version: 66.06
glider: 146
mission: 9
dive: 113
start: 3 29 114 17 35 29
data:
$ID,146
$MISSION,9
$DIVE,113
$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,-325734.38
$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,49
$R_STBD_OVSHOOT,34
$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
$GPS1,172335,2303.585,-15803.047,148,1.1,148,10.1
$_CALLS,1
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-64.0
$GPS2,173436,2303.690,-15803.026,37,1.4,42,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.115,-0.233
$KALMAN_X,-78843.0,-5.0,17.8,66110.4,284.0
$KALMAN_Y,57114.3,-17.7,95.7,-30519.1,1000.0
$MHEAD_RNG_PITCHd_Wd,143.6,63396,-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,-89.25,0.000,6,0.000,0.000,465,2187,3657,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.4,-11.8,12,132,12.57,2.53,0.00,0.000,4,0.169,0.037,2720,639,3658,0,0,0,0,0,0
$GC,240,-1.14,-146.0,35.9,-14.5,27,245,0.15,2.47,0.00,0.000,6,0.119,0.020,2751,2218,3658,0,0,0,0,0,0
$GC,508,-1.09,-146.0,67.6,-11.5,51,512,0.00,2.55,0.00,0.000,4,0.000,0.035,2751,3780,3659,0,0,0,0,0,0
$GC,567,-1.09,-146.0,76.0,-13.0,55,572,0.00,2.45,0.00,0.000,6,0.000,0.021,2751,2226,3659,0,0,0,0,0,0
$GC,834,-1.05,-146.0,108.8,-11.4,79,839,0.10,2.60,0.00,0.000,4,0.129,0.044,2772,639,3659,0,0,0,0,0,0
$GC,869,-1.05,-146.0,113.1,-10.8,81,875,0.00,2.42,0.00,0.000,6,0.000,0.018,2772,2218,3659,0,0,0,0,0,0
$GC,1132,-1.05,-146.0,136.5,-8.1,106,1136,0.00,2.50,0.00,0.000,4,0.000,0.035,2773,3776,3659,0,0,0,0,0,0
$GC,1169,-1.10,-146.0,139.7,-8.7,108,1178,0.00,2.47,0.00,0.000,6,0.000,0.021,2772,2227,3660,0,0,0,0,0,0
$GC,1435,-1.10,-146.0,162.2,-9.0,133,1439,0.00,2.60,0.00,0.000,4,0.000,0.045,2772,634,3660,0,0,0,0,0,0
$GC,1529,-1.17,-146.0,170.2,-8.0,140,1535,0.10,2.47,0.00,0.000,6,0.081,0.021,2728,2225,3660,0,0,0,0,0,0
$GC,1792,-1.13,-146.0,196.9,-9.9,165,1794,0.12,0.00,0.00,0.000,6,0.102,0.000,2755,2225,3660,0,0,0,0,0,0
$GC,2036,-1.13,-146.0,217.3,-8.2,174,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2225,3660,0,0,0,0,0,0
$GC,2279,-1.13,-146.0,236.6,-7.9,180,2283,0.00,2.53,0.00,0.000,4,0.000,0.040,2755,3779,3660,0,0,0,0,0,0
$GC,2312,-1.18,-146.0,239.4,-8.4,180,2317,0.00,2.47,0.00,0.000,6,0.000,0.020,2755,2197,3660,0,0,0,0,0,0
$GC,2562,-1.22,-146.0,259.0,-7.9,187,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2197,3660,0,0,0,0,0,0
$GC,2807,-1.27,-146.0,279.3,-8.3,193,2812,0.12,2.62,0.00,0.000,4,0.068,0.044,2706,3781,3660,0,0,0,0,0,0
$GC,2857,-1.27,-146.0,284.4,-10.7,194,2862,0.10,2.47,0.00,0.000,6,0.112,0.021,2727,2206,3660,0,0,0,0,0,0
$GC,3130,-1.27,-146.0,307.1,-8.3,201,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2208,3660,0,0,0,0,0,0
$GC,3373,-1.27,-146.0,328.1,-8.4,207,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2208,3659,0,0,0,0,0,0
$GC,3616,-1.27,-146.0,348.1,-8.0,213,3621,0.00,2.72,0.00,0.000,4,0.000,0.072,2727,639,3658,0,0,0,0,0,0
$GC,3638,-1.27,-146.0,349.9,-8.4,213,3642,0.00,2.47,0.00,0.000,6,0.000,0.031,2727,2190,3658,0,0,0,0,0,0
$GC,3894,-1.27,-146.0,369.8,-7.9,220,3898,0.00,2.67,0.00,0.000,4,0.000,0.061,2727,3793,3657,0,0,0,0,0,0
$GC,3921,-1.27,-146.0,372.1,-8.2,220,3926,0.00,2.55,0.00,0.000,6,0.000,0.037,2727,2227,3656,0,0,0,0,0,0
$GC,4171,-1.27,-146.0,390.4,-7.3,226,4176,0.00,2.62,0.00,0.000,4,0.000,0.051,2727,3794,3655,0,0,0,0,0,0
$GC,4194,-1.27,-146.0,392.1,-7.2,226,4199,0.00,2.58,0.00,0.000,6,0.000,0.037,2727,2225,3655,0,0,0,0,0,0
$GC,4450,-1.30,-146.0,410.4,-7.1,233,4454,0.00,2.65,0.00,0.000,4,0.000,0.058,2727,3790,3653,0,0,0,0,0,0
$GC,4471,-1.30,-146.0,412.0,-7.1,233,4475,0.00,2.58,0.00,0.000,6,0.000,0.037,2727,2227,3653,0,0,0,0,0,0
$GC,4729,-1.35,-146.0,429.7,-7.0,240,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2228,3651,0,0,0,0,0,0
$GC,4971,-1.39,-146.0,448.0,-7.7,246,4976,0.12,2.92,0.00,0.000,4,0.069,0.094,2680,622,3651,0,0,0,0,0,0
$GC,4993,-1.39,-146.0,450.0,-8.6,246,4998,0.10,2.67,0.00,0.000,6,0.116,0.044,2701,2231,3650,0,0,0,0,0,0
$GC,5250,-1.39,-146.0,470.7,-7.8,253,5254,0.00,2.65,0.00,0.000,4,0.000,0.061,2701,3794,3648,0,0,0,0,0,0
$GC,5294,-1.39,-146.0,474.5,-8.5,254,5298,0.00,2.58,0.00,0.000,6,0.000,0.043,2701,2250,3648,0,0,0,0,0,0
$GC,5573,-1.39,-146.0,495.4,-7.5,261,5577,0.00,2.65,0.00,0.000,4,0.000,0.062,2701,3793,3646,0,0,0,0,0,0
$GC,5594,-1.39,-146.0,497.3,-8.4,261,5598,0.00,2.60,0.00,0.000,6,0.000,0.052,2702,2248,3645,0,0,0,0,0,0
$GC,5849,-1.39,-146.0,517.8,-8.2,268,5854,0.00,3.03,0.00,0.000,4,0.000,0.109,2701,624,3644,0,0,0,0,0,0
$GC,5876,-1.39,-146.0,520.3,-9.1,268,5881,0.00,2.75,0.00,0.000,6,0.000,0.050,2701,2256,3644,0,0,0,0,0,0
$GC,6128,-1.39,-146.0,542.7,-9.1,274,6132,0.00,2.70,0.00,0.000,4,0.000,0.079,2701,3797,3643,0,0,0,0,0,0
$GC,6171,-1.39,-146.0,547.0,-9.7,275,6176,0.00,2.58,0.00,0.000,6,0.000,0.049,2701,2262,3642,0,0,0,0,0,0
$GC,6450,-1.39,-146.0,569.3,-7.8,282,6455,0.00,2.70,0.00,0.000,4,0.000,0.075,2701,3793,3640,0,0,0,0,0,0
$GC,6466,-1.39,-146.0,570.7,-7.4,282,6470,0.00,2.62,0.00,0.000,6,0.000,0.055,2701,2262,3640,0,0,0,0,0,0
$GC,6727,-1.39,-146.0,589.5,-7.2,289,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2262,3638,0,0,0,0,0,0
$STATE,6886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6887,begin apogee
$GC,6893,-0.31,0.0,601.6,7.5,293,7015,1.02,0.00,118.45,1.015,6,0.074,0.000,2934,2383,3060,0,0,0,0,0,0
$STATE,7017,end apogee,CONTROL_FINISHED_OK
$STATE,7017,begin climb
$GC,7019,1.27,146.0,603.7,0.0,296,7156,1.42,2.92,124.68,0.987,4,0.035,0.081,3287,3935,2462,0,0,0,0,0,0
$GC,7202,1.12,146.0,590.1,12.3,300,7208,0.20,2.78,0.00,0.000,6,0.107,0.059,3248,2365,2458,0,0,0,0,0,0
$GC,7470,1.08,153.2,563.8,9.7,307,7483,0.00,3.03,6.05,0.750,4,0.000,0.109,3247,777,2434,0,0,0,0,0,0
$GC,7496,1.02,153.2,561.2,10.1,307,7501,0.00,2.75,0.00,0.000,6,0.000,0.056,3247,2366,2433,0,0,0,0,0,0
$GC,7751,1.00,168.9,537.2,9.3,314,7769,0.12,0.00,15.32,0.904,6,0.119,0.000,3223,2366,2371,0,0,0,0,0,0
$GC,7996,1.05,209.5,517.1,8.1,320,8040,0.00,2.85,37.38,0.940,4,0.000,0.067,3223,3937,2205,0,0,0,0,0,0
$GC,8059,1.07,226.9,511.5,9.2,321,8083,0.00,2.70,16.65,0.887,6,0.000,0.044,3223,2369,2134,0,0,0,0,0,0
$GC,8368,1.08,237.9,482.3,9.5,329,8384,0.00,3.05,10.68,0.844,4,0.000,0.110,3222,776,2089,0,0,0,0,0,0
$GC,8413,1.08,237.9,477.6,11.0,330,8417,0.00,2.72,0.00,0.000,6,0.000,0.051,3222,2382,2087,0,0,0,0,0,0
$GC,8690,1.12,237.9,447.8,10.8,337,8695,0.10,2.67,0.00,0.000,4,0.093,0.056,3252,3941,2085,0,0,0,0,0,0
$GC,8706,1.12,237.9,445.8,11.2,337,8711,0.00,2.62,0.00,0.000,6,0.000,0.034,3252,2363,2084,0,0,0,0,0,0
$GC,8969,1.12,237.9,413.7,12.2,344,8973,0.00,2.83,0.00,0.000,4,0.000,0.084,3252,777,2084,0,0,0,0,0,0
$GC,9001,1.12,237.9,409.3,12.2,344,9007,0.00,2.62,0.00,0.000,6,0.000,0.033,3252,2381,2083,0,0,0,0,0,0
$GC,9251,1.12,237.9,381.0,11.2,351,9255,0.00,2.58,0.00,0.000,4,0.000,0.050,3252,3928,2082,0,0,0,0,0,0
$GC,9318,1.12,237.9,373.2,11.3,352,9323,0.00,2.58,0.00,0.000,6,0.000,0.037,3253,2370,2082,0,0,0,0,0,0
$GC,9573,1.12,237.9,346.1,10.4,359,9577,0.00,2.78,0.00,0.000,4,0.000,0.071,3253,784,2082,0,0,0,0,0,0
$GC,9600,1.12,237.9,342.8,12.0,359,9604,0.00,2.58,0.00,0.000,6,0.000,0.028,3252,2391,2081,0,0,0,0,0,0
$GC,9851,1.12,237.9,314.3,11.6,365,9855,0.00,2.72,0.00,0.000,4,0.000,0.055,3252,776,2081,0,0,0,0,0,0
$GC,9889,1.12,237.9,309.3,12.4,366,9894,0.00,2.58,0.00,0.000,6,0.000,0.028,3253,2375,2080,0,0,0,0,0,0
$GC,10173,1.13,245.6,281.0,9.6,373,10187,0.00,2.67,6.75,0.683,4,0.000,0.049,3252,3928,2058,0,0,0,0,0,0
$GC,10205,1.13,245.6,277.7,10.4,373,10210,0.00,2.53,0.00,0.000,6,0.000,0.026,3252,2368,2057,0,0,0,0,0,0
$GC,10455,1.15,256.5,254.0,9.5,379,10474,0.00,2.67,11.48,0.726,4,0.000,0.050,3253,788,2012,0,0,0,0,0,0
$GC,10491,1.15,256.5,250.1,10.4,379,10497,0.00,2.55,0.00,0.000,6,0.000,0.031,3253,2372,2011,0,0,0,0,0,0
$GC,10743,1.19,256.5,224.4,10.1,386,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2372,2011,0,0,0,0,0,0
$GC,10985,1.25,263.3,201.3,9.7,392,11000,0.10,2.67,7.20,0.620,4,0.085,0.048,3285,3928,1986,0,0,0,0,0,0
$GC,11064,1.25,263.3,191.7,12.6,396,11068,0.00,2.50,0.00,0.000,6,0.000,0.025,3285,2379,1984,0,0,0,0,0,0
$GC,11328,1.25,263.3,160.6,12.1,420,11329,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2379,1984,0,0,0,0,0,0
$GC,11579,1.25,263.3,129.2,12.5,444,11583,0.00,2.58,0.00,0.000,4,0.000,0.044,3285,3927,1984,0,0,0,0,0,0
$GC,11647,1.25,263.3,120.8,13.8,449,11652,0.00,2.47,0.00,0.000,6,0.000,0.023,3285,2377,1984,0,0,0,0,0,0
$GC,11915,1.26,271.8,93.8,9.6,473,11930,0.00,2.62,9.32,0.553,4,0.000,0.046,3285,791,1951,0,0,0,0,0,0
$GC,11956,1.29,295.0,89.5,8.9,476,11983,0.00,2.53,21.05,0.589,6,0.000,0.029,3285,2386,1857,0,0,0,0,0,0
$GC,12250,1.29,295.0,59.6,11.2,503,12254,0.00,2.55,0.00,0.000,4,0.000,0.041,3285,3930,1855,0,0,0,0,0,0
$GC,12322,1.33,295.0,51.4,11.8,508,12326,0.00,2.45,0.00,0.000,6,0.000,0.022,3285,2378,1855,0,0,0,0,0,0
$GC,12603,1.33,295.0,20.5,10.5,538,12613,0.00,2.62,0.00,0.000,4,0.000,0.044,3285,790,1855,0,0,0,0,0,0
$GC,12638,1.33,295.0,16.2,12.4,542,12648,0.00,2.53,0.00,0.000,6,0.000,0.022,3285,2378,1855,0,0,0,0,0,0
$STATE,12748,end climb,SURFACE_DEPTH_REACHED
$STATE,12748,begin surface coast
$FINISH,-0.2,1.024453
$STATE,12799,end surface coast,CONTROL_FINISHED_OK
$STATE,12799,begin surface
$SM_CCo,12820,69.93,0.522,0,0,1509,380.21
$SM_GC,0.49,0.00,0.00,69.93,0.000,0.000,0.522,464,2176,1509,-11.68,-0.96,380.21
$IRIDIUM_FIX,2258.07,-15758.86,230603,131316
$TT8_MAMPS,0.026078
$HUMID,60.94
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.10
$XPDR_PINGS,17
$24V_AH,23.4,15.732
$10V_AH,10.4,13.774
$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,27.750,174.250,385.000,69.925,0.000,29.277,35.225,423.587,4.250,0.000,43.540,1193.895,8938.553,556.511,2049.389,811.378,33.362,1378.775,0.000,2017.440,0.000,0.535,0.000
$DEVICE_MAMPS,168.740,109.681,1014.741,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.692,307.456,394.815,567.889,1081.638,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,44674,565
$CAP_FILE_SIZE,136143,0
$CFSIZE,260165632,173002752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290314,211135,2302.396,-15801.629,32,1.2,32,10.1