version: 66.06
glider: 146
mission: 9
dive: 58
start: 3 21 114 2 51 42
data:
$ID,146
$MISSION,9
$DIVE,58
$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,-324520.41
$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,59
$R_STBD_OVSHOOT,33
$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
$GPS1,024400,2241.495,-15740.843,39,1.6,39,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-66.9
$GPS2,025049,2241.531,-15740.936,15,1.8,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.179,-0.188
$KALMAN_X,-44692.3,-298.6,-154.8,70155.1,-567.1
$KALMAN_Y,29441.8,-73.0,111.1,-43842.1,649.5
$MHEAD_RNG_PITCHd_Wd,126.4,7633,-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,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-88.65,0.000,6,0.000,0.000,466,2172,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.5,-11.5,12,132,11.50,2.45,0.00,0.000,4,0.133,0.031,2717,644,3657,0,0,0,0,0,0
$GC,228,-1.16,-146.0,31.4,-14.2,28,233,0.15,2.45,0.00,0.000,6,0.110,0.019,2748,2224,3658,0,0,0,0,0,0
$GC,497,-1.10,-146.0,63.1,-11.3,52,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2225,3659,0,0,0,0,0,0
$GC,762,-1.04,-146.0,93.8,-11.4,77,767,0.12,0.00,0.00,0.000,6,0.115,0.000,2776,2225,3659,0,0,0,0,0,0
$GC,1024,-1.04,-146.0,119.2,-10.3,102,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2225,3659,0,0,0,0,0,0
$GC,1280,-1.07,-146.0,144.0,-9.8,126,1284,0.00,2.60,0.00,0.000,4,0.000,0.045,2776,651,3659,0,0,0,0,0,0
$GC,1300,-1.07,-146.0,145.9,-9.7,127,1304,0.00,2.40,0.00,0.000,6,0.000,0.018,2776,2220,3659,0,0,0,0,0,0
$GC,1568,-1.13,-146.0,168.4,-8.7,151,1572,0.00,2.58,0.00,0.000,4,0.000,0.044,2776,658,3659,0,0,0,0,0,0
$GC,1614,-1.19,-146.0,172.5,-8.7,154,1619,0.15,2.40,0.00,0.000,6,0.061,0.018,2721,2211,3660,0,0,0,0,0,0
$GC,1879,-1.15,-146.0,198.4,-10.1,178,1884,0.15,2.53,0.00,0.000,4,0.095,0.038,2753,3771,3660,0,0,0,0,0,0
$GC,1953,-1.19,-146.0,205.9,-9.4,180,1957,0.00,2.42,0.00,0.000,6,0.000,0.028,2754,2232,3660,0,0,0,0,0,0
$GC,2203,-1.23,-146.0,228.3,-8.6,186,2208,0.00,2.62,0.00,0.000,4,0.000,0.048,2753,638,3661,0,0,0,0,0,0
$GC,2254,-1.28,-146.0,232.9,-8.7,187,2259,0.12,2.45,0.00,0.000,6,0.070,0.021,2705,2202,3661,0,0,0,0,0,0
$GC,2528,-1.23,-146.0,259.5,-9.5,194,2529,0.12,0.00,0.00,0.000,6,0.103,0.000,2734,2203,3661,0,0,0,0,0,0
$GC,2770,-1.23,-146.0,279.5,-8.0,200,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2203,3660,0,0,0,0,0,0
$GC,3013,-1.23,-146.0,298.7,-7.9,206,3018,0.00,2.62,0.00,0.000,4,0.000,0.058,2733,643,3660,0,0,0,0,0,0
$GC,3036,-1.23,-146.0,300.5,-8.0,206,3040,0.00,2.47,0.00,0.000,6,0.000,0.026,2733,2207,3659,0,0,0,0,0,0
$GC,3291,-1.23,-146.0,319.7,-7.5,213,3295,0.00,2.62,0.00,0.000,4,0.000,0.050,2733,3784,3659,0,0,0,0,0,0
$GC,3341,-1.28,-146.0,323.9,-8.2,214,3345,0.00,2.50,0.00,0.000,6,0.000,0.027,2733,2230,3658,0,0,0,0,0,0
$GC,3614,-1.32,-146.0,345.6,-7.9,221,3619,0.00,2.72,0.00,0.000,4,0.000,0.069,2734,637,3658,0,0,0,0,0,0
$GC,3654,-1.38,-146.0,348.9,-8.0,222,3659,0.12,2.53,0.00,0.000,6,0.071,0.038,2685,2214,3657,0,0,0,0,0,0
$GC,3939,-1.34,-146.0,375.1,-9.3,229,3945,0.12,2.65,0.00,0.000,4,0.105,0.056,2712,3786,3655,0,0,0,0,0,0
$GC,3984,-1.34,-146.0,379.5,-9.4,230,3988,0.00,2.53,0.00,0.000,6,0.000,0.032,2712,2230,3655,0,0,0,0,0,0
$GC,4261,-1.34,-146.0,401.8,-7.8,237,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2230,3653,0,0,0,0,0,0
$GC,4506,-1.34,-146.0,419.8,-7.3,243,4511,0.00,2.85,0.00,0.000,4,0.000,0.088,2712,629,3652,0,0,0,0,0,0
$GC,4522,-1.34,-146.0,421.1,-7.0,243,4526,0.00,2.62,0.00,0.000,6,0.000,0.047,2712,2221,3652,0,0,0,0,0,0
$GC,4783,-1.34,-146.0,440.6,-7.5,250,4787,0.00,2.67,0.00,0.000,4,0.000,0.062,2712,3792,3650,0,0,0,0,0,0
$GC,4873,-1.34,-146.0,448.2,-8.7,252,4877,0.00,2.58,0.00,0.000,6,0.000,0.039,2712,2239,3649,0,0,0,0,0,0
$GC,5150,-1.34,-146.0,471.8,-8.7,259,5155,0.00,2.92,0.00,0.000,4,0.000,0.097,2712,622,3647,0,0,0,0,0,0
$GC,5183,-1.34,-146.0,474.8,-8.9,259,5189,0.00,2.70,0.00,0.000,6,0.000,0.046,2712,2237,3647,0,0,0,0,0,0
$GC,5435,-1.34,-146.0,495.0,-8.0,266,5439,0.00,2.85,0.00,0.000,4,0.000,0.083,2712,628,3646,0,0,0,0,0,0
$GC,5490,-1.34,-146.0,499.7,-8.2,267,5494,0.00,2.67,0.00,0.000,6,0.000,0.048,2712,2222,3645,0,0,0,0,0,0
$GC,5757,-1.34,-146.0,518.9,-7.2,274,5762,0.00,2.88,0.00,0.000,4,0.000,0.086,2712,624,3644,0,0,0,0,0,0
$GC,5779,-1.34,-146.0,520.6,-7.0,274,5783,0.00,2.70,0.00,0.000,6,0.000,0.050,2712,2225,3644,0,0,0,0,0,0
$GC,6034,-1.34,-146.0,539.3,-7.5,281,6038,0.00,2.78,0.00,0.000,4,0.000,0.077,2712,3804,3642,0,0,0,0,0,0
$GC,6061,-1.34,-146.0,541.6,-8.6,281,6065,0.00,2.67,0.00,0.000,6,0.000,0.051,2712,2224,3642,0,0,0,0,0,0
$GC,6312,-1.38,-146.0,560.8,-7.6,287,6317,0.00,2.75,0.00,0.000,4,0.000,0.074,2712,3800,3640,0,0,0,0,0,0
$GC,6379,-1.42,-146.0,566.5,-8.1,288,6384,0.00,2.70,0.00,0.000,6,0.000,0.058,2712,2233,3640,0,0,0,0,0,0
$GC,6636,-1.46,-146.0,586.4,-8.0,295,6641,0.12,2.80,0.00,0.000,4,0.072,0.081,2671,3794,3639,0,0,0,0,0,0
$GC,6658,-1.46,-146.0,588.5,-8.5,295,6662,0.00,2.70,0.00,0.000,6,0.000,0.072,2671,2246,3638,0,0,0,0,0,0
$STATE,6788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6788,begin apogee
$GC,6794,-0.31,0.0,601.3,9.7,299,6916,1.17,0.00,118.15,1.024,6,0.074,0.000,2934,2382,3059,0,0,0,0,0,0
$STATE,6917,end apogee,CONTROL_FINISHED_OK
$STATE,6917,begin climb
$GC,6921,1.27,146.0,604.8,0.0,302,7055,1.42,2.85,124.15,0.993,4,0.038,0.082,3286,3935,2462,0,0,0,0,0,0
$GC,7080,1.11,146.0,595.9,11.1,305,7086,0.20,2.78,0.00,0.000,6,0.107,0.062,3245,2371,2459,0,0,0,0,0,0
$GC,7331,1.09,165.0,572.9,9.1,312,7354,0.00,2.90,16.52,0.917,4,0.000,0.073,3245,3937,2386,0,0,0,0,0,0
$GC,7366,1.02,165.0,569.3,10.1,312,7372,0.00,2.75,0.00,0.000,6,0.000,0.055,3245,2368,2385,0,0,0,0,0,0
$GC,7618,0.98,165.0,543.3,10.3,319,7623,0.12,2.78,0.00,0.000,4,0.127,0.067,3219,3931,2382,0,0,0,0,0,0
$GC,7685,0.98,165.0,536.2,10.7,320,7690,0.00,2.62,0.00,0.000,6,0.000,0.049,3220,2394,2381,0,0,0,0,0,0
$GC,7940,0.98,166.8,510.8,9.9,327,7945,0.00,3.10,0.00,0.000,4,0.000,0.120,3220,779,2380,0,0,0,0,0,0
$GC,8008,0.98,166.8,503.8,10.5,328,8012,0.00,2.72,0.00,0.000,6,0.000,0.050,3220,2387,2379,0,0,0,0,0,0
$GC,8263,0.99,172.7,478.9,9.7,335,8276,0.00,2.88,6.47,0.770,4,0.000,0.076,3220,778,2357,0,0,0,0,0,0
$GC,8329,0.99,172.7,472.4,10.2,336,8333,0.00,2.65,0.00,0.000,6,0.000,0.047,3220,2363,2356,0,0,0,0,0,0
$GC,8589,1.01,190.5,447.7,9.2,343,8609,0.00,0.00,18.02,0.896,6,0.000,0.000,3220,2364,2283,0,0,0,0,0,0
$GC,8833,1.03,208.6,425.4,9.2,349,8852,0.00,0.00,17.35,0.875,6,0.000,0.000,3220,2364,2209,0,0,0,0,0,0
$GC,9078,1.09,223.6,402.8,9.3,355,9099,0.10,2.75,14.45,0.850,4,0.094,0.056,3246,3937,2147,0,0,0,0,0,0
$GC,9143,1.09,223.6,395.2,12.2,356,9148,0.00,2.62,0.00,0.000,6,0.000,0.034,3246,2359,2146,0,0,0,0,0,0
$GC,9398,1.09,223.6,368.7,10.2,363,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2359,2144,0,0,0,0,0,0
$GC,9644,1.10,230.4,344.2,9.7,369,9658,0.00,2.78,7.00,0.731,4,0.000,0.048,3246,3946,2120,0,0,0,0,0,0
$GC,9687,1.10,230.4,339.6,11.2,370,9691,0.00,2.60,0.00,0.000,6,0.000,0.029,3246,2371,2118,0,0,0,0,0,0
$GC,9970,1.11,236.3,311.9,9.7,377,9984,0.00,2.80,6.68,0.702,4,0.000,0.061,3246,782,2096,0,0,0,0,0,0
$GC,10001,1.11,236.3,308.7,10.1,377,10006,0.00,2.62,0.00,0.000,6,0.000,0.031,3246,2393,2095,0,0,0,0,0,0
$GC,10251,1.11,236.3,283.2,10.2,383,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2393,2094,0,0,0,0,0,0
$GC,10495,1.11,238.7,259.4,9.9,389,10499,0.00,2.58,0.00,0.000,4,0.000,0.051,3246,3934,2094,0,0,0,0,0,0
$GC,10632,1.16,238.7,244.3,11.4,392,10636,0.00,2.50,0.00,0.000,6,0.000,0.027,3246,2394,2092,0,0,0,0,0,0
$GC,10910,1.25,271.4,218.4,8.5,399,10951,0.12,2.83,31.55,0.741,4,0.083,0.051,3280,777,1951,0,0,0,0,0,0
$GC,11000,1.25,271.4,209.6,11.0,401,11004,0.00,2.60,0.00,0.000,6,0.000,0.028,3280,2394,1950,0,0,0,0,0,0
$GC,11260,1.25,271.4,179.8,12.2,417,11264,0.00,2.55,0.00,0.000,4,0.000,0.051,3280,3927,1949,0,0,0,0,0,0
$GC,11289,1.25,271.4,175.9,13.7,419,11294,0.00,2.45,0.00,0.000,6,0.000,0.025,3281,2395,1947,0,0,0,0,0,0
$GC,11556,1.25,271.4,145.5,11.6,443,11560,0.00,2.65,0.00,0.000,4,0.000,0.049,3280,783,1948,0,0,0,0,0,0
$GC,11612,1.25,271.4,137.8,12.6,447,11618,0.00,2.58,0.00,0.000,6,0.000,0.030,3280,2403,1947,0,0,0,0,0,0
$GC,11877,1.32,296.3,112.8,8.9,472,11906,0.00,2.60,21.95,0.615,4,0.000,0.044,3280,3923,1851,0,0,0,0,0,0
$GC,11950,1.37,296.3,105.1,11.2,478,11955,0.10,2.45,0.00,0.000,6,0.084,0.025,3314,2397,1850,0,0,0,0,0,0
$GC,12214,1.37,296.3,73.3,12.3,502,12218,0.00,2.55,0.00,0.000,4,0.000,0.043,3314,3932,1849,0,0,0,0,0,0
$GC,12236,1.33,296.3,70.7,12.8,503,12241,0.00,2.45,0.00,0.000,6,0.000,0.024,3314,2398,1849,0,0,0,0,0,0
$GC,12505,1.33,296.3,37.3,12.3,527,12514,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2398,1849,0,0,0,0,0,0
$STATE,12751,end climb,SURFACE_DEPTH_REACHED
$STATE,12751,begin surface coast
$FINISH,-0.3,1.010512
$STATE,12787,end surface coast,CONTROL_FINISHED_OK
$STATE,12787,begin surface
$SM_CCo,12809,67.47,0.525,0,0,1510,380.21
$SM_GC,0.57,0.00,0.00,67.47,0.000,0.000,0.525,465,2191,1510,-11.68,-0.54,380.21
$IRIDIUM_FIX,2237.01,-15740.24,140603,232357
$TT8_MAMPS,0.026078
$HUMID,60.31
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.00
$XPDR_PINGS,18
$24V_AH,23.3,8.432
$10V_AH,10.4,7.327
$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,27.350,164.900,382.300,67.475,0.000,27.951,41.709,196.564,4.500,0.000,17.484,1206.127,8855.602,553.404,2085.465,581.303,33.353,1389.146,0.000,2080.442,0.000,0.534,0.000
$DEVICE_MAMPS,133.458,120.419,1023.945,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,384.754,310.727,395.190,570.448,1087.308,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,44848,566
$CAP_FILE_SIZE,133661,0
$CFSIZE,260165632,176476160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210314,062759,2241.448,-15740.501,58,1.0,58,10.1