version: 66.06
glider: 146
mission: 9
dive: 149
start: 4 4 114 15 20 32
data:
$ID,146
$MISSION,9
$DIVE,149
$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,-326682.91
$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,55
$R_STBD_OVSHOOT,39
$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
$GPS1,145656,2239.038,-15739.996,44,99.0,63,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-67.3
$GPS2,151939,2239.137,-15740.343,9,5.5,28,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,0.017
$KALMAN_X,-119402.1,-367.1,184.6,145609.2,-1791.4
$KALMAN_Y,75467.4,348.0,74.4,-94680.8,-509.8
$MHEAD_RNG_PITCHd_Wd,76.2,4452,-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,-146.0,0.0,0.0,0,111,0.00,0.00,-88.00,0.000,6,0.000,0.000,465,2177,3655,0,0,0,0,0,0
$GC,114,-1.27,-146.0,3.9,-9.4,12,132,12.50,2.62,0.00,0.000,4,0.166,0.029,2716,3798,3657,0,0,0,0,0,0
$GC,170,-1.08,-146.0,22.4,-20.4,19,178,0.20,2.55,0.00,0.000,6,0.090,0.021,2761,2221,3657,0,0,0,0,0,0
$GC,451,-1.08,-146.0,53.7,-9.3,48,456,0.00,2.58,0.00,0.000,4,0.000,0.034,2761,3792,3658,0,0,0,0,0,0
$GC,560,-1.08,-146.0,64.0,-9.0,56,564,0.00,2.50,0.00,0.000,6,0.000,0.020,2762,2213,3658,0,0,0,0,0,0
$GC,829,-1.08,-146.0,86.6,-8.7,80,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2213,3658,0,0,0,0,0,0
$GC,1095,-1.08,-146.0,111.3,-10.0,105,1099,0.00,2.58,0.00,0.000,4,0.000,0.047,2762,640,3658,0,0,0,0,0,0
$GC,1131,-1.08,-146.0,115.6,-10.5,107,1140,0.00,2.47,0.00,0.000,6,0.000,0.021,2762,2225,3658,0,0,0,0,0,0
$GC,1398,-1.08,-146.0,141.8,-9.6,132,1403,0.00,2.60,0.00,0.000,4,0.000,0.044,2761,636,3657,0,0,0,0,0,0
$GC,1432,-1.08,-146.0,145.3,-10.1,134,1436,0.00,2.40,0.00,0.000,6,0.000,0.018,2761,2204,3658,0,0,0,0,0,0
$GC,1695,-1.08,-146.0,170.0,-8.8,158,1699,0.00,2.50,0.00,0.000,4,0.000,0.035,2761,3770,3658,0,0,0,0,0,0
$GC,1715,-1.08,-146.0,171.6,-8.4,159,1719,0.00,2.47,0.00,0.000,6,0.000,0.018,2761,2189,3658,0,0,0,0,0,0
$GC,1983,-1.12,-146.0,193.0,-7.7,183,1988,0.00,2.53,0.00,0.000,4,0.000,0.046,2761,639,3658,0,0,0,0,0,0
$GC,2001,-1.12,-146.0,195.0,-7.9,184,2005,0.00,2.38,0.00,0.000,6,0.000,0.021,2761,2195,3658,0,0,0,0,0,0
$GC,2269,-1.17,-146.0,215.0,-7.8,208,2273,0.00,2.53,0.00,0.000,4,0.000,0.037,2761,3769,3658,0,0,0,0,0,0
$GC,2291,-1.22,-146.0,217.2,-7.4,209,2297,0.10,2.45,0.00,0.000,6,0.078,0.028,2715,2197,3658,0,0,0,0,0,0
$GC,2554,-1.22,-146.0,241.9,-10.1,234,2559,0.10,2.58,0.00,0.000,4,0.110,0.051,2737,642,3658,0,0,0,0,0,0
$GC,2590,-1.22,-146.0,245.5,-8.7,236,2595,0.00,2.40,0.00,0.000,6,0.000,0.019,2737,2186,3658,0,0,0,0,0,0
$GC,2854,-1.22,-146.0,266.8,-8.6,261,2858,0.00,2.60,0.00,0.000,4,0.000,0.041,2737,3782,3657,0,0,0,0,0,0
$GC,2944,-1.27,-146.0,274.6,-8.6,268,2949,0.00,2.47,0.00,0.000,6,0.000,0.021,2737,2211,3657,0,0,0,0,0,0
$GC,3213,-1.30,-146.0,295.2,-6.8,292,3217,0.00,2.65,0.00,0.000,4,0.000,0.060,2737,633,3656,0,0,0,0,0,0
$GC,3269,-1.34,-146.0,300.0,-7.7,296,3276,0.12,2.45,0.00,0.000,6,0.068,0.024,2687,2190,3656,0,0,0,0,0,0
$GC,3534,-1.28,-146.0,323.5,-9.9,321,3543,0.17,0.00,0.00,0.000,6,0.091,0.000,2725,2191,3655,0,0,0,0,0,0
$GC,3801,-1.28,-146.0,347.3,-8.7,346,3805,0.00,2.65,0.00,0.000,4,0.000,0.048,2725,3785,3654,0,0,0,0,0,0
$GC,3864,-1.28,-146.0,353.8,-9.6,351,3868,0.00,2.55,0.00,0.000,6,0.000,0.030,2725,2199,3653,0,0,0,0,0,0
$GC,4126,-1.28,-146.0,377.0,-8.2,375,4131,0.00,2.65,0.00,0.000,4,0.000,0.048,2726,3780,3651,0,0,0,0,0,0
$GC,4149,-1.28,-146.0,379.1,-8.3,376,4154,0.00,2.58,0.00,0.000,6,0.000,0.030,2725,2195,3652,0,0,0,0,0,0
$GC,4413,-1.28,-146.0,399.2,-7.5,401,4418,0.00,2.78,0.00,0.000,4,0.000,0.082,2725,629,3650,0,0,0,0,0,0
$GC,4430,-1.28,-146.0,400.7,-7.5,402,4434,0.00,2.50,0.00,0.000,6,0.000,0.033,2725,2182,3650,0,0,0,0,0,0
$GC,4694,-1.28,-146.0,420.5,-7.3,426,4698,0.00,2.70,0.00,0.000,4,0.000,0.054,2725,3794,3648,0,0,0,0,0,0
$GC,4736,-1.34,-146.0,424.0,-8.1,429,4741,0.00,2.60,0.00,0.000,6,0.000,0.034,2725,2199,3648,0,0,0,0,0,0
$GC,5001,-1.38,-146.0,442.2,-6.3,453,5005,0.00,2.70,0.00,0.000,4,0.000,0.056,2725,3793,3646,0,0,0,0,0,0
$GC,5058,-1.43,-146.0,446.6,-7.7,457,5064,0.15,2.62,0.00,0.000,6,0.061,0.039,2671,2209,3646,0,0,0,0,0,0
$GC,5323,-1.38,-146.0,470.5,-9.2,482,5328,0.15,0.00,0.00,0.000,6,0.095,0.000,2704,2209,3644,0,0,0,0,0,0
$GC,5586,-1.38,-146.0,492.1,-8.0,507,5590,0.00,2.70,0.00,0.000,4,0.000,0.065,2704,3790,3642,0,0,0,0,0,0
$GC,5616,-1.38,-146.0,494.7,-8.6,509,5621,0.00,2.62,0.00,0.000,6,0.000,0.052,2704,2229,3642,0,0,0,0,0,0
$GC,5879,-1.38,-146.0,514.9,-7.1,533,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2230,3641,0,0,0,0,0,0
$GC,6133,-1.38,-146.0,533.4,-7.4,557,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2229,3638,0,0,0,0,0,0
$GC,6387,-1.38,-146.0,552.7,-7.4,581,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2230,3637,0,0,0,0,0,0
$GC,6643,-1.38,-146.0,570.3,-7.0,605,6648,0.00,2.80,0.00,0.000,4,0.000,0.087,2705,3785,3636,0,0,0,0,0,0
$GC,6665,-1.38,-146.0,572.0,-7.4,606,6674,0.00,2.67,0.00,0.000,6,0.000,0.056,2704,2235,3636,0,0,0,0,0,0
$GC,6931,-1.38,-146.0,590.1,-6.7,631,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2235,3634,0,0,0,0,0,0
$STATE,7062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7062,begin apogee
$GC,7069,-0.31,0.0,600.0,7.4,644,7190,1.02,0.00,117.53,1.010,6,0.071,0.000,2938,2372,3060,0,0,0,0,0,0
$STATE,7192,end apogee,CONTROL_FINISHED_OK
$STATE,7192,begin climb
$GC,7195,1.27,146.0,602.3,0.0,647,7333,1.42,2.85,124.70,0.981,4,0.034,0.081,3290,3927,2462,0,0,0,0,0,0
$GC,7350,1.13,146.0,592.8,10.9,655,7356,0.20,2.75,0.00,0.000,6,0.107,0.058,3250,2364,2460,0,0,0,0,0,0
$GC,7617,1.09,146.0,566.0,10.3,679,7621,0.00,2.95,0.00,0.000,4,0.000,0.106,3250,782,2454,0,0,0,0,0,0
$GC,7638,1.02,146.0,563.0,10.6,680,7645,0.12,2.72,0.00,0.000,6,0.117,0.054,3225,2365,2453,0,0,0,0,0,0
$GC,7901,1.04,157.3,539.0,9.5,705,7912,0.00,0.00,9.40,0.841,6,0.000,0.000,3225,2365,2417,0,0,0,0,0,0
$GC,8171,1.04,157.3,512.7,10.1,730,8175,0.00,2.85,0.00,0.000,4,0.000,0.081,3225,780,2413,0,0,0,0,0,0
$GC,8203,1.04,157.3,508.6,10.7,732,8213,0.00,2.70,0.00,0.000,6,0.000,0.044,3225,2367,2413,0,0,0,0,0,0
$GC,8471,1.07,181.7,484.7,8.9,757,8506,0.00,2.78,22.45,0.907,4,0.000,0.059,3225,3937,2318,0,0,0,0,0,0
$GC,8512,1.09,199.9,480.3,9.2,760,8542,0.00,2.65,17.77,0.877,6,0.000,0.040,3225,2365,2244,0,0,0,0,0,0
$GC,8796,1.14,239.6,455.6,8.2,787,8841,0.12,3.00,35.67,0.900,4,0.076,0.093,3262,782,2082,0,0,0,0,0,0
$GC,8870,1.10,239.6,448.3,11.8,793,8874,0.00,2.67,0.00,0.000,6,0.000,0.037,3262,2383,2079,0,0,0,0,0,0
$GC,9137,1.10,239.6,418.1,11.3,817,9142,0.00,2.60,0.00,0.000,4,0.000,0.050,3261,3938,2076,0,0,0,0,0,0
$GC,9200,1.10,239.6,409.6,12.0,822,9204,0.00,2.55,0.00,0.000,6,0.000,0.031,3262,2384,2075,0,0,0,0,0,0
$GC,9464,1.10,239.6,379.1,11.5,846,9468,0.00,2.83,0.00,0.000,4,0.000,0.075,3262,778,2074,0,0,0,0,0,0
$GC,9508,1.10,239.6,373.3,12.0,849,9517,0.00,2.62,0.00,0.000,6,0.000,0.030,3262,2380,2073,0,0,0,0,0,0
$GC,9776,1.10,239.6,343.4,11.6,874,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2380,2073,0,0,0,0,0,0
$GC,10037,1.10,239.6,311.2,12.3,899,10038,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2380,2073,0,0,0,0,0,0
$GC,10292,1.10,239.6,281.5,10.4,923,10296,0.00,2.67,0.00,0.000,4,0.000,0.051,3262,778,2072,0,0,0,0,0,0
$GC,10333,1.10,239.6,277.3,11.0,926,10337,0.00,2.53,0.00,0.000,6,0.000,0.027,3262,2368,2071,0,0,0,0,0,0
$GC,10595,1.12,258.3,252.3,9.1,950,10620,0.00,2.67,15.98,0.746,4,0.000,0.046,3261,3924,2005,0,0,0,0,0,0
$GC,10684,1.12,258.3,243.6,10.5,957,10693,0.00,2.55,0.00,0.000,6,0.000,0.026,3262,2377,2003,0,0,0,0,0,0
$GC,10950,1.16,258.3,218.4,10.1,982,10954,0.00,2.65,0.00,0.000,4,0.000,0.050,3262,786,2003,0,0,0,0,0,0
$GC,11003,1.21,267.1,212.7,9.6,986,11018,0.00,2.53,8.90,0.661,6,0.000,0.025,3262,2367,1970,0,0,0,0,0,0
$GC,11280,1.27,276.2,186.2,9.6,1012,11295,0.00,2.60,9.50,0.644,4,0.000,0.041,3262,3926,1933,0,0,0,0,0,0
$GC,11324,1.32,284.7,182.4,9.6,1015,11339,0.12,2.55,8.77,0.624,6,0.075,0.024,3299,2350,1899,0,0,0,0,0,0
$GC,11605,1.32,284.7,151.4,11.5,1041,11610,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2351,1896,0,0,0,0,0,0
$GC,11872,1.32,284.7,120.2,11.7,1066,11876,0.00,2.58,0.00,0.000,4,0.000,0.038,3299,3927,1896,0,0,0,0,0,0
$GC,11917,1.32,284.7,114.3,12.4,1069,11921,0.00,2.53,0.00,0.000,6,0.000,0.025,3299,2359,1895,0,0,0,0,0,0
$GC,12186,1.32,284.7,81.5,12.6,1093,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2359,1895,0,0,0,0,0,0
$GC,12452,1.32,284.7,48.4,11.7,1118,12456,0.00,2.58,0.00,0.000,4,0.000,0.046,3299,789,1895,0,0,0,0,0,0
$GC,12498,1.32,284.7,43.2,11.1,1121,12502,0.00,2.50,0.00,0.000,6,0.000,0.021,3299,2383,1895,0,0,0,0,0,0
$GC,12796,1.32,284.7,10.5,10.7,1158,12806,0.00,2.53,0.00,0.000,4,0.000,0.040,3299,3917,1895,0,0,0,0,0,0
$STATE,12854,end climb,SURFACE_DEPTH_REACHED
$STATE,12854,begin surface coast
$FINISH,0.6,1.023948
$STATE,12877,end surface coast,CONTROL_FINISHED_OK
$STATE,12877,begin surface
$SM_CCo,12901,76.78,0.525,0,0,1509,380.21
$SM_GC,0.47,0.00,0.00,76.78,0.000,0.000,0.525,459,2188,1509,-11.71,-0.62,380.21
$IRIDIUM_FIX,2230.01,-15741.13,290603,151511
$TT8_MAMPS,0.026078
$HUMID,61.57
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.60
$XPDR_PINGS,17
$24V_AH,23.4,21.455
$10V_AH,10.3,20.829
$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,27.900,162.400,370.675,76.775,0.000,86.465,110.888,829.397,4.250,0.000,30.868,2015.244,6230.185,558.981,4027.531,1492.451,33.352,1721.943,0.000,4036.839,0.000,0.538,0.000
$DEVICE_MAMPS,165.672,105.846,1010.139,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,803.328,938.814,1191.946,1467.431,2794.355,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,95002,1169
$CAP_FILE_SIZE,166844,0
$CFSIZE,260165632,170102784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040414,185805,2239.229,-15739.946,32,0.9,32,10.1