version: 66.06
glider: 146
mission: 9
dive: 132
start: 4 1 114 19 35 52
data:
$ID,146
$MISSION,9
$DIVE,132
$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,-326214.72
$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,57
$R_STBD_OVSHOOT,43
$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
$GPS1,192230,2247.958,-15746.057,42,1.6,42,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-69.2
$GPS2,193455,2247.916,-15746.167,13,1.5,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.122,-0.229
$KALMAN_X,-85238.5,-248.9,-204.9,101761.8,110.7
$KALMAN_Y,72013.4,47.9,68.3,-74663.7,854.4
$MHEAD_RNG_PITCHd_Wd,142.0,22417,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,113,0.00,0.00,-90.07,0.000,6,0.000,0.000,464,2176,3655,0,0,0,0,0,0
$GC,116,-1.27,-146.0,3.6,-8.3,12,134,12.38,2.50,0.00,0.000,4,0.166,0.038,2717,649,3657,0,0,0,0,0,0
$GC,244,-1.16,-146.0,33.1,-13.4,29,252,0.12,2.45,0.00,0.000,6,0.093,0.018,2746,2208,3657,0,0,0,0,0,0
$GC,511,-1.11,-146.0,66.4,-13.1,54,516,0.00,2.58,0.00,0.000,4,0.000,0.042,2745,647,3658,0,0,0,0,0,0
$GC,546,-1.05,-146.0,71.6,-14.2,56,551,0.15,2.42,0.00,0.000,6,0.107,0.022,2777,2215,3658,0,0,0,0,0,0
$GC,815,-1.09,-146.0,95.7,-8.3,80,820,0.00,2.55,0.00,0.000,4,0.000,0.042,2777,652,3658,0,0,0,0,0,0
$GC,912,-1.15,-146.0,104.5,-8.9,87,917,0.10,2.40,0.00,0.000,6,0.078,0.024,2732,2194,3658,0,0,0,0,0,0
$GC,1177,-1.10,-146.0,132.7,-10.7,111,1187,0.15,0.00,0.00,0.000,6,0.094,0.000,2764,2194,3659,0,0,0,0,0,0
$GC,1441,-1.10,-146.0,156.8,-8.9,136,1446,0.00,2.53,0.00,0.000,4,0.000,0.044,2764,649,3659,0,0,0,0,0,0
$GC,1494,-1.10,-146.0,162.0,-9.6,140,1498,0.00,2.40,0.00,0.000,6,0.000,0.018,2764,2194,3659,0,0,0,0,0,0
$GC,1758,-1.10,-146.0,185.3,-9.5,164,1763,0.00,2.53,0.00,0.000,4,0.000,0.044,2764,659,3659,0,0,0,0,0,0
$GC,1794,-1.14,-146.0,189.0,-9.6,166,1804,0.00,2.38,0.00,0.000,6,0.000,0.022,2764,2179,3659,0,0,0,0,0,0
$GC,2058,-1.19,-146.0,212.2,-9.0,191,2062,0.00,2.58,0.00,0.000,4,0.000,0.036,2764,3778,3659,0,0,0,0,0,0
$GC,2126,-1.24,-146.0,218.3,-9.4,196,2131,0.15,2.45,0.00,0.000,6,0.058,0.019,2708,2203,3659,0,0,0,0,0,0
$GC,2391,-1.20,-146.0,247.8,-11.0,220,2396,0.15,2.60,0.00,0.000,4,0.094,0.049,2741,640,3659,0,0,0,0,0,0
$GC,2437,-1.20,-146.0,252.1,-9.5,223,2442,0.00,2.38,0.00,0.000,6,0.000,0.019,2741,2184,3660,0,0,0,0,0,0
$GC,2704,-1.20,-146.0,273.7,-8.3,247,2708,0.00,2.60,0.00,0.000,4,0.000,0.041,2741,3783,3659,0,0,0,0,0,0
$GC,2722,-1.20,-146.0,275.6,-7.9,248,2726,0.00,2.50,0.00,0.000,6,0.000,0.020,2741,2186,3659,0,0,0,0,0,0
$GC,2985,-1.20,-146.0,297.3,-8.8,272,2989,0.00,2.60,0.00,0.000,4,0.000,0.043,2741,3773,3659,0,0,0,0,0,0
$GC,3026,-1.24,-146.0,301.2,-9.4,275,3031,0.00,2.47,0.00,0.000,6,0.000,0.022,2741,2200,3659,0,0,0,0,0,0
$GC,3289,-1.29,-146.0,323.8,-8.2,299,3294,0.00,2.60,0.00,0.000,4,0.000,0.044,2741,3778,3659,0,0,0,0,0,0
$GC,3313,-1.34,-146.0,325.9,-8.8,300,3323,0.10,2.55,0.00,0.000,6,0.035,0.025,2690,2203,3658,0,0,0,0,0,0
$GC,3578,-1.29,-146.0,350.1,-8.3,325,3583,0.15,0.00,0.00,0.000,6,0.096,0.000,2723,2203,3657,0,0,0,0,0,0
$GC,3842,-1.29,-146.0,370.0,-8.0,350,3847,0.00,2.62,0.00,0.000,4,0.000,0.049,2723,3776,3656,0,0,0,0,0,0
$GC,3883,-1.33,-146.0,373.7,-9.2,353,3888,0.00,2.55,0.00,0.000,6,0.000,0.032,2723,2203,3656,0,0,0,0,0,0
$GC,4147,-1.33,-146.0,395.6,-8.2,377,4152,0.00,2.78,0.00,0.000,4,0.000,0.081,2723,628,3655,0,0,0,0,0,0
$GC,4179,-1.33,-146.0,398.3,-9.0,379,4184,0.00,2.55,0.00,0.000,6,0.000,0.038,2723,2190,3654,0,0,0,0,0,0
$GC,4446,-1.33,-146.0,418.7,-7.4,403,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2191,3653,0,0,0,0,0,0
$GC,4708,-1.33,-146.0,437.9,-6.9,428,4713,0.00,2.70,0.00,0.000,4,0.000,0.060,2722,3792,3651,0,0,0,0,0,0
$GC,4750,-1.37,-146.0,441.0,-7.7,431,4754,0.00,2.58,0.00,0.000,6,0.000,0.038,2723,2221,3651,0,0,0,0,0,0
$GC,5014,-1.42,-146.0,459.5,-7.1,455,5019,0.12,0.00,0.00,0.000,6,0.067,0.000,2672,2221,3649,0,0,0,0,0,0
$GC,5277,-1.37,-146.0,483.5,-9.2,480,5279,0.15,0.00,0.00,0.000,6,0.094,0.000,2705,2221,3648,0,0,0,0,0,0
$GC,5532,-1.37,-146.0,504.3,-8.0,504,5536,0.00,2.72,0.00,0.000,4,0.000,0.070,2705,3788,3646,0,0,0,0,0,0
$GC,5607,-1.37,-146.0,511.0,-8.3,510,5611,0.00,2.65,0.00,0.000,6,0.000,0.050,2705,2217,3645,0,0,0,0,0,0
$GC,5871,-1.37,-146.0,530.7,-7.5,534,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2217,3644,0,0,0,0,0,0
$GC,6136,-1.37,-146.0,549.5,-7.2,559,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2217,3643,0,0,0,0,0,0
$GC,6399,-1.37,-146.0,568.8,-7.7,584,6403,0.00,2.83,0.00,0.000,4,0.000,0.085,2705,3786,3640,0,0,0,0,0,0
$GC,6420,-1.37,-146.0,570.6,-7.6,585,6429,0.00,2.70,0.00,0.000,6,0.000,0.058,2705,2235,3640,0,0,0,0,0,0
$GC,6687,-1.37,-146.0,589.8,-7.2,610,6692,0.00,3.05,0.00,0.000,4,0.000,0.114,2705,616,3639,0,0,0,0,0,0
$GC,6731,-1.37,-146.0,593.3,-7.9,613,6735,0.00,2.78,0.00,0.000,6,0.000,0.067,2705,2215,3638,0,0,0,0,0,0
$STATE,6819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6819,begin apogee
$GC,6827,-0.31,0.0,600.1,7.0,621,6948,1.02,0.00,118.05,1.010,6,0.071,0.000,2938,2373,3060,0,0,0,0,0,0
$STATE,6949,end apogee,CONTROL_FINISHED_OK
$STATE,6949,begin climb
$GC,6952,1.27,146.0,602.1,0.0,624,7092,1.42,2.97,123.80,0.980,4,0.033,0.091,3293,3932,2462,0,0,0,0,0,0
$GC,7157,1.12,146.0,583.5,13.5,636,7166,0.17,2.75,0.00,0.000,6,0.090,0.055,3252,2374,2458,0,0,0,0,0,0
$GC,7424,1.06,146.0,554.3,10.9,661,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2374,2454,0,0,0,0,0,0
$GC,7687,1.01,146.0,527.4,10.0,686,7688,0.12,0.00,0.00,0.000,6,0.117,0.000,3226,2374,2452,0,0,0,0,0,0
$GC,7941,1.07,193.4,506.6,7.8,710,7988,0.00,3.05,41.00,0.936,4,0.000,0.098,3225,782,2271,0,0,0,0,0,0
$GC,8013,1.09,212.1,500.4,9.1,716,8036,0.00,2.70,17.90,0.886,6,0.000,0.046,3225,2378,2195,0,0,0,0,0,0
$GC,8297,1.09,212.1,473.8,10.3,742,8301,0.00,2.67,0.00,0.000,4,0.000,0.059,3225,3935,2189,0,0,0,0,0,0
$GC,8329,1.09,212.1,469.7,10.9,744,8338,0.00,2.65,0.00,0.000,6,0.000,0.041,3226,2374,2188,0,0,0,0,0,0
$GC,8596,1.16,234.4,445.1,9.0,769,8623,0.12,2.95,20.08,0.881,4,0.075,0.092,3263,780,2103,0,0,0,0,0,0
$GC,8652,1.16,234.4,438.6,11.2,773,8658,0.00,2.65,0.00,0.000,6,0.000,0.037,3263,2377,2101,0,0,0,0,0,0
$GC,8915,1.16,234.4,410.1,11.3,798,8919,0.00,2.62,0.00,0.000,4,0.000,0.049,3263,3937,2099,0,0,0,0,0,0
$GC,8974,1.16,234.4,402.6,12.5,802,8980,0.00,2.60,0.00,0.000,6,0.000,0.031,3263,2367,2098,0,0,0,0,0,0
$GC,9237,1.16,234.4,374.1,10.7,827,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2367,2097,0,0,0,0,0,0
$GC,9491,1.16,234.4,345.7,11.1,851,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2367,2097,0,0,0,0,0,0
$GC,9745,1.16,234.4,314.9,12.5,875,9749,0.00,2.60,0.00,0.000,4,0.000,0.043,3263,3937,2097,0,0,0,0,0,0
$GC,9761,1.16,234.4,312.9,12.4,876,9766,0.00,2.55,0.00,0.000,6,0.000,0.027,3263,2364,2096,0,0,0,0,0,0
$GC,10025,1.16,234.4,282.2,11.2,900,10029,0.00,2.60,0.00,0.000,4,0.000,0.044,3263,3934,2096,0,0,0,0,0,0
$GC,10088,1.16,234.4,274.2,12.2,905,10093,0.00,2.53,0.00,0.000,6,0.000,0.027,3263,2379,2095,0,0,0,0,0,0
$GC,10352,1.16,234.4,247.1,10.8,929,10357,0.00,2.65,0.00,0.000,4,0.000,0.051,3263,785,2095,0,0,0,0,0,0
$GC,10373,1.16,234.4,244.4,10.8,930,10383,0.00,2.58,0.00,0.000,6,0.000,0.027,3263,2399,2094,0,0,0,0,0,0
$GC,10642,1.21,242.2,218.6,9.6,955,10650,0.00,0.00,6.70,0.623,6,0.000,0.000,3263,2400,2072,0,0,0,0,0,0
$GC,10904,1.25,242.2,191.9,10.3,980,10909,0.00,2.50,0.00,0.000,4,0.000,0.041,3263,3934,2072,0,0,0,0,0,0
$GC,10983,1.31,242.2,182.7,11.9,986,10989,0.10,2.50,0.00,0.000,6,0.086,0.024,3296,2371,2071,0,0,0,0,0,0
$GC,11244,1.31,242.2,151.0,12.4,1010,11245,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2371,2071,0,0,0,0,0,0
$GC,11506,1.31,242.2,121.5,11.2,1034,11510,0.00,2.55,0.00,0.000,4,0.000,0.041,3296,3923,2071,0,0,0,0,0,0
$GC,11565,1.31,242.2,113.8,11.7,1038,11575,0.00,2.47,0.00,0.000,6,0.000,0.023,3296,2386,2071,0,0,0,0,0,0
$GC,11834,1.31,242.2,86.5,10.5,1063,11838,0.00,2.60,0.00,0.000,4,0.000,0.045,3296,793,2071,0,0,0,0,0,0
$GC,11867,1.31,242.2,82.5,11.3,1065,11871,0.00,2.50,0.00,0.000,6,0.000,0.020,3296,2395,2071,0,0,0,0,0,0
$GC,12136,1.31,242.2,54.8,10.0,1089,12140,0.00,2.60,0.00,0.000,4,0.000,0.041,3296,785,2071,0,0,0,0,0,0
$GC,12156,1.31,248.3,52.2,9.7,1090,12172,0.00,2.47,7.72,0.496,6,0.000,0.021,3296,2375,2046,0,0,0,0,0,0
$GC,12438,1.31,248.3,22.9,11.9,1119,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2375,2046,0,0,0,0,0,0
$STATE,12627,end climb,SURFACE_DEPTH_REACHED
$STATE,12630,begin surface coast
$FINISH,-0.2,1.022015
$STATE,12679,end surface coast,CONTROL_FINISHED_OK
$STATE,12679,begin surface
$SM_CCo,12700,106.50,0.519,0,0,1509,380.21
$SM_GC,0.43,0.00,0.00,106.50,0.000,0.000,0.519,458,2189,1509,-11.71,-0.59,380.21
$IRIDIUM_FIX,2241.69,-15746.73,260603,191959
$TT8_MAMPS,0.026078
$HUMID,59.84
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.30
$XPDR_PINGS,13
$24V_AH,23.4,18.590
$10V_AH,10.3,16.695
$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,27.925,146.400,335.250,106.500,0.000,52.966,73.020,378.442,3.250,0.000,14.717,1999.696,6059.845,548.213,3972.456,964.109,33.390,1680.097,0.000,4009.469,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,114.283,1010.139,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,792.867,931.359,1178.568,1467.391,2794.595,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,95433,1154
$CAP_FILE_SIZE,156259,0
$CFSIZE,260165632,171597824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010414,231058,2247.119,-15745.361,36,99.0,55,10.1