version: 66.06
glider: 146
mission: 9
dive: 142
start: 4 3 114 11 0 25
data:
$ID,146
$MISSION,9
$DIVE,142
$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,-326542.78
$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,38
$R_STBD_OVSHOOT,32
$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
$GPS1,104200,2239.124,-15741.623,41,1.0,41,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-58.6
$GPS2,105931,2239.150,-15741.873,11,1.6,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,-0.017
$KALMAN_X,-100700.2,-151.1,-330.4,124590.6,-535.2
$KALMAN_Y,74299.4,98.0,104.8,-93263.0,-178.8
$MHEAD_RNG_PITCHd_Wd,83.7,7028,-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,-146.0,0.0,0.0,0,151,0.00,0.00,-128.30,0.000,6,0.000,0.000,461,2188,3655,0,0,0,0,0,0
$GC,154,-1.27,-146.0,3.8,-9.6,17,172,12.75,2.60,0.00,0.000,4,0.169,0.029,2717,3800,3657,0,0,0,0,0,0
$GC,211,-1.12,-146.0,21.9,-19.2,24,221,0.15,2.55,0.00,0.000,6,0.093,0.024,2752,2220,3656,0,0,0,0,0,0
$GC,490,-1.09,-146.0,54.2,-10.0,53,495,0.00,2.55,0.00,0.000,4,0.000,0.034,2752,3800,3656,0,0,0,0,0,0
$GC,512,-1.09,-146.0,56.5,-10.1,54,516,0.00,2.53,0.00,0.000,6,0.000,0.021,2752,2207,3656,0,0,0,0,0,0
$GC,779,-1.09,-146.0,85.3,-10.2,78,783,0.00,2.60,0.00,0.000,4,0.000,0.048,2752,634,3656,0,0,0,0,0,0
$GC,814,-1.05,-146.0,90.1,-11.7,80,825,0.08,2.50,0.00,0.000,6,0.091,0.017,2772,2235,3656,0,0,0,0,0,0
$GC,1084,-1.05,-146.0,115.4,-10.2,105,1088,0.00,2.62,0.00,0.000,4,0.000,0.046,2772,639,3657,0,0,0,0,0,0
$GC,1104,-1.05,-146.0,118.0,-10.1,106,1108,0.00,2.40,0.00,0.000,6,0.000,0.024,2772,2211,3657,0,0,0,0,0,0
$GC,1373,-1.08,-146.0,145.4,-10.3,130,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2211,3657,0,0,0,0,0,0
$GC,1640,-1.13,-146.0,171.9,-8.9,155,1645,0.00,2.47,0.00,0.000,4,0.000,0.033,2772,3767,3657,0,0,0,0,0,0
$GC,1662,-1.18,-146.0,174.7,-10.0,156,1672,0.08,2.50,0.00,0.000,6,0.035,0.020,2733,2192,3657,0,0,0,0,0,0
$GC,1930,-1.18,-146.0,200.8,-9.5,181,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2192,3657,0,0,0,0,0,0
$GC,2192,-1.18,-146.0,226.3,-9.8,206,2197,0.00,2.55,0.00,0.000,4,0.000,0.050,2732,644,3656,0,0,0,0,0,0
$GC,2237,-1.18,-146.0,231.1,-10.1,209,2243,0.00,2.40,0.00,0.000,6,0.000,0.018,2733,2189,3657,0,0,0,0,0,0
$GC,2502,-1.18,-146.0,256.1,-8.7,234,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2189,3656,0,0,0,0,0,0
$GC,2768,-1.18,-146.0,278.5,-8.2,259,2773,0.00,2.58,0.00,0.000,4,0.000,0.041,2732,3775,3655,0,0,0,0,0,0
$GC,2813,-1.18,-146.0,282.3,-9.2,262,2817,0.00,2.50,0.00,0.000,6,0.000,0.023,2733,2194,3656,0,0,0,0,0,0
$GC,3081,-1.18,-146.0,302.2,-6.6,286,3085,0.00,2.65,0.00,0.000,4,0.000,0.063,2732,628,3655,0,0,0,0,0,0
$GC,3159,-1.18,-146.0,308.0,-7.5,292,3163,0.00,2.45,0.00,0.000,6,0.000,0.031,2732,2164,3654,0,0,0,0,0,0
$GC,3427,-1.18,-146.0,326.5,-7.4,316,3431,0.00,2.70,0.00,0.000,4,0.000,0.044,2733,3794,3653,0,0,0,0,0,0
$GC,3505,-1.23,-146.0,333.0,-8.2,322,3509,0.00,2.58,0.00,0.000,6,0.000,0.028,2733,2200,3653,0,0,0,0,0,0
$GC,3773,-1.27,-146.0,356.4,-9.1,346,3778,0.00,2.62,0.00,0.000,4,0.000,0.051,2733,3785,3651,0,0,0,0,0,0
$GC,3817,-1.33,-146.0,361.1,-10.2,349,3821,0.00,2.55,0.00,0.000,6,0.000,0.029,2733,2203,3651,0,0,0,0,0,0
$GC,4085,-1.38,-146.0,384.0,-7.8,373,4090,0.12,2.78,0.00,0.000,4,0.067,0.081,2681,625,3650,0,0,0,0,0,0
$GC,4107,-1.38,-146.0,386.8,-9.1,374,4114,0.10,2.55,0.00,0.000,6,0.113,0.041,2703,2203,3650,0,0,0,0,0,0
$GC,4372,-1.38,-146.0,408.7,-8.6,399,4376,0.00,2.67,0.00,0.000,4,0.000,0.055,2703,3791,3648,0,0,0,0,0,0
$GC,4394,-1.38,-146.0,410.5,-9.0,400,4398,0.00,2.58,0.00,0.000,6,0.000,0.035,2703,2212,3648,0,0,0,0,0,0
$GC,4662,-1.38,-146.0,433.5,-8.3,424,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2211,3645,0,0,0,0,0,0
$GC,4924,-1.38,-146.0,455.0,-7.9,449,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2211,3644,0,0,0,0,0,0
$GC,5178,-1.38,-146.0,475.8,-8.4,473,5182,0.00,2.70,0.00,0.000,4,0.000,0.061,2703,3793,3642,0,0,0,0,0,0
$GC,5212,-1.38,-146.0,478.3,-9.0,475,5217,0.00,2.65,0.00,0.000,6,0.000,0.044,2703,2211,3642,0,0,0,0,0,0
$GC,5479,-1.38,-146.0,500.2,-7.9,499,5484,0.00,2.92,0.00,0.000,4,0.000,0.104,2703,626,3640,0,0,0,0,0,0
$GC,5498,-1.38,-146.0,502.0,-8.0,500,5502,0.00,2.62,0.00,0.000,6,0.000,0.047,2703,2208,3640,0,0,0,0,0,0
$GC,5762,-1.38,-146.0,522.2,-7.5,524,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2208,3638,0,0,0,0,0,0
$GC,6024,-1.38,-146.0,541.6,-7.3,549,6029,0.00,2.75,0.00,0.000,4,0.000,0.072,2703,3798,3636,0,0,0,0,0,0
$GC,6081,-1.38,-146.0,546.4,-8.4,553,6087,0.00,2.67,0.00,0.000,6,0.000,0.048,2703,2216,3636,0,0,0,0,0,0
$GC,6346,-1.38,-146.0,564.9,-7.1,578,6351,0.00,2.78,0.00,0.000,4,0.000,0.071,2703,3796,3634,0,0,0,0,0,0
$GC,6449,-1.38,-146.0,572.6,-7.6,586,6453,0.00,2.70,0.00,0.000,6,0.000,0.063,2703,2226,3633,0,0,0,0,0,0
$GC,6716,-1.38,-146.0,590.9,-7.0,610,6720,0.00,2.78,0.00,0.000,4,0.000,0.078,2703,3792,3632,0,0,0,0,0,0
$GC,6750,-1.38,-146.0,593.7,-7.7,612,6759,0.00,2.72,0.00,0.000,6,0.000,0.064,2703,2245,3631,0,0,0,0,0,0
$STATE,6837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6837,begin apogee
$GC,6844,-0.31,0.0,600.1,6.8,621,6964,1.02,0.00,117.07,1.011,6,0.071,0.000,2934,2384,3060,0,0,0,0,0,0
$STATE,6965,end apogee,CONTROL_FINISHED_OK
$STATE,6965,begin climb
$GC,6969,1.27,146.0,601.3,0.0,624,7104,1.42,2.83,125.12,0.979,4,0.034,0.077,3289,3934,2463,0,0,0,0,0,0
$GC,7141,1.12,146.0,586.5,14.1,636,7147,0.20,2.75,0.00,0.000,6,0.110,0.056,3248,2365,2458,0,0,0,0,0,0
$GC,7402,1.07,146.0,555.9,11.4,660,7407,0.00,2.75,0.00,0.000,4,0.000,0.066,3248,3928,2454,0,0,0,0,0,0
$GC,7442,1.00,146.0,550.9,12.7,663,7448,0.12,2.67,0.00,0.000,6,0.123,0.048,3224,2372,2453,0,0,0,0,0,0
$GC,7706,1.00,146.0,522.4,10.9,687,7711,0.00,2.70,0.00,0.000,4,0.000,0.060,3223,3931,2450,0,0,0,0,0,0
$GC,7748,1.00,146.0,517.3,11.9,690,7753,0.00,2.62,0.00,0.000,6,0.000,0.051,3224,2381,2449,0,0,0,0,0,0
$GC,8012,1.00,146.0,488.9,10.7,714,8017,0.00,3.03,0.00,0.000,4,0.000,0.113,3223,777,2448,0,0,0,0,0,0
$GC,8052,1.00,146.0,484.1,11.4,717,8057,0.00,2.67,0.00,0.000,6,0.000,0.046,3223,2376,2447,0,0,0,0,0,0
$GC,8316,1.02,162.6,458.0,9.2,741,8335,0.00,2.90,13.27,0.861,4,0.000,0.077,3223,780,2396,0,0,0,0,0,0
$GC,8351,1.05,185.9,454.5,8.9,743,8380,0.00,2.67,22.25,0.882,6,0.000,0.040,3223,2378,2302,0,0,0,0,0,0
$GC,8637,1.11,203.1,428.6,9.2,770,8658,0.00,0.00,15.75,0.854,6,0.000,0.000,3223,2378,2233,0,0,0,0,0,0
$GC,8916,1.18,226.8,403.9,8.9,796,8952,0.15,2.92,22.30,0.859,4,0.067,0.066,3267,771,2133,0,0,0,0,0,0
$GC,8970,1.13,226.8,397.4,11.7,800,8976,0.00,2.65,0.00,0.000,6,0.000,0.031,3267,2376,2131,0,0,0,0,0,0
$GC,9232,1.13,226.8,366.2,11.7,825,9237,0.00,2.62,0.00,0.000,4,0.000,0.049,3268,3934,2129,0,0,0,0,0,0
$GC,9289,1.13,226.8,359.5,13.0,829,9294,0.00,2.55,0.00,0.000,6,0.000,0.030,3267,2373,2128,0,0,0,0,0,0
$GC,9555,1.13,226.8,327.3,11.9,853,9560,0.00,2.62,0.00,0.000,4,0.000,0.047,3267,3929,2127,0,0,0,0,0,0
$GC,9577,1.13,226.8,323.9,12.4,854,9583,0.00,2.55,0.00,0.000,6,0.000,0.027,3267,2368,2126,0,0,0,0,0,0
$GC,9841,1.13,226.8,294.5,10.8,879,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2368,2126,0,0,0,0,0,0
$GC,10093,1.13,228.8,268.4,9.9,903,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2368,2125,0,0,0,0,0,0
$GC,10349,1.13,228.8,242.5,10.8,927,10353,0.00,2.62,0.00,0.000,4,0.000,0.044,3267,3938,2125,0,0,0,0,0,0
$GC,10404,1.13,228.8,236.6,11.1,931,10408,0.00,2.55,0.00,0.000,6,0.000,0.027,3267,2365,2124,0,0,0,0,0,0
$GC,10671,1.13,228.8,208.3,10.1,955,10676,0.00,2.62,0.00,0.000,4,0.000,0.051,3268,786,2124,0,0,0,0,0,0
$GC,10700,1.13,228.8,204.3,11.5,957,10704,0.00,2.53,0.00,0.000,6,0.000,0.024,3267,2375,2123,0,0,0,0,0,0
$GC,10966,1.13,228.8,177.4,10.5,981,10970,0.00,2.53,0.00,0.000,4,0.000,0.042,3267,3926,2123,0,0,0,0,0,0
$GC,11035,1.17,228.8,169.4,10.8,986,11045,0.00,2.55,0.00,0.000,6,0.000,0.025,3268,2352,2123,0,0,0,0,0,0
$GC,11303,1.21,228.8,143.1,10.3,1011,11312,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2352,2123,0,0,0,0,0,0
$GC,11571,1.21,232.0,116.3,9.9,1036,11586,0.00,2.65,4.35,0.452,4,0.000,0.040,3268,3928,2114,0,0,0,0,0,0
$GC,11628,1.26,232.0,110.1,11.2,1040,11632,0.00,2.53,0.00,0.000,6,0.000,0.023,3267,2351,2113,0,0,0,0,0,0
$GC,11897,1.30,236.1,82.8,9.8,1064,11907,0.00,0.00,5.68,0.479,6,0.000,0.000,3267,2351,2096,0,0,0,0,0,0
$GC,12165,1.39,264.1,56.6,8.7,1089,12197,0.17,0.00,25.20,0.562,6,0.061,0.000,3318,2351,1982,0,0,0,0,0,0
$GC,12466,1.35,264.1,23.5,11.8,1120,12475,0.00,2.65,0.00,0.000,4,0.000,0.042,3318,3927,1980,0,0,0,0,0,0
$GC,12553,1.35,264.1,11.6,14.3,1132,12564,0.00,2.50,0.00,0.000,6,0.000,0.024,3318,2381,1980,0,0,0,0,0,0
$STATE,12605,end climb,SURFACE_DEPTH_REACHED
$STATE,12606,begin surface coast
$FINISH,-0.0,1.024007
$STATE,12648,end surface coast,CONTROL_FINISHED_OK
$STATE,12648,begin surface
$SM_CCo,12669,92.30,0.523,0,0,1509,380.21
$SM_GC,0.44,0.00,0.00,92.30,0.000,0.000,0.523,464,2198,1509,-11.68,-0.34,380.21
$IRIDIUM_FIX,2232.34,-15743.29,280603,101010
$TT8_MAMPS,0.026078
$HUMID,60.35
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.90
$XPDR_PINGS,11
$24V_AH,23.4,20.189
$10V_AH,10.3,19.102
$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,27.750,158.525,351.000,92.300,0.000,92.791,106.393,529.427,2.750,0.000,13.413,1978.670,6112.116,556.216,3946.546,1207.428,33.358,1731.824,0.000,3982.969,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,112.749,1010.906,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,785.870,927.291,1169.060,1465.044,2790.851,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,95237,1145
$CAP_FILE_SIZE,159853,0
$CFSIZE,260165632,170721280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030414,143429,2238.816,-15741.266,38,1.1,38,10.1