version: 66.06
glider: 146
mission: 9
dive: 147
start: 4 4 114 7 18 55
data:
$ID,146
$MISSION,9
$DIVE,147
$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,633.60986
$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,-326637.09
$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,43
$R_STBD_OVSHOOT,41
$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
$GPS1,063930,2238.910,-15740.514,37,1.3,37,10.1
$_CALLS,5
$_XMS_NAKs,35
$_XMS_TOUTs,2
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-67.7
$GPS2,071801,2239.063,-15741.290,12,1.5,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.253,-0.059
$KALMAN_X,-114052.6,-534.7,-691.0,139690.7,-552.3
$KALMAN_Y,74368.5,179.0,-67.3,-93414.5,349.7
$MHEAD_RNG_PITCHd_Wd,93.1,6018,-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,-88.72,0.000,6,0.000,0.000,458,2195,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.8,-9.2,12,133,12.50,2.55,0.00,0.000,4,0.166,0.038,2717,637,3657,0,0,0,0,0,0
$GC,198,-1.17,-146.0,25.8,-14.5,23,208,0.10,2.50,0.00,0.000,6,0.095,0.020,2741,2217,3658,0,0,0,0,0,0
$GC,472,-1.11,-146.0,59.4,-11.1,49,477,0.10,2.62,0.00,0.000,4,0.128,0.044,2761,643,3658,0,0,0,0,0,0
$GC,496,-1.06,-146.0,62.3,-10.9,50,500,0.00,2.45,0.00,0.000,6,0.000,0.016,2761,2221,3658,0,0,0,0,0,0
$GC,764,-1.06,-146.0,86.3,-8.5,74,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2222,3659,0,0,0,0,0,0
$GC,1031,-1.06,-146.0,107.9,-7.9,99,1036,0.00,2.58,0.00,0.000,4,0.000,0.043,2761,644,3658,0,0,0,0,0,0
$GC,1053,-1.06,-146.0,109.8,-8.0,100,1057,0.00,2.40,0.00,0.000,6,0.000,0.017,2761,2207,3658,0,0,0,0,0,0
$GC,1321,-1.06,-146.0,130.8,-8.0,124,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2207,3658,0,0,0,0,0,0
$GC,1587,-1.06,-146.0,155.6,-9.6,149,1591,0.00,2.55,0.00,0.000,4,0.000,0.043,2761,644,3658,0,0,0,0,0,0
$GC,1620,-1.06,-146.0,159.5,-9.9,151,1626,0.00,2.38,0.00,0.000,6,0.000,0.018,2761,2196,3658,0,0,0,0,0,0
$GC,1885,-1.06,-146.0,185.9,-9.8,176,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2196,3658,0,0,0,0,0,0
$GC,2146,-1.06,-146.0,210.7,-8.8,201,2150,0.00,2.53,0.00,0.000,4,0.000,0.035,2761,3772,3658,0,0,0,0,0,0
$GC,2177,-1.10,-146.0,213.1,-8.6,203,2181,0.00,2.47,0.00,0.000,6,0.000,0.018,2761,2192,3658,0,0,0,0,0,0
$GC,2440,-1.15,-146.0,232.8,-7.4,227,2444,0.00,2.55,0.00,0.000,4,0.000,0.049,2761,645,3658,0,0,0,0,0,0
$GC,2473,-1.19,-146.0,235.1,-7.8,229,2478,0.00,2.38,0.00,0.000,6,0.000,0.018,2761,2189,3658,0,0,0,0,0,0
$GC,2742,-1.24,-146.0,253.2,-6.7,253,2747,0.12,0.00,0.00,0.000,6,0.068,0.000,2707,2190,3658,0,0,0,0,0,0
$GC,3007,-1.20,-146.0,275.9,-9.4,278,3012,0.15,2.62,0.00,0.000,4,0.094,0.042,2740,3779,3657,0,0,0,0,0,0
$GC,3039,-1.20,-146.0,278.7,-8.6,280,3043,0.00,2.50,0.00,0.000,6,0.000,0.023,2740,2194,3657,0,0,0,0,0,0
$GC,3307,-1.20,-146.0,301.3,-8.8,304,3311,0.00,2.58,0.00,0.000,4,0.000,0.042,2740,3770,3656,0,0,0,0,0,0
$GC,3328,-1.20,-146.0,303.9,-9.0,305,3334,0.00,2.50,0.00,0.000,6,0.000,0.023,2740,2190,3656,0,0,0,0,0,0
$GC,3592,-1.24,-146.0,327.1,-8.4,330,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2190,3655,0,0,0,0,0,0
$GC,3847,-1.29,-146.0,347.5,-7.8,354,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2190,3653,0,0,0,0,0,0
$GC,4101,-1.33,-146.0,369.2,-8.8,378,4107,0.12,2.67,0.00,0.000,4,0.067,0.048,2690,3773,3653,0,0,0,0,0,0
$GC,4144,-1.29,-146.0,373.6,-11.1,381,4149,0.15,2.55,0.00,0.000,6,0.094,0.037,2723,2203,3652,0,0,0,0,0,0
$GC,4405,-1.29,-146.0,396.8,-7.7,405,4409,0.00,2.60,0.00,0.000,4,0.000,0.049,2723,3766,3650,0,0,0,0,0,0
$GC,4428,-1.29,-146.0,398.2,-7.4,406,4433,0.00,2.55,0.00,0.000,6,0.000,0.033,2723,2207,3651,0,0,0,0,0,0
$GC,4695,-1.29,-146.0,418.0,-6.7,430,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2208,3649,0,0,0,0,0,0
$GC,4957,-1.29,-146.0,435.0,-6.0,455,4962,0.00,2.83,0.00,0.000,4,0.000,0.089,2723,630,3647,0,0,0,0,0,0
$GC,4989,-1.29,-146.0,436.9,-6.4,457,4994,0.00,2.55,0.00,0.000,6,0.000,0.046,2723,2191,3647,0,0,0,0,0,0
$GC,5258,-1.33,-146.0,454.0,-6.6,481,5262,0.00,2.75,0.00,0.000,4,0.000,0.077,2723,623,3645,0,0,0,0,0,0
$GC,5275,-1.33,-146.0,455.7,-6.8,482,5279,0.00,2.62,0.00,0.000,6,0.000,0.041,2723,2212,3645,0,0,0,0,0,0
$GC,5539,-1.38,-146.0,473.1,-6.8,506,5544,0.00,2.70,0.00,0.000,4,0.000,0.061,2723,3799,3643,0,0,0,0,0,0
$GC,5608,-1.43,-146.0,478.6,-7.9,511,5614,0.12,2.62,0.00,0.000,6,0.067,0.039,2675,2219,3643,0,0,0,0,0,0
$GC,5873,-1.38,-146.0,503.1,-9.5,536,5878,0.12,2.72,0.00,0.000,4,0.103,0.060,2702,3797,3641,0,0,0,0,0,0
$GC,5890,-1.38,-146.0,505.1,-9.8,537,5895,0.00,2.65,0.00,0.000,6,0.000,0.049,2702,2215,3642,0,0,0,0,0,0
$GC,6153,-1.38,-146.0,529.3,-9.1,561,6158,0.00,2.75,0.00,0.000,4,0.000,0.071,2702,3799,3639,0,0,0,0,0,0
$GC,6188,-1.38,-146.0,532.8,-9.6,563,6194,0.00,2.65,0.00,0.000,6,0.000,0.048,2702,2233,3639,0,0,0,0,0,0
$GC,6451,-1.38,-146.0,556.1,-9.0,588,6456,0.00,3.08,0.00,0.000,4,0.000,0.120,2702,622,3637,0,0,0,0,0,0
$GC,6497,-1.38,-146.0,560.4,-9.1,591,6506,0.00,2.75,0.00,0.000,6,0.000,0.056,2701,2220,3637,0,0,0,0,0,0
$GC,6763,-1.38,-146.0,580.8,-7.2,616,6768,0.00,2.83,0.00,0.000,4,0.000,0.088,2702,3794,3635,0,0,0,0,0,0
$GC,6791,-1.38,-146.0,583.3,-8.2,618,6796,0.00,2.67,0.00,0.000,6,0.000,0.058,2702,2225,3635,0,0,0,0,0,0
$STATE,7053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7053,begin apogee
$GC,7059,-0.31,0.0,600.6,6.3,642,7180,1.02,0.00,117.47,1.006,6,0.074,0.000,2934,2380,3060,0,0,0,0,0,0
$STATE,7182,end apogee,CONTROL_FINISHED_OK
$STATE,7183,begin climb
$GC,7185,1.27,146.0,601.6,0.0,645,7327,1.42,2.85,124.20,0.979,4,0.034,0.076,3288,3923,2462,0,0,0,0,0,0
$GC,7333,1.14,146.0,590.0,12.3,652,7339,0.17,2.72,0.00,0.000,6,0.111,0.056,3252,2371,2460,0,0,0,0,0,0
$GC,7597,1.08,146.0,561.4,11.1,677,7602,0.00,2.72,0.00,0.000,4,0.000,0.074,3253,3928,2454,0,0,0,0,0,0
$GC,7630,1.00,146.0,557.8,11.3,679,7635,0.15,2.67,0.00,0.000,6,0.114,0.048,3222,2371,2453,0,0,0,0,0,0
$GC,7895,1.03,167.6,534.3,9.0,703,7919,0.00,3.12,18.67,0.903,4,0.000,0.115,3222,771,2375,0,0,0,0,0,0
$GC,7964,1.03,167.6,527.6,10.2,709,7969,0.00,2.72,0.00,0.000,6,0.000,0.050,3223,2367,2373,0,0,0,0,0,0
$GC,8232,1.05,184.7,502.0,9.2,733,8254,0.00,2.75,16.08,0.884,4,0.000,0.060,3222,3932,2306,0,0,0,0,0,0
$GC,8277,1.05,184.7,496.7,10.5,737,8282,0.00,2.65,0.00,0.000,6,0.000,0.039,3222,2367,2304,0,0,0,0,0,0
$GC,8541,1.08,210.6,472.2,8.8,761,8571,0.00,0.00,23.98,0.897,6,0.000,0.000,3222,2367,2201,0,0,0,0,0,0
$GC,8827,1.14,224.8,446.3,9.3,788,8853,0.12,2.75,13.48,0.846,4,0.077,0.051,3259,3933,2142,0,0,0,0,0,0
$GC,8881,1.14,224.8,439.9,13.0,792,8890,0.00,2.65,0.00,0.000,6,0.000,0.035,3259,2371,2141,0,0,0,0,0,0
$GC,9148,1.14,224.8,410.6,11.0,817,9152,0.00,2.85,0.00,0.000,4,0.000,0.081,3259,774,2139,0,0,0,0,0,0
$GC,9182,1.10,224.8,406.5,11.0,819,9191,0.00,2.65,0.00,0.000,6,0.000,0.038,3259,2376,2138,0,0,0,0,0,0
$GC,9447,1.10,224.8,379.0,10.6,844,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2376,2138,0,0,0,0,0,0
$GC,9709,1.10,224.8,350.6,11.0,869,9714,0.00,2.58,0.00,0.000,4,0.000,0.053,3259,3933,2137,0,0,0,0,0,0
$GC,9760,1.10,224.8,344.4,12.3,873,9765,0.00,2.58,0.00,0.000,6,0.000,0.035,3259,2346,2136,0,0,0,0,0,0
$GC,10023,1.10,224.8,313.5,11.4,897,10027,0.00,2.65,0.00,0.000,4,0.000,0.058,3259,782,2136,0,0,0,0,0,0
$GC,10053,1.10,224.8,309.8,12.6,899,10057,0.00,2.55,0.00,0.000,6,0.000,0.027,3259,2367,2135,0,0,0,0,0,0
$GC,10315,1.10,224.8,280.3,10.9,923,10320,0.00,2.60,0.00,0.000,4,0.000,0.047,3259,3930,2135,0,0,0,0,0,0
$GC,10333,1.10,224.8,278.4,10.4,924,10338,0.00,2.55,0.00,0.000,6,0.000,0.025,3259,2354,2135,0,0,0,0,0,0
$GC,10596,1.14,254.3,253.7,8.6,948,10631,0.00,2.75,25.90,0.759,4,0.000,0.045,3259,3927,2021,0,0,0,0,0,0
$GC,10705,1.20,254.5,243.7,10.0,957,10709,0.00,2.53,0.00,0.000,6,0.000,0.026,3259,2379,2019,0,0,0,0,0,0
$GC,10968,1.26,269.8,219.5,9.3,981,10991,0.00,2.75,14.38,0.698,4,0.000,0.049,3259,786,1959,0,0,0,0,0,0
$GC,11029,1.32,269.8,213.1,10.6,986,11034,0.12,2.53,0.00,0.000,6,0.074,0.023,3298,2380,1958,0,0,0,0,0,0
$GC,11290,1.32,269.8,180.0,13.6,1010,11294,0.00,2.53,0.00,0.000,4,0.000,0.044,3298,3923,1958,0,0,0,0,0,0
$GC,11358,1.32,269.8,170.8,14.9,1015,11363,0.00,2.45,0.00,0.000,6,0.000,0.025,3298,2388,1956,0,0,0,0,0,0
$GC,11624,1.32,269.8,133.3,13.8,1039,11632,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2389,1956,0,0,0,0,0,0
$GC,11890,1.32,269.8,96.5,13.4,1064,11894,0.00,2.55,0.00,0.000,4,0.000,0.041,3298,3925,1956,0,0,0,0,0,0
$GC,11924,1.32,269.8,91.9,14.0,1066,11928,0.00,2.45,0.00,0.000,6,0.000,0.024,3298,2397,1956,0,0,0,0,0,0
$GC,12191,1.32,269.8,58.5,12.5,1090,12196,0.00,2.65,0.00,0.000,4,0.000,0.045,3298,786,1956,0,0,0,0,0,0
$GC,12238,1.32,269.8,52.5,12.3,1093,12243,0.00,2.53,0.00,0.000,6,0.000,0.021,3298,2394,1956,0,0,0,0,0,0
$GC,12520,1.32,269.8,20.8,11.9,1123,12530,0.00,2.53,0.00,0.000,4,0.000,0.042,3298,3914,1956,0,0,0,0,0,0
$GC,12607,1.32,269.8,9.9,12.8,1135,12617,0.00,2.40,0.00,0.000,6,0.000,0.020,3298,2407,1956,0,0,0,0,0,0
$STATE,12660,end climb,SURFACE_DEPTH_REACHED
$STATE,12660,begin surface coast
$FINISH,-0.2,1.023976
$STATE,12703,end surface coast,CONTROL_FINISHED_OK
$STATE,12703,begin surface
$SM_CCo,12724,288.45,0.516,0,0,477,633.61
$SM_GC,0.36,0.00,0.00,288.45,0.000,0.000,0.516,464,2194,477,-11.68,-0.45,633.61
$IRIDIUM_FIX,2227.67,-15741.13,290603,070714
$TT8_MAMPS,0.026078
$HUMID,59.05
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.50
$XPDR_PINGS,14
$24V_AH,23.4,21.126
$10V_AH,10.3,20.338
$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,27.775,168.525,354.150,288.450,0.000,132.322,197.432,1517.293,3.500,0.000,13.517,1994.788,6278.535,759.502,3919.865,2357.494,33.361,1903.812,0.000,3955.948,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,120.419,1005.537,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,788.434,914.030,1171.198,1442.258,2747.304,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,95359,1148
$CAP_FILE_SIZE,182096,0
$CFSIZE,260165632,170254336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040414,105706,2239.366,-15740.487,35,1.3,35,10.1