version: 66.06
glider: 146
mission: 9
dive: 155
start: 4 5 114 13 58 27
data:
$ID,146
$MISSION,9
$DIVE,155
$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,-326816.25
$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,62
$R_STBD_OVSHOOT,37
$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
$GPS1,134851,2238.253,-15738.578,19,99.0,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-69.7
$GPS2,135731,2238.213,-15738.736,9,1.8,9,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.245,0.085
$KALMAN_X,-134363.2,-399.4,-15.1,163539.8,-1440.1
$KALMAN_Y,76907.5,170.6,161.4,-97735.7,-356.2
$MHEAD_RNG_PITCHd_Wd,60.8,1735,-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,-89.40,0.000,6,0.000,0.000,457,2177,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.3,-11.1,12,132,12.60,2.62,0.00,0.000,4,0.169,0.030,2716,3798,3656,0,0,0,0,0,0
$GC,176,-1.16,-146.0,23.3,-17.2,20,185,0.10,2.53,0.00,0.000,6,0.098,0.022,2741,2230,3658,0,0,0,0,0,0
$GC,458,-1.11,-146.0,56.6,-10.7,49,463,0.10,2.62,0.00,0.000,4,0.131,0.045,2761,638,3658,0,0,0,0,0,0
$GC,494,-1.11,-146.0,61.3,-11.2,51,504,0.00,2.47,0.00,0.000,6,0.000,0.018,2761,2213,3658,0,0,0,0,0,0
$GC,761,-1.11,-146.0,88.5,-10.2,76,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2213,3658,0,0,0,0,0,0
$GC,1027,-1.11,-146.0,116.3,-10.6,101,1032,0.00,2.58,0.00,0.000,4,0.000,0.043,2760,638,3658,0,0,0,0,0,0
$GC,1049,-1.11,-146.0,118.6,-10.4,102,1054,0.00,2.40,0.00,0.000,6,0.000,0.022,2760,2205,3658,0,0,0,0,0,0
$GC,1317,-1.11,-146.0,143.9,-8.2,126,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2205,3659,0,0,0,0,0,0
$GC,1584,-1.11,-146.0,164.2,-7.2,151,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2205,3659,0,0,0,0,0,0
$GC,1845,-1.11,-146.0,183.7,-7.0,176,1849,0.00,2.53,0.00,0.000,4,0.000,0.035,2761,3778,3659,0,0,0,0,0,0
$GC,1880,-1.15,-146.0,186.2,-7.1,178,1889,0.00,2.53,0.00,0.000,6,0.000,0.020,2761,2191,3660,0,0,0,0,0,0
$GC,2144,-1.19,-146.0,204.7,-7.5,203,2148,0.00,2.58,0.00,0.000,4,0.000,0.035,2761,3772,3660,0,0,0,0,0,0
$GC,2163,-1.23,-146.0,206.4,-8.1,204,2168,0.12,2.47,0.00,0.000,6,0.069,0.018,2708,2192,3660,0,0,0,0,0,0
$GC,2424,-1.19,-146.0,235.1,-11.5,228,2429,0.15,2.58,0.00,0.000,4,0.094,0.051,2742,637,3660,0,0,0,0,0,0
$GC,2480,-1.19,-146.0,240.8,-10.9,232,2484,0.00,2.40,0.00,0.000,6,0.000,0.021,2742,2192,3660,0,0,0,0,0,0
$GC,2748,-1.19,-146.0,266.6,-9.7,256,2752,0.00,2.58,0.00,0.000,4,0.000,0.041,2742,3779,3660,0,0,0,0,0,0
$GC,2811,-1.24,-146.0,272.6,-8.6,261,2815,0.00,2.47,0.00,0.000,6,0.000,0.021,2742,2217,3660,0,0,0,0,0,0
$GC,3075,-1.24,-146.0,291.7,-7.3,285,3079,0.00,2.65,0.00,0.000,4,0.000,0.059,2742,636,3659,0,0,0,0,0,0
$GC,3109,-1.27,-146.0,294.6,-8.3,287,3114,0.00,2.45,0.00,0.000,6,0.000,0.031,2742,2189,3659,0,0,0,0,0,0
$GC,3373,-1.32,-146.0,314.4,-7.4,312,3379,0.12,2.67,0.00,0.000,4,0.067,0.046,2689,3792,3658,0,0,0,0,0,0
$GC,3431,-1.26,-146.0,320.4,-10.3,316,3437,0.17,2.53,0.00,0.000,6,0.089,0.025,2727,2220,3658,0,0,0,0,0,0
$GC,3695,-1.26,-146.0,341.0,-7.5,341,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2220,3657,0,0,0,0,0,0
$GC,3957,-1.26,-146.0,360.9,-7.7,366,3961,0.00,2.75,0.00,0.000,4,0.000,0.073,2727,626,3655,0,0,0,0,0,0
$GC,3979,-1.26,-146.0,362.7,-7.8,367,3985,0.00,2.55,0.00,0.000,6,0.000,0.032,2727,2204,3655,0,0,0,0,0,0
$GC,4244,-1.30,-146.0,381.5,-7.3,392,4248,0.00,2.65,0.00,0.000,4,0.000,0.051,2727,3790,3654,0,0,0,0,0,0
$GC,4265,-1.34,-146.0,383.5,-7.5,393,4275,0.00,2.58,0.00,0.000,6,0.000,0.030,2727,2222,3654,0,0,0,0,0,0
$GC,4534,-1.38,-146.0,401.8,-6.6,418,4539,0.10,2.83,0.00,0.000,4,0.081,0.084,2683,629,3652,0,0,0,0,0,0
$GC,4602,-1.32,-146.0,407.9,-8.7,423,4614,0.10,2.60,0.00,0.000,6,0.074,0.043,2710,2200,3651,0,0,0,0,0,0
$GC,4872,-1.32,-146.0,425.0,-7.1,448,4876,0.00,2.67,0.00,0.000,4,0.000,0.054,2710,3803,3650,0,0,0,0,0,0
$GC,4895,-1.32,-146.0,427.2,-7.4,449,4900,0.00,2.62,0.00,0.000,6,0.000,0.037,2710,2199,3650,0,0,0,0,0,0
$GC,5159,-1.32,-146.0,447.8,-7.7,474,5163,0.00,2.70,0.00,0.000,4,0.000,0.054,2710,3796,3648,0,0,0,0,0,0
$GC,5257,-1.32,-146.0,455.7,-7.6,482,5262,0.00,2.60,0.00,0.000,6,0.000,0.040,2710,2226,3648,0,0,0,0,0,0
$GC,5522,-1.32,-146.0,474.2,-7.4,506,5526,0.00,2.65,0.00,0.000,4,0.000,0.057,2710,3794,3646,0,0,0,0,0,0
$GC,5567,-1.32,-146.0,478.1,-7.9,509,5572,0.00,2.60,0.00,0.000,6,0.000,0.049,2710,2228,3646,0,0,0,0,0,0
$GC,5831,-1.32,-146.0,498.1,-8.0,534,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2229,3644,0,0,0,0,0,0
$GC,6096,-1.32,-146.0,518.3,-7.5,559,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2229,3643,0,0,0,0,0,0
$GC,6358,-1.32,-146.0,537.9,-7.4,584,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2229,3641,0,0,0,0,0,0
$GC,6612,-1.32,-146.0,555.7,-7.2,608,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2228,3640,0,0,0,0,0,0
$GC,6869,-1.37,-146.0,574.3,-8.0,632,6873,0.00,2.83,0.00,0.000,4,0.000,0.094,2710,3793,3639,0,0,0,0,0,0
$GC,6901,-1.37,-146.0,576.8,-8.9,634,6905,0.00,2.67,0.00,0.000,6,0.000,0.058,2710,2235,3638,0,0,0,0,0,0
$GC,7169,-1.41,-146.0,599.7,-9.0,658,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2235,3637,0,0,0,0,0,0
$STATE,7213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7213,begin apogee
$GC,7219,-0.31,0.0,604.7,9.3,660,7341,1.00,0.00,118.38,1.017,6,0.069,0.000,2939,2373,3060,0,0,0,0,0,0
$STATE,7343,end apogee,CONTROL_FINISHED_OK
$STATE,7343,begin climb
$GC,7346,1.27,146.0,609.5,0.0,663,7484,1.40,2.88,124.32,0.992,4,0.035,0.084,3287,3928,2461,0,0,0,0,0,0
$GC,7546,1.13,146.0,597.5,10.4,667,7551,0.17,2.75,0.00,0.000,6,0.111,0.061,3252,2362,2457,0,0,0,0,0,0
$GC,7814,1.11,170.7,575.0,8.9,691,7843,0.00,0.00,21.23,0.932,6,0.000,0.000,3252,2362,2364,0,0,0,0,0,0
$GC,8100,1.07,175.1,547.3,9.8,718,8107,0.00,0.00,5.05,0.696,6,0.000,0.000,3252,2362,2346,0,0,0,0,0,0
$GC,8365,1.04,178.9,521.1,9.8,743,8372,0.10,0.00,5.00,0.693,6,0.129,0.000,3231,2362,2330,0,0,0,0,0,0
$GC,8626,1.06,192.6,496.6,9.4,768,8649,0.00,2.95,14.15,0.887,4,0.000,0.093,3231,780,2272,0,0,0,0,0,0
$GC,8678,1.06,192.6,491.9,10.3,772,8682,0.00,2.70,0.00,0.000,6,0.000,0.046,3231,2377,2271,0,0,0,0,0,0
$GC,8944,1.06,192.6,464.6,10.7,796,8948,0.00,2.65,0.00,0.000,4,0.000,0.055,3231,3938,2270,0,0,0,0,0,0
$GC,8962,1.06,192.6,462.2,11.0,797,8966,0.00,2.60,0.00,0.000,6,0.000,0.034,3231,2363,2269,0,0,0,0,0,0
$GC,9224,1.07,202.7,435.5,9.5,821,9239,0.00,2.72,9.68,0.825,4,0.000,0.049,3231,3945,2232,0,0,0,0,0,0
$GC,9291,1.07,202.7,428.8,11.2,826,9295,0.00,2.60,0.00,0.000,6,0.000,0.033,3231,2367,2231,0,0,0,0,0,0
$GC,9557,1.07,202.7,401.4,10.6,850,9562,0.00,2.80,0.00,0.000,4,0.000,0.078,3231,783,2230,0,0,0,0,0,0
$GC,9600,1.07,202.7,396.6,10.8,853,9604,0.00,2.60,0.00,0.000,6,0.000,0.031,3231,2378,2229,0,0,0,0,0,0
$GC,9868,1.10,202.7,369.2,10.4,877,9873,0.00,2.75,0.00,0.000,4,0.000,0.060,3230,778,2228,0,0,0,0,0,0
$GC,9896,1.10,202.7,365.4,11.3,879,9900,0.00,2.58,0.00,0.000,6,0.000,0.030,3231,2360,2227,0,0,0,0,0,0
$GC,10160,1.15,202.7,337.6,10.2,903,10169,0.10,0.00,0.00,0.000,6,0.090,0.000,3261,2360,2227,0,0,0,0,0,0
$GC,10426,1.15,202.7,307.8,11.4,928,10430,0.00,2.60,0.00,0.000,4,0.000,0.047,3261,3938,2227,0,0,0,0,0,0
$GC,10490,1.15,202.7,299.5,12.1,933,10494,0.00,2.60,0.00,0.000,6,0.000,0.027,3261,2333,2226,0,0,0,0,0,0
$GC,10752,1.17,217.0,273.6,9.3,957,10770,0.00,0.00,13.35,0.762,6,0.000,0.000,3261,2334,2174,0,0,0,0,0,0
$GC,11027,1.19,237.3,248.5,9.1,983,11049,0.00,0.00,18.88,0.751,6,0.000,0.000,3261,2334,2092,0,0,0,0,0,0
$GC,11306,1.21,251.7,223.1,9.3,1009,11327,0.00,2.65,13.73,0.703,4,0.000,0.050,3261,791,2032,0,0,0,0,0,0
$GC,11364,1.25,251.7,216.9,10.9,1014,11368,0.00,2.47,0.00,0.000,6,0.000,0.022,3261,2350,2031,0,0,0,0,0,0
$GC,11627,1.30,254.0,190.3,9.9,1038,11632,0.10,2.62,0.00,0.000,4,0.085,0.042,3296,3931,2031,0,0,0,0,0,0
$GC,11664,1.30,254.0,186.0,11.3,1040,11673,0.00,2.60,0.00,0.000,6,0.000,0.024,3296,2330,2030,0,0,0,0,0,0
$GC,11929,1.30,254.0,153.4,12.2,1065,11934,0.00,2.62,0.00,0.000,4,0.000,0.041,3296,3934,2030,0,0,0,0,0,0
$GC,12035,1.30,254.0,139.6,13.0,1073,12039,0.00,2.55,0.00,0.000,6,0.000,0.025,3296,2343,2029,0,0,0,0,0,0
$GC,12302,1.30,254.0,107.0,12.2,1097,12307,0.00,2.55,0.00,0.000,4,0.000,0.044,3296,787,2030,0,0,0,0,0,0
$GC,12325,1.30,254.0,103.2,12.4,1098,12335,0.00,2.47,0.00,0.000,6,0.000,0.021,3296,2348,2029,0,0,0,0,0,0
$GC,12594,1.30,254.0,72.2,12.2,1123,12603,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2348,2029,0,0,0,0,0,0
$GC,12861,1.30,254.0,43.3,10.9,1148,12866,0.00,2.58,0.00,0.000,4,0.000,0.041,3296,3923,2030,0,0,0,0,0,0
$GC,12919,1.30,254.0,36.5,11.6,1152,12923,0.00,2.50,0.00,0.000,6,0.000,0.025,3296,2336,2030,0,0,0,0,0,0
$GC,13234,1.33,274.2,4.1,9.1,1195,13244,0.00,0.00,8.10,0.467,2,0.000,0.000,3296,2336,2003,0,0,0,0,0,0
$STATE,13245,end climb,SURFACE_DEPTH_REACHED
$STATE,13245,begin surface coast
$FINISH,-0.1,1.021206
$STATE,13300,end surface coast,CONTROL_FINISHED_OK
$STATE,13301,begin surface
$SM_CCo,13322,97.45,0.523,0,0,1509,380.21
$SM_GC,0.49,0.00,0.00,97.45,0.000,0.000,0.523,460,2172,1509,-11.70,-1.07,380.21
$IRIDIUM_FIX,2234.68,-15740.24,300603,101010
$TT8_MAMPS,0.026078
$HUMID,60.19
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.90
$XPDR_PINGS,12
$24V_AH,23.4,22.249
$10V_AH,10.3,22.244
$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,27.850,146.775,351.850,97.450,0.000,27.615,33.884,283.946,3.000,0.000,10.512,2076.267,6364.249,566.337,4118.596,804.552,33.364,1744.464,0.000,4152.998,0.000,0.535,0.000
$DEVICE_MAMPS,168.740,94.341,1017.042,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,827.823,965.776,1225.905,1507.948,2871.496,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,98323,1204
$CAP_FILE_SIZE,155715,0
$CFSIZE,260165632,169598976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050414,174354,2238.568,-15738.505,64,0.9,64,10.1