version: 66.06
glider: 146
mission: 9
dive: 128
start: 4 1 114 4 22 27
data:
$ID,146
$MISSION,9
$DIVE,128
$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,-326099.53
$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,49
$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
$GPS1,041424,2251.144,-15748.953,81,1.6,81,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-69.0
$GPS2,042133,2251.179,-15748.975,12,2.0,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.093,-0.242
$KALMAN_X,-83551.1,-121.5,-136.2,95077.9,-119.0
$KALMAN_Y,68665.1,20.4,-531.8,-64643.4,1691.6
$MHEAD_RNG_PITCHd_Wd,148.9,30132,-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,-89.22,0.000,6,0.000,0.000,464,2194,3656,0,0,0,0,0,0
$GC,116,-1.27,-146.0,4.3,-10.8,12,133,12.57,2.53,0.00,0.000,4,0.168,0.038,2716,647,3657,0,0,0,0,0,0
$GC,158,-0.54,-146.0,21.2,-36.3,17,168,0.75,2.47,0.00,0.000,6,0.081,0.020,2882,2209,3658,0,0,0,0,0,0
$GC,459,-0.76,-146.0,37.5,-5.1,53,464,0.17,2.58,0.00,0.000,4,0.053,0.044,2815,649,3659,0,0,0,0,0,0
$GC,484,-0.88,-146.0,39.5,-6.3,54,493,0.00,2.45,0.00,0.000,6,0.000,0.017,2815,2222,3659,0,0,0,0,0,0
$GC,753,-0.96,-146.0,63.0,-9.4,79,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2222,3659,0,0,0,0,0,0
$GC,1019,-1.04,-146.0,85.9,-8.3,104,1024,0.15,2.60,0.00,0.000,4,0.058,0.043,2753,642,3659,0,0,0,0,0,0
$GC,1042,-1.04,-146.0,88.1,-9.1,105,1047,0.10,2.40,0.00,0.000,6,0.112,0.017,2776,2215,3659,0,0,0,0,0,0
$GC,1308,-1.04,-146.0,115.8,-10.0,129,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2215,3660,0,0,0,0,0,0
$GC,1577,-1.09,-146.0,140.9,-8.8,154,1582,0.00,2.55,0.00,0.000,4,0.000,0.044,2776,650,3660,0,0,0,0,0,0
$GC,1671,-1.16,-146.0,149.9,-8.9,161,1676,0.10,2.40,0.00,0.000,6,0.079,0.023,2731,2214,3660,0,0,0,0,0,0
$GC,1935,-1.16,-146.0,176.3,-10.6,185,1940,0.00,2.50,0.00,0.000,4,0.000,0.037,2731,3776,3660,0,0,0,0,0,0
$GC,1952,-1.16,-146.0,178.7,-10.5,186,1957,0.00,2.40,0.00,0.000,6,0.000,0.018,2731,2225,3660,0,0,0,0,0,0
$GC,2215,-1.16,-146.0,206.8,-10.9,210,2220,0.10,2.60,0.00,0.000,4,0.110,0.047,2753,640,3661,0,0,0,0,0,0
$GC,2250,-1.16,-146.0,210.7,-10.1,212,2255,0.00,2.45,0.00,0.000,6,0.000,0.019,2752,2215,3661,0,0,0,0,0,0
$GC,2512,-1.16,-146.0,234.7,-8.5,237,2517,0.00,2.53,0.00,0.000,4,0.000,0.042,2753,3776,3661,0,0,0,0,0,0
$GC,2570,-1.21,-146.0,239.5,-9.0,241,2574,0.00,2.42,0.00,0.000,6,0.000,0.020,2753,2222,3660,0,0,0,0,0,0
$GC,2837,-1.27,-146.0,259.3,-7.2,265,2842,0.10,2.62,0.00,0.000,4,0.080,0.053,2705,642,3661,0,0,0,0,0,0
$GC,2961,-1.27,-146.0,271.7,-9.6,275,2966,0.10,2.45,0.00,0.000,6,0.111,0.024,2727,2215,3661,0,0,0,0,0,0
$GC,3222,-1.27,-146.0,294.8,-8.6,299,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2216,3661,0,0,0,0,0,0
$GC,3479,-1.27,-146.0,317.3,-9.4,323,3483,0.00,2.60,0.00,0.000,4,0.000,0.047,2727,3779,3660,0,0,0,0,0,0
$GC,3535,-1.30,-146.0,322.9,-9.3,327,3544,0.00,2.50,0.00,0.000,6,0.000,0.026,2727,2243,3659,0,0,0,0,0,0
$GC,3802,-1.30,-146.0,344.2,-7.4,352,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2243,3658,0,0,0,0,0,0
$GC,4063,-1.30,-146.0,362.9,-6.6,377,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2243,3657,0,0,0,0,0,0
$GC,4322,-1.34,-146.0,379.8,-6.9,401,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2243,3655,0,0,0,0,0,0
$GC,4587,-1.39,-146.0,400.1,-8.2,426,4592,0.12,2.88,0.00,0.000,4,0.068,0.086,2678,629,3654,0,0,0,0,0,0
$GC,4611,-1.39,-146.0,402.1,-8.9,427,4616,0.10,2.58,0.00,0.000,6,0.113,0.044,2700,2216,3654,0,0,0,0,0,0
$GC,4876,-1.39,-146.0,428.5,-9.4,451,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2216,3652,0,0,0,0,0,0
$GC,5138,-1.39,-146.0,453.8,-9.2,476,5143,0.00,2.67,0.00,0.000,4,0.000,0.062,2700,3792,3650,0,0,0,0,0,0
$GC,5171,-1.39,-146.0,456.7,-10.2,478,5176,0.00,2.60,0.00,0.000,6,0.000,0.040,2700,2229,3651,0,0,0,0,0,0
$GC,5439,-1.39,-146.0,478.9,-8.3,502,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2229,3648,0,0,0,0,0,0
$GC,5701,-1.39,-146.0,500.2,-7.9,527,5705,0.00,2.92,0.00,0.000,4,0.000,0.102,2700,626,3646,0,0,0,0,0,0
$GC,5722,-1.39,-146.0,502.0,-8.4,528,5731,0.00,2.67,0.00,0.000,6,0.000,0.053,2700,2210,3646,0,0,0,0,0,0
$GC,5990,-1.39,-146.0,524.7,-8.7,553,5994,0.00,2.78,0.00,0.000,4,0.000,0.072,2700,3796,3645,0,0,0,0,0,0
$GC,6067,-1.39,-146.0,532.5,-9.6,559,6072,0.00,2.65,0.00,0.000,6,0.000,0.053,2700,2234,3645,0,0,0,0,0,0
$GC,6336,-1.39,-146.0,555.5,-8.3,583,6340,0.00,2.72,0.00,0.000,4,0.000,0.076,2700,3801,3644,0,0,0,0,0,0
$GC,6368,-1.39,-146.0,558.9,-8.8,585,6378,0.00,2.67,0.00,0.000,6,0.000,0.057,2700,2250,3643,0,0,0,0,0,0
$GC,6635,-1.39,-146.0,579.6,-7.6,610,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2251,3642,0,0,0,0,0,0
$GC,6897,-1.39,-146.0,600.0,-7.7,635,6901,0.00,2.08,0.00,0.000,3,0.000,0.077,2700,3425,3640,0,0,0,0,0,0
$STATE,6901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6901,begin apogee
$GC,6910,-0.31,0.0,600.5,7.8,635,7036,1.02,0.00,118.43,1.006,6,0.074,0.000,2934,2367,3060,0,0,0,0,0,0
$STATE,7037,end apogee,CONTROL_FINISHED_OK
$STATE,7037,begin climb
$GC,7039,1.27,146.0,604.3,0.0,639,7170,1.45,0.00,125.07,0.979,6,0.034,0.000,3290,2367,2464,0,0,0,0,0,0
$GC,7426,1.15,146.0,572.0,10.4,667,7432,0.17,2.80,0.00,0.000,4,0.114,0.071,3255,3933,2455,0,0,0,0,0,0
$GC,7444,1.03,147.5,569.7,9.9,668,7449,0.12,2.70,0.00,0.000,6,0.123,0.058,3231,2366,2454,0,0,0,0,0,0
$GC,7707,1.09,190.3,548.0,8.0,692,7751,0.00,2.83,38.65,0.946,4,0.000,0.061,3231,3942,2283,0,0,0,0,0,0
$GC,7791,1.09,190.3,539.9,10.9,699,7800,0.00,2.72,0.00,0.000,6,0.000,0.049,3231,2382,2280,0,0,0,0,0,0
$GC,8059,1.11,207.1,515.3,9.2,724,8077,0.00,0.00,15.50,0.887,6,0.000,0.000,3231,2382,2215,0,0,0,0,0,0
$GC,8331,1.11,207.1,486.3,10.5,750,8336,0.00,3.00,0.00,0.000,4,0.000,0.110,3230,780,2212,0,0,0,0,0,0
$GC,8353,1.11,207.1,484.2,11.5,751,8358,0.00,2.72,0.00,0.000,6,0.000,0.044,3230,2397,2211,0,0,0,0,0,0
$GC,8621,1.11,211.9,456.5,9.8,775,8628,0.00,0.00,4.95,0.674,6,0.000,0.000,3231,2397,2196,0,0,0,0,0,0
$GC,8883,1.11,211.9,429.6,10.2,800,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2397,2194,0,0,0,0,0,0
$GC,9138,1.15,211.9,402.9,10.9,824,9144,0.10,2.83,0.00,0.000,4,0.089,0.065,3261,771,2193,0,0,0,0,0,0
$GC,9179,1.15,211.9,397.9,12.1,827,9184,0.00,2.65,0.00,0.000,6,0.000,0.036,3261,2405,2192,0,0,0,0,0,0
$GC,9443,1.15,211.9,367.3,11.8,851,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2405,2192,0,0,0,0,0,0
$GC,9695,1.15,211.9,337.8,11.4,875,9699,0.00,2.78,0.00,0.000,4,0.000,0.054,3261,770,2191,0,0,0,0,0,0
$GC,9729,1.15,211.9,333.7,12.2,877,9735,0.00,2.62,0.00,0.000,6,0.000,0.031,3261,2400,2191,0,0,0,0,0,0
$GC,9992,1.15,211.9,305.6,10.2,902,9993,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2400,2191,0,0,0,0,0,0
$GC,10246,1.15,212.3,279.4,10.0,926,10251,0.00,2.55,0.00,0.000,4,0.000,0.046,3261,3939,2191,0,0,0,0,0,0
$GC,10321,1.15,212.3,270.8,10.5,932,10326,0.00,2.53,0.00,0.000,6,0.000,0.024,3261,2369,2190,0,0,0,0,0,0
$GC,10584,1.19,239.8,247.3,8.7,956,10618,0.00,2.75,24.95,0.759,4,0.000,0.052,3261,789,2080,0,0,0,0,0,0
$GC,10691,1.19,246.3,237.7,9.7,965,10705,0.00,2.53,7.12,0.640,6,0.000,0.024,3261,2381,2054,0,0,0,0,0,0
$GC,10971,1.21,260.3,212.7,9.4,991,10992,0.00,2.62,13.73,0.691,4,0.000,0.044,3261,3917,1997,0,0,0,0,0,0
$GC,11081,1.27,260.3,199.7,11.6,1000,11086,0.00,2.45,0.00,0.000,6,0.000,0.025,3261,2395,1995,0,0,0,0,0,0
$GC,11349,1.32,260.3,170.2,10.3,1025,11354,0.12,2.55,0.00,0.000,4,0.073,0.043,3301,3932,1994,0,0,0,0,0,0
$GC,11366,1.32,260.3,167.5,10.6,1026,11370,0.00,2.45,0.00,0.000,6,0.000,0.022,3300,2390,1994,0,0,0,0,0,0
$GC,11635,1.32,260.3,138.0,10.2,1050,11639,0.00,2.65,0.00,0.000,4,0.000,0.047,3300,784,1994,0,0,0,0,0,0
$GC,11655,1.32,260.3,135.5,10.2,1051,11660,0.00,2.55,0.00,0.000,6,0.000,0.021,3300,2405,1993,0,0,0,0,0,0
$GC,11921,1.32,260.3,108.7,10.1,1075,11925,0.00,2.47,0.00,0.000,4,0.000,0.041,3300,3921,1993,0,0,0,0,0,0
$GC,12005,1.32,260.3,98.9,10.6,1081,12015,0.00,2.42,0.00,0.000,6,0.000,0.023,3300,2415,1993,0,0,0,0,0,0
$GC,12272,1.32,260.3,71.7,10.6,1106,12276,0.00,2.47,0.00,0.000,4,0.000,0.042,3300,3929,1993,0,0,0,0,0,0
$GC,12307,1.32,260.3,67.8,11.6,1108,12311,0.00,2.35,0.00,0.000,6,0.000,0.022,3300,2435,1994,0,0,0,0,0,0
$GC,12574,1.32,260.3,39.0,10.9,1132,12579,0.00,2.47,0.00,0.000,4,0.000,0.046,3300,3924,1994,0,0,0,0,0,0
$GC,12598,1.32,260.3,35.8,10.6,1133,12608,0.00,2.38,0.00,0.000,6,0.000,0.023,3300,2444,1994,0,0,0,0,0,0
$STATE,12876,end climb,SURFACE_DEPTH_REACHED
$STATE,12876,begin surface coast
$FINISH,-0.1,1.018291
$STATE,12927,end surface coast,CONTROL_FINISHED_OK
$STATE,12927,begin surface
$SM_CCo,12949,96.82,0.518,0,0,1509,380.21
$SM_GC,0.48,0.00,0.00,96.82,0.000,0.000,0.518,458,2189,1509,-11.72,-0.59,380.21
$IRIDIUM_FIX,2244.02,-15748.90,260603,000016
$TT8_MAMPS,0.026078
$HUMID,60.12
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.50
$XPDR_PINGS,18
$24V_AH,23.4,18.030
$10V_AH,10.3,15.754
$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,28.625,144.350,348.400,96.825,0.000,30.478,34.423,224.562,4.500,0.000,14.203,2034.555,6060.183,584.664,4067.018,726.028,33.364,1691.128,0.000,4110.486,0.000,0.535,0.000
$DEVICE_MAMPS,167.973,109.681,1006.304,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,809.924,944.706,1203.772,1531.020,2913.984,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,98393,1179
$CAP_FILE_SIZE,149081,0
$CFSIZE,260165632,171941888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010414,080126,2250.516,-15748.224,31,2.5,50,10.1