version: 66.06
glider: 146
mission: 9
dive: 125
start: 3 31 114 16 52 5
data:
$ID,146
$MISSION,9
$DIVE,125
$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,-326051.22
$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,35
$R_STBD_OVSHOOT,36
$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
$GPS1,163706,2253.548,-15751.696,70,1.1,70,10.1
$_CALLS,2
$_XMS_NAKs,24
$_XMS_TOUTs,1
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-70.7
$GPS2,165112,2253.617,-15751.827,6,1.2,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.119,-0.231
$KALMAN_X,-82467.6,120.6,-504.8,89260.5,213.7
$KALMAN_Y,65701.7,70.7,-166.6,-57588.5,860.2
$MHEAD_RNG_PITCHd_Wd,142.6,36726,-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,-146.0,0.0,0.0,0,104,0.00,0.00,-86.47,0.000,2,0.000,0.000,459,2193,3641,0,0,0,0,0,0
$GC,108,-1.27,-146.0,3.3,-8.2,11,126,12.48,2.55,-0.25,0.000,4,0.166,0.048,2716,626,3656,0,0,0,0,0,0
$GC,231,-1.17,-146.0,29.0,-13.8,28,241,0.10,2.53,0.00,0.000,6,0.094,0.020,2741,2220,3657,0,0,0,0,0,0
$GC,499,-1.10,-146.0,63.0,-11.7,53,508,0.10,0.00,0.00,0.000,6,0.130,0.000,2760,2220,3658,0,0,0,0,0,0
$GC,763,-1.10,-146.0,90.8,-9.2,78,768,0.00,2.62,0.00,0.000,4,0.000,0.043,2760,631,3658,0,0,0,0,0,0
$GC,840,-1.10,-146.0,98.2,-9.4,84,844,0.00,2.42,0.00,0.000,6,0.000,0.023,2760,2199,3658,0,0,0,0,0,0
$GC,1104,-1.10,-146.0,121.0,-8.0,108,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2199,3658,0,0,0,0,0,0
$GC,1369,-1.10,-146.0,145.3,-9.5,133,1373,0.00,2.58,0.00,0.000,4,0.000,0.036,2760,3783,3659,0,0,0,0,0,0
$GC,1457,-1.16,-146.0,154.4,-10.4,140,1462,0.00,2.53,0.00,0.000,6,0.000,0.021,2760,2181,3659,0,0,0,0,0,0
$GC,1720,-1.20,-146.0,178.1,-8.7,164,1725,0.00,2.50,0.00,0.000,4,0.000,0.046,2760,640,3659,0,0,0,0,0,0
$GC,1756,-1.24,-146.0,181.3,-8.8,166,1763,0.12,2.38,0.00,0.000,6,0.069,0.021,2708,2182,3659,0,0,0,0,0,0
$GC,2026,-1.18,-146.0,209.0,-10.2,186,2031,0.17,2.58,0.00,0.000,4,0.090,0.038,2745,3776,3659,0,0,0,0,0,0
$GC,2054,-1.18,-146.0,211.9,-10.0,186,2059,0.00,2.50,0.00,0.000,6,0.000,0.019,2745,2176,3659,0,0,0,0,0,0
$GC,2305,-1.18,-146.0,234.0,-8.7,192,2309,0.00,2.50,0.00,0.000,4,0.000,0.049,2746,646,3659,0,0,0,0,0,0
$GC,2326,-1.18,-146.0,236.1,-8.9,192,2330,0.00,2.40,0.00,0.000,6,0.000,0.022,2745,2186,3658,0,0,0,0,0,0
$GC,2582,-1.18,-146.0,256.7,-8.2,199,2587,0.00,2.58,0.00,0.000,4,0.000,0.049,2745,3775,3659,0,0,0,0,0,0
$GC,2599,-1.18,-146.0,258.3,-8.7,199,2603,0.00,2.53,0.00,0.000,6,0.000,0.020,2745,2173,3659,0,0,0,0,0,0
$GC,2860,-1.22,-146.0,281.1,-8.8,206,2864,0.00,2.62,0.00,0.000,4,0.000,0.042,2745,3774,3658,0,0,0,0,0,0
$GC,2905,-1.29,-146.0,285.4,-9.7,207,2910,0.00,2.53,0.00,0.000,6,0.000,0.021,2745,2187,3658,0,0,0,0,0,0
$GC,3184,-1.34,-146.0,308.9,-8.3,214,3189,0.15,2.65,0.00,0.000,4,0.059,0.047,2690,3773,3657,0,0,0,0,0,0
$GC,3200,-1.34,-146.0,310.6,-8.4,214,3205,0.10,2.55,0.00,0.000,6,0.112,0.024,2712,2178,3657,0,0,0,0,0,0
$GC,3463,-1.34,-146.0,335.9,-9.6,221,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2178,3656,0,0,0,0,0,0
$GC,3705,-1.34,-146.0,357.2,-8.4,227,3710,0.00,2.67,0.00,0.000,4,0.000,0.071,2712,632,3655,0,0,0,0,0,0
$GC,3811,-1.34,-146.0,366.7,-9.0,229,3815,0.00,2.42,0.00,0.000,6,0.000,0.033,2712,2141,3654,0,0,0,0,0,0
$GC,4078,-1.34,-146.0,387.5,-7.7,236,4082,0.00,2.72,0.00,0.000,4,0.000,0.058,2712,3778,3653,0,0,0,0,0,0
$GC,4189,-1.34,-146.0,397.3,-9.0,238,4194,0.00,2.62,0.00,0.000,6,0.000,0.035,2712,2180,3652,0,0,0,0,0,0
$GC,4446,-1.34,-146.0,417.7,-8.0,245,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2180,3651,0,0,0,0,0,0
$GC,4688,-1.34,-146.0,437.0,-8.1,251,4692,0.00,2.83,0.00,0.000,4,0.000,0.094,2713,622,3649,0,0,0,0,0,0
$GC,4715,-1.34,-146.0,439.3,-8.3,251,4719,0.00,2.55,0.00,0.000,6,0.000,0.048,2712,2161,3648,0,0,0,0,0,0
$GC,4966,-1.34,-146.0,459.7,-8.4,257,4971,0.00,2.78,0.00,0.000,4,0.000,0.061,2712,3795,3647,0,0,0,0,0,0
$GC,5027,-1.34,-146.0,465.4,-9.4,258,5031,0.00,2.65,0.00,0.000,6,0.000,0.042,2712,2196,3647,0,0,0,0,0,0
$GC,5288,-1.34,-146.0,486.8,-8.0,265,5292,0.00,2.88,0.00,0.000,4,0.000,0.101,2712,628,3645,0,0,0,0,0,0
$GC,5305,-1.34,-146.0,488.2,-7.7,265,5309,0.00,2.60,0.00,0.000,6,0.000,0.052,2713,2189,3645,0,0,0,0,0,0
$GC,5565,-1.34,-146.0,508.4,-7.6,272,5570,0.00,2.75,0.00,0.000,4,0.000,0.073,2713,3799,3644,0,0,0,0,0,0
$GC,5592,-1.34,-146.0,510.6,-8.5,272,5597,0.00,2.67,0.00,0.000,6,0.000,0.045,2713,2194,3643,0,0,0,0,0,0
$GC,5842,-1.34,-146.0,528.1,-6.8,278,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2194,3642,0,0,0,0,0,0
$GC,6086,-1.37,-146.0,545.0,-7.0,284,6091,0.00,2.80,0.00,0.000,4,0.000,0.076,2713,3797,3640,0,0,0,0,0,0
$GC,6142,-1.41,-146.0,549.3,-7.2,285,6146,0.00,2.70,0.00,0.000,6,0.000,0.056,2712,2207,3640,0,0,0,0,0,0
$GC,6409,-1.41,-146.0,566.8,-6.5,292,6414,0.00,2.78,0.00,0.000,4,0.000,0.076,2712,3791,3639,0,0,0,0,0,0
$GC,6459,-1.45,-146.0,570.4,-7.5,293,6464,0.10,2.70,0.00,0.000,6,0.082,0.057,2675,2219,3638,0,0,0,0,0,0
$GC,6732,-1.45,-146.0,591.4,-7.5,300,6736,0.00,2.80,0.00,0.000,4,0.000,0.081,2675,3795,3636,0,0,0,0,0,0
$GC,6782,-1.45,-146.0,595.5,-8.2,301,6787,0.00,2.75,0.00,0.000,6,0.000,0.067,2674,2227,3636,0,0,0,0,0,0
$STATE,6848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6849,begin apogee
$GC,6855,-0.31,0.0,600.8,7.8,303,6976,1.17,0.00,118.00,1.010,6,0.075,0.000,2937,2380,3060,0,0,0,0,0,0
$STATE,6978,end apogee,CONTROL_FINISHED_OK
$STATE,6979,begin climb
$GC,6981,1.27,146.0,602.5,0.0,306,7118,1.42,2.85,124.50,0.983,4,0.035,0.080,3289,3937,2463,0,0,0,0,0,0
$GC,7168,1.13,146.0,588.5,12.2,310,7173,0.20,2.78,0.00,0.000,6,0.108,0.059,3249,2364,2459,0,0,0,0,0,0
$GC,7431,1.10,165.8,564.1,9.1,317,7455,0.00,2.85,17.40,0.911,4,0.000,0.068,3248,3923,2383,0,0,0,0,0,0
$GC,7521,1.05,165.8,554.8,11.1,319,7526,0.00,2.62,0.00,0.000,6,0.000,0.048,3248,2386,2381,0,0,0,0,0,0
$GC,7805,1.05,167.2,526.4,9.9,326,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2386,2379,0,0,0,0,0,0
$GC,8047,1.05,167.2,501.6,10.1,332,8052,0.00,3.03,0.00,0.000,4,0.000,0.107,3248,778,2377,0,0,0,0,0,0
$GC,8075,1.00,167.2,498.8,10.1,332,8080,0.12,2.67,0.00,0.000,6,0.118,0.044,3224,2370,2376,0,0,0,0,0,0
$GC,8326,1.02,186.3,476.1,9.1,338,8350,0.00,2.95,18.30,0.897,4,0.000,0.078,3223,776,2300,0,0,0,0,0,0
$GC,8362,1.04,203.5,472.5,9.2,338,8386,0.00,2.65,16.95,0.875,6,0.000,0.043,3223,2363,2230,0,0,0,0,0,0
$GC,8657,1.12,229.4,446.2,8.8,346,8687,0.10,2.75,23.88,0.887,4,0.089,0.054,3254,3939,2123,0,0,0,0,0,0
$GC,8714,1.12,229.4,439.5,12.5,347,8719,0.00,2.65,0.00,0.000,6,0.000,0.031,3254,2352,2122,0,0,0,0,0,0
$GC,8981,1.12,229.4,410.6,10.9,354,8986,0.00,2.80,0.00,0.000,4,0.000,0.081,3254,784,2120,0,0,0,0,0,0
$GC,9015,1.12,229.4,406.6,11.6,354,9021,0.00,2.60,0.00,0.000,6,0.000,0.031,3254,2372,2119,0,0,0,0,0,0
$GC,9265,1.12,229.4,380.7,10.1,361,9269,0.00,2.62,0.00,0.000,4,0.000,0.048,3254,3935,2118,0,0,0,0,0,0
$GC,9297,1.12,229.4,377.2,11.3,361,9303,0.00,2.60,0.00,0.000,6,0.000,0.031,3254,2359,2117,0,0,0,0,0,0
$GC,9549,1.12,230.6,352.1,9.9,368,9553,0.00,2.72,0.00,0.000,4,0.000,0.067,3254,781,2117,0,0,0,0,0,0
$GC,9615,1.12,230.6,344.5,11.4,369,9619,0.00,2.50,0.00,0.000,6,0.000,0.029,3254,2343,2116,0,0,0,0,0,0
$GC,9870,1.12,230.6,317.3,10.7,376,9875,0.00,2.62,0.00,0.000,4,0.000,0.045,3254,3928,2116,0,0,0,0,0,0
$GC,9898,1.12,230.6,314.2,11.7,376,9903,0.00,2.58,0.00,0.000,6,0.000,0.028,3255,2324,2115,0,0,0,0,0,0
$GC,10148,1.12,230.6,287.5,10.8,382,10152,0.00,2.70,0.00,0.000,4,0.000,0.048,3254,3931,2115,0,0,0,0,0,0
$GC,10236,1.12,230.6,277.3,12.1,384,10241,0.00,2.53,0.00,0.000,6,0.000,0.024,3254,2368,2115,0,0,0,0,0,0
$GC,10517,1.18,243.8,250.3,9.4,391,10536,0.00,2.70,12.57,0.724,4,0.000,0.049,3254,3929,2065,0,0,0,0,0,0
$GC,10559,1.18,243.8,245.7,11.1,392,10564,0.00,2.53,0.00,0.000,6,0.000,0.024,3254,2372,2063,0,0,0,0,0,0
$GC,10845,1.25,262.8,219.6,9.1,399,10869,0.00,2.67,17.92,0.710,4,0.000,0.046,3254,3919,1987,0,0,0,0,0,0
$GC,10888,1.31,274.7,215.3,9.5,400,10907,0.15,2.53,11.85,0.669,6,0.067,0.025,3298,2369,1939,0,0,0,0,0,0
$GC,11160,1.31,274.7,182.4,12.7,414,11164,0.00,2.62,0.00,0.000,4,0.000,0.047,3298,3931,1937,0,0,0,0,0,0
$GC,11217,1.31,274.7,174.5,13.2,418,11223,0.00,2.45,0.00,0.000,6,0.000,0.025,3298,2393,1936,0,0,0,0,0,0
$GC,11483,1.31,274.7,143.9,11.7,443,11488,0.00,2.65,0.00,0.000,4,0.000,0.045,3298,781,1936,0,0,0,0,0,0
$GC,11540,1.31,274.7,137.6,10.9,447,11544,0.00,2.55,0.00,0.000,6,0.000,0.024,3298,2398,1935,0,0,0,0,0,0
$GC,11807,1.31,274.7,107.8,10.8,471,11812,0.00,2.50,0.00,0.000,4,0.000,0.043,3298,3921,1935,0,0,0,0,0,0
$GC,11873,1.35,274.7,99.6,12.5,476,11877,0.00,2.45,0.00,0.000,6,0.000,0.024,3298,2389,1935,0,0,0,0,0,0
$GC,12140,1.35,274.7,71.6,10.1,500,12145,0.00,2.60,0.00,0.000,4,0.000,0.046,3298,787,1935,0,0,0,0,0,0
$GC,12189,1.35,274.7,65.7,10.5,503,12198,0.00,2.55,0.00,0.000,6,0.000,0.023,3298,2392,1935,0,0,0,0,0,0
$GC,12456,1.35,274.7,37.7,10.7,528,12460,0.00,2.50,0.00,0.000,4,0.000,0.043,3298,3924,1935,0,0,0,0,0,0
$GC,12562,1.39,274.7,25.5,11.4,538,12571,0.00,2.42,0.00,0.000,6,0.000,0.024,3298,2417,1935,0,0,0,0,0,0
$STATE,12758,end climb,SURFACE_DEPTH_REACHED
$STATE,12758,begin surface coast
$FINISH,-0.3,1.023833
$STATE,12807,end surface coast,CONTROL_FINISHED_OK
$STATE,12807,begin surface
$SM_CCo,12828,85.40,0.521,0,0,1509,380.21
$SM_GC,0.39,0.00,0.00,85.40,0.000,0.000,0.521,464,2192,1509,-11.68,-0.51,380.21
$IRIDIUM_FIX,2248.70,-15753.23,250603,161604
$TT8_MAMPS,0.026078
$HUMID,60.63
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.00
$XPDR_PINGS,24
$24V_AH,23.4,17.612
$10V_AH,10.4,15.269
$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,27.850,184.600,361.375,85.400,0.000,54.825,73.780,506.252,6.000,0.000,16.147,1237.397,8790.533,555.148,2193.944,981.353,33.362,1433.766,0.000,2191.886,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,107.380,1010.139,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.293,323.627,408.686,605.858,1153.469,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,44711,574
$CAP_FILE_SIZE,144437,0
$CFSIZE,260165632,172199936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310314,202835,2252.942,-15750.938,33,1.3,33,10.1