version: 66.06
glider: 146
mission: 9
dive: 52
start: 3 20 114 4 13 21
data:
$ID,146
$MISSION,9
$DIVE,52
$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,-324400.44
$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,43
$R_STBD_OVSHOOT,37
$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
$GPS1,040605,2245.628,-15744.518,32,1.7,32,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-69.6
$GPS2,041225,2245.630,-15744.604,15,1.6,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.176,-0.191
$KALMAN_X,-40332.0,-73.4,-142.3,59291.4,-424.0
$KALMAN_Y,22298.7,240.1,-107.7,-29201.8,392.4
$MHEAD_RNG_PITCHd_Wd,127.2,17463,-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,-90.50,0.000,6,0.000,0.000,470,2185,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.5,-9.0,12,131,11.45,2.50,0.00,0.000,4,0.135,0.035,2720,639,3656,0,0,0,0,0,0
$GC,227,-1.16,-146.0,30.6,-14.0,28,232,0.15,2.47,0.00,0.000,6,0.113,0.021,2751,2217,3657,0,0,0,0,0,0
$GC,496,-1.10,-146.0,62.0,-11.9,52,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2217,3657,0,0,0,0,0,0
$GC,761,-1.05,-146.0,94.0,-11.4,77,766,0.10,2.60,0.00,0.000,4,0.123,0.044,2772,642,3658,0,0,0,0,0,0
$GC,793,-1.05,-146.0,97.7,-10.9,79,797,0.00,2.42,0.00,0.000,6,0.000,0.018,2772,2203,3658,0,0,0,0,0,0
$GC,1060,-1.05,-146.0,122.3,-8.9,103,1065,0.00,2.58,0.00,0.000,4,0.000,0.042,2772,637,3658,0,0,0,0,0,0
$GC,1105,-1.05,-146.0,127.1,-9.0,106,1115,0.00,2.45,0.00,0.000,6,0.000,0.019,2772,2198,3658,0,0,0,0,0,0
$GC,1373,-1.05,-146.0,150.9,-9.3,131,1377,0.00,2.55,0.00,0.000,4,0.000,0.036,2772,3789,3658,0,0,0,0,0,0
$GC,1390,-1.05,-146.0,153.1,-9.1,132,1394,0.00,2.50,0.00,0.000,6,0.000,0.020,2772,2195,3659,0,0,0,0,0,0
$GC,1653,-1.10,-146.0,173.1,-7.3,156,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2195,3659,0,0,0,0,0,0
$GC,1907,-1.16,-146.0,190.9,-6.7,180,1911,0.00,2.58,0.00,0.000,4,0.000,0.038,2772,3779,3659,0,0,0,0,0,0
$GC,1953,-1.25,-146.0,194.6,-8.3,183,1963,0.12,2.50,0.00,0.000,6,0.036,0.021,2719,2200,3660,0,0,0,0,0,0
$GC,2226,-1.21,-146.0,220.8,-9.4,195,2228,0.10,0.00,0.00,0.000,6,0.114,0.000,2740,2200,3660,0,0,0,0,0,0
$GC,2470,-1.21,-146.0,241.2,-8.2,201,2474,0.00,2.58,0.00,0.000,4,0.000,0.051,2740,633,3660,0,0,0,0,0,0
$GC,2492,-1.21,-146.0,243.4,-9.7,201,2496,0.00,2.45,0.00,0.000,6,0.000,0.022,2740,2208,3660,0,0,0,0,0,0
$GC,2747,-1.21,-146.0,265.7,-8.5,208,2751,0.00,2.58,0.00,0.000,4,0.000,0.051,2740,3782,3660,0,0,0,0,0,0
$GC,2821,-1.26,-146.0,271.8,-8.0,209,2825,0.00,2.47,0.00,0.000,6,0.000,0.021,2740,2221,3660,0,0,0,0,0,0
$GC,3072,-1.26,-146.0,291.4,-7.8,215,3077,0.00,2.67,0.00,0.000,4,0.000,0.060,2740,637,3659,0,0,0,0,0,0
$GC,3088,-1.26,-146.0,292.9,-7.9,215,3092,0.00,2.50,0.00,0.000,6,0.000,0.035,2741,2220,3659,0,0,0,0,0,0
$GC,3349,-1.30,-146.0,312.5,-7.7,222,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2220,3658,0,0,0,0,0,0
$GC,3594,-1.35,-146.0,332.1,-7.9,228,3599,0.12,2.60,0.00,0.000,4,0.071,0.051,2695,3789,3658,0,0,0,0,0,0
$GC,3650,-1.31,-146.0,337.7,-9.9,229,3655,0.10,2.50,0.00,0.000,6,0.117,0.028,2716,2243,3657,0,0,0,0,0,0
$GC,3918,-1.31,-146.0,360.7,-8.3,236,3922,0.00,2.80,0.00,0.000,4,0.000,0.077,2716,630,3656,0,0,0,0,0,0
$GC,3951,-1.31,-146.0,363.7,-9.1,236,3956,0.00,2.62,0.00,0.000,6,0.000,0.035,2717,2239,3655,0,0,0,0,0,0
$GC,4201,-1.31,-146.0,383.7,-7.9,243,4205,0.00,2.60,0.00,0.000,4,0.000,0.061,2716,3797,3654,0,0,0,0,0,0
$GC,4229,-1.31,-146.0,386.0,-8.3,243,4233,0.00,2.55,0.00,0.000,6,0.000,0.038,2716,2240,3654,0,0,0,0,0,0
$GC,4479,-1.31,-146.0,404.0,-7.1,249,4483,0.00,2.62,0.00,0.000,4,0.000,0.053,2716,3796,3653,0,0,0,0,0,0
$GC,4522,-1.31,-146.0,407.6,-8.4,250,4527,0.00,2.53,0.00,0.000,6,0.000,0.044,2716,2261,3652,0,0,0,0,0,0
$GC,4802,-1.31,-146.0,428.7,-7.6,257,4807,0.00,2.92,0.00,0.000,4,0.000,0.088,2716,622,3650,0,0,0,0,0,0
$GC,4902,-1.31,-146.0,437.3,-8.5,259,4906,0.00,2.67,0.00,0.000,6,0.000,0.048,2716,2238,3650,0,0,0,0,0,0
$GC,5168,-1.31,-146.0,457.9,-7.5,266,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2239,3648,0,0,0,0,0,0
$GC,5413,-1.31,-146.0,475.7,-7.4,272,5418,0.00,2.67,0.00,0.000,4,0.000,0.070,2716,3801,3647,0,0,0,0,0,0
$GC,5457,-1.36,-146.0,479.3,-8.0,273,5462,0.00,2.60,0.00,0.000,6,0.000,0.044,2717,2250,3647,0,0,0,0,0,0
$GC,5736,-1.40,-146.0,500.7,-7.8,280,5741,0.00,2.97,0.00,0.000,4,0.000,0.100,2716,620,3645,0,0,0,0,0,0
$GC,5752,-1.40,-146.0,502.3,-8.2,280,5756,0.00,2.72,0.00,0.000,6,0.000,0.048,2716,2250,3644,0,0,0,0,0,0
$GC,6013,-1.44,-146.0,524.6,-8.7,287,6015,0.12,0.00,0.00,0.000,6,0.073,0.000,2673,2250,3643,0,0,0,0,0,0
$GC,6257,-1.39,-146.0,549.5,-10.3,293,6263,0.12,2.75,0.00,0.000,4,0.107,0.082,2699,3793,3641,0,0,0,0,0,0
$GC,6279,-1.39,-146.0,552.1,-10.5,293,6283,0.00,2.62,0.00,0.000,6,0.000,0.051,2699,2247,3641,0,0,0,0,0,0
$GC,6535,-1.39,-146.0,574.0,-8.4,300,6539,0.00,2.72,0.00,0.000,4,0.000,0.077,2699,3792,3640,0,0,0,0,0,0
$GC,6556,-1.39,-146.0,575.9,-8.4,300,6561,0.00,2.65,0.00,0.000,6,0.000,0.062,2699,2248,3640,0,0,0,0,0,0
$GC,6812,-1.39,-146.0,596.0,-7.7,307,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2248,3638,0,0,0,0,0,0
$STATE,6890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6890,begin apogee
$GC,6896,-0.31,0.0,602.1,7.6,309,7017,1.05,0.00,117.57,1.022,6,0.073,0.000,2936,2373,3061,0,0,0,0,0,0
$STATE,7019,end apogee,CONTROL_FINISHED_OK
$STATE,7019,begin climb
$GC,7021,1.27,146.0,604.4,0.0,312,7156,1.42,2.88,123.55,0.992,4,0.037,0.087,3285,3929,2463,0,0,0,0,0,0
$GC,7224,1.12,146.0,588.7,11.9,316,7230,0.17,2.72,0.00,0.000,6,0.110,0.064,3250,2367,2458,0,0,0,0,0,0
$GC,7476,1.07,151.0,564.1,9.8,323,7482,0.00,0.00,4.12,0.617,6,0.000,0.000,3250,2368,2444,0,0,0,0,0,0
$GC,7718,1.01,151.9,540.0,10.0,329,7723,0.12,2.78,0.00,0.000,4,0.130,0.067,3227,3932,2442,0,0,0,0,0,0
$GC,7792,1.01,151.9,532.5,10.0,330,7796,0.00,2.65,0.00,0.000,6,0.000,0.044,3227,2380,2441,0,0,0,0,0,0
$GC,8041,1.06,190.2,511.3,8.2,336,8081,0.00,0.00,36.00,0.940,6,0.000,0.000,3227,2380,2283,0,0,0,0,0,0
$GC,8325,1.08,201.3,485.0,9.5,343,8343,0.00,3.08,10.82,0.850,4,0.000,0.114,3226,782,2237,0,0,0,0,0,0
$GC,8373,1.08,201.3,480.0,10.3,344,8378,0.00,2.70,0.00,0.000,6,0.000,0.044,3226,2376,2236,0,0,0,0,0,0
$GC,8651,1.08,201.3,451.9,10.0,351,8656,0.00,2.67,0.00,0.000,4,0.000,0.059,3226,3935,2235,0,0,0,0,0,0
$GC,8700,1.08,201.3,446.3,11.4,352,8705,0.00,2.58,0.00,0.000,6,0.000,0.035,3226,2376,2233,0,0,0,0,0,0
$GC,8974,1.09,209.8,419.5,9.6,359,8989,0.00,2.90,8.32,0.794,4,0.000,0.081,3226,788,2203,0,0,0,0,0,0
$GC,9045,1.10,219.0,412.5,9.6,360,9062,0.00,2.62,9.68,0.806,6,0.000,0.035,3226,2383,2167,0,0,0,0,0,0
$GC,9306,1.12,234.2,388.3,9.3,367,9326,0.00,2.67,14.85,0.839,4,0.000,0.059,3226,3935,2104,0,0,0,0,0,0
$GC,9345,1.12,234.9,384.6,10.0,368,9349,0.00,2.62,0.00,0.000,6,0.000,0.031,3226,2359,2102,0,0,0,0,0,0
$GC,9628,1.17,247.7,358.0,9.4,375,9648,0.15,2.83,13.02,0.809,4,0.074,0.069,3266,785,2049,0,0,0,0,0,0
$GC,9666,1.13,247.7,353.5,11.7,375,9672,0.00,2.58,0.00,0.000,6,0.000,0.034,3266,2364,2047,0,0,0,0,0,0
$GC,9916,1.13,247.7,325.0,11.2,382,9920,0.00,2.62,0.00,0.000,4,0.000,0.051,3266,3924,2046,0,0,0,0,0,0
$GC,9959,1.13,247.7,319.6,12.4,383,9964,0.00,2.55,0.00,0.000,6,0.000,0.030,3266,2367,2046,0,0,0,0,0,0
$GC,10244,1.13,247.7,286.5,11.5,390,10249,0.00,2.62,0.00,0.000,4,0.000,0.051,3266,3924,2046,0,0,0,0,0,0
$GC,10287,1.13,247.7,281.1,11.5,391,10292,0.00,2.53,0.00,0.000,6,0.000,0.027,3266,2372,2044,0,0,0,0,0,0
$GC,10571,1.13,247.7,250.5,10.4,398,10575,0.00,2.60,0.00,0.000,4,0.000,0.048,3266,3924,2045,0,0,0,0,0,0
$GC,10627,1.13,247.7,243.9,12.4,399,10631,0.00,2.50,0.00,0.000,6,0.000,0.028,3267,2387,2043,0,0,0,0,0,0
$GC,10893,1.13,247.7,215.4,10.2,406,10894,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2387,2043,0,0,0,0,0,0
$GC,11144,1.13,247.7,189.9,10.5,418,11148,0.00,2.58,0.00,0.000,4,0.000,0.047,3266,3927,2044,0,0,0,0,0,0
$GC,11178,1.13,247.7,185.8,11.9,420,11187,0.00,2.47,0.00,0.000,6,0.000,0.026,3266,2407,2043,0,0,0,0,0,0
$GC,11443,1.13,247.7,160.2,10.3,445,11448,0.00,2.67,0.00,0.000,4,0.000,0.048,3266,785,2044,0,0,0,0,0,0
$GC,11472,1.13,247.7,156.8,10.1,447,11477,0.00,2.58,0.00,0.000,6,0.000,0.025,3266,2409,2044,0,0,0,0,0,0
$GC,11739,1.20,266.7,132.6,9.1,471,11760,0.00,0.00,17.35,0.628,6,0.000,0.000,3266,2409,1971,0,0,0,0,0,0
$GC,12017,1.24,266.7,103.7,10.4,497,12022,0.00,2.67,0.00,0.000,4,0.000,0.043,3266,785,1970,0,0,0,0,0,0
$GC,12063,1.30,266.7,97.9,10.5,500,12072,0.00,2.58,0.00,0.000,6,0.000,0.023,3266,2401,1970,0,0,0,0,0,0
$GC,12332,1.37,276.3,73.3,9.6,525,12347,0.15,2.67,9.62,0.532,4,0.070,0.041,3310,779,1933,0,0,0,0,0,0
$GC,12389,1.37,276.3,66.5,12.8,529,12393,0.00,2.55,0.00,0.000,6,0.000,0.022,3310,2404,1932,0,0,0,0,0,0
$GC,12657,1.37,276.3,34.7,11.2,553,12666,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2404,1932,0,0,0,0,0,0
$STATE,12922,end climb,SURFACE_DEPTH_REACHED
$STATE,12922,begin surface coast
$FINISH,-0.2,1.011379
$STATE,12965,end surface coast,CONTROL_FINISHED_OK
$STATE,12965,begin surface
$SM_CCo,12987,83.65,0.524,0,0,1509,380.21
$SM_GC,0.35,0.00,0.00,83.65,0.000,0.000,0.524,468,2162,1509,-11.67,-1.36,380.21
$IRIDIUM_FIX,2239.35,-15747.62,140603,000015
$TT8_MAMPS,0.026078
$HUMID,59.33
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.40
$XPDR_PINGS,23
$24V_AH,23.3,7.664
$10V_AH,10.4,6.629
$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,26.900,163.575,364.925,83.650,0.000,31.292,34.049,176.226,5.750,0.000,16.773,1240.572,8943.144,552.523,2155.818,559.542,33.356,1402.194,0.000,2153.889,0.000,0.534,0.000
$DEVICE_MAMPS,134.992,113.516,1022.411,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,405.259,341.240,431.346,618.602,1177.673,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,47831,597
$CAP_FILE_SIZE,132724,0
$CFSIZE,260165632,176852992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200314,075235,2245.325,-15743.633,36,1.4,41,10.1