version: 66.06
glider: 146
mission: 9
dive: 122
start: 3 31 114 5 10 22
data:
$ID,146
$MISSION,9
$DIVE,122
$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,-325967.06
$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,37
$R_STBD_OVSHOOT,40
$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
$GPS1,044859,2255.818,-15754.505,86,1.8,86,10.1
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,4
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-66.0
$GPS2,050929,2256.005,-15754.627,17,1.7,18,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.086,-0.245
$KALMAN_X,-81237.2,-179.3,-376.7,83420.1,184.0
$KALMAN_Y,62997.2,324.4,-119.5,-50768.9,1567.5
$MHEAD_RNG_PITCHd_Wd,150.5,43206,-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,-88.15,0.000,6,0.000,0.000,467,2193,3655,0,0,0,0,0,0
$GC,116,-1.27,-146.0,4.5,-11.1,12,134,12.50,2.53,0.00,0.000,4,0.164,0.035,2719,634,3656,0,0,0,0,0,0
$GC,241,-1.18,-146.0,35.4,-15.3,28,246,0.12,2.45,0.00,0.000,6,0.121,0.018,2743,2219,3657,0,0,0,0,0,0
$GC,510,-1.11,-146.0,68.8,-12.1,52,514,0.00,2.60,0.00,0.000,4,0.000,0.042,2744,631,3657,0,0,0,0,0,0
$GC,532,-1.04,-146.0,71.9,-12.1,53,537,0.15,2.42,0.00,0.000,6,0.111,0.017,2774,2214,3657,0,0,0,0,0,0
$GC,799,-1.04,-146.0,98.2,-10.3,77,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2215,3657,0,0,0,0,0,0
$GC,1060,-1.04,-146.0,124.6,-8.6,102,1065,0.00,2.58,0.00,0.000,4,0.000,0.044,2775,637,3658,0,0,0,0,0,0
$GC,1143,-1.08,-146.0,132.4,-10.0,108,1152,0.00,2.45,0.00,0.000,6,0.000,0.025,2775,2202,3658,0,0,0,0,0,0
$GC,1409,-1.08,-146.0,156.0,-8.6,133,1413,0.00,2.53,0.00,0.000,4,0.000,0.035,2775,3776,3658,0,0,0,0,0,0
$GC,1472,-1.13,-146.0,161.9,-8.2,138,1476,0.00,2.45,0.00,0.000,6,0.000,0.018,2775,2198,3658,0,0,0,0,0,0
$GC,1736,-1.18,-146.0,182.9,-8.4,162,1741,0.12,2.55,0.00,0.000,4,0.067,0.048,2725,646,3658,0,0,0,0,0,0
$GC,1766,-1.14,-146.0,186.2,-10.7,164,1771,0.12,2.40,0.00,0.000,6,0.103,0.025,2752,2211,3658,0,0,0,0,0,0
$GC,2044,-1.14,-146.0,210.0,-8.2,181,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2212,3659,0,0,0,0,0,0
$GC,2286,-1.14,-146.0,229.9,-8.4,187,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2212,3658,0,0,0,0,0,0
$GC,2530,-1.14,-146.0,250.9,-8.5,193,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2212,3658,0,0,0,0,0,0
$GC,2775,-1.19,-146.0,269.0,-7.0,199,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2212,3658,0,0,0,0,0,0
$GC,3018,-1.25,-146.0,288.7,-8.4,205,3022,0.00,2.62,0.00,0.000,4,0.000,0.058,2752,648,3658,0,0,0,0,0,0
$GC,3039,-1.29,-146.0,290.6,-8.7,205,3045,0.12,2.42,0.00,0.000,6,0.069,0.032,2699,2193,3658,0,0,0,0,0,0
$GC,3297,-1.25,-146.0,314.3,-9.2,212,3298,0.15,0.00,0.00,0.000,6,0.094,0.000,2733,2193,3656,0,0,0,0,0,0
$GC,3539,-1.25,-146.0,332.1,-7.0,218,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2193,3656,0,0,0,0,0,0
$GC,3783,-1.29,-146.0,351.6,-8.3,224,3787,0.00,2.62,0.00,0.000,4,0.000,0.049,2733,3783,3655,0,0,0,0,0,0
$GC,3851,-1.34,-146.0,358.1,-9.7,225,3855,0.00,2.53,0.00,0.000,6,0.000,0.028,2733,2215,3655,0,0,0,0,0,0
$GC,4106,-1.39,-146.0,379.7,-8.4,232,4108,0.12,0.00,0.00,0.000,6,0.068,0.000,2681,2215,3653,0,0,0,0,0,0
$GC,4350,-1.33,-146.0,402.5,-9.5,238,4355,0.15,2.85,0.00,0.000,4,0.096,0.086,2714,622,3651,0,0,0,0,0,0
$GC,4372,-1.33,-146.0,404.6,-8.9,238,4376,0.00,2.58,0.00,0.000,6,0.000,0.037,2714,2195,3651,0,0,0,0,0,0
$GC,4627,-1.33,-146.0,426.6,-8.7,245,4631,0.00,2.70,0.00,0.000,4,0.000,0.056,2714,3804,3649,0,0,0,0,0,0
$GC,4667,-1.33,-146.0,429.9,-8.2,246,4672,0.00,2.62,0.00,0.000,6,0.000,0.037,2714,2214,3649,0,0,0,0,0,0
$GC,4951,-1.33,-146.0,450.0,-6.7,253,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2214,3647,0,0,0,0,0,0
$GC,5194,-1.33,-146.0,466.6,-7.0,259,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2214,3646,0,0,0,0,0,0
$GC,5439,-1.33,-146.0,484.4,-7.2,265,5444,0.00,2.72,0.00,0.000,4,0.000,0.067,2714,3798,3644,0,0,0,0,0,0
$GC,5506,-1.33,-146.0,489.2,-7.0,266,5511,0.00,2.67,0.00,0.000,6,0.000,0.045,2714,2202,3644,0,0,0,0,0,0
$GC,5762,-1.33,-146.0,505.4,-6.4,273,5767,0.00,2.72,0.00,0.000,4,0.000,0.064,2714,3790,3642,0,0,0,0,0,0
$GC,5819,-1.37,-146.0,509.4,-7.4,274,5824,0.00,2.67,0.00,0.000,6,0.000,0.051,2714,2215,3642,0,0,0,0,0,0
$GC,6085,-1.37,-146.0,528.3,-7.1,281,6090,0.00,2.75,0.00,0.000,4,0.000,0.071,2714,3790,3640,0,0,0,0,0,0
$GC,6130,-1.42,-146.0,531.7,-7.1,282,6134,0.00,2.67,0.00,0.000,6,0.000,0.058,2714,2218,3640,0,0,0,0,0,0
$GC,6408,-1.42,-146.0,550.1,-6.5,289,6413,0.00,3.08,0.00,0.000,4,0.000,0.124,2714,618,3638,0,0,0,0,0,0
$GC,6450,-1.46,-146.0,552.9,-7.4,290,6455,0.12,2.70,0.00,0.000,6,0.067,0.055,2664,2217,3638,0,0,0,0,0,0
$GC,6736,-1.40,-146.0,575.6,-7.7,297,6737,0.15,0.00,0.00,0.000,6,0.096,0.000,2697,2217,3636,0,0,0,0,0,0
$GC,6977,-1.40,-146.0,591.6,-6.6,303,6982,0.00,2.90,0.00,0.000,4,0.000,0.098,2697,3797,3635,0,0,0,0,0,0
$GC,7062,-1.40,-146.0,597.8,-7.4,305,7066,0.00,2.78,0.00,0.000,6,0.000,0.067,2698,2218,3634,0,0,0,0,0,0
$STATE,7092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7092,begin apogee
$GC,7099,-0.31,0.0,600.1,7.3,305,7221,1.02,0.00,117.70,1.014,6,0.071,0.000,2932,2376,3060,0,0,0,0,0,0
$STATE,7221,end apogee,CONTROL_FINISHED_OK
$STATE,7221,begin climb
$GC,7224,1.27,146.0,601.6,0.0,308,7362,1.45,2.85,124.22,0.986,4,0.034,0.086,3291,3928,2462,0,0,0,0,0,0
$GC,7432,1.11,146.0,584.3,12.4,312,7438,0.20,2.75,0.00,0.000,6,0.108,0.059,3249,2368,2457,0,0,0,0,0,0
$GC,7682,1.08,153.5,559.8,9.7,319,7695,0.00,2.80,6.38,0.762,4,0.000,0.066,3249,3936,2434,0,0,0,0,0,0
$GC,7727,1.01,153.5,555.3,10.5,320,7732,0.12,2.70,0.00,0.000,6,0.122,0.051,3224,2362,2432,0,0,0,0,0,0
$GC,8011,1.04,178.5,530.1,8.8,327,8040,0.00,3.12,23.23,0.927,4,0.000,0.114,3224,779,2332,0,0,0,0,0,0
$GC,8086,1.04,178.5,522.5,10.8,328,8091,0.00,2.70,0.00,0.000,6,0.000,0.054,3224,2359,2329,0,0,0,0,0,0
$GC,8336,1.04,178.5,497.2,10.1,334,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2359,2327,0,0,0,0,0,0
$GC,8580,1.05,185.0,473.4,9.7,340,8588,0.00,0.00,6.50,0.762,6,0.000,0.000,3224,2360,2305,0,0,0,0,0,0
$GC,8825,1.07,201.5,450.4,9.2,346,8849,0.00,2.75,16.33,0.879,4,0.000,0.055,3224,3937,2237,0,0,0,0,0,0
$GC,8888,1.08,207.0,444.2,9.7,347,8899,0.00,2.62,6.10,0.727,6,0.000,0.037,3224,2358,2216,0,0,0,0,0,0
$GC,9152,1.19,261.1,423.4,7.5,354,9207,0.17,2.90,49.05,0.899,4,0.062,0.083,3272,782,1993,0,0,0,0,0,0
$GC,9220,1.14,261.1,416.4,11.4,355,9225,0.00,2.62,0.00,0.000,6,0.000,0.032,3272,2368,1992,0,0,0,0,0,0
$GC,9471,1.14,261.1,384.6,13.0,361,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2368,1988,0,0,0,0,0,0
$GC,9715,1.14,261.1,352.4,13.2,367,9719,0.00,2.62,0.00,0.000,4,0.000,0.046,3272,3938,1987,0,0,0,0,0,0
$GC,9764,1.14,261.1,345.2,14.8,368,9768,0.00,2.58,0.00,0.000,6,0.000,0.029,3272,2360,1986,0,0,0,0,0,0
$GC,10036,1.14,261.1,310.3,13.0,375,10040,0.00,2.65,0.00,0.000,4,0.000,0.046,3272,3938,1985,0,0,0,0,0,0
$GC,10063,1.14,261.1,306.5,13.9,375,10068,0.00,2.58,0.00,0.000,6,0.000,0.028,3272,2365,1984,0,0,0,0,0,0
$GC,10313,1.14,261.1,276.8,11.2,381,10318,0.00,2.67,0.00,0.000,4,0.000,0.055,3272,779,1984,0,0,0,0,0,0
$GC,10352,1.14,261.1,272.0,12.2,382,10357,0.00,2.55,0.00,0.000,6,0.000,0.025,3272,2374,1983,0,0,0,0,0,0
$GC,10636,1.14,261.1,239.1,11.5,389,10637,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2374,1983,0,0,0,0,0,0
$GC,10878,1.14,261.1,213.8,10.3,395,10883,0.00,2.58,0.00,0.000,4,0.000,0.044,3272,3930,1983,0,0,0,0,0,0
$GC,10911,1.14,261.1,209.9,11.2,395,10917,0.00,2.55,0.00,0.000,6,0.000,0.026,3272,2355,1982,0,0,0,0,0,0
$GC,11168,1.15,269.8,184.8,9.6,411,11183,0.00,2.65,7.20,0.602,4,0.000,0.048,3272,783,1959,0,0,0,0,0,0
$GC,11221,1.15,269.8,179.5,10.8,415,11226,0.00,2.50,0.00,0.000,6,0.000,0.025,3272,2368,1958,0,0,0,0,0,0
$GC,11489,1.18,269.8,152.3,10.3,439,11494,0.00,2.55,0.00,0.000,4,0.000,0.042,3272,3925,1958,0,0,0,0,0,0
$GC,11578,1.22,269.8,142.4,10.4,446,11582,0.00,2.53,0.00,0.000,6,0.000,0.021,3272,2341,1958,0,0,0,0,0,0
$GC,11842,1.34,307.0,120.3,8.3,470,11882,0.10,2.60,33.47,0.622,4,0.085,0.044,3306,785,1806,0,0,0,0,0,0
$GC,11917,1.34,307.0,112.2,11.8,476,11922,0.00,2.50,0.00,0.000,6,0.000,0.021,3307,2358,1803,0,0,0,0,0,0
$GC,12181,1.34,307.0,82.4,12.1,500,12185,0.00,2.58,0.00,0.000,4,0.000,0.041,3306,3924,1803,0,0,0,0,0,0
$GC,12251,1.34,307.0,73.6,12.6,505,12256,0.00,2.47,0.00,0.000,6,0.000,0.025,3307,2372,1802,0,0,0,0,0,0
$GC,12520,1.34,307.0,40.3,11.7,529,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2373,1803,0,0,0,0,0,0
$STATE,12800,end climb,SURFACE_DEPTH_REACHED
$STATE,12800,begin surface coast
$FINISH,0.0,1.023877
$STATE,12843,end surface coast,CONTROL_FINISHED_OK
$STATE,12843,begin surface
$SM_CCo,12865,58.67,0.516,0,0,1509,380.21
$SM_GC,0.37,0.00,0.00,58.67,0.000,0.000,0.516,465,2191,1509,-11.68,-0.54,380.21
$IRIDIUM_FIX,2246.36,-15753.23,250603,050500
$TT8_MAMPS,0.026078
$HUMID,60.75
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,15
$24V_AH,23.4,17.167
$10V_AH,10.4,14.891
$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,28.200,143.075,390.175,58.675,0.000,56.092,72.456,880.979,3.750,0.000,20.303,1190.720,9052.567,518.190,2056.184,1333.056,33.360,1340.054,0.000,2048.562,0.000,0.536,0.000
$DEVICE_MAMPS,164.138,124.254,1013.974,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.429,317.719,406.089,578.003,1100.507,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355780
$DATA_FILE_SIZE,44693,573
$CAP_FILE_SIZE,140598,0
$CFSIZE,260165632,172400640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310314,084730,2255.139,-15753.732,62,1.5,62,10.1