version: 66.06
glider: 146
mission: 9
dive: 83
start: 3 25 114 1 28 43
data:
$ID,146
$MISSION,9
$DIVE,83
$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,-324965.38
$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,46
$R_STBD_OVSHOOT,43
$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
$GPS1,012005,2257.512,-15745.160,38,1.7,43,10.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-67.7
$GPS2,012749,2257.573,-15745.187,15,1.7,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.195,-0.172
$KALMAN_X,-56737.6,-69.5,-390.0,74939.1,430.4
$KALMAN_Y,47889.2,-89.8,228.7,-32684.9,368.1
$MHEAD_RNG_PITCHd_Wd,218.4,47590,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,114,0.00,0.00,-89.80,0.000,6,0.000,0.000,459,2194,3656,0,0,0,0,0,0
$GC,117,-1.27,-146.0,3.5,-7.7,12,135,11.55,2.53,0.00,0.000,4,0.136,0.035,2718,634,3657,0,0,0,0,0,0
$GC,330,-1.17,-146.0,42.9,-12.5,37,335,0.15,2.47,0.00,0.000,6,0.117,0.021,2748,2212,3658,0,0,0,0,0,0
$GC,598,-1.11,-146.0,75.1,-11.9,61,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2213,3658,0,0,0,0,0,0
$GC,860,-1.06,-146.0,105.4,-11.1,86,865,0.12,2.62,0.00,0.000,4,0.114,0.045,2774,641,3658,0,0,0,0,0,0
$GC,912,-1.09,-146.0,111.4,-10.4,90,917,0.00,2.45,0.00,0.000,6,0.000,0.018,2775,2216,3659,0,0,0,0,0,0
$GC,1176,-1.09,-146.0,136.1,-8.7,114,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2217,3659,0,0,0,0,0,0
$GC,1443,-1.14,-146.0,157.5,-8.4,139,1448,0.00,2.58,0.00,0.000,4,0.000,0.046,2774,647,3659,0,0,0,0,0,0
$GC,1472,-1.18,-146.0,160.7,-9.5,141,1477,0.12,2.42,0.00,0.000,6,0.067,0.024,2725,2205,3659,0,0,0,0,0,0
$GC,1733,-1.14,-146.0,188.6,-9.9,165,1735,0.12,0.00,0.00,0.000,6,0.100,0.000,2753,2205,3659,0,0,0,0,0,0
$GC,1983,-1.14,-146.0,210.4,-8.3,180,1988,0.00,2.55,0.00,0.000,4,0.000,0.038,2753,3786,3660,0,0,0,0,0,0
$GC,2046,-1.18,-146.0,215.8,-8.3,181,2051,0.00,2.47,0.00,0.000,6,0.000,0.020,2753,2211,3659,0,0,0,0,0,0
$GC,2307,-1.22,-146.0,236.9,-7.9,188,2312,0.00,2.58,0.00,0.000,4,0.000,0.049,2753,641,3660,0,0,0,0,0,0
$GC,2336,-1.27,-146.0,239.3,-8.5,188,2342,0.10,2.42,0.00,0.000,6,0.081,0.020,2706,2202,3660,0,0,0,0,0,0
$GC,2587,-1.23,-146.0,263.1,-9.6,194,2592,0.12,2.60,0.00,0.000,4,0.100,0.052,2734,643,3660,0,0,0,0,0,0
$GC,2610,-1.23,-146.0,265.4,-9.2,194,2615,0.00,2.45,0.00,0.000,6,0.000,0.031,2734,2194,3660,0,0,0,0,0,0
$GC,2867,-1.23,-146.0,285.9,-7.8,201,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2194,3660,0,0,0,0,0,0
$GC,3109,-1.23,-146.0,306.3,-8.6,207,3114,0.00,2.62,0.00,0.000,4,0.000,0.048,2734,3786,3659,0,0,0,0,0,0
$GC,3154,-1.28,-146.0,310.3,-8.4,208,3159,0.00,2.53,0.00,0.000,6,0.000,0.026,2734,2204,3659,0,0,0,0,0,0
$GC,3433,-1.28,-146.0,330.9,-6.9,215,3438,0.00,2.70,0.00,0.000,4,0.000,0.067,2734,625,3658,0,0,0,0,0,0
$GC,3483,-1.33,-146.0,334.7,-7.7,216,3488,0.00,2.53,0.00,0.000,6,0.000,0.032,2734,2191,3658,0,0,0,0,0,0
$GC,3757,-1.37,-146.0,356.5,-8.3,223,3759,0.12,0.00,0.00,0.000,6,0.071,0.000,2685,2192,3656,0,0,0,0,0,0
$GC,3999,-1.33,-146.0,380.9,-10.1,229,4005,0.12,2.72,0.00,0.000,4,0.104,0.054,2713,3794,3655,0,0,0,0,0,0
$GC,4072,-1.33,-146.0,387.9,-9.3,230,4076,0.00,2.60,0.00,0.000,6,0.000,0.039,2713,2203,3654,0,0,0,0,0,0
$GC,4323,-1.33,-146.0,408.7,-8.1,236,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2203,3653,0,0,0,0,0,0
$GC,4566,-1.33,-146.0,429.9,-8.6,242,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2202,3651,0,0,0,0,0,0
$GC,4809,-1.33,-146.0,448.6,-7.6,248,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2203,3650,0,0,0,0,0,0
$GC,5053,-1.33,-146.0,466.7,-7.4,254,5058,0.00,2.75,0.00,0.000,4,0.000,0.065,2712,3790,3648,0,0,0,0,0,0
$GC,5110,-1.37,-146.0,471.3,-8.4,255,5115,0.00,2.65,0.00,0.000,6,0.000,0.043,2712,2209,3647,0,0,0,0,0,0
$GC,5376,-1.37,-146.0,493.1,-8.4,262,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2209,3646,0,0,0,0,0,0
$GC,5620,-1.37,-146.0,512.3,-7.8,268,5625,0.00,2.78,0.00,0.000,4,0.000,0.075,2712,3792,3645,0,0,0,0,0,0
$GC,5655,-1.37,-146.0,514.9,-8.0,268,5661,0.00,2.70,0.00,0.000,6,0.000,0.053,2712,2204,3644,0,0,0,0,0,0
$GC,5906,-1.40,-146.0,530.4,-5.8,275,5910,0.00,2.78,0.00,0.000,4,0.000,0.072,2712,3785,3643,0,0,0,0,0,0
$GC,5951,-1.40,-146.0,533.3,-6.4,276,5955,0.00,2.70,0.00,0.000,6,0.000,0.059,2712,2205,3643,0,0,0,0,0,0
$GC,6229,-1.44,-146.0,550.6,-6.4,283,6230,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2206,3641,0,0,0,0,0,0
$GC,6472,-1.48,-146.0,568.0,-7.3,289,6474,0.15,0.00,0.00,0.000,6,0.062,0.000,2662,2205,3640,0,0,0,0,0,0
$GC,6717,-1.43,-146.0,591.2,-9.7,295,6723,0.12,2.90,0.00,0.000,4,0.104,0.098,2690,3781,3638,0,0,0,0,0,0
$GC,6734,-1.39,-146.0,592.9,-9.4,295,6739,0.00,2.78,0.00,0.000,6,0.000,0.067,2690,2197,3638,0,0,0,0,0,0
$STATE,6829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6830,begin apogee
$GC,6836,-0.31,0.0,600.8,8.0,298,6958,1.08,0.00,118.93,1.021,6,0.073,0.000,2934,2364,3060,0,0,0,0,0,0
$STATE,6959,end apogee,CONTROL_FINISHED_OK
$STATE,6959,begin climb
$GC,6963,1.27,146.0,602.9,0.0,301,7098,1.48,2.92,125.12,0.991,4,0.035,0.084,3294,3945,2463,0,0,0,0,0,0
$GC,7137,1.11,146.0,588.6,13.5,305,7143,0.22,2.80,0.00,0.000,6,0.102,0.065,3248,2366,2459,0,0,0,0,0,0
$GC,7400,1.06,146.0,560.4,10.6,312,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2367,2454,0,0,0,0,0,0
$GC,7643,1.03,153.4,536.6,9.7,318,7656,0.00,3.03,6.10,0.758,4,0.000,0.107,3248,778,2433,0,0,0,0,0,0
$GC,7688,0.97,153.4,532.0,10.8,319,7693,0.15,2.70,0.00,0.000,6,0.116,0.051,3217,2350,2432,0,0,0,0,0,0
$GC,7972,0.99,176.2,506.7,8.9,326,8001,0.00,2.90,21.70,0.924,4,0.000,0.067,3217,3944,2340,0,0,0,0,0,0
$GC,8024,1.01,188.2,501.8,9.4,327,8043,0.00,2.70,12.15,0.865,6,0.000,0.041,3217,2360,2292,0,0,0,0,0,0
$GC,8301,1.04,211.2,477.2,8.9,334,8324,0.00,0.00,21.60,0.907,6,0.000,0.000,3217,2361,2199,0,0,0,0,0,0
$GC,8544,1.08,211.5,453.5,10.0,340,8549,0.10,2.92,0.00,0.000,4,0.089,0.100,3245,782,2194,0,0,0,0,0,0
$GC,8560,1.08,211.5,451.5,10.4,340,8564,0.00,2.65,0.00,0.000,6,0.000,0.039,3245,2370,2193,0,0,0,0,0,0
$GC,8827,1.08,211.5,421.6,11.3,347,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2370,2193,0,0,0,0,0,0
$GC,9070,1.08,211.5,396.5,10.2,353,9074,0.00,2.78,0.00,0.000,4,0.000,0.068,3246,778,2192,0,0,0,0,0,0
$GC,9085,1.09,212.6,394.8,9.9,353,9090,0.00,2.60,0.00,0.000,6,0.000,0.032,3245,2368,2191,0,0,0,0,0,0
$GC,9348,1.09,216.0,369.7,9.8,360,9358,0.00,2.65,4.60,0.627,4,0.000,0.053,3246,3937,2178,0,0,0,0,0,0
$GC,9431,1.09,216.0,360.1,11.4,362,9436,0.00,2.60,0.00,0.000,6,0.000,0.036,3246,2355,2178,0,0,0,0,0,0
$GC,9716,1.10,226.5,332.7,9.5,369,9735,0.00,2.75,11.12,0.783,4,0.000,0.062,3246,777,2135,0,0,0,0,0,0
$GC,9768,1.10,226.5,327.4,10.1,370,9773,0.00,2.60,0.00,0.000,6,0.000,0.035,3245,2366,2133,0,0,0,0,0,0
$GC,10041,1.11,236.2,301.4,9.6,377,10053,0.00,0.00,9.77,0.745,6,0.000,0.000,3246,2366,2097,0,0,0,0,0,0
$GC,10286,1.11,236.2,276.0,10.5,383,10290,0.00,2.67,0.00,0.000,4,0.000,0.050,3246,779,2095,0,0,0,0,0,0
$GC,10312,1.11,236.2,272.8,11.3,383,10317,0.00,2.55,0.00,0.000,6,0.000,0.029,3246,2372,2094,0,0,0,0,0,0
$GC,10569,1.18,246.9,247.8,9.5,390,10581,0.00,0.00,10.85,0.713,6,0.000,0.000,3246,2372,2053,0,0,0,0,0,0
$GC,10814,1.26,271.8,225.9,8.9,396,10840,0.15,0.00,23.58,0.731,6,0.071,0.000,3289,2372,1951,0,0,0,0,0,0
$GC,11056,1.26,271.8,197.9,12.2,402,11060,0.00,2.60,0.00,0.000,4,0.000,0.045,3288,3932,1947,0,0,0,0,0,0
$GC,11125,1.26,271.8,188.2,13.0,407,11131,0.00,2.58,0.00,0.000,6,0.000,0.025,3289,2342,1946,0,0,0,0,0,0
$GC,11389,1.26,271.8,156.9,11.7,432,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2342,1946,0,0,0,0,0,0
$GC,11640,1.26,271.8,126.1,11.4,456,11645,0.00,2.58,0.00,0.000,4,0.000,0.047,3288,783,1946,0,0,0,0,0,0
$GC,11662,1.26,271.8,124.0,11.8,457,11667,0.00,2.50,0.00,0.000,6,0.000,0.023,3288,2363,1946,0,0,0,0,0,0
$GC,11928,1.26,271.8,93.5,10.6,481,11933,0.00,2.58,0.00,0.000,4,0.000,0.041,3289,3932,1946,0,0,0,0,0,0
$GC,12017,1.26,271.8,82.9,11.5,488,12021,0.00,2.47,0.00,0.000,6,0.000,0.023,3289,2360,1945,0,0,0,0,0,0
$GC,12282,1.26,271.8,54.6,10.6,512,12287,0.00,2.58,0.00,0.000,4,0.000,0.044,3289,785,1945,0,0,0,0,0,0
$GC,12305,1.26,271.8,51.5,11.5,513,12314,0.00,2.50,0.00,0.000,6,0.000,0.022,3288,2360,1946,0,0,0,0,0,0
$GC,12586,1.26,271.8,21.3,11.5,543,12595,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2360,1946,0,0,0,0,0,0
$STATE,12773,end climb,SURFACE_DEPTH_REACHED
$STATE,12773,begin surface coast
$FINISH,-0.1,1.023836
$STATE,12850,end surface coast,CONTROL_FINISHED_OK
$STATE,12850,begin surface
$SM_CCo,12872,87.82,0.522,0,0,1510,380.21
$SM_GC,0.26,0.00,0.00,87.82,0.000,0.000,0.522,468,2175,1510,-11.67,-0.99,380.21
$IRIDIUM_FIX,2248.70,-15745.85,180603,212142
$TT8_MAMPS,0.026078
$HUMID,59.09
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.30
$XPDR_PINGS,15
$24V_AH,23.3,11.759
$10V_AH,10.4,10.289
$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,27.250,132.625,365.525,87.825,0.000,25.162,32.895,267.290,3.750,0.000,16.867,1202.393,8967.700,561.152,2060.425,630.922,33.364,1330.444,0.000,2061.357,0.000,0.534,0.000
$DEVICE_MAMPS,135.759,107.380,1020.877,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.150,322.249,411.894,616.057,1174.168,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,44764,582
$CAP_FILE_SIZE,125657,0
$CFSIZE,260165632,174895104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250314,050605,2256.634,-15746.850,40,1.5,40,10.1