version: 66.06
glider: 146
mission: 9
dive: 154
start: 4 5 114 10 12 29
data:
$ID,146
$MISSION,9
$DIVE,154
$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,-326805.12
$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,63
$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
$GPS1,095424,2238.502,-15738.945,37,1.2,37,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-70.3
$GPS2,101136,2238.509,-15739.213,12,1.1,29,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.255,-0.051
$KALMAN_X,-131744.9,-532.0,-295.0,160518.0,-1136.1
$KALMAN_Y,77155.5,88.4,-90.1,-97104.1,729.7
$MHEAD_RNG_PITCHd_Wd,91.2,2408,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,113,0.00,0.00,-88.82,0.000,6,0.000,0.000,463,2162,3655,0,0,0,0,0,0
$GC,116,-1.27,-146.0,4.0,-9.8,12,133,12.55,0.00,0.00,0.000,6,0.166,0.000,2718,2162,3656,0,0,0,0,0,0
$GC,417,-1.17,-146.0,53.4,-12.0,46,427,0.15,0.00,0.00,0.000,6,0.121,0.000,2748,2162,3657,0,0,0,0,0,0
$GC,684,-1.17,-146.0,81.2,-9.8,71,688,0.00,2.60,0.00,0.000,4,0.000,0.034,2748,3782,3657,0,0,0,0,0,0
$GC,730,-1.17,-146.0,86.0,-10.5,74,734,0.00,2.42,0.00,0.000,6,0.000,0.020,2748,2229,3657,0,0,0,0,0,0
$GC,999,-1.17,-146.0,112.6,-9.9,98,1003,0.00,2.60,0.00,0.000,4,0.000,0.046,2748,640,3657,0,0,0,0,0,0
$GC,1043,-1.17,-146.0,117.7,-10.5,101,1048,0.00,2.42,0.00,0.000,6,0.000,0.025,2748,2222,3658,0,0,0,0,0,0
$GC,1312,-1.17,-146.0,145.2,-10.3,125,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2222,3657,0,0,0,0,0,0
$GC,1573,-1.17,-146.0,171.8,-10.1,150,1577,0.00,2.47,0.00,0.000,4,0.000,0.033,2748,3772,3657,0,0,0,0,0,0
$GC,1593,-1.17,-146.0,173.3,-9.2,151,1598,0.00,2.47,0.00,0.000,6,0.000,0.018,2748,2190,3657,0,0,0,0,0,0
$GC,1861,-1.17,-146.0,196.1,-7.8,175,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2190,3657,0,0,0,0,0,0
$GC,2122,-1.17,-146.0,216.5,-7.8,200,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2190,3658,0,0,0,0,0,0
$GC,2378,-1.17,-146.0,238.1,-9.2,224,2383,0.00,2.58,0.00,0.000,4,0.000,0.037,2748,3767,3658,0,0,0,0,0,0
$GC,2412,-1.21,-146.0,241.0,-9.9,226,2416,0.00,2.45,0.00,0.000,6,0.000,0.019,2748,2208,3658,0,0,0,0,0,0
$GC,2680,-1.25,-146.0,265.7,-9.0,250,2685,0.00,2.55,0.00,0.000,4,0.000,0.039,2748,3765,3658,0,0,0,0,0,0
$GC,2714,-1.30,-146.0,269.7,-9.9,252,2724,0.08,2.47,0.00,0.000,6,0.041,0.021,2705,2216,3657,0,0,0,0,0,0
$GC,2982,-1.30,-146.0,297.7,-9.8,277,2986,0.00,2.67,0.00,0.000,4,0.000,0.063,2705,640,3657,0,0,0,0,0,0
$GC,3059,-1.30,-146.0,305.5,-9.6,283,3064,0.00,2.45,0.00,0.000,6,0.000,0.028,2704,2186,3657,0,0,0,0,0,0
$GC,3327,-1.30,-146.0,329.0,-8.7,307,3332,0.00,2.62,0.00,0.000,4,0.000,0.046,2705,3787,3656,0,0,0,0,0,0
$GC,3431,-1.30,-146.0,339.2,-9.1,315,3440,0.00,2.53,0.00,0.000,6,0.000,0.027,2704,2236,3656,0,0,0,0,0,0
$GC,3699,-1.30,-146.0,361.8,-9.2,340,3703,0.00,2.80,0.00,0.000,4,0.000,0.075,2704,620,3654,0,0,0,0,0,0
$GC,3727,-1.30,-146.0,365.0,-9.9,342,3731,0.00,2.58,0.00,0.000,6,0.000,0.032,2705,2222,3654,0,0,0,0,0,0
$GC,3991,-1.30,-146.0,389.7,-9.3,366,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2222,3653,0,0,0,0,0,0
$GC,4256,-1.30,-146.0,414.5,-9.6,391,4260,0.00,2.62,0.00,0.000,4,0.000,0.053,2705,3789,3651,0,0,0,0,0,0
$GC,4344,-1.30,-146.0,423.5,-9.7,398,4348,0.00,2.58,0.00,0.000,6,0.000,0.043,2705,2227,3651,0,0,0,0,0,0
$GC,4606,-1.30,-146.0,447.4,-8.2,422,4611,0.00,2.90,0.00,0.000,4,0.000,0.094,2704,625,3648,0,0,0,0,0,0
$GC,4660,-1.30,-146.0,452.0,-8.3,426,4664,0.00,2.58,0.00,0.000,6,0.000,0.040,2705,2200,3648,0,0,0,0,0,0
$GC,4924,-1.30,-146.0,470.8,-7.2,450,4928,0.00,2.70,0.00,0.000,4,0.000,0.058,2704,3794,3646,0,0,0,0,0,0
$GC,4964,-1.30,-146.0,474.0,-7.5,453,4968,0.00,2.62,0.00,0.000,6,0.000,0.039,2705,2211,3646,0,0,0,0,0,0
$GC,5228,-1.30,-146.0,491.0,-6.3,477,5233,0.00,2.67,0.00,0.000,4,0.000,0.058,2705,3795,3645,0,0,0,0,0,0
$GC,5250,-1.30,-146.0,492.2,-6.3,478,5254,0.00,2.62,0.00,0.000,6,0.000,0.050,2704,2219,3644,0,0,0,0,0,0
$GC,5518,-1.30,-146.0,508.2,-5.8,502,5523,0.00,2.70,0.00,0.000,4,0.000,0.061,2705,3792,3643,0,0,0,0,0,0
$GC,5574,-1.30,-146.0,512.5,-6.8,506,5580,0.00,2.65,0.00,0.000,6,0.000,0.054,2705,2224,3643,0,0,0,0,0,0
$GC,5838,-1.30,-146.0,528.2,-6.1,531,5843,0.00,2.70,0.00,0.000,4,0.000,0.069,2705,3794,3641,0,0,0,0,0,0
$GC,5867,-1.30,-146.0,530.4,-7.3,533,5872,0.00,2.65,0.00,0.000,6,0.000,0.058,2705,2236,3641,0,0,0,0,0,0
$GC,6130,-1.30,-146.0,549.1,-7.6,557,6135,0.00,2.72,0.00,0.000,4,0.000,0.071,2705,3790,3639,0,0,0,0,0,0
$GC,6166,-1.30,-146.0,552.1,-8.7,559,6172,0.00,2.65,0.00,0.000,6,0.000,0.056,2705,2239,3638,0,0,0,0,0,0
$GC,6429,-1.30,-146.0,573.2,-8.1,584,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2240,3637,0,0,0,0,0,0
$GC,6683,-1.30,-146.0,593.4,-7.5,608,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2239,3636,0,0,0,0,0,0
$STATE,6775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6775,begin apogee
$GC,6781,-0.31,0.0,600.5,7.3,617,6902,1.02,0.00,117.75,1.008,6,0.071,0.000,2937,2376,3060,0,0,0,0,0,0
$STATE,6903,end apogee,CONTROL_FINISHED_OK
$STATE,6903,begin climb
$GC,6907,1.27,146.0,603.1,0.0,620,7043,1.45,2.90,124.43,0.981,4,0.033,0.084,3293,3934,2462,0,0,0,0,0,0
$GC,7083,1.12,146.0,589.4,13.1,628,7090,0.22,2.75,0.00,0.000,6,0.102,0.057,3247,2365,2458,0,0,0,0,0,0
$GC,7348,1.07,150.0,562.7,9.8,653,7353,0.00,3.03,0.00,0.000,4,0.000,0.114,3247,783,2453,0,0,0,0,0,0
$GC,7381,1.00,150.0,559.3,10.6,655,7387,0.12,2.72,0.00,0.000,6,0.116,0.054,3223,2367,2452,0,0,0,0,0,0
$GC,7646,1.02,166.8,535.1,9.2,679,7671,0.00,2.83,17.83,0.907,4,0.000,0.067,3223,3928,2378,0,0,0,0,0,0
$GC,7705,1.02,166.8,528.7,10.8,684,7714,0.00,2.67,0.00,0.000,6,0.000,0.041,3223,2373,2376,0,0,0,0,0,0
$GC,7973,1.03,170.0,503.8,9.9,709,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2373,2374,0,0,0,0,0,0
$GC,8235,1.05,186.0,478.0,9.3,734,8259,0.00,0.00,17.70,0.890,6,0.000,0.000,3223,2373,2300,0,0,0,0,0,0
$GC,8517,1.08,208.9,451.5,8.9,760,8553,0.00,2.72,21.27,0.887,4,0.000,0.051,3223,3947,2207,0,0,0,0,0,0
$GC,8612,1.12,208.9,441.7,10.1,768,8617,0.10,2.62,0.00,0.000,6,0.092,0.033,3252,2374,2205,0,0,0,0,0,0
$GC,8873,1.15,229.9,417.5,9.0,792,8899,0.00,2.95,19.38,0.866,4,0.000,0.078,3252,777,2121,0,0,0,0,0,0
$GC,8911,1.15,229.9,413.5,10.0,795,8921,0.00,2.70,0.00,0.000,6,0.000,0.032,3252,2391,2120,0,0,0,0,0,0
$GC,9179,1.15,229.9,387.6,10.0,820,9183,0.00,2.60,0.00,0.000,4,0.000,0.048,3252,3942,2118,0,0,0,0,0,0
$GC,9206,1.15,229.9,383.9,11.5,822,9211,0.00,2.58,0.00,0.000,6,0.000,0.028,3252,2372,2117,0,0,0,0,0,0
$GC,9470,1.16,234.5,358.0,9.8,846,9485,0.00,2.80,4.72,0.624,4,0.000,0.067,3252,786,2103,0,0,0,0,0,0
$GC,9508,1.16,234.5,353.8,10.3,849,9512,0.00,2.60,0.00,0.000,6,0.000,0.029,3252,2395,2103,0,0,0,0,0,0
$GC,9770,1.16,235.0,328.0,10.0,873,9775,0.00,2.58,0.00,0.000,4,0.000,0.048,3252,3935,2102,0,0,0,0,0,0
$GC,9835,1.16,235.0,320.6,11.5,878,9840,0.00,2.53,0.00,0.000,6,0.000,0.033,3252,2379,2101,0,0,0,0,0,0
$GC,10098,1.16,235.0,292.8,10.8,902,10102,0.00,2.65,0.00,0.000,4,0.000,0.054,3251,790,2101,0,0,0,0,0,0
$GC,10174,1.16,235.0,284.2,11.7,908,10178,0.00,2.55,0.00,0.000,6,0.000,0.026,3252,2394,2100,0,0,0,0,0,0
$GC,10437,1.17,244.0,257.8,9.6,932,10451,0.00,2.58,9.68,0.708,4,0.000,0.048,3252,3925,2065,0,0,0,0,0,0
$GC,10493,1.22,255.0,252.4,9.5,936,10512,0.00,2.50,11.30,0.709,6,0.000,0.025,3252,2397,2019,0,0,0,0,0,0
$GC,10768,1.27,261.7,226.6,9.7,962,10782,0.12,2.75,7.28,0.637,4,0.074,0.048,3290,786,1992,0,0,0,0,0,0
$GC,10807,1.27,261.7,222.0,12.5,965,10812,0.00,2.58,0.00,0.000,6,0.000,0.031,3290,2390,1991,0,0,0,0,0,0
$GC,11069,1.27,261.7,189.4,11.9,990,11073,0.00,2.55,0.00,0.000,4,0.000,0.043,3290,3928,1991,0,0,0,0,0,0
$GC,11122,1.27,261.7,182.9,11.5,994,11127,0.00,2.47,0.00,0.000,6,0.000,0.024,3290,2393,1990,0,0,0,0,0,0
$GC,11385,1.27,261.7,154.4,11.2,1018,11389,0.00,2.65,0.00,0.000,4,0.000,0.045,3290,782,1990,0,0,0,0,0,0
$GC,11431,1.27,261.7,149.5,11.6,1021,11435,0.00,2.53,0.00,0.000,6,0.000,0.028,3290,2397,1989,0,0,0,0,0,0
$GC,11699,1.27,261.7,118.8,11.3,1045,11703,0.00,2.50,0.00,0.000,4,0.000,0.041,3290,3926,1989,0,0,0,0,0,0
$GC,11721,1.27,261.7,115.3,11.4,1046,11730,0.00,2.47,0.00,0.000,6,0.000,0.023,3290,2382,1989,0,0,0,0,0,0
$GC,11989,1.27,261.7,86.2,10.9,1071,11998,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2383,1989,0,0,0,0,0,0
$GC,12257,1.29,276.5,57.3,9.3,1096,12281,0.00,0.00,14.68,0.546,6,0.000,0.000,3290,2383,1931,0,0,0,0,0,0
$GC,12543,1.29,276.5,27.0,11.8,1123,12551,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2383,1930,0,0,0,0,0,0
$STATE,12752,end climb,SURFACE_DEPTH_REACHED
$STATE,12752,begin surface coast
$FINISH,-0.2,1.024040
$STATE,12794,end surface coast,CONTROL_FINISHED_OK
$STATE,12795,begin surface
$SM_CCo,12817,83.72,0.522,0,0,1510,380.21
$SM_GC,0.58,0.00,0.00,83.72,0.000,0.000,0.522,458,2177,1510,-11.71,-0.93,380.21
$IRIDIUM_FIX,2230.01,-15735.92,300603,101048
$TT8_MAMPS,0.026078
$HUMID,61.18
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.90
$XPDR_PINGS,18
$24V_AH,23.4,22.120
$10V_AH,10.3,22.002
$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,27.150,152.925,366.000,83.725,0.000,76.886,120.919,500.060,4.500,0.000,31.282,2002.091,6164.672,563.201,4026.940,1164.046,33.359,1719.741,0.000,4035.126,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,113.516,1007.838,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,797.214,933.736,1181.325,1469.303,2798.948,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355468
$DATA_FILE_SIZE,95199,1160
$CAP_FILE_SIZE,158406,0
$CFSIZE,260165632,169684992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050414,134851,2238.253,-15738.578,19,99.0,38,10.1