version: 66.06
glider: 146
mission: 9
dive: 117
start: 3 30 114 9 27 17
data:
$ID,146
$MISSION,9
$DIVE,117
$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,-325877.25
$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,36
$R_STBD_OVSHOOT,30
$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
$GPS1,085623,2259.883,-15758.661,58,1.6,58,10.1
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-65.7
$GPS2,092624,2300.057,-15758.671,16,1.6,32,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,-0.134
$KALMAN_X,-78596.9,-198.4,288.4,73234.5,-170.0
$KALMAN_Y,59015.0,266.4,883.9,-40217.2,-1171.4
$MHEAD_RNG_PITCHd_Wd,111.1,53408,-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,-146.0,0.0,0.0,0,104,0.00,0.00,-85.53,0.000,6,0.000,0.000,457,2203,3657,0,0,0,0,0,0
$GC,109,-1.27,-146.0,3.7,-9.1,11,126,12.85,2.58,0.00,0.000,4,0.168,0.026,2719,3808,3658,0,0,0,0,0,0
$GC,248,-1.19,-146.0,31.7,-12.1,30,253,0.12,2.53,0.00,0.000,6,0.123,0.023,2742,2205,3658,0,0,0,0,0,0
$GC,517,-1.11,-146.0,66.9,-15.5,54,521,0.00,2.55,0.00,0.000,4,0.000,0.041,2742,629,3658,0,0,0,0,0,0
$GC,539,-1.04,-146.0,70.8,-15.6,55,544,0.17,2.47,0.00,0.000,6,0.107,0.019,2777,2212,3658,0,0,0,0,0,0
$GC,806,-1.04,-146.0,98.8,-11.1,79,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2214,3658,0,0,0,0,0,0
$GC,1069,-1.04,-146.0,125.7,-8.7,104,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2213,3658,0,0,0,0,0,0
$GC,1324,-1.08,-146.0,146.2,-7.5,128,1329,0.00,2.53,0.00,0.000,4,0.000,0.035,2777,3779,3658,0,0,0,0,0,0
$GC,1347,-1.13,-146.0,147.7,-7.5,129,1351,0.00,2.50,0.00,0.000,6,0.000,0.020,2777,2174,3658,0,0,0,0,0,0
$GC,1611,-1.18,-146.0,168.7,-7.8,153,1616,0.15,2.50,0.00,0.000,4,0.058,0.046,2717,644,3658,0,0,0,0,0,0
$GC,1703,-1.13,-146.0,178.2,-11.3,160,1708,0.20,2.38,0.00,0.000,6,0.089,0.024,2759,2179,3659,0,0,0,0,0,0
$GC,1994,-1.13,-146.0,204.2,-9.8,184,1999,0.00,2.58,0.00,0.000,4,0.000,0.036,2760,3775,3659,0,0,0,0,0,0
$GC,2012,-1.13,-146.0,205.8,-9.8,184,2016,0.00,2.50,0.00,0.000,6,0.000,0.019,2760,2174,3659,0,0,0,0,0,0
$GC,2273,-1.16,-146.0,228.1,-8.4,191,2277,0.00,2.50,0.00,0.000,4,0.000,0.047,2760,647,3659,0,0,0,0,0,0
$GC,2306,-1.20,-146.0,231.1,-8.8,191,2312,0.00,2.35,0.00,0.000,6,0.000,0.020,2760,2164,3659,0,0,0,0,0,0
$GC,2558,-1.25,-146.0,251.6,-8.1,198,2563,0.12,2.55,0.00,0.000,4,0.067,0.049,2707,637,3658,0,0,0,0,0,0
$GC,2597,-1.21,-146.0,255.7,-10.6,199,2602,0.15,2.35,0.00,0.000,6,0.097,0.021,2739,2158,3659,0,0,0,0,0,0
$GC,2882,-1.21,-146.0,280.0,-8.5,206,2887,0.00,2.67,0.00,0.000,4,0.000,0.051,2739,3787,3658,0,0,0,0,0,0
$GC,2954,-1.21,-146.0,286.3,-8.7,207,2958,0.00,2.58,0.00,0.000,6,0.000,0.021,2739,2163,3658,0,0,0,0,0,0
$GC,3204,-1.24,-146.0,306.8,-8.1,213,3209,0.00,2.67,0.00,0.000,4,0.000,0.046,2739,3783,3657,0,0,0,0,0,0
$GC,3239,-1.29,-146.0,309.8,-8.8,213,3244,0.00,2.60,0.00,0.000,6,0.000,0.025,2739,2157,3657,0,0,0,0,0,0
$GC,3489,-1.34,-146.0,329.4,-7.7,220,3494,0.12,2.72,0.00,0.000,4,0.067,0.051,2690,3775,3656,0,0,0,0,0,0
$GC,3511,-1.34,-146.0,331.6,-9.4,220,3516,0.10,2.60,0.00,0.000,6,0.113,0.027,2712,2162,3656,0,0,0,0,0,0
$GC,3768,-1.34,-146.0,354.7,-8.9,227,3772,0.00,2.72,0.00,0.000,4,0.000,0.051,2712,3775,3655,0,0,0,0,0,0
$GC,3841,-1.34,-146.0,361.9,-9.7,228,3846,0.00,2.60,0.00,0.000,6,0.000,0.031,2712,2186,3655,0,0,0,0,0,0
$GC,4093,-1.34,-146.0,383.7,-8.8,234,4097,0.00,2.75,0.00,0.000,4,0.000,0.081,2712,626,3653,0,0,0,0,0,0
$GC,4132,-1.34,-146.0,387.7,-9.7,235,4137,0.00,2.50,0.00,0.000,6,0.000,0.042,2712,2163,3652,0,0,0,0,0,0
$GC,4415,-1.34,-146.0,413.6,-9.4,242,4420,0.00,2.72,0.00,0.000,4,0.000,0.057,2712,3789,3651,0,0,0,0,0,0
$GC,4449,-1.34,-146.0,417.1,-10.8,242,4454,0.00,2.62,0.00,0.000,6,0.000,0.041,2712,2184,3650,0,0,0,0,0,0
$GC,4699,-1.34,-146.0,440.5,-9.1,249,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2184,3649,0,0,0,0,0,0
$GC,4942,-1.34,-146.0,461.1,-8.2,255,4947,0.00,2.75,0.00,0.000,4,0.000,0.066,2712,3788,3647,0,0,0,0,0,0
$GC,4958,-1.34,-146.0,462.5,-7.8,255,4963,0.00,2.67,0.00,0.000,6,0.000,0.044,2712,2183,3647,0,0,0,0,0,0
$GC,5220,-1.34,-146.0,481.0,-7.0,262,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2183,3645,0,0,0,0,0,0
$GC,5462,-1.34,-146.0,497.2,-6.5,268,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2183,3643,0,0,0,0,0,0
$GC,5706,-1.34,-146.0,513.3,-6.8,274,5711,0.00,2.83,0.00,0.000,4,0.000,0.071,2712,3792,3642,0,0,0,0,0,0
$GC,5774,-1.34,-146.0,518.7,-8.3,275,5778,0.00,2.75,0.00,0.000,6,0.000,0.060,2712,2185,3641,0,0,0,0,0,0
$GC,6029,-1.34,-146.0,538.8,-7.9,282,6033,0.00,2.80,0.00,0.000,4,0.000,0.079,2712,3783,3639,0,0,0,0,0,0
$GC,6095,-1.37,-146.0,544.4,-8.4,283,6100,0.00,2.72,0.00,0.000,6,0.000,0.055,2712,2194,3638,0,0,0,0,0,0
$GC,6352,-1.41,-146.0,562.2,-6.8,290,6357,0.00,2.83,0.00,0.000,4,0.000,0.078,2712,3783,3637,0,0,0,0,0,0
$GC,6379,-1.41,-146.0,564.4,-7.4,290,6384,0.00,2.72,0.00,0.000,6,0.000,0.061,2712,2201,3637,0,0,0,0,0,0
$GC,6631,-1.46,-146.0,581.1,-6.7,296,6636,0.12,2.85,0.00,0.000,4,0.069,0.080,2669,3785,3635,0,0,0,0,0,0
$GC,6693,-1.42,-146.0,586.5,-8.7,297,6698,0.12,2.72,0.00,0.000,6,0.107,0.071,2695,2214,3635,0,0,0,0,0,0
$STATE,6911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6911,begin apogee
$GC,6917,-0.31,0.0,601.8,6.8,303,7038,1.05,0.00,117.40,1.019,6,0.071,0.000,2934,2364,3059,0,0,0,0,0,0
$STATE,7040,end apogee,CONTROL_FINISHED_OK
$STATE,7040,begin climb
$GC,7042,1.27,146.0,603.5,0.0,306,7179,1.42,2.88,124.35,0.990,4,0.035,0.081,3287,3933,2462,0,0,0,0,0,0
$GC,7231,1.12,146.0,588.2,13.4,310,7236,0.20,2.75,0.00,0.000,6,0.109,0.065,3247,2371,2458,0,0,0,0,0,0
$GC,7492,1.09,160.9,562.8,9.3,317,7512,0.00,2.85,12.82,0.888,4,0.000,0.070,3247,3932,2403,0,0,0,0,0,0
$GC,7537,1.03,160.9,558.4,10.2,318,7541,0.00,2.72,0.00,0.000,6,0.000,0.051,3247,2361,2402,0,0,0,0,0,0
$GC,7820,1.05,177.2,531.4,9.2,325,7841,0.00,2.80,15.68,0.903,4,0.000,0.061,3247,3932,2335,0,0,0,0,0,0
$GC,7880,1.00,177.2,525.2,10.6,326,7885,0.12,2.67,0.00,0.000,6,0.120,0.047,3223,2378,2334,0,0,0,0,0,0
$GC,8143,1.05,214.3,503.3,8.3,333,8181,0.00,0.00,33.83,0.935,6,0.000,0.000,3222,2378,2186,0,0,0,0,0,0
$GC,8425,1.07,232.5,477.5,9.2,340,8450,0.00,3.12,17.05,0.894,4,0.000,0.110,3222,781,2111,0,0,0,0,0,0
$GC,8467,1.07,235.6,473.2,9.9,341,8476,0.00,2.70,4.18,0.604,6,0.000,0.048,3223,2389,2099,0,0,0,0,0,0
$GC,8758,1.13,239.1,444.8,9.8,348,8768,0.10,2.88,4.22,0.617,4,0.093,0.073,3253,777,2085,0,0,0,0,0,0
$GC,8790,1.13,239.1,441.0,11.4,348,8794,0.00,2.67,0.00,0.000,6,0.000,0.035,3253,2392,2084,0,0,0,0,0,0
$GC,9041,1.13,239.1,412.4,11.6,354,9046,0.00,2.83,0.00,0.000,4,0.000,0.066,3253,775,2083,0,0,0,0,0,0
$GC,9068,1.13,239.1,408.9,12.0,354,9072,0.00,2.58,0.00,0.000,6,0.000,0.031,3253,2375,2082,0,0,0,0,0,0
$GC,9319,1.13,239.1,380.5,11.4,360,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2375,2081,0,0,0,0,0,0
$GC,9561,1.13,239.1,354.0,10.6,366,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2375,2081,0,0,0,0,0,0
$GC,9806,1.13,239.1,329.1,10.2,372,9811,0.00,2.60,0.00,0.000,4,0.000,0.049,3253,3927,2081,0,0,0,0,0,0
$GC,9861,1.13,239.1,323.1,10.5,373,9866,0.00,2.58,0.00,0.000,6,0.000,0.027,3253,2339,2080,0,0,0,0,0,0
$GC,10128,1.13,239.1,295.7,10.4,380,10132,0.00,2.62,0.00,0.000,4,0.000,0.058,3253,784,2080,0,0,0,0,0,0
$GC,10168,1.13,239.1,291.1,11.2,381,10172,0.00,2.53,0.00,0.000,6,0.000,0.033,3253,2353,2078,0,0,0,0,0,0
$GC,10451,1.13,239.1,261.5,10.2,388,10455,0.00,2.62,0.00,0.000,4,0.000,0.049,3253,3926,2079,0,0,0,0,0,0
$GC,10539,1.13,239.1,251.4,10.9,390,10544,0.00,2.53,0.00,0.000,6,0.000,0.025,3253,2354,2078,0,0,0,0,0,0
$GC,10819,1.17,239.1,222.6,10.2,397,10824,0.00,2.60,0.00,0.000,4,0.000,0.049,3253,784,2079,0,0,0,0,0,0
$GC,10869,1.23,239.1,216.3,11.9,398,10874,0.00,2.50,0.00,0.000,6,0.000,0.031,3253,2355,2078,0,0,0,0,0,0
$GC,11132,1.29,246.6,188.6,9.7,412,11147,0.12,2.65,7.30,0.618,4,0.074,0.046,3291,795,2054,0,0,0,0,0,0
$GC,11181,1.29,246.6,182.6,11.3,416,11187,0.00,2.45,0.00,0.000,6,0.000,0.030,3291,2347,2053,0,0,0,0,0,0
$GC,11445,1.29,246.6,154.7,10.6,441,11450,0.00,2.60,0.00,0.000,4,0.000,0.045,3291,3926,2053,0,0,0,0,0,0
$GC,11474,1.29,246.6,151.1,11.3,443,11479,0.00,2.55,0.00,0.000,6,0.000,0.025,3291,2336,2053,0,0,0,0,0,0
$GC,11742,1.32,272.3,126.7,8.8,467,11771,0.00,2.60,24.10,0.635,4,0.000,0.045,3291,790,1947,0,0,0,0,0,0
$GC,11800,1.33,279.7,121.0,9.7,471,11814,0.00,2.47,7.70,0.548,6,0.000,0.029,3291,2343,1918,0,0,0,0,0,0
$GC,12080,1.33,279.7,91.7,10.2,497,12084,0.00,2.62,0.00,0.000,4,0.000,0.042,3291,3932,1916,0,0,0,0,0,0
$GC,12120,1.33,279.7,86.6,11.9,500,12124,0.00,2.53,0.00,0.000,6,0.000,0.023,3291,2347,1916,0,0,0,0,0,0
$GC,12389,1.33,279.7,55.4,12.4,524,12393,0.00,2.60,0.00,0.000,4,0.000,0.042,3291,3931,1915,0,0,0,0,0,0
$GC,12409,1.33,279.7,52.5,11.6,525,12413,0.00,2.47,0.00,0.000,6,0.000,0.020,3292,2366,1915,0,0,0,0,0,0
$GC,12689,1.38,318.8,22.9,8.2,554,12730,0.00,2.62,33.92,0.538,4,0.000,0.043,3291,3923,1758,0,0,0,0,0,0
$GC,12763,1.39,330.7,15.3,9.5,563,12781,0.00,2.50,11.43,0.492,6,0.000,0.022,3291,2379,1711,0,0,0,0,0,0
$STATE,12881,end climb,SURFACE_DEPTH_REACHED
$STATE,12881,begin surface coast
$FINISH,-0.1,1.023947
$STATE,12925,end surface coast,CONTROL_FINISHED_OK
$STATE,12925,begin surface
$SM_CCo,12947,39.30,0.517,0,0,1510,380.21
$SM_GC,0.35,0.00,0.00,39.30,0.000,0.000,0.517,462,2192,1510,-11.69,-0.51,380.21
$IRIDIUM_FIX,2248.70,-15758.45,240603,090925
$TT8_MAMPS,0.026078
$HUMID,61.22
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.00
$XPDR_PINGS,21
$24V_AH,23.4,16.354
$10V_AH,10.4,14.265
$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,28.625,179.500,413.975,39.300,0.000,135.184,186.372,1036.415,5.250,0.000,34.040,1236.626,9115.068,531.735,2171.636,1729.238,33.362,1396.067,0.000,2152.052,0.000,0.536,0.000
$DEVICE_MAMPS,167.973,109.681,1018.576,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,397.777,332.886,421.325,605.869,1153.882,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,44709,586
$CAP_FILE_SIZE,157375,0
$CFSIZE,260165632,172720128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300314,130554,2258.935,-15757.421,88,1.3,88,10.1