version: 66.06
glider: 146
mission: 9
dive: 47
start: 3 19 114 9 26 43
data:
$ID,146
$MISSION,9
$DIVE,47
$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,-324274.97
$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,46
$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
$GPS1,091829,2249.356,-15748.510,40,1.4,40,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-68.0
$GPS2,092549,2249.410,-15748.523,12,1.2,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.187,-0.180
$KALMAN_X,-37474.8,396.4,-77.6,49204.6,-185.0
$KALMAN_Y,17648.7,117.0,574.6,-18111.5,-100.9
$MHEAD_RNG_PITCHd_Wd,123.7,27150,-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,-89.68,0.000,6,0.000,0.000,469,2184,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.1,-10.1,12,133,11.45,2.50,0.00,0.000,4,0.134,0.033,2717,642,3657,0,0,0,0,0,0
$GC,210,-1.16,-146.0,27.9,-13.5,25,220,0.12,2.50,0.00,0.000,6,0.087,0.020,2747,2220,3658,0,0,0,0,0,0
$GC,489,-1.11,-146.0,58.7,-11.7,51,493,0.00,2.58,0.00,0.000,4,0.000,0.041,2747,638,3658,0,0,0,0,0,0
$GC,523,-1.03,-146.0,63.4,-12.9,53,528,0.15,2.42,0.00,0.000,6,0.107,0.017,2779,2217,3658,0,0,0,0,0,0
$GC,790,-1.03,-146.0,93.8,-11.4,77,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2218,3659,0,0,0,0,0,0
$GC,1051,-1.03,-146.0,121.6,-10.6,102,1055,0.00,2.58,0.00,0.000,4,0.000,0.043,2779,640,3659,0,0,0,0,0,0
$GC,1096,-1.09,-146.0,126.0,-10.4,105,1101,0.00,2.38,0.00,0.000,6,0.000,0.018,2779,2191,3659,0,0,0,0,0,0
$GC,1365,-1.14,-146.0,149.4,-8.6,129,1370,0.10,2.55,0.00,0.000,4,0.082,0.044,2735,638,3659,0,0,0,0,0,0
$GC,1394,-1.14,-146.0,153.3,-11.4,131,1398,0.00,2.40,0.00,0.000,6,0.000,0.018,2735,2190,3659,0,0,0,0,0,0
$GC,1656,-1.14,-146.0,182.5,-9.8,155,1661,0.00,2.55,0.00,0.000,4,0.000,0.036,2735,3772,3660,0,0,0,0,0,0
$GC,1723,-1.14,-146.0,188.7,-9.5,160,1727,0.00,2.45,0.00,0.000,6,0.000,0.020,2735,2207,3660,0,0,0,0,0,0
$GC,2010,-1.14,-146.0,215.6,-9.3,175,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2207,3660,0,0,0,0,0,0
$GC,2252,-1.14,-146.0,238.4,-9.2,181,2257,0.00,2.55,0.00,0.000,4,0.000,0.040,2735,3779,3661,0,0,0,0,0,0
$GC,2319,-1.14,-146.0,245.1,-9.6,182,2323,0.00,2.45,0.00,0.000,6,0.000,0.021,2735,2217,3660,0,0,0,0,0,0
$GC,2576,-1.14,-146.0,268.0,-8.8,189,2580,0.00,2.53,0.00,0.000,4,0.000,0.046,2735,3769,3660,0,0,0,0,0,0
$GC,2592,-1.14,-146.0,269.7,-8.4,189,2596,0.00,2.45,0.00,0.000,6,0.000,0.021,2735,2215,3660,0,0,0,0,0,0
$GC,2853,-1.14,-146.0,291.8,-8.6,196,2857,0.00,2.55,0.00,0.000,4,0.000,0.044,2735,3768,3660,0,0,0,0,0,0
$GC,2875,-1.14,-146.0,293.8,-9.2,196,2879,0.00,2.45,0.00,0.000,6,0.000,0.022,2735,2227,3660,0,0,0,0,0,0
$GC,3130,-1.14,-146.0,315.3,-8.2,203,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2228,3660,0,0,0,0,0,0
$GC,3374,-1.18,-146.0,333.5,-7.4,209,3379,0.00,2.60,0.00,0.000,4,0.000,0.055,2735,3773,3659,0,0,0,0,0,0
$GC,3391,-1.22,-146.0,334.8,-7.9,209,3396,0.00,2.50,0.00,0.000,6,0.000,0.036,2734,2231,3659,0,0,0,0,0,0
$GC,3652,-1.26,-146.0,355.9,-8.1,216,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2231,3658,0,0,0,0,0,0
$GC,3896,-1.31,-146.0,374.6,-7.4,222,3901,0.00,2.78,0.00,0.000,4,0.000,0.075,2735,627,3656,0,0,0,0,0,0
$GC,3937,-1.37,-146.0,377.6,-7.7,223,3942,0.12,2.55,0.00,0.000,6,0.071,0.037,2689,2191,3656,0,0,0,0,0,0
$GC,4221,-1.37,-146.0,402.3,-8.7,230,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2190,3654,0,0,0,0,0,0
$GC,4464,-1.37,-146.0,423.8,-9.0,236,4469,0.00,2.72,0.00,0.000,4,0.000,0.069,2689,3790,3652,0,0,0,0,0,0
$GC,4532,-1.37,-146.0,430.3,-9.0,237,4537,0.00,2.60,0.00,0.000,6,0.000,0.042,2689,2228,3652,0,0,0,0,0,0
$GC,4787,-1.37,-146.0,452.7,-8.7,244,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2227,3650,0,0,0,0,0,0
$GC,5031,-1.37,-146.0,474.3,-8.8,250,5035,0.00,2.67,0.00,0.000,4,0.000,0.065,2689,3789,3649,0,0,0,0,0,0
$GC,5076,-1.37,-146.0,478.3,-8.5,251,5080,0.00,2.65,0.00,0.000,6,0.000,0.049,2689,2226,3648,0,0,0,0,0,0
$GC,5353,-1.37,-146.0,499.4,-7.5,258,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2226,3647,0,0,0,0,0,0
$GC,5597,-1.37,-146.0,519.0,-8.4,264,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2226,3645,0,0,0,0,0,0
$GC,5842,-1.37,-146.0,540.7,-8.7,270,5846,0.00,2.78,0.00,0.000,4,0.000,0.088,2689,3785,3643,0,0,0,0,0,0
$GC,5910,-1.37,-146.0,546.8,-9.2,271,5914,0.00,2.67,0.00,0.000,6,0.000,0.058,2689,2234,3643,0,0,0,0,0,0
$GC,6165,-1.37,-146.0,568.2,-8.3,278,6169,0.00,2.75,0.00,0.000,4,0.000,0.089,2689,3785,3642,0,0,0,0,0,0
$GC,6198,-1.37,-146.0,571.2,-8.8,278,6204,0.00,2.67,0.00,0.000,6,0.000,0.061,2689,2241,3642,0,0,0,0,0,0
$GC,6448,-1.37,-146.0,591.4,-7.9,285,6453,0.00,3.05,0.00,0.000,4,0.000,0.119,2688,623,3640,0,0,0,0,0,0
$GC,6471,-1.37,-146.0,593.2,-7.9,285,6476,0.00,2.80,0.00,0.000,6,0.000,0.065,2689,2232,3640,0,0,0,0,0,0
$STATE,6561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6561,begin apogee
$GC,6569,-0.31,0.0,600.6,7.9,288,6690,1.10,0.00,118.15,1.021,6,0.074,0.000,2937,2383,3060,0,0,0,0,0,0
$STATE,6691,end apogee,CONTROL_FINISHED_OK
$STATE,6691,begin climb
$GC,6694,1.27,146.0,603.0,0.0,291,6828,1.42,2.92,123.90,0.990,4,0.038,0.095,3283,3936,2463,0,0,0,0,0,0
$GC,6880,1.12,146.0,588.8,12.3,295,6885,0.17,2.78,0.00,0.000,6,0.110,0.061,3248,2366,2458,0,0,0,0,0,0
$GC,7141,1.07,149.8,562.4,9.8,302,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2367,2453,0,0,0,0,0,0
$GC,7386,1.03,153.7,538.4,9.8,308,7394,0.00,0.00,6.15,0.760,6,0.000,0.000,3248,2366,2433,0,0,0,0,0,0
$GC,7629,0.99,167.6,515.6,9.4,314,7645,0.12,0.00,14.02,0.896,6,0.133,0.000,3224,2367,2376,0,0,0,0,0,0
$GC,7872,1.02,187.1,493.6,9.1,320,7892,0.00,0.00,18.55,0.907,6,0.000,0.000,3224,2367,2297,0,0,0,0,0,0
$GC,8117,1.03,198.0,470.7,9.5,326,8135,0.00,2.92,11.18,0.854,4,0.000,0.090,3223,777,2250,0,0,0,0,0,0
$GC,8164,1.03,198.0,465.7,10.4,327,8169,0.00,2.72,0.00,0.000,6,0.000,0.044,3223,2384,2248,0,0,0,0,0,0
$GC,8442,1.03,198.0,437.6,10.2,334,8447,0.00,2.65,0.00,0.000,4,0.000,0.064,3223,3939,2247,0,0,0,0,0,0
$GC,8498,1.03,198.0,431.5,10.7,335,8503,0.00,2.60,0.00,0.000,6,0.000,0.041,3223,2368,2246,0,0,0,0,0,0
$GC,8764,1.03,199.6,405.0,9.9,342,8769,0.00,2.67,0.00,0.000,4,0.000,0.053,3223,3935,2246,0,0,0,0,0,0
$GC,8824,1.03,199.6,398.4,11.3,343,8829,0.00,2.55,0.00,0.000,6,0.000,0.038,3223,2398,2245,0,0,0,0,0,0
$GC,9088,1.11,225.1,374.5,8.8,350,9117,0.00,2.90,24.08,0.864,4,0.000,0.074,3223,778,2141,0,0,0,0,0,0
$GC,9181,1.17,231.6,366.0,9.7,352,9196,0.15,2.65,7.38,0.736,6,0.074,0.031,3262,2394,2114,0,0,0,0,0,0
$GC,9459,1.17,231.6,335.7,11.1,359,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2394,2112,0,0,0,0,0,0
$GC,9701,1.17,231.6,308.2,11.2,365,9705,0.00,2.58,0.00,0.000,4,0.000,0.051,3263,3929,2111,0,0,0,0,0,0
$GC,9727,1.17,231.6,304.9,12.4,365,9732,0.00,2.53,0.00,0.000,6,0.000,0.028,3262,2369,2110,0,0,0,0,0,0
$GC,9979,1.17,231.6,278.7,10.5,371,9983,0.00,2.62,0.00,0.000,4,0.000,0.056,3263,3927,2110,0,0,0,0,0,0
$GC,10005,1.17,231.6,275.3,12.3,371,10010,0.00,2.47,0.00,0.000,6,0.000,0.027,3263,2394,2109,0,0,0,0,0,0
$GC,10261,1.17,231.6,248.1,10.5,378,10265,0.00,2.60,0.00,0.000,4,0.000,0.051,3263,3935,2109,0,0,0,0,0,0
$GC,10306,1.17,231.6,243.1,11.5,379,10310,0.00,2.50,0.00,0.000,6,0.000,0.028,3262,2401,2109,0,0,0,0,0,0
$GC,10583,1.18,241.2,216.0,9.6,386,10598,0.00,2.75,8.90,0.672,4,0.000,0.051,3263,790,2075,0,0,0,0,0,0
$GC,10631,1.19,248.7,211.1,9.7,387,10646,0.00,2.62,8.25,0.652,6,0.000,0.028,3263,2409,2045,0,0,0,0,0,0
$GC,10899,1.19,248.7,184.2,10.2,404,10903,0.00,2.55,0.00,0.000,4,0.000,0.048,3262,3939,2043,0,0,0,0,0,0
$GC,10965,1.19,248.7,176.8,12.5,409,10969,0.00,2.45,0.00,0.000,6,0.000,0.025,3263,2403,2042,0,0,0,0,0,0
$GC,11232,1.22,275.5,150.5,8.8,433,11266,0.00,2.72,24.50,0.665,4,0.000,0.047,3263,786,1934,0,0,0,0,0,0
$GC,11284,1.22,275.5,145.3,10.5,437,11289,0.00,2.60,0.00,0.000,6,0.000,0.023,3263,2418,1933,0,0,0,0,0,0
$GC,11553,1.28,276.8,119.4,9.9,461,11557,0.00,2.50,0.00,0.000,4,0.000,0.044,3262,3929,1933,0,0,0,0,0,0
$GC,11570,1.34,277.5,117.0,10.0,462,11575,0.12,2.45,0.00,0.000,6,0.074,0.025,3304,2392,1931,0,0,0,0,0,0
$GC,11830,1.34,277.5,87.2,12.5,486,11831,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2392,1931,0,0,0,0,0,0
$GC,12090,1.34,277.5,57.1,10.9,510,12094,0.00,2.55,0.00,0.000,4,0.000,0.044,3304,3927,1931,0,0,0,0,0,0
$GC,12113,1.34,277.5,53.3,12.4,511,12123,0.00,2.47,0.00,0.000,6,0.000,0.025,3304,2396,1931,0,0,0,0,0,0
$GC,12394,1.36,290.5,22.8,9.4,541,12412,0.00,0.00,14.18,0.521,6,0.000,0.000,3304,2396,1874,0,0,0,0,0,0
$STATE,12580,end climb,SURFACE_DEPTH_REACHED
$STATE,12580,begin surface coast
$FINISH,-0.2,1.021955
$STATE,12622,end surface coast,CONTROL_FINISHED_OK
$STATE,12622,begin surface
$SM_CCo,12644,71.53,0.527,0,0,1510,380.21
$SM_GC,0.30,0.00,0.00,71.53,0.000,0.000,0.527,472,2189,1510,-11.65,-0.57,380.21
$IRIDIUM_FIX,2239.35,-15749.78,130603,050516
$TT8_MAMPS,0.026078
$HUMID,59.52
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.10
$XPDR_PINGS,17
$24V_AH,23.3,7.013
$10V_AH,10.4,6.045
$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,26.475,146.575,379.225,71.525,0.000,24.810,53.864,223.430,4.250,0.000,14.056,1189.982,8765.862,534.785,2051.733,611.949,33.357,1330.808,0.000,2055.343,0.000,0.534,0.000
$DEVICE_MAMPS,134.225,118.885,1020.877,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.221,323.781,407.348,603.347,1150.100,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,44832,574
$CAP_FILE_SIZE,125852,0
$CFSIZE,260165632,177176576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190314,125959,2248.658,-15747.548,39,1.7,39,10.1