version: 66.06
glider: 146
mission: 9
dive: 51
start: 3 20 114 0 28 55
data:
$ID,146
$MISSION,9
$DIVE,51
$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,-324383.03
$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,30
$R_STBD_OVSHOOT,54
$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
$GPS1,001759,2246.488,-15745.284,42,1.1,47,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-66.3
$GPS2,002801,2246.483,-15745.298,12,1.2,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.186,-0.181
$KALMAN_X,-39463.5,-276.7,210.7,57083.3,-221.9
$KALMAN_Y,21301.7,137.7,431.8,-27053.1,-130.0
$MHEAD_RNG_PITCHd_Wd,124.1,19432,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,114,0.00,0.00,-89.35,0.000,6,0.000,0.000,470,2237,3655,0,0,0,0,0,0
$GC,118,-1.27,-146.0,4.1,-9.8,12,136,11.48,2.60,0.00,0.000,4,0.132,0.032,2717,623,3656,0,0,0,0,0,0
$GC,282,-1.16,-146.0,38.7,-14.0,32,287,0.15,2.45,0.00,0.000,6,0.111,0.019,2748,2206,3657,0,0,0,0,0,0
$GC,551,-1.09,-146.0,71.6,-12.3,56,555,0.00,2.55,0.00,0.000,4,0.000,0.035,2748,3784,3657,0,0,0,0,0,0
$GC,572,-1.03,-146.0,74.9,-12.5,57,578,0.15,2.50,0.00,0.000,6,0.100,0.021,2781,2202,3658,0,0,0,0,0,0
$GC,840,-1.03,-146.0,102.5,-10.4,81,844,0.00,2.55,0.00,0.000,4,0.000,0.044,2782,631,3658,0,0,0,0,0,0
$GC,856,-1.03,-146.0,104.8,-10.1,82,860,0.00,2.47,0.00,0.000,6,0.000,0.025,2781,2226,3657,0,0,0,0,0,0
$GC,1118,-1.03,-146.0,130.3,-10.3,106,1123,0.00,2.60,0.00,0.000,4,0.000,0.042,2781,632,3658,0,0,0,0,0,0
$GC,1165,-1.08,-146.0,134.5,-10.3,109,1169,0.00,2.42,0.00,0.000,6,0.000,0.021,2781,2202,3658,0,0,0,0,0,0
$GC,1432,-1.13,-146.0,160.8,-9.2,133,1437,0.10,0.00,0.00,0.000,6,0.081,0.000,2740,2203,3658,0,0,0,0,0,0
$GC,1696,-1.13,-146.0,186.6,-9.1,158,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2203,3658,0,0,0,0,0,0
$GC,1962,-1.13,-146.0,211.0,-8.9,175,1966,0.00,2.53,0.00,0.000,4,0.000,0.038,2740,3779,3659,0,0,0,0,0,0
$GC,2030,-1.13,-146.0,216.9,-8.9,176,2034,0.00,2.50,0.00,0.000,6,0.000,0.020,2740,2191,3659,0,0,0,0,0,0
$GC,2286,-1.13,-146.0,239.1,-8.7,183,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2191,3659,0,0,0,0,0,0
$GC,2528,-1.13,-146.0,260.7,-8.6,189,2533,0.00,2.58,0.00,0.000,4,0.000,0.041,2740,3776,3659,0,0,0,0,0,0
$GC,2579,-1.18,-146.0,265.4,-9.0,190,2583,0.00,2.47,0.00,0.000,6,0.000,0.021,2740,2210,3659,0,0,0,0,0,0
$GC,2852,-1.18,-146.0,287.5,-8.2,197,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2210,3659,0,0,0,0,0,0
$GC,3095,-1.21,-146.0,307.3,-7.7,203,3099,0.00,2.67,0.00,0.000,4,0.000,0.062,2739,638,3658,0,0,0,0,0,0
$GC,3136,-1.27,-146.0,310.4,-8.2,204,3140,0.00,2.47,0.00,0.000,6,0.000,0.035,2739,2180,3658,0,0,0,0,0,0
$GC,3419,-1.31,-146.0,331.5,-7.3,211,3424,0.00,2.65,0.00,0.000,4,0.000,0.048,2740,3792,3657,0,0,0,0,0,0
$GC,3475,-1.37,-146.0,336.0,-8.3,212,3480,0.15,2.55,0.00,0.000,6,0.062,0.027,2688,2211,3656,0,0,0,0,0,0
$GC,3743,-1.32,-146.0,359.7,-9.1,219,3748,0.12,2.78,0.00,0.000,4,0.104,0.078,2715,628,3655,0,0,0,0,0,0
$GC,3771,-1.32,-146.0,362.4,-8.7,219,3775,0.00,2.55,0.00,0.000,6,0.000,0.041,2715,2202,3655,0,0,0,0,0,0
$GC,4022,-1.32,-146.0,380.0,-6.8,225,4027,0.00,2.65,0.00,0.000,4,0.000,0.052,2715,3790,3654,0,0,0,0,0,0
$GC,4083,-1.32,-146.0,384.5,-7.1,226,4087,0.00,2.58,0.00,0.000,6,0.000,0.035,2716,2212,3653,0,0,0,0,0,0
$GC,4343,-1.32,-146.0,404.2,-8.1,233,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2212,3652,0,0,0,0,0,0
$GC,4588,-1.32,-146.0,424.3,-8.2,239,4593,0.00,2.67,0.00,0.000,4,0.000,0.058,2715,3788,3650,0,0,0,0,0,0
$GC,4610,-1.32,-146.0,426.3,-8.1,239,4614,0.00,2.60,0.00,0.000,6,0.000,0.040,2715,2221,3650,0,0,0,0,0,0
$GC,4865,-1.32,-146.0,445.5,-7.3,246,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2221,3648,0,0,0,0,0,0
$GC,5108,-1.32,-146.0,462.1,-6.9,252,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2221,3646,0,0,0,0,0,0
$GC,5353,-1.32,-146.0,480.1,-7.4,258,5358,0.00,2.72,0.00,0.000,4,0.000,0.068,2715,3787,3645,0,0,0,0,0,0
$GC,5386,-1.32,-146.0,482.8,-7.9,258,5392,0.00,2.65,0.00,0.000,6,0.000,0.054,2715,2211,3644,0,0,0,0,0,0
$GC,5636,-1.32,-146.0,501.9,-7.6,265,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2211,3643,0,0,0,0,0,0
$GC,5881,-1.36,-146.0,520.6,-7.7,271,5886,0.00,2.80,0.00,0.000,4,0.000,0.077,2715,3791,3642,0,0,0,0,0,0
$GC,5921,-1.40,-146.0,523.9,-8.6,272,5926,0.00,2.70,0.00,0.000,6,0.000,0.061,2715,2212,3641,0,0,0,0,0,0
$GC,6205,-1.44,-146.0,546.3,-7.8,279,6206,0.12,0.00,0.00,0.000,6,0.074,0.000,2673,2213,3640,0,0,0,0,0,0
$GC,6449,-1.40,-146.0,567.5,-8.7,285,6451,0.12,0.00,0.00,0.000,6,0.108,0.000,2699,2212,3638,0,0,0,0,0,0
$GC,6692,-1.40,-146.0,586.8,-7.8,291,6696,0.00,2.85,0.00,0.000,4,0.000,0.094,2699,3783,3636,0,0,0,0,0,0
$GC,6752,-1.40,-146.0,591.5,-7.2,292,6757,0.00,2.75,0.00,0.000,6,0.000,0.073,2699,2208,3636,0,0,0,0,0,0
$STATE,6889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6889,begin apogee
$GC,6896,-0.31,0.0,600.4,6.4,296,7018,1.05,0.00,117.85,1.022,6,0.074,0.000,2936,2375,3060,0,0,0,0,0,0
$STATE,7018,end apogee,CONTROL_FINISHED_OK
$STATE,7019,begin climb
$GC,7021,1.27,146.0,601.0,0.0,299,7156,1.42,2.85,123.43,0.992,4,0.038,0.083,3284,3927,2463,0,0,0,0,0,0
$GC,7190,1.12,146.0,586.6,13.1,303,7195,0.17,2.75,0.00,0.000,6,0.110,0.059,3249,2366,2459,0,0,0,0,0,0
$GC,7468,1.06,146.0,557.0,10.3,310,7472,0.00,2.78,0.00,0.000,4,0.000,0.071,3249,3936,2454,0,0,0,0,0,0
$GC,7492,0.99,146.0,554.5,10.5,310,7497,0.15,2.70,0.00,0.000,6,0.116,0.051,3219,2372,2453,0,0,0,0,0,0
$GC,7747,1.03,184.4,532.5,8.2,317,7788,0.00,3.20,33.03,0.950,4,0.000,0.120,3219,778,2307,0,0,0,0,0,0
$GC,7812,1.07,210.0,527.1,8.8,318,7841,0.00,2.75,24.10,0.921,6,0.000,0.052,3219,2368,2203,0,0,0,0,0,0
$GC,8116,1.10,238.2,500.5,8.7,326,8145,0.10,0.00,25.17,0.919,6,0.094,0.000,3244,2369,2088,0,0,0,0,0,0
$GC,8402,1.10,238.2,469.7,10.9,333,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2368,2084,0,0,0,0,0,0
$GC,8645,1.10,238.2,443.9,10.6,339,8649,0.00,2.83,0.00,0.000,4,0.000,0.073,3245,775,2082,0,0,0,0,0,0
$GC,8660,1.10,238.2,442.1,10.9,339,8665,0.00,2.62,0.00,0.000,6,0.000,0.037,3245,2360,2081,0,0,0,0,0,0
$GC,8921,1.10,238.2,415.4,10.2,346,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2360,2081,0,0,0,0,0,0
$GC,9166,1.10,238.2,389.4,11.0,352,9171,0.00,2.67,0.00,0.000,4,0.000,0.055,3245,3937,2081,0,0,0,0,0,0
$GC,9201,1.10,238.2,385.2,11.9,352,9206,0.00,2.65,0.00,0.000,6,0.000,0.037,3245,2327,2079,0,0,0,0,0,0
$GC,9450,1.10,238.2,356.2,11.5,359,9455,0.00,2.72,0.00,0.000,4,0.000,0.051,3245,3938,2079,0,0,0,0,0,0
$GC,9490,1.10,238.2,351.1,13.0,360,9495,0.00,2.62,0.00,0.000,6,0.000,0.034,3245,2342,2078,0,0,0,0,0,0
$GC,9773,1.10,238.2,317.9,11.6,367,9778,0.00,2.67,0.00,0.000,4,0.000,0.057,3245,3932,2078,0,0,0,0,0,0
$GC,9794,1.10,238.2,315.3,11.3,367,9799,0.00,2.58,0.00,0.000,6,0.000,0.033,3245,2352,2077,0,0,0,0,0,0
$GC,10051,1.10,238.2,289.3,10.0,374,10056,0.00,2.62,0.00,0.000,4,0.000,0.058,3245,785,2078,0,0,0,0,0,0
$GC,10090,1.10,238.2,285.4,10.1,375,10094,0.00,2.50,0.00,0.000,6,0.000,0.032,3245,2357,2076,0,0,0,0,0,0
$GC,10373,1.14,238.2,257.0,10.2,382,10378,0.00,2.62,0.00,0.000,4,0.000,0.051,3245,3927,2076,0,0,0,0,0,0
$GC,10423,1.14,238.2,252.1,10.1,383,10428,0.00,2.55,0.00,0.000,6,0.000,0.026,3245,2347,2076,0,0,0,0,0,0
$GC,10695,1.18,238.2,224.3,10.7,390,10700,0.00,2.65,0.00,0.000,4,0.000,0.048,3245,3929,2076,0,0,0,0,0,0
$GC,10769,1.24,238.2,215.5,12.7,391,10774,0.12,2.53,0.00,0.000,6,0.077,0.028,3280,2358,2076,0,0,0,0,0,0
$GC,11027,1.24,238.2,187.3,10.8,403,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2358,2076,0,0,0,0,0,0
$GC,11288,1.24,238.2,159.0,10.0,428,11292,0.00,2.62,0.00,0.000,4,0.000,0.046,3280,3934,2076,0,0,0,0,0,0
$GC,11357,1.26,252.0,152.6,9.4,433,11376,0.00,2.55,11.65,0.637,6,0.000,0.027,3280,2351,2031,0,0,0,0,0,0
$GC,11638,1.26,252.0,127.4,10.0,460,11639,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2351,2030,0,0,0,0,0,0
$GC,11894,1.28,268.8,103.0,9.2,484,11919,0.00,2.65,16.12,0.599,4,0.000,0.048,3280,790,1963,0,0,0,0,0,0
$GC,11936,1.30,291.9,99.2,8.9,487,11963,0.00,2.47,21.10,0.599,6,0.000,0.021,3280,2349,1869,0,0,0,0,0,0
$GC,12229,1.30,291.9,68.8,10.9,514,12238,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2349,1867,0,0,0,0,0,0
$GC,12495,1.30,291.9,40.1,10.6,539,12499,0.00,2.60,0.00,0.000,4,0.000,0.045,3280,3932,1867,0,0,0,0,0,0
$GC,12529,1.30,291.9,36.3,11.7,541,12533,0.00,2.55,0.00,0.000,6,0.000,0.025,3280,2336,1867,0,0,0,0,0,0
$STATE,12813,end climb,SURFACE_DEPTH_REACHED
$STATE,12814,begin surface coast
$FINISH,-0.4,1.010056
$STATE,12863,end surface coast,CONTROL_FINISHED_OK
$STATE,12863,begin surface
$SM_CCo,12885,70.40,0.526,0,0,1509,380.21
$SM_GC,0.15,0.00,0.00,70.40,0.000,0.000,0.526,471,2185,1509,-11.65,-0.71,380.21
$IRIDIUM_FIX,2237.01,-15747.62,140603,000055
$TT8_MAMPS,0.026078
$HUMID,59.33
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.40
$XPDR_PINGS,23
$24V_AH,23.3,7.540
$10V_AH,10.4,6.510
$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,26.800,142.700,372.450,70.400,0.000,57.138,69.025,270.957,5.750,0.000,13.537,1201.716,9019.536,525.333,2097.222,711.391,33.356,1335.807,0.000,2098.146,0.000,0.535,0.000
$DEVICE_MAMPS,131.924,119.652,1021.644,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.647,327.688,417.551,605.924,1154.991,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,44564,587
$CAP_FILE_SIZE,129385,0
$CFSIZE,260165632,176922624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200314,040605,2245.628,-15744.518,32,1.7,32,10.1