version: 66.06
glider: 146
mission: 9
dive: 139
start: 4 2 114 23 13 56
data:
$ID,146
$MISSION,9
$DIVE,139
$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,-326481.75
$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,41
$R_STBD_OVSHOOT,36
$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
$GPS1,224205,2240.992,-15742.874,40,1.0,40,10.1
$_CALLS,4
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-67.4
$GPS2,231303,2240.939,-15743.286,13,2.8,32,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.244,-0.089
$KALMAN_X,-94104.6,-612.4,-322.3,116037.8,-32.8
$KALMAN_Y,74590.0,-242.2,304.4,-90098.6,-279.0
$MHEAD_RNG_PITCHd_Wd,100.0,10327,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,113,0.00,0.00,-88.47,0.000,6,0.000,0.000,451,2196,3655,0,0,0,0,0,0
$GC,117,-1.27,-146.0,4.0,-10.2,12,134,12.55,2.53,0.00,0.000,4,0.165,0.036,2717,639,3657,0,0,0,0,0,0
$GC,230,-1.18,-146.0,31.3,-13.9,28,236,0.12,2.45,0.00,0.000,6,0.123,0.019,2743,2224,3657,0,0,0,0,0,0
$GC,500,-1.13,-146.0,61.3,-11.3,52,504,0.00,2.50,0.00,0.000,4,0.000,0.035,2743,3776,3657,0,0,0,0,0,0
$GC,521,-1.09,-146.0,64.4,-11.3,53,526,0.10,2.47,0.00,0.000,6,0.123,0.020,2763,2202,3657,0,0,0,0,0,0
$GC,791,-1.09,-146.0,89.0,-8.5,77,795,0.00,2.58,0.00,0.000,4,0.000,0.044,2763,634,3657,0,0,0,0,0,0
$GC,837,-1.09,-146.0,93.2,-8.3,80,842,0.00,2.45,0.00,0.000,6,0.000,0.017,2763,2213,3657,0,0,0,0,0,0
$GC,1107,-1.09,-146.0,114.2,-7.5,104,1111,0.00,2.53,0.00,0.000,4,0.000,0.034,2763,3781,3657,0,0,0,0,0,0
$GC,1127,-1.09,-146.0,116.1,-7.7,105,1132,0.00,2.47,0.00,0.000,6,0.000,0.020,2763,2192,3657,0,0,0,0,0,0
$GC,1395,-1.09,-146.0,136.4,-7.6,129,1399,0.00,2.53,0.00,0.000,4,0.000,0.045,2763,638,3657,0,0,0,0,0,0
$GC,1429,-1.09,-146.0,139.3,-8.3,131,1434,0.00,2.40,0.00,0.000,6,0.000,0.024,2763,2209,3657,0,0,0,0,0,0
$GC,1696,-1.09,-146.0,160.2,-7.7,155,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2210,3658,0,0,0,0,0,0
$GC,1959,-1.09,-146.0,184.8,-9.3,180,1963,0.00,2.60,0.00,0.000,4,0.000,0.046,2763,637,3658,0,0,0,0,0,0
$GC,2011,-1.14,-146.0,189.8,-10.0,184,2015,0.00,2.40,0.00,0.000,6,0.000,0.018,2763,2196,3658,0,0,0,0,0,0
$GC,2279,-1.18,-146.0,214.3,-9.6,208,2284,0.00,2.55,0.00,0.000,4,0.000,0.038,2763,3779,3657,0,0,0,0,0,0
$GC,2302,-1.22,-146.0,217.2,-9.4,209,2308,0.10,2.45,0.00,0.000,6,0.081,0.018,2718,2203,3657,0,0,0,0,0,0
$GC,2565,-1.22,-146.0,245.0,-10.6,234,2570,0.10,2.58,0.00,0.000,4,0.111,0.038,2740,3782,3657,0,0,0,0,0,0
$GC,2576,-1.22,-146.0,246.5,-10.7,234,2587,0.00,2.50,0.00,0.000,6,0.000,0.018,2740,2201,3657,0,0,0,0,0,0
$GC,2843,-1.22,-146.0,270.4,-8.6,259,2847,0.00,2.58,0.00,0.000,4,0.000,0.054,2740,641,3657,0,0,0,0,0,0
$GC,2923,-1.28,-146.0,277.2,-8.8,265,2927,0.00,2.45,0.00,0.000,6,0.000,0.027,2740,2192,3657,0,0,0,0,0,0
$GC,3190,-1.32,-146.0,298.3,-8.0,289,3195,0.10,2.65,0.00,0.000,4,0.080,0.044,2696,3789,3657,0,0,0,0,0,0
$GC,3255,-1.28,-146.0,304.9,-9.6,294,3260,0.12,2.53,0.00,0.000,6,0.102,0.023,2723,2193,3657,0,0,0,0,0,0
$GC,3516,-1.28,-146.0,327.3,-8.8,318,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2193,3655,0,0,0,0,0,0
$GC,3772,-1.28,-146.0,350.3,-9.2,342,3777,0.00,2.70,0.00,0.000,4,0.000,0.074,2723,629,3654,0,0,0,0,0,0
$GC,3794,-1.28,-146.0,352.0,-9.1,343,3799,0.00,2.50,0.00,0.000,6,0.000,0.031,2723,2190,3654,0,0,0,0,0,0
$GC,4062,-1.28,-146.0,375.7,-8.2,367,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2190,3652,0,0,0,0,0,0
$GC,4323,-1.28,-146.0,397.8,-8.2,392,4328,0.00,2.67,0.00,0.000,4,0.000,0.054,2724,3792,3651,0,0,0,0,0,0
$GC,4348,-1.28,-146.0,399.7,-8.1,393,4358,0.00,2.62,0.00,0.000,6,0.000,0.041,2723,2206,3651,0,0,0,0,0,0
$GC,4615,-1.32,-146.0,419.4,-7.2,418,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2206,3649,0,0,0,0,0,0
$GC,4880,-1.36,-146.0,438.5,-6.9,443,4884,0.00,2.67,0.00,0.000,4,0.000,0.058,2724,3786,3647,0,0,0,0,0,0
$GC,4932,-1.41,-146.0,442.7,-8.0,447,4937,0.12,2.65,0.00,0.000,6,0.070,0.044,2677,2191,3646,0,0,0,0,0,0
$GC,5194,-1.37,-146.0,465.6,-8.8,471,5195,0.12,0.00,0.00,0.000,6,0.104,0.000,2704,2191,3645,0,0,0,0,0,0
$GC,5450,-1.37,-146.0,486.0,-8.1,495,5454,0.00,2.75,0.00,0.000,4,0.000,0.064,2704,3790,3643,0,0,0,0,0,0
$GC,5515,-1.37,-146.0,491.6,-8.4,500,5519,0.00,2.67,0.00,0.000,6,0.000,0.052,2704,2205,3642,0,0,0,0,0,0
$GC,5777,-1.37,-146.0,512.7,-8.4,524,5782,0.00,2.75,0.00,0.000,4,0.000,0.066,2704,3783,3641,0,0,0,0,0,0
$GC,5818,-1.37,-146.0,516.5,-9.5,527,5822,0.00,2.67,0.00,0.000,6,0.000,0.050,2703,2200,3641,0,0,0,0,0,0
$GC,6082,-1.37,-146.0,538.9,-8.6,551,6086,0.00,2.75,0.00,0.000,4,0.000,0.070,2704,3786,3638,0,0,0,0,0,0
$GC,6103,-1.37,-146.0,541.1,-8.5,552,6112,0.00,2.72,0.00,0.000,6,0.000,0.054,2704,2196,3638,0,0,0,0,0,0
$GC,6370,-1.37,-146.0,563.3,-8.2,577,6375,0.00,3.03,0.00,0.000,4,0.000,0.127,2704,625,3636,0,0,0,0,0,0
$GC,6387,-1.37,-146.0,565.4,-8.5,578,6392,0.00,2.67,0.00,0.000,6,0.000,0.055,2704,2194,3636,0,0,0,0,0,0
$GC,6651,-1.37,-146.0,586.9,-8.1,602,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2194,3635,0,0,0,0,0,0
$STATE,6836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6836,begin apogee
$GC,6842,-0.31,0.0,600.5,6.6,620,6963,1.02,0.00,117.53,1.008,6,0.072,0.000,2935,2377,3060,0,0,0,0,0,0
$STATE,6964,end apogee,CONTROL_FINISHED_OK
$STATE,6964,begin climb
$GC,6966,1.27,146.0,602.2,0.0,623,7109,1.45,3.00,124.55,0.979,4,0.033,0.094,3291,3940,2462,0,0,0,0,0,0
$GC,7151,1.11,146.0,585.9,14.3,634,7157,0.22,2.72,0.00,0.000,6,0.104,0.056,3246,2370,2458,0,0,0,0,0,0
$GC,7415,1.08,155.5,559.0,9.6,659,7430,0.00,3.10,8.45,0.818,4,0.000,0.112,3245,786,2425,0,0,0,0,0,0
$GC,7449,1.03,155.5,555.3,10.5,662,7453,0.00,2.72,0.00,0.000,6,0.000,0.056,3245,2366,2423,0,0,0,0,0,0
$GC,7713,1.04,166.7,530.3,9.5,686,7736,0.00,2.92,11.07,0.861,4,0.000,0.087,3245,778,2378,0,0,0,0,0,0
$GC,7754,1.00,167.1,525.9,10.0,689,7760,0.12,2.70,0.00,0.000,6,0.117,0.050,3222,2358,2378,0,0,0,0,0,0
$GC,8018,1.03,192.9,502.8,8.8,714,8051,0.00,2.88,24.35,0.915,4,0.000,0.066,3222,3941,2272,0,0,0,0,0,0
$GC,8069,1.03,195.4,497.7,9.9,718,8074,0.00,2.70,0.00,0.000,6,0.000,0.044,3222,2359,2271,0,0,0,0,0,0
$GC,8333,1.04,201.7,473.4,9.7,743,8344,0.00,0.00,8.82,0.815,6,0.000,0.000,3222,2360,2237,0,0,0,0,0,0
$GC,8596,1.08,201.7,446.4,10.7,768,8601,0.00,2.70,0.00,0.000,4,0.000,0.051,3222,3943,2234,0,0,0,0,0,0
$GC,8618,1.08,201.7,444.3,11.5,769,8622,0.00,2.65,0.00,0.000,6,0.000,0.033,3222,2353,2233,0,0,0,0,0,0
$GC,8886,1.14,215.4,418.5,9.4,793,8902,0.12,0.00,13.40,0.851,6,0.080,0.000,3258,2353,2180,0,0,0,0,0,0
$GC,9157,1.14,215.4,388.3,10.4,819,9161,0.00,2.70,0.00,0.000,4,0.000,0.048,3258,3944,2177,0,0,0,0,0,0
$GC,9190,1.10,215.4,384.6,11.7,821,9196,0.00,2.62,0.00,0.000,6,0.000,0.029,3258,2354,2176,0,0,0,0,0,0
$GC,9452,1.10,215.4,356.6,11.0,846,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2354,2175,0,0,0,0,0,0
$GC,9707,1.10,215.4,328.9,10.7,870,9712,0.00,2.67,0.00,0.000,4,0.000,0.062,3258,778,2175,0,0,0,0,0,0
$GC,9740,1.10,215.4,324.7,12.2,872,9747,0.00,2.58,0.00,0.000,6,0.000,0.034,3258,2372,2174,0,0,0,0,0,0
$GC,10005,1.10,215.4,296.2,10.8,897,10009,0.00,2.60,0.00,0.000,4,0.000,0.048,3258,3934,2174,0,0,0,0,0,0
$GC,10038,1.10,215.4,292.0,11.2,899,10044,0.00,2.58,0.00,0.000,6,0.000,0.029,3259,2345,2173,0,0,0,0,0,0
$GC,10302,1.14,244.8,267.2,8.6,924,10336,0.00,2.75,25.50,0.781,4,0.000,0.046,3258,3924,2061,0,0,0,0,0,0
$GC,10354,1.14,247.4,261.6,9.9,928,10363,0.00,2.55,3.97,0.507,6,0.000,0.025,3259,2366,2051,0,0,0,0,0,0
$GC,10626,1.20,256.5,236.1,9.6,954,10640,0.00,2.65,9.18,0.686,4,0.000,0.049,3259,785,2014,0,0,0,0,0,0
$GC,10687,1.27,256.5,229.8,10.7,959,10691,0.00,2.53,0.00,0.000,6,0.000,0.024,3258,2372,2013,0,0,0,0,0,0
$GC,10952,1.31,261.1,205.2,9.8,983,10964,0.12,2.60,5.85,0.586,4,0.077,0.044,3296,3924,1993,0,0,0,0,0,0
$GC,11050,1.31,261.1,193.1,12.2,991,11055,0.00,2.50,0.00,0.000,6,0.000,0.025,3296,2377,1993,0,0,0,0,0,0
$GC,11318,1.31,261.1,162.5,11.5,1015,11322,0.00,2.62,0.00,0.000,4,0.000,0.047,3297,785,1993,0,0,0,0,0,0
$GC,11351,1.31,261.1,158.0,13.4,1017,11355,0.00,2.58,0.00,0.000,6,0.000,0.023,3297,2408,1992,0,0,0,0,0,0
$GC,11620,1.31,261.1,125.7,12.7,1041,11624,0.00,2.47,0.00,0.000,4,0.000,0.041,3296,3926,1992,0,0,0,0,0,0
$GC,11690,1.31,261.1,115.8,13.4,1046,11694,0.00,2.42,0.00,0.000,6,0.000,0.023,3297,2402,1991,0,0,0,0,0,0
$GC,11959,1.31,261.1,82.5,12.6,1070,11963,0.00,2.65,0.00,0.000,4,0.000,0.045,3296,785,1992,0,0,0,0,0,0
$GC,11979,1.31,261.1,79.3,13.3,1071,11983,0.00,2.55,0.00,0.000,6,0.000,0.020,3296,2411,1992,0,0,0,0,0,0
$GC,12247,1.31,261.1,47.8,11.1,1095,12251,0.00,2.50,0.00,0.000,4,0.000,0.042,3296,3930,1992,0,0,0,0,0,0
$GC,12271,1.31,261.1,44.0,12.3,1096,12280,0.00,2.42,0.00,0.000,6,0.000,0.022,3297,2417,1992,0,0,0,0,0,0
$GC,12569,1.31,261.1,11.5,12.6,1134,12578,0.00,2.53,0.00,0.000,4,0.000,0.041,3297,3927,1992,0,0,0,0,0,0
$STATE,12634,end climb,SURFACE_DEPTH_REACHED
$STATE,12634,begin surface coast
$FINISH,-0.3,1.024070
$STATE,12683,end surface coast,CONTROL_FINISHED_OK
$STATE,12683,begin surface
$SM_CCo,12707,96.43,0.525,0,0,1510,380.21
$SM_GC,0.26,0.00,0.00,96.43,0.000,0.000,0.525,465,2208,1510,-11.68,-0.06,380.21
$IRIDIUM_FIX,2234.68,-15743.29,270603,232305
$TT8_MAMPS,0.026078
$HUMID,61.06
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.70
$XPDR_PINGS,16
$24V_AH,23.4,19.694
$10V_AH,10.4,18.384
$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,27.925,173.300,352.675,96.425,0.000,112.828,144.097,1190.979,4.000,0.000,34.347,2003.333,6161.525,577.102,3964.650,1939.717,33.364,1689.404,0.000,3977.882,0.000,0.536,0.000
$DEVICE_MAMPS,164.905,126.555,1007.838,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,789.967,930.342,1174.690,1457.474,2775.423,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,95493,1150
$CAP_FILE_SIZE,175076,0
$CFSIZE,260165632,170971136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030414,024856,2240.418,-15742.456,34,2.6,53,10.1