version: 66.06
glider: 146
mission: 9
dive: 153
start: 4 5 114 6 28 20
data:
$ID,146
$MISSION,9
$DIVE,153
$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,-326773.22
$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,75
$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
$GPS1,061836,2238.758,-15739.252,39,1.2,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-70.5
$GPS2,062724,2238.744,-15739.398,11,1.4,28,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.248,-0.078
$KALMAN_X,-129261.6,-433.8,-250.1,157576.1,-1769.9
$KALMAN_Y,77077.0,-151.2,-287.1,-96158.2,809.7
$MHEAD_RNG_PITCHd_Wd,97.4,2736,-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,-89.32,0.000,6,0.000,0.000,461,2165,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.3,-11.0,12,131,12.57,0.00,0.00,0.000,6,0.166,0.000,2717,2165,3657,0,0,0,0,0,0
$GC,407,-1.17,-146.0,53.1,-12.2,45,412,0.15,2.65,0.00,0.000,4,0.122,0.034,2747,3780,3658,0,0,0,0,0,0
$GC,428,-1.09,-146.0,55.8,-12.2,46,433,0.00,2.42,0.00,0.000,6,0.000,0.020,2747,2243,3659,0,0,0,0,0,0
$GC,696,-1.09,-146.0,84.1,-10.8,70,700,0.00,2.65,0.00,0.000,4,0.000,0.044,2747,633,3659,0,0,0,0,0,0
$GC,780,-1.09,-146.0,93.5,-11.5,76,784,0.00,2.42,0.00,0.000,6,0.000,0.017,2746,2202,3659,0,0,0,0,0,0
$GC,1047,-1.09,-146.0,123.8,-11.5,100,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2202,3659,0,0,0,0,0,0
$GC,1313,-1.09,-146.0,156.1,-12.0,125,1317,0.00,2.53,0.00,0.000,4,0.000,0.034,2747,3779,3659,0,0,0,0,0,0
$GC,1353,-1.09,-146.0,161.3,-11.2,128,1357,0.00,2.50,0.00,0.000,6,0.000,0.021,2747,2183,3659,0,0,0,0,0,0
$GC,1617,-1.09,-146.0,187.3,-8.6,152,1621,0.00,2.50,0.00,0.000,4,0.000,0.044,2747,640,3659,0,0,0,0,0,0
$GC,1662,-1.09,-146.0,191.2,-8.8,155,1667,0.00,2.40,0.00,0.000,6,0.000,0.024,2747,2185,3660,0,0,0,0,0,0
$GC,1926,-1.09,-146.0,211.7,-7.1,179,1931,0.00,2.53,0.00,0.000,4,0.000,0.045,2747,640,3660,0,0,0,0,0,0
$GC,1948,-1.09,-146.0,213.6,-7.0,180,1958,0.00,2.40,0.00,0.000,6,0.000,0.018,2746,2180,3660,0,0,0,0,0,0
$GC,2214,-1.09,-146.0,231.5,-7.3,205,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2180,3660,0,0,0,0,0,0
$GC,2477,-1.09,-146.0,254.2,-9.4,230,2481,0.00,2.58,0.00,0.000,4,0.000,0.038,2747,3765,3661,0,0,0,0,0,0
$GC,2517,-1.15,-146.0,258.5,-10.6,233,2522,0.00,2.47,0.00,0.000,6,0.000,0.021,2747,2182,3660,0,0,0,0,0,0
$GC,2782,-1.19,-146.0,284.6,-9.3,257,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2182,3660,0,0,0,0,0,0
$GC,3045,-1.25,-146.0,304.4,-5.9,282,3049,0.00,2.60,0.00,0.000,4,0.000,0.061,2746,633,3660,0,0,0,0,0,0
$GC,3080,-1.32,-146.0,306.5,-5.8,284,3086,0.15,2.40,0.00,0.000,6,0.059,0.031,2690,2152,3660,0,0,0,0,0,0
$GC,3343,-1.26,-146.0,326.7,-8.7,309,3349,0.17,2.65,0.00,0.000,4,0.090,0.045,2728,3762,3659,0,0,0,0,0,0
$GC,3439,-1.26,-146.0,335.5,-9.5,316,3445,0.00,2.53,0.00,0.000,6,0.000,0.026,2728,2192,3659,0,0,0,0,0,0
$GC,3701,-1.26,-146.0,358.5,-9.5,341,3706,0.00,2.70,0.00,0.000,4,0.000,0.074,2728,629,3657,0,0,0,0,0,0
$GC,3724,-1.26,-146.0,360.8,-9.5,342,3733,0.00,2.47,0.00,0.000,6,0.000,0.031,2727,2146,3657,0,0,0,0,0,0
$GC,3990,-1.26,-146.0,384.8,-9.0,367,3995,0.00,2.70,0.00,0.000,4,0.000,0.051,2728,3767,3656,0,0,0,0,0,0
$GC,4012,-1.26,-146.0,387.3,-8.8,368,4017,0.00,2.58,0.00,0.000,6,0.000,0.031,2727,2185,3655,0,0,0,0,0,0
$GC,4276,-1.30,-146.0,408.0,-7.2,393,4281,0.00,2.65,0.00,0.000,4,0.000,0.051,2728,3764,3654,0,0,0,0,0,0
$GC,4333,-1.34,-146.0,412.3,-7.5,397,4337,0.00,2.58,0.00,0.000,6,0.000,0.035,2728,2198,3653,0,0,0,0,0,0
$GC,4601,-1.38,-146.0,428.5,-5.6,421,4607,0.10,2.83,0.00,0.000,4,0.081,0.088,2684,629,3652,0,0,0,0,0,0
$GC,4624,-1.38,-146.0,430.6,-6.9,422,4629,0.00,2.50,0.00,0.000,6,0.000,0.037,2684,2155,3651,0,0,0,0,0,0
$GC,4888,-1.38,-146.0,450.1,-8.0,447,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2155,3650,0,0,0,0,0,0
$GC,5153,-1.38,-146.0,473.6,-9.7,472,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2155,3648,0,0,0,0,0,0
$GC,5415,-1.38,-146.0,499.7,-10.1,497,5420,0.00,2.72,0.00,0.000,4,0.000,0.066,2684,3759,3646,0,0,0,0,0,0
$GC,5448,-1.38,-146.0,502.8,-10.3,499,5452,0.00,2.60,0.00,0.000,6,0.000,0.051,2684,2203,3646,0,0,0,0,0,0
$GC,5716,-1.38,-146.0,529.5,-10.1,523,5720,0.00,2.67,0.00,0.000,4,0.000,0.070,2684,3763,3645,0,0,0,0,0,0
$GC,5767,-1.38,-146.0,535.5,-10.5,527,5771,0.00,2.65,0.00,0.000,6,0.000,0.054,2684,2202,3645,0,0,0,0,0,0
$GC,6030,-1.38,-146.0,559.9,-9.3,551,6034,0.00,2.72,0.00,0.000,4,0.000,0.073,2684,3754,3643,0,0,0,0,0,0
$GC,6052,-1.38,-146.0,562.1,-9.5,552,6062,0.00,2.67,0.00,0.000,6,0.000,0.054,2683,2205,3643,0,0,0,0,0,0
$GC,6319,-1.38,-146.0,583.7,-7.5,577,6324,0.00,2.75,0.00,0.000,4,0.000,0.084,2684,3753,3642,0,0,0,0,0,0
$GC,6387,-1.38,-146.0,589.5,-7.9,582,6396,0.00,2.67,0.00,0.000,6,0.000,0.063,2684,2227,3641,0,0,0,0,0,0
$STATE,6554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6554,begin apogee
$GC,6560,-0.31,0.0,600.8,6.6,598,6683,1.12,0.00,119.00,1.004,6,0.074,0.000,2935,2335,3060,0,0,0,0,0,0
$STATE,6684,end apogee,CONTROL_FINISHED_OK
$STATE,6684,begin climb
$GC,6688,1.27,146.0,600.8,0.0,601,6817,1.45,0.00,124.78,0.975,6,0.034,0.000,3290,2335,2464,0,0,0,0,0,0
$GC,7068,1.15,146.0,557.3,12.8,636,7073,0.17,2.80,0.00,0.000,4,0.110,0.067,3254,3931,2455,0,0,0,0,0,0
$GC,7147,1.07,146.0,547.5,11.9,642,7151,0.00,2.65,0.00,0.000,6,0.000,0.046,3254,2382,2454,0,0,0,0,0,0
$GC,7410,1.03,159.0,521.2,9.4,666,7427,0.12,0.00,11.10,0.851,6,0.119,0.000,3229,2382,2410,0,0,0,0,0,0
$GC,7681,1.08,202.0,498.8,8.0,692,7723,0.00,0.00,39.25,0.921,6,0.000,0.000,3229,2382,2236,0,0,0,0,0,0
$GC,7977,1.11,224.1,473.0,9.0,720,8004,0.00,3.05,20.05,0.884,4,0.000,0.096,3229,785,2145,0,0,0,0,0,0
$GC,8035,1.11,224.1,467.3,10.0,725,8039,0.00,2.72,0.00,0.000,6,0.000,0.042,3229,2393,2143,0,0,0,0,0,0
$GC,8299,1.16,234.5,441.7,9.5,749,8316,0.12,2.90,10.20,0.816,4,0.079,0.071,3264,778,2104,0,0,0,0,0,0
$GC,8333,1.16,234.5,438.3,11.6,751,8337,0.00,2.67,0.00,0.000,6,0.000,0.036,3264,2383,2102,0,0,0,0,0,0
$GC,8599,1.16,234.5,406.7,12.5,775,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2383,2100,0,0,0,0,0,0
$GC,8861,1.16,234.5,371.4,13.1,800,8865,0.00,2.60,0.00,0.000,4,0.000,0.048,3263,3935,2099,0,0,0,0,0,0
$GC,8905,1.16,234.5,364.5,14.5,803,8911,0.00,2.55,0.00,0.000,6,0.000,0.027,3264,2371,2097,0,0,0,0,0,0
$GC,9169,1.16,234.5,330.7,12.9,828,9174,0.00,2.75,0.00,0.000,4,0.000,0.062,3264,779,2098,0,0,0,0,0,0
$GC,9191,1.16,234.5,328.1,13.0,829,9195,0.00,2.58,0.00,0.000,6,0.000,0.028,3264,2390,2096,0,0,0,0,0,0
$GC,9459,1.16,234.5,297.3,11.1,853,9463,0.00,2.58,0.00,0.000,4,0.000,0.047,3264,3927,2096,0,0,0,0,0,0
$GC,9536,1.16,234.5,288.4,10.4,859,9540,0.00,2.50,0.00,0.000,6,0.000,0.026,3264,2379,2096,0,0,0,0,0,0
$GC,9802,1.16,234.5,262.8,10.0,883,9807,0.00,2.67,0.00,0.000,4,0.000,0.052,3264,785,2096,0,0,0,0,0,0
$GC,9825,1.16,234.5,259.8,10.1,884,9831,0.00,2.58,0.00,0.000,6,0.000,0.028,3264,2394,2096,0,0,0,0,0,0
$GC,10088,1.17,242.7,234.0,9.6,909,10101,0.00,2.55,7.07,0.648,4,0.000,0.045,3264,3926,2071,0,0,0,0,0,0
$GC,10141,1.17,242.7,228.9,10.9,913,10145,0.00,2.45,0.00,0.000,6,0.000,0.025,3264,2398,2070,0,0,0,0,0,0
$GC,10408,1.21,242.7,201.8,10.2,937,10412,0.00,2.67,0.00,0.000,4,0.000,0.047,3264,781,2070,0,0,0,0,0,0
$GC,10430,1.22,249.4,199.0,9.7,938,10443,0.00,2.62,7.70,0.625,6,0.000,0.024,3264,2418,2043,0,0,0,0,0,0
$GC,10703,1.29,270.9,173.8,9.0,963,10731,0.00,2.78,20.40,0.668,4,0.000,0.043,3264,792,1954,0,0,0,0,0,0
$GC,10768,1.35,271.9,167.5,10.0,968,10778,0.10,2.58,0.00,0.000,6,0.042,0.021,3303,2393,1952,0,0,0,0,0,0
$GC,11033,1.35,271.9,137.1,11.8,993,11038,0.00,2.50,0.00,0.000,4,0.000,0.038,3303,3926,1952,0,0,0,0,0,0
$GC,11130,1.35,271.9,125.4,11.9,1000,11135,0.00,2.42,0.00,0.000,6,0.000,0.022,3303,2390,1951,0,0,0,0,0,0
$GC,11398,1.35,271.9,94.4,11.7,1024,11402,0.00,2.62,0.00,0.000,4,0.000,0.044,3303,788,1951,0,0,0,0,0,0
$GC,11431,1.35,271.9,89.9,12.5,1026,11435,0.00,2.53,0.00,0.000,6,0.000,0.020,3303,2397,1951,0,0,0,0,0,0
$GC,11700,1.35,271.9,57.5,12.6,1050,11704,0.00,2.50,0.00,0.000,4,0.000,0.041,3303,3927,1951,0,0,0,0,0,0
$GC,11746,1.35,271.9,50.2,13.9,1053,11756,0.00,2.47,0.00,0.000,6,0.000,0.025,3303,2397,1951,0,0,0,0,0,0
$GC,12034,1.35,271.9,16.2,12.2,1086,12043,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2397,1951,0,0,0,0,0,0
$STATE,12138,end climb,SURFACE_DEPTH_REACHED
$STATE,12138,begin surface coast
$FINISH,-0.3,1.006399
$STATE,12174,end surface coast,CONTROL_FINISHED_OK
$STATE,12174,begin surface
$SM_CCo,12197,87.65,0.523,0,0,1509,380.21
$SM_GC,0.51,0.00,0.00,87.65,0.000,0.000,0.523,465,2162,1509,-11.68,-1.36,380.21
$IRIDIUM_FIX,2230.01,-15741.13,300603,020244
$TT8_MAMPS,0.026078
$HUMID,60.51
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.90
$XPDR_PINGS,16
$24V_AH,23.4,21.972
$10V_AH,10.3,21.762
$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,27.600,151.500,359.550,87.650,0.000,31.048,36.672,274.594,4.000,0.000,30.168,1906.852,5764.211,560.747,3790.907,778.925,33.362,1648.011,0.000,3809.377,0.000,0.534,0.000
$DEVICE_MAMPS,165.672,95.875,1004.003,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,758.867,884.988,1129.824,1383.447,2634.908,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,92263,1106
$CAP_FILE_SIZE,145373,0
$CFSIZE,260165632,169783296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050414,095424,2238.502,-15738.945,37,1.2,37,10.1