version: 66.06
glider: 146
mission: 9
dive: 129
start: 4 1 114 8 15 14
data:
$ID,146
$MISSION,9
$DIVE,129
$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,-326133.16
$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,52
$R_STBD_OVSHOOT,40
$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
$GPS1,080126,2250.516,-15748.224,31,2.5,50,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-68.7
$GPS2,081421,2250.604,-15748.175,11,99.0,30,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.104,-0.238
$KALMAN_X,-83508.7,21.9,-83.5,96207.3,431.2
$KALMAN_Y,69429.9,265.0,296.5,-67546.7,751.8
$MHEAD_RNG_PITCHd_Wd,146.4,28445,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,115,0.00,0.00,-88.28,0.000,6,0.000,0.000,457,2188,3657,0,0,0,0,0,0
$GC,117,-1.27,-146.0,4.2,-10.7,12,135,12.73,2.50,0.00,0.000,4,0.166,0.035,2719,649,3658,0,0,0,0,0,0
$GC,160,-0.56,-146.0,20.9,-38.4,17,170,0.73,2.47,0.00,0.000,6,0.083,0.018,2877,2216,3659,0,0,0,0,0,0
$GC,456,-0.77,-146.0,40.1,-6.2,51,461,0.17,2.58,0.00,0.000,4,0.051,0.043,2808,652,3659,0,0,0,0,0,0
$GC,479,-0.91,-146.0,41.5,-5.9,52,483,0.00,2.40,0.00,0.000,6,0.000,0.018,2809,2213,3659,0,0,0,0,0,0
$GC,748,-0.97,-146.0,65.7,-9.3,76,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2213,3659,0,0,0,0,0,0
$GC,1015,-1.03,-146.0,90.2,-8.8,101,1024,0.12,0.00,0.00,0.000,6,0.067,0.000,2756,2213,3659,0,0,0,0,0,0
$GC,1281,-1.03,-146.0,120.1,-11.8,126,1291,0.10,0.00,0.00,0.000,6,0.113,0.000,2777,2213,3660,0,0,0,0,0,0
$GC,1551,-1.08,-146.0,144.4,-8.2,151,1555,0.00,2.58,0.00,0.000,4,0.000,0.044,2777,650,3660,0,0,0,0,0,0
$GC,1608,-1.13,-146.0,149.4,-7.7,155,1612,0.00,2.38,0.00,0.000,6,0.000,0.025,2778,2202,3660,0,0,0,0,0,0
$GC,1875,-1.18,-146.0,168.9,-7.4,179,1880,0.12,0.00,0.00,0.000,6,0.067,0.000,2724,2202,3660,0,0,0,0,0,0
$GC,2140,-1.13,-146.0,193.5,-9.1,204,2149,0.15,0.00,0.00,0.000,6,0.092,0.000,2757,2203,3660,0,0,0,0,0,0
$GC,2407,-1.13,-146.0,214.2,-8.3,229,2412,0.00,2.55,0.00,0.000,4,0.000,0.048,2757,649,3660,0,0,0,0,0,0
$GC,2440,-1.13,-146.0,217.7,-8.9,231,2450,0.00,2.42,0.00,0.000,6,0.000,0.025,2757,2191,3661,0,0,0,0,0,0
$GC,2708,-1.17,-146.0,240.0,-8.2,256,2712,0.00,2.58,0.00,0.000,4,0.000,0.048,2757,3780,3661,0,0,0,0,0,0
$GC,2787,-1.25,-146.0,246.6,-8.6,262,2792,0.10,2.45,0.00,0.000,6,0.079,0.021,2710,2216,3660,0,0,0,0,0,0
$GC,3053,-1.25,-146.0,270.1,-8.7,286,3059,0.10,2.65,0.00,0.000,4,0.112,0.054,2733,639,3660,0,0,0,0,0,0
$GC,3140,-1.25,-146.0,278.3,-8.6,293,3145,0.00,2.45,0.00,0.000,6,0.000,0.024,2733,2200,3660,0,0,0,0,0,0
$GC,3404,-1.25,-146.0,299.0,-8.0,317,3409,0.00,2.60,0.00,0.000,4,0.000,0.045,2733,3785,3660,0,0,0,0,0,0
$GC,3426,-1.25,-146.0,300.9,-7.2,318,3436,0.00,2.55,0.00,0.000,6,0.000,0.023,2733,2206,3660,0,0,0,0,0,0
$GC,3693,-1.28,-146.0,321.8,-8.4,343,3698,0.00,2.60,0.00,0.000,4,0.000,0.051,2733,3778,3659,0,0,0,0,0,0
$GC,3716,-1.32,-146.0,324.3,-8.7,344,3722,0.00,2.55,0.00,0.000,6,0.000,0.027,2733,2195,3659,0,0,0,0,0,0
$GC,3979,-1.32,-146.0,345.7,-7.5,369,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2196,3658,0,0,0,0,0,0
$GC,4236,-1.37,-146.0,363.1,-6.6,393,4241,0.12,2.65,0.00,0.000,4,0.068,0.051,2681,3775,3656,0,0,0,0,0,0
$GC,4258,-1.37,-146.0,364.8,-7.3,394,4263,0.12,2.55,0.00,0.000,6,0.101,0.039,2708,2210,3656,0,0,0,0,0,0
$GC,4523,-1.37,-146.0,386.1,-8.1,418,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2211,3655,0,0,0,0,0,0
$GC,4784,-1.37,-146.0,409.5,-8.9,443,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2210,3654,0,0,0,0,0,0
$GC,5039,-1.37,-146.0,432.7,-9.4,467,5044,0.00,2.70,0.00,0.000,4,0.000,0.067,2708,3778,3651,0,0,0,0,0,0
$GC,5073,-1.37,-146.0,435.3,-10.0,469,5077,0.00,2.58,0.00,0.000,6,0.000,0.048,2708,2223,3651,0,0,0,0,0,0
$GC,5340,-1.37,-146.0,459.1,-8.5,493,5345,0.00,2.90,0.00,0.000,4,0.000,0.100,2708,625,3650,0,0,0,0,0,0
$GC,5359,-1.37,-146.0,461.0,-7.8,494,5363,0.00,2.60,0.00,0.000,6,0.000,0.049,2708,2203,3649,0,0,0,0,0,0
$GC,5622,-1.37,-146.0,479.8,-6.5,518,5626,0.00,2.72,0.00,0.000,4,0.000,0.063,2708,3797,3648,0,0,0,0,0,0
$GC,5641,-1.37,-146.0,481.1,-7.3,519,5646,0.00,2.62,0.00,0.000,6,0.000,0.043,2708,2223,3647,0,0,0,0,0,0
$GC,5904,-1.37,-146.0,499.7,-7.1,543,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2223,3645,0,0,0,0,0,0
$GC,6159,-1.37,-146.0,518.4,-7.5,567,6163,0.00,2.72,0.00,0.000,4,0.000,0.065,2708,3793,3644,0,0,0,0,0,0
$GC,6199,-1.37,-146.0,521.6,-8.3,570,6203,0.00,2.62,0.00,0.000,6,0.000,0.047,2708,2234,3644,0,0,0,0,0,0
$GC,6463,-1.37,-146.0,540.1,-6.8,594,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2234,3643,0,0,0,0,0,0
$GC,6728,-1.37,-146.0,558.2,-7.0,619,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2235,3641,0,0,0,0,0,0
$GC,6992,-1.41,-146.0,577.8,-8.1,644,6997,0.00,3.10,0.00,0.000,4,0.000,0.125,2708,622,3639,0,0,0,0,0,0
$GC,7009,-1.41,-146.0,579.5,-7.8,645,7014,0.00,2.75,0.00,0.000,6,0.000,0.061,2708,2224,3639,0,0,0,0,0,0
$STATE,7259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7259,begin apogee
$GC,7266,-0.31,0.0,600.0,8.2,668,7388,1.00,0.00,118.07,1.015,6,0.071,0.000,2934,2377,3060,0,0,0,0,0,0
$STATE,7388,end apogee,CONTROL_FINISHED_OK
$STATE,7389,begin climb
$GC,7391,1.27,146.0,603.2,0.0,671,7528,1.42,2.95,124.50,0.986,4,0.033,0.097,3288,3935,2462,0,0,0,0,0,0
$GC,7576,1.13,146.0,590.0,12.2,679,7582,0.20,2.78,0.00,0.000,6,0.108,0.061,3248,2367,2458,0,0,0,0,0,0
$GC,7839,1.09,148.4,563.8,9.9,704,7844,0.00,3.00,0.00,0.000,4,0.000,0.109,3248,782,2454,0,0,0,0,0,0
$GC,7874,1.02,148.4,559.9,10.9,706,7880,0.12,2.72,0.00,0.000,6,0.119,0.055,3225,2360,2452,0,0,0,0,0,0
$GC,8137,1.06,186.0,536.4,8.3,731,8181,0.00,2.95,34.45,0.946,4,0.000,0.091,3224,782,2300,0,0,0,0,0,0
$GC,8206,1.06,186.0,529.7,10.7,737,8210,0.00,2.67,0.00,0.000,6,0.000,0.048,3224,2355,2298,0,0,0,0,0,0
$GC,8469,1.08,202.3,505.0,9.3,761,8493,0.00,2.85,15.48,0.891,4,0.000,0.067,3224,3937,2233,0,0,0,0,0,0
$GC,8533,1.08,202.3,499.0,11.0,766,8537,0.00,2.70,0.00,0.000,6,0.000,0.042,3224,2353,2231,0,0,0,0,0,0
$GC,8799,1.11,225.2,474.3,8.9,790,8835,0.10,3.03,21.33,0.900,4,0.087,0.108,3254,782,2139,0,0,0,0,0,0
$GC,8859,1.11,225.2,467.1,12.1,795,8864,0.00,2.65,0.00,0.000,6,0.000,0.041,3254,2355,2138,0,0,0,0,0,0
$GC,9121,1.11,225.2,436.5,12.0,819,9126,0.00,2.70,0.00,0.000,4,0.000,0.053,3254,3947,2135,0,0,0,0,0,0
$GC,9178,1.11,225.2,429.6,13.6,823,9182,0.00,2.62,0.00,0.000,6,0.000,0.039,3254,2358,2134,0,0,0,0,0,0
$GC,9444,1.11,225.2,396.9,12.6,847,9448,0.00,2.78,0.00,0.000,4,0.000,0.078,3255,776,2134,0,0,0,0,0,0
$GC,9471,1.11,225.2,392.7,12.2,849,9476,0.00,2.60,0.00,0.000,6,0.000,0.035,3254,2376,2133,0,0,0,0,0,0
$GC,9735,1.11,225.2,362.6,10.8,873,9740,0.00,2.75,0.00,0.000,4,0.000,0.061,3254,779,2133,0,0,0,0,0,0
$GC,9757,1.11,225.2,360.4,11.5,874,9761,0.00,2.58,0.00,0.000,6,0.000,0.028,3255,2372,2133,0,0,0,0,0,0
$GC,10024,1.11,225.2,332.6,10.4,898,10029,0.00,2.58,0.00,0.000,4,0.000,0.045,3254,3927,2132,0,0,0,0,0,0
$GC,10111,1.11,225.2,322.0,11.6,905,10115,0.00,2.53,0.00,0.000,6,0.000,0.027,3254,2369,2131,0,0,0,0,0,0
$GC,10374,1.11,225.2,294.1,11.1,929,10379,0.00,2.67,0.00,0.000,4,0.000,0.058,3254,786,2131,0,0,0,0,0,0
$GC,10406,1.11,225.2,290.5,12.4,931,10410,0.00,2.55,0.00,0.000,6,0.000,0.027,3254,2377,2130,0,0,0,0,0,0
$GC,10672,1.11,225.2,261.2,10.7,955,10677,0.00,2.60,0.00,0.000,4,0.000,0.048,3254,3934,2130,0,0,0,0,0,0
$GC,10691,1.11,225.2,258.6,11.1,956,10695,0.00,2.53,0.00,0.000,6,0.000,0.024,3254,2358,2129,0,0,0,0,0,0
$GC,10954,1.18,244.6,232.2,9.1,980,10977,0.00,2.65,16.62,0.735,4,0.000,0.049,3254,785,2060,0,0,0,0,0,0
$GC,11038,1.24,248.8,223.9,9.8,987,11052,0.00,2.53,4.93,0.557,6,0.000,0.025,3254,2358,2045,0,0,0,0,0,0
$GC,11304,1.31,268.0,198.2,9.1,1012,11328,0.15,2.65,18.55,0.696,4,0.067,0.044,3299,3932,1965,0,0,0,0,0,0
$GC,11407,1.31,268.0,185.5,12.5,1020,11416,0.00,2.58,0.00,0.000,6,0.000,0.025,3299,2362,1963,0,0,0,0,0,0
$GC,11675,1.31,268.0,154.3,11.9,1045,11679,0.00,2.60,0.00,0.000,4,0.000,0.042,3300,3926,1963,0,0,0,0,0,0
$GC,11708,1.31,268.0,149.2,12.9,1047,11718,0.00,2.53,0.00,0.000,6,0.000,0.025,3300,2375,1963,0,0,0,0,0,0
$GC,11976,1.31,268.0,117.9,11.9,1072,11980,0.00,2.62,0.00,0.000,4,0.000,0.047,3300,786,1963,0,0,0,0,0,0
$GC,12012,1.31,268.0,112.6,13.3,1074,12021,0.00,2.53,0.00,0.000,6,0.000,0.027,3299,2375,1962,0,0,0,0,0,0
$GC,12279,1.31,268.0,85.4,10.5,1099,12283,0.00,2.55,0.00,0.000,4,0.000,0.041,3300,3926,1962,0,0,0,0,0,0
$GC,12301,1.31,268.0,82.0,11.3,1100,12311,0.00,2.53,0.00,0.000,6,0.000,0.023,3299,2365,1962,0,0,0,0,0,0
$GC,12570,1.31,268.0,53.4,10.7,1125,12575,0.00,2.58,0.00,0.000,4,0.000,0.042,3299,3920,1962,0,0,0,0,0,0
$GC,12591,1.31,268.0,50.5,10.9,1126,12596,0.00,2.42,0.00,0.000,6,0.000,0.023,3299,2381,1962,0,0,0,0,0,0
$GC,12872,1.31,268.0,22.1,11.8,1155,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2381,1963,0,0,0,0,0,0
$STATE,13033,end climb,SURFACE_DEPTH_REACHED
$STATE,13033,begin surface coast
$FINISH,-0.2,1.012146
$STATE,13077,end surface coast,CONTROL_FINISHED_OK
$STATE,13077,begin surface
$SM_CCo,13100,90.38,0.522,0,0,1509,380.21
$SM_GC,0.37,0.00,0.00,90.38,0.000,0.000,0.522,460,2197,1509,-11.70,-0.37,380.21
$IRIDIUM_FIX,2244.02,-15716.33,260603,080859
$TT8_MAMPS,0.026078
$HUMID,59.76
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.40
$XPDR_PINGS,17
$24V_AH,23.4,18.169
$10V_AH,10.3,16.000
$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,28.925,163.875,353.925,90.375,0.000,58.184,82.162,379.260,4.250,0.000,33.014,2060.764,6203.997,563.010,4136.404,987.514,33.360,1748.774,0.000,4149.259,0.000,0.537,0.000
$DEVICE_MAMPS,166.439,125.021,1014.741,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,814.180,954.501,1207.166,1527.519,2910.393,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355368
$DATA_FILE_SIZE,98250,1185
$CAP_FILE_SIZE,161949,0
$CFSIZE,260165632,171847680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010414,115628,2249.463,-15747.528,40,1.6,42,10.1