version: 66.06
glider: 146
mission: 9
dive: 121
start: 3 31 114 1 18 57
data:
$ID,146
$MISSION,9
$DIVE,121
$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,-325946.12
$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,59
$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
$GPS1,010136,2255.956,-15755.361,112,1.1,112,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-66.2
$GPS2,011801,2255.942,-15755.580,13,1.2,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,-0.154
$KALMAN_X,-80744.1,-64.5,-87.3,80909.6,-904.1
$KALMAN_Y,61488.7,-131.8,-22.6,-49008.8,143.8
$MHEAD_RNG_PITCHd_Wd,116.2,44222,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-88.95,0.000,6,0.000,0.000,461,2182,3653,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.9,-9.9,12,133,12.38,2.50,0.00,0.000,4,0.164,0.038,2718,650,3655,0,0,0,0,0,0
$GC,164,-0.83,-146.0,22.1,-30.4,18,174,0.45,2.47,0.00,0.000,6,0.087,0.019,2816,2216,3655,0,0,0,0,0,0
$GC,448,-0.91,-146.0,47.2,-8.4,48,452,0.00,2.55,0.00,0.000,4,0.000,0.044,2816,660,3656,0,0,0,0,0,0
$GC,482,-1.00,-146.0,50.3,-8.3,50,487,0.12,2.40,0.00,0.000,6,0.068,0.017,2764,2208,3656,0,0,0,0,0,0
$GC,750,-1.00,-146.0,78.9,-11.0,74,759,0.10,0.00,0.00,0.000,6,0.112,0.000,2786,2208,3656,0,0,0,0,0,0
$GC,1017,-1.03,-146.0,106.6,-10.7,99,1022,0.00,2.53,0.00,0.000,4,0.000,0.043,2786,658,3657,0,0,0,0,0,0
$GC,1051,-1.07,-146.0,110.0,-10.3,101,1055,0.00,2.40,0.00,0.000,6,0.000,0.020,2786,2208,3656,0,0,0,0,0,0
$GC,1319,-1.13,-146.0,134.0,-8.3,125,1325,0.12,0.00,0.00,0.000,6,0.066,0.000,2734,2208,3657,0,0,0,0,0,0
$GC,1582,-1.13,-146.0,160.7,-9.6,150,1587,0.10,2.55,0.00,0.000,4,0.108,0.034,2757,3778,3657,0,0,0,0,0,0
$GC,1605,-1.13,-146.0,162.4,-9.1,151,1610,0.00,2.42,0.00,0.000,6,0.000,0.019,2757,2222,3657,0,0,0,0,0,0
$GC,1872,-1.13,-146.0,185.5,-8.1,175,1876,0.00,2.58,0.00,0.000,4,0.000,0.047,2757,640,3658,0,0,0,0,0,0
$GC,1919,-1.17,-146.0,189.7,-8.4,178,1924,0.00,2.42,0.00,0.000,6,0.000,0.018,2757,2201,3658,0,0,0,0,0,0
$GC,2174,-1.17,-146.0,210.7,-8.4,194,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2202,3657,0,0,0,0,0,0
$GC,2418,-1.22,-146.0,232.8,-9.0,200,2423,0.00,2.55,0.00,0.000,4,0.000,0.039,2757,3775,3658,0,0,0,0,0,0
$GC,2460,-1.29,-146.0,236.3,-8.5,201,2465,0.15,2.45,0.00,0.000,6,0.059,0.021,2699,2212,3658,0,0,0,0,0,0
$GC,2744,-1.23,-146.0,268.7,-11.3,208,2749,0.15,2.62,0.00,0.000,4,0.095,0.054,2733,637,3657,0,0,0,0,0,0
$GC,2778,-1.23,-146.0,272.2,-10.0,208,2783,0.00,2.47,0.00,0.000,6,0.000,0.028,2733,2209,3657,0,0,0,0,0,0
$GC,3028,-1.23,-146.0,294.8,-8.6,215,3032,0.00,2.62,0.00,0.000,4,0.000,0.055,2734,638,3657,0,0,0,0,0,0
$GC,3055,-1.23,-146.0,297.2,-8.6,215,3059,0.00,2.47,0.00,0.000,6,0.000,0.031,2733,2201,3656,0,0,0,0,0,0
$GC,3306,-1.23,-146.0,317.0,-7.9,221,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2201,3656,0,0,0,0,0,0
$GC,3549,-1.27,-146.0,337.0,-8.3,227,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2201,3655,0,0,0,0,0,0
$GC,3793,-1.32,-146.0,357.2,-8.3,233,3797,0.00,2.62,0.00,0.000,4,0.000,0.051,2734,3786,3654,0,0,0,0,0,0
$GC,3815,-1.36,-146.0,359.0,-8.0,233,3820,0.12,2.53,0.00,0.000,6,0.069,0.035,2683,2220,3653,0,0,0,0,0,0
$GC,4072,-1.31,-146.0,383.9,-9.8,240,4077,0.15,2.85,0.00,0.000,4,0.094,0.084,2717,624,3652,0,0,0,0,0,0
$GC,4094,-1.31,-146.0,386.3,-9.5,240,4098,0.00,2.58,0.00,0.000,6,0.000,0.042,2717,2204,3652,0,0,0,0,0,0
$GC,4350,-1.31,-146.0,408.4,-8.5,247,4355,0.00,2.65,0.00,0.000,4,0.000,0.054,2717,3796,3650,0,0,0,0,0,0
$GC,4383,-1.31,-146.0,411.6,-9.5,247,4389,0.00,2.58,0.00,0.000,6,0.000,0.039,2717,2216,3650,0,0,0,0,0,0
$GC,4634,-1.31,-146.0,433.6,-9.0,254,4638,0.00,2.85,0.00,0.000,4,0.000,0.094,2717,627,3648,0,0,0,0,0,0
$GC,4655,-1.31,-146.0,435.6,-8.6,254,4659,0.00,2.60,0.00,0.000,6,0.000,0.040,2717,2213,3648,0,0,0,0,0,0
$GC,4911,-1.31,-146.0,458.0,-8.9,261,4916,0.00,2.70,0.00,0.000,4,0.000,0.059,2717,3805,3646,0,0,0,0,0,0
$GC,4939,-1.35,-146.0,460.6,-9.2,261,4943,0.00,2.65,0.00,0.000,6,0.000,0.042,2717,2211,3646,0,0,0,0,0,0
$GC,5190,-1.35,-146.0,481.7,-8.3,267,5194,0.00,2.70,0.00,0.000,4,0.000,0.057,2717,3801,3644,0,0,0,0,0,0
$GC,5296,-1.39,-146.0,491.2,-9.0,269,5300,0.00,2.62,0.00,0.000,6,0.000,0.044,2717,2225,3644,0,0,0,0,0,0
$GC,5557,-1.43,-146.0,515.7,-9.8,276,5562,0.10,2.75,0.00,0.000,4,0.084,0.071,2676,3794,3642,0,0,0,0,0,0
$GC,5586,-1.39,-146.0,518.9,-11.4,276,5591,0.12,2.65,0.00,0.000,6,0.102,0.049,2703,2233,3642,0,0,0,0,0,0
$GC,5836,-1.39,-146.0,543.2,-9.3,282,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2233,3640,0,0,0,0,0,0
$GC,6079,-1.39,-146.0,561.7,-7.4,288,6084,0.00,3.08,0.00,0.000,4,0.000,0.124,2703,623,3638,0,0,0,0,0,0
$GC,6104,-1.39,-146.0,563.5,-7.8,288,6108,0.00,2.75,0.00,0.000,6,0.000,0.057,2703,2232,3638,0,0,0,0,0,0
$GC,6359,-1.39,-146.0,581.4,-6.8,295,6363,0.00,2.83,0.00,0.000,4,0.000,0.094,2703,3796,3636,0,0,0,0,0,0
$GC,6374,-1.39,-146.0,582.6,-6.6,295,6379,0.00,2.67,0.00,0.000,6,0.000,0.061,2703,2236,3636,0,0,0,0,0,0
$GC,6636,-1.39,-146.0,599.2,-6.2,302,6641,0.00,3.05,0.00,0.000,4,0.000,0.115,2703,619,3635,0,0,0,0,0,0
$STATE,6650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6650,begin apogee
$GC,6658,-0.31,0.0,600.2,5.9,302,6780,1.00,0.00,117.57,1.009,6,0.071,0.000,2933,2373,3060,0,0,0,0,0,0
$STATE,6782,end apogee,CONTROL_FINISHED_OK
$STATE,6782,begin climb
$GC,6784,1.27,146.0,601.0,0.0,305,6922,1.45,2.92,124.18,0.981,4,0.035,0.089,3292,3944,2462,0,0,0,0,0,0
$GC,7025,1.12,146.0,577.3,13.0,310,7030,0.20,2.75,0.00,0.000,6,0.107,0.054,3250,2366,2456,0,0,0,0,0,0
$GC,7282,1.10,168.0,553.2,9.0,317,7303,0.00,0.00,19.20,0.913,6,0.000,0.000,3250,2366,2375,0,0,0,0,0,0
$GC,7524,1.14,201.2,532.6,8.5,323,7560,0.00,3.03,30.55,0.930,4,0.000,0.106,3250,784,2238,0,0,0,0,0,0
$GC,7573,1.11,210.3,528.1,9.6,323,7588,0.00,2.72,9.57,0.821,6,0.000,0.048,3249,2374,2201,0,0,0,0,0,0
$GC,7844,1.11,210.3,499.9,10.4,330,7848,0.00,2.70,0.00,0.000,4,0.000,0.063,3250,3934,2197,0,0,0,0,0,0
$GC,7876,1.07,210.3,496.2,10.9,330,7882,0.00,2.65,0.00,0.000,6,0.000,0.040,3249,2365,2195,0,0,0,0,0,0
$GC,8127,1.07,210.3,469.9,10.4,337,8132,0.00,2.65,0.00,0.000,4,0.000,0.051,3250,3935,2195,0,0,0,0,0,0
$GC,8176,1.07,210.3,463.8,12.2,338,8181,0.00,2.62,0.00,0.000,6,0.000,0.044,3249,2375,2193,0,0,0,0,0,0
$GC,8449,1.07,210.3,434.0,10.9,345,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2375,2193,0,0,0,0,0,0
$GC,8694,1.07,210.3,408.3,10.6,351,8698,0.00,2.65,0.00,0.000,4,0.000,0.055,3250,3938,2192,0,0,0,0,0,0
$GC,8720,1.07,210.3,404.8,11.8,351,8725,0.00,2.58,0.00,0.000,6,0.000,0.031,3250,2375,2191,0,0,0,0,0,0
$GC,8970,1.07,210.3,377.1,11.2,357,8975,0.00,2.75,0.00,0.000,4,0.000,0.072,3250,783,2191,0,0,0,0,0,0
$GC,9004,1.07,210.3,373.3,11.2,357,9009,0.00,2.60,0.00,0.000,6,0.000,0.028,3250,2396,2190,0,0,0,0,0,0
$GC,9253,1.07,210.3,346.5,10.5,364,9258,0.00,2.55,0.00,0.000,4,0.000,0.047,3249,3927,2190,0,0,0,0,0,0
$GC,9286,1.07,210.3,342.4,12.6,364,9292,0.00,2.53,0.00,0.000,6,0.000,0.027,3250,2373,2189,0,0,0,0,0,0
$GC,9536,1.07,210.3,316.1,10.4,371,9537,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2374,2189,0,0,0,0,0,0
$GC,9781,1.07,210.3,290.9,10.1,377,9786,0.00,2.60,0.00,0.000,4,0.000,0.046,3250,3927,2189,0,0,0,0,0,0
$GC,9821,1.07,210.3,286.3,11.3,378,9825,0.00,2.50,0.00,0.000,6,0.000,0.025,3249,2380,2189,0,0,0,0,0,0
$GC,10104,1.11,239.7,260.8,8.6,385,10134,0.00,2.72,24.83,0.769,4,0.000,0.054,3249,783,2081,0,0,0,0,0,0
$GC,10189,1.16,239.7,253.3,10.4,387,10193,0.00,2.58,0.00,0.000,6,0.000,0.026,3250,2393,2078,0,0,0,0,0,0
$GC,10472,1.25,273.2,228.4,8.5,394,10505,0.10,0.00,30.42,0.735,6,0.087,0.000,3282,2394,1945,0,0,0,0,0,0
$GC,10716,1.25,273.2,201.6,11.5,400,10720,0.00,2.67,0.00,0.000,4,0.000,0.044,3282,787,1941,0,0,0,0,0,0
$GC,10731,1.25,273.2,199.3,12.4,400,10736,0.00,2.55,0.00,0.000,6,0.000,0.028,3281,2397,1940,0,0,0,0,0,0
$GC,10999,1.25,273.2,167.0,11.8,424,11003,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2398,1940,0,0,0,0,0,0
$GC,11265,1.25,273.2,136.7,11.1,449,11269,0.00,2.53,0.00,0.000,4,0.000,0.044,3281,3926,1940,0,0,0,0,0,0
$GC,11352,1.29,273.2,126.1,12.0,456,11356,0.00,2.47,0.00,0.000,6,0.000,0.024,3281,2378,1939,0,0,0,0,0,0
$GC,11616,1.36,287.5,100.3,9.3,480,11635,0.00,2.62,13.18,0.578,4,0.000,0.045,3282,791,1887,0,0,0,0,0,0
$GC,11686,1.45,310.4,94.2,8.9,485,11714,0.15,2.55,20.90,0.588,6,0.064,0.027,3328,2403,1792,0,0,0,0,0,0
$GC,11980,1.45,310.4,55.9,12.8,512,11984,0.00,2.50,0.00,0.000,4,0.000,0.042,3328,3920,1791,0,0,0,0,0,0
$GC,12041,1.45,310.4,46.8,14.0,516,12050,0.00,2.47,0.00,0.000,6,0.000,0.023,3328,2392,1790,0,0,0,0,0,0
$GC,12340,1.40,310.4,6.6,14.8,554,12349,0.00,2.53,0.00,0.000,4,0.000,0.036,3328,3917,1790,0,0,0,0,0,0
$STATE,12357,end climb,SURFACE_DEPTH_REACHED
$STATE,12357,begin surface coast
$FINISH,-0.1,1.023894
$STATE,12392,end surface coast,CONTROL_FINISHED_OK
$STATE,12393,begin surface
$SM_CCo,12418,55.88,0.522,0,0,1510,380.21
$SM_GC,0.47,0.00,0.00,55.88,0.000,0.000,0.522,468,2193,1510,-11.67,-0.48,380.21
$IRIDIUM_FIX,2246.36,-15754.11,250603,010146
$TT8_MAMPS,0.026078
$HUMID,61.49
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.90
$XPDR_PINGS,19
$24V_AH,23.4,16.996
$10V_AH,10.4,14.766
$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,28.575,168.600,390.400,55.875,0.000,61.595,73.239,640.119,4.750,0.000,14.607,1174.962,8616.471,550.892,2014.805,1100.969,33.361,1359.400,0.000,2013.071,0.000,0.536,0.000
$DEVICE_MAMPS,164.138,124.254,1009.372,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.698,315.569,402.074,583.108,1110.028,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,44753,561
$CAP_FILE_SIZE,137605,0
$CFSIZE,260165632,172470272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310314,044859,2255.818,-15754.505,86,1.8,86,10.1