version: 66.06
glider: 146
mission: 9
dive: 59
start: 3 21 114 6 35 8
data:
$ID,146
$MISSION,9
$DIVE,59
$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,-324532.09
$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,49
$R_STBD_OVSHOOT,35
$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
$GPS1,062759,2241.448,-15740.501,58,1.0,58,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-69.1
$GPS2,063412,2241.506,-15740.566,9,1.0,9,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.137,-0.221
$KALMAN_X,-45998.3,-382.0,-251.2,72268.3,-352.3
$KALMAN_Y,31226.0,239.0,169.1,-46050.7,1171.9
$MHEAD_RNG_PITCHd_Wd,138.1,7170,-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,-89.03,0.000,6,0.000,0.000,465,2191,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.3,-11.0,12,132,11.65,2.50,0.00,0.000,4,0.141,0.035,2714,645,3657,0,0,0,0,0,0
$GC,289,-1.16,-146.0,41.8,-13.8,32,295,0.17,2.47,0.00,0.000,6,0.108,0.021,2750,2221,3658,0,0,0,0,0,0
$GC,558,-1.10,-146.0,75.6,-12.2,56,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2220,3658,0,0,0,0,0,0
$GC,824,-1.04,-146.0,107.3,-12.3,81,830,0.12,0.00,0.00,0.000,6,0.114,0.000,2776,2221,3659,0,0,0,0,0,0
$GC,1086,-1.04,-146.0,135.6,-10.3,106,1090,0.00,2.50,0.00,0.000,4,0.000,0.038,2776,3775,3659,0,0,0,0,0,0
$GC,1115,-1.04,-146.0,138.7,-10.2,108,1119,0.00,2.45,0.00,0.000,6,0.000,0.022,2776,2222,3659,0,0,0,0,0,0
$GC,1379,-1.08,-146.0,161.2,-9.2,132,1383,0.00,2.60,0.00,0.000,4,0.000,0.045,2776,639,3660,0,0,0,0,0,0
$GC,1459,-1.14,-146.0,168.7,-8.5,138,1468,0.00,2.47,0.00,0.000,6,0.000,0.020,2776,2220,3660,0,0,0,0,0,0
$GC,1727,-1.20,-146.0,191.1,-7.8,163,1732,0.15,2.53,0.00,0.000,4,0.060,0.038,2720,3779,3660,0,0,0,0,0,0
$GC,1760,-1.15,-146.0,195.0,-10.6,165,1770,0.12,2.47,0.00,0.000,6,0.070,0.020,2753,2221,3661,0,0,0,0,0,0
$GC,2022,-1.15,-146.0,220.4,-9.6,176,2026,0.00,2.58,0.00,0.000,4,0.000,0.045,2752,639,3661,0,0,0,0,0,0
$GC,2084,-1.20,-146.0,226.5,-10.0,177,2088,0.00,2.42,0.00,0.000,6,0.000,0.024,2753,2203,3661,0,0,0,0,0,0
$GC,2345,-1.20,-146.0,248.4,-8.0,184,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2202,3661,0,0,0,0,0,0
$GC,2589,-1.25,-146.0,266.5,-7.5,190,2593,0.00,2.60,0.00,0.000,4,0.000,0.044,2753,3779,3661,0,0,0,0,0,0
$GC,2606,-1.30,-146.0,267.9,-7.6,190,2611,0.15,2.47,0.00,0.000,6,0.061,0.021,2697,2205,3661,0,0,0,0,0,0
$GC,2868,-1.24,-146.0,293.0,-9.5,197,2873,0.17,2.62,0.00,0.000,4,0.091,0.046,2736,3776,3661,0,0,0,0,0,0
$GC,2914,-1.28,-146.0,296.9,-7.7,198,2918,0.00,2.47,0.00,0.000,6,0.000,0.024,2736,2222,3661,0,0,0,0,0,0
$GC,3191,-1.28,-146.0,319.7,-8.6,205,3196,0.00,2.67,0.00,0.000,4,0.000,0.064,2735,637,3660,0,0,0,0,0,0
$GC,3213,-1.28,-146.0,321.8,-9.3,205,3217,0.00,2.50,0.00,0.000,6,0.000,0.035,2736,2202,3660,0,0,0,0,0,0
$GC,3469,-1.28,-146.0,342.3,-7.6,212,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2201,3659,0,0,0,0,0,0
$GC,3712,-1.32,-146.0,360.1,-7.4,218,3716,0.00,2.67,0.00,0.000,4,0.000,0.064,2735,631,3658,0,0,0,0,0,0
$GC,3745,-1.38,-146.0,362.7,-7.6,218,3751,0.15,2.58,0.00,0.000,6,0.062,0.043,2682,2209,3658,0,0,0,0,0,0
$GC,3996,-1.33,-146.0,385.7,-9.3,225,4002,0.15,2.70,0.00,0.000,4,0.098,0.064,2714,3795,3656,0,0,0,0,0,0
$GC,4029,-1.33,-146.0,389.2,-9.6,225,4035,0.00,2.58,0.00,0.000,6,0.000,0.035,2714,2223,3656,0,0,0,0,0,0
$GC,4279,-1.33,-146.0,410.6,-8.5,232,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2223,3655,0,0,0,0,0,0
$GC,4525,-1.33,-146.0,431.3,-8.4,238,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2223,3653,0,0,0,0,0,0
$GC,4767,-1.33,-146.0,451.9,-8.5,244,4771,0.00,2.67,0.00,0.000,4,0.000,0.063,2714,3789,3651,0,0,0,0,0,0
$GC,4816,-1.33,-146.0,456.7,-9.6,245,4821,0.00,2.60,0.00,0.000,6,0.000,0.042,2714,2233,3651,0,0,0,0,0,0
$GC,5090,-1.33,-146.0,480.8,-8.7,252,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2233,3650,0,0,0,0,0,0
$GC,5332,-1.33,-146.0,499.8,-7.7,258,5337,0.00,2.97,0.00,0.000,4,0.000,0.107,2714,625,3648,0,0,0,0,0,0
$GC,5365,-1.33,-146.0,502.5,-8.4,258,5371,0.00,2.70,0.00,0.000,6,0.000,0.050,2714,2234,3648,0,0,0,0,0,0
$GC,5616,-1.33,-146.0,522.5,-8.0,265,5621,0.00,2.90,0.00,0.000,4,0.000,0.087,2714,625,3647,0,0,0,0,0,0
$GC,5649,-1.33,-146.0,525.6,-9.0,265,5655,0.00,2.70,0.00,0.000,6,0.000,0.051,2714,2226,3646,0,0,0,0,0,0
$GC,5899,-1.33,-146.0,546.2,-8.2,272,5904,0.00,2.92,0.00,0.000,4,0.000,0.094,2714,623,3645,0,0,0,0,0,0
$GC,5915,-1.33,-146.0,547.8,-8.3,272,5919,0.00,2.70,0.00,0.000,6,0.000,0.052,2714,2224,3644,0,0,0,0,0,0
$GC,6177,-1.36,-146.0,568.3,-7.9,279,6182,0.00,2.80,0.00,0.000,4,0.000,0.090,2714,3794,3643,0,0,0,0,0,0
$GC,6227,-1.41,-146.0,572.7,-8.7,280,6231,0.00,2.67,0.00,0.000,6,0.000,0.058,2714,2241,3643,0,0,0,0,0,0
$GC,6500,-1.45,-146.0,593.5,-7.6,287,6506,0.12,2.78,0.00,0.000,4,0.071,0.083,2671,3794,3641,0,0,0,0,0,0
$GC,6534,-1.39,-146.0,596.9,-10.1,287,6540,0.12,2.72,0.00,0.000,6,0.107,0.067,2698,2241,3641,0,0,0,0,0,0
$STATE,6578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6578,begin apogee
$GC,6584,-0.31,0.0,600.8,8.9,289,6706,1.02,0.00,118.75,1.016,6,0.070,0.000,2934,2377,3060,0,0,0,0,0,0
$STATE,6707,end apogee,CONTROL_FINISHED_OK
$STATE,6707,begin climb
$GC,6711,1.27,146.0,603.8,0.0,292,6845,1.42,2.88,123.70,0.990,4,0.035,0.083,3285,3930,2462,0,0,0,0,0,0
$GC,6911,1.12,146.0,589.2,12.3,296,6916,0.17,2.75,0.00,0.000,6,0.110,0.060,3250,2369,2457,0,0,0,0,0,0
$GC,7161,1.08,154.8,564.8,9.6,302,7175,0.00,2.85,7.40,0.802,4,0.000,0.074,3250,3931,2428,0,0,0,0,0,0
$GC,7285,1.00,154.8,551.3,11.1,304,7291,0.15,2.67,0.00,0.000,6,0.116,0.049,3220,2380,2426,0,0,0,0,0,0
$GC,7535,1.06,203.6,530.6,7.7,310,7585,0.00,3.17,44.10,0.952,4,0.000,0.120,3220,778,2229,0,0,0,0,0,0
$GC,7617,1.10,237.2,524.4,8.4,312,7654,0.10,2.75,30.67,0.928,6,0.093,0.055,3247,2378,2093,0,0,0,0,0,0
$GC,7899,1.12,252.1,497.6,9.3,318,7918,0.00,2.92,13.85,0.876,4,0.000,0.078,3247,774,2032,0,0,0,0,0,0
$GC,7947,1.12,252.1,492.6,10.4,319,7952,0.00,2.72,0.00,0.000,6,0.000,0.051,3247,2377,2030,0,0,0,0,0,0
$GC,8224,1.12,252.1,461.9,11.5,326,8229,0.00,2.70,0.00,0.000,4,0.000,0.061,3247,3938,2028,0,0,0,0,0,0
$GC,8302,1.12,252.1,451.7,13.6,327,8307,0.00,2.60,0.00,0.000,6,0.000,0.036,3247,2378,2026,0,0,0,0,0,0
$GC,8553,1.12,252.1,419.9,12.7,334,8557,0.00,2.85,0.00,0.000,4,0.000,0.081,3247,780,2026,0,0,0,0,0,0
$GC,8568,1.12,252.1,417.6,13.0,334,8572,0.00,2.62,0.00,0.000,6,0.000,0.038,3248,2396,2025,0,0,0,0,0,0
$GC,8829,1.12,252.1,386.2,12.1,341,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2396,2024,0,0,0,0,0,0
$GC,9073,1.12,252.1,357.8,11.6,347,9077,0.00,2.58,0.00,0.000,4,0.000,0.051,3247,3933,2024,0,0,0,0,0,0
$GC,9095,1.12,252.1,355.2,12.0,347,9099,0.00,2.55,0.00,0.000,6,0.000,0.031,3247,2375,2023,0,0,0,0,0,0
$GC,9349,1.12,252.1,326.6,11.0,354,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2374,2023,0,0,0,0,0,0
$GC,9593,1.12,252.1,301.0,10.6,360,9598,0.00,2.70,0.00,0.000,4,0.000,0.059,3247,785,2023,0,0,0,0,0,0
$GC,9637,1.12,252.1,296.0,11.6,361,9641,0.00,2.58,0.00,0.000,6,0.000,0.035,3248,2385,2021,0,0,0,0,0,0
$GC,9915,1.12,252.1,265.5,11.0,368,9919,0.00,2.58,0.00,0.000,4,0.000,0.050,3248,3927,2022,0,0,0,0,0,0
$GC,10015,1.18,252.1,253.5,12.0,370,10020,0.00,2.50,0.00,0.000,6,0.000,0.028,3248,2387,2021,0,0,0,0,0,0
$GC,10283,1.24,258.0,226.6,9.7,377,10290,0.10,0.00,4.97,0.571,6,0.094,0.000,3277,2387,2007,0,0,0,0,0,0
$GC,10525,1.24,258.0,201.3,10.5,383,10529,0.00,2.65,0.00,0.000,4,0.000,0.051,3277,782,2007,0,0,0,0,0,0
$GC,10565,1.24,258.0,197.1,11.1,384,10570,0.00,2.55,0.00,0.000,6,0.000,0.031,3277,2389,2007,0,0,0,0,0,0
$GC,10829,1.24,258.0,168.0,11.7,408,10830,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2389,2007,0,0,0,0,0,0
$GC,11080,1.24,258.0,141.3,10.2,432,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2389,2007,0,0,0,0,0,0
$GC,11337,1.28,258.0,116.3,10.2,456,11341,0.00,2.65,0.00,0.000,4,0.000,0.043,3277,776,2007,0,0,0,0,0,0
$GC,11389,1.32,258.0,110.3,11.0,460,11394,0.00,2.53,0.00,0.000,6,0.000,0.024,3277,2377,2007,0,0,0,0,0,0
$GC,11653,1.36,258.0,83.2,10.1,484,11658,0.10,2.55,0.00,0.000,4,0.091,0.044,3308,3926,2007,0,0,0,0,0,0
$GC,11748,1.36,258.0,70.8,13.0,491,11757,0.00,2.47,0.00,0.000,6,0.000,0.025,3308,2381,2008,0,0,0,0,0,0
$GC,12016,1.36,258.0,38.8,11.6,516,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2381,2008,0,0,0,0,0,0
$STATE,12305,end climb,SURFACE_DEPTH_REACHED
$STATE,12305,begin surface coast
$FINISH,-0.2,1.023931
$STATE,12341,end surface coast,CONTROL_FINISHED_OK
$STATE,12341,begin surface
$SM_CCo,12363,99.70,0.526,0,0,1510,380.21
$SM_GC,0.37,0.00,0.00,99.70,0.000,0.000,0.526,470,2171,1510,-11.66,-1.10,380.21
$IRIDIUM_FIX,2230.01,-15412.03,150603,020202
$TT8_MAMPS,0.026078
$HUMID,59.33
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.30
$XPDR_PINGS,20
$24V_AH,23.3,8.556
$10V_AH,10.4,7.439
$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,27.550,148.900,343.450,99.700,0.000,26.072,34.773,178.987,5.000,0.000,11.051,1169.379,8543.548,544.178,2037.109,542.134,33.357,1347.861,0.000,2036.863,0.000,0.534,0.000
$DEVICE_MAMPS,141.128,120.419,1016.275,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.642,309.603,398.962,575.469,1096.970,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,44736,561
$CAP_FILE_SIZE,125772,0
$CFSIZE,260165632,176418816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210314,100406,2241.312,-15739.593,33,1.3,33,10.1