version: 66.06
glider: 146
mission: 9
dive: 133
start: 4 1 114 23 29 0
data:
$ID,146
$MISSION,9
$DIVE,133
$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,-326244.88
$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,42
$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
$GPS1,231058,2247.119,-15745.361,36,99.0,55,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-69.5
$GPS2,232805,2247.038,-15745.480,12,1.5,28,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.191,-0.175
$KALMAN_X,-85874.0,-340.9,251.3,103206.4,-491.1
$KALMAN_Y,72877.1,-56.5,427.1,-77407.5,-52.2
$MHEAD_RNG_PITCHd_Wd,122.4,20417,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-88.75,0.000,6,0.000,0.000,457,2190,3657,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.1,-10.6,12,133,12.48,2.50,0.00,0.000,4,0.166,0.035,2719,647,3658,0,0,0,0,0,0
$GC,157,-0.57,-146.0,21.2,-37.2,17,167,0.70,2.47,0.00,0.000,6,0.084,0.019,2873,2216,3659,0,0,0,0,0,0
$GC,455,-0.78,-146.0,37.2,-4.3,51,460,0.15,2.58,0.00,0.000,4,0.058,0.041,2813,642,3659,0,0,0,0,0,0
$GC,479,-0.92,-146.0,39.1,-6.0,52,488,0.00,2.45,0.00,0.000,6,0.000,0.018,2813,2210,3659,0,0,0,0,0,0
$GC,747,-1.00,-146.0,59.5,-8.8,77,752,0.12,2.58,0.00,0.000,4,0.065,0.042,2758,651,3659,0,0,0,0,0,0
$GC,855,-1.00,-146.0,72.1,-11.2,85,860,0.12,2.38,0.00,0.000,6,0.102,0.026,2785,2200,3660,0,0,0,0,0,0
$GC,1124,-1.04,-146.0,96.1,-8.3,109,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2200,3659,0,0,0,0,0,0
$GC,1393,-1.09,-146.0,117.1,-6.8,134,1397,0.00,2.53,0.00,0.000,4,0.000,0.042,2785,648,3659,0,0,0,0,0,0
$GC,1428,-1.14,-146.0,120.1,-7.0,136,1438,0.10,2.40,0.00,0.000,6,0.033,0.026,2733,2185,3660,0,0,0,0,0,0
$GC,1697,-1.09,-146.0,145.7,-10.1,161,1702,0.15,2.55,0.00,0.000,4,0.094,0.038,2766,3772,3660,0,0,0,0,0,0
$GC,1718,-1.09,-146.0,148.2,-9.9,162,1722,0.00,2.45,0.00,0.000,6,0.000,0.019,2765,2200,3660,0,0,0,0,0,0
$GC,1982,-1.09,-146.0,170.9,-9.0,186,1986,0.00,2.53,0.00,0.000,4,0.000,0.045,2766,643,3660,0,0,0,0,0,0
$GC,2002,-1.09,-146.0,172.6,-9.0,187,2006,0.00,2.38,0.00,0.000,6,0.000,0.018,2766,2198,3660,0,0,0,0,0,0
$GC,2270,-1.13,-146.0,197.9,-10.1,211,2274,0.00,2.53,0.00,0.000,4,0.000,0.035,2766,3773,3660,0,0,0,0,0,0
$GC,2333,-1.18,-146.0,205.1,-10.1,216,2337,0.00,2.50,0.00,0.000,6,0.000,0.019,2766,2184,3660,0,0,0,0,0,0
$GC,2596,-1.24,-146.0,226.5,-6.5,240,2601,0.15,2.53,0.00,0.000,4,0.058,0.048,2706,643,3660,0,0,0,0,0,0
$GC,2619,-1.24,-146.0,227.8,-6.7,241,2624,0.12,2.35,0.00,0.000,6,0.100,0.027,2733,2181,3660,0,0,0,0,0,0
$GC,2884,-1.24,-146.0,248.4,-7.7,265,2888,0.00,2.53,0.00,0.000,4,0.000,0.048,2733,645,3660,0,0,0,0,0,0
$GC,2961,-1.24,-146.0,254.6,-7.6,271,2966,0.00,2.38,0.00,0.000,6,0.000,0.021,2733,2167,3660,0,0,0,0,0,0
$GC,3229,-1.24,-146.0,275.4,-8.3,295,3234,0.00,2.60,0.00,0.000,4,0.000,0.041,2733,3774,3660,0,0,0,0,0,0
$GC,3307,-1.24,-146.0,282.7,-9.9,301,3312,0.00,2.53,0.00,0.000,6,0.000,0.021,2733,2188,3660,0,0,0,0,0,0
$GC,3575,-1.24,-146.0,303.8,-7.5,325,3579,0.00,2.62,0.00,0.000,4,0.000,0.064,2733,635,3659,0,0,0,0,0,0
$GC,3598,-1.24,-146.0,306.2,-8.3,326,3604,0.00,2.42,0.00,0.000,6,0.000,0.028,2733,2166,3659,0,0,0,0,0,0
$GC,3861,-1.24,-146.0,324.4,-6.6,351,3865,0.00,2.67,0.00,0.000,4,0.000,0.048,2733,3790,3658,0,0,0,0,0,0
$GC,3897,-1.28,-146.0,327.2,-7.6,353,3903,0.00,2.58,0.00,0.000,6,0.000,0.026,2733,2194,3658,0,0,0,0,0,0
$GC,4160,-1.32,-146.0,348.4,-8.8,378,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2194,3656,0,0,0,0,0,0
$GC,4416,-1.37,-146.0,371.4,-8.7,402,4421,0.12,2.75,0.00,0.000,4,0.068,0.079,2681,632,3655,0,0,0,0,0,0
$GC,4461,-1.31,-146.0,376.8,-11.6,405,4471,0.12,2.55,0.00,0.000,6,0.072,0.037,2713,2182,3654,0,0,0,0,0,0
$GC,4729,-1.31,-146.0,401.2,-8.8,430,4733,0.00,2.70,0.00,0.000,4,0.000,0.054,2713,3801,3653,0,0,0,0,0,0
$GC,4772,-1.31,-146.0,405.4,-9.3,433,4777,0.00,2.62,0.00,0.000,6,0.000,0.035,2713,2192,3653,0,0,0,0,0,0
$GC,5040,-1.31,-146.0,425.8,-7.2,457,5044,0.00,2.70,0.00,0.000,4,0.000,0.057,2713,3800,3651,0,0,0,0,0,0
$GC,5083,-1.31,-146.0,429.3,-7.7,460,5088,0.00,2.65,0.00,0.000,6,0.000,0.041,2714,2201,3651,0,0,0,0,0,0
$GC,5351,-1.31,-146.0,448.2,-7.1,484,5355,0.00,2.85,0.00,0.000,4,0.000,0.097,2713,628,3648,0,0,0,0,0,0
$GC,5372,-1.31,-146.0,450.3,-7.4,485,5378,0.00,2.58,0.00,0.000,6,0.000,0.044,2713,2196,3648,0,0,0,0,0,0
$GC,5636,-1.31,-146.0,469.0,-7.3,510,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2196,3647,0,0,0,0,0,0
$GC,5902,-1.31,-146.0,488.6,-7.7,535,5906,0.00,2.75,0.00,0.000,4,0.000,0.070,2713,3796,3645,0,0,0,0,0,0
$GC,5945,-1.31,-146.0,492.1,-8.0,538,5949,0.00,2.67,0.00,0.000,6,0.000,0.047,2713,2197,3645,0,0,0,0,0,0
$GC,6213,-1.31,-146.0,511.1,-6.6,562,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2196,3643,0,0,0,0,0,0
$GC,6474,-1.31,-146.0,528.1,-5.9,587,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2197,3641,0,0,0,0,0,0
$GC,6732,-1.35,-146.0,542.9,-6.3,611,6737,0.00,2.80,0.00,0.000,4,0.000,0.078,2714,3798,3640,0,0,0,0,0,0
$GC,6764,-1.35,-146.0,544.9,-6.6,613,6768,0.00,2.72,0.00,0.000,6,0.000,0.051,2713,2193,3640,0,0,0,0,0,0
$GC,7032,-1.39,-146.0,562.5,-6.5,637,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2193,3638,0,0,0,0,0,0
$GC,7295,-1.44,-146.0,581.8,-7.7,662,7300,0.00,2.85,0.00,0.000,4,0.000,0.082,2713,3791,3636,0,0,0,0,0,0
$GC,7350,-1.48,-146.0,586.4,-8.7,666,7355,0.15,2.78,0.00,0.000,6,0.062,0.061,2663,2189,3636,0,0,0,0,0,0
$STATE,7495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7496,begin apogee
$GC,7502,-0.31,0.0,600.4,10.0,679,7623,1.20,0.00,117.72,1.015,6,0.072,0.000,2933,2374,3060,0,0,0,0,0,0
$STATE,7624,end apogee,CONTROL_FINISHED_OK
$STATE,7624,begin climb
$GC,7628,1.27,146.0,604.8,0.0,682,7757,1.45,0.00,125.38,0.986,6,0.033,0.000,3290,2374,2464,0,0,0,0,0,0
$GC,7992,1.14,146.0,575.2,10.7,706,7997,0.17,2.78,0.00,0.000,4,0.109,0.072,3254,3933,2455,0,0,0,0,0,0
$GC,8091,1.06,146.0,564.5,10.2,714,8096,0.00,2.67,0.00,0.000,6,0.000,0.048,3254,2378,2454,0,0,0,0,0,0
$GC,8354,1.03,162.9,539.8,9.2,738,8379,0.12,3.15,14.45,0.898,4,0.120,0.114,3228,785,2394,0,0,0,0,0,0
$GC,8397,1.04,166.5,535.6,9.8,741,8407,0.00,2.75,4.68,0.660,6,0.000,0.051,3229,2374,2381,0,0,0,0,0,0
$GC,8662,1.06,183.3,510.9,9.2,766,8693,0.00,3.00,16.52,0.904,4,0.000,0.084,3229,781,2309,0,0,0,0,0,0
$GC,8700,1.06,184.6,507.0,9.9,769,8705,0.00,2.67,0.00,0.000,6,0.000,0.044,3229,2359,2309,0,0,0,0,0,0
$GC,8962,1.06,188.4,481.4,9.8,794,8974,0.00,2.83,5.43,0.714,4,0.000,0.077,3229,783,2291,0,0,0,0,0,0
$GC,8991,1.07,194.7,479.0,9.7,796,9005,0.00,2.65,7.72,0.791,6,0.000,0.042,3229,2358,2265,0,0,0,0,0,0
$GC,9267,1.07,194.7,451.0,10.0,822,9271,0.00,2.67,0.00,0.000,4,0.000,0.055,3229,3938,2262,0,0,0,0,0,0
$GC,9311,1.07,194.7,446.1,11.0,825,9321,0.00,2.67,0.00,0.000,6,0.000,0.035,3228,2353,2261,0,0,0,0,0,0
$GC,9579,1.09,214.1,420.9,9.1,850,9603,0.00,2.92,17.90,0.875,4,0.000,0.085,3228,785,2186,0,0,0,0,0,0
$GC,9623,1.15,258.7,416.9,7.9,854,9671,0.10,2.60,40.83,0.884,6,0.089,0.035,3260,2365,2004,0,0,0,0,0,0
$GC,9936,1.15,258.7,380.8,12.1,883,9941,0.00,2.65,0.00,0.000,4,0.000,0.048,3260,3939,1998,0,0,0,0,0,0
$GC,9992,1.15,258.7,373.0,13.1,887,9998,0.00,2.62,0.00,0.000,6,0.000,0.031,3260,2352,1997,0,0,0,0,0,0
$GC,10256,1.15,258.7,342.7,11.0,912,10260,0.00,2.67,0.00,0.000,4,0.000,0.064,3260,784,1996,0,0,0,0,0,0
$GC,10289,1.15,258.7,338.3,12.2,914,10295,0.00,2.55,0.00,0.000,6,0.000,0.028,3260,2366,1995,0,0,0,0,0,0
$GC,10553,1.15,258.7,307.8,11.9,939,10557,0.00,2.58,0.00,0.000,4,0.000,0.045,3260,3925,1995,0,0,0,0,0,0
$GC,10581,1.15,258.7,303.9,12.3,941,10586,0.00,2.58,0.00,0.000,6,0.000,0.027,3260,2347,1994,0,0,0,0,0,0
$GC,10845,1.15,258.7,274.4,10.9,965,10850,0.00,2.65,0.00,0.000,4,0.000,0.045,3260,3925,1994,0,0,0,0,0,0
$GC,10879,1.15,258.7,270.2,11.9,967,10885,0.00,2.53,0.00,0.000,6,0.000,0.025,3260,2364,1993,0,0,0,0,0,0
$GC,11142,1.15,258.7,241.6,10.7,992,11146,0.00,2.62,0.00,0.000,4,0.000,0.044,3260,3928,1994,0,0,0,0,0,0
$GC,11183,1.19,258.7,236.9,11.7,995,11188,0.00,2.53,0.00,0.000,6,0.000,0.027,3260,2374,1992,0,0,0,0,0,0
$GC,11446,1.19,258.7,209.2,10.3,1019,11450,0.00,2.65,0.00,0.000,4,0.000,0.051,3259,778,1992,0,0,0,0,0,0
$GC,11503,1.24,258.7,202.8,10.6,1023,11512,0.00,2.55,0.00,0.000,6,0.000,0.025,3260,2368,1992,0,0,0,0,0,0
$GC,11765,1.28,258.7,175.7,11.0,1048,11770,0.10,2.58,0.00,0.000,4,0.089,0.043,3292,3934,1992,0,0,0,0,0,0
$GC,11789,1.28,258.7,172.9,11.1,1049,11795,0.00,2.53,0.00,0.000,6,0.000,0.025,3292,2360,1992,0,0,0,0,0,0
$GC,12057,1.28,258.7,141.6,12.3,1074,12061,0.00,2.58,0.00,0.000,4,0.000,0.041,3292,3935,1992,0,0,0,0,0,0
$GC,12114,1.28,258.7,134.1,12.3,1078,12119,0.00,2.50,0.00,0.000,6,0.000,0.023,3292,2368,1993,0,0,0,0,0,0
$GC,12383,1.28,258.7,103.5,11.7,1102,12392,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2369,1992,0,0,0,0,0,0
$GC,12650,1.28,258.7,72.4,11.6,1127,12655,0.00,2.55,0.00,0.000,4,0.000,0.041,3292,3930,1992,0,0,0,0,0,0
$GC,12709,1.28,258.7,64.9,12.5,1131,12713,0.00,2.42,0.00,0.000,6,0.000,0.023,3292,2390,1992,0,0,0,0,0,0
$GC,12976,1.28,258.7,36.3,10.8,1155,12981,0.00,2.60,0.00,0.000,4,0.000,0.046,3292,786,1993,0,0,0,0,0,0
$GC,13023,1.28,258.7,30.8,11.4,1158,13027,0.00,2.47,0.00,0.000,6,0.000,0.021,3292,2386,1993,0,0,0,0,0,0
$STATE,13274,end climb,SURFACE_DEPTH_REACHED
$STATE,13274,begin surface coast
$FINISH,-0.2,0.999225
$STATE,13323,end surface coast,CONTROL_FINISHED_OK
$STATE,13323,begin surface
$SM_CCo,13345,97.03,0.525,0,0,1509,380.21
$SM_GC,0.34,0.00,0.00,97.03,0.000,0.000,0.525,460,2192,1509,-11.70,-0.51,380.21
$IRIDIUM_FIX,2239.35,-15747.62,260603,232332
$TT8_MAMPS,0.026078
$HUMID,60.94
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.80
$XPDR_PINGS,19
$24V_AH,23.4,18.737
$10V_AH,10.3,16.947
$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,28.900,183.350,350.625,97.025,0.000,82.870,121.661,452.434,4.750,0.000,29.529,2112.891,6352.946,609.761,4197.250,1185.430,33.361,1771.967,0.000,4211.887,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,113.516,1014.741,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,826.522,962.271,1224.253,1551.254,2955.063,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355344
$DATA_FILE_SIZE,98661,1202
$CAP_FILE_SIZE,170531,0
$CFSIZE,260165632,171495424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020414,031457,2245.990,-15744.487,71,1.2,72,10.1