version: 66.06
glider: 146
mission: 9
dive: 54
start: 3 20 114 11 44 24
data:
$ID,146
$MISSION,9
$DIVE,54
$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,-324432.97
$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,61
$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
$GPS1,113653,2244.563,-15743.184,37,1.0,37,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-68.6
$GPS2,114330,2244.592,-15743.257,9,1.5,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.197,-0.170
$KALMAN_X,-41790.6,94.2,152.9,62584.6,-706.8
$KALMAN_Y,24905.8,267.9,443.3,-34307.6,62.4
$MHEAD_RNG_PITCHd_Wd,120.7,14503,-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,16,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-89.70,0.000,6,0.000,0.000,468,2178,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.0,-10.2,12,133,11.70,2.47,0.00,0.000,4,0.143,0.032,2718,654,3656,0,0,0,0,0,0
$GC,241,-1.15,-146.0,33.0,-15.1,29,246,0.17,2.47,0.00,0.000,6,0.110,0.018,2752,2237,3656,0,0,0,0,0,0
$GC,510,-1.09,-146.0,65.0,-11.5,53,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2239,3657,0,0,0,0,0,0
$GC,771,-1.05,-146.0,97.6,-10.6,78,776,0.10,2.60,0.00,0.000,4,0.123,0.043,2773,659,3658,0,0,0,0,0,0
$GC,805,-1.05,-146.0,101.2,-10.2,80,815,0.00,2.42,0.00,0.000,6,0.000,0.018,2773,2203,3658,0,0,0,0,0,0
$GC,1072,-1.05,-146.0,127.1,-10.0,105,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2203,3658,0,0,0,0,0,0
$GC,1338,-1.05,-146.0,153.0,-9.0,130,1342,0.00,2.50,0.00,0.000,4,0.000,0.041,2773,661,3658,0,0,0,0,0,0
$GC,1355,-1.09,-146.0,154.9,-8.6,131,1359,0.00,2.40,0.00,0.000,6,0.000,0.026,2773,2210,3659,0,0,0,0,0,0
$GC,1618,-1.14,-146.0,177.1,-7.8,155,1622,0.00,2.53,0.00,0.000,4,0.000,0.042,2773,657,3659,0,0,0,0,0,0
$GC,1653,-1.20,-146.0,179.7,-8.8,157,1658,0.15,2.38,0.00,0.000,6,0.061,0.027,2719,2191,3659,0,0,0,0,0,0
$GC,1933,-1.15,-146.0,209.0,-10.2,177,1935,0.15,0.00,0.00,0.000,6,0.097,0.000,2752,2191,3659,0,0,0,0,0,0
$GC,2176,-1.15,-146.0,229.2,-8.1,183,2181,0.00,2.53,0.00,0.000,4,0.000,0.046,2752,653,3659,0,0,0,0,0,0
$GC,2198,-1.15,-146.0,231.4,-9.0,183,2203,0.00,2.38,0.00,0.000,6,0.000,0.021,2752,2179,3660,0,0,0,0,0,0
$GC,2454,-1.15,-146.0,252.5,-8.2,190,2458,0.00,2.60,0.00,0.000,4,0.000,0.041,2752,3783,3659,0,0,0,0,0,0
$GC,2488,-1.20,-146.0,255.4,-9.4,190,2494,0.00,2.47,0.00,0.000,6,0.000,0.021,2752,2213,3659,0,0,0,0,0,0
$GC,2739,-1.25,-146.0,275.9,-7.9,197,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2213,3659,0,0,0,0,0,0
$GC,2982,-1.31,-146.0,295.0,-7.9,203,2987,0.15,2.67,0.00,0.000,4,0.064,0.060,2697,640,3659,0,0,0,0,0,0
$GC,3068,-1.31,-146.0,303.7,-10.1,205,3072,0.00,2.47,0.00,0.000,6,0.000,0.036,2697,2186,3658,0,0,0,0,0,0
$GC,3351,-1.27,-146.0,328.2,-8.4,212,3357,0.12,2.67,0.00,0.000,4,0.105,0.051,2725,3794,3657,0,0,0,0,0,0
$GC,3437,-1.27,-146.0,335.1,-8.4,214,3442,0.00,2.53,0.00,0.000,6,0.000,0.028,2725,2217,3657,0,0,0,0,0,0
$GC,3721,-1.27,-146.0,358.7,-8.5,221,3725,0.00,2.75,0.00,0.000,4,0.000,0.074,2725,627,3656,0,0,0,0,0,0
$GC,3760,-1.31,-146.0,362.1,-8.7,222,3765,0.00,2.53,0.00,0.000,6,0.000,0.039,2725,2195,3656,0,0,0,0,0,0
$GC,4045,-1.31,-146.0,387.2,-8.7,229,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2195,3654,0,0,0,0,0,0
$GC,4289,-1.31,-146.0,406.9,-7.9,235,4294,0.00,2.70,0.00,0.000,4,0.000,0.058,2725,3800,3652,0,0,0,0,0,0
$GC,4310,-1.31,-146.0,408.9,-8.1,235,4315,0.00,2.62,0.00,0.000,6,0.000,0.038,2725,2209,3652,0,0,0,0,0,0
$GC,4568,-1.35,-146.0,426.7,-6.8,242,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2209,3651,0,0,0,0,0,0
$GC,4810,-1.39,-146.0,443.6,-7.1,248,4812,0.10,0.00,0.00,0.000,6,0.086,0.000,2687,2209,3649,0,0,0,0,0,0
$GC,5053,-1.39,-146.0,465.3,-8.9,254,5058,0.00,2.90,0.00,0.000,4,0.000,0.100,2686,626,3648,0,0,0,0,0,0
$GC,5094,-1.39,-146.0,469.2,-9.3,255,5098,0.00,2.62,0.00,0.000,6,0.000,0.046,2686,2205,3647,0,0,0,0,0,0
$GC,5377,-1.39,-146.0,494.4,-8.8,262,5382,0.00,2.75,0.00,0.000,4,0.000,0.070,2686,3797,3646,0,0,0,0,0,0
$GC,5478,-1.39,-146.0,503.9,-9.7,264,5483,0.00,2.65,0.00,0.000,6,0.000,0.048,2686,2227,3645,0,0,0,0,0,0
$GC,5745,-1.39,-146.0,526.3,-8.3,271,5750,0.00,2.72,0.00,0.000,4,0.000,0.073,2686,3795,3644,0,0,0,0,0,0
$GC,5767,-1.39,-146.0,528.1,-7.8,271,5771,0.00,2.65,0.00,0.000,6,0.000,0.053,2686,2231,3644,0,0,0,0,0,0
$GC,6023,-1.39,-146.0,548.8,-8.1,278,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2231,3642,0,0,0,0,0,0
$GC,6265,-1.39,-146.0,567.9,-7.7,284,6270,0.00,2.83,0.00,0.000,4,0.000,0.086,2686,3799,3641,0,0,0,0,0,0
$GC,6287,-1.39,-146.0,569.7,-8.0,284,6291,0.00,2.70,0.00,0.000,6,0.000,0.059,2686,2233,3640,0,0,0,0,0,0
$GC,6542,-1.39,-146.0,589.0,-7.6,291,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2233,3639,0,0,0,0,0,0
$STATE,6701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6701,begin apogee
$GC,6709,-0.31,0.0,600.6,7.1,295,6831,1.10,0.00,118.15,1.019,6,0.075,0.000,2933,2382,3060,0,0,0,0,0,0
$STATE,6831,end apogee,CONTROL_FINISHED_OK
$STATE,6831,begin climb
$GC,6834,1.27,146.0,601.7,0.0,298,6969,1.45,2.85,123.78,0.988,4,0.038,0.084,3288,3930,2463,0,0,0,0,0,0
$GC,6998,1.10,146.0,589.5,12.6,302,7004,0.22,2.78,0.00,0.000,6,0.104,0.059,3242,2363,2459,0,0,0,0,0,0
$GC,7283,1.06,153.9,561.6,9.6,309,7296,0.00,2.80,6.32,0.762,4,0.000,0.075,3242,3932,2434,0,0,0,0,0,0
$GC,7337,1.01,153.9,555.8,11.2,310,7341,0.00,2.70,0.00,0.000,6,0.000,0.058,3243,2375,2433,0,0,0,0,0,0
$GC,7610,0.97,161.6,529.5,9.6,317,7621,0.12,0.00,8.60,0.828,6,0.128,0.000,3218,2375,2401,0,0,0,0,0,0
$GC,7855,1.00,181.0,508.1,9.1,323,7879,0.00,2.80,18.42,0.910,4,0.000,0.061,3218,3928,2321,0,0,0,0,0,0
$GC,7890,1.02,197.5,504.5,9.2,323,7912,0.00,2.67,16.20,0.889,6,0.000,0.051,3218,2374,2255,0,0,0,0,0,0
$GC,8180,1.04,213.9,476.5,9.2,331,8201,0.00,2.72,15.77,0.884,4,0.000,0.058,3218,3934,2186,0,0,0,0,0,0
$GC,8257,1.04,213.9,468.2,11.2,332,8263,0.00,2.60,0.00,0.000,6,0.000,0.040,3218,2396,2184,0,0,0,0,0,0
$GC,8508,1.09,224.1,444.1,9.5,339,8524,0.10,3.00,9.82,0.821,4,0.092,0.092,3244,778,2146,0,0,0,0,0,0
$GC,8569,1.09,224.1,437.2,11.4,340,8574,0.00,2.70,0.00,0.000,6,0.000,0.039,3245,2390,2144,0,0,0,0,0,0
$GC,8830,1.09,224.1,410.1,10.2,347,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2390,2143,0,0,0,0,0,0
$GC,9073,1.09,224.1,385.0,10.3,353,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2390,2143,0,0,0,0,0,0
$GC,9318,1.09,224.1,358.0,11.1,359,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2390,2141,0,0,0,0,0,0
$GC,9561,1.09,224.1,331.5,10.7,365,9565,0.00,2.75,0.00,0.000,4,0.000,0.058,3244,774,2141,0,0,0,0,0,0
$GC,9610,1.09,224.1,325.9,10.9,366,9614,0.00,2.62,0.00,0.000,6,0.000,0.029,3244,2397,2139,0,0,0,0,0,0
$GC,9884,1.09,224.1,298.1,10.4,373,9888,0.00,2.58,0.00,0.000,4,0.000,0.052,3244,3928,2139,0,0,0,0,0,0
$GC,9972,1.09,224.1,288.2,10.5,375,9976,0.00,2.47,0.00,0.000,6,0.000,0.032,3245,2393,2138,0,0,0,0,0,0
$GC,10256,1.12,244.7,262.2,9.0,382,10280,0.00,2.80,18.45,0.767,4,0.000,0.054,3244,784,2061,0,0,0,0,0,0
$GC,10310,1.12,244.7,256.8,10.7,383,10315,0.00,2.65,0.00,0.000,6,0.000,0.028,3245,2413,2059,0,0,0,0,0,0
$GC,10582,1.18,253.0,230.8,9.6,390,10593,0.00,0.00,8.50,0.671,6,0.000,0.000,3244,2413,2028,0,0,0,0,0,0
$GC,10826,1.24,253.0,206.3,10.4,396,10828,0.12,0.00,0.00,0.000,6,0.079,0.000,3279,2414,2027,0,0,0,0,0,0
$GC,11078,1.24,253.0,175.2,12.2,414,11082,0.00,2.53,0.00,0.000,4,0.000,0.046,3279,3937,2027,0,0,0,0,0,0
$GC,11106,1.24,253.0,171.3,12.5,416,11111,0.00,2.47,0.00,0.000,6,0.000,0.025,3279,2397,2025,0,0,0,0,0,0
$GC,11370,1.24,254.6,143.2,9.9,440,11374,0.00,2.55,0.00,0.000,4,0.000,0.045,3280,3932,2025,0,0,0,0,0,0
$GC,11399,1.24,254.6,139.7,11.6,442,11403,0.00,2.42,0.00,0.000,6,0.000,0.031,3279,2413,2025,0,0,0,0,0,0
$GC,11662,1.24,254.6,112.1,10.1,466,11667,0.00,2.53,0.00,0.000,4,0.000,0.046,3279,3932,2025,0,0,0,0,0,0
$GC,11708,1.24,254.6,106.9,12.5,469,11712,0.00,2.40,0.00,0.000,6,0.000,0.024,3279,2416,2025,0,0,0,0,0,0
$GC,11974,1.24,254.6,78.5,10.4,493,11978,0.00,2.67,0.00,0.000,4,0.000,0.045,3279,787,2025,0,0,0,0,0,0
$GC,12010,1.24,254.6,73.9,10.8,495,12019,0.00,2.62,0.00,0.000,6,0.000,0.025,3279,2428,2025,0,0,0,0,0,0
$GC,12277,1.26,271.1,48.5,9.2,520,12296,0.00,0.00,17.42,0.549,6,0.000,0.000,3280,2429,1954,0,0,0,0,0,0
$GC,12574,1.26,271.1,18.3,10.6,554,12583,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2429,1952,0,0,0,0,0,0
$STATE,12716,end climb,SURFACE_DEPTH_REACHED
$STATE,12716,begin surface coast
$FINISH,-0.3,1.014055
$STATE,12766,end surface coast,CONTROL_FINISHED_OK
$STATE,12766,begin surface
$SM_CCo,12789,88.43,0.524,0,0,1510,380.21
$SM_GC,0.33,0.00,0.00,88.43,0.000,0.000,0.524,468,2187,1510,-11.67,-0.65,380.21
$IRIDIUM_FIX,2234.68,-15743.29,140603,080833
$TT8_MAMPS,0.026078
$HUMID,58.74
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.40
$XPDR_PINGS,19
$24V_AH,23.3,7.915
$10V_AH,10.4,6.860
$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,27.100,136.850,361.450,88.425,0.000,23.350,37.204,199.258,4.750,0.000,17.922,1195.405,8878.747,531.813,2105.879,560.692,33.354,1341.878,0.000,2103.837,0.000,0.534,0.000
$DEVICE_MAMPS,142.662,99.710,1018.576,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,395.551,327.370,413.792,616.027,1174.258,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,44695,582
$CAP_FILE_SIZE,124864,0
$CFSIZE,260165632,176738304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200314,152024,2243.875,-15742.158,41,1.4,41,10.1