version: 66.06
glider: 146
mission: 9
dive: 57
start: 3 20 114 23 2 31
data:
$ID,146
$MISSION,9
$DIVE,57
$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,-324502.31
$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,33
$R_STBD_OVSHOOT,31
$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
$GPS1,225500,2242.258,-15740.986,40,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-68.8
$GPS2,230137,2242.311,-15741.044,14,1.9,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.145,-0.215
$KALMAN_X,-43335.0,-179.3,-126.8,68459.5,-137.6
$KALMAN_Y,28317.3,-124.5,174.3,-41275.2,582.6
$MHEAD_RNG_PITCHd_Wd,135.9,8838,-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,-89.47,0.000,6,0.000,0.000,468,2155,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.2,-10.8,12,133,11.48,2.50,0.00,0.000,4,0.136,0.036,2719,629,3656,0,0,0,0,0,0
$GC,253,-1.16,-146.0,34.4,-13.9,30,259,0.15,2.50,0.00,0.000,6,0.118,0.020,2748,2224,3657,0,0,0,0,0,0
$GC,523,-1.10,-146.0,67.3,-12.2,54,527,0.00,2.60,0.00,0.000,4,0.000,0.043,2749,633,3657,0,0,0,0,0,0
$GC,544,-1.03,-146.0,70.5,-12.4,55,549,0.15,2.42,0.00,0.000,6,0.109,0.018,2779,2210,3657,0,0,0,0,0,0
$GC,812,-1.03,-146.0,99.5,-11.1,79,816,0.00,2.62,0.00,0.000,4,0.000,0.045,2779,633,3658,0,0,0,0,0,0
$GC,844,-1.03,-146.0,103.2,-11.4,81,849,0.00,2.40,0.00,0.000,6,0.000,0.018,2779,2191,3658,0,0,0,0,0,0
$GC,1111,-1.03,-146.0,130.1,-8.7,105,1115,0.00,2.58,0.00,0.000,4,0.000,0.037,2779,3778,3658,0,0,0,0,0,0
$GC,1181,-1.08,-146.0,136.9,-9.4,110,1190,0.00,2.50,0.00,0.000,6,0.000,0.021,2779,2207,3658,0,0,0,0,0,0
$GC,1443,-1.13,-146.0,160.0,-7.7,135,1448,0.00,2.53,0.00,0.000,4,0.000,0.036,2779,3773,3658,0,0,0,0,0,0
$GC,1486,-1.21,-146.0,163.5,-8.5,138,1491,0.17,2.45,0.00,0.000,6,0.056,0.027,2718,2216,3658,0,0,0,0,0,0
$GC,1747,-1.15,-146.0,190.7,-10.4,162,1752,0.15,2.62,0.00,0.000,4,0.097,0.046,2751,631,3658,0,0,0,0,0,0
$GC,1770,-1.11,-146.0,192.4,-10.1,163,1775,0.00,2.45,0.00,0.000,6,0.000,0.025,2751,2224,3659,0,0,0,0,0,0
$GC,2054,-1.11,-146.0,216.4,-7.6,175,2058,0.00,2.53,0.00,0.000,4,0.000,0.038,2751,3783,3659,0,0,0,0,0,0
$GC,2117,-1.16,-146.0,221.3,-7.6,176,2121,0.00,2.45,0.00,0.000,6,0.000,0.020,2751,2225,3659,0,0,0,0,0,0
$GC,2378,-1.20,-146.0,239.6,-7.0,183,2382,0.00,2.62,0.00,0.000,4,0.000,0.049,2751,637,3659,0,0,0,0,0,0
$GC,2422,-1.25,-146.0,243.1,-7.5,184,2427,0.00,2.47,0.00,0.000,6,0.000,0.021,2751,2234,3659,0,0,0,0,0,0
$GC,2702,-1.30,-146.0,262.5,-6.9,191,2707,0.12,2.65,0.00,0.000,4,0.072,0.051,2702,642,3659,0,0,0,0,0,0
$GC,2752,-1.25,-146.0,267.4,-9.7,192,2757,0.12,2.50,0.00,0.000,6,0.105,0.031,2729,2223,3659,0,0,0,0,0,0
$GC,3026,-1.25,-146.0,289.8,-8.2,199,3030,0.00,2.65,0.00,0.000,4,0.000,0.054,2729,636,3659,0,0,0,0,0,0
$GC,3060,-1.25,-146.0,292.8,-9.2,199,3065,0.00,2.53,0.00,0.000,6,0.000,0.029,2729,2214,3659,0,0,0,0,0,0
$GC,3310,-1.25,-146.0,313.7,-8.3,206,3314,0.00,2.60,0.00,0.000,4,0.000,0.056,2729,3793,3658,0,0,0,0,0,0
$GC,3366,-1.25,-146.0,318.3,-8.5,207,3370,0.00,2.47,0.00,0.000,6,0.000,0.030,2729,2237,3658,0,0,0,0,0,0
$GC,3632,-1.25,-146.0,340.4,-8.1,214,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2237,3656,0,0,0,0,0,0
$GC,3876,-1.25,-146.0,359.8,-8.0,220,3880,0.00,2.78,0.00,0.000,4,0.000,0.074,2729,629,3655,0,0,0,0,0,0
$GC,3921,-1.30,-146.0,363.4,-7.9,221,3926,0.00,2.58,0.00,0.000,6,0.000,0.035,2729,2229,3655,0,0,0,0,0,0
$GC,4200,-1.34,-146.0,383.7,-7.3,228,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2229,3653,0,0,0,0,0,0
$GC,4444,-1.38,-146.0,402.5,-7.7,234,4449,0.12,2.65,0.00,0.000,4,0.071,0.057,2685,3797,3652,0,0,0,0,0,0
$GC,4512,-1.33,-146.0,408.8,-9.4,235,4517,0.12,2.58,0.00,0.000,6,0.105,0.035,2712,2233,3652,0,0,0,0,0,0
$GC,4767,-1.33,-146.0,427.9,-7.1,242,4772,0.00,2.88,0.00,0.000,4,0.000,0.089,2712,627,3650,0,0,0,0,0,0
$GC,4783,-1.33,-146.0,429.2,-7.3,242,4788,0.00,2.65,0.00,0.000,6,0.000,0.042,2712,2230,3650,0,0,0,0,0,0
$GC,5046,-1.33,-146.0,447.1,-7.0,249,5050,0.00,2.65,0.00,0.000,4,0.000,0.061,2712,3804,3648,0,0,0,0,0,0
$GC,5089,-1.33,-146.0,450.9,-8.2,250,5094,0.00,2.58,0.00,0.000,6,0.000,0.040,2712,2235,3648,0,0,0,0,0,0
$GC,5368,-1.33,-146.0,473.2,-7.9,257,5373,0.00,2.67,0.00,0.000,4,0.000,0.067,2712,3795,3646,0,0,0,0,0,0
$GC,5386,-1.33,-146.0,474.4,-7.1,257,5390,0.00,2.60,0.00,0.000,6,0.000,0.044,2712,2239,3646,0,0,0,0,0,0
$GC,5646,-1.33,-146.0,493.7,-7.4,264,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2239,3645,0,0,0,0,0,0
$GC,5890,-1.33,-146.0,511.2,-7.1,270,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2239,3643,0,0,0,0,0,0
$GC,6135,-1.33,-146.0,526.7,-6.3,276,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2239,3641,0,0,0,0,0,0
$GC,6377,-1.33,-146.0,543.6,-7.0,282,6382,0.00,3.05,0.00,0.000,4,0.000,0.114,2712,622,3640,0,0,0,0,0,0
$GC,6399,-1.33,-146.0,545.2,-7.2,282,6403,0.00,2.72,0.00,0.000,6,0.000,0.060,2712,2237,3640,0,0,0,0,0,0
$GC,6655,-1.33,-146.0,563.6,-7.3,289,6660,0.00,2.80,0.00,0.000,4,0.000,0.092,2712,3798,3639,0,0,0,0,0,0
$GC,6721,-1.33,-146.0,568.9,-7.5,290,6726,0.00,2.65,0.00,0.000,6,0.000,0.061,2712,2245,3638,0,0,0,0,0,0
$GC,6977,-1.37,-146.0,586.8,-6.8,297,6981,0.00,2.75,0.00,0.000,4,0.000,0.081,2712,3797,3636,0,0,0,0,0,0
$GC,7028,-1.41,-146.0,590.4,-6.8,298,7033,0.00,2.67,0.00,0.000,6,0.000,0.065,2712,2254,3636,0,0,0,0,0,0
$STATE,7176,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7177,begin apogee
$GC,7183,-0.31,0.0,600.5,6.6,302,7304,1.00,0.00,117.68,1.025,6,0.073,0.000,2939,2377,3060,0,0,0,0,0,0
$STATE,7305,end apogee,CONTROL_FINISHED_OK
$STATE,7305,begin climb
$GC,7308,1.27,146.0,602.5,0.0,305,7445,1.42,2.88,124.10,0.995,4,0.038,0.084,3287,3932,2462,0,0,0,0,0,0
$GC,7520,1.11,146.0,584.9,13.1,310,7525,0.20,2.75,0.00,0.000,6,0.106,0.058,3246,2369,2457,0,0,0,0,0,0
$GC,7804,1.07,154.2,556.3,9.6,317,7818,0.00,2.85,6.93,0.792,4,0.000,0.068,3245,3931,2430,0,0,0,0,0,0
$GC,7875,1.00,154.2,548.7,11.2,318,7880,0.12,2.67,0.00,0.000,6,0.126,0.048,3222,2375,2429,0,0,0,0,0,0
$GC,8132,1.02,165.7,524.8,9.5,325,8145,0.00,0.00,11.60,0.880,6,0.000,0.000,3222,2375,2384,0,0,0,0,0,0
$GC,8374,1.04,183.5,502.4,9.2,331,8399,0.00,3.17,16.85,0.907,4,0.000,0.114,3222,777,2311,0,0,0,0,0,0
$GC,8450,1.04,183.5,495.2,10.1,332,8455,0.00,2.72,0.00,0.000,6,0.000,0.048,3222,2373,2309,0,0,0,0,0,0
$GC,8700,1.07,206.4,472.6,8.9,338,8729,0.00,2.92,21.58,0.910,4,0.000,0.075,3222,774,2216,0,0,0,0,0,0
$GC,8746,1.07,213.4,468.3,9.7,339,8760,0.00,2.70,7.47,0.778,6,0.000,0.041,3222,2376,2190,0,0,0,0,0,0
$GC,9030,1.14,234.4,443.0,9.0,346,9053,0.12,0.00,20.02,0.892,6,0.084,0.000,3254,2376,2104,0,0,0,0,0,0
$GC,9272,1.14,234.4,416.3,11.2,352,9276,0.00,2.67,0.00,0.000,4,0.000,0.057,3255,3937,2100,0,0,0,0,0,0
$GC,9357,1.14,234.4,405.9,12.4,354,9362,0.00,2.58,0.00,0.000,6,0.000,0.031,3254,2381,2098,0,0,0,0,0,0
$GC,9642,1.14,234.4,371.0,12.4,361,9646,0.00,2.65,0.00,0.000,4,0.000,0.050,3254,3942,2098,0,0,0,0,0,0
$GC,9680,1.14,234.4,365.6,13.2,362,9685,0.00,2.55,0.00,0.000,6,0.000,0.037,3254,2386,2097,0,0,0,0,0,0
$GC,9965,1.14,234.4,332.8,11.2,369,9970,0.00,2.75,0.00,0.000,4,0.000,0.063,3254,782,2096,0,0,0,0,0,0
$GC,9997,1.14,234.4,328.9,11.0,369,10003,0.00,2.60,0.00,0.000,6,0.000,0.028,3254,2394,2096,0,0,0,0,0,0
$GC,10247,1.14,234.4,302.1,10.8,376,10252,0.00,2.60,0.00,0.000,4,0.000,0.052,3254,3933,2096,0,0,0,0,0,0
$GC,10281,1.14,234.4,298.0,12.1,376,10287,0.00,2.55,0.00,0.000,6,0.000,0.029,3254,2368,2094,0,0,0,0,0,0
$GC,10531,1.15,245.3,273.5,9.5,383,10546,0.00,2.70,9.50,0.732,4,0.000,0.055,3254,789,2059,0,0,0,0,0,0
$GC,10624,1.15,245.3,263.9,10.3,385,10628,0.00,2.55,0.00,0.000,6,0.000,0.034,3255,2369,2058,0,0,0,0,0,0
$GC,10898,1.16,251.8,237.0,9.7,392,10908,0.00,0.00,7.38,0.663,6,0.000,0.000,3254,2369,2033,0,0,0,0,0,0
$GC,11182,1.23,277.3,211.5,8.8,399,11207,0.00,0.00,23.85,0.724,6,0.000,0.000,3254,2369,1929,0,0,0,0,0,0
$GC,11432,1.30,293.4,187.9,9.3,414,11457,0.12,2.67,15.27,0.676,4,0.081,0.048,3289,3918,1862,0,0,0,0,0,0
$GC,11504,1.30,293.4,178.8,13.0,420,11508,0.00,2.58,0.00,0.000,6,0.000,0.027,3289,2341,1860,0,0,0,0,0,0
$GC,11767,1.30,293.4,149.6,10.9,444,11772,0.00,2.67,0.00,0.000,4,0.000,0.047,3290,3932,1859,0,0,0,0,0,0
$GC,11796,1.30,293.4,145.9,11.6,446,11801,0.00,2.55,0.00,0.000,6,0.000,0.025,3289,2339,1860,0,0,0,0,0,0
$GC,12060,1.30,293.4,116.3,10.9,470,12064,0.00,2.58,0.00,0.000,4,0.000,0.048,3289,782,1859,0,0,0,0,0,0
$GC,12080,1.30,293.4,114.2,10.2,471,12084,0.00,2.47,0.00,0.000,6,0.000,0.024,3290,2343,1859,0,0,0,0,0,0
$GC,12346,1.30,293.4,86.9,10.2,495,12350,0.00,2.62,0.00,0.000,4,0.000,0.045,3290,3932,1859,0,0,0,0,0,0
$GC,12438,1.30,293.4,76.5,11.5,502,12442,0.00,2.53,0.00,0.000,6,0.000,0.026,3290,2345,1859,0,0,0,0,0,0
$GC,12706,1.30,293.4,46.4,10.9,526,12710,0.00,2.55,0.00,0.000,4,0.000,0.047,3290,779,1859,0,0,0,0,0,0
$GC,12729,1.30,293.4,42.9,11.1,527,12739,0.00,2.50,0.00,0.000,6,0.000,0.023,3290,2346,1859,0,0,0,0,0,0
$GC,13027,1.30,293.4,8.0,11.3,565,13037,0.00,2.62,0.00,0.000,4,0.000,0.045,3290,3925,1860,0,0,0,0,0,0
$GC,13054,1.30,293.4,4.8,11.6,568,13064,0.00,2.55,0.00,0.000,6,0.000,0.025,3290,2341,1859,0,0,0,0,0,0
$STATE,13071,end climb,SURFACE_DEPTH_REACHED
$STATE,13072,begin surface coast
$FINISH,-0.4,1.000334
$STATE,13114,end surface coast,CONTROL_FINISHED_OK
$STATE,13114,begin surface
$SM_CCo,13137,70.75,0.527,0,0,1509,380.21
$SM_GC,0.25,0.00,0.00,70.75,0.000,0.000,0.527,466,2172,1509,-11.67,-1.07,380.21
$IRIDIUM_FIX,2237.01,-15740.24,140603,191952
$TT8_MAMPS,0.026078
$HUMID,59.96
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.20
$XPDR_PINGS,19
$24V_AH,23.3,8.305
$10V_AH,10.4,7.213
$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,26.900,179.100,382.225,70.750,0.000,25.930,37.834,194.478,4.750,0.000,15.706,1244.033,9080.414,568.880,2125.562,584.201,33.358,1430.453,0.000,2126.329,0.000,0.535,0.000
$DEVICE_MAMPS,135.759,114.283,1024.712,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,391.775,317.843,401.634,572.967,1092.195,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,44596,576
$CAP_FILE_SIZE,138671,0
$CFSIZE,260165632,176537600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210314,024400,2241.495,-15740.843,39,1.6,39,10.1