version: 66.06
glider: 146
mission: 9
dive: 239
start: 4 21 114 11 27 47
data:
$ID,146
$MISSION,9
$DIVE,239
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$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,266
$T_MISSION,540
$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,-328797.94
$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,55
$R_STBD_OVSHOOT,13
$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
$GPS1,111300,2238.903,-15738.812,77,1.4,77,10.1
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-69.7
$GPS2,112649,2238.888,-15738.963,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.124,-0.072
$KALMAN_X,-199146.5,-386.0,-380.7,228284.0,394.3
$KALMAN_Y,4599.0,65.3,106.2,-24022.9,357.3
$MHEAD_RNG_PITCHd_Wd,109.9,2052,-32.6,-10.025
$D_GRID,800
$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,-2.09,-44.7,0.0,0.0,0,96,0.00,0.00,-74.65,0.000,6,0.000,0.000,458,2173,3242,0,0,0,0,0,0
$GC,99,-2.15,-89.6,1.7,-3.3,10,125,11.45,2.53,-4.15,0.000,4,0.164,0.050,2530,647,3428,0,0,0,0,0,0
$GC,196,-2.06,-89.6,27.0,-26.4,23,206,0.08,2.50,0.00,0.000,6,0.118,0.017,2546,2248,3429,0,0,0,0,0,0
$GC,459,-2.06,-89.6,86.7,-20.9,48,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2249,3430,0,0,0,0,0,0
$GC,713,-2.06,-89.6,128.0,-15.1,72,717,0.00,2.42,0.00,0.000,4,0.000,0.032,2546,3775,3430,0,0,0,0,0,0
$GC,758,-2.06,-89.6,134.7,-16.3,75,762,0.00,2.40,0.00,0.000,6,0.000,0.019,2546,2226,3430,0,0,0,0,0,0
$GC,1026,-2.12,-89.6,175.1,-15.3,99,1030,0.00,2.60,0.00,0.000,4,0.000,0.043,2546,638,3431,0,0,0,0,0,0
$GC,1042,-2.12,-89.6,178.9,-15.6,100,1047,0.00,2.45,0.00,0.000,6,0.000,0.023,2546,2231,3431,0,0,0,0,0,0
$GC,1309,-2.18,-89.6,216.9,-14.0,124,1313,0.00,2.47,0.00,0.000,4,0.000,0.033,2546,3772,3431,0,0,0,0,0,0
$GC,1355,-2.24,-89.6,223.4,-14.7,127,1360,0.15,2.42,0.00,0.000,6,0.054,0.018,2504,2207,3431,0,0,0,0,0,0
$GC,1619,-2.24,-89.6,262.0,-14.2,151,1624,0.00,2.55,0.00,0.000,4,0.000,0.042,2504,3775,3431,0,0,0,0,0,0
$GC,1712,-2.24,-89.6,276.3,-15.4,158,1718,0.00,2.45,0.00,0.000,6,0.000,0.020,2504,2211,3431,0,0,0,0,0,0
$GC,1975,-2.28,-89.6,317.1,-16.9,183,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2211,3431,0,0,0,0,0,0
$GC,2229,-2.33,-89.6,353.8,-13.5,207,2233,0.00,2.60,0.00,0.000,4,0.000,0.048,2504,3763,3430,0,0,0,0,0,0
$GC,2269,-2.33,-89.6,360.0,-15.1,210,2273,0.00,2.53,0.00,0.000,6,0.000,0.030,2504,2208,3430,0,0,0,0,0,0
$GC,2533,-2.39,-89.6,395.4,-12.6,234,2538,0.00,2.62,0.00,0.000,4,0.000,0.053,2505,3758,3429,0,0,0,0,0,0
$GC,2637,-2.39,-89.6,410.3,-13.8,242,2643,0.00,2.55,0.00,0.000,6,0.000,0.037,2505,2216,3428,0,0,0,0,0,0
$GC,2902,-2.46,-89.6,441.5,-11.7,267,2911,0.15,0.00,0.00,0.000,6,0.060,0.000,2451,2217,3427,0,0,0,0,0,0
$GC,3168,-2.46,-89.6,476.0,-12.6,292,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2217,3425,0,0,0,0,0,0
$GC,3431,-2.46,-89.6,514.5,-14.8,317,3435,0.00,2.70,0.00,0.000,4,0.000,0.073,2451,3754,3424,0,0,0,0,0,0
$GC,3636,-2.42,-89.6,546.4,-16.2,334,3642,0.12,2.62,0.00,0.000,6,0.127,0.057,2473,2229,3422,0,0,0,0,0,0
$GC,3901,-2.42,-89.6,578.5,-11.1,358,3905,0.00,2.70,0.00,0.000,4,0.000,0.085,2473,3757,3420,0,0,0,0,0,0
$GC,3993,-2.42,-89.6,589.1,-10.6,365,3999,0.00,2.67,0.00,0.000,6,0.000,0.064,2473,2228,3419,0,0,0,0,0,0
$GC,4269,-2.42,-89.6,617.5,-10.4,380,4274,0.00,2.75,0.00,0.000,4,0.000,0.085,2474,3753,3417,0,0,0,0,0,0
$GC,4415,-2.42,-89.6,635.5,-12.9,383,4420,0.00,2.75,0.00,0.000,6,0.000,0.081,2474,2229,3416,0,0,0,0,0,0
$GC,4681,-2.42,-89.6,666.0,-11.4,390,4686,0.00,2.85,0.00,0.000,4,0.000,0.107,2473,3751,3414,0,0,0,0,0,0
$GC,4881,-2.42,-89.6,689.5,-11.4,394,4886,0.00,2.85,0.00,0.000,6,0.000,0.105,2473,2242,3413,0,0,0,0,0,0
$GC,5137,-2.47,-93.0,714.2,-9.5,401,5143,0.00,3.38,0.00,0.000,4,0.000,0.163,2474,616,3411,0,0,0,0,0,0
$GC,5166,-2.47,-96.1,717.0,-9.6,401,5171,0.00,2.97,0.00,0.000,6,0.000,0.112,2474,2189,3410,0,0,0,0,0,0
$GC,5417,-2.52,-99.9,741.1,-9.5,407,5422,0.00,3.33,0.00,0.000,4,0.000,0.154,2473,3804,3408,0,0,0,0,0,0
$GC,5433,-2.53,-103.2,742.8,-9.5,407,5438,0.00,3.10,0.00,0.000,6,0.000,0.133,2473,2245,3408,0,0,0,0,0,0
$GC,5696,-2.58,-107.9,767.2,-9.3,414,5698,0.12,0.00,0.00,0.000,6,0.071,0.000,2430,2245,3407,0,0,0,0,0,0
$GC,5937,-2.58,-107.9,793.1,-10.7,420,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2246,3406,0,0,0,0,0,0
$STATE,6018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6018,begin apogee
$GC,6024,-0.31,0.0,801.6,10.7,422,6103,2.42,0.00,74.05,1.155,6,0.117,0.000,2933,2368,3060,0,0,0,0,0,0
$STATE,6104,end apogee,CONTROL_FINISHED_OK
$STATE,6104,begin climb
$GC,6108,2.17,107.9,802.8,0.0,424,6211,2.20,0.00,96.05,1.131,6,0.030,0.000,3490,2368,2619,0,0,0,0,0,0
$GC,6472,2.12,107.9,743.8,18.8,433,6478,0.12,3.20,0.00,0.000,4,0.146,0.141,3468,3942,2609,0,0,0,0,0,0
$GC,6686,2.07,107.9,703.5,18.5,437,6691,0.00,3.00,0.00,0.000,6,0.000,0.103,3468,2368,2606,0,0,0,0,0,0
$GC,6935,2.07,107.9,660.3,17.2,444,6940,0.00,2.92,0.00,0.000,4,0.000,0.092,3468,3948,2604,0,0,0,0,0,0
$GC,7130,2.01,107.9,624.6,17.3,448,7136,0.12,2.75,0.00,0.000,6,0.140,0.064,3445,2383,2603,0,0,0,0,0,0
$GC,7390,2.05,107.9,583.8,15.3,460,7395,0.00,2.75,0.00,0.000,4,0.000,0.067,3445,3949,2602,0,0,0,0,0,0
$GC,7562,2.05,107.9,553.5,17.5,474,7571,0.00,2.67,0.00,0.000,6,0.000,0.051,3445,2395,2602,0,0,0,0,0,0
$GC,7831,2.10,107.9,514.8,15.1,499,7835,0.00,2.65,0.00,0.000,4,0.000,0.061,3445,3956,2600,0,0,0,0,0,0
$GC,8081,2.10,107.9,475.5,14.9,520,8086,0.00,2.58,0.00,0.000,6,0.000,0.041,3445,2406,2600,0,0,0,0,0,0
$GC,8350,2.15,107.9,440.3,13.3,544,8355,0.12,2.62,0.00,0.000,4,0.082,0.051,3478,3958,2598,0,0,0,0,0,0
$GC,8618,2.10,107.9,399.2,14.8,566,8624,0.00,2.50,0.00,0.000,6,0.000,0.034,3478,2442,2598,0,0,0,0,0,0
$GC,8881,2.10,107.9,367.1,12.5,591,8885,0.00,2.53,0.00,0.000,4,0.000,0.048,3478,3956,2598,0,0,0,0,0,0
$GC,9147,2.06,107.9,329.7,13.0,613,9153,0.12,2.42,0.00,0.000,6,0.138,0.028,3454,2450,2597,0,0,0,0,0,0
$GC,9411,2.12,107.9,298.0,11.8,638,9415,0.00,2.53,0.00,0.000,4,0.000,0.048,3455,3953,2596,0,0,0,0,0,0
$GC,9677,2.12,107.9,263.4,11.5,660,9687,0.00,2.40,0.00,0.000,6,0.000,0.025,3455,2474,2596,0,0,0,0,0,0
$GC,9946,2.20,107.9,236.7,10.5,685,9951,0.12,2.47,0.00,0.000,4,0.207,0.048,3488,3951,2596,0,0,0,0,0,0
$GC,10210,2.21,116.2,206.3,8.8,707,10220,0.00,2.35,4.28,0.520,6,0.000,0.025,3488,2481,2586,0,0,0,0,0,0
$GC,10488,2.27,121.9,181.5,9.2,733,10502,0.00,2.53,6.80,0.604,4,0.000,0.044,3488,3955,2562,0,0,0,0,0,0
$GC,10773,2.27,121.9,148.8,11.1,757,10777,0.00,2.35,0.00,0.000,6,0.000,0.022,3488,2474,2562,0,0,0,0,0,0
$GC,11042,2.34,128.9,123.9,9.0,781,11056,0.10,2.53,8.05,0.572,4,0.091,0.044,3516,3954,2533,0,0,0,0,0,0
$GC,11329,2.34,128.9,91.8,11.5,805,11333,0.00,2.33,0.00,0.000,6,0.000,0.022,3516,2477,2532,0,0,0,0,0,0
$GC,11597,2.42,142.6,64.9,8.0,829,11615,0.00,2.50,13.15,0.551,4,0.000,0.048,3516,3950,2477,0,0,0,0,0,0
$GC,11891,2.42,142.6,29.5,11.8,852,11901,0.00,2.33,0.00,0.000,6,0.000,0.023,3516,2495,2476,0,0,0,0,0,0
$STATE,12114,end climb,SURFACE_DEPTH_REACHED
$STATE,12114,begin surface coast
$FINISH,0.0,1.011764
$STATE,12157,end surface coast,CONTROL_FINISHED_OK
$STATE,12157,begin surface
$SM_CCo,12179,191.15,0.520,0,0,1509,380.21
$SM_GC,0.44,0.00,0.00,191.15,0.000,0.000,0.520,466,2138,1509,-11.68,-2.04,380.21
$IRIDIUM_FIX,2232.34,-15743.29,160703,060636
$TT8_MAMPS,0.026078
$HUMID,59.37
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.80
$XPDR_PINGS,16
$24V_AH,23.2,35.959
$10V_AH,10.1,41.518
$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,29.750,127.450,202.375,191.150,0.000,30.065,33.242,581.095,4.000,0.000,13.431,1671.642,6664.056,505.258,3293.729,1050.427,33.373,1552.312,0.000,3309.271,0.000,0.536,0.000
$DEVICE_MAMPS,207.090,164.138,1155.102,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,612.845,653.183,850.364,965.729,1836.577,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,73131,891
$CAP_FILE_SIZE,139952,0
$CFSIZE,260165632,161972224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210414,145523,2238.421,-15738.792,26,1.7,43,10.1