version: 66.06
glider: 146
mission: 9
dive: 126
start: 3 31 114 20 45 12
data:
$ID,146
$MISSION,9
$DIVE,126
$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,-326067.88
$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,40
$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
$GPS1,202835,2252.942,-15750.938,33,1.3,33,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-68.7
$GPS2,204418,2253.065,-15751.036,9,1.3,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.157,-0.207
$KALMAN_X,-82980.1,86.8,-24.7,90676.8,2.4
$KALMAN_Y,66961.5,-213.0,568.8,-60321.3,236.5
$MHEAD_RNG_PITCHd_Wd,132.6,35070,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-86.10,0.000,3,0.000,0.000,463,2192,3655,0,0,0,0,0,0
$GC,107,-1.27,-146.0,3.9,-10.6,11,125,12.60,2.55,0.00,0.000,4,0.167,0.037,2718,628,3657,0,0,0,0,0,0
$GC,273,-1.17,-146.0,37.3,-13.8,31,278,0.15,2.47,0.00,0.000,6,0.116,0.020,2748,2218,3658,0,0,0,0,0,0
$GC,542,-1.12,-146.0,69.9,-12.0,55,546,0.00,2.53,0.00,0.000,4,0.000,0.034,2748,3777,3658,0,0,0,0,0,0
$GC,563,-1.07,-146.0,73.1,-12.3,56,568,0.10,2.50,0.00,0.000,6,0.122,0.021,2769,2203,3658,0,0,0,0,0,0
$GC,826,-1.07,-146.0,101.9,-10.1,80,830,0.00,2.58,0.00,0.000,4,0.000,0.044,2768,632,3659,0,0,0,0,0,0
$GC,884,-1.07,-146.0,107.7,-9.6,84,893,0.00,2.45,0.00,0.000,6,0.000,0.019,2769,2201,3659,0,0,0,0,0,0
$GC,1150,-1.07,-146.0,132.5,-9.3,109,1154,0.00,2.53,0.00,0.000,4,0.000,0.035,2769,3778,3659,0,0,0,0,0,0
$GC,1208,-1.13,-146.0,138.1,-10.1,113,1212,0.00,2.47,0.00,0.000,6,0.000,0.021,2769,2212,3659,0,0,0,0,0,0
$GC,1471,-1.17,-146.0,162.4,-8.8,137,1475,0.00,2.55,0.00,0.000,4,0.000,0.045,2769,640,3659,0,0,0,0,0,0
$GC,1517,-1.23,-146.0,166.8,-8.8,140,1524,0.15,2.42,0.00,0.000,6,0.060,0.019,2709,2217,3659,0,0,0,0,0,0
$GC,1780,-1.18,-146.0,195.6,-11.4,165,1785,0.17,2.53,0.00,0.000,4,0.091,0.036,2747,3785,3660,0,0,0,0,0,0
$GC,1802,-1.18,-146.0,197.7,-11.0,166,1807,0.00,2.45,0.00,0.000,6,0.000,0.018,2747,2217,3660,0,0,0,0,0,0
$GC,2075,-1.18,-146.0,224.1,-9.3,174,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2217,3660,0,0,0,0,0,0
$GC,2317,-1.18,-146.0,243.7,-7.9,180,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2217,3660,0,0,0,0,0,0
$GC,2561,-1.22,-146.0,263.8,-8.2,186,2566,0.00,2.58,0.00,0.000,4,0.000,0.041,2747,3778,3660,0,0,0,0,0,0
$GC,2596,-1.26,-146.0,266.8,-8.9,186,2602,0.00,2.45,0.00,0.000,6,0.000,0.020,2747,2228,3660,0,0,0,0,0,0
$GC,2847,-1.31,-146.0,290.2,-9.6,193,2848,0.12,0.00,0.00,0.000,6,0.067,0.000,2697,2228,3659,0,0,0,0,0,0
$GC,3090,-1.26,-146.0,315.3,-10.2,199,3095,0.15,2.58,0.00,0.000,4,0.092,0.046,2730,3779,3659,0,0,0,0,0,0
$GC,3141,-1.26,-146.0,320.5,-9.8,200,3145,0.00,2.47,0.00,0.000,6,0.000,0.024,2730,2233,3659,0,0,0,0,0,0
$GC,3413,-1.26,-146.0,344.3,-8.9,207,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2234,3658,0,0,0,0,0,0
$GC,3656,-1.26,-146.0,364.4,-8.1,213,3661,0.00,2.75,0.00,0.000,4,0.000,0.074,2730,635,3656,0,0,0,0,0,0
$GC,3697,-1.26,-146.0,367.5,-7.9,214,3702,0.00,2.55,0.00,0.000,6,0.000,0.038,2729,2214,3656,0,0,0,0,0,0
$GC,3981,-1.30,-146.0,389.5,-7.7,221,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2214,3654,0,0,0,0,0,0
$GC,4224,-1.34,-146.0,408.7,-7.8,227,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2214,3653,0,0,0,0,0,0
$GC,4469,-1.39,-146.0,427.4,-7.6,233,4475,0.12,2.67,0.00,0.000,4,0.067,0.059,2681,3790,3652,0,0,0,0,0,0
$GC,4486,-1.39,-146.0,429.1,-7.7,233,4490,0.00,2.55,0.00,0.000,6,0.000,0.035,2681,2241,3652,0,0,0,0,0,0
$GC,4747,-1.39,-146.0,452.0,-8.8,240,4751,0.00,2.90,0.00,0.000,4,0.000,0.096,2681,629,3650,0,0,0,0,0,0
$GC,4764,-1.35,-146.0,453.4,-8.3,240,4769,0.12,2.62,0.00,0.000,6,0.102,0.044,2709,2219,3650,0,0,0,0,0,0
$GC,5025,-1.35,-146.0,472.7,-7.5,247,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2219,3648,0,0,0,0,0,0
$GC,5269,-1.35,-146.0,489.7,-6.8,253,5273,0.00,2.72,0.00,0.000,4,0.000,0.073,2709,3799,3646,0,0,0,0,0,0
$GC,5286,-1.35,-146.0,491.0,-6.9,253,5290,0.00,2.62,0.00,0.000,6,0.000,0.043,2709,2228,3646,0,0,0,0,0,0
$GC,5546,-1.35,-146.0,507.6,-6.2,260,5551,0.00,2.95,0.00,0.000,4,0.000,0.104,2709,627,3644,0,0,0,0,0,0
$GC,5568,-1.35,-146.0,509.2,-7.0,260,5573,0.00,2.70,0.00,0.000,6,0.000,0.054,2709,2233,3644,0,0,0,0,0,0
$GC,5825,-1.35,-146.0,527.8,-7.7,267,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2234,3643,0,0,0,0,0,0
$GC,6067,-1.35,-146.0,547.4,-8.1,273,6071,0.00,2.78,0.00,0.000,4,0.000,0.081,2709,3803,3641,0,0,0,0,0,0
$GC,6110,-1.35,-146.0,551.5,-9.3,274,6115,0.00,2.70,0.00,0.000,6,0.000,0.051,2709,2216,3640,0,0,0,0,0,0
$GC,6390,-1.39,-146.0,575.8,-8.9,281,6395,0.00,2.80,0.00,0.000,4,0.000,0.077,2709,3797,3639,0,0,0,0,0,0
$GC,6406,-1.39,-146.0,577.6,-8.9,281,6410,0.00,2.70,0.00,0.000,6,0.000,0.066,2708,2222,3638,0,0,0,0,0,0
$GC,6667,-1.42,-146.0,599.0,-8.1,288,6672,0.00,3.05,0.00,0.000,4,0.000,0.120,2709,621,3636,0,0,0,0,0,0
$STATE,6680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6680,begin apogee
$GC,6690,-0.31,0.0,600.3,7.8,288,6812,0.98,0.00,117.95,1.015,6,0.074,0.000,2931,2376,3060,0,0,0,0,0,0
$STATE,6813,end apogee,CONTROL_FINISHED_OK
$STATE,6813,begin climb
$GC,6815,1.27,146.0,602.9,0.0,291,6953,1.45,2.92,124.55,0.986,4,0.035,0.091,3290,3939,2462,0,0,0,0,0,0
$GC,6976,1.11,146.0,591.5,11.8,294,6982,0.22,2.78,0.00,0.000,6,0.105,0.060,3244,2371,2459,0,0,0,0,0,0
$GC,7226,1.09,163.6,567.6,9.2,301,7247,0.00,3.08,15.27,0.904,4,0.000,0.112,3244,782,2392,0,0,0,0,0,0
$GC,7271,1.03,163.6,563.1,10.2,302,7275,0.00,2.75,0.00,0.000,6,0.000,0.057,3244,2365,2390,0,0,0,0,0,0
$GC,7548,1.03,163.6,534.7,10.3,309,7553,0.00,2.78,0.00,0.000,4,0.000,0.072,3244,3935,2388,0,0,0,0,0,0
$GC,7604,0.99,163.6,528.4,11.3,310,7610,0.12,2.67,0.00,0.000,6,0.120,0.045,3219,2369,2386,0,0,0,0,0,0
$GC,7871,1.00,177.4,503.1,9.4,317,7890,0.00,3.15,12.88,0.881,4,0.000,0.120,3219,784,2335,0,0,0,0,0,0
$GC,7914,1.00,177.4,498.8,10.2,318,7919,0.00,2.70,0.00,0.000,6,0.000,0.047,3219,2371,2333,0,0,0,0,0,0
$GC,8199,1.03,199.1,472.9,9.0,325,8225,0.00,2.72,20.58,0.904,4,0.000,0.056,3219,3940,2246,0,0,0,0,0,0
$GC,8264,1.07,199.1,466.3,10.2,326,8269,0.00,2.65,0.00,0.000,6,0.000,0.035,3220,2363,2244,0,0,0,0,0,0
$GC,8521,1.14,219.2,443.4,9.1,333,8546,0.15,2.92,18.48,0.888,4,0.070,0.091,3261,785,2165,0,0,0,0,0,0
$GC,8574,1.10,219.2,437.5,11.7,334,8578,0.00,2.67,0.00,0.000,6,0.000,0.037,3261,2390,2164,0,0,0,0,0,0
$GC,8845,1.10,219.2,406.8,11.5,341,8849,0.00,2.60,0.00,0.000,4,0.000,0.050,3261,3934,2162,0,0,0,0,0,0
$GC,8867,1.10,219.2,404.1,12.6,341,8872,0.00,2.58,0.00,0.000,6,0.000,0.031,3261,2368,2161,0,0,0,0,0,0
$GC,9123,1.10,219.2,375.0,11.1,348,9127,0.00,2.75,0.00,0.000,4,0.000,0.070,3261,785,2161,0,0,0,0,0,0
$GC,9138,1.10,219.2,373.2,11.0,348,9142,0.00,2.58,0.00,0.000,6,0.000,0.028,3261,2383,2159,0,0,0,0,0,0
$GC,9401,1.10,219.2,345.3,10.7,355,9405,0.00,2.72,0.00,0.000,4,0.000,0.058,3261,779,2159,0,0,0,0,0,0
$GC,9451,1.10,219.2,339.9,10.6,356,9456,0.00,2.55,0.00,0.000,6,0.000,0.031,3261,2362,2158,0,0,0,0,0,0
$GC,9723,1.10,219.2,312.0,10.3,363,9727,0.00,2.60,0.00,0.000,4,0.000,0.048,3261,3925,2158,0,0,0,0,0,0
$GC,9767,1.10,219.2,307.1,11.8,364,9772,0.00,2.55,0.00,0.000,6,0.000,0.026,3261,2350,2157,0,0,0,0,0,0
$GC,10045,1.10,219.2,277.1,10.2,371,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2350,2158,0,0,0,0,0,0
$GC,10289,1.10,219.2,252.0,10.1,377,10293,0.00,2.65,0.00,0.000,4,0.000,0.048,3261,3932,2158,0,0,0,0,0,0
$GC,10317,1.10,219.2,249.0,11.2,377,10321,0.00,2.55,0.00,0.000,6,0.000,0.025,3261,2345,2157,0,0,0,0,0,0
$GC,10567,1.10,221.9,224.6,9.9,383,10571,0.00,2.65,0.00,0.000,4,0.000,0.045,3261,3931,2157,0,0,0,0,0,0
$GC,10605,1.10,221.9,220.4,10.4,384,10610,0.00,2.55,0.00,0.000,6,0.000,0.026,3261,2354,2157,0,0,0,0,0,0
$GC,10864,1.13,246.4,197.6,8.9,391,10893,0.00,2.67,23.60,0.706,4,0.000,0.043,3261,3933,2054,0,0,0,0,0,0
$GC,10920,1.13,246.4,190.9,11.4,396,10930,0.00,2.58,0.00,0.000,6,0.000,0.025,3261,2362,2053,0,0,0,0,0,0
$GC,11189,1.19,246.4,163.4,10.8,421,11193,0.00,2.58,0.00,0.000,4,0.000,0.044,3261,3924,2052,0,0,0,0,0,0
$GC,11256,1.24,246.4,154.8,11.5,426,11266,0.00,2.50,0.00,0.000,6,0.000,0.025,3261,2384,2052,0,0,0,0,0,0
$GC,11525,1.30,252.1,128.5,9.7,451,11537,0.12,2.62,6.12,0.525,4,0.073,0.045,3302,786,2032,0,0,0,0,0,0
$GC,11554,1.30,252.1,124.6,10.8,453,11560,0.00,2.58,0.00,0.000,6,0.000,0.025,3302,2408,2031,0,0,0,0,0,0
$GC,11819,1.31,258.4,97.0,9.7,478,11833,0.00,2.55,7.35,0.526,4,0.000,0.042,3302,3927,2006,0,0,0,0,0,0
$GC,11850,1.31,259.7,93.4,9.9,480,11859,0.00,2.45,0.00,0.000,6,0.000,0.024,3302,2411,2005,0,0,0,0,0,0
$GC,12117,1.31,259.7,67.8,10.3,505,12121,0.00,2.65,0.00,0.000,4,0.000,0.044,3302,780,2005,0,0,0,0,0,0
$GC,12152,1.31,259.7,63.7,11.2,507,12157,0.00,2.58,0.00,0.000,6,0.000,0.022,3302,2411,2004,0,0,0,0,0,0
$GC,12420,1.31,259.7,35.4,10.6,531,12424,0.00,2.50,0.00,0.000,4,0.000,0.043,3302,3926,2005,0,0,0,0,0,0
$GC,12507,1.31,259.7,25.1,11.9,540,12517,0.00,2.42,0.00,0.000,6,0.000,0.024,3302,2421,2005,0,0,0,0,0,0
$STATE,12696,end climb,SURFACE_DEPTH_REACHED
$STATE,12697,begin surface coast
$FINISH,-0.1,1.023831
$STATE,12739,end surface coast,CONTROL_FINISHED_OK
$STATE,12739,begin surface
$SM_CCo,12760,98.55,0.520,0,0,1509,380.21
$SM_GC,0.47,0.00,0.00,98.55,0.000,0.000,0.520,462,2178,1509,-11.69,-0.90,380.21
$IRIDIUM_FIX,2244.02,-15748.90,250603,202045
$TT8_MAMPS,0.026078
$HUMID,60.00
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.30
$XPDR_PINGS,17
$24V_AH,23.4,17.762
$10V_AH,10.4,15.389
$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,28.075,180.400,346.775,98.550,0.000,64.023,90.426,571.975,4.250,0.000,16.021,1208.803,8919.457,548.502,2052.298,1071.175,33.363,1375.121,0.000,2051.723,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,119.652,1014.741,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.870,319.999,407.243,585.352,1113.845,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,44615,574
$CAP_FILE_SIZE,140585,0
$CFSIZE,260165632,172138496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010414,002053,2251.885,-15750.106,38,1.4,38,10.1