version: 66.06
glider: 146
mission: 9
dive: 62
start: 3 21 114 17 48 59
data:
$ID,146
$MISSION,9
$DIVE,62
$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,-324582.28
$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,31
$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
$GPS1,173753,2239.464,-15738.361,64,1.0,64,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-69.4
$GPS2,174806,2239.483,-15738.535,15,1.3,18,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.149,-0.210
$KALMAN_X,-48191.8,325.7,-328.9,77293.8,-551.7
$KALMAN_Y,35720.5,191.8,-213.6,-53849.5,868.6
$MHEAD_RNG_PITCHd_Wd,134.5,2071,-17.7,-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,-1.28,-143.6,0.0,0.0,0,112,0.00,0.00,-88.05,0.000,6,0.000,0.000,468,2197,3645,0,0,0,0,0,0
$GC,114,-1.28,-143.6,4.6,-12.2,12,131,11.52,2.55,0.00,0.000,4,0.137,0.037,2716,628,3646,0,0,0,0,0,0
$GC,183,-1.15,-143.6,24.1,-15.9,21,191,0.12,2.53,0.00,0.000,6,0.104,0.021,2745,2220,3646,0,0,0,0,0,0
$GC,463,-1.10,-143.6,59.7,-11.9,49,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2220,3646,0,0,0,0,0,0
$GC,725,-1.06,-143.6,92.4,-11.0,74,730,0.12,2.65,0.00,0.000,4,0.120,0.044,2771,632,3647,0,0,0,0,0,0
$GC,754,-1.06,-143.6,95.6,-10.2,76,758,0.00,2.45,0.00,0.000,6,0.000,0.018,2772,2214,3647,0,0,0,0,0,0
$GC,1018,-1.06,-146.0,118.5,-9.1,100,1022,0.00,2.62,0.00,0.000,4,0.000,0.044,2771,625,3647,0,0,0,0,0,0
$GC,1038,-1.10,-146.0,120.3,-9.0,101,1043,0.00,2.42,0.00,0.000,6,0.000,0.018,2771,2202,3647,0,0,0,0,0,0
$GC,1307,-1.14,-146.0,142.2,-8.2,125,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2202,3648,0,0,0,0,0,0
$GC,1570,-1.19,-146.0,162.3,-8.2,150,1575,0.12,2.60,0.00,0.000,4,0.071,0.047,2723,632,3648,0,0,0,0,0,0
$GC,1647,-1.15,-146.0,170.6,-10.7,156,1651,0.12,2.40,0.00,0.000,6,0.104,0.022,2750,2192,3648,0,0,0,0,0,0
$GC,1908,-1.15,-146.0,195.0,-9.5,180,1912,0.00,2.58,0.00,0.000,4,0.000,0.044,2750,632,3649,0,0,0,0,0,0
$GC,1929,-1.15,-146.0,196.6,-9.3,181,1934,0.00,2.40,0.00,0.000,6,0.000,0.025,2750,2190,3649,0,0,0,0,0,0
$GC,2213,-1.15,-146.0,222.2,-8.5,190,2217,0.00,2.58,0.00,0.000,4,0.000,0.039,2750,3780,3649,0,0,0,0,0,0
$GC,2239,-1.15,-146.0,224.7,-8.4,190,2244,0.00,2.50,0.00,0.000,6,0.000,0.021,2750,2189,3649,0,0,0,0,0,0
$GC,2491,-1.19,-146.0,243.3,-7.4,196,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2189,3649,0,0,0,0,0,0
$GC,2734,-1.24,-146.0,262.0,-7.8,202,2738,0.00,2.62,0.00,0.000,4,0.000,0.042,2750,3776,3648,0,0,0,0,0,0
$GC,2750,-1.29,-146.0,263.3,-7.8,202,2755,0.12,2.50,0.00,0.000,6,0.069,0.026,2701,2203,3648,0,0,0,0,0,0
$GC,3013,-1.29,-146.0,288.2,-9.7,209,3017,0.00,2.60,0.00,0.000,4,0.000,0.044,2701,3772,3647,0,0,0,0,0,0
$GC,3096,-1.29,-146.0,297.6,-11.5,211,3101,0.00,2.50,0.00,0.000,6,0.000,0.025,2701,2212,3647,0,0,0,0,0,0
$GC,3380,-1.29,-146.0,324.5,-9.3,218,3385,0.00,2.70,0.00,0.000,4,0.000,0.069,2701,631,3647,0,0,0,0,0,0
$GC,3404,-1.29,-146.0,326.7,-9.8,218,3409,0.00,2.53,0.00,0.000,6,0.000,0.037,2701,2194,3646,0,0,0,0,0,0
$GC,3660,-1.29,-146.0,351.7,-9.8,225,3664,0.00,2.65,0.00,0.000,4,0.000,0.063,2701,636,3645,0,0,0,0,0,0
$GC,3681,-1.29,-146.0,354.0,-10.2,225,3685,0.00,2.53,0.00,0.000,6,0.000,0.041,2701,2196,3645,0,0,0,0,0,0
$GC,3938,-1.29,-146.0,379.3,-10.0,232,3943,0.10,2.67,0.00,0.000,4,0.117,0.055,2722,3793,3643,0,0,0,0,0,0
$GC,3982,-1.29,-146.0,383.1,-8.2,233,3986,0.00,2.55,0.00,0.000,6,0.000,0.031,2722,2220,3643,0,0,0,0,0,0
$GC,4260,-1.33,-146.0,402.9,-6.7,240,4265,0.00,2.67,0.00,0.000,4,0.000,0.061,2723,3800,3641,0,0,0,0,0,0
$GC,4334,-1.39,-146.0,408.0,-6.9,241,4338,0.00,2.60,0.00,0.000,6,0.000,0.045,2723,2223,3641,0,0,0,0,0,0
$GC,4584,-1.42,-146.0,425.1,-7.0,247,4589,0.12,2.88,0.00,0.000,4,0.070,0.088,2677,626,3640,0,0,0,0,0,0
$GC,4653,-1.38,-146.0,431.3,-9.6,248,4658,0.12,2.62,0.00,0.000,6,0.108,0.048,2702,2213,3639,0,0,0,0,0,0
$GC,4908,-1.38,-146.0,453.6,-8.7,255,4913,0.00,2.83,0.00,0.000,4,0.000,0.078,2702,620,3638,0,0,0,0,0,0
$GC,4930,-1.38,-146.0,455.7,-9.7,255,4934,0.00,2.65,0.00,0.000,6,0.000,0.044,2702,2213,3637,0,0,0,0,0,0
$GC,5186,-1.38,-146.0,479.1,-9.1,262,5191,0.00,2.83,0.00,0.000,4,0.000,0.084,2702,623,3636,0,0,0,0,0,0
$GC,5213,-1.38,-146.0,481.7,-9.3,262,5217,0.00,2.65,0.00,0.000,6,0.000,0.047,2702,2207,3636,0,0,0,0,0,0
$GC,5463,-1.38,-146.0,502.9,-8.4,268,5467,0.00,2.72,0.00,0.000,4,0.000,0.070,2702,3795,3635,0,0,0,0,0,0
$GC,5491,-1.38,-146.0,505.4,-8.8,268,5496,0.00,2.65,0.00,0.000,6,0.000,0.047,2702,2220,3634,0,0,0,0,0,0
$GC,5741,-1.38,-146.0,526.0,-8.3,274,5746,0.00,2.72,0.00,0.000,4,0.000,0.067,2702,3794,3633,0,0,0,0,0,0
$GC,5792,-1.38,-146.0,530.5,-9.2,275,5797,0.00,2.67,0.00,0.000,6,0.000,0.054,2702,2221,3633,0,0,0,0,0,0
$GC,6065,-1.38,-146.0,552.5,-8.1,282,6070,0.00,2.75,0.00,0.000,4,0.000,0.073,2702,3797,3631,0,0,0,0,0,0
$GC,6109,-1.38,-146.0,556.7,-9.2,283,6114,0.00,2.67,0.00,0.000,6,0.000,0.058,2702,2237,3630,0,0,0,0,0,0
$GC,6387,-1.38,-146.0,580.9,-8.8,290,6391,0.00,2.75,0.00,0.000,4,0.000,0.081,2702,3792,3629,0,0,0,0,0,0
$GC,6454,-1.38,-146.0,587.3,-9.7,291,6459,0.00,2.70,0.00,0.000,6,0.000,0.064,2702,2243,3629,0,0,0,0,0,0
$STATE,6626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6626,begin apogee
$GC,6632,-0.31,0.0,602.3,8.6,296,6752,1.02,0.00,116.05,1.015,6,0.075,0.000,2934,2378,3060,0,0,0,0,0,0
$STATE,6754,end apogee,CONTROL_FINISHED_OK
$STATE,6754,begin climb
$GC,6756,1.28,146.0,604.3,0.0,299,6885,1.45,0.00,124.12,0.988,6,0.037,0.000,3289,2378,2463,0,0,0,0,0,0
$GC,7122,1.16,146.0,566.1,12.6,308,7127,0.15,2.78,0.00,0.000,4,0.120,0.074,3259,3937,2456,0,0,0,0,0,0
$GC,7220,1.07,146.0,554.0,13.0,310,7224,0.00,2.67,0.00,0.000,6,0.000,0.051,3259,2388,2453,0,0,0,0,0,0
$GC,7492,1.01,146.0,523.0,11.2,317,7497,0.17,2.70,0.00,0.000,4,0.114,0.061,3225,3940,2451,0,0,0,0,0,0
$GC,7536,1.01,146.0,517.7,11.6,318,7540,0.00,2.62,0.00,0.000,6,0.000,0.046,3225,2396,2451,0,0,0,0,0,0
$GC,7814,1.04,170.4,492.6,8.9,325,7837,0.00,0.00,20.62,0.910,6,0.000,0.000,3225,2396,2365,0,0,0,0,0,0
$GC,8058,1.07,195.1,470.9,8.8,331,8087,0.00,2.75,23.17,0.904,4,0.000,0.063,3225,3933,2263,0,0,0,0,0,0
$GC,8169,1.08,201.4,460.6,9.7,333,8182,0.00,2.58,6.45,0.739,6,0.000,0.044,3225,2420,2239,0,0,0,0,0,0
$GC,8433,1.12,236.4,437.8,8.4,340,8475,0.10,3.10,32.10,0.894,4,0.091,0.093,3253,784,2095,0,0,0,0,0,0
$GC,8541,1.12,236.4,426.4,12.0,342,8546,0.00,2.70,0.00,0.000,6,0.000,0.041,3253,2403,2092,0,0,0,0,0,0
$GC,8802,1.12,236.4,396.7,11.6,349,8807,0.00,2.83,0.00,0.000,4,0.000,0.062,3253,771,2091,0,0,0,0,0,0
$GC,8823,1.12,236.4,393.9,12.7,349,8828,0.00,2.67,0.00,0.000,6,0.000,0.031,3253,2405,2089,0,0,0,0,0,0
$GC,9080,1.12,236.4,362.5,12.2,356,9084,0.00,2.58,0.00,0.000,4,0.000,0.053,3253,3933,2088,0,0,0,0,0,0
$GC,9123,1.12,236.4,356.7,12.9,357,9128,0.00,2.53,0.00,0.000,6,0.000,0.033,3253,2399,2088,0,0,0,0,0,0
$GC,9401,1.12,236.4,325.9,10.8,364,9406,0.00,2.78,0.00,0.000,4,0.000,0.064,3253,785,2088,0,0,0,0,0,0
$GC,9480,1.12,236.4,317.1,11.6,365,9485,0.00,2.62,0.00,0.000,6,0.000,0.032,3253,2401,2086,0,0,0,0,0,0
$GC,9729,1.12,236.4,289.5,11.0,372,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2402,2086,0,0,0,0,0,0
$GC,9973,1.12,236.4,264.3,10.1,378,9974,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2402,2086,0,0,0,0,0,0
$GC,10218,1.12,236.4,239.4,10.4,384,10219,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2402,2086,0,0,0,0,0,0
$GC,10461,1.17,239.5,215.1,9.9,390,10465,0.00,2.53,0.00,0.000,4,0.000,0.047,3253,3931,2086,0,0,0,0,0,0
$GC,10533,1.21,239.5,207.4,10.4,391,10537,0.00,2.50,0.00,0.000,6,0.000,0.027,3252,2372,2085,0,0,0,0,0,0
$GC,10797,1.26,242.7,182.0,9.8,409,10805,0.10,0.00,5.30,0.548,6,0.090,0.000,3282,2372,2070,0,0,0,0,0,0
$GC,11058,1.26,243.5,153.0,10.0,434,11063,0.00,2.60,0.00,0.000,4,0.000,0.049,3282,787,2070,0,0,0,0,0,0
$GC,11127,1.26,243.5,146.3,11.1,439,11132,0.00,2.55,0.00,0.000,6,0.000,0.024,3282,2397,2069,0,0,0,0,0,0
$GC,11394,1.27,249.7,119.4,9.7,463,11403,0.00,0.00,8.07,0.561,6,0.000,0.000,3282,2397,2041,0,0,0,0,0,0
$GC,11657,1.31,249.7,94.4,10.2,488,11661,0.00,2.53,0.00,0.000,4,0.000,0.043,3282,3931,2041,0,0,0,0,0,0
$GC,11757,1.36,249.7,83.1,10.8,496,11761,0.00,2.53,0.00,0.000,6,0.000,0.024,3282,2354,2040,0,0,0,0,0,0
$GC,12024,1.41,262.7,58.4,9.4,520,12044,0.12,0.00,13.20,0.542,6,0.077,0.000,3320,2355,1988,0,0,0,0,0,0
$GC,12312,1.41,262.7,22.7,12.8,550,12322,0.00,2.62,0.00,0.000,4,0.000,0.045,3320,3916,1986,0,0,0,0,0,0
$GC,12347,1.37,262.7,18.0,13.5,554,12356,0.00,2.53,0.00,0.000,6,0.000,0.025,3320,2358,1986,0,0,0,0,0,0
$STATE,12456,end climb,SURFACE_DEPTH_REACHED
$STATE,12456,begin surface coast
$FINISH,-0.3,1.011166
$STATE,12500,end surface coast,CONTROL_FINISHED_OK
$STATE,12501,begin surface
$SM_CCo,12523,94.35,0.525,0,0,1509,380.21
$SM_GC,0.46,0.00,0.00,94.35,0.000,0.000,0.525,467,2195,1509,-11.67,-0.42,380.21
$IRIDIUM_FIX,2232.34,-15741.13,150603,171750
$TT8_MAMPS,0.026078
$HUMID,58.82
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.10
$XPDR_PINGS,20
$24V_AH,23.3,8.946
$10V_AH,10.4,7.794
$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,27.100,158.250,349.100,94.350,0.000,54.034,78.559,268.304,5.000,0.000,19.641,1211.509,8613.312,555.256,2125.521,720.969,33.355,1371.656,0.000,2120.911,0.000,0.535,0.000
$DEVICE_MAMPS,137.293,92.807,1014.741,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,391.216,324.506,418.537,610.820,1162.020,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,44721,576
$CAP_FILE_SIZE,132801,0
$CFSIZE,260165632,176218112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210314,212036,2238.857,-15737.646,38,0.9,38,10.1