version: 66.06
glider: 146
mission: 9
dive: 134
start: 4 2 114 3 31 33
data:
$ID,146
$MISSION,9
$DIVE,134
$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,-326329.62
$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,47
$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
$GPS1,031457,2245.990,-15744.487,71,1.2,72,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-67.6
$GPS2,033038,2245.844,-15744.706,81,1.7,82,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.163,-0.202
$KALMAN_X,-86596.1,-221.1,-104.3,105487.0,-325.4
$KALMAN_Y,73497.6,-111.2,-240.8,-79514.1,558.9
$MHEAD_RNG_PITCHd_Wd,130.9,17876,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-88.80,0.000,6,0.000,0.000,459,2193,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.3,-11.3,12,132,12.45,2.50,0.00,0.000,4,0.166,0.035,2719,643,3657,0,0,0,0,0,0
$GC,227,-1.17,-146.0,31.9,-13.3,27,232,0.15,2.45,0.00,0.000,6,0.116,0.019,2749,2227,3657,0,0,0,0,0,0
$GC,496,-1.17,-146.0,61.8,-11.0,51,501,0.00,2.62,0.00,0.000,4,0.000,0.043,2748,637,3658,0,0,0,0,0,0
$GC,581,-1.17,-146.0,72.1,-11.1,57,591,0.00,2.45,0.00,0.000,6,0.000,0.019,2749,2201,3657,0,0,0,0,0,0
$GC,848,-1.17,-146.0,97.0,-9.0,82,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2201,3658,0,0,0,0,0,0
$GC,1115,-1.17,-146.0,122.2,-9.8,107,1120,0.00,2.55,0.00,0.000,4,0.000,0.043,2749,640,3658,0,0,0,0,0,0
$GC,1136,-1.17,-146.0,124.4,-9.7,108,1140,0.00,2.42,0.00,0.000,6,0.000,0.018,2749,2210,3659,0,0,0,0,0,0
$GC,1405,-1.17,-146.0,151.1,-9.5,132,1409,0.00,2.55,0.00,0.000,4,0.000,0.035,2749,3776,3659,0,0,0,0,0,0
$GC,1426,-1.17,-146.0,153.6,-10.1,133,1430,0.00,2.47,0.00,0.000,6,0.000,0.020,2748,2202,3659,0,0,0,0,0,0
$GC,1694,-1.17,-146.0,181.0,-10.4,157,1698,0.00,2.58,0.00,0.000,4,0.000,0.047,2749,633,3659,0,0,0,0,0,0
$GC,1714,-1.17,-146.0,184.0,-10.4,158,1726,0.00,2.42,0.00,0.000,6,0.000,0.018,2749,2186,3659,0,0,0,0,0,0
$GC,1978,-1.17,-146.0,210.6,-9.6,183,1982,0.00,2.55,0.00,0.000,4,0.000,0.037,2749,3771,3659,0,0,0,0,0,0
$GC,2012,-1.17,-146.0,214.0,-10.2,185,2018,0.00,2.50,0.00,0.000,6,0.000,0.019,2749,2181,3659,0,0,0,0,0,0
$GC,2275,-1.17,-146.0,236.0,-8.0,210,2279,0.00,2.53,0.00,0.000,4,0.000,0.049,2749,638,3659,0,0,0,0,0,0
$GC,2345,-1.20,-146.0,242.3,-9.1,215,2351,0.00,2.40,0.00,0.000,6,0.000,0.021,2749,2173,3659,0,0,0,0,0,0
$GC,2608,-1.24,-146.0,264.4,-8.2,240,2613,0.00,2.62,0.00,0.000,4,0.000,0.043,2749,3784,3659,0,0,0,0,0,0
$GC,2631,-1.24,-146.0,266.7,-8.8,241,2637,0.00,2.53,0.00,0.000,6,0.000,0.027,2749,2188,3659,0,0,0,0,0,0
$GC,2896,-1.29,-146.0,289.5,-8.9,266,2901,0.12,2.65,0.00,0.000,4,0.067,0.044,2698,3776,3659,0,0,0,0,0,0
$GC,2913,-1.29,-146.0,291.5,-9.4,267,2918,0.10,2.53,0.00,0.000,6,0.110,0.026,2721,2178,3659,0,0,0,0,0,0
$GC,3174,-1.29,-146.0,317.2,-9.7,291,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2178,3658,0,0,0,0,0,0
$GC,3429,-1.29,-146.0,340.0,-8.8,315,3433,0.00,2.65,0.00,0.000,4,0.000,0.049,2721,3772,3657,0,0,0,0,0,0
$GC,3485,-1.29,-146.0,344.5,-8.7,319,3490,0.00,2.55,0.00,0.000,6,0.000,0.028,2721,2181,3657,0,0,0,0,0,0
$GC,3752,-1.29,-146.0,364.4,-7.0,343,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2182,3656,0,0,0,0,0,0
$GC,4014,-1.29,-146.0,386.6,-9.0,368,4019,0.00,2.67,0.00,0.000,4,0.000,0.056,2721,3768,3654,0,0,0,0,0,0
$GC,4054,-1.29,-146.0,390.8,-10.1,371,4059,0.00,2.62,0.00,0.000,6,0.000,0.041,2721,2180,3654,0,0,0,0,0,0
$GC,4318,-1.29,-146.0,416.1,-9.5,395,4323,0.00,2.70,0.00,0.000,4,0.000,0.057,2721,3769,3652,0,0,0,0,0,0
$GC,4350,-1.29,-146.0,419.1,-10.2,397,4354,0.00,2.65,0.00,0.000,6,0.000,0.047,2721,2180,3652,0,0,0,0,0,0
$GC,4618,-1.33,-146.0,442.6,-8.4,421,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2180,3650,0,0,0,0,0,0
$GC,4881,-1.37,-146.0,463.5,-7.4,446,4885,0.00,2.75,0.00,0.000,4,0.000,0.064,2721,3768,3648,0,0,0,0,0,0
$GC,4958,-1.41,-146.0,469.6,-7.8,452,4963,0.12,2.67,0.00,0.000,6,0.067,0.045,2677,2177,3647,0,0,0,0,0,0
$GC,5219,-1.38,-146.0,492.8,-8.6,476,5225,0.12,2.88,0.00,0.000,4,0.103,0.104,2705,624,3645,0,0,0,0,0,0
$GC,5267,-1.38,-146.0,496.9,-8.6,479,5272,0.00,2.58,0.00,0.000,6,0.000,0.048,2705,2163,3645,0,0,0,0,0,0
$GC,5529,-1.38,-146.0,519.5,-9.1,504,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2163,3643,0,0,0,0,0,0
$GC,5784,-1.38,-146.0,543.2,-8.6,528,5789,0.00,2.83,0.00,0.000,4,0.000,0.100,2705,628,3642,0,0,0,0,0,0
$GC,5813,-1.38,-146.0,545.9,-9.4,530,5817,0.00,2.62,0.00,0.000,6,0.000,0.061,2705,2173,3642,0,0,0,0,0,0
$GC,6076,-1.38,-146.0,568.9,-8.1,554,6080,0.00,2.92,0.00,0.000,4,0.000,0.094,2705,3801,3640,0,0,0,0,0,0
$GC,6118,-1.38,-146.0,572.7,-8.9,557,6122,0.00,2.78,0.00,0.000,6,0.000,0.057,2705,2183,3640,0,0,0,0,0,0
$GC,6380,-1.38,-146.0,591.7,-7.0,581,6385,0.00,2.88,0.00,0.000,4,0.000,0.079,2705,3798,3639,0,0,0,0,0,0
$GC,6448,-1.38,-146.0,596.0,-6.8,586,6453,0.00,2.78,0.00,0.000,6,0.000,0.064,2705,2198,3638,0,0,0,0,0,0
$STATE,6519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6519,begin apogee
$GC,6526,-0.31,0.0,600.7,6.0,592,6647,1.02,0.00,118.05,1.008,6,0.074,0.000,2935,2382,3060,0,0,0,0,0,0
$STATE,6648,end apogee,CONTROL_FINISHED_OK
$STATE,6648,begin climb
$GC,6650,1.27,146.0,602.0,0.0,595,6786,1.45,2.83,124.20,0.979,4,0.034,0.077,3292,3934,2463,0,0,0,0,0,0
$GC,6839,1.12,146.0,584.3,14.7,605,6845,0.22,2.75,0.00,0.000,6,0.102,0.056,3245,2367,2459,0,0,0,0,0,0
$GC,7103,1.06,146.0,557.6,10.3,630,7108,0.00,2.75,0.00,0.000,4,0.000,0.066,3246,3938,2454,0,0,0,0,0,0
$GC,7244,1.00,146.0,542.4,11.2,641,7250,0.12,2.65,0.00,0.000,6,0.120,0.045,3221,2389,2452,0,0,0,0,0,0
$GC,7507,1.02,163.6,518.0,9.2,666,7531,0.00,3.20,14.93,0.890,4,0.000,0.121,3220,785,2391,0,0,0,0,0,0
$GC,7583,1.02,163.6,510.3,10.4,672,7592,0.00,2.75,0.00,0.000,6,0.000,0.048,3220,2385,2389,0,0,0,0,0,0
$GC,7849,1.08,209.1,487.3,7.9,697,7895,0.00,0.00,41.50,0.921,6,0.000,0.000,3220,2384,2206,0,0,0,0,0,0
$GC,8150,1.17,244.8,462.6,8.4,726,8189,0.17,2.95,32.08,0.897,4,0.064,0.080,3269,781,2060,0,0,0,0,0,0
$GC,8206,1.12,244.8,457.1,12.0,730,8211,0.10,2.70,0.00,0.000,6,0.127,0.038,3248,2387,2059,0,0,0,0,0,0
$GC,8471,1.12,244.8,426.1,12.0,754,8475,0.00,2.85,0.00,0.000,4,0.000,0.071,3248,772,2055,0,0,0,0,0,0
$GC,8503,1.12,244.8,421.2,13.1,756,8513,0.00,2.65,0.00,0.000,6,0.000,0.036,3248,2357,2054,0,0,0,0,0,0
$GC,8771,1.12,244.8,389.0,12.0,781,8776,0.00,2.67,0.00,0.000,4,0.000,0.055,3248,3945,2054,0,0,0,0,0,0
$GC,8822,1.12,244.8,381.6,12.5,785,8827,0.00,2.62,0.00,0.000,6,0.000,0.030,3248,2351,2052,0,0,0,0,0,0
$GC,9085,1.12,244.8,350.5,11.6,809,9089,0.00,2.70,0.00,0.000,4,0.000,0.067,3248,781,2051,0,0,0,0,0,0
$GC,9126,1.12,244.8,345.9,11.0,812,9130,0.00,2.58,0.00,0.000,6,0.000,0.031,3248,2381,2051,0,0,0,0,0,0
$GC,9388,1.12,252.0,319.1,9.7,836,9400,0.00,2.60,6.25,0.680,4,0.000,0.051,3248,3927,2031,0,0,0,0,0,0
$GC,9418,1.12,252.0,316.3,11.1,838,9423,0.00,2.58,0.00,0.000,6,0.000,0.030,3248,2361,2030,0,0,0,0,0,0
$GC,9685,1.19,271.9,290.3,9.1,862,9706,0.00,0.00,19.23,0.780,6,0.000,0.000,3248,2361,1951,0,0,0,0,0,0
$GC,9965,1.26,283.4,263.6,9.5,888,9979,0.12,0.00,11.12,0.719,6,0.078,0.000,3286,2361,1904,0,0,0,0,0,0
$GC,10234,1.26,283.4,230.7,12.3,913,10238,0.00,2.62,0.00,0.000,4,0.000,0.053,3286,781,1902,0,0,0,0,0,0
$GC,10302,1.26,283.4,221.9,11.8,918,10311,0.00,2.55,0.00,0.000,6,0.000,0.024,3286,2370,1901,0,0,0,0,0,0
$GC,10568,1.26,283.4,193.4,10.7,943,10572,0.00,2.60,0.00,0.000,4,0.000,0.041,3286,3932,1900,0,0,0,0,0,0
$GC,10590,1.26,283.4,190.4,11.6,944,10599,0.00,2.55,0.00,0.000,6,0.000,0.025,3286,2367,1900,0,0,0,0,0,0
$GC,10857,1.26,283.4,161.1,11.1,969,10861,0.00,2.58,0.00,0.000,4,0.000,0.041,3286,3923,1900,0,0,0,0,0,0
$GC,10888,1.26,283.4,157.3,12.5,971,10892,0.00,2.47,0.00,0.000,6,0.000,0.024,3286,2381,1900,0,0,0,0,0,0
$GC,11157,1.26,283.4,127.1,11.1,995,11161,0.00,2.60,0.00,0.000,4,0.000,0.048,3286,791,1900,0,0,0,0,0,0
$GC,11204,1.26,283.4,120.5,11.9,998,11213,0.00,2.53,0.00,0.000,6,0.000,0.023,3286,2381,1900,0,0,0,0,0,0
$GC,11472,1.26,283.4,89.7,12.1,1023,11477,0.00,2.53,0.00,0.000,4,0.000,0.042,3286,3927,1900,0,0,0,0,0,0
$GC,11532,1.30,283.4,80.9,13.1,1027,11541,0.00,2.47,0.00,0.000,6,0.000,0.025,3286,2399,1900,0,0,0,0,0,0
$GC,11801,1.30,283.4,51.9,11.6,1052,11810,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2400,1901,0,0,0,0,0,0
$GC,12090,1.30,283.4,16.1,10.5,1086,12099,0.00,2.55,0.00,0.000,4,0.000,0.042,3286,3920,1901,0,0,0,0,0,0
$GC,12138,1.30,283.4,10.5,11.7,1092,12147,0.00,2.50,0.00,0.000,6,0.000,0.028,3286,2386,1902,0,0,0,0,0,0
$STATE,12204,end climb,SURFACE_DEPTH_REACHED
$STATE,12204,begin surface coast
$FINISH,-0.2,1.024192
$STATE,12246,end surface coast,CONTROL_FINISHED_OK
$STATE,12246,begin surface
$SM_CCo,12268,78.28,0.523,0,0,1510,380.21
$SM_GC,0.39,0.00,0.00,78.28,0.000,0.000,0.523,458,2193,1510,-11.71,-0.48,380.21
$IRIDIUM_FIX,2237.01,-15745.45,270603,030333
$TT8_MAMPS,0.026078
$HUMID,60.75
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.80
$XPDR_PINGS,20
$24V_AH,23.4,18.884
$10V_AH,10.3,17.180
$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,27.550,163.825,367.350,78.275,0.000,54.878,81.184,490.800,5.000,0.000,84.126,1929.567,5794.429,552.171,3920.910,1077.204,33.362,1677.451,0.000,3882.770,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,121.186,1007.838,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,759.971,889.206,1128.980,1411.825,2689.176,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,92100,1107
$CAP_FILE_SIZE,155905,0
$CFSIZE,260165632,171425792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020414,065836,2245.029,-15744.077,34,1.5,34,10.1