version: 66.06
glider: 146
mission: 9
dive: 138
start: 4 2 114 19 2 15
data:
$ID,146
$MISSION,9
$DIVE,138
$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,-326446.78
$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,68
$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
$GPS1,183306,2241.972,-15743.039,71,1.0,71,10.1
$_CALLS,4
$_XMS_NAKs,28
$_XMS_TOUTs,1
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-70.1
$GPS2,190121,2241.987,-15743.464,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.189,-0.178
$KALMAN_X,-92119.7,-466.6,-551.2,113832.2,-388.6
$KALMAN_Y,74834.4,-133.7,-277.6,-87936.1,906.3
$MHEAD_RNG_PITCHd_Wd,123.1,11536,-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,16,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-88.82,0.000,6,0.000,0.000,459,2168,3655,0,0,0,0,0,0
$GC,116,-1.27,-146.0,3.7,-8.8,12,133,12.90,0.00,0.00,0.000,6,0.167,0.000,2716,2168,3656,0,0,0,0,0,0
$GC,416,-1.17,-146.0,54.5,-13.0,46,421,0.15,2.62,0.00,0.000,4,0.118,0.035,2746,3786,3656,0,0,0,0,0,0
$GC,463,-1.17,-146.0,60.1,-11.8,49,467,0.00,2.45,0.00,0.000,6,0.000,0.021,2746,2230,3656,0,0,0,0,0,0
$GC,730,-1.17,-146.0,89.2,-10.9,73,735,0.00,2.62,0.00,0.000,4,0.000,0.046,2746,639,3657,0,0,0,0,0,0
$GC,765,-1.17,-146.0,93.6,-11.2,75,775,0.00,2.45,0.00,0.000,6,0.000,0.018,2746,2208,3657,0,0,0,0,0,0
$GC,1032,-1.17,-146.0,121.4,-10.8,100,1037,0.00,2.58,0.00,0.000,4,0.000,0.044,2746,636,3657,0,0,0,0,0,0
$GC,1078,-1.17,-146.0,127.2,-12.3,103,1082,0.00,2.42,0.00,0.000,6,0.000,0.018,2746,2203,3657,0,0,0,0,0,0
$GC,1345,-1.17,-146.0,157.4,-10.7,127,1349,0.00,2.55,0.00,0.000,4,0.000,0.044,2746,639,3657,0,0,0,0,0,0
$GC,1385,-1.17,-146.0,163.0,-12.4,130,1389,0.00,2.40,0.00,0.000,6,0.000,0.021,2746,2189,3657,0,0,0,0,0,0
$GC,1648,-1.17,-146.0,194.9,-11.5,154,1653,0.00,2.55,0.00,0.000,4,0.000,0.033,2746,3776,3657,0,0,0,0,0,0
$GC,1677,-1.17,-146.0,198.4,-10.8,156,1681,0.00,2.50,0.00,0.000,6,0.000,0.019,2746,2166,3657,0,0,0,0,0,0
$GC,1940,-1.17,-146.0,220.3,-7.7,180,1944,0.00,2.50,0.00,0.000,4,0.000,0.047,2746,642,3657,0,0,0,0,0,0
$GC,1963,-1.17,-146.0,221.9,-7.8,181,1967,0.00,2.35,0.00,0.000,6,0.000,0.018,2746,2179,3657,0,0,0,0,0,0
$GC,2230,-1.17,-146.0,242.0,-7.2,205,2234,0.00,2.58,0.00,0.000,4,0.000,0.038,2746,3778,3657,0,0,0,0,0,0
$GC,2322,-1.22,-146.0,248.9,-7.1,212,2328,0.00,2.50,0.00,0.000,6,0.000,0.021,2746,2191,3658,0,0,0,0,0,0
$GC,2585,-1.22,-146.0,265.5,-7.3,237,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2191,3657,0,0,0,0,0,0
$GC,2842,-1.26,-146.0,285.6,-7.9,261,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2191,3656,0,0,0,0,0,0
$GC,3109,-1.31,-146.0,306.2,-7.4,286,3114,0.12,2.60,0.00,0.000,4,0.067,0.044,2697,3765,3655,0,0,0,0,0,0
$GC,3139,-1.31,-146.0,309.3,-9.7,288,3143,0.00,2.53,0.00,0.000,6,0.000,0.025,2697,2189,3656,0,0,0,0,0,0
$GC,3402,-1.27,-146.0,332.2,-7.8,312,3404,0.12,0.00,0.00,0.000,6,0.100,0.000,2725,2189,3654,0,0,0,0,0,0
$GC,3657,-1.27,-146.0,349.1,-6.8,336,3662,0.00,2.67,0.00,0.000,4,0.000,0.071,2725,630,3653,0,0,0,0,0,0
$GC,3691,-1.27,-146.0,351.9,-7.6,338,3696,0.00,2.45,0.00,0.000,6,0.000,0.037,2725,2156,3653,0,0,0,0,0,0
$GC,3955,-1.27,-146.0,371.9,-7.7,363,3959,0.00,2.65,0.00,0.000,4,0.000,0.049,2725,3762,3651,0,0,0,0,0,0
$GC,4024,-1.32,-146.0,377.9,-8.3,368,4029,0.00,2.55,0.00,0.000,6,0.000,0.031,2725,2200,3651,0,0,0,0,0,0
$GC,4288,-1.32,-146.0,396.6,-7.0,393,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2200,3649,0,0,0,0,0,0
$GC,4555,-1.35,-146.0,414.7,-7.0,418,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2200,3648,0,0,0,0,0,0
$GC,4819,-1.39,-146.0,433.3,-7.5,443,4825,0.10,2.65,0.00,0.000,4,0.082,0.054,2680,3763,3646,0,0,0,0,0,0
$GC,4852,-1.35,-146.0,436.2,-9.3,445,4858,0.12,2.58,0.00,0.000,6,0.101,0.039,2708,2208,3646,0,0,0,0,0,0
$GC,5117,-1.35,-146.0,460.7,-9.4,469,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2208,3644,0,0,0,0,0,0
$GC,5378,-1.35,-146.0,485.6,-9.5,494,5383,0.00,2.67,0.00,0.000,4,0.000,0.069,2708,3767,3642,0,0,0,0,0,0
$GC,5412,-1.35,-146.0,488.2,-9.7,496,5416,0.00,2.62,0.00,0.000,6,0.000,0.046,2707,2202,3642,0,0,0,0,0,0
$GC,5679,-1.35,-146.0,512.8,-8.6,520,5684,0.00,2.70,0.00,0.000,4,0.000,0.065,2708,3757,3641,0,0,0,0,0,0
$GC,5696,-1.35,-146.0,514.9,-8.9,521,5701,0.00,2.60,0.00,0.000,6,0.000,0.054,2708,2211,3641,0,0,0,0,0,0
$GC,5960,-1.35,-146.0,534.7,-6.7,545,5965,0.00,2.67,0.00,0.000,4,0.000,0.067,2707,3761,3639,0,0,0,0,0,0
$GC,5992,-1.35,-146.0,536.8,-7.0,547,5997,0.00,2.62,0.00,0.000,6,0.000,0.054,2708,2208,3639,0,0,0,0,0,0
$GC,6260,-1.35,-146.0,552.2,-5.5,571,6265,0.00,2.70,0.00,0.000,4,0.000,0.070,2707,3764,3637,0,0,0,0,0,0
$GC,6338,-1.35,-146.0,557.1,-6.2,577,6342,0.00,2.60,0.00,0.000,6,0.000,0.051,2708,2231,3637,0,0,0,0,0,0
$GC,6606,-1.35,-146.0,573.0,-6.8,601,6611,0.00,2.70,0.00,0.000,4,0.000,0.081,2707,3757,3635,0,0,0,0,0,0
$GC,6639,-1.35,-146.0,576.0,-7.5,603,6648,0.00,2.65,0.00,0.000,6,0.000,0.058,2707,2234,3635,0,0,0,0,0,0
$GC,6905,-1.39,-146.0,596.2,-8.1,628,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2234,3633,0,0,0,0,0,0
$STATE,6953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6953,begin apogee
$GC,6960,-0.31,0.0,600.7,8.7,633,7081,1.00,0.00,117.75,1.008,6,0.071,0.000,2934,2341,3060,0,0,0,0,0,0
$STATE,7082,end apogee,CONTROL_FINISHED_OK
$STATE,7082,begin climb
$GC,7085,1.27,146.0,604.6,0.0,636,7224,1.42,2.95,124.25,0.983,4,0.033,0.079,3290,3929,2462,0,0,0,0,0,0
$GC,7242,1.13,146.0,595.1,11.1,641,7248,0.20,2.75,0.00,0.000,6,0.108,0.058,3249,2368,2460,0,0,0,0,0,0
$GC,7506,1.08,146.0,567.8,10.6,666,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2368,2455,0,0,0,0,0,0
$GC,7771,1.04,146.0,538.3,10.9,691,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2368,2452,0,0,0,0,0,0
$GC,8034,0.99,146.0,508.7,10.5,716,8039,0.15,2.70,0.00,0.000,4,0.110,0.059,3219,3935,2451,0,0,0,0,0,0
$GC,8135,0.99,146.0,498.3,10.1,724,8140,0.00,2.65,0.00,0.000,6,0.000,0.042,3219,2364,2450,0,0,0,0,0,0
$GC,8403,1.03,174.0,474.9,8.7,748,8438,0.00,3.05,23.62,0.904,4,0.000,0.104,3219,787,2349,0,0,0,0,0,0
$GC,8444,1.06,198.3,470.5,8.9,751,8474,0.00,2.70,23.10,0.884,6,0.000,0.041,3219,2383,2251,0,0,0,0,0,0
$GC,8730,1.12,213.4,444.2,9.3,778,8752,0.12,2.67,14.23,0.847,4,0.077,0.052,3253,3939,2189,0,0,0,0,0,0
$GC,8792,1.12,213.4,436.2,12.7,783,8801,0.00,2.62,0.00,0.000,6,0.000,0.031,3254,2373,2188,0,0,0,0,0,0
$GC,9059,1.12,213.4,407.1,10.7,808,9064,0.00,2.85,0.00,0.000,4,0.000,0.083,3254,779,2185,0,0,0,0,0,0
$GC,9091,1.12,213.4,402.8,10.7,810,9101,0.00,2.65,0.00,0.000,6,0.000,0.035,3254,2389,2184,0,0,0,0,0,0
$GC,9358,1.13,215.2,376.7,9.9,835,9362,0.00,2.58,0.00,0.000,4,0.000,0.048,3254,3930,2184,0,0,0,0,0,0
$GC,9380,1.13,215.2,373.9,10.3,836,9387,0.00,2.50,0.00,0.000,6,0.000,0.028,3254,2393,2183,0,0,0,0,0,0
$GC,9643,1.15,232.3,349.4,9.2,861,9667,0.00,2.65,17.35,0.818,4,0.000,0.051,3254,3938,2112,0,0,0,0,0,0
$GC,9680,1.15,232.3,345.6,10.5,864,9684,0.00,2.55,0.00,0.000,6,0.000,0.033,3254,2393,2110,0,0,0,0,0,0
$GC,9942,1.15,232.3,318.1,10.5,888,9947,0.00,2.75,0.00,0.000,4,0.000,0.061,3254,784,2109,0,0,0,0,0,0
$GC,9964,1.15,232.3,315.2,12.5,889,9970,0.00,2.62,0.00,0.000,6,0.000,0.028,3254,2407,2108,0,0,0,0,0,0
$GC,10228,1.15,232.3,288.1,10.3,914,10229,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2408,2107,0,0,0,0,0,0
$GC,10480,1.15,232.3,260.1,11.0,938,10484,0.00,2.50,0.00,0.000,4,0.000,0.051,3254,3928,2108,0,0,0,0,0,0
$GC,10514,1.15,232.3,257.0,10.9,940,10518,0.00,2.47,0.00,0.000,6,0.000,0.025,3254,2388,2106,0,0,0,0,0,0
$GC,10781,1.19,233.0,230.1,10.0,964,10785,0.00,2.67,0.00,0.000,4,0.000,0.051,3254,781,2106,0,0,0,0,0,0
$GC,10803,1.19,233.7,227.4,10.0,965,10809,0.00,2.58,0.00,0.000,6,0.000,0.024,3253,2399,2105,0,0,0,0,0,0
$GC,11066,1.25,240.6,201.7,9.7,990,11080,0.10,2.53,8.10,0.640,4,0.085,0.042,3287,3923,2077,0,0,0,0,0,0
$GC,11170,1.25,240.6,189.2,11.9,998,11179,0.00,2.45,0.00,0.000,6,0.000,0.025,3287,2418,2076,0,0,0,0,0,0
$GC,11437,1.25,240.6,161.6,12.1,1023,11441,0.00,2.50,0.00,0.000,4,0.000,0.043,3287,3927,2075,0,0,0,0,0,0
$GC,11470,1.25,240.6,156.7,13.4,1025,11476,0.00,2.42,0.00,0.000,6,0.000,0.024,3287,2413,2075,0,0,0,0,0,0
$GC,11739,1.25,240.6,126.3,11.2,1050,11744,0.00,2.65,0.00,0.000,4,0.000,0.044,3287,778,2075,0,0,0,0,0,0
$GC,11759,1.25,240.6,123.6,11.0,1051,11764,0.00,2.60,0.00,0.000,6,0.000,0.022,3287,2429,2075,0,0,0,0,0,0
$GC,12028,1.25,240.6,95.5,10.3,1075,12033,0.00,2.45,0.00,0.000,4,0.000,0.042,3287,3934,2075,0,0,0,0,0,0
$GC,12063,1.25,240.6,90.5,11.5,1077,12073,0.00,2.42,0.00,0.000,6,0.000,0.022,3287,2424,2075,0,0,0,0,0,0
$GC,12332,1.25,240.6,63.5,10.8,1102,12337,0.00,2.65,0.00,0.000,4,0.000,0.044,3287,786,2075,0,0,0,0,0,0
$GC,12355,1.25,240.6,60.2,10.1,1103,12365,0.00,2.60,0.00,0.000,6,0.000,0.021,3287,2425,2076,0,0,0,0,0,0
$GC,12623,1.25,243.9,34.5,9.8,1128,12638,0.00,2.53,4.70,0.413,4,0.000,0.044,3287,3928,2064,0,0,0,0,0,0
$GC,12696,1.25,243.9,26.7,11.3,1135,12706,0.00,2.42,0.00,0.000,6,0.000,0.024,3287,2422,2064,0,0,0,0,0,0
$STATE,12918,end climb,SURFACE_DEPTH_REACHED
$STATE,12918,begin surface coast
$FINISH,-0.2,1.008448
$STATE,12975,end surface coast,CONTROL_FINISHED_OK
$STATE,12975,begin surface
$SM_CCo,12998,110.62,0.521,0,0,1510,380.21
$SM_GC,0.45,0.00,0.00,110.62,0.000,0.000,0.521,452,2197,1510,-11.74,-0.40,380.21
$IRIDIUM_FIX,2234.68,-15742.40,270603,181843
$TT8_MAMPS,0.026078
$HUMID,59.37
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.00
$XPDR_PINGS,21
$24V_AH,23.4,19.501
$10V_AH,10.3,18.136
$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,27.775,166.525,333.100,110.625,0.000,116.201,153.797,1023.169,5.250,0.000,32.161,2039.194,6347.793,574.793,4049.735,1779.105,33.361,1742.980,0.000,4055.273,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,104.312,1007.838,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,807.929,935.468,1197.456,1470.100,2799.027,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,98498,1176
$CAP_FILE_SIZE,174861,0
$CFSIZE,260165632,171057152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020414,224205,2240.992,-15742.874,40,1.0,40,10.1