version: 66.06
glider: 146
mission: 9
dive: 127
start: 4 1 114 0 35 34
data:
$ID,146
$MISSION,9
$DIVE,127
$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,-326084.72
$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,58
$R_STBD_OVSHOOT,37
$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
$GPS1,002053,2251.885,-15750.106,38,1.4,38,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-70.6
$GPS2,003437,2251.912,-15750.219,14,1.3,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,-0.155
$KALMAN_X,-83632.8,-112.7,357.3,92544.2,-1168.1
$KALMAN_Y,67827.6,-219.2,55.6,-62795.7,301.1
$MHEAD_RNG_PITCHd_Wd,116.5,32539,-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,-88.97,0.000,6,0.000,0.000,461,2177,3657,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.5,-11.4,12,132,12.62,2.47,0.00,0.000,4,0.167,0.038,2715,656,3658,0,0,0,0,0,0
$GC,184,-1.15,-146.0,24.9,-16.4,21,194,0.15,2.47,0.00,0.000,6,0.089,0.020,2749,2219,3659,0,0,0,0,0,0
$GC,461,-1.09,-146.0,59.3,-12.2,48,465,0.00,2.50,0.00,0.000,4,0.000,0.034,2749,3778,3659,0,0,0,0,0,0
$GC,495,-1.05,-146.0,63.9,-12.4,50,500,0.12,2.42,0.00,0.000,6,0.110,0.021,2775,2230,3659,0,0,0,0,0,0
$GC,759,-1.05,-146.0,92.5,-10.2,74,763,0.00,2.60,0.00,0.000,4,0.000,0.044,2775,634,3659,0,0,0,0,0,0
$GC,815,-1.05,-146.0,98.7,-9.6,78,826,0.00,2.45,0.00,0.000,6,0.000,0.023,2775,2200,3659,0,0,0,0,0,0
$GC,1085,-1.09,-146.0,122.0,-9.2,103,1089,0.00,2.55,0.00,0.000,4,0.000,0.044,2775,641,3660,0,0,0,0,0,0
$GC,1149,-1.15,-146.0,128.7,-9.3,108,1153,0.00,2.40,0.00,0.000,6,0.000,0.018,2776,2195,3660,0,0,0,0,0,0
$GC,1413,-1.21,-146.0,149.7,-7.8,132,1418,0.15,2.58,0.00,0.000,4,0.058,0.044,2716,631,3660,0,0,0,0,0,0
$GC,1434,-1.21,-146.0,151.6,-8.3,133,1439,0.10,2.40,0.00,0.000,6,0.111,0.024,2738,2188,3660,0,0,0,0,0,0
$GC,1699,-1.21,-146.0,176.7,-10.1,157,1703,0.00,2.53,0.00,0.000,4,0.000,0.041,2738,3772,3660,0,0,0,0,0,0
$GC,1750,-1.21,-146.0,182.2,-10.8,161,1754,0.00,2.47,0.00,0.000,6,0.000,0.020,2738,2184,3660,0,0,0,0,0,0
$GC,2009,-1.21,-146.0,207.2,-9.0,179,2013,0.00,2.55,0.00,0.000,4,0.000,0.047,2738,631,3660,0,0,0,0,0,0
$GC,2030,-1.21,-146.0,209.3,-8.9,179,2034,0.00,2.40,0.00,0.000,6,0.000,0.025,2738,2188,3660,0,0,0,0,0,0
$GC,2285,-1.21,-146.0,230.8,-8.5,186,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2189,3660,0,0,0,0,0,0
$GC,2530,-1.21,-146.0,251.2,-8.2,192,2534,0.00,2.58,0.00,0.000,4,0.000,0.052,2738,637,3660,0,0,0,0,0,0
$GC,2563,-1.21,-146.0,254.2,-8.8,192,2568,0.00,2.42,0.00,0.000,6,0.000,0.027,2738,2189,3660,0,0,0,0,0,0
$GC,2813,-1.21,-146.0,274.2,-7.9,199,2817,0.00,2.60,0.00,0.000,4,0.000,0.054,2738,640,3660,0,0,0,0,0,0
$GC,2847,-1.21,-146.0,277.1,-8.6,199,2852,0.00,2.42,0.00,0.000,6,0.000,0.025,2738,2179,3660,0,0,0,0,0,0
$GC,3097,-1.21,-146.0,294.3,-6.7,206,3101,0.00,2.62,0.00,0.000,4,0.000,0.044,2739,3786,3659,0,0,0,0,0,0
$GC,3175,-1.26,-146.0,300.1,-7.7,207,3180,0.00,2.53,0.00,0.000,6,0.000,0.024,2738,2204,3659,0,0,0,0,0,0
$GC,3426,-1.30,-146.0,317.9,-7.3,214,3431,0.00,2.62,0.00,0.000,4,0.000,0.048,2738,3784,3658,0,0,0,0,0,0
$GC,3448,-1.34,-146.0,319.8,-8.0,214,3453,0.12,2.53,0.00,0.000,6,0.067,0.025,2690,2198,3658,0,0,0,0,0,0
$GC,3704,-1.29,-146.0,343.0,-9.1,221,3706,0.15,0.00,0.00,0.000,6,0.097,0.000,2723,2198,3656,0,0,0,0,0,0
$GC,3949,-1.29,-146.0,363.0,-8.2,227,3953,0.00,2.70,0.00,0.000,4,0.000,0.073,2722,630,3655,0,0,0,0,0,0
$GC,3988,-1.29,-146.0,366.7,-9.2,228,3992,0.00,2.50,0.00,0.000,6,0.000,0.031,2722,2192,3655,0,0,0,0,0,0
$GC,4271,-1.29,-146.0,390.6,-8.6,235,4276,0.00,2.70,0.00,0.000,4,0.000,0.067,2722,632,3653,0,0,0,0,0,0
$GC,4294,-1.29,-146.0,392.6,-8.5,235,4298,0.00,2.53,0.00,0.000,6,0.000,0.037,2723,2189,3653,0,0,0,0,0,0
$GC,4549,-1.33,-146.0,414.2,-8.4,242,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2189,3651,0,0,0,0,0,0
$GC,4793,-1.37,-146.0,433.3,-7.7,248,4797,0.00,2.75,0.00,0.000,4,0.000,0.063,2723,3795,3651,0,0,0,0,0,0
$GC,4850,-1.42,-146.0,437.8,-8.0,249,4855,0.12,2.65,0.00,0.000,6,0.067,0.038,2676,2198,3650,0,0,0,0,0,0
$GC,5117,-1.38,-146.0,461.7,-8.9,256,5122,0.12,2.75,0.00,0.000,4,0.103,0.060,2703,3795,3648,0,0,0,0,0,0
$GC,5141,-1.38,-146.0,463.8,-8.9,256,5145,0.00,2.67,0.00,0.000,6,0.000,0.045,2703,2199,3648,0,0,0,0,0,0
$GC,5396,-1.38,-146.0,484.0,-7.8,263,5400,0.00,2.75,0.00,0.000,4,0.000,0.063,2703,3792,3646,0,0,0,0,0,0
$GC,5423,-1.38,-146.0,486.5,-8.8,263,5427,0.00,2.67,0.00,0.000,6,0.000,0.048,2703,2204,3646,0,0,0,0,0,0
$GC,5674,-1.38,-146.0,506.4,-8.0,269,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2205,3644,0,0,0,0,0,0
$GC,5916,-1.38,-146.0,525.9,-8.1,275,5921,0.00,2.78,0.00,0.000,4,0.000,0.077,2703,3792,3643,0,0,0,0,0,0
$GC,5993,-1.38,-146.0,532.6,-8.2,276,5999,0.00,2.70,0.00,0.000,6,0.000,0.059,2703,2210,3643,0,0,0,0,0,0
$GC,6245,-1.38,-146.0,552.4,-7.9,283,6249,0.00,2.80,0.00,0.000,4,0.000,0.084,2703,3792,3641,0,0,0,0,0,0
$GC,6273,-1.38,-146.0,554.9,-9.5,283,6278,0.00,2.70,0.00,0.000,6,0.000,0.055,2703,2215,3641,0,0,0,0,0,0
$GC,6523,-1.38,-146.0,573.9,-7.4,289,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2215,3639,0,0,0,0,0,0
$GC,6767,-1.38,-146.0,591.6,-7.1,295,6772,0.00,2.83,0.00,0.000,4,0.000,0.087,2703,3786,3638,0,0,0,0,0,0
$GC,6808,-1.38,-146.0,594.6,-7.9,296,6812,0.00,2.75,0.00,0.000,6,0.000,0.067,2703,2208,3638,0,0,0,0,0,0
$STATE,6886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6886,begin apogee
$GC,6892,-0.31,0.0,600.7,7.3,298,7014,1.02,0.00,118.20,1.009,6,0.071,0.000,2935,2376,3059,0,0,0,0,0,0
$STATE,7015,end apogee,CONTROL_FINISHED_OK
$STATE,7015,begin climb
$GC,7018,1.27,146.0,602.5,0.0,301,7153,1.45,2.90,125.03,0.983,4,0.034,0.081,3289,3930,2463,0,0,0,0,0,0
$GC,7188,1.12,146.0,589.4,13.0,305,7193,0.20,2.75,0.00,0.000,6,0.107,0.058,3249,2369,2459,0,0,0,0,0,0
$GC,7456,1.08,150.6,562.2,9.8,312,7461,0.00,3.00,0.00,0.000,4,0.000,0.110,3249,779,2454,0,0,0,0,0,0
$GC,7478,1.02,150.6,559.7,10.6,312,7483,0.12,2.72,0.00,0.000,6,0.117,0.058,3225,2359,2453,0,0,0,0,0,0
$GC,7734,1.06,188.8,538.1,8.2,319,7778,0.00,2.90,37.22,0.943,4,0.000,0.074,3225,3937,2289,0,0,0,0,0,0
$GC,7820,1.07,195.8,530.4,9.7,321,7834,0.00,2.70,7.75,0.794,6,0.000,0.048,3225,2372,2260,0,0,0,0,0,0
$GC,8108,1.11,221.6,504.3,8.8,328,8137,0.00,2.80,23.52,0.911,4,0.000,0.063,3225,3935,2156,0,0,0,0,0,0
$GC,8172,1.11,221.6,498.1,10.9,329,8176,0.00,2.65,0.00,0.000,6,0.000,0.043,3225,2389,2153,0,0,0,0,0,0
$GC,8433,1.15,222.8,472.3,9.9,336,8438,0.12,3.05,0.00,0.000,4,0.077,0.109,3261,782,2151,0,0,0,0,0,0
$GC,8494,1.15,222.8,464.7,12.4,337,8499,0.00,2.70,0.00,0.000,6,0.000,0.041,3261,2392,2149,0,0,0,0,0,0
$GC,8762,1.15,222.8,434.6,11.3,344,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2392,2149,0,0,0,0,0,0
$GC,9004,1.15,222.8,407.6,11.2,350,9009,0.00,2.58,0.00,0.000,4,0.000,0.049,3261,3940,2148,0,0,0,0,0,0
$GC,9053,1.15,222.8,401.6,12.1,351,9058,0.00,2.60,0.00,0.000,6,0.000,0.031,3261,2364,2147,0,0,0,0,0,0
$GC,9327,1.15,222.8,372.0,10.8,358,9331,0.00,2.75,0.00,0.000,4,0.000,0.071,3261,784,2147,0,0,0,0,0,0
$GC,9359,1.15,222.8,368.0,11.7,358,9367,0.00,2.55,0.00,0.000,6,0.000,0.028,3261,2371,2146,0,0,0,0,0,0
$GC,9609,1.15,222.8,340.4,11.0,365,9610,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2371,2146,0,0,0,0,0,0
$GC,9854,1.15,222.8,313.5,10.8,371,9855,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2372,2146,0,0,0,0,0,0
$GC,10096,1.15,222.8,287.5,10.7,377,10101,0.00,2.58,0.00,0.000,4,0.000,0.045,3261,3939,2146,0,0,0,0,0,0
$GC,10123,1.15,222.8,284.5,11.0,377,10128,0.00,2.58,0.00,0.000,6,0.000,0.026,3261,2353,2145,0,0,0,0,0,0
$GC,10374,1.15,226.5,259.1,9.8,383,10379,0.00,0.00,3.90,0.517,6,0.000,0.000,3261,2353,2136,0,0,0,0,0,0
$GC,10619,1.16,232.1,235.2,9.7,389,10633,0.00,2.70,6.90,0.649,4,0.000,0.052,3262,784,2113,0,0,0,0,0,0
$GC,10678,1.17,242.2,229.1,9.5,390,10694,0.00,2.50,10.38,0.692,6,0.000,0.024,3261,2362,2072,0,0,0,0,0,0
$GC,10946,1.21,243.9,202.9,9.9,397,10950,0.00,2.60,0.00,0.000,4,0.000,0.042,3261,3932,2070,0,0,0,0,0,0
$GC,11026,1.25,243.9,193.7,10.9,401,11032,0.00,2.53,0.00,0.000,6,0.000,0.024,3262,2366,2069,0,0,0,0,0,0
$GC,11290,1.30,245.9,167.9,9.9,426,11300,0.10,0.00,4.65,0.507,6,0.085,0.000,3295,2366,2056,0,0,0,0,0,0
$GC,11557,1.30,245.9,137.8,11.3,451,11561,0.00,2.58,0.00,0.000,4,0.000,0.041,3295,3925,2056,0,0,0,0,0,0
$GC,11613,1.30,245.9,131.0,12.3,455,11617,0.00,2.47,0.00,0.000,6,0.000,0.023,3295,2379,2055,0,0,0,0,0,0
$GC,11881,1.30,248.2,103.7,9.9,479,11885,0.00,2.58,0.00,0.000,4,0.000,0.042,3295,3927,2055,0,0,0,0,0,0
$GC,11936,1.30,248.2,96.9,11.6,483,11940,0.00,2.45,0.00,0.000,6,0.000,0.022,3295,2389,2055,0,0,0,0,0,0
$GC,12205,1.30,248.2,68.4,10.4,507,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2389,2056,0,0,0,0,0,0
$GC,12471,1.30,251.6,40.5,9.8,532,12485,0.00,2.58,7.00,0.477,4,0.000,0.040,3295,3929,2034,0,0,0,0,0,0
$GC,12576,1.30,251.6,29.0,11.8,540,12586,0.00,2.45,0.00,0.000,6,0.000,0.021,3295,2397,2034,0,0,0,0,0,0
$STATE,12831,end climb,SURFACE_DEPTH_REACHED
$STATE,12831,begin surface coast
$FINISH,-0.2,1.023874
$STATE,12880,end surface coast,CONTROL_FINISHED_OK
$STATE,12880,begin surface
$SM_CCo,12902,104.30,0.521,0,0,1509,380.21
$SM_GC,0.39,0.00,0.00,104.30,0.000,0.000,0.521,465,2194,1509,-11.68,-0.45,380.21
$IRIDIUM_FIX,2241.69,-15751.94,260603,000052
$TT8_MAMPS,0.026078
$HUMID,60.12
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.30
$XPDR_PINGS,20
$24V_AH,23.4,17.905
$10V_AH,10.4,15.512
$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,28.050,168.150,344.550,104.300,0.000,55.754,77.250,479.918,5.000,0.000,16.206,1227.900,8968.857,584.372,2094.275,955.709,33.367,1394.530,0.000,2100.906,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,109.681,1009.372,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,397.392,332.046,419.630,612.947,1167.001,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,44696,585
$CAP_FILE_SIZE,138296,0
$CFSIZE,260165632,172077056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010414,041424,2251.144,-15748.953,81,1.6,81,10.1