version: 66.06
glider: 146
mission: 9
dive: 115
start: 3 30 114 1 23 56
data:
$ID,146
$MISSION,9
$DIVE,115
$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,-325804.62
$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,55
$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
$GPS1,010359,2301.075,-15800.303,48,1.9,48,10.1
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-65.0
$GPS2,012303,2301.031,-15800.414,16,3.1,35,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.179,-0.188
$KALMAN_X,-78208.5,57.2,-152.4,70055.4,-132.6
$KALMAN_Y,57069.8,265.4,-461.7,-35115.8,91.6
$MHEAD_RNG_PITCHd_Wd,126.4,56749,-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,-88.30,0.000,6,0.000,0.000,459,2188,3657,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.9,-8.9,12,133,12.32,2.60,0.00,0.000,4,0.162,0.031,2719,3796,3658,0,0,0,0,0,0
$GC,301,-1.22,-146.0,41.4,-13.0,34,311,0.00,2.53,0.00,0.000,6,0.000,0.022,2720,2226,3658,0,0,0,0,0,0
$GC,570,-1.11,-146.0,78.2,-13.5,59,580,0.20,0.00,0.00,0.000,6,0.109,0.000,2760,2226,3658,0,0,0,0,0,0
$GC,831,-1.11,-146.0,107.8,-11.2,84,836,0.00,2.53,0.00,0.000,4,0.000,0.034,2760,3793,3659,0,0,0,0,0,0
$GC,852,-1.11,-146.0,109.5,-10.3,85,856,0.00,2.50,0.00,0.000,6,0.000,0.019,2759,2202,3659,0,0,0,0,0,0
$GC,1119,-1.11,-146.0,135.7,-10.4,109,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2202,3659,0,0,0,0,0,0
$GC,1381,-1.11,-146.0,162.2,-9.2,134,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2202,3659,0,0,0,0,0,0
$GC,1637,-1.11,-146.0,184.0,-7.9,158,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2202,3659,0,0,0,0,0,0
$GC,1889,-1.15,-146.0,203.5,-8.1,179,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2202,3660,0,0,0,0,0,0
$GC,2133,-1.20,-146.0,224.1,-8.6,185,2137,0.00,2.58,0.00,0.000,4,0.000,0.050,2760,643,3660,0,0,0,0,0,0
$GC,2202,-1.25,-146.0,230.4,-9.4,186,2207,0.12,2.47,0.00,0.000,6,0.066,0.025,2707,2221,3660,0,0,0,0,0,0
$GC,2458,-1.21,-146.0,257.1,-10.2,193,2460,0.15,0.00,0.00,0.000,6,0.095,0.000,2739,2222,3660,0,0,0,0,0,0
$GC,2703,-1.21,-146.0,277.2,-8.1,199,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2222,3659,0,0,0,0,0,0
$GC,2945,-1.21,-146.0,296.7,-7.9,205,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2222,3659,0,0,0,0,0,0
$GC,3189,-1.25,-146.0,317.8,-8.7,211,3194,0.00,2.70,0.00,0.000,4,0.000,0.062,2740,642,3658,0,0,0,0,0,0
$GC,3240,-1.30,-146.0,322.3,-9.2,212,3245,0.00,2.47,0.00,0.000,6,0.000,0.028,2739,2197,3658,0,0,0,0,0,0
$GC,3513,-1.34,-146.0,344.2,-7.9,219,3518,0.12,2.67,0.00,0.000,4,0.067,0.051,2690,3792,3656,0,0,0,0,0,0
$GC,3541,-1.30,-146.0,347.1,-10.4,219,3546,0.15,2.53,0.00,0.000,6,0.095,0.026,2723,2224,3655,0,0,0,0,0,0
$GC,3792,-1.30,-146.0,367.4,-7.8,225,3797,0.00,2.78,0.00,0.000,4,0.000,0.075,2723,632,3655,0,0,0,0,0,0
$GC,3836,-1.30,-146.0,371.1,-8.5,226,3840,0.00,2.55,0.00,0.000,6,0.000,0.035,2723,2201,3654,0,0,0,0,0,0
$GC,4113,-1.30,-146.0,393.4,-8.1,233,4118,0.00,2.65,0.00,0.000,4,0.000,0.052,2723,3797,3653,0,0,0,0,0,0
$GC,4136,-1.30,-146.0,395.3,-8.8,233,4141,0.00,2.58,0.00,0.000,6,0.000,0.032,2723,2207,3653,0,0,0,0,0,0
$GC,4391,-1.30,-146.0,415.5,-7.8,240,4396,0.00,2.67,0.00,0.000,4,0.000,0.054,2723,3791,3651,0,0,0,0,0,0
$GC,4424,-1.30,-146.0,418.2,-8.2,240,4429,0.00,2.60,0.00,0.000,6,0.000,0.043,2722,2213,3651,0,0,0,0,0,0
$GC,4675,-1.30,-146.0,436.3,-7.3,247,4680,0.00,2.67,0.00,0.000,4,0.000,0.058,2723,3794,3649,0,0,0,0,0,0
$GC,4719,-1.33,-146.0,439.8,-7.4,248,4724,0.00,2.60,0.00,0.000,6,0.000,0.042,2723,2215,3649,0,0,0,0,0,0
$GC,4999,-1.33,-146.0,457.6,-6.3,255,5003,0.00,2.70,0.00,0.000,4,0.000,0.067,2723,3783,3647,0,0,0,0,0,0
$GC,5026,-1.33,-146.0,459.6,-7.3,255,5030,0.00,2.60,0.00,0.000,6,0.000,0.049,2723,2225,3647,0,0,0,0,0,0
$GC,5276,-1.38,-146.0,475.9,-6.6,261,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2226,3645,0,0,0,0,0,0
$GC,5520,-1.42,-146.0,493.8,-7.5,267,5522,0.12,0.00,0.00,0.000,6,0.068,0.000,2675,2226,3644,0,0,0,0,0,0
$GC,5764,-1.38,-146.0,517.9,-10.0,273,5770,0.12,2.75,0.00,0.000,4,0.102,0.074,2702,3783,3642,0,0,0,0,0,0
$GC,5786,-1.38,-146.0,520.3,-9.4,273,5791,0.00,2.62,0.00,0.000,6,0.000,0.050,2702,2237,3643,0,0,0,0,0,0
$GC,6042,-1.38,-146.0,542.5,-8.5,280,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2237,3640,0,0,0,0,0,0
$GC,6286,-1.38,-146.0,561.1,-7.5,286,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2237,3639,0,0,0,0,0,0
$GC,6529,-1.38,-146.0,578.0,-6.8,292,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2237,3638,0,0,0,0,0,0
$GC,6773,-1.38,-146.0,594.5,-6.8,298,6777,0.00,2.88,0.00,0.000,4,0.000,0.100,2702,3783,3636,0,0,0,0,0,0
$GC,6813,-1.38,-146.0,597.4,-7.7,299,6818,0.00,2.70,0.00,0.000,6,0.000,0.070,2702,2246,3636,0,0,0,0,0,0
$STATE,6850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6850,begin apogee
$GC,6856,-0.31,0.0,600.1,6.8,300,6977,1.02,0.00,117.85,1.014,6,0.074,0.000,2933,2367,3060,0,0,0,0,0,0
$STATE,6978,end apogee,CONTROL_FINISHED_OK
$STATE,6978,begin climb
$GC,6981,1.27,146.0,601.7,0.0,303,7116,1.42,2.88,123.90,0.985,4,0.035,0.082,3287,3930,2464,0,0,0,0,0,0
$GC,7212,1.13,146.0,581.0,13.1,308,7217,0.17,2.75,0.00,0.000,6,0.112,0.058,3252,2361,2458,0,0,0,0,0,0
$GC,7475,1.09,152.6,555.1,9.7,315,7483,0.00,0.00,5.80,0.737,6,0.000,0.000,3252,2362,2437,0,0,0,0,0,0
$GC,7717,1.04,152.6,530.8,10.2,321,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2361,2435,0,0,0,0,0,0
$GC,7961,1.01,156.3,506.5,9.8,327,7968,0.12,0.00,4.35,0.640,6,0.119,0.000,3225,2361,2422,0,0,0,0,0,0
$GC,8206,1.05,191.0,485.8,8.4,333,8240,0.00,0.00,32.20,0.925,6,0.000,0.000,3225,2362,2280,0,0,0,0,0,0
$GC,8486,1.08,211.2,460.8,9.1,339,8510,0.00,2.95,18.58,0.884,4,0.000,0.085,3225,775,2198,0,0,0,0,0,0
$GC,8523,1.08,216.1,457.2,9.8,339,8534,0.00,2.67,6.10,0.718,6,0.000,0.036,3225,2375,2179,0,0,0,0,0,0
$GC,8814,1.13,225.1,429.3,9.6,347,8829,0.10,2.70,9.07,0.805,4,0.101,0.054,3256,3937,2141,0,0,0,0,0,0
$GC,8846,1.10,225.1,425.6,11.0,347,8850,0.00,2.65,0.00,0.000,6,0.000,0.031,3256,2349,2140,0,0,0,0,0,0
$GC,9097,1.10,225.1,397.8,11.1,353,9101,0.00,2.67,0.00,0.000,4,0.000,0.051,3256,3931,2139,0,0,0,0,0,0
$GC,9118,1.10,225.1,395.0,12.3,353,9122,0.00,2.60,0.00,0.000,6,0.000,0.032,3256,2354,2138,0,0,0,0,0,0
$GC,9373,1.10,230.3,369.5,9.8,360,9383,0.00,2.67,5.32,0.671,4,0.000,0.048,3256,3930,2122,0,0,0,0,0,0
$GC,9414,1.10,230.3,365.3,10.9,361,9418,0.00,2.60,0.00,0.000,6,0.000,0.031,3256,2358,2121,0,0,0,0,0,0
$GC,9696,1.10,230.3,337.0,10.2,368,9698,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2358,2120,0,0,0,0,0,0
$GC,9940,1.10,230.3,311.2,10.7,374,9944,0.00,2.65,0.00,0.000,4,0.000,0.058,3256,782,2120,0,0,0,0,0,0
$GC,9973,1.10,230.3,307.3,12.2,374,9979,0.00,2.58,0.00,0.000,6,0.000,0.034,3256,2384,2119,0,0,0,0,0,0
$GC,10223,1.10,230.3,279.6,10.9,381,10227,0.00,2.60,0.00,0.000,4,0.000,0.055,3256,3932,2119,0,0,0,0,0,0
$GC,10255,1.10,230.3,275.7,11.6,381,10261,0.00,2.53,0.00,0.000,6,0.000,0.026,3256,2369,2118,0,0,0,0,0,0
$GC,10507,1.11,233.9,250.4,9.8,388,10517,0.00,2.67,4.55,0.565,4,0.000,0.051,3256,779,2106,0,0,0,0,0,0
$GC,10550,1.12,241.4,245.8,9.7,389,10565,0.00,2.58,8.38,0.683,6,0.000,0.029,3256,2385,2075,0,0,0,0,0,0
$GC,10833,1.16,241.4,217.4,10.2,396,10837,0.00,2.65,0.00,0.000,4,0.000,0.045,3257,778,2074,0,0,0,0,0,0
$GC,10889,1.20,241.4,211.6,10.8,397,10894,0.00,2.55,0.00,0.000,6,0.000,0.031,3256,2378,2073,0,0,0,0,0,0
$GC,11157,1.29,271.5,187.5,8.6,412,11193,0.12,2.60,27.73,0.699,4,0.076,0.045,3295,3922,1951,0,0,0,0,0,0
$GC,11217,1.29,271.5,180.6,11.8,417,11221,0.00,2.50,0.00,0.000,6,0.000,0.024,3295,2380,1949,0,0,0,0,0,0
$GC,11479,1.29,271.5,150.1,11.8,441,11484,0.00,2.58,0.00,0.000,4,0.000,0.043,3295,3928,1948,0,0,0,0,0,0
$GC,11512,1.29,271.5,146.6,12.8,443,11517,0.00,2.47,0.00,0.000,6,0.000,0.025,3295,2385,1947,0,0,0,0,0,0
$GC,11778,1.29,271.5,116.4,11.6,467,11783,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2385,1947,0,0,0,0,0,0
$GC,12040,1.29,271.5,84.6,12.7,492,12045,0.00,2.58,0.00,0.000,4,0.000,0.044,3295,3933,1947,0,0,0,0,0,0
$GC,12086,1.29,271.5,79.5,12.3,495,12090,0.00,2.45,0.00,0.000,6,0.000,0.023,3295,2390,1947,0,0,0,0,0,0
$GC,12355,1.32,300.0,51.4,8.7,519,12386,0.00,2.70,25.12,0.558,4,0.000,0.045,3295,770,1835,0,0,0,0,0,0
$GC,12410,1.32,300.0,44.9,11.2,523,12415,0.00,2.60,0.00,0.000,6,0.000,0.029,3295,2390,1833,0,0,0,0,0,0
$GC,12710,1.32,300.0,7.1,14.3,560,12719,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2390,1833,0,0,0,0,0,0
$STATE,12735,end climb,SURFACE_DEPTH_REACHED
$STATE,12735,begin surface coast
$FINISH,-0.1,1.023933
$STATE,12771,end surface coast,CONTROL_FINISHED_OK
$STATE,12771,begin surface
$SM_CCo,12792,64.25,0.523,0,0,1509,380.21
$SM_GC,0.41,0.00,0.00,64.25,0.000,0.000,0.523,468,2190,1509,-11.67,-0.57,380.21
$IRIDIUM_FIX,2251.04,-15800.62,240603,010112
$TT8_MAMPS,0.026078
$HUMID,60.67
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.00
$XPDR_PINGS,19
$24V_AH,23.4,16.017
$10V_AH,10.4,14.011
$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,27.700,131.850,388.950,64.250,0.000,104.631,145.832,521.184,4.750,0.000,37.695,1163.782,9205.999,523.675,2002.285,1101.312,33.368,1314.940,0.000,1975.486,0.000,0.536,0.000
$DEVICE_MAMPS,161.837,99.710,1013.974,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.646,309.905,398.838,567.889,1081.555,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,44704,568
$CAP_FILE_SIZE,134984,0
$CFSIZE,260165632,172879872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300314,045953,2300.642,-15759.375,40,1.1,58,10.1