version: 66.06
glider: 146
mission: 9
dive: 112
start: 3 29 114 13 48 29
data:
$ID,146
$MISSION,9
$DIVE,112
$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,-325690.22
$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,30
$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
$GPS1,133659,2304.189,-15804.599,49,1.2,49,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.0
$GPS2,134736,2304.131,-15804.577,16,1.0,32,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.193
$KALMAN_X,-79304.3,73.7,-121.0,63994.5,-362.7
$KALMAN_Y,56494.9,-270.2,-485.3,-28236.2,526.9
$MHEAD_RNG_PITCHd_Wd,127.8,65811,-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,-88.72,0.000,6,0.000,0.000,465,2151,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.8,-12.5,12,131,12.48,0.00,0.00,0.000,6,0.166,0.000,2718,2151,3656,0,0,0,0,0,0
$GC,408,-1.15,-146.0,56.2,-13.5,44,413,0.15,2.67,0.00,0.000,4,0.120,0.035,2749,3792,3657,0,0,0,0,0,0
$GC,442,-1.09,-146.0,61.2,-12.8,46,446,0.00,2.53,0.00,0.000,6,0.000,0.021,2749,2203,3657,0,0,0,0,0,0
$GC,706,-1.05,-146.0,90.6,-11.0,70,711,0.12,2.60,0.00,0.000,4,0.117,0.047,2775,638,3658,0,0,0,0,0,0
$GC,783,-1.10,-146.0,98.3,-9.0,76,788,0.00,2.42,0.00,0.000,6,0.000,0.018,2775,2213,3658,0,0,0,0,0,0
$GC,1047,-1.10,-146.0,122.0,-9.5,100,1052,0.00,2.60,0.00,0.000,4,0.000,0.044,2775,636,3659,0,0,0,0,0,0
$GC,1124,-1.16,-146.0,130.1,-10.6,106,1129,0.12,2.38,0.00,0.000,6,0.067,0.018,2725,2181,3659,0,0,0,0,0,0
$GC,1389,-1.11,-146.0,159.4,-10.9,130,1394,0.17,2.55,0.00,0.000,4,0.089,0.044,2763,633,3659,0,0,0,0,0,0
$GC,1446,-1.15,-146.0,165.8,-10.0,134,1451,0.00,2.38,0.00,0.000,6,0.000,0.026,2763,2165,3659,0,0,0,0,0,0
$GC,1710,-1.15,-146.0,186.7,-8.0,159,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2165,3659,0,0,0,0,0,0
$GC,1998,-1.19,-146.0,212.0,-9.1,178,2002,0.00,2.60,0.00,0.000,4,0.000,0.038,2763,3776,3659,0,0,0,0,0,0
$GC,2039,-1.25,-146.0,215.6,-9.8,179,2044,0.12,2.53,0.00,0.000,6,0.068,0.020,2713,2155,3659,0,0,0,0,0,0
$GC,2322,-1.20,-146.0,246.1,-10.6,186,2327,0.12,2.65,0.00,0.000,4,0.102,0.041,2740,3768,3659,0,0,0,0,0,0
$GC,2344,-1.20,-146.0,248.4,-10.2,186,2348,0.00,2.53,0.00,0.000,6,0.000,0.020,2740,2160,3659,0,0,0,0,0,0
$GC,2601,-1.20,-146.0,270.7,-8.7,193,2605,0.00,2.62,0.00,0.000,4,0.000,0.041,2740,3767,3659,0,0,0,0,0,0
$GC,2616,-1.20,-146.0,272.1,-8.0,193,2621,0.00,2.53,0.00,0.000,6,0.000,0.021,2740,2169,3659,0,0,0,0,0,0
$GC,2878,-1.24,-146.0,291.3,-7.1,200,2883,0.00,2.65,0.00,0.000,4,0.000,0.044,2739,3767,3659,0,0,0,0,0,0
$GC,2901,-1.24,-146.0,293.1,-7.7,200,2906,0.00,2.55,0.00,0.000,6,0.000,0.023,2740,2171,3659,0,0,0,0,0,0
$GC,3157,-1.28,-146.0,311.9,-7.3,207,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2171,3658,0,0,0,0,0,0
$GC,3400,-1.32,-146.0,329.3,-7.2,213,3402,0.10,0.00,0.00,0.000,6,0.080,0.000,2697,2171,3657,0,0,0,0,0,0
$GC,3645,-1.32,-146.0,352.9,-9.7,219,3650,0.00,2.67,0.00,0.000,4,0.000,0.051,2697,3766,3656,0,0,0,0,0,0
$GC,3666,-1.32,-146.0,355.4,-10.8,219,3671,0.00,2.58,0.00,0.000,6,0.000,0.036,2696,2183,3656,0,0,0,0,0,0
$GC,3922,-1.32,-146.0,379.7,-9.2,226,3923,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2183,3655,0,0,0,0,0,0
$GC,4167,-1.32,-146.0,399.7,-8.0,232,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2183,3653,0,0,0,0,0,0
$GC,4410,-1.32,-146.0,420.1,-8.3,238,4414,0.00,2.67,0.00,0.000,4,0.000,0.058,2697,3760,3651,0,0,0,0,0,0
$GC,4425,-1.32,-146.0,421.6,-8.4,238,4430,0.00,2.62,0.00,0.000,6,0.000,0.040,2696,2179,3651,0,0,0,0,0,0
$GC,4686,-1.32,-146.0,443.3,-8.3,245,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2179,3650,0,0,0,0,0,0
$GC,4932,-1.32,-146.0,462.8,-7.8,251,4936,0.00,2.72,0.00,0.000,4,0.000,0.063,2697,3758,3648,0,0,0,0,0,0
$GC,4947,-1.32,-146.0,464.3,-8.1,251,4952,0.00,2.65,0.00,0.000,6,0.000,0.048,2697,2174,3648,0,0,0,0,0,0
$GC,5209,-1.32,-146.0,486.0,-8.4,258,5213,0.00,2.75,0.00,0.000,4,0.000,0.066,2696,3760,3646,0,0,0,0,0,0
$GC,5282,-1.32,-146.0,492.2,-8.9,259,5286,0.00,2.65,0.00,0.000,6,0.000,0.048,2696,2191,3646,0,0,0,0,0,0
$GC,5532,-1.32,-146.0,512.4,-8.0,265,5536,0.00,2.72,0.00,0.000,4,0.000,0.074,2696,3763,3644,0,0,0,0,0,0
$GC,5547,-1.32,-146.0,513.8,-7.9,265,5552,0.00,2.65,0.00,0.000,6,0.000,0.049,2696,2198,3644,0,0,0,0,0,0
$GC,5809,-1.32,-146.0,534.3,-7.8,272,5814,0.00,2.72,0.00,0.000,4,0.000,0.072,2697,3761,3643,0,0,0,0,0,0
$GC,5827,-1.32,-146.0,535.8,-7.8,272,5831,0.00,2.65,0.00,0.000,6,0.000,0.051,2696,2203,3642,0,0,0,0,0,0
$GC,6089,-1.32,-146.0,557.3,-8.2,279,6093,0.00,2.75,0.00,0.000,4,0.000,0.081,2697,3758,3641,0,0,0,0,0,0
$GC,6123,-1.32,-146.0,560.2,-8.4,279,6128,0.00,2.65,0.00,0.000,6,0.000,0.055,2697,2213,3640,0,0,0,0,0,0
$GC,6373,-1.32,-146.0,580.6,-8.0,286,6377,0.00,2.78,0.00,0.000,4,0.000,0.081,2697,3764,3639,0,0,0,0,0,0
$GC,6428,-1.32,-146.0,585.6,-9.1,287,6432,0.00,2.67,0.00,0.000,6,0.000,0.064,2697,2226,3638,0,0,0,0,0,0
$STATE,6610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6610,begin apogee
$GC,6618,-0.31,0.0,600.6,8.0,292,6739,1.05,0.00,118.35,1.012,6,0.071,0.000,2934,2345,3060,0,0,0,0,0,0
$STATE,6740,end apogee,CONTROL_FINISHED_OK
$STATE,6740,begin climb
$GC,6743,1.27,146.0,603.1,0.0,295,6881,1.42,2.90,124.45,0.985,4,0.035,0.077,3287,3934,2462,0,0,0,0,0,0
$GC,6893,1.12,146.0,592.5,11.9,298,6898,0.20,2.78,0.00,0.000,6,0.107,0.061,3247,2370,2459,0,0,0,0,0,0
$GC,7149,1.08,146.0,564.7,10.9,305,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2370,2454,0,0,0,0,0,0
$GC,7394,1.03,146.0,539.4,10.3,311,7398,0.00,2.72,0.00,0.000,4,0.000,0.064,3247,3935,2452,0,0,0,0,0,0
$GC,7449,0.96,146.0,533.3,11.2,312,7454,0.15,2.67,0.00,0.000,6,0.114,0.045,3216,2373,2451,0,0,0,0,0,0
$GC,7715,1.01,183.4,511.1,8.3,319,7758,0.00,3.20,32.08,0.933,4,0.000,0.123,3215,784,2310,0,0,0,0,0,0
$GC,7787,1.01,183.4,504.6,10.1,320,7792,0.00,2.72,0.00,0.000,6,0.000,0.047,3215,2382,2309,0,0,0,0,0,0
$GC,8043,1.04,209.2,482.0,8.8,327,8072,0.00,2.78,23.65,0.907,4,0.000,0.061,3215,3934,2207,0,0,0,0,0,0
$GC,8108,1.08,211.5,475.8,9.9,328,8113,0.10,2.65,0.00,0.000,6,0.086,0.038,3244,2374,2204,0,0,0,0,0,0
$GC,8369,1.08,211.5,448.1,10.4,335,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2375,2202,0,0,0,0,0,0
$GC,8613,1.09,220.4,424.7,9.6,341,8629,0.00,2.92,10.85,0.825,4,0.000,0.089,3243,783,2160,0,0,0,0,0,0
$GC,8658,1.09,220.4,420.0,10.3,342,8663,0.00,2.67,0.00,0.000,6,0.000,0.037,3243,2392,2158,0,0,0,0,0,0
$GC,8935,1.10,230.2,393.2,9.5,349,8950,0.00,2.65,10.05,0.804,4,0.000,0.051,3243,3942,2120,0,0,0,0,0,0
$GC,8984,1.10,230.2,388.2,10.4,350,8988,0.00,2.62,0.00,0.000,6,0.000,0.033,3244,2364,2118,0,0,0,0,0,0
$GC,9257,1.10,230.2,360.4,10.3,357,9261,0.00,2.65,0.00,0.000,4,0.000,0.047,3243,3935,2118,0,0,0,0,0,0
$GC,9278,1.10,230.2,357.9,11.2,357,9282,0.00,2.55,0.00,0.000,6,0.000,0.030,3244,2371,2117,0,0,0,0,0,0
$GC,9533,1.11,233.6,332.4,9.8,364,9543,0.00,2.80,3.95,0.554,4,0.000,0.066,3244,780,2106,0,0,0,0,0,0
$GC,9572,1.11,233.6,328.6,10.3,364,9577,0.00,2.58,0.00,0.000,6,0.000,0.031,3243,2373,2106,0,0,0,0,0,0
$GC,9822,1.12,244.7,304.9,9.5,371,9835,0.00,0.00,11.52,0.768,6,0.000,0.000,3243,2373,2062,0,0,0,0,0,0
$GC,10065,1.17,249.7,280.8,9.8,377,10073,0.00,0.00,5.57,0.634,6,0.000,0.000,3243,2373,2042,0,0,0,0,0,0
$GC,10311,1.22,254.4,257.3,9.8,383,10324,0.12,2.62,6.15,0.638,4,0.074,0.046,3281,3932,2021,0,0,0,0,0,0
$GC,10341,1.22,254.4,253.5,12.0,383,10345,0.00,2.53,0.00,0.000,6,0.000,0.025,3281,2362,2021,0,0,0,0,0,0
$GC,10591,1.22,254.4,223.8,11.8,389,10595,0.00,2.65,0.00,0.000,4,0.000,0.046,3281,3934,2020,0,0,0,0,0,0
$GC,10652,1.22,254.4,216.3,12.3,390,10657,0.00,2.50,0.00,0.000,6,0.000,0.025,3281,2377,2020,0,0,0,0,0,0
$GC,10906,1.22,254.4,187.5,11.3,402,10911,0.00,2.62,0.00,0.000,4,0.000,0.048,3281,3934,2019,0,0,0,0,0,0
$GC,10971,1.22,254.4,179.7,12.7,407,10976,0.00,2.47,0.00,0.000,6,0.000,0.023,3281,2392,2020,0,0,0,0,0,0
$GC,11234,1.22,254.4,149.6,11.6,431,11238,0.00,2.62,0.00,0.000,4,0.000,0.045,3281,786,2019,0,0,0,0,0,0
$GC,11273,1.22,254.4,144.7,12.5,434,11278,0.00,2.58,0.00,0.000,6,0.000,0.029,3281,2406,2019,0,0,0,0,0,0
$GC,11537,1.22,254.4,115.3,11.9,458,11542,0.00,2.65,0.00,0.000,4,0.000,0.043,3281,780,2019,0,0,0,0,0,0
$GC,11582,1.22,254.4,110.1,12.4,461,11586,0.00,2.58,0.00,0.000,6,0.000,0.024,3281,2404,2019,0,0,0,0,0,0
$GC,11850,1.22,254.4,82.2,10.0,485,11855,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2404,2020,0,0,0,0,0,0
$GC,12116,1.30,319.9,58.2,7.0,510,12175,0.00,0.00,56.67,0.573,6,0.000,0.000,3282,2404,1754,0,0,0,0,0,0
$GC,12441,1.35,319.9,23.2,12.5,543,12450,0.00,2.55,0.00,0.000,4,0.000,0.042,3281,3923,1751,0,0,0,0,0,0
$GC,12502,1.41,321.7,16.6,9.9,551,12512,0.10,2.50,0.00,0.000,6,0.041,0.022,3323,2377,1749,0,0,0,0,0,0
$STATE,12606,end climb,SURFACE_DEPTH_REACHED
$STATE,12606,begin surface coast
$FINISH,0.3,1.023923
$STATE,12645,end surface coast,CONTROL_FINISHED_OK
$STATE,12645,begin surface
$SM_CCo,12666,48.70,0.518,0,0,1509,380.21
$SM_GC,0.38,0.00,0.00,48.70,0.000,0.000,0.518,465,2189,1509,-11.68,-0.59,380.21
$IRIDIUM_FIX,2255.72,-15807.13,230603,131356
$TT8_MAMPS,0.026078
$HUMID,60.31
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.80
$XPDR_PINGS,18
$24V_AH,23.4,15.591
$10V_AH,10.4,13.656
$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,28.000,158.925,403.300,48.700,0.000,61.362,78.303,268.845,4.500,0.000,34.345,1180.955,8861.768,529.806,2043.166,736.383,33.364,1350.362,0.000,2025.309,0.000,0.535,0.000
$DEVICE_MAMPS,166.439,122.720,1011.673,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.748,320.453,404.051,591.015,1122.805,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,44815,571
$CAP_FILE_SIZE,130783,0
$CFSIZE,260165632,173076480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290314,172335,2303.585,-15803.047,148,1.1,148,10.1