version: 66.06
glider: 146
mission: 9
dive: 135
start: 4 2 114 7 25 35
data:
$ID,146
$MISSION,9
$DIVE,135
$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,-326384.06
$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,37
$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
$GPS1,065836,2245.029,-15744.077,34,1.5,34,10.1
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-66.6
$GPS2,072442,2245.201,-15744.357,35,1.2,52,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.100,-0.240
$KALMAN_X,-87667.4,-94.3,-479.3,107406.6,227.8
$KALMAN_Y,74435.2,40.4,-128.7,-81911.5,1320.2
$MHEAD_RNG_PITCHd_Wd,147.4,16592,-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,17,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-88.90,0.000,6,0.000,0.000,457,2193,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.6,-9.2,12,133,12.55,2.55,0.00,0.000,4,0.167,0.038,2718,630,3657,0,0,0,0,0,0
$GC,235,-1.17,-146.0,27.8,-11.4,29,245,0.10,2.50,0.00,0.000,6,0.104,0.018,2742,2223,3657,0,0,0,0,0,0
$GC,515,-1.13,-146.0,59.3,-12.1,55,519,0.00,2.62,0.00,0.000,4,0.000,0.043,2742,632,3657,0,0,0,0,0,0
$GC,536,-1.07,-146.0,62.6,-12.1,56,541,0.12,2.45,0.00,0.000,6,0.119,0.018,2767,2210,3657,0,0,0,0,0,0
$GC,806,-1.07,-146.0,89.3,-9.1,80,810,0.00,2.58,0.00,0.000,4,0.000,0.042,2767,631,3658,0,0,0,0,0,0
$GC,828,-1.07,-146.0,91.5,-8.7,81,832,0.00,2.42,0.00,0.000,6,0.000,0.025,2767,2208,3657,0,0,0,0,0,0
$GC,1097,-1.07,-146.0,117.3,-10.3,105,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2209,3658,0,0,0,0,0,0
$GC,1363,-1.07,-146.0,142.7,-9.7,130,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2209,3658,0,0,0,0,0,0
$GC,1629,-1.07,-146.0,169.0,-9.7,155,1633,0.00,2.58,0.00,0.000,4,0.000,0.044,2767,632,3658,0,0,0,0,0,0
$GC,1693,-1.12,-146.0,175.8,-10.0,160,1697,0.00,2.42,0.00,0.000,6,0.000,0.027,2767,2194,3658,0,0,0,0,0,0
$GC,1957,-1.12,-146.0,199.4,-8.1,184,1961,0.00,2.55,0.00,0.000,4,0.000,0.036,2767,3777,3658,0,0,0,0,0,0
$GC,1978,-1.12,-146.0,201.6,-8.6,185,1984,0.00,2.50,0.00,0.000,6,0.000,0.019,2767,2188,3658,0,0,0,0,0,0
$GC,2241,-1.17,-146.0,224.2,-8.8,210,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2189,3658,0,0,0,0,0,0
$GC,2497,-1.23,-146.0,247.5,-8.6,234,2502,0.12,2.55,0.00,0.000,4,0.067,0.050,2715,641,3658,0,0,0,0,0,0
$GC,2521,-1.23,-146.0,249.4,-8.5,235,2526,0.10,2.40,0.00,0.000,6,0.111,0.025,2736,2199,3658,0,0,0,0,0,0
$GC,2786,-1.23,-146.0,272.9,-8.7,259,2790,0.00,2.58,0.00,0.000,4,0.000,0.051,2736,639,3658,0,0,0,0,0,0
$GC,2831,-1.23,-146.0,276.7,-9.0,262,2835,0.00,2.40,0.00,0.000,6,0.000,0.023,2736,2184,3658,0,0,0,0,0,0
$GC,3099,-1.23,-146.0,298.9,-8.9,286,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2184,3658,0,0,0,0,0,0
$GC,3361,-1.23,-146.0,322.7,-9.2,311,3366,0.00,2.62,0.00,0.000,4,0.000,0.047,2736,3778,3657,0,0,0,0,0,0
$GC,3378,-1.23,-146.0,324.3,-9.0,312,3383,0.00,2.53,0.00,0.000,6,0.000,0.032,2736,2203,3657,0,0,0,0,0,0
$GC,3643,-1.27,-146.0,346.6,-8.2,336,3647,0.00,2.60,0.00,0.000,4,0.000,0.046,2736,3774,3656,0,0,0,0,0,0
$GC,3665,-1.30,-146.0,348.3,-8.4,337,3670,0.00,2.55,0.00,0.000,6,0.000,0.028,2736,2198,3656,0,0,0,0,0,0
$GC,3934,-1.35,-146.0,370.9,-8.1,361,3939,0.12,0.00,0.00,0.000,6,0.069,0.000,2686,2198,3655,0,0,0,0,0,0
$GC,4198,-1.30,-146.0,394.2,-7.8,386,4203,0.15,2.67,0.00,0.000,4,0.097,0.051,2719,3781,3653,0,0,0,0,0,0
$GC,4220,-1.30,-146.0,396.2,-7.4,387,4230,0.00,2.62,0.00,0.000,6,0.000,0.037,2719,2199,3653,0,0,0,0,0,0
$GC,4486,-1.30,-146.0,413.3,-6.7,412,4491,0.00,2.67,0.00,0.000,4,0.000,0.056,2719,3771,3651,0,0,0,0,0,0
$GC,4544,-1.30,-146.0,418.2,-8.1,416,4550,0.00,2.60,0.00,0.000,6,0.000,0.038,2719,2203,3651,0,0,0,0,0,0
$GC,4807,-1.30,-146.0,439.2,-8.0,441,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2204,3649,0,0,0,0,0,0
$GC,5063,-1.34,-146.0,457.8,-6.5,465,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2203,3648,0,0,0,0,0,0
$GC,5317,-1.38,-146.0,472.7,-6.0,489,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2204,3646,0,0,0,0,0,0
$GC,5574,-1.42,-146.0,489.7,-7.1,513,5583,0.12,0.00,0.00,0.000,6,0.069,0.000,2672,2204,3644,0,0,0,0,0,0
$GC,5841,-1.38,-146.0,514.1,-9.1,538,5846,0.15,2.95,0.00,0.000,4,0.096,0.109,2705,629,3642,0,0,0,0,0,0
$GC,5921,-1.38,-146.0,521.5,-9.2,544,5926,0.00,2.60,0.00,0.000,6,0.000,0.054,2705,2175,3642,0,0,0,0,0,0
$GC,6188,-1.38,-146.0,543.0,-8.4,568,6192,0.00,2.83,0.00,0.000,4,0.000,0.080,2705,3794,3640,0,0,0,0,0,0
$GC,6267,-1.38,-146.0,550.3,-9.7,574,6272,0.00,2.70,0.00,0.000,6,0.000,0.051,2704,2203,3640,0,0,0,0,0,0
$GC,6533,-1.38,-146.0,571.8,-8.0,598,6538,0.00,2.83,0.00,0.000,4,0.000,0.082,2705,3800,3638,0,0,0,0,0,0
$GC,6567,-1.38,-146.0,575.0,-9.1,600,6577,0.00,2.78,0.00,0.000,6,0.000,0.058,2705,2201,3638,0,0,0,0,0,0
$GC,6834,-1.38,-146.0,593.2,-7.2,625,6839,0.00,2.85,0.00,0.000,4,0.000,0.084,2705,3800,3636,0,0,0,0,0,0
$GC,6898,-1.38,-146.0,598.3,-7.6,630,6903,0.00,2.78,0.00,0.000,6,0.000,0.066,2705,2209,3635,0,0,0,0,0,0
$STATE,6923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6923,begin apogee
$GC,6929,-0.31,0.0,600.3,7.3,632,7051,1.02,0.00,117.85,1.009,6,0.072,0.000,2937,2379,3060,0,0,0,0,0,0
$STATE,7052,end apogee,CONTROL_FINISHED_OK
$STATE,7052,begin climb
$GC,7054,1.27,146.0,601.5,0.0,635,7192,1.42,2.88,124.20,0.979,4,0.035,0.079,3290,3923,2462,0,0,0,0,0,0
$GC,7221,1.11,146.0,588.3,12.5,644,7228,0.20,2.75,0.00,0.000,6,0.107,0.058,3249,2366,2460,0,0,0,0,0,0
$GC,7486,1.08,156.6,562.6,9.5,669,7501,0.00,2.80,9.45,0.839,4,0.000,0.071,3249,3933,2420,0,0,0,0,0,0
$GC,7518,1.02,160.5,559.1,9.8,671,7529,0.12,2.72,5.20,0.695,6,0.120,0.051,3224,2362,2404,0,0,0,0,0,0
$GC,7784,1.07,201.7,537.0,8.1,696,7831,0.00,2.83,37.45,0.941,4,0.000,0.060,3224,3927,2236,0,0,0,0,0,0
$GC,7924,1.09,217.8,523.9,9.3,708,7948,0.00,2.62,15.15,0.883,6,0.000,0.045,3224,2387,2171,0,0,0,0,0,0
$GC,8203,1.12,238.5,499.0,9.0,734,8229,0.10,3.17,19.42,0.898,4,0.087,0.123,3254,782,2086,0,0,0,0,0,0
$GC,8288,1.12,238.5,489.5,12.7,741,8293,0.00,2.67,0.00,0.000,6,0.000,0.046,3254,2368,2083,0,0,0,0,0,0
$GC,8551,1.12,238.5,458.0,11.4,765,8555,0.00,2.83,0.00,0.000,4,0.000,0.079,3254,780,2082,0,0,0,0,0,0
$GC,8572,1.12,238.5,455.8,11.8,766,8577,0.00,2.65,0.00,0.000,6,0.000,0.039,3254,2371,2080,0,0,0,0,0,0
$GC,8840,1.12,238.5,424.5,12.1,790,8844,0.00,2.80,0.00,0.000,4,0.000,0.072,3254,771,2080,0,0,0,0,0,0
$GC,8861,1.12,238.5,420.9,12.7,791,8867,0.00,2.62,0.00,0.000,6,0.000,0.035,3254,2363,2080,0,0,0,0,0,0
$GC,9125,1.12,238.5,390.5,11.1,816,9129,0.00,2.65,0.00,0.000,4,0.000,0.050,3254,3945,2080,0,0,0,0,0,0
$GC,9165,1.12,238.5,385.4,12.0,819,9169,0.00,2.62,0.00,0.000,6,0.000,0.030,3254,2347,2078,0,0,0,0,0,0
$GC,9428,1.12,238.5,354.7,11.6,843,9433,0.00,2.67,0.00,0.000,4,0.000,0.052,3254,3942,2078,0,0,0,0,0,0
$GC,9450,1.12,238.5,352.6,11.6,844,9455,0.00,2.55,0.00,0.000,6,0.000,0.034,3254,2368,2077,0,0,0,0,0,0
$GC,9716,1.12,238.5,323.9,11.0,868,9721,0.00,2.70,0.00,0.000,4,0.000,0.062,3254,785,2077,0,0,0,0,0,0
$GC,9750,1.12,238.5,319.5,11.3,870,9759,0.00,2.58,0.00,0.000,6,0.000,0.027,3254,2371,2077,0,0,0,0,0,0
$GC,10015,1.12,238.5,292.1,10.2,895,10020,0.00,2.60,0.00,0.000,4,0.000,0.047,3254,3934,2076,0,0,0,0,0,0
$GC,10048,1.12,238.5,287.8,11.6,897,10057,0.00,2.58,0.00,0.000,6,0.000,0.028,3254,2362,2077,0,0,0,0,0,0
$GC,10315,1.16,238.5,260.7,10.8,922,10320,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2362,2076,0,0,0,0,0,0
$GC,10578,1.20,238.5,232.7,10.0,947,10583,0.00,2.60,0.00,0.000,4,0.000,0.051,3254,784,2076,0,0,0,0,0,0
$GC,10623,1.24,238.5,227.8,10.1,950,10629,0.00,2.53,0.00,0.000,6,0.000,0.022,3254,2377,2076,0,0,0,0,0,0
$GC,10887,1.37,291.8,204.6,7.5,975,10939,0.20,2.62,45.78,0.719,4,0.057,0.044,3312,3920,1868,0,0,0,0,0,0
$GC,10988,1.37,291.8,193.7,13.3,983,10993,0.00,2.55,0.00,0.000,6,0.000,0.026,3312,2357,1866,0,0,0,0,0,0
$GC,11256,1.37,291.8,161.4,12.4,1007,11260,0.00,2.58,0.00,0.000,4,0.000,0.048,3312,785,1864,0,0,0,0,0,0
$GC,11289,1.32,291.8,156.8,14.2,1009,11293,0.00,2.50,0.00,0.000,6,0.000,0.021,3312,2372,1863,0,0,0,0,0,0
$GC,11558,1.28,291.8,123.0,12.6,1033,11563,0.15,2.55,0.00,0.000,4,0.105,0.042,3280,3923,1863,0,0,0,0,0,0
$GC,11629,1.33,291.8,114.0,11.9,1038,11634,0.00,2.50,0.00,0.000,6,0.000,0.024,3280,2353,1862,0,0,0,0,0,0
$GC,11898,1.33,291.8,84.3,10.9,1062,11902,0.00,2.58,0.00,0.000,4,0.000,0.046,3280,780,1862,0,0,0,0,0,0
$GC,11918,1.33,291.8,81.5,11.4,1063,11923,0.00,2.50,0.00,0.000,6,0.000,0.021,3280,2374,1862,0,0,0,0,0,0
$GC,12186,1.33,291.8,53.2,10.8,1087,12190,0.00,2.55,0.00,0.000,4,0.000,0.045,3279,3927,1863,0,0,0,0,0,0
$GC,12257,1.33,291.8,43.5,13.6,1092,12262,0.00,2.45,0.00,0.000,6,0.000,0.026,3280,2388,1862,0,0,0,0,0,0
$GC,12559,1.41,291.8,7.8,10.5,1130,12568,0.12,2.67,0.00,0.000,4,0.072,0.050,3322,798,1863,0,0,0,0,0,0
$STATE,12591,end climb,SURFACE_DEPTH_REACHED
$STATE,12591,begin surface coast
$FINISH,-0.2,1.024191
$STATE,12635,end surface coast,CONTROL_FINISHED_OK
$STATE,12635,begin surface
$SM_CCo,12659,71.07,0.520,0,0,1510,380.21
$SM_GC,0.54,0.00,0.00,71.07,0.000,0.000,0.520,464,2224,1510,-11.68,0.42,380.21
$IRIDIUM_FIX,2234.68,-15745.45,270603,070708
$TT8_MAMPS,0.025311
$HUMID,61.10
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.00
$XPDR_PINGS,17
$24V_AH,23.4,19.052
$10V_AH,10.3,17.421
$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,28.375,168.275,374.500,71.075,0.000,144.912,192.258,710.521,4.250,0.000,53.804,1993.474,6210.815,543.517,3969.988,1565.573,33.364,1690.605,0.000,3957.137,0.000,0.537,0.000
$DEVICE_MAMPS,167.206,123.487,1009.372,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,783.060,914.687,1162.782,1434.646,2732.903,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355308
$DATA_FILE_SIZE,95350,1140
$CAP_FILE_SIZE,171434,0
$CFSIZE,260165632,171323392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020414,105937,2243.882,-15743.952,69,1.0,69,10.1