version: 66.06
glider: 146
mission: 9
dive: 137
start: 4 2 114 14 55 13
data:
$ID,146
$MISSION,9
$DIVE,137
$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,-326414
$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,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
$GPS1,144530,2242.617,-15743.422,85,1.4,85,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-70.8
$GPS2,145419,2242.598,-15743.529,13,1.5,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,-0.106
$KALMAN_X,-90283.6,-242.0,66.2,111040.2,-1272.6
$KALMAN_Y,74583.8,-34.3,-261.8,-86664.0,78.8
$MHEAD_RNG_PITCHd_Wd,104.0,12280,-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,14,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-90.43,0.000,6,0.000,0.000,463,2199,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.4,-8.5,12,132,12.60,2.55,0.00,0.000,4,0.166,0.038,2718,636,3657,0,0,0,0,0,0
$GC,243,-1.19,-146.0,31.1,-11.4,30,248,0.12,2.47,0.00,0.000,6,0.122,0.019,2742,2220,3658,0,0,0,0,0,0
$GC,511,-1.14,-146.0,62.2,-11.6,54,515,0.00,2.53,0.00,0.000,4,0.000,0.034,2742,3776,3658,0,0,0,0,0,0
$GC,546,-1.10,-146.0,66.7,-12.2,56,551,0.10,2.47,0.00,0.000,6,0.126,0.021,2762,2201,3658,0,0,0,0,0,0
$GC,814,-1.10,-146.0,93.2,-9.5,80,818,0.00,2.55,0.00,0.000,4,0.000,0.044,2762,636,3659,0,0,0,0,0,0
$GC,863,-1.10,-146.0,98.6,-9.8,83,872,0.00,2.45,0.00,0.000,6,0.000,0.018,2762,2200,3659,0,0,0,0,0,0
$GC,1131,-1.10,-146.0,122.6,-9.5,108,1136,0.00,2.55,0.00,0.000,4,0.000,0.043,2762,640,3659,0,0,0,0,0,0
$GC,1165,-1.10,-146.0,126.1,-9.5,110,1169,0.00,2.42,0.00,0.000,6,0.000,0.018,2762,2201,3659,0,0,0,0,0,0
$GC,1434,-1.10,-146.0,150.8,-8.9,134,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2202,3660,0,0,0,0,0,0
$GC,1699,-1.10,-146.0,175.6,-9.6,159,1703,0.00,2.55,0.00,0.000,4,0.000,0.034,2762,3784,3660,0,0,0,0,0,0
$GC,1718,-1.10,-146.0,177.6,-9.6,160,1722,0.00,2.47,0.00,0.000,6,0.000,0.019,2762,2194,3660,0,0,0,0,0,0
$GC,1981,-1.15,-146.0,199.5,-7.5,184,1985,0.00,2.53,0.00,0.000,4,0.000,0.046,2762,640,3660,0,0,0,0,0,0
$GC,2026,-1.21,-146.0,202.8,-7.5,187,2030,0.00,2.38,0.00,0.000,6,0.000,0.025,2762,2192,3660,0,0,0,0,0,0
$GC,2293,-1.27,-146.0,224.8,-8.9,211,2298,0.15,0.00,0.00,0.000,6,0.060,0.000,2705,2192,3660,0,0,0,0,0,0
$GC,2557,-1.22,-146.0,253.6,-10.7,236,2562,0.15,2.58,0.00,0.000,4,0.094,0.041,2737,3771,3660,0,0,0,0,0,0
$GC,2661,-1.26,-146.0,263.3,-9.4,244,2665,0.00,2.47,0.00,0.000,6,0.000,0.021,2737,2192,3660,0,0,0,0,0,0
$GC,2929,-1.26,-146.0,286.7,-8.7,268,2933,0.00,2.62,0.00,0.000,4,0.000,0.061,2737,639,3660,0,0,0,0,0,0
$GC,2974,-1.31,-146.0,290.7,-8.7,271,2978,0.00,2.42,0.00,0.000,6,0.000,0.028,2737,2162,3660,0,0,0,0,0,0
$GC,3242,-1.31,-146.0,310.4,-6.9,295,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2163,3660,0,0,0,0,0,0
$GC,3505,-1.35,-146.0,327.8,-6.3,320,3510,0.12,2.72,0.00,0.000,4,0.067,0.048,2689,3793,3659,0,0,0,0,0,0
$GC,3525,-1.35,-146.0,329.2,-6.7,321,3530,0.00,2.58,0.00,0.000,6,0.000,0.027,2689,2180,3659,0,0,0,0,0,0
$GC,3788,-1.35,-146.0,350.7,-8.3,345,3790,0.10,0.00,0.00,0.000,6,0.110,0.000,2710,2180,3657,0,0,0,0,0,0
$GC,4044,-1.35,-146.0,369.8,-7.7,369,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2180,3656,0,0,0,0,0,0
$GC,4309,-1.35,-146.0,390.8,-8.0,394,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2180,3654,0,0,0,0,0,0
$GC,4571,-1.35,-146.0,412.8,-8.3,419,4576,0.00,2.70,0.00,0.000,4,0.000,0.055,2710,3783,3653,0,0,0,0,0,0
$GC,4604,-1.35,-146.0,415.2,-8.7,421,4609,0.00,2.65,0.00,0.000,6,0.000,0.038,2710,2178,3653,0,0,0,0,0,0
$GC,4871,-1.35,-146.0,438.0,-8.4,445,4876,0.00,2.78,0.00,0.000,4,0.000,0.090,2710,629,3651,0,0,0,0,0,0
$GC,4906,-1.35,-146.0,441.8,-8.7,447,4915,0.00,2.58,0.00,0.000,6,0.000,0.051,2710,2162,3651,0,0,0,0,0,0
$GC,5172,-1.35,-146.0,464.7,-8.7,472,5177,0.00,2.75,0.00,0.000,4,0.000,0.061,2710,3798,3649,0,0,0,0,0,0
$GC,5206,-1.35,-146.0,468.7,-9.9,474,5215,0.00,2.70,0.00,0.000,6,0.000,0.047,2710,2187,3649,0,0,0,0,0,0
$GC,5472,-1.35,-146.0,491.2,-8.2,499,5477,0.00,2.72,0.00,0.000,4,0.000,0.059,2710,3796,3647,0,0,0,0,0,0
$GC,5493,-1.35,-146.0,493.6,-8.2,500,5501,0.00,2.67,0.00,0.000,6,0.000,0.044,2710,2190,3647,0,0,0,0,0,0
$GC,5758,-1.35,-146.0,513.6,-7.3,525,5762,0.00,2.78,0.00,0.000,4,0.000,0.069,2710,3800,3645,0,0,0,0,0,0
$GC,5815,-1.35,-146.0,518.2,-7.7,529,5820,0.00,2.70,0.00,0.000,6,0.000,0.048,2711,2197,3645,0,0,0,0,0,0
$GC,6079,-1.35,-146.0,535.9,-6.8,554,6083,0.00,2.78,0.00,0.000,4,0.000,0.066,2711,3794,3644,0,0,0,0,0,0
$GC,6096,-1.35,-146.0,537.4,-7.0,555,6100,0.00,2.67,0.00,0.000,6,0.000,0.048,2710,2199,3644,0,0,0,0,0,0
$GC,6358,-1.35,-146.0,555.7,-6.8,579,6363,0.00,2.80,0.00,0.000,4,0.000,0.071,2710,3795,3642,0,0,0,0,0,0
$GC,6416,-1.40,-146.0,560.1,-7.5,583,6422,0.00,2.72,0.00,0.000,6,0.000,0.059,2711,2202,3642,0,0,0,0,0,0
$GC,6680,-1.44,-146.0,578.3,-7.2,608,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2202,3640,0,0,0,0,0,0
$GC,6944,-1.49,-146.0,599.2,-8.2,633,6949,0.12,2.88,0.00,0.000,4,0.070,0.084,2665,3793,3639,0,0,0,0,0,0
$STATE,6952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6952,begin apogee
$GC,6962,-0.31,0.0,600.3,8.0,633,7088,1.17,0.00,118.90,1.012,6,0.079,0.000,2928,2372,3059,0,0,0,0,0,0
$STATE,7089,end apogee,CONTROL_FINISHED_OK
$STATE,7089,begin climb
$GC,7091,1.27,146.0,604.7,0.0,637,7221,1.50,0.00,124.85,0.987,6,0.035,0.000,3293,2372,2463,0,0,0,0,0,0
$GC,7476,1.15,146.0,571.7,10.9,665,7481,0.20,2.80,0.00,0.000,4,0.108,0.074,3253,3934,2455,0,0,0,0,0,0
$GC,7495,1.04,146.0,569.9,10.4,666,7501,0.12,2.70,0.00,0.000,6,0.124,0.056,3228,2368,2454,0,0,0,0,0,0
$GC,7756,1.10,192.3,548.5,7.9,690,7799,0.00,0.00,40.40,0.951,6,0.000,0.000,3229,2369,2276,0,0,0,0,0,0
$GC,8054,1.12,210.8,521.7,9.1,718,8073,0.00,0.00,17.40,0.902,6,0.000,0.000,3229,2369,2200,0,0,0,0,0,0
$GC,8327,1.12,210.8,495.1,10.3,744,8332,0.00,2.70,0.00,0.000,4,0.000,0.055,3229,3938,2195,0,0,0,0,0,0
$GC,8384,1.12,210.8,488.4,11.4,748,8390,0.00,2.65,0.00,0.000,6,0.000,0.046,3228,2368,2194,0,0,0,0,0,0
$GC,8646,1.12,210.8,462.2,10.4,773,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2368,2193,0,0,0,0,0,0
$GC,8900,1.12,210.8,435.4,10.2,797,8905,0.00,2.88,0.00,0.000,4,0.000,0.093,3228,782,2192,0,0,0,0,0,0
$GC,8922,1.12,210.8,433.2,10.2,798,8933,0.00,2.65,0.00,0.000,6,0.000,0.041,3228,2377,2192,0,0,0,0,0,0
$GC,9190,1.13,221.2,408.0,9.5,823,9205,0.10,0.00,9.50,0.808,6,0.090,0.000,3259,2377,2157,0,0,0,0,0,0
$GC,9460,1.13,221.2,378.7,10.6,849,9465,0.00,2.78,0.00,0.000,4,0.000,0.063,3259,774,2155,0,0,0,0,0,0
$GC,9482,1.13,221.2,376.8,10.8,850,9486,0.00,2.60,0.00,0.000,6,0.000,0.035,3259,2382,2154,0,0,0,0,0,0
$GC,9748,1.13,221.2,349.1,10.5,874,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2383,2154,0,0,0,0,0,0
$GC,10010,1.13,221.2,319.7,11.1,899,10014,0.00,2.70,0.00,0.000,4,0.000,0.054,3259,775,2154,0,0,0,0,0,0
$GC,10031,1.13,221.2,316.9,12.1,900,10041,0.00,2.58,0.00,0.000,6,0.000,0.026,3259,2366,2153,0,0,0,0,0,0
$GC,10299,1.13,221.2,287.7,11.4,925,10303,0.00,2.60,0.00,0.000,4,0.000,0.045,3259,3937,2153,0,0,0,0,0,0
$GC,10385,1.13,221.2,276.3,13.0,932,10389,0.00,2.53,0.00,0.000,6,0.000,0.026,3259,2372,2152,0,0,0,0,0,0
$GC,10649,1.15,238.7,249.1,9.2,956,10674,0.00,2.72,16.42,0.746,4,0.000,0.052,3259,790,2084,0,0,0,0,0,0
$GC,10697,1.15,238.7,244.0,10.2,960,10701,0.00,2.58,0.00,0.000,6,0.000,0.030,3259,2393,2083,0,0,0,0,0,0
$GC,10959,1.18,263.0,221.0,8.9,984,10987,0.00,2.60,22.23,0.725,4,0.000,0.043,3259,3926,1986,0,0,0,0,0,0
$GC,11023,1.19,269.8,214.9,9.7,989,11037,0.00,2.50,7.50,0.624,6,0.000,0.025,3259,2377,1959,0,0,0,0,0,0
$GC,11303,1.25,273.0,188.9,9.8,1015,11314,0.00,2.67,4.30,0.492,4,0.000,0.048,3259,786,1945,0,0,0,0,0,0
$GC,11415,1.30,273.0,177.1,10.9,1024,11425,0.08,2.55,0.00,0.000,6,0.046,0.022,3293,2374,1944,0,0,0,0,0,0
$GC,11684,1.30,273.0,144.1,14.2,1049,11688,0.00,2.53,0.00,0.000,4,0.000,0.038,3293,3928,1944,0,0,0,0,0,0
$GC,11805,1.30,273.0,125.7,14.7,1058,11810,0.00,2.47,0.00,0.000,6,0.000,0.023,3293,2382,1944,0,0,0,0,0,0
$GC,12074,1.30,273.0,91.0,12.8,1082,12079,0.00,2.60,0.00,0.000,4,0.000,0.045,3293,788,1944,0,0,0,0,0,0
$GC,12109,1.30,273.0,85.2,13.4,1084,12119,0.00,2.53,0.00,0.000,6,0.000,0.021,3293,2381,1944,0,0,0,0,0,0
$GC,12378,1.30,273.0,56.3,10.8,1109,12382,0.00,2.53,0.00,0.000,4,0.000,0.041,3293,3923,1944,0,0,0,0,0,0
$GC,12401,1.30,273.0,52.4,12.3,1110,12411,0.00,2.45,0.00,0.000,6,0.000,0.021,3293,2390,1944,0,0,0,0,0,0
$GC,12686,1.35,306.9,21.8,8.4,1141,12728,0.00,2.62,30.23,0.537,4,0.000,0.044,3293,3912,1807,0,0,0,0,0,0
$GC,12765,1.35,306.9,12.2,13.8,1151,12774,0.00,2.47,0.00,0.000,6,0.000,0.025,3293,2395,1805,0,0,0,0,0,0
$STATE,12836,end climb,SURFACE_DEPTH_REACHED
$STATE,12836,begin surface coast
$FINISH,-0.2,1.019381
$STATE,12878,end surface coast,CONTROL_FINISHED_OK
$STATE,12878,begin surface
$SM_CCo,12901,58.75,0.522,0,0,1510,380.21
$SM_GC,0.50,0.00,0.00,58.75,0.000,0.000,0.522,460,2169,1510,-11.70,-1.16,380.21
$IRIDIUM_FIX,2239.35,-15737.19,270603,111102
$TT8_MAMPS,0.026078
$HUMID,60.86
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.60
$XPDR_PINGS,22
$24V_AH,23.4,19.321
$10V_AH,10.3,17.886
$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,28.075,156.950,391.725,58.750,0.000,27.231,35.860,292.762,5.500,0.000,14.880,2015.768,6127.033,559.547,3969.241,803.373,33.358,1718.690,0.000,4005.207,0.000,0.534,0.000
$DEVICE_MAMPS,166.439,92.807,1011.673,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,801.534,932.650,1188.585,1449.829,2761.795,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355388
$DATA_FILE_SIZE,95256,1167
$CAP_FILE_SIZE,153532,0
$CFSIZE,260165632,171167744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020414,183306,2241.972,-15743.039,71,1.0,71,10.1