version: 66.06
glider: 146
mission: 9
dive: 114
start: 3 29 114 21 23 19
data:
$ID,146
$MISSION,9
$DIVE,114
$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,-325766.31
$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,66
$R_STBD_OVSHOOT,37
$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
$GPS1,211135,2302.396,-15801.629,32,1.2,32,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-70.4
$GPS2,212224,2302.451,-15801.558,12,1.2,29,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,-0.149
$KALMAN_X,-78207.2,36.0,445.8,67514.7,-178.7
$KALMAN_Y,57016.4,180.1,523.8,-33328.2,-801.2
$MHEAD_RNG_PITCHd_Wd,114.9,60007,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-88.70,0.000,6,0.000,0.000,462,2176,3653,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.2,-10.5,12,133,12.32,2.60,0.00,0.000,4,0.160,0.028,2717,3793,3654,0,0,0,0,0,0
$GC,301,-1.20,-146.0,43.2,-11.8,33,306,0.12,2.42,0.00,0.000,6,0.126,0.021,2740,2238,3654,0,0,0,0,0,0
$GC,570,-1.12,-146.0,75.8,-12.0,57,574,0.00,2.53,0.00,0.000,4,0.000,0.033,2740,3794,3655,0,0,0,0,0,0
$GC,591,-1.05,-146.0,78.9,-12.2,58,597,0.15,2.47,0.00,0.000,6,0.110,0.020,2773,2210,3655,0,0,0,0,0,0
$GC,855,-1.05,-146.0,107.1,-10.1,82,859,0.00,2.60,0.00,0.000,4,0.000,0.047,2773,635,3656,0,0,0,0,0,0
$GC,900,-1.05,-146.0,112.2,-11.2,85,906,0.00,2.42,0.00,0.000,6,0.000,0.017,2773,2222,3656,0,0,0,0,0,0
$GC,1165,-1.05,-146.0,137.6,-9.5,110,1169,0.00,2.47,0.00,0.000,4,0.000,0.034,2773,3773,3656,0,0,0,0,0,0
$GC,1217,-1.09,-146.0,142.9,-10.0,114,1221,0.00,2.42,0.00,0.000,6,0.000,0.020,2773,2216,3656,0,0,0,0,0,0
$GC,1480,-1.09,-146.0,164.3,-7.8,138,1484,0.00,2.55,0.00,0.000,4,0.000,0.044,2773,641,3656,0,0,0,0,0,0
$GC,1538,-1.16,-146.0,169.2,-8.3,142,1544,0.00,2.42,0.00,0.000,6,0.000,0.018,2773,2202,3656,0,0,0,0,0,0
$GC,1802,-1.20,-146.0,189.8,-8.1,167,1804,0.12,0.00,0.00,0.000,6,0.067,0.000,2721,2203,3657,0,0,0,0,0,0
$GC,2070,-1.15,-146.0,215.9,-9.5,181,2075,0.15,2.55,0.00,0.000,4,0.093,0.037,2754,3781,3657,0,0,0,0,0,0
$GC,2142,-1.20,-146.0,223.3,-10.0,182,2147,0.00,2.47,0.00,0.000,6,0.000,0.020,2754,2198,3657,0,0,0,0,0,0
$GC,2394,-1.24,-146.0,244.6,-8.3,188,2398,0.00,2.58,0.00,0.000,4,0.000,0.051,2754,642,3657,0,0,0,0,0,0
$GC,2410,-1.27,-146.0,246.3,-7.8,188,2415,0.12,2.42,0.00,0.000,6,0.069,0.027,2702,2193,3657,0,0,0,0,0,0
$GC,2672,-1.22,-146.0,270.2,-9.1,195,2677,0.15,2.60,0.00,0.000,4,0.094,0.053,2736,640,3657,0,0,0,0,0,0
$GC,2701,-1.22,-146.0,272.8,-8.9,195,2705,0.00,2.42,0.00,0.000,6,0.000,0.030,2736,2176,3657,0,0,0,0,0,0
$GC,2951,-1.22,-146.0,292.1,-7.4,201,2955,0.00,2.67,0.00,0.000,4,0.000,0.047,2736,3792,3657,0,0,0,0,0,0
$GC,2966,-1.22,-146.0,293.3,-7.7,201,2971,0.00,2.55,0.00,0.000,6,0.000,0.024,2735,2187,3657,0,0,0,0,0,0
$GC,3229,-1.22,-146.0,313.5,-7.9,208,3233,0.00,2.62,0.00,0.000,4,0.000,0.062,2736,633,3656,0,0,0,0,0,0
$GC,3250,-1.22,-146.0,315.4,-8.0,208,3255,0.00,2.47,0.00,0.000,6,0.000,0.034,2735,2177,3656,0,0,0,0,0,0
$GC,3506,-1.22,-146.0,336.7,-8.7,215,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2177,3655,0,0,0,0,0,0
$GC,3751,-1.26,-146.0,356.7,-8.2,221,3756,0.00,2.70,0.00,0.000,4,0.000,0.054,2736,3790,3654,0,0,0,0,0,0
$GC,3770,-1.31,-146.0,358.4,-8.5,221,3774,0.00,2.60,0.00,0.000,6,0.000,0.035,2736,2189,3653,0,0,0,0,0,0
$GC,4031,-1.35,-146.0,380.0,-8.0,228,4033,0.12,0.00,0.00,0.000,6,0.070,0.000,2688,2189,3652,0,0,0,0,0,0
$GC,4276,-1.31,-146.0,402.5,-9.3,234,4281,0.12,2.70,0.00,0.000,4,0.102,0.054,2716,3786,3650,0,0,0,0,0,0
$GC,4331,-1.31,-146.0,407.7,-9.2,235,4336,0.00,2.62,0.00,0.000,6,0.000,0.038,2716,2192,3650,0,0,0,0,0,0
$GC,4599,-1.31,-146.0,430.0,-8.4,242,4604,0.00,2.70,0.00,0.000,4,0.000,0.059,2716,3785,3648,0,0,0,0,0,0
$GC,4639,-1.31,-146.0,433.4,-8.4,243,4643,0.00,2.62,0.00,0.000,6,0.000,0.046,2716,2194,3648,0,0,0,0,0,0
$GC,4922,-1.31,-146.0,453.0,-6.6,250,4926,0.00,2.72,0.00,0.000,4,0.000,0.067,2716,3787,3646,0,0,0,0,0,0
$GC,4950,-1.31,-146.0,455.0,-7.4,250,4954,0.00,2.65,0.00,0.000,6,0.000,0.044,2716,2201,3645,0,0,0,0,0,0
$GC,5200,-1.31,-146.0,471.7,-6.6,256,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2200,3643,0,0,0,0,0,0
$GC,5444,-1.31,-146.0,488.2,-6.8,262,5448,0.00,2.78,0.00,0.000,4,0.000,0.067,2716,3788,3642,0,0,0,0,0,0
$GC,5459,-1.31,-146.0,489.4,-6.7,262,5464,0.00,2.65,0.00,0.000,6,0.000,0.046,2716,2202,3642,0,0,0,0,0,0
$GC,5722,-1.35,-146.0,508.5,-7.5,269,5727,0.00,2.78,0.00,0.000,4,0.000,0.069,2716,3788,3641,0,0,0,0,0,0
$GC,5744,-1.35,-146.0,510.2,-7.4,269,5748,0.00,2.67,0.00,0.000,6,0.000,0.052,2716,2210,3641,0,0,0,0,0,0
$GC,6001,-1.39,-146.0,529.1,-7.4,276,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2210,3639,0,0,0,0,0,0
$GC,6243,-1.42,-146.0,545.9,-6.9,282,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2211,3637,0,0,0,0,0,0
$GC,6487,-1.47,-146.0,561.9,-6.5,288,6489,0.15,0.00,0.00,0.000,6,0.061,0.000,2661,2211,3636,0,0,0,0,0,0
$GC,6730,-1.41,-146.0,582.1,-8.5,294,6736,0.17,3.05,0.00,0.000,4,0.091,0.126,2699,625,3635,0,0,0,0,0,0
$GC,6748,-1.41,-146.0,583.5,-8.3,294,6753,0.00,2.70,0.00,0.000,6,0.000,0.061,2699,2190,3634,0,0,0,0,0,0
$STATE,7006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7006,begin apogee
$GC,7013,-0.31,0.0,601.5,6.8,301,7134,1.05,0.00,117.47,1.022,6,0.074,0.000,2936,2371,3060,0,0,0,0,0,0
$STATE,7136,end apogee,CONTROL_FINISHED_OK
$STATE,7136,begin climb
$GC,7138,1.27,146.0,603.6,0.0,304,7275,1.42,3.03,124.90,0.991,4,0.035,0.097,3288,3933,2463,0,0,0,0,0,0
$GC,7309,1.12,146.0,591.3,12.3,308,7314,0.20,2.78,0.00,0.000,6,0.110,0.059,3248,2362,2459,0,0,0,0,0,0
$GC,7589,1.10,164.1,564.6,9.2,315,7606,0.00,0.00,15.73,0.910,6,0.000,0.000,3248,2363,2391,0,0,0,0,0,0
$GC,7833,1.09,189.5,543.2,8.8,321,7858,0.00,0.00,23.92,0.936,6,0.000,0.000,3248,2363,2287,0,0,0,0,0,0
$GC,8074,1.10,200.9,520.4,9.5,327,8093,0.00,2.97,11.05,0.868,4,0.000,0.094,3248,775,2240,0,0,0,0,0,0
$GC,8123,1.06,200.9,515.7,10.5,328,8128,0.00,2.72,0.00,0.000,6,0.000,0.048,3248,2371,2239,0,0,0,0,0,0
$GC,8400,1.07,208.9,488.7,9.6,335,8411,0.00,0.00,8.50,0.825,6,0.000,0.000,3248,2371,2208,0,0,0,0,0,0
$GC,8645,1.08,211.1,464.4,9.9,341,8650,0.00,2.83,0.00,0.000,4,0.000,0.074,3248,780,2205,0,0,0,0,0,0
$GC,8661,1.08,211.1,462.5,10.5,341,8665,0.00,2.62,0.00,0.000,6,0.000,0.039,3248,2358,2204,0,0,0,0,0,0
$GC,8927,1.08,211.1,433.0,11.4,348,8931,0.00,2.67,0.00,0.000,4,0.000,0.059,3248,3946,2203,0,0,0,0,0,0
$GC,8982,1.08,211.1,426.2,11.9,349,8986,0.00,2.62,0.00,0.000,6,0.000,0.034,3248,2359,2202,0,0,0,0,0,0
$GC,9249,1.08,211.1,398.0,10.3,356,9254,0.00,2.67,0.00,0.000,4,0.000,0.048,3248,3941,2202,0,0,0,0,0,0
$GC,9293,1.08,211.1,392.9,11.6,357,9297,0.00,2.58,0.00,0.000,6,0.000,0.031,3248,2380,2201,0,0,0,0,0,0
$GC,9571,1.10,227.8,366.6,9.2,364,9590,0.00,0.00,17.30,0.848,6,0.000,0.000,3248,2380,2131,0,0,0,0,0,0
$GC,9815,1.11,238.6,343.5,9.5,370,9827,0.00,0.00,10.77,0.787,6,0.000,0.000,3248,2380,2087,0,0,0,0,0,0
$GC,10058,1.11,238.6,317.7,10.7,376,10063,0.00,2.62,0.00,0.000,4,0.000,0.046,3248,3940,2085,0,0,0,0,0,0
$GC,10102,1.11,238.6,312.6,11.3,377,10107,0.00,2.55,0.00,0.000,6,0.000,0.026,3248,2376,2083,0,0,0,0,0,0
$GC,10382,1.11,240.7,285.0,9.9,384,10387,0.00,2.67,0.00,0.000,4,0.000,0.057,3248,783,2083,0,0,0,0,0,0
$GC,10438,1.15,240.7,279.0,10.0,385,10443,0.00,2.60,0.00,0.000,6,0.000,0.026,3248,2397,2082,0,0,0,0,0,0
$GC,10706,1.21,247.1,253.4,9.7,392,10720,0.00,2.78,8.70,0.698,4,0.000,0.048,3248,784,2052,0,0,0,0,0,0
$GC,10754,1.25,247.1,248.3,10.5,393,10759,0.12,2.55,0.00,0.000,6,0.074,0.025,3285,2364,2050,0,0,0,0,0,0
$GC,11032,1.25,247.1,218.1,10.8,400,11036,0.00,2.62,0.00,0.000,4,0.000,0.045,3285,784,2050,0,0,0,0,0,0
$GC,11054,1.25,247.1,215.6,11.2,400,11059,0.00,2.53,0.00,0.000,6,0.000,0.024,3286,2363,2049,0,0,0,0,0,0
$GC,11313,1.25,247.1,188.2,10.7,413,11317,0.00,2.60,0.00,0.000,4,0.000,0.045,3285,3928,2050,0,0,0,0,0,0
$GC,11380,1.25,247.1,180.5,12.7,418,11385,0.00,2.50,0.00,0.000,6,0.000,0.030,3286,2363,2050,0,0,0,0,0,0
$GC,11647,1.25,247.1,148.9,12.1,442,11651,0.00,2.58,0.00,0.000,4,0.000,0.044,3286,3928,2049,0,0,0,0,0,0
$GC,11704,1.25,247.1,140.6,13.4,446,11714,0.00,2.50,0.00,0.000,6,0.000,0.024,3285,2388,2049,0,0,0,0,0,0
$GC,11972,1.25,247.1,111.8,10.7,471,11976,0.00,2.55,0.00,0.000,4,0.000,0.044,3286,3924,2049,0,0,0,0,0,0
$GC,12016,1.25,247.1,106.2,10.5,474,12025,0.00,2.45,0.00,0.000,6,0.000,0.023,3286,2404,2049,0,0,0,0,0,0
$GC,12284,1.25,247.1,80.2,10.1,499,12289,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2404,2049,0,0,0,0,0,0
$GC,12550,1.26,257.1,53.4,9.5,524,12565,0.00,2.60,10.55,0.528,4,0.000,0.043,3285,3924,2010,0,0,0,0,0,0
$GC,12633,1.30,259.6,45.1,9.9,530,12648,0.00,2.40,3.95,0.378,6,0.000,0.022,3285,2402,2000,0,0,0,0,0,0
$GC,12936,1.41,302.4,14.1,8.0,567,12987,0.10,2.72,37.42,0.532,4,0.087,0.043,3319,792,1825,0,0,0,0,0,0
$GC,13011,1.33,302.4,5.2,15.5,576,13021,0.10,2.58,0.00,0.000,6,0.085,0.020,3294,2408,1824,0,0,0,0,0,0
$STATE,13029,end climb,SURFACE_DEPTH_REACHED
$STATE,13029,begin surface coast
$FINISH,-0.1,1.023917
$STATE,13065,end surface coast,CONTROL_FINISHED_OK
$STATE,13065,begin surface
$SM_CCo,13088,61.95,0.519,0,0,1510,380.21
$SM_GC,0.20,0.00,0.00,61.95,0.000,0.000,0.519,459,2188,1510,-11.70,-0.62,380.21
$IRIDIUM_FIX,2253.38,-15802.79,230603,212128
$TT8_MAMPS,0.026078
$HUMID,60.31
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.00
$XPDR_PINGS,17
$24V_AH,23.4,15.865
$10V_AH,10.3,13.892
$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,28.050,162.775,390.275,61.950,0.000,50.774,74.272,298.233,4.250,0.000,31.306,1218.207,9202.857,561.124,2059.363,755.717,33.364,1375.919,0.000,2047.539,0.000,0.535,0.000
$DEVICE_MAMPS,160.303,125.788,1021.644,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.046,323.134,411.207,590.662,1125.047,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,44817,583
$CAP_FILE_SIZE,136881,0
$CFSIZE,260165632,172937216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300314,010359,2301.075,-15800.303,48,1.9,48,10.1