version: 66.06
glider: 146
mission: 9
dive: 118
start: 3 30 114 13 28 10
data:
$ID,146
$MISSION,9
$DIVE,118
$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,-325897.09
$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,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
$GPS1,130554,2258.935,-15757.421,88,1.3,88,10.1
$_CALLS,4
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-67.4
$GPS2,132715,2258.878,-15757.596,16,1.8,17,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.175
$KALMAN_X,-79054.7,-326.4,75.6,75869.9,-590.3
$KALMAN_Y,59822.5,160.8,-414.5,-41803.7,200.2
$MHEAD_RNG_PITCHd_Wd,122.3,50556,-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,16,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-88.60,0.000,6,0.000,0.000,460,2191,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,3.7,-9.4,12,132,12.45,2.50,0.00,0.000,4,0.165,0.035,2720,647,3657,0,0,0,0,0,0
$GC,208,-1.19,-146.0,26.8,-14.6,25,217,0.10,2.45,0.00,0.000,6,0.093,0.016,2744,2225,3657,0,0,0,0,0,0
$GC,486,-1.13,-146.0,58.0,-11.6,52,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2225,3657,0,0,0,0,0,0
$GC,750,-1.07,-146.0,91.1,-12.6,77,755,0.12,2.60,0.00,0.000,4,0.119,0.041,2769,649,3657,0,0,0,0,0,0
$GC,773,-1.07,-146.0,94.5,-12.4,78,782,0.00,2.42,0.00,0.000,6,0.000,0.017,2769,2202,3658,0,0,0,0,0,0
$GC,1039,-1.07,-146.0,121.9,-9.6,103,1043,0.00,2.55,0.00,0.000,4,0.000,0.043,2769,641,3658,0,0,0,0,0,0
$GC,1072,-1.07,-146.0,125.2,-9.2,105,1076,0.00,2.40,0.00,0.000,6,0.000,0.025,2769,2209,3658,0,0,0,0,0,0
$GC,1338,-1.07,-146.0,148.5,-8.5,129,1343,0.00,2.55,0.00,0.000,4,0.000,0.043,2769,645,3658,0,0,0,0,0,0
$GC,1384,-1.14,-146.0,153.1,-9.0,132,1394,0.00,2.40,0.00,0.000,6,0.000,0.025,2769,2178,3659,0,0,0,0,0,0
$GC,1652,-1.19,-146.0,175.9,-8.7,157,1657,0.10,0.00,0.00,0.000,6,0.083,0.000,2724,2178,3659,0,0,0,0,0,0
$GC,1922,-1.19,-146.0,204.7,-10.0,180,1927,0.00,2.50,0.00,0.000,4,0.000,0.044,2723,647,3659,0,0,0,0,0,0
$GC,1944,-1.14,-146.0,207.2,-10.5,180,1949,0.15,2.38,0.00,0.000,6,0.097,0.027,2755,2178,3659,0,0,0,0,0,0
$GC,2200,-1.18,-146.0,227.8,-7.8,187,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2180,3659,0,0,0,0,0,0
$GC,2445,-1.22,-146.0,247.5,-8.3,193,2449,0.00,2.62,0.00,0.000,4,0.000,0.041,2755,3778,3659,0,0,0,0,0,0
$GC,2461,-1.27,-146.0,249.1,-8.0,193,2466,0.12,2.50,0.00,0.000,6,0.066,0.026,2706,2188,3659,0,0,0,0,0,0
$GC,2723,-1.23,-146.0,274.7,-9.9,200,2728,0.12,2.62,0.00,0.000,4,0.102,0.048,2733,3778,3659,0,0,0,0,0,0
$GC,2752,-1.23,-146.0,277.5,-8.9,200,2756,0.00,2.50,0.00,0.000,6,0.000,0.021,2733,2199,3658,0,0,0,0,0,0
$GC,3002,-1.23,-146.0,296.3,-7.3,206,3006,0.00,2.58,0.00,0.000,4,0.000,0.052,2733,3769,3657,0,0,0,0,0,0
$GC,3063,-1.28,-146.0,301.4,-8.4,207,3067,0.00,2.50,0.00,0.000,6,0.000,0.024,2733,2207,3657,0,0,0,0,0,0
$GC,3325,-1.28,-146.0,323.9,-8.9,214,3329,0.00,2.65,0.00,0.000,4,0.000,0.063,2733,635,3656,0,0,0,0,0,0
$GC,3357,-1.28,-146.0,327.2,-9.9,214,3363,0.00,2.50,0.00,0.000,6,0.000,0.036,2733,2193,3656,0,0,0,0,0,0
$GC,3607,-1.28,-146.0,348.0,-8.0,221,3612,0.00,2.67,0.00,0.000,4,0.000,0.049,2733,3799,3655,0,0,0,0,0,0
$GC,3642,-1.32,-146.0,350.8,-8.5,221,3648,0.00,2.55,0.00,0.000,6,0.000,0.028,2733,2222,3655,0,0,0,0,0,0
$GC,3893,-1.35,-146.0,371.5,-8.4,228,3898,0.10,2.62,0.00,0.000,4,0.081,0.049,2689,3786,3653,0,0,0,0,0,0
$GC,3966,-1.35,-146.0,379.4,-11.7,229,3970,0.00,2.55,0.00,0.000,6,0.000,0.032,2689,2227,3653,0,0,0,0,0,0
$GC,4218,-1.31,-146.0,402.8,-9.1,235,4223,0.12,2.83,0.00,0.000,4,0.102,0.083,2717,630,3651,0,0,0,0,0,0
$GC,4263,-1.31,-146.0,407.1,-9.4,236,4267,0.00,2.60,0.00,0.000,6,0.000,0.037,2717,2222,3651,0,0,0,0,0,0
$GC,4542,-1.31,-146.0,429.0,-7.7,243,4546,0.00,2.80,0.00,0.000,4,0.000,0.074,2716,629,3649,0,0,0,0,0,0
$GC,4597,-1.31,-146.0,433.5,-7.8,244,4601,0.00,2.62,0.00,0.000,6,0.000,0.045,2716,2220,3649,0,0,0,0,0,0
$GC,4863,-1.31,-146.0,453.5,-7.3,251,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2220,3647,0,0,0,0,0,0
$GC,5108,-1.31,-146.0,471.8,-7.4,257,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2220,3645,0,0,0,0,0,0
$GC,5350,-1.31,-146.0,489.7,-7.3,263,5355,0.00,2.85,0.00,0.000,4,0.000,0.087,2717,632,3644,0,0,0,0,0,0
$GC,5377,-1.31,-146.0,491.8,-7.7,263,5382,0.00,2.65,0.00,0.000,6,0.000,0.051,2717,2229,3644,0,0,0,0,0,0
$GC,5629,-1.35,-146.0,511.0,-7.8,269,5634,0.00,2.70,0.00,0.000,4,0.000,0.076,2717,3798,3642,0,0,0,0,0,0
$GC,5662,-1.35,-146.0,514.1,-8.5,269,5668,0.00,2.62,0.00,0.000,6,0.000,0.045,2717,2238,3642,0,0,0,0,0,0
$GC,5912,-1.39,-146.0,534.0,-8.0,276,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2238,3640,0,0,0,0,0,0
$GC,6157,-1.44,-146.0,553.5,-8.0,282,6163,0.12,2.75,0.00,0.000,4,0.071,0.073,2669,3794,3639,0,0,0,0,0,0
$GC,6191,-1.37,-146.0,556.9,-9.8,282,6198,0.17,2.65,0.00,0.000,6,0.094,0.058,2706,2243,3638,0,0,0,0,0,0
$GC,6441,-1.37,-146.0,577.3,-8.0,289,6446,0.00,2.72,0.00,0.000,4,0.000,0.074,2706,3800,3637,0,0,0,0,0,0
$GC,6532,-1.37,-146.0,585.1,-8.3,291,6537,0.00,2.67,0.00,0.000,6,0.000,0.062,2707,2260,3637,0,0,0,0,0,0
$STATE,6725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6726,begin apogee
$GC,6732,-0.31,0.0,601.1,8.0,296,6853,1.00,0.00,117.65,1.011,6,0.071,0.000,2934,2383,3060,0,0,0,0,0,0
$STATE,6854,end apogee,CONTROL_FINISHED_OK
$STATE,6854,begin climb
$GC,6857,1.27,146.0,603.6,0.0,299,6992,1.42,2.83,124.10,0.983,4,0.035,0.078,3288,3935,2462,0,0,0,0,0,0
$GC,7022,1.12,146.0,592.9,12.1,303,7028,0.20,2.78,0.00,0.000,6,0.107,0.065,3248,2368,2459,0,0,0,0,0,0
$GC,7308,1.11,172.3,567.1,8.8,310,7337,0.00,2.85,22.80,0.930,4,0.000,0.071,3247,3928,2356,0,0,0,0,0,0
$GC,7360,1.05,175.6,561.8,9.8,311,7370,0.00,2.70,4.40,0.634,6,0.000,0.049,3248,2371,2344,0,0,0,0,0,0
$GC,7633,1.06,182.6,535.3,9.7,318,7647,0.00,2.78,7.47,0.798,4,0.000,0.063,3248,3931,2314,0,0,0,0,0,0
$GC,7670,1.02,182.6,531.3,10.5,318,7677,0.08,2.65,0.00,0.000,6,0.100,0.046,3228,2380,2313,0,0,0,0,0,0
$GC,7921,1.05,210.4,509.4,8.7,325,7952,0.00,2.72,25.65,0.923,4,0.000,0.055,3228,3937,2202,0,0,0,0,0,0
$GC,7979,1.05,210.4,503.7,10.1,326,7984,0.00,2.67,0.00,0.000,6,0.000,0.045,3228,2380,2200,0,0,0,0,0,0
$GC,8240,1.08,235.6,480.7,8.8,333,8270,0.00,3.10,23.35,0.905,4,0.000,0.111,3228,779,2098,0,0,0,0,0,0
$GC,8311,1.13,235.6,473.8,10.2,334,8316,0.10,2.70,0.00,0.000,6,0.087,0.044,3259,2376,2096,0,0,0,0,0,0
$GC,8566,1.13,235.6,445.3,11.0,341,8570,0.00,2.65,0.00,0.000,4,0.000,0.058,3259,3941,2095,0,0,0,0,0,0
$GC,8627,1.13,235.6,437.6,13.1,342,8632,0.00,2.60,0.00,0.000,6,0.000,0.035,3259,2380,2092,0,0,0,0,0,0
$GC,8888,1.13,235.6,408.2,11.2,349,8892,0.00,2.83,0.00,0.000,4,0.000,0.079,3259,777,2092,0,0,0,0,0,0
$GC,8942,1.13,235.6,401.3,12.4,350,8947,0.00,2.62,0.00,0.000,6,0.000,0.031,3260,2391,2091,0,0,0,0,0,0
$GC,9210,1.13,235.6,369.3,12.1,357,9215,0.00,2.75,0.00,0.000,4,0.000,0.058,3260,774,2091,0,0,0,0,0,0
$GC,9231,1.13,235.6,366.2,13.5,357,9236,0.00,2.55,0.00,0.000,6,0.000,0.032,3259,2375,2091,0,0,0,0,0,0
$GC,9486,1.13,235.6,335.4,12.3,364,9491,0.00,2.60,0.00,0.000,4,0.000,0.047,3260,3932,2091,0,0,0,0,0,0
$GC,9572,1.13,235.6,324.7,12.7,366,9576,0.00,2.55,0.00,0.000,6,0.000,0.027,3260,2362,2089,0,0,0,0,0,0
$GC,9855,1.13,235.6,294.5,10.2,373,9859,0.00,2.65,0.00,0.000,4,0.000,0.058,3259,780,2089,0,0,0,0,0,0
$GC,9926,1.13,236.1,287.0,10.0,374,9931,0.00,2.50,0.00,0.000,6,0.000,0.032,3260,2352,2089,0,0,0,0,0,0
$GC,10178,1.15,245.0,263.3,9.6,380,10192,0.00,2.70,8.02,0.690,4,0.000,0.049,3259,3924,2061,0,0,0,0,0,0
$GC,10231,1.15,245.0,257.3,11.3,381,10236,0.00,2.53,0.00,0.000,6,0.000,0.024,3259,2361,2059,0,0,0,0,0,0
$GC,10504,1.18,245.0,229.9,10.1,388,10508,0.00,2.62,0.00,0.000,4,0.000,0.049,3259,780,2059,0,0,0,0,0,0
$GC,10532,1.18,245.0,226.8,10.8,388,10536,0.00,2.55,0.00,0.000,6,0.000,0.025,3259,2370,2058,0,0,0,0,0,0
$GC,10782,1.25,257.1,202.7,9.4,394,10801,0.00,2.67,11.98,0.682,4,0.000,0.045,3259,3929,2011,0,0,0,0,0,0
$GC,10861,1.33,267.2,195.4,9.5,398,10878,0.15,2.53,10.57,0.655,6,0.071,0.025,3302,2363,1970,0,0,0,0,0,0
$GC,11132,1.33,267.2,164.6,12.5,423,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2363,1967,0,0,0,0,0,0
$GC,11392,1.33,267.2,132.7,12.5,447,11396,0.00,2.60,0.00,0.000,4,0.000,0.047,3302,784,1967,0,0,0,0,0,0
$GC,11413,1.33,267.2,129.4,12.0,448,11423,0.00,2.55,0.00,0.000,6,0.000,0.021,3302,2388,1967,0,0,0,0,0,0
$GC,11680,1.33,267.2,99.9,11.6,473,11685,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2388,1967,0,0,0,0,0,0
$GC,11946,1.33,267.3,71.5,10.0,498,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2388,1967,0,0,0,0,0,0
$GC,12214,1.33,267.3,43.1,11.0,523,12218,0.00,2.50,0.00,0.000,4,0.000,0.041,3302,3925,1967,0,0,0,0,0,0
$GC,12298,1.33,267.3,31.4,13.1,529,12308,0.00,2.50,0.00,0.000,6,0.000,0.023,3302,2371,1967,0,0,0,0,0,0
$STATE,12547,end climb,SURFACE_DEPTH_REACHED
$STATE,12547,begin surface coast
$FINISH,-0.1,1.023675
$STATE,12596,end surface coast,CONTROL_FINISHED_OK
$STATE,12596,begin surface
$SM_CCo,12619,91.62,0.523,0,0,1510,380.21
$SM_GC,0.36,0.00,0.00,91.62,0.000,0.000,0.523,466,2174,1510,-11.67,-1.02,380.21
$IRIDIUM_FIX,2251.04,-15758.45,240603,131350
$TT8_MAMPS,0.026078
$HUMID,60.47
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.00
$XPDR_PINGS,24
$24V_AH,23.4,16.515
$10V_AH,10.4,14.392
$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,27.975,168.400,356.000,91.625,0.000,116.175,142.488,662.732,6.000,0.000,19.233,1204.693,8819.803,557.273,2136.118,1270.291,33.362,1410.097,0.000,2129.152,0.000,0.535,0.000
$DEVICE_MAMPS,164.905,111.215,1010.906,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.930,324.945,409.509,603.119,1147.800,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,44746,573
$CAP_FILE_SIZE,146662,0
$CFSIZE,260165632,172662784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300314,170130,2258.015,-15756.324,47,1.4,47,10.1