version: 66.06
glider: 146
mission: 9
dive: 124
start: 3 31 114 12 56 21
data:
$ID,146
$MISSION,9
$DIVE,124
$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,-326034.44
$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,50
$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
$GPS1,124655,2254.154,-15752.620,29,2.2,48,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-71.0
$GPS2,125527,2254.152,-15752.693,14,2.1,33,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.150
$KALMAN_X,-81962.0,-14.4,176.7,86728.6,-760.3
$KALMAN_Y,64475.1,462.6,-92.5,-55829.8,-224.0
$MHEAD_RNG_PITCHd_Wd,115.2,38446,-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,17,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-89.97,0.000,6,0.000,0.000,459,2181,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.6,-8.2,12,133,12.62,2.50,0.00,0.000,4,0.166,0.036,2719,643,3656,0,0,0,0,0,0
$GC,164,-0.87,-146.0,20.5,-27.9,18,172,0.40,2.47,0.00,0.000,6,0.083,0.018,2809,2223,3657,0,0,0,0,0,0
$GC,446,-0.93,-146.0,48.9,-9.7,49,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2224,3658,0,0,0,0,0,0
$GC,713,-1.00,-146.0,74.3,-9.5,74,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2224,3658,0,0,0,0,0,0
$GC,979,-1.07,-146.0,97.7,-8.3,99,984,0.15,2.58,0.00,0.000,4,0.058,0.043,2751,650,3659,0,0,0,0,0,0
$GC,1060,-1.07,-146.0,106.7,-11.1,105,1066,0.00,2.40,0.00,0.000,6,0.000,0.020,2751,2199,3659,0,0,0,0,0,0
$GC,1324,-1.07,-146.0,132.9,-9.2,130,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2199,3659,0,0,0,0,0,0
$GC,1586,-1.07,-146.0,157.9,-8.9,155,1590,0.00,2.53,0.00,0.000,4,0.000,0.035,2751,3773,3660,0,0,0,0,0,0
$GC,1621,-1.07,-146.0,161.2,-9.6,157,1626,0.00,2.47,0.00,0.000,6,0.000,0.020,2751,2200,3660,0,0,0,0,0,0
$GC,1883,-1.07,-146.0,183.8,-8.1,182,1888,0.00,2.55,0.00,0.000,4,0.000,0.047,2751,635,3660,0,0,0,0,0,0
$GC,1907,-1.07,-146.0,185.8,-8.4,183,1916,0.00,2.45,0.00,0.000,6,0.000,0.024,2751,2199,3660,0,0,0,0,0,0
$GC,2174,-1.07,-146.0,206.6,-7.5,203,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2199,3660,0,0,0,0,0,0
$GC,2418,-1.07,-146.0,226.2,-8.1,209,2422,0.00,2.58,0.00,0.000,4,0.000,0.050,2751,642,3660,0,0,0,0,0,0
$GC,2463,-1.07,-146.0,230.1,-8.2,210,2468,0.00,2.42,0.00,0.000,6,0.000,0.027,2751,2190,3660,0,0,0,0,0,0
$GC,2742,-1.12,-146.0,252.8,-8.3,217,2746,0.00,2.62,0.00,0.000,4,0.000,0.051,2751,3783,3660,0,0,0,0,0,0
$GC,2803,-1.18,-146.0,257.8,-8.4,218,2807,0.00,2.50,0.00,0.000,6,0.000,0.021,2751,2189,3660,0,0,0,0,0,0
$GC,3065,-1.24,-146.0,276.7,-7.4,225,3070,0.00,2.65,0.00,0.000,4,0.000,0.044,2751,3783,3660,0,0,0,0,0,0
$GC,3088,-1.32,-146.0,278.7,-7.7,225,3093,0.15,2.53,0.00,0.000,6,0.060,0.021,2694,2195,3660,0,0,0,0,0,0
$GC,3345,-1.27,-146.0,303.7,-10.0,232,3347,0.15,0.00,0.00,0.000,6,0.096,0.000,2727,2196,3659,0,0,0,0,0,0
$GC,3587,-1.27,-146.0,325.2,-8.7,238,3591,0.00,2.67,0.00,0.000,4,0.000,0.067,2727,640,3658,0,0,0,0,0,0
$GC,3608,-1.27,-146.0,327.1,-8.6,238,3613,0.00,2.47,0.00,0.000,6,0.000,0.031,2727,2198,3658,0,0,0,0,0,0
$GC,3865,-1.27,-146.0,349.2,-8.7,245,3870,0.00,2.67,0.00,0.000,4,0.000,0.062,2727,635,3657,0,0,0,0,0,0
$GC,3937,-1.32,-146.0,356.6,-10.3,246,3942,0.00,2.53,0.00,0.000,6,0.000,0.037,2727,2198,3656,0,0,0,0,0,0
$GC,4187,-1.32,-146.0,380.1,-9.4,252,4192,0.00,2.67,0.00,0.000,4,0.000,0.051,2727,3800,3655,0,0,0,0,0,0
$GC,4255,-1.36,-146.0,386.7,-10.1,253,4259,0.00,2.58,0.00,0.000,6,0.000,0.031,2727,2210,3654,0,0,0,0,0,0
$GC,4510,-1.36,-146.0,407.9,-8.1,260,4514,0.00,2.65,0.00,0.000,4,0.000,0.051,2727,3787,3653,0,0,0,0,0,0
$GC,4554,-1.41,-146.0,411.4,-7.8,261,4559,0.12,2.60,0.00,0.000,6,0.069,0.036,2680,2208,3652,0,0,0,0,0,0
$GC,4834,-1.36,-146.0,436.7,-9.0,268,4836,0.12,0.00,0.00,0.000,6,0.102,0.000,2707,2208,3651,0,0,0,0,0,0
$GC,5076,-1.36,-146.0,456.6,-8.1,274,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2208,3649,0,0,0,0,0,0
$GC,5321,-1.36,-146.0,475.2,-7.4,280,5325,0.00,2.75,0.00,0.000,4,0.000,0.064,2707,3789,3648,0,0,0,0,0,0
$GC,5381,-1.36,-146.0,479.8,-8.2,281,5386,0.00,2.62,0.00,0.000,6,0.000,0.049,2707,2217,3648,0,0,0,0,0,0
$GC,5642,-1.36,-146.0,495.6,-5.8,288,5647,0.00,2.95,0.00,0.000,4,0.000,0.107,2707,619,3646,0,0,0,0,0,0
$GC,5687,-1.36,-146.0,498.4,-6.6,289,5692,0.00,2.65,0.00,0.000,6,0.000,0.047,2707,2203,3646,0,0,0,0,0,0
$GC,5965,-1.36,-146.0,515.4,-6.1,296,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2204,3644,0,0,0,0,0,0
$GC,6208,-1.36,-146.0,532.3,-7.1,302,6213,0.00,2.78,0.00,0.000,4,0.000,0.074,2707,3793,3643,0,0,0,0,0,0
$GC,6225,-1.36,-146.0,533.6,-7.7,302,6230,0.00,2.67,0.00,0.000,6,0.000,0.048,2707,2209,3642,0,0,0,0,0,0
$GC,6487,-1.36,-146.0,555.1,-8.4,309,6491,0.00,2.78,0.00,0.000,4,0.000,0.075,2707,3793,3641,0,0,0,0,0,0
$GC,6519,-1.36,-146.0,558.0,-9.0,309,6525,0.00,2.67,0.00,0.000,6,0.000,0.061,2707,2226,3641,0,0,0,0,0,0
$GC,6771,-1.36,-146.0,578.2,-7.9,316,6775,0.00,2.78,0.00,0.000,4,0.000,0.085,2707,3791,3640,0,0,0,0,0,0
$GC,6810,-1.36,-146.0,581.4,-8.5,317,6814,0.00,2.67,0.00,0.000,6,0.000,0.065,2707,2231,3640,0,0,0,0,0,0
$STATE,7090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7091,begin apogee
$GC,7097,-0.31,0.0,601.3,6.8,324,7219,1.02,0.00,118.50,1.010,6,0.072,0.000,2938,2383,3060,0,0,0,0,0,0
$STATE,7220,end apogee,CONTROL_FINISHED_OK
$STATE,7220,begin climb
$GC,7223,1.27,146.0,602.8,0.0,327,7357,1.45,2.88,125.10,0.982,4,0.034,0.081,3294,3926,2463,0,0,0,0,0,0
$GC,7382,1.11,146.0,590.5,13.4,331,7388,0.22,2.75,0.00,0.000,6,0.104,0.059,3248,2371,2460,0,0,0,0,0,0
$GC,7662,1.07,146.0,560.2,10.7,338,7666,0.00,2.78,0.00,0.000,4,0.000,0.068,3248,3937,2455,0,0,0,0,0,0
$GC,7717,1.00,146.0,553.9,11.0,339,7722,0.12,2.70,0.00,0.000,6,0.122,0.048,3223,2367,2453,0,0,0,0,0,0
$GC,7985,1.05,185.4,531.4,8.2,346,8026,0.00,2.78,34.08,0.937,4,0.000,0.061,3224,3935,2303,0,0,0,0,0,0
$GC,8043,1.08,211.6,526.2,8.8,347,8073,0.00,2.70,24.73,0.911,6,0.000,0.047,3224,2376,2197,0,0,0,0,0,0
$GC,8355,1.15,232.8,498.1,9.0,355,8381,0.12,3.15,19.73,0.896,4,0.206,0.122,3260,782,2109,0,0,0,0,0,0
$GC,8414,1.15,232.8,491.1,12.1,356,8419,0.00,2.70,0.00,0.000,6,0.000,0.044,3260,2376,2107,0,0,0,0,0,0
$GC,8676,1.15,232.8,461.4,11.4,363,8680,0.00,2.85,0.00,0.000,4,0.000,0.075,3261,778,2105,0,0,0,0,0,0
$GC,8704,1.15,232.8,457.9,12.8,363,8708,0.00,2.62,0.00,0.000,6,0.000,0.039,3260,2365,2103,0,0,0,0,0,0
$GC,8953,1.15,232.8,428.3,11.8,369,8958,0.00,2.65,0.00,0.000,4,0.000,0.051,3261,3938,2102,0,0,0,0,0,0
$GC,8997,1.15,232.8,422.6,12.6,370,9001,0.00,2.62,0.00,0.000,6,0.000,0.033,3261,2353,2101,0,0,0,0,0,0
$GC,9276,1.15,232.8,389.8,11.6,377,9281,0.00,2.75,0.00,0.000,4,0.000,0.074,3260,782,2101,0,0,0,0,0,0
$GC,9292,1.15,232.8,387.6,11.4,377,9297,0.00,2.60,0.00,0.000,6,0.000,0.033,3260,2386,2100,0,0,0,0,0,0
$GC,9554,1.15,232.8,358.9,10.9,384,9558,0.00,2.58,0.00,0.000,4,0.000,0.048,3260,3930,2099,0,0,0,0,0,0
$GC,9611,1.15,232.8,352.5,12.1,385,9616,0.00,2.55,0.00,0.000,6,0.000,0.030,3261,2376,2099,0,0,0,0,0,0
$GC,9877,1.15,232.8,325.0,10.1,392,9881,0.00,2.72,0.00,0.000,4,0.000,0.064,3261,782,2099,0,0,0,0,0,0
$GC,9943,1.15,232.8,318.1,10.6,393,9947,0.00,2.53,0.00,0.000,6,0.000,0.026,3260,2369,2098,0,0,0,0,0,0
$GC,10200,1.16,239.8,293.2,9.7,400,10211,0.00,2.60,5.35,0.632,4,0.000,0.051,3260,3931,2084,0,0,0,0,0,0
$GC,10232,1.16,239.8,289.3,11.5,400,10239,0.00,2.55,0.00,0.000,6,0.000,0.026,3260,2363,2083,0,0,0,0,0,0
$GC,10483,1.16,239.8,262.2,10.9,407,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2363,2082,0,0,0,0,0,0
$GC,10728,1.16,243.2,237.8,9.8,413,10738,0.00,2.65,4.85,0.574,4,0.000,0.048,3261,3931,2068,0,0,0,0,0,0
$GC,10822,1.16,243.2,227.6,10.9,415,10826,0.00,2.50,0.00,0.000,6,0.000,0.025,3260,2372,2068,0,0,0,0,0,0
$GC,11094,1.20,243.2,200.4,10.1,422,11098,0.00,2.60,0.00,0.000,4,0.000,0.048,3260,787,2067,0,0,0,0,0,0
$GC,11158,1.24,243.2,193.7,10.3,425,11162,0.00,2.53,0.00,0.000,6,0.000,0.028,3260,2375,2066,0,0,0,0,0,0
$GC,11421,1.30,243.2,167.4,10.5,449,11426,0.10,2.55,0.00,0.000,4,0.084,0.044,3296,3923,2066,0,0,0,0,0,0
$GC,11523,1.30,243.2,155.1,12.1,457,11528,0.00,2.47,0.00,0.000,6,0.000,0.025,3296,2376,2066,0,0,0,0,0,0
$GC,11790,1.30,243.2,125.6,10.9,481,11794,0.00,2.55,0.00,0.000,4,0.000,0.043,3296,3924,2066,0,0,0,0,0,0
$GC,11858,1.30,243.2,116.3,12.1,486,11868,0.00,2.45,0.00,0.000,6,0.000,0.023,3296,2405,2066,0,0,0,0,0,0
$GC,12125,1.30,243.2,88.2,10.5,511,12129,0.00,2.53,0.00,0.000,4,0.000,0.043,3296,3924,2066,0,0,0,0,0,0
$GC,12157,1.30,243.2,84.6,10.6,513,12162,0.00,2.42,0.00,0.000,6,0.000,0.023,3296,2389,2066,0,0,0,0,0,0
$GC,12425,1.30,243.2,57.9,10.7,537,12429,0.00,2.60,0.00,0.000,4,0.000,0.044,3296,792,2067,0,0,0,0,0,0
$GC,12473,1.30,243.2,52.2,10.4,540,12482,0.00,2.55,0.00,0.000,6,0.000,0.022,3296,2398,2067,0,0,0,0,0,0
$GC,12747,1.32,262.9,26.4,9.1,568,12773,0.00,2.55,19.20,0.529,4,0.000,0.042,3297,3932,1987,0,0,0,0,0,0
$GC,12857,1.34,276.7,15.0,9.4,583,12876,0.00,2.45,13.38,0.502,6,0.000,0.023,3296,2413,1930,0,0,0,0,0,0
$STATE,12971,end climb,SURFACE_DEPTH_REACHED
$STATE,12971,begin surface coast
$FINISH,-0.3,1.023425
$STATE,13028,end surface coast,CONTROL_FINISHED_OK
$STATE,13028,begin surface
$SM_CCo,13049,82.78,0.519,0,0,1509,380.21
$SM_GC,0.35,0.00,0.00,82.78,0.000,0.000,0.519,460,2194,1509,-11.70,-0.45,380.21
$IRIDIUM_FIX,2246.36,-15751.06,250603,090907
$TT8_MAMPS,0.026078
$HUMID,60.78
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.20
$XPDR_PINGS,23
$24V_AH,23.4,17.465
$10V_AH,10.4,15.145
$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,28.125,173.475,364.900,82.775,0.000,23.117,35.764,292.096,5.750,0.000,35.383,1259.579,8861.105,557.923,2286.321,677.020,33.361,1434.931,0.000,2264.624,0.000,0.534,0.000
$DEVICE_MAMPS,206.323,121.953,1010.139,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.845,350.610,439.376,669.053,1273.116,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,47868,607
$CAP_FILE_SIZE,135987,0
$CFSIZE,260165632,172269568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310314,163706,2253.548,-15751.696,70,1.1,70,10.1