version: 66.06
glider: 146
mission: 9
dive: 146
start: 4 4 114 2 57 32
data:
$ID,146
$MISSION,9
$DIVE,146
$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,-326622.94
$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,32
$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
$GPS1,022253,2238.850,-15740.198,56,1.6,56,10.1
$_CALLS,4
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-70.0
$GPS2,025639,2238.615,-15740.875,9,2.3,28,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,0.023
$KALMAN_X,-110980.0,-561.6,-31.2,136691.6,-1477.6
$KALMAN_Y,73939.7,-1.4,40.7,-93732.7,-296.4
$MHEAD_RNG_PITCHd_Wd,74.7,5244,-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,15,-1.27,-146.0,0.0,0.0,0,110,0.00,0.00,-87.62,0.000,6,0.000,0.000,464,2117,3655,0,0,0,0,0,0
$GC,113,-1.27,-146.0,4.5,-11.7,12,131,12.50,2.70,0.00,0.000,4,0.167,0.030,2717,3786,3657,0,0,0,0,0,0
$GC,144,0.17,-146.0,17.6,-40.4,15,152,1.42,2.55,0.00,0.000,6,0.080,0.022,3036,2209,3657,0,0,0,0,0,0
$GC,452,-0.42,-146.0,39.4,-7.9,54,457,0.50,2.58,0.00,0.000,4,0.052,0.044,2908,635,3657,0,0,0,0,0,0
$GC,741,-1.00,-146.0,58.2,-5.3,76,751,0.47,2.47,0.00,0.000,6,0.035,0.018,2780,2219,3657,0,0,0,0,0,0
$GC,1011,-1.04,-146.0,77.2,-7.6,101,1015,0.00,2.60,0.00,0.000,4,0.000,0.043,2779,627,3657,0,0,0,0,0,0
$GC,1056,-1.10,-146.0,81.3,-8.3,104,1061,0.00,2.42,0.00,0.000,6,0.000,0.018,2779,2201,3657,0,0,0,0,0,0
$GC,1326,-1.14,-146.0,103.2,-8.9,128,1331,0.10,2.53,0.00,0.000,4,0.080,0.034,2732,3775,3657,0,0,0,0,0,0
$GC,1347,-1.14,-146.0,105.7,-9.1,129,1352,0.10,2.47,0.00,0.000,6,0.108,0.020,2754,2201,3657,0,0,0,0,0,0
$GC,1613,-1.14,-146.0,133.7,-11.1,153,1618,0.00,2.53,0.00,0.000,4,0.000,0.044,2754,642,3657,0,0,0,0,0,0
$GC,1661,-1.14,-146.0,139.8,-11.2,156,1671,0.00,2.42,0.00,0.000,6,0.000,0.022,2754,2195,3657,0,0,0,0,0,0
$GC,1929,-1.14,-146.0,165.7,-9.5,181,1934,0.00,2.53,0.00,0.000,4,0.000,0.043,2754,642,3657,0,0,0,0,0,0
$GC,1963,-1.14,-146.0,169.3,-10.3,183,1967,0.00,2.40,0.00,0.000,6,0.000,0.024,2754,2209,3657,0,0,0,0,0,0
$GC,2230,-1.14,-146.0,193.9,-8.5,207,2234,0.00,2.53,0.00,0.000,4,0.000,0.035,2754,3775,3657,0,0,0,0,0,0
$GC,2288,-1.19,-146.0,199.0,-8.7,211,2292,0.00,2.47,0.00,0.000,6,0.000,0.019,2754,2199,3657,0,0,0,0,0,0
$GC,2556,-1.19,-146.0,221.6,-8.4,235,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2199,3657,0,0,0,0,0,0
$GC,2821,-1.23,-146.0,243.6,-7.3,260,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2199,3657,0,0,0,0,0,0
$GC,3084,-1.28,-146.0,262.9,-7.3,285,3089,0.12,2.60,0.00,0.000,4,0.068,0.055,2701,640,3656,0,0,0,0,0,0
$GC,3115,-1.28,-146.0,265.8,-9.3,287,3120,0.10,2.45,0.00,0.000,6,0.112,0.022,2724,2201,3656,0,0,0,0,0,0
$GC,3378,-1.28,-146.0,287.4,-8.3,311,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2201,3656,0,0,0,0,0,0
$GC,3632,-1.28,-146.0,308.2,-8.4,335,3637,0.00,2.60,0.00,0.000,4,0.000,0.045,2724,3781,3655,0,0,0,0,0,0
$GC,3672,-1.28,-146.0,311.9,-9.0,338,3677,0.00,2.50,0.00,0.000,6,0.000,0.025,2724,2208,3655,0,0,0,0,0,0
$GC,3936,-1.28,-146.0,333.9,-8.5,362,3941,0.00,2.58,0.00,0.000,4,0.000,0.044,2724,3774,3653,0,0,0,0,0,0
$GC,3970,-1.28,-146.0,336.6,-8.6,364,3974,0.00,2.53,0.00,0.000,6,0.000,0.025,2724,2206,3653,0,0,0,0,0,0
$GC,4238,-1.28,-146.0,358.7,-8.7,388,4242,0.00,2.72,0.00,0.000,4,0.000,0.073,2724,627,3652,0,0,0,0,0,0
$GC,4255,-1.28,-146.0,360.7,-8.5,389,4259,0.00,2.50,0.00,0.000,6,0.000,0.034,2724,2191,3651,0,0,0,0,0,0
$GC,4518,-1.28,-146.0,381.9,-8.3,413,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2191,3650,0,0,0,0,0,0
$GC,4772,-1.28,-146.0,399.4,-6.2,437,4777,0.00,2.65,0.00,0.000,4,0.000,0.052,2724,3786,3648,0,0,0,0,0,0
$GC,4839,-1.33,-146.0,403.6,-6.5,442,4844,0.00,2.60,0.00,0.000,6,0.000,0.039,2724,2205,3648,0,0,0,0,0,0
$GC,5108,-1.37,-146.0,419.6,-5.8,466,5112,0.00,2.80,0.00,0.000,4,0.000,0.087,2724,623,3646,0,0,0,0,0,0
$GC,5126,-1.37,-146.0,421.1,-5.9,467,5131,0.00,2.58,0.00,0.000,6,0.000,0.041,2724,2206,3646,0,0,0,0,0,0
$GC,5391,-1.42,-146.0,437.9,-6.5,491,5396,0.12,2.67,0.00,0.000,4,0.070,0.056,2673,3797,3645,0,0,0,0,0,0
$GC,5424,-1.37,-146.0,440.4,-8.7,493,5429,0.15,2.60,0.00,0.000,6,0.096,0.038,2706,2211,3645,0,0,0,0,0,0
$GC,5692,-1.37,-146.0,460.7,-7.6,517,5696,0.00,2.65,0.00,0.000,4,0.000,0.054,2706,3792,3642,0,0,0,0,0,0
$GC,5715,-1.37,-146.0,463.1,-7.8,518,5720,0.00,2.62,0.00,0.000,6,0.000,0.046,2706,2203,3642,0,0,0,0,0,0
$GC,5979,-1.37,-146.0,485.4,-8.6,543,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2203,3641,0,0,0,0,0,0
$GC,6244,-1.37,-146.0,506.5,-7.7,568,6249,0.00,2.75,0.00,0.000,4,0.000,0.064,2706,3794,3638,0,0,0,0,0,0
$GC,6323,-1.37,-146.0,512.8,-8.0,574,6327,0.00,2.67,0.00,0.000,6,0.000,0.054,2706,2209,3638,0,0,0,0,0,0
$GC,6591,-1.37,-146.0,533.8,-7.8,598,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2210,3636,0,0,0,0,0,0
$GC,6852,-1.37,-146.0,555.4,-8.5,623,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2210,3634,0,0,0,0,0,0
$GC,7108,-1.37,-146.0,576.6,-8.5,647,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2210,3632,0,0,0,0,0,0
$GC,7362,-1.37,-146.0,598.0,-8.2,671,7367,0.00,2.88,0.00,0.000,4,0.000,0.094,2706,3789,3631,0,0,0,0,0,0
$STATE,7381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7381,begin apogee
$GC,7390,-0.31,0.0,600.0,8.8,672,7511,0.98,0.00,117.50,1.013,6,0.071,0.000,2930,2366,3060,0,0,0,0,0,0
$STATE,7514,end apogee,CONTROL_FINISHED_OK
$STATE,7514,begin climb
$GC,7516,1.27,146.0,603.4,0.0,675,7655,1.45,2.92,124.15,0.986,4,0.035,0.080,3288,3928,2464,0,0,0,0,0,0
$GC,7728,1.13,146.0,588.8,13.1,685,7733,0.20,2.72,0.00,0.000,6,0.107,0.057,3247,2370,2460,0,0,0,0,0,0
$GC,7997,1.11,165.2,563.7,9.1,709,8021,0.00,3.12,17.23,0.907,4,0.000,0.110,3247,779,2385,0,0,0,0,0,0
$GC,8040,1.05,165.2,558.7,10.0,713,8045,0.00,2.75,0.00,0.000,6,0.000,0.054,3247,2368,2384,0,0,0,0,0,0
$GC,8304,1.06,172.5,532.3,9.7,737,8318,0.00,2.83,7.55,0.798,4,0.000,0.071,3248,3931,2356,0,0,0,0,0,0
$GC,8342,1.00,172.5,528.0,10.5,740,8348,0.12,2.67,0.00,0.000,6,0.118,0.047,3223,2370,2354,0,0,0,0,0,0
$GC,8606,1.04,200.7,505.3,8.7,765,8642,0.00,3.15,26.38,0.919,4,0.000,0.119,3223,779,2240,0,0,0,0,0,0
$GC,8659,1.05,208.0,500.7,9.7,769,8673,0.00,2.72,7.75,0.785,6,0.000,0.052,3223,2379,2211,0,0,0,0,0,0
$GC,8937,1.12,241.1,475.6,8.5,795,8970,0.10,0.00,30.40,0.908,6,0.222,0.000,3253,2379,2077,0,0,0,0,0,0
$GC,9220,1.12,241.1,446.2,10.5,822,9225,0.00,2.65,0.00,0.000,4,0.000,0.054,3253,3937,2071,0,0,0,0,0,0
$GC,9277,1.12,241.1,440.3,12.4,826,9281,0.00,2.62,0.00,0.000,6,0.000,0.032,3253,2359,2070,0,0,0,0,0,0
$GC,9543,1.12,241.1,410.2,11.6,850,9548,0.00,2.78,0.00,0.000,4,0.000,0.080,3253,785,2070,0,0,0,0,0,0
$GC,9594,1.12,241.1,403.4,12.3,854,9599,0.00,2.60,0.00,0.000,6,0.000,0.031,3252,2376,2068,0,0,0,0,0,0
$GC,9858,1.12,241.1,372.0,12.4,878,9863,0.00,2.75,0.00,0.000,4,0.000,0.062,3252,782,2068,0,0,0,0,0,0
$GC,9880,1.12,241.1,368.6,13.2,879,9890,0.00,2.55,0.00,0.000,6,0.000,0.028,3253,2338,2068,0,0,0,0,0,0
$GC,10148,1.12,241.1,338.7,11.1,904,10152,0.00,2.67,0.00,0.000,4,0.000,0.048,3253,3938,2068,0,0,0,0,0,0
$GC,10215,1.12,241.1,329.5,12.7,909,10224,0.00,2.62,0.00,0.000,6,0.000,0.035,3252,2352,2066,0,0,0,0,0,0
$GC,10483,1.12,241.1,299.9,11.5,934,10488,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2353,2066,0,0,0,0,0,0
$GC,10744,1.13,246.2,272.2,9.8,959,10755,0.00,2.67,4.03,0.535,4,0.000,0.044,3253,3938,2056,0,0,0,0,0,0
$GC,10807,1.13,246.2,266.0,10.1,964,10811,0.00,2.60,0.00,0.000,6,0.000,0.026,3253,2336,2056,0,0,0,0,0,0
$GC,11074,1.20,256.1,241.3,9.5,988,11090,0.00,2.60,10.50,0.708,4,0.000,0.050,3253,787,2016,0,0,0,0,0,0
$GC,11127,1.22,275.9,236.1,9.1,992,11152,0.00,2.50,19.08,0.736,6,0.000,0.022,3252,2352,1935,0,0,0,0,0,0
$GC,11407,1.28,275.9,208.5,10.0,1018,11412,0.12,0.00,0.00,0.000,6,0.074,0.000,3291,2352,1931,0,0,0,0,0,0
$GC,11675,1.28,275.9,177.7,11.3,1043,11679,0.00,2.60,0.00,0.000,4,0.000,0.041,3291,3926,1931,0,0,0,0,0,0
$GC,11719,1.28,275.9,171.0,13.0,1046,11729,0.00,2.60,0.00,0.000,6,0.000,0.025,3291,2331,1930,0,0,0,0,0,0
$GC,11988,1.28,275.9,138.3,12.2,1071,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2331,1930,0,0,0,0,0,0
$GC,12254,1.28,275.9,105.5,11.7,1096,12259,0.00,2.62,0.00,0.000,4,0.000,0.039,3291,3923,1930,0,0,0,0,0,0
$GC,12300,1.28,275.9,99.5,13.0,1099,12305,0.00,2.55,0.00,0.000,6,0.000,0.024,3291,2331,1930,0,0,0,0,0,0
$GC,12569,1.28,275.9,65.9,12.6,1123,12574,0.00,2.62,0.00,0.000,4,0.000,0.041,3291,3931,1930,0,0,0,0,0,0
$GC,12615,1.28,275.9,59.2,13.6,1126,12619,0.00,2.53,0.00,0.000,6,0.000,0.024,3291,2338,1930,0,0,0,0,0,0
$GC,12886,1.28,275.9,27.5,11.7,1151,12895,0.00,2.55,0.00,0.000,4,0.000,0.045,3291,794,1930,0,0,0,0,0,0
$GC,12905,1.28,275.9,24.8,11.5,1153,12915,0.00,2.47,0.00,0.000,6,0.000,0.024,3291,2355,1930,0,0,0,0,0,0
$STATE,13091,end climb,SURFACE_DEPTH_REACHED
$STATE,13091,begin surface coast
$FINISH,-0.1,1.023940
$STATE,13133,end surface coast,CONTROL_FINISHED_OK
$STATE,13134,begin surface
$SM_CCo,13155,84.12,0.526,0,0,1510,380.21
$SM_GC,0.45,0.00,0.00,84.12,0.000,0.000,0.526,460,2195,1510,-11.70,-0.42,380.21
$IRIDIUM_FIX,2230.01,-15738.97,290603,020241
$TT8_MAMPS,0.026078
$HUMID,61.69
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.40
$XPDR_PINGS,16
$24V_AH,23.4,20.882
$10V_AH,10.3,20.085
$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,29.850,162.950,364.550,84.125,0.000,108.486,168.862,1329.807,4.000,0.000,30.589,2065.425,6349.801,558.306,4157.411,2119.257,33.357,1732.992,0.000,4177.492,0.000,0.537,0.000
$DEVICE_MAMPS,221.663,118.885,1013.207,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,815.669,954.361,1209.716,1523.195,2900.295,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,98354,1186
$CAP_FILE_SIZE,179202,0
$CFSIZE,260165632,170356736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040414,063930,2238.910,-15740.514,37,1.3,37,10.1