version: 66.06
glider: 146
mission: 9
dive: 119
start: 3 30 114 17 26 31
data:
$ID,146
$MISSION,9
$DIVE,119
$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,-325915.94
$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,56
$R_STBD_OVSHOOT,41
$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
$GPS1,170130,2258.015,-15756.324,47,1.4,47,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-70.2
$GPS2,172537,2258.175,-15756.415,16,1.6,16,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.042,-0.256
$KALMAN_X,-79050.1,-141.4,-420.6,78184.2,848.2
$KALMAN_Y,60670.5,23.4,-354.9,-43876.6,1532.1
$MHEAD_RNG_PITCHd_Wd,160.6,48241,-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,-88.30,0.000,6,0.000,0.000,465,2174,3655,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.2,-10.2,12,132,12.60,2.47,0.00,0.000,4,0.170,0.033,2719,642,3657,0,0,0,0,0,0
$GC,340,-1.18,-146.0,47.9,-14.2,37,345,0.12,2.42,0.00,0.000,6,0.126,0.018,2744,2216,3657,0,0,0,0,0,0
$GC,609,-1.11,-146.0,80.0,-10.7,61,613,0.00,2.53,0.00,0.000,4,0.000,0.034,2744,3786,3657,0,0,0,0,0,0
$GC,631,-1.05,-146.0,83.7,-11.6,62,641,0.12,2.47,0.00,0.000,6,0.086,0.020,2774,2235,3657,0,0,0,0,0,0
$GC,898,-1.05,-146.0,112.8,-11.0,87,903,0.00,2.60,0.00,0.000,4,0.000,0.044,2774,635,3657,0,0,0,0,0,0
$GC,944,-1.08,-146.0,118.5,-11.1,90,953,0.00,2.47,0.00,0.000,6,0.000,0.025,2774,2212,3658,0,0,0,0,0,0
$GC,1209,-1.08,-146.0,144.1,-10.3,115,1214,0.00,2.60,0.00,0.000,4,0.000,0.044,2774,632,3658,0,0,0,0,0,0
$GC,1228,-1.08,-146.0,146.2,-9.7,116,1232,0.00,2.42,0.00,0.000,6,0.000,0.025,2774,2209,3658,0,0,0,0,0,0
$GC,1491,-1.13,-146.0,167.9,-7.8,140,1495,0.00,2.58,0.00,0.000,4,0.000,0.044,2774,636,3658,0,0,0,0,0,0
$GC,1514,-1.13,-146.0,170.0,-9.0,141,1523,0.00,2.42,0.00,0.000,6,0.000,0.023,2774,2188,3658,0,0,0,0,0,0
$GC,1780,-1.19,-146.0,190.5,-8.2,166,1786,0.12,0.00,0.00,0.000,6,0.067,0.000,2724,2188,3658,0,0,0,0,0,0
$GC,2035,-1.19,-146.0,216.9,-10.1,179,2039,0.00,2.58,0.00,0.000,4,0.000,0.048,2724,633,3658,0,0,0,0,0,0
$GC,2051,-1.15,-146.0,219.0,-10.4,179,2056,0.12,2.40,0.00,0.000,6,0.101,0.021,2751,2188,3659,0,0,0,0,0,0
$GC,2312,-1.15,-146.0,238.5,-6.7,186,2316,0.00,2.58,0.00,0.000,4,0.000,0.046,2751,3777,3658,0,0,0,0,0,0
$GC,2346,-1.19,-146.0,241.0,-7.7,186,2351,0.00,2.50,0.00,0.000,6,0.000,0.021,2751,2190,3658,0,0,0,0,0,0
$GC,2596,-1.24,-146.0,260.9,-7.9,193,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2191,3658,0,0,0,0,0,0
$GC,2840,-1.29,-146.0,279.8,-7.8,199,2845,0.12,2.65,0.00,0.000,4,0.069,0.044,2698,3776,3658,0,0,0,0,0,0
$GC,2919,-1.25,-146.0,288.9,-12.2,200,2926,0.15,2.53,0.00,0.000,6,0.094,0.022,2731,2191,3658,0,0,0,0,0,0
$GC,3169,-1.25,-146.0,311.6,-8.4,207,3174,0.00,2.62,0.00,0.000,4,0.000,0.062,2732,632,3657,0,0,0,0,0,0
$GC,3213,-1.25,-146.0,315.1,-8.0,208,3218,0.00,2.42,0.00,0.000,6,0.000,0.035,2731,2166,3656,0,0,0,0,0,0
$GC,3493,-1.25,-146.0,337.8,-8.5,215,3497,0.00,2.67,0.00,0.000,4,0.000,0.054,2731,3793,3656,0,0,0,0,0,0
$GC,3543,-1.30,-146.0,342.3,-8.5,216,3547,0.00,2.58,0.00,0.000,6,0.000,0.028,2731,2200,3655,0,0,0,0,0,0
$GC,3816,-1.34,-146.0,363.4,-7.7,223,3821,0.00,2.62,0.00,0.000,4,0.000,0.048,2731,3783,3654,0,0,0,0,0,0
$GC,3867,-1.39,-146.0,368.0,-9.3,224,3872,0.12,2.55,0.00,0.000,6,0.067,0.030,2682,2200,3654,0,0,0,0,0,0
$GC,4139,-1.34,-146.0,395.1,-9.9,231,4145,0.15,2.80,0.00,0.000,4,0.094,0.084,2715,628,3652,0,0,0,0,0,0
$GC,4202,-1.34,-146.0,400.7,-9.0,232,4207,0.00,2.53,0.00,0.000,6,0.000,0.043,2715,2189,3651,0,0,0,0,0,0
$GC,4463,-1.34,-146.0,421.2,-7.8,239,4467,0.00,2.72,0.00,0.000,4,0.000,0.073,2715,632,3650,0,0,0,0,0,0
$GC,4478,-1.34,-146.0,422.5,-7.9,239,4483,0.00,2.55,0.00,0.000,6,0.000,0.041,2715,2193,3649,0,0,0,0,0,0
$GC,4740,-1.34,-146.0,442.6,-7.5,246,4745,0.00,2.72,0.00,0.000,4,0.000,0.065,2715,3799,3648,0,0,0,0,0,0
$GC,4818,-1.34,-146.0,449.2,-8.7,247,4824,0.00,2.62,0.00,0.000,6,0.000,0.046,2715,2216,3647,0,0,0,0,0,0
$GC,5070,-1.34,-146.0,467.6,-7.3,254,5074,0.00,2.90,0.00,0.000,4,0.000,0.100,2715,626,3646,0,0,0,0,0,0
$GC,5114,-1.38,-146.0,471.0,-7.3,255,5118,0.00,2.60,0.00,0.000,6,0.000,0.051,2715,2192,3645,0,0,0,0,0,0
$GC,5391,-1.38,-146.0,491.1,-7.3,262,5396,0.00,2.75,0.00,0.000,4,0.000,0.066,2715,3802,3643,0,0,0,0,0,0
$GC,5414,-1.38,-146.0,492.8,-7.6,262,5418,0.00,2.70,0.00,0.000,6,0.000,0.045,2715,2195,3643,0,0,0,0,0,0
$GC,5669,-1.42,-146.0,510.3,-6.8,269,5674,0.00,2.75,0.00,0.000,4,0.000,0.064,2715,3798,3642,0,0,0,0,0,0
$GC,5721,-1.42,-146.0,514.2,-7.6,270,5725,0.00,2.67,0.00,0.000,6,0.000,0.055,2715,2203,3642,0,0,0,0,0,0
$GC,5994,-1.42,-146.0,533.4,-7.0,277,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2204,3639,0,0,0,0,0,0
$GC,6237,-1.46,-146.0,549.8,-6.6,283,6242,0.12,2.80,0.00,0.000,4,0.070,0.072,2667,3793,3637,0,0,0,0,0,0
$GC,6328,-1.41,-146.0,558.2,-9.9,285,6334,0.15,2.70,0.00,0.000,6,0.100,0.056,2699,2220,3637,0,0,0,0,0,0
$GC,6606,-1.41,-146.0,578.9,-7.1,292,6611,0.00,2.80,0.00,0.000,4,0.000,0.078,2700,3792,3635,0,0,0,0,0,0
$GC,6684,-1.41,-146.0,585.6,-8.9,293,6690,0.00,2.72,0.00,0.000,6,0.000,0.071,2699,2226,3635,0,0,0,0,0,0
$STATE,6891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6891,begin apogee
$GC,6898,-0.31,0.0,601.5,7.6,299,7019,1.05,0.00,117.72,1.016,6,0.071,0.000,2937,2376,3059,0,0,0,0,0,0
$STATE,7021,end apogee,CONTROL_FINISHED_OK
$STATE,7022,begin climb
$GC,7024,1.27,146.0,603.8,0.0,302,7157,1.45,2.90,125.15,0.986,4,0.034,0.083,3293,3926,2463,0,0,0,0,0,0
$GC,7171,1.13,146.0,594.3,10.6,305,7178,0.20,2.78,0.00,0.000,6,0.107,0.069,3252,2371,2460,0,0,0,0,0,0
$GC,7422,1.08,157.8,570.0,9.5,312,7438,0.00,2.83,10.40,0.861,4,0.000,0.071,3252,3931,2416,0,0,0,0,0,0
$GC,7467,1.01,157.8,565.4,10.9,313,7472,0.12,2.67,0.00,0.000,6,0.123,0.052,3226,2379,2414,0,0,0,0,0,0
$GC,7746,1.06,200.3,542.5,8.0,320,7791,0.00,2.83,38.67,0.950,4,0.000,0.067,3225,3934,2242,0,0,0,0,0,0
$GC,7819,1.06,200.3,535.4,10.7,321,7823,0.00,2.62,0.00,0.000,6,0.000,0.049,3225,2391,2240,0,0,0,0,0,0
$GC,8070,1.06,200.3,510.3,10.2,327,8075,0.00,3.08,0.00,0.000,4,0.000,0.117,3225,780,2237,0,0,0,0,0,0
$GC,8091,1.06,200.3,507.8,10.6,327,8096,0.00,2.72,0.00,0.000,6,0.000,0.053,3225,2388,2236,0,0,0,0,0,0
$GC,8347,1.06,200.3,481.3,10.4,334,8351,0.00,2.65,0.00,0.000,4,0.000,0.059,3225,3935,2235,0,0,0,0,0,0
$GC,8380,1.06,200.3,477.6,11.3,334,8386,0.00,2.60,0.00,0.000,6,0.000,0.038,3225,2379,2234,0,0,0,0,0,0
$GC,8630,1.07,205.9,452.9,9.7,341,8641,0.00,2.95,4.82,0.672,4,0.000,0.095,3225,784,2220,0,0,0,0,0,0
$GC,8685,1.07,205.9,447.3,10.1,342,8690,0.00,2.65,0.00,0.000,6,0.000,0.037,3225,2388,2218,0,0,0,0,0,0
$GC,8954,1.11,205.9,420.7,10.1,349,8958,0.00,2.78,0.00,0.000,4,0.000,0.066,3225,781,2218,0,0,0,0,0,0
$GC,8986,1.11,205.9,416.9,10.5,349,8992,0.00,2.60,0.00,0.000,6,0.000,0.032,3225,2376,2218,0,0,0,0,0,0
$GC,9237,1.16,216.5,392.9,9.5,356,9256,0.12,2.62,11.18,0.825,4,0.086,0.048,3263,3929,2175,0,0,0,0,0,0
$GC,9268,1.16,216.5,389.4,12.0,356,9272,0.00,2.58,0.00,0.000,6,0.000,0.031,3263,2364,2175,0,0,0,0,0,0
$GC,9517,1.16,216.5,361.9,10.8,362,9522,0.00,2.75,0.00,0.000,4,0.000,0.068,3263,781,2173,0,0,0,0,0,0
$GC,9577,1.16,216.5,355.0,11.9,363,9582,0.00,2.55,0.00,0.000,6,0.000,0.034,3263,2371,2172,0,0,0,0,0,0
$GC,9845,1.17,219.2,328.6,9.9,370,9850,0.00,2.60,0.00,0.000,4,0.000,0.047,3263,3928,2172,0,0,0,0,0,0
$GC,9878,1.17,219.2,324.8,10.9,370,9884,0.00,2.55,0.00,0.000,6,0.000,0.032,3263,2345,2171,0,0,0,0,0,0
$GC,10128,1.17,219.2,298.8,10.5,377,10133,0.00,2.62,0.00,0.000,4,0.000,0.056,3263,783,2171,0,0,0,0,0,0
$GC,10179,1.17,219.2,293.3,10.5,378,10184,0.00,2.50,0.00,0.000,6,0.000,0.026,3263,2339,2170,0,0,0,0,0,0
$GC,10451,1.17,219.2,265.5,10.1,385,10456,0.00,2.67,0.00,0.000,4,0.000,0.049,3263,3937,2170,0,0,0,0,0,0
$GC,10500,1.17,219.2,259.9,11.6,386,10505,0.00,2.58,0.00,0.000,6,0.000,0.025,3263,2340,2170,0,0,0,0,0,0
$GC,10774,1.17,219.2,231.4,10.6,393,10778,0.00,2.65,0.00,0.000,4,0.000,0.047,3263,3937,2170,0,0,0,0,0,0
$GC,10823,1.17,219.2,225.6,12.6,394,10827,0.00,2.53,0.00,0.000,6,0.000,0.025,3263,2356,2170,0,0,0,0,0,0
$GC,11096,1.17,225.0,197.8,9.7,401,11111,0.00,2.70,7.88,0.637,4,0.000,0.050,3263,3927,2142,0,0,0,0,0,0
$GC,11181,1.17,225.0,188.9,11.2,408,11190,0.00,2.55,0.00,0.000,6,0.000,0.025,3263,2366,2141,0,0,0,0,0,0
$GC,11449,1.25,257.4,165.2,8.5,433,11484,0.00,2.65,29.62,0.676,4,0.000,0.045,3263,783,2009,0,0,0,0,0,0
$GC,11496,1.30,295.3,160.6,8.2,437,11536,0.10,2.55,33.67,0.663,6,0.082,0.027,3296,2380,1856,0,0,0,0,0,0
$GC,11792,1.30,297.4,129.8,9.9,464,11797,0.00,2.55,0.00,0.000,4,0.000,0.041,3296,3924,1851,0,0,0,0,0,0
$GC,11821,1.30,297.4,126.4,11.8,466,11826,0.00,2.50,0.00,0.000,6,0.000,0.024,3296,2365,1850,0,0,0,0,0,0
$GC,12085,1.30,297.4,98.2,10.4,490,12090,0.00,2.60,0.00,0.000,4,0.000,0.046,3296,790,1849,0,0,0,0,0,0
$GC,12121,1.30,297.4,94.0,10.7,492,12130,0.00,2.53,0.00,0.000,6,0.000,0.023,3297,2374,1849,0,0,0,0,0,0
$GC,12388,1.30,297.4,64.0,11.7,517,12392,0.00,2.55,0.00,0.000,4,0.000,0.041,3296,3927,1849,0,0,0,0,0,0
$GC,12448,1.30,297.4,55.8,12.3,521,12458,0.00,2.47,0.00,0.000,6,0.000,0.021,3296,2385,1849,0,0,0,0,0,0
$GC,12725,1.30,297.4,22.4,13.3,550,12734,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2386,1849,0,0,0,0,0,0
$STATE,12893,end climb,SURFACE_DEPTH_REACHED
$STATE,12893,begin surface coast
$FINISH,-0.2,1.023904
$STATE,12945,end surface coast,CONTROL_FINISHED_OK
$STATE,12945,begin surface
$SM_CCo,12966,69.15,0.520,0,0,1508,380.21
$SM_GC,0.48,0.00,0.00,69.15,0.000,0.000,0.520,458,2185,1508,-11.71,-0.71,380.21
$IRIDIUM_FIX,2251.04,-15757.57,240603,171742
$TT8_MAMPS,0.026845
$HUMID,61.34
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,29
$24V_AH,23.4,16.685
$10V_AH,10.4,14.520
$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,28.300,195.075,379.125,69.150,0.000,126.089,164.705,777.043,7.250,0.000,18.225,1238.269,9039.270,576.545,2173.200,1452.181,33.362,1465.979,0.000,2159.622,0.000,0.536,0.000
$DEVICE_MAMPS,169.507,116.584,1015.508,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,394.125,319.774,411.303,585.339,1115.125,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,44755,582
$CAP_FILE_SIZE,155342,0
$CFSIZE,260165632,172589056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300314,210556,2256.841,-15756.040,87,1.1,87,10.1