version: 66.06
glider: 146
mission: 9
dive: 131
start: 4 1 114 15 56 44
data:
$ID,146
$MISSION,9
$DIVE,131
$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,-326199.38
$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,40
$R_STBD_OVSHOOT,41
$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
$GPS1,154615,2248.712,-15746.795,23,1.6,33,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-67.3
$GPS2,155551,2248.689,-15746.861,8,3.7,27,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.152,-0.210
$KALMAN_X,-84725.4,-43.3,-285.7,99944.2,-401.9
$KALMAN_Y,71143.2,221.8,-323.7,-72151.4,799.5
$MHEAD_RNG_PITCHd_Wd,134.0,24276,-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,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-87.57,0.000,6,0.000,0.000,464,2196,3656,0,0,0,0,0,0
$GC,113,-1.27,-146.0,5.0,-13.2,12,130,12.60,0.00,0.00,0.000,6,0.167,0.000,2718,2196,3657,0,0,0,0,0,0
$GC,410,-1.15,-146.0,58.0,-14.1,45,416,0.17,2.58,0.00,0.000,4,0.115,0.034,2753,3782,3658,0,0,0,0,0,0
$GC,444,-1.09,-146.0,62.6,-12.6,47,448,0.00,2.50,0.00,0.000,6,0.000,0.021,2754,2206,3658,0,0,0,0,0,0
$GC,711,-1.09,-146.0,91.3,-10.3,71,716,0.00,2.58,0.00,0.000,4,0.000,0.047,2753,635,3658,0,0,0,0,0,0
$GC,809,-1.09,-146.0,102.0,-9.9,78,819,0.00,2.42,0.00,0.000,6,0.000,0.018,2754,2186,3658,0,0,0,0,0,0
$GC,1078,-1.09,-146.0,127.3,-9.7,103,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2186,3659,0,0,0,0,0,0
$GC,1339,-1.09,-146.0,154.8,-10.4,128,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2186,3659,0,0,0,0,0,0
$GC,1596,-1.09,-146.0,181.2,-9.9,152,1600,0.00,2.55,0.00,0.000,4,0.000,0.040,2753,3772,3659,0,0,0,0,0,0
$GC,1641,-1.09,-146.0,185.5,-10.9,155,1645,0.00,2.50,0.00,0.000,6,0.000,0.019,2753,2168,3660,0,0,0,0,0,0
$GC,1903,-1.09,-146.0,208.7,-8.2,179,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2169,3660,0,0,0,0,0,0
$GC,2160,-1.13,-146.0,227.8,-7.1,203,2164,0.00,2.60,0.00,0.000,4,0.000,0.038,2753,3770,3660,0,0,0,0,0,0
$GC,2205,-1.18,-146.0,231.8,-8.4,206,2211,0.00,2.53,0.00,0.000,6,0.000,0.028,2753,2171,3660,0,0,0,0,0,0
$GC,2469,-1.23,-146.0,251.8,-8.5,231,2474,0.00,2.62,0.00,0.000,4,0.000,0.048,2753,3769,3660,0,0,0,0,0,0
$GC,2492,-1.28,-146.0,253.5,-8.5,232,2497,0.12,2.50,0.00,0.000,6,0.071,0.021,2703,2174,3660,0,0,0,0,0,0
$GC,2757,-1.24,-146.0,281.0,-9.9,256,2762,0.12,2.60,0.00,0.000,4,0.102,0.059,2732,639,3660,0,0,0,0,0,0
$GC,2779,-1.24,-146.0,283.5,-8.9,257,2785,0.00,2.40,0.00,0.000,6,0.000,0.031,2732,2159,3660,0,0,0,0,0,0
$GC,3043,-1.24,-146.0,306.4,-9.1,282,3048,0.00,2.62,0.00,0.000,4,0.000,0.044,2732,3767,3659,0,0,0,0,0,0
$GC,3084,-1.29,-146.0,310.7,-9.7,285,3089,0.00,2.55,0.00,0.000,6,0.000,0.025,2732,2180,3659,0,0,0,0,0,0
$GC,3349,-1.33,-146.0,333.6,-8.6,309,3353,0.00,2.67,0.00,0.000,4,0.000,0.072,2732,634,3658,0,0,0,0,0,0
$GC,3396,-1.37,-146.0,337.9,-8.7,312,3405,0.08,2.47,0.00,0.000,6,0.041,0.038,2688,2150,3658,0,0,0,0,0,0
$GC,3663,-1.33,-146.0,363.3,-9.5,337,3669,0.12,2.70,0.00,0.000,4,0.102,0.051,2715,3765,3657,0,0,0,0,0,0
$GC,3744,-1.33,-146.0,371.0,-8.2,343,3749,0.00,2.60,0.00,0.000,6,0.000,0.032,2715,2177,3657,0,0,0,0,0,0
$GC,4008,-1.33,-146.0,390.9,-7.8,368,4012,0.00,2.72,0.00,0.000,4,0.000,0.086,2715,629,3655,0,0,0,0,0,0
$GC,4029,-1.33,-146.0,392.8,-7.6,369,4038,0.00,2.53,0.00,0.000,6,0.000,0.037,2715,2162,3655,0,0,0,0,0,0
$GC,4295,-1.33,-146.0,412.5,-7.6,394,4300,0.00,2.78,0.00,0.000,4,0.000,0.057,2715,3801,3653,0,0,0,0,0,0
$GC,4313,-1.33,-146.0,414.3,-8.3,395,4318,0.00,2.62,0.00,0.000,6,0.000,0.042,2715,2193,3653,0,0,0,0,0,0
$GC,4576,-1.33,-146.0,435.0,-8.0,419,4581,0.00,2.67,0.00,0.000,4,0.000,0.058,2715,3792,3651,0,0,0,0,0,0
$GC,4611,-1.33,-146.0,437.6,-8.6,421,4615,0.00,2.65,0.00,0.000,6,0.000,0.041,2715,2200,3651,0,0,0,0,0,0
$GC,4877,-1.33,-146.0,461.6,-9.4,445,4882,0.00,2.72,0.00,0.000,4,0.000,0.059,2715,3795,3649,0,0,0,0,0,0
$GC,4894,-1.33,-146.0,463.6,-9.2,446,4898,0.00,2.67,0.00,0.000,6,0.000,0.044,2715,2194,3649,0,0,0,0,0,0
$GC,5158,-1.33,-146.0,486.7,-8.7,470,5163,0.00,2.90,0.00,0.000,4,0.000,0.104,2715,622,3647,0,0,0,0,0,0
$GC,5190,-1.33,-146.0,489.2,-9.0,472,5194,0.00,2.62,0.00,0.000,6,0.000,0.046,2715,2196,3647,0,0,0,0,0,0
$GC,5458,-1.33,-146.0,511.3,-8.3,496,5462,0.00,2.75,0.00,0.000,4,0.000,0.066,2715,3793,3645,0,0,0,0,0,0
$GC,5539,-1.33,-146.0,518.2,-8.0,502,5545,0.00,2.65,0.00,0.000,6,0.000,0.045,2715,2212,3645,0,0,0,0,0,0
$GC,5804,-1.37,-146.0,537.0,-7.5,527,5808,0.00,2.72,0.00,0.000,4,0.000,0.066,2715,3797,3644,0,0,0,0,0,0
$GC,5879,-1.42,-146.0,543.3,-8.2,533,5884,0.00,2.67,0.00,0.000,6,0.000,0.058,2715,2228,3643,0,0,0,0,0,0
$GC,6144,-1.46,-146.0,564.2,-8.4,557,6149,0.12,2.78,0.00,0.000,4,0.071,0.072,2667,3795,3641,0,0,0,0,0,0
$GC,6161,-1.46,-146.0,565.9,-8.2,558,6166,0.00,2.67,0.00,0.000,6,0.000,0.054,2667,2234,3641,0,0,0,0,0,0
$GC,6426,-1.42,-146.0,589.1,-8.1,582,6432,0.12,3.10,0.00,0.000,4,0.104,0.123,2694,623,3639,0,0,0,0,0,0
$GC,6449,-1.42,-146.0,590.7,-7.9,583,6454,0.00,2.80,0.00,0.000,6,0.000,0.069,2694,2242,3639,0,0,0,0,0,0
$STATE,6584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6584,begin apogee
$GC,6591,-0.31,0.0,600.4,6.5,595,6714,1.05,0.00,118.53,1.004,6,0.069,0.000,2934,2372,3059,0,0,0,0,0,0
$STATE,6714,end apogee,CONTROL_FINISHED_OK
$STATE,6714,begin climb
$GC,6717,1.27,146.0,601.3,0.0,598,6851,1.42,2.92,124.00,0.978,4,0.034,0.091,3288,3938,2464,0,0,0,0,0,0
$GC,6870,1.13,146.0,588.0,13.3,608,6876,0.17,2.78,0.00,0.000,6,0.110,0.058,3252,2367,2461,0,0,0,0,0,0
$GC,7133,1.08,146.0,557.1,10.9,633,7138,0.00,3.03,0.00,0.000,4,0.000,0.113,3252,784,2456,0,0,0,0,0,0
$GC,7164,1.02,146.0,553.6,11.1,635,7169,0.12,2.72,0.00,0.000,6,0.118,0.057,3227,2364,2455,0,0,0,0,0,0
$GC,7425,1.07,186.5,530.0,8.1,659,7468,0.00,3.03,35.50,0.935,4,0.000,0.090,3227,783,2298,0,0,0,0,0,0
$GC,7482,1.12,229.8,525.9,8.0,664,7528,0.00,2.67,39.47,0.925,6,0.000,0.047,3227,2345,2122,0,0,0,0,0,0
$GC,7790,1.14,246.0,497.3,9.3,693,7815,0.10,2.85,14.88,0.871,4,0.088,0.062,3258,3934,2056,0,0,0,0,0,0
$GC,7863,1.14,246.0,489.3,12.2,699,7867,0.00,2.67,0.00,0.000,6,0.000,0.041,3258,2348,2053,0,0,0,0,0,0
$GC,8125,1.14,246.0,461.0,10.8,723,8130,0.00,2.92,0.00,0.000,4,0.000,0.102,3258,776,2051,0,0,0,0,0,0
$GC,8160,1.14,246.0,456.9,11.6,725,8166,0.00,2.62,0.00,0.000,6,0.000,0.039,3258,2353,2050,0,0,0,0,0,0
$GC,8422,1.14,246.0,426.9,11.8,750,8427,0.00,2.65,0.00,0.000,4,0.000,0.055,3258,3938,2050,0,0,0,0,0,0
$GC,8478,1.14,246.0,420.1,12.8,754,8482,0.00,2.62,0.00,0.000,6,0.000,0.033,3258,2354,2049,0,0,0,0,0,0
$GC,8745,1.14,246.0,388.6,12.1,778,8750,0.00,2.75,0.00,0.000,4,0.000,0.077,3258,782,2049,0,0,0,0,0,0
$GC,8808,1.14,246.0,380.4,11.7,783,8813,0.00,2.58,0.00,0.000,6,0.000,0.030,3258,2369,2047,0,0,0,0,0,0
$GC,9072,1.14,246.0,352.5,10.8,807,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2370,2047,0,0,0,0,0,0
$GC,9323,1.14,246.0,325.0,10.9,831,9328,0.00,2.60,0.00,0.000,4,0.000,0.045,3258,3931,2047,0,0,0,0,0,0
$GC,9348,1.14,246.0,323.1,11.0,832,9353,0.00,2.60,0.00,0.000,6,0.000,0.029,3258,2331,2046,0,0,0,0,0,0
$GC,9615,1.15,256.8,296.7,9.5,856,9631,0.00,2.67,9.30,0.734,4,0.000,0.059,3258,782,2012,0,0,0,0,0,0
$GC,9650,1.16,258.7,293.4,9.9,859,9654,0.00,2.53,0.00,0.000,6,0.000,0.029,3258,2354,2011,0,0,0,0,0,0
$GC,9916,1.16,258.7,264.6,11.0,883,9920,0.00,2.62,0.00,0.000,4,0.000,0.043,3258,3933,2012,0,0,0,0,0,0
$GC,10008,1.16,258.7,252.7,12.3,890,10014,0.00,2.55,0.00,0.000,6,0.000,0.026,3258,2363,2010,0,0,0,0,0,0
$GC,10273,1.20,260.8,224.3,9.9,915,10287,0.00,2.65,5.20,0.576,4,0.000,0.048,3258,3920,1995,0,0,0,0,0,0
$GC,10311,1.24,260.8,220.0,10.5,918,10315,0.00,2.53,0.00,0.000,6,0.000,0.027,3258,2369,1995,0,0,0,0,0,0
$GC,10575,1.33,292.4,197.7,8.5,942,10610,0.15,0.00,29.20,0.703,6,0.068,0.000,3301,2369,1867,0,0,0,0,0,0
$GC,10864,1.33,292.4,162.7,13.0,969,10869,0.00,2.60,0.00,0.000,4,0.000,0.046,3301,3928,1864,0,0,0,0,0,0
$GC,10885,1.33,292.4,159.4,12.4,970,10895,0.00,2.53,0.00,0.000,6,0.000,0.024,3301,2382,1862,0,0,0,0,0,0
$GC,11153,1.33,292.4,127.2,12.5,995,11158,0.00,2.62,0.00,0.000,4,0.000,0.048,3301,783,1862,0,0,0,0,0,0
$GC,11202,1.33,292.4,120.0,13.1,998,11211,0.00,2.55,0.00,0.000,6,0.000,0.022,3301,2385,1862,0,0,0,0,0,0
$GC,11469,1.33,292.4,84.7,13.5,1023,11473,0.00,2.65,0.00,0.000,4,0.000,0.044,3301,782,1862,0,0,0,0,0,0
$GC,11516,1.33,292.4,78.0,14.1,1026,11520,0.00,2.47,0.00,0.000,6,0.000,0.020,3301,2365,1863,0,0,0,0,0,0
$GC,11783,1.33,292.4,45.5,11.9,1050,11792,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2365,1863,0,0,0,0,0,0
$GC,12080,1.33,292.4,9.4,12.0,1087,12089,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2365,1862,0,0,0,0,0,0
$STATE,12124,end climb,SURFACE_DEPTH_REACHED
$STATE,12124,begin surface coast
$FINISH,-0.2,1.011019
$STATE,12168,end surface coast,CONTROL_FINISHED_OK
$STATE,12168,begin surface
$SM_CCo,12189,70.72,0.522,0,0,1510,380.21
$SM_GC,0.55,0.00,0.00,70.72,0.000,0.000,0.522,465,2175,1510,-11.68,-0.99,380.21
$IRIDIUM_FIX,2241.69,-15746.73,260603,121258
$TT8_MAMPS,0.026078
$HUMID,61.34
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.90
$XPDR_PINGS,24
$24V_AH,23.4,18.455
$10V_AH,10.3,16.459
$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,27.775,170.525,376.075,70.725,0.000,30.715,40.884,315.437,6.000,0.000,29.929,1926.040,5717.630,551.118,3791.902,835.962,33.361,1659.735,0.000,3809.902,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,122.720,1004.003,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,754.294,880.903,1124.718,1376.371,2619.598,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,92016,1099
$CAP_FILE_SIZE,152279,0
$CFSIZE,260165632,171687936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010414,192230,2247.958,-15746.057,42,1.6,42,10.1