930,0,0,0,0,0,0
$GC,12319,1.34,276.6,45.4,11.4,526,12323,0.00,2.60,0.00,0.000,4,0.000,0.043,3304,3924,1930,0,0,0,0,0,0
$GC,12351,1.34,276.6,40.9,13.4,528,12356,0.00,2.50,0.00,0.000,6,0.000,0.027,3304,2354,1930,0,0,0,0,0,0
$GC,12659,1.34,276.6,4.5,12.4,568,12668,0.00,2.55,0.00,0.000,4,0.000,0.038,3303,784,1930,0,0,0,0,0,0
$STATE,12676,end climb,SURFACE_DEPTH_REACHED
$STATE,12676,begin surface coast
$FINISH,0.4,1.023837
$STATE,12692,end surface coast,CONTROL_FINISHED_OK
$STATE,12692,begin surface
$SM_CCo,12717,84.65,0.525,0,0,1509,380.21
$SM_GC,0.41,0.00,0.00,84.65,0.000,0.000,0.525,470,2237,1509,-11.66,0.74,380.21
$IRIDIUM_FIX,2239.35,-15747.62,130603,202057
$TT8_MAMPS,0.026078
$HUMID,58.97
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.30
$XPDR_PINGS,22
$24V_AH,23.3,7.408
$10V_AH,10.4,6.391
$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,26.850,173.500,367.575,84.650,0.000,80.718,125.616,409.723,5.500,0.000,31.158,1207.770,8869.675,560.320,2110.201,961.785,33.352,1402.567,0.000,2093.929,0.000,0.535,0.000
$DEVICE_MAMPS,130.390,118.885,1019.343,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.538,319.817,406.068,583.090,1109.931,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,44796,572
$CAP_FILE_SIZE,141502,0
$CFSIZE,260165632,176975872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200314,001759,2246.488,-15745.284,42,1.1,47,10.1