version: 66.06
glider: 146
mission: 9
dive: 60
start: 3 21 114 10 12 6
data:
$ID,146
$MISSION,9
$DIVE,60
$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,-324544.66
$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,68
$R_STBD_OVSHOOT,38
$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
$GPS1,100406,2241.312,-15739.593,33,1.3,33,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-68.8
$GPS2,101112,2241.331,-15739.614,10,1.3,10,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.121,-0.229
$KALMAN_X,-46626.0,-182.9,140.3,73919.9,-277.6
$KALMAN_Y,33020.1,580.9,323.0,-48661.6,817.3
$MHEAD_RNG_PITCHd_Wd,142.0,5942,-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,-88.53,0.000,6,0.000,0.000,470,2170,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.7,-11.6,12,133,11.45,2.45,0.00,0.000,4,0.134,0.035,2719,654,3656,0,0,0,0,0,0
$GC,278,-1.16,-146.0,39.7,-14.0,31,283,0.15,2.42,0.00,0.000,6,0.109,0.021,2749,2216,3657,0,0,0,0,0,0
$GC,547,-1.10,-146.0,72.7,-12.3,55,552,0.00,2.55,0.00,0.000,4,0.000,0.043,2749,659,3657,0,0,0,0,0,0
$GC,571,-1.02,-146.0,76.9,-13.0,56,581,0.12,2.42,0.00,0.000,6,0.081,0.018,2781,2213,3657,0,0,0,0,0,0
$GC,838,-1.02,-146.0,104.4,-10.1,81,842,0.00,2.53,0.00,0.000,4,0.000,0.036,2781,3779,3658,0,0,0,0,0,0
$GC,869,-1.02,-146.0,108.0,-10.3,83,873,0.00,2.42,0.00,0.000,6,0.000,0.022,2782,2241,3658,0,0,0,0,0,0
$GC,1137,-1.02,-146.0,130.7,-8.5,107,1141,0.00,2.62,0.00,0.000,4,0.000,0.044,2781,632,3658,0,0,0,0,0,0
$GC,1193,-1.07,-146.0,136.2,-9.6,111,1197,0.00,2.42,0.00,0.000,6,0.000,0.017,2781,2212,3658,0,0,0,0,0,0
$GC,1457,-1.13,-146.0,159.5,-8.7,135,1462,0.10,2.60,0.00,0.000,4,0.082,0.045,2740,637,3659,0,0,0,0,0,0
$GC,1486,-1.13,-146.0,162.7,-10.1,137,1490,0.00,2.42,0.00,0.000,6,0.000,0.022,2741,2200,3659,0,0,0,0,0,0
$GC,1749,-1.13,-146.0,189.0,-10.0,161,1753,0.00,2.53,0.00,0.000,4,0.000,0.036,2740,3779,3659,0,0,0,0,0,0
$GC,1790,-1.13,-146.0,193.6,-11.2,164,1794,0.00,2.47,0.00,0.000,6,0.000,0.020,2740,2188,3659,0,0,0,0,0,0
$GC,2063,-1.13,-146.0,221.0,-9.9,175,2067,0.00,2.55,0.00,0.000,4,0.000,0.046,2740,636,3660,0,0,0,0,0,0
$GC,2124,-1.13,-146.0,227.4,-10.3,176,2129,0.00,2.40,0.00,0.000,6,0.000,0.023,2740,2194,3660,0,0,0,0,0,0
$GC,2386,-1.13,-146.0,251.3,-9.0,183,2390,0.00,2.55,0.00,0.000,4,0.000,0.040,2740,3772,3660,0,0,0,0,0,0
$GC,2407,-1.13,-146.0,253.5,-10.0,183,2411,0.00,2.45,0.00,0.000,6,0.000,0.021,2740,2201,3660,0,0,0,0,0,0
$GC,2663,-1.13,-146.0,275.5,-8.5,190,2668,0.00,2.58,0.00,0.000,4,0.000,0.049,2740,3771,3660,0,0,0,0,0,0
$GC,2691,-1.13,-146.0,278.1,-8.2,190,2695,0.00,2.45,0.00,0.000,6,0.000,0.021,2740,2206,3660,0,0,0,0,0,0
$GC,2941,-1.13,-146.0,298.2,-8.3,196,2946,0.00,2.60,0.00,0.000,4,0.000,0.046,2740,3768,3660,0,0,0,0,0,0
$GC,2992,-1.17,-146.0,302.4,-8.2,197,2997,0.00,2.47,0.00,0.000,6,0.000,0.028,2740,2224,3660,0,0,0,0,0,0
$GC,3265,-1.21,-146.0,324.7,-8.4,204,3270,0.00,2.72,0.00,0.000,4,0.000,0.066,2740,634,3659,0,0,0,0,0,0
$GC,3327,-1.27,-146.0,330.1,-8.2,205,3331,0.00,2.53,0.00,0.000,6,0.000,0.039,2740,2196,3658,0,0,0,0,0,0
$GC,3589,-1.32,-146.0,348.8,-7.2,212,3591,0.10,0.00,0.00,0.000,6,0.081,0.000,2699,2196,3657,0,0,0,0,0,0
$GC,3831,-1.32,-146.0,371.0,-9.2,218,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2196,3656,0,0,0,0,0,0
$GC,4075,-1.32,-146.0,393.7,-9.5,224,4079,0.00,2.70,0.00,0.000,4,0.000,0.059,2700,3786,3655,0,0,0,0,0,0
$GC,4115,-1.32,-146.0,397.5,-10.0,225,4120,0.00,2.58,0.00,0.000,6,0.000,0.035,2699,2212,3655,0,0,0,0,0,0
$GC,4399,-1.32,-146.0,423.2,-8.7,232,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2212,3653,0,0,0,0,0,0
$GC,4642,-1.32,-146.0,443.4,-8.2,238,4647,0.00,2.70,0.00,0.000,4,0.000,0.061,2699,3787,3651,0,0,0,0,0,0
$GC,4659,-1.32,-146.0,444.7,-8.0,238,4664,0.00,2.62,0.00,0.000,6,0.000,0.043,2699,2208,3651,0,0,0,0,0,0
$GC,4920,-1.32,-146.0,466.2,-8.1,245,4924,0.00,2.70,0.00,0.000,4,0.000,0.064,2699,3785,3649,0,0,0,0,0,0
$GC,4969,-1.32,-146.0,470.4,-8.4,246,4974,0.00,2.62,0.00,0.000,6,0.000,0.052,2699,2219,3649,0,0,0,0,0,0
$GC,5243,-1.32,-146.0,490.2,-7.3,253,5248,0.00,2.70,0.00,0.000,4,0.000,0.066,2699,3787,3647,0,0,0,0,0,0
$GC,5299,-1.32,-146.0,494.8,-7.9,254,5303,0.00,2.62,0.00,0.000,6,0.000,0.048,2699,2234,3647,0,0,0,0,0,0
$GC,5565,-1.32,-146.0,515.4,-8.0,261,5570,0.00,3.00,0.00,0.000,4,0.000,0.108,2699,622,3646,0,0,0,0,0,0
$GC,5611,-1.32,-146.0,519.7,-9.7,262,5615,0.00,2.67,0.00,0.000,6,0.000,0.056,2699,2212,3645,0,0,0,0,0,0
$GC,5888,-1.32,-146.0,544.3,-8.5,269,5893,0.00,2.80,0.00,0.000,4,0.000,0.089,2699,3803,3644,0,0,0,0,0,0
$GC,5929,-1.32,-146.0,547.4,-7.9,270,5933,0.00,2.67,0.00,0.000,6,0.000,0.053,2699,2234,3643,0,0,0,0,0,0
$GC,6213,-1.32,-146.0,570.0,-7.7,277,6218,0.00,2.78,0.00,0.000,4,0.000,0.085,2699,3793,3641,0,0,0,0,0,0
$GC,6324,-1.32,-146.0,579.2,-7.7,279,6329,0.00,2.67,0.00,0.000,6,0.000,0.067,2699,2249,3641,0,0,0,0,0,0
$GC,6581,-1.32,-146.0,597.1,-7.0,286,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2250,3639,0,0,0,0,0,0
$STATE,6658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6658,begin apogee
$GC,6664,-0.31,0.0,603.1,7.3,288,6786,1.05,0.00,118.32,1.018,6,0.071,0.000,2937,2373,3060,0,0,0,0,0,0
$STATE,6787,end apogee,CONTROL_FINISHED_OK
$STATE,6787,begin climb
$GC,6789,1.27,146.0,605.2,0.0,291,6925,1.42,2.90,123.57,0.991,4,0.036,0.087,3287,3935,2461,0,0,0,0,0,0
$GC,6948,1.11,146.0,594.1,12.1,294,6955,0.20,2.78,0.00,0.000,6,0.106,0.064,3247,2368,2459,0,0,0,0,0,0
$GC,7200,1.05,146.0,568.6,10.2,301,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2368,2453,0,0,0,0,0,0
$GC,7442,1.00,146.0,544.2,10.0,307,7447,0.12,2.78,0.00,0.000,4,0.128,0.072,3224,3931,2451,0,0,0,0,0,0
$GC,7504,0.97,154.0,538.3,9.6,308,7515,0.00,2.70,6.10,0.757,6,0.000,0.050,3224,2364,2432,0,0,0,0,0,0
$GC,7767,1.01,187.0,516.1,8.5,315,7803,0.00,2.80,30.98,0.943,4,0.000,0.060,3224,3934,2296,0,0,0,0,0,0
$GC,7855,1.02,195.3,507.8,9.6,316,7869,0.00,2.67,8.55,0.818,6,0.000,0.046,3224,2380,2263,0,0,0,0,0,0
$GC,8138,1.04,209.2,481.9,9.4,323,8157,0.00,3.12,13.48,0.877,4,0.000,0.113,3224,778,2206,0,0,0,0,0,0
$GC,8192,1.04,209.2,476.1,10.8,324,8196,0.00,2.70,0.00,0.000,6,0.000,0.046,3224,2380,2203,0,0,0,0,0,0
$GC,8464,1.04,209.6,448.9,10.0,331,8468,0.00,2.67,0.00,0.000,4,0.000,0.059,3224,3942,2202,0,0,0,0,0,0
$GC,8491,1.04,209.6,446.0,10.7,331,8496,0.00,2.62,0.00,0.000,6,0.000,0.035,3224,2367,2201,0,0,0,0,0,0
$GC,8741,1.06,227.8,423.0,9.2,337,8760,0.00,0.00,17.27,0.872,6,0.000,0.000,3224,2367,2131,0,0,0,0,0,0
$GC,8985,1.15,266.4,402.9,8.2,343,9026,0.12,0.00,35.15,0.881,6,0.081,0.000,3259,2367,1973,0,0,0,0,0,0
$GC,9271,1.15,266.4,368.7,12.6,350,9276,0.00,2.67,0.00,0.000,4,0.000,0.054,3260,3943,1968,0,0,0,0,0,0
$GC,9337,1.15,266.4,359.4,13.8,351,9342,0.00,2.60,0.00,0.000,6,0.000,0.031,3259,2372,1966,0,0,0,0,0,0
$GC,9594,1.15,266.4,328.2,12.0,358,9599,0.00,2.72,0.00,0.000,4,0.000,0.063,3259,775,1966,0,0,0,0,0,0
$GC,9628,1.15,266.4,324.0,12.6,358,9635,0.00,2.60,0.00,0.000,6,0.000,0.028,3259,2388,1965,0,0,0,0,0,0
$GC,9877,1.15,266.4,295.3,11.5,365,9882,0.00,2.75,0.00,0.000,4,0.000,0.055,3259,775,1965,0,0,0,0,0,0
$GC,9909,1.15,266.4,291.4,12.2,365,9915,0.00,2.60,0.00,0.000,6,0.000,0.035,3259,2378,1965,0,0,0,0,0,0
$GC,10161,1.15,266.4,263.0,11.3,372,10165,0.00,2.60,0.00,0.000,4,0.000,0.052,3259,3932,1965,0,0,0,0,0,0
$GC,10266,1.15,266.4,250.6,11.7,374,10271,0.00,2.50,0.00,0.000,6,0.000,0.026,3259,2381,1964,0,0,0,0,0,0
$GC,10534,1.15,266.4,221.1,11.5,381,10539,0.00,2.67,0.00,0.000,4,0.000,0.052,3259,783,1964,0,0,0,0,0,0
$GC,10561,1.15,266.4,217.9,11.7,381,10565,0.00,2.60,0.00,0.000,6,0.000,0.031,3259,2403,1963,0,0,0,0,0,0
$GC,10815,1.15,266.8,192.5,10.0,390,10819,0.00,2.70,0.00,0.000,4,0.000,0.048,3259,788,1963,0,0,0,0,0,0
$GC,10871,1.15,266.8,186.8,10.8,394,10875,0.00,2.55,0.00,0.000,6,0.000,0.026,3259,2386,1963,0,0,0,0,0,0
$GC,11137,1.19,266.8,159.3,10.7,418,11142,0.00,2.55,0.00,0.000,4,0.000,0.044,3259,3930,1963,0,0,0,0,0,0
$GC,11165,1.19,266.8,155.7,10.6,420,11170,0.00,2.50,0.00,0.000,6,0.000,0.025,3259,2374,1963,0,0,0,0,0,0
$GC,11430,1.25,266.8,129.0,10.8,444,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2374,1963,0,0,0,0,0,0
$GC,11697,1.36,296.7,103.3,8.6,469,11732,0.17,2.70,25.62,0.608,4,0.067,0.047,3309,779,1850,0,0,0,0,0,0
$GC,11798,1.36,296.7,93.1,11.2,477,11802,0.00,2.55,0.00,0.000,6,0.000,0.022,3309,2387,1848,0,0,0,0,0,0
$GC,12065,1.36,296.7,61.6,12.3,501,12069,0.00,2.53,0.00,0.000,4,0.000,0.042,3309,3921,1848,0,0,0,0,0,0
$GC,12111,1.36,296.7,55.0,14.6,504,12115,0.00,2.47,0.00,0.000,6,0.000,0.025,3308,2380,1848,0,0,0,0,0,0
$GC,12392,1.36,296.7,18.5,14.6,534,12402,0.00,2.65,0.00,0.000,4,0.000,0.048,3309,788,1848,0,0,0,0,0,0
$GC,12434,1.30,296.7,12.7,14.7,539,12444,0.08,2.53,0.00,0.000,6,0.094,0.021,3288,2383,1847,0,0,0,0,0,0
$STATE,12506,end climb,SURFACE_DEPTH_REACHED
$STATE,12506,begin surface coast
$FINISH,-0.1,1.023969
$STATE,12563,end surface coast,CONTROL_FINISHED_OK
$STATE,12563,begin surface
$SM_CCo,12586,67.15,0.523,0,0,1509,380.21
$SM_GC,0.42,0.00,0.00,67.15,0.000,0.000,0.523,463,2197,1509,-11.69,-0.37,380.21
$IRIDIUM_FIX,2234.68,-15743.29,150603,060655
$TT8_MAMPS,0.026078
$HUMID,59.33
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.10
$XPDR_PINGS,23
$24V_AH,23.3,8.685
$10V_AH,10.4,7.552
$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,26.375,173.350,379.050,67.150,0.000,27.841,41.084,224.529,5.750,0.000,11.929,1190.792,8662.874,544.013,2066.520,613.910,33.357,1392.200,0.000,2065.520,0.000,0.534,0.000
$DEVICE_MAMPS,134.225,112.749,1017.809,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.331,302.783,394.793,560.272,1067.968,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,44644,557
$CAP_FILE_SIZE,132508,0
$CFSIZE,260165632,176349184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210314,134429,2240.432,-15738.771,32,1.1,48,10.1