version: 66.06
glider: 146
mission: 9
dive: 221
start: 4 17 114 13 40 33
data:
$ID,146
$MISSION,9
$DIVE,221
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$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,266
$T_MISSION,540
$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,-328399.16
$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,38
$R_STBD_OVSHOOT,35
$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
$GPS1,132106,2303.218,-15801.705,40,1.1,40,10.1
$_CALLS,3
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-69.3
$GPS2,133936,2303.154,-15801.661,9,1.2,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.249,-0.075
$KALMAN_X,-186931.0,494.4,667.0,175377.1,-1892.8
$KALMAN_Y,2020.7,33.3,53.7,23575.6,-1130.0
$MHEAD_RNG_PITCHd_Wd,96.6,61089,-17.5,-10.025
$D_GRID,800
$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,15,-1.28,-146.0,0.0,0.0,0,111,0.00,0.00,-87.97,0.000,6,0.000,0.000,459,2203,3656,0,0,0,0,0,0
$GC,114,-1.28,-146.0,4.8,-12.6,12,131,12.90,2.58,0.00,0.000,4,0.167,0.030,2718,3797,3657,0,0,0,0,0,0
$GC,150,-0.27,-146.0,19.8,-41.6,16,158,1.02,2.55,0.00,0.000,6,0.079,0.024,2938,2216,3658,0,0,0,0,0,0
$GC,464,-0.62,-146.0,33.6,-3.3,57,473,0.28,0.00,0.00,0.000,6,0.052,0.000,2855,2216,3658,0,0,0,0,0,0
$GC,733,-0.79,-146.0,51.0,-6.8,82,738,0.10,2.58,0.00,0.000,4,0.081,0.035,2806,3786,3658,0,0,0,0,0,0
$GC,757,-0.89,-146.0,53.7,-8.2,83,767,0.00,2.50,0.00,0.000,6,0.000,0.020,2806,2212,3659,0,0,0,0,0,0
$GC,1025,-0.94,-146.0,75.8,-9.1,108,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2212,3659,0,0,0,0,0,0
$GC,1292,-1.01,-146.0,98.9,-8.0,133,1297,0.10,2.58,0.00,0.000,4,0.080,0.046,2756,640,3659,0,0,0,0,0,0
$GC,1324,-1.01,-146.0,102.2,-10.4,135,1329,0.12,2.47,0.00,0.000,6,0.100,0.018,2782,2244,3659,0,0,0,0,0,0
$GC,1591,-1.06,-146.0,125.4,-7.7,159,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2245,3659,0,0,0,0,0,0
$GC,1854,-1.11,-146.0,146.9,-8.1,184,1858,0.00,2.62,0.00,0.000,4,0.000,0.044,2782,633,3659,0,0,0,0,0,0
$GC,1913,-1.20,-146.0,151.8,-8.3,188,1921,0.15,2.47,0.00,0.000,6,0.030,0.021,2717,2219,3659,0,0,0,0,0,0
$GC,2179,-1.13,-146.0,180.7,-11.5,213,2185,0.20,0.00,0.00,0.000,6,0.087,0.000,2760,2219,3659,0,0,0,0,0,0
$GC,2447,-1.13,-146.0,205.3,-8.6,238,2452,0.00,2.58,0.00,0.000,4,0.000,0.046,2760,643,3660,0,0,0,0,0,0
$GC,2480,-1.13,-146.0,208.9,-8.9,240,2490,0.00,2.45,0.00,0.000,6,0.000,0.019,2760,2209,3660,0,0,0,0,0,0
$GC,2747,-1.13,-146.0,228.3,-7.8,265,2751,0.00,2.55,0.00,0.000,4,0.000,0.040,2760,3779,3660,0,0,0,0,0,0
$GC,2794,-1.19,-146.0,232.3,-7.6,268,2799,0.00,2.40,0.00,0.000,6,0.000,0.020,2760,2232,3660,0,0,0,0,0,0
$GC,3057,-1.25,-146.0,250.7,-6.6,293,3062,0.12,2.65,0.00,0.000,4,0.069,0.051,2706,631,3660,0,0,0,0,0,0
$GC,3115,-1.25,-146.0,255.8,-9.2,297,3125,0.08,2.50,0.00,0.000,6,0.075,0.028,2728,2212,3659,0,0,0,0,0,0
$GC,3381,-1.25,-146.0,277.0,-8.9,322,3385,0.00,2.55,0.00,0.000,4,0.000,0.044,2728,3776,3658,0,0,0,0,0,0
$GC,3439,-1.25,-146.0,282.9,-9.0,326,3445,0.00,2.45,0.00,0.000,6,0.000,0.022,2728,2218,3659,0,0,0,0,0,0
$GC,3702,-1.25,-146.0,307.4,-9.5,351,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2218,3658,0,0,0,0,0,0
$GC,3956,-1.25,-146.0,330.0,-8.4,375,3960,0.00,2.72,0.00,0.000,4,0.000,0.067,2728,632,3657,0,0,0,0,0,0
$GC,4031,-1.25,-146.0,337.0,-9.1,381,4035,0.00,2.53,0.00,0.000,6,0.000,0.034,2728,2213,3657,0,0,0,0,0,0
$GC,4295,-1.25,-146.0,358.9,-8.1,405,4300,0.00,2.67,0.00,0.000,4,0.000,0.061,2728,633,3655,0,0,0,0,0,0
$GC,4336,-1.25,-146.0,362.6,-8.6,408,4340,0.00,2.58,0.00,0.000,6,0.000,0.037,2728,2220,3655,0,0,0,0,0,0
$GC,4600,-1.25,-146.0,383.4,-7.8,432,4604,0.00,2.60,0.00,0.000,4,0.000,0.052,2728,3790,3653,0,0,0,0,0,0
$GC,4634,-1.29,-146.0,386.4,-8.1,434,4639,0.00,2.50,0.00,0.000,6,0.000,0.030,2728,2235,3653,0,0,0,0,0,0
$GC,4898,-1.33,-146.0,405.7,-7.7,459,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2235,3652,0,0,0,0,0,0
$GC,5166,-1.38,-146.0,426.2,-7.8,484,5171,0.10,2.85,0.00,0.000,4,0.081,0.086,2683,631,3650,0,0,0,0,0,0
$GC,5188,-1.38,-146.0,428.7,-8.4,485,5194,0.00,2.60,0.00,0.000,6,0.000,0.041,2683,2219,3649,0,0,0,0,0,0
$GC,5453,-1.34,-146.0,454.3,-9.9,510,5462,0.12,0.00,0.00,0.000,6,0.102,0.000,2710,2220,3647,0,0,0,0,0,0
$GC,5721,-1.34,-146.0,477.0,-8.4,535,5726,0.00,2.70,0.00,0.000,4,0.000,0.067,2710,3800,3646,0,0,0,0,0,0
$GC,5731,-1.34,-146.0,478.4,-8.0,535,5737,0.00,2.60,0.00,0.000,6,0.000,0.040,2710,2228,3646,0,0,0,0,0,0
$GC,5994,-1.34,-146.0,499.1,-7.6,560,5998,0.00,2.67,0.00,0.000,4,0.000,0.064,2711,3798,3644,0,0,0,0,0,0
$GC,6017,-1.34,-146.0,501.2,-8.5,561,6027,0.00,2.62,0.00,0.000,6,0.000,0.044,2710,2243,3644,0,0,0,0,0,0
$GC,6284,-1.34,-146.0,521.3,-7.3,586,6289,0.00,3.03,0.00,0.000,4,0.000,0.111,2710,624,3643,0,0,0,0,0,0
$GC,6327,-1.34,-146.0,524.6,-7.7,589,6332,0.00,2.70,0.00,0.000,6,0.000,0.050,2710,2227,3643,0,0,0,0,0,0
$GC,6596,-1.34,-146.0,543.3,-7.0,613,6600,0.00,2.75,0.00,0.000,4,0.000,0.075,2710,3798,3641,0,0,0,0,0,0
$GC,6649,-1.34,-146.0,547.9,-7.7,617,6654,0.00,2.65,0.00,0.000,6,0.000,0.050,2710,2228,3640,0,0,0,0,0,0
$GC,6914,-1.34,-146.0,567.3,-7.4,641,6918,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2229,3639,0,0,0,0,0,0
$GC,7177,-1.38,-146.0,585.2,-6.2,666,7181,0.00,2.78,0.00,0.000,4,0.000,0.081,2710,3792,3637,0,0,0,0,0,0
$GC,7212,-1.38,-146.0,587.5,-6.6,668,7218,0.00,2.72,0.00,0.000,6,0.000,0.063,2710,2225,3637,0,0,0,0,0,0
$GC,7473,-1.42,-146.0,602.9,-6.0,690,7478,0.00,2.88,0.00,0.000,4,0.000,0.117,2710,688,3635,0,0,0,0,0,0
$GC,7498,-1.42,-146.0,604.5,-6.3,690,7502,0.00,2.67,0.00,0.000,6,0.000,0.064,2710,2226,3635,0,0,0,0,0,0
$GC,7753,-1.46,-146.0,622.2,-7.0,697,7755,0.10,0.00,0.00,0.000,6,0.082,0.000,2671,2227,3633,0,0,0,0,0,0
$GC,7996,-1.46,-146.0,643.1,-8.7,703,8001,0.00,2.92,0.00,0.000,4,0.000,0.107,2671,3796,3632,0,0,0,0,0,0
$GC,8031,-1.41,-146.0,646.3,-9.6,703,8037,0.12,2.85,0.00,0.000,6,0.102,0.085,2697,2224,3632,0,0,0,0,0,0
$GC,8281,-1.41,-146.0,665.5,-7.5,710,8286,0.00,2.95,0.00,0.000,4,0.000,0.104,2697,3804,3631,0,0,0,0,0,0
$GC,8302,-1.41,-146.0,667.3,-7.9,710,8307,0.00,2.88,0.00,0.000,6,0.000,0.094,2697,2242,3630,0,0,0,0,0,0
$GC,8559,-1.41,-146.0,687.5,-7.9,717,8564,0.00,2.95,0.00,0.000,4,0.000,0.112,2697,3795,3630,0,0,0,0,0,0
$GC,8575,-1.41,-146.0,689.0,-7.8,717,8579,0.00,2.92,0.00,0.000,6,0.000,0.104,2697,2241,3629,0,0,0,0,0,0
$GC,8836,-1.41,-146.0,709.3,-7.7,724,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2241,3628,0,0,0,0,0,0
$GC,9081,-1.41,-146.0,727.4,-7.4,730,9085,0.00,3.08,0.00,0.000,4,0.000,0.137,2697,3793,3627,0,0,0,0,0,0
$GC,9096,-1.41,-146.0,728.8,-7.3,730,9101,0.00,3.03,0.00,0.000,6,0.000,0.125,2697,2245,3627,0,0,0,0,0,0
$GC,9357,-1.41,-146.0,746.2,-6.6,737,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2245,3626,0,0,0,0,0,0
$GC,9601,-1.41,-146.0,761.4,-6.2,743,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2245,3624,0,0,0,0,0,0
$GC,9847,-1.45,-146.0,776.5,-6.3,749,9852,0.00,3.30,0.00,0.000,4,0.000,0.166,2697,3796,3624,0,0,0,0,0,0
$GC,9880,-1.45,-146.0,779.0,-7.0,749,9886,0.00,3.22,0.00,0.000,6,0.000,0.156,2697,2253,3623,0,0,1,0,0,0
$GC,10130,-1.45,-146.0,795.6,-6.7,756,10135,0.00,3.38,0.00,0.000,4,0.000,0.181,2698,3797,3622,0,0,0,0,0,0
$GC,10176,-1.45,-146.0,799.0,-8.1,757,10181,0.00,3.28,0.00,0.000,6,0.000,0.167,2697,2263,3622,0,0,1,0,0,0
$STATE,10189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10189,begin apogee
$GC,10195,-0.31,0.0,800.4,7.7,757,10319,1.02,0.00,119.50,1.175,6,0.070,0.000,2933,2365,3059,0,0,0,0,0,0
$STATE,10319,end apogee,CONTROL_FINISHED_OK
$STATE,10320,begin climb
$GC,10322,1.28,146.0,802.2,0.0,760,10460,1.45,3.55,128.45,1.151,4,0.032,0.175,3291,3938,2462,0,0,0,0,0,0
$GC,10542,1.11,146.0,783.1,13.5,765,10548,0.22,3.38,0.00,0.000,6,0.105,0.155,3245,2366,2457,0,0,0,0,0,0
$GC,10815,1.05,146.0,753.6,10.6,772,10820,0.00,3.28,0.00,0.000,4,0.000,0.146,3244,3942,2452,0,0,0,0,0,0
$GC,10842,0.97,146.0,750.3,10.9,772,10848,0.15,3.20,0.00,0.000,6,0.117,0.134,3216,2372,2451,0,0,0,0,0,0
$GC,11094,1.01,180.6,728.4,8.4,778,11136,0.00,3.47,30.35,1.089,4,0.000,0.164,3215,773,2324,0,0,0,0,0,0
$GC,11152,1.05,213.3,723.3,8.5,779,11192,0.00,3.10,31.60,1.076,6,0.000,0.110,3215,2366,2189,0,0,0,0,0,0
$GC,11469,1.06,221.5,693.4,9.6,787,11483,0.00,3.12,8.00,0.929,4,0.000,0.120,3216,3937,2156,0,0,0,0,0,0
$GC,11505,1.06,221.5,689.3,10.1,787,11511,0.00,3.00,0.00,0.000,6,0.000,0.100,3215,2362,2155,0,0,0,0,0,0
$GC,11756,1.06,223.2,664.3,9.9,794,11757,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2361,2153,0,0,0,0,0,0
$GC,12000,1.06,223.2,639.7,10.3,800,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2362,2151,0,0,0,0,0,0
$GC,12243,1.10,223.2,614.4,10.3,806,12245,0.12,0.00,0.00,0.000,6,0.077,0.000,3249,2362,2151,0,0,0,0,0,0
$GC,12490,1.10,223.2,586.2,11.0,818,12495,0.00,2.90,0.00,0.000,4,0.000,0.098,3250,776,2150,0,0,0,0,0,0
$GC,12525,1.07,223.2,582.1,11.7,820,12531,0.00,2.72,0.00,0.000,6,0.000,0.054,3250,2376,2149,0,0,0,0,0,0
$GC,12788,1.07,223.2,552.5,11.1,845,12792,0.00,2.78,0.00,0.000,4,0.000,0.078,3249,3937,2150,0,0,0,0,0,0
$GC,12819,1.07,223.2,548.9,12.3,847,12824,0.00,2.65,0.00,0.000,6,0.000,0.047,3249,2369,2148,0,0,0,0,0,0
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$STATE,17997,end climb,SURFACE_DEPTH_REACHED
$STATE,17997,begin surface coast
$FINISH,-0.0,1.011898
$STATE,18048,end surface coast,CONTROL_FINISHED_OK
$STATE,18048,begin surface
$SM_CCo,18071,83.53,0.525,0,0,1509,380.21
$SM_GC,0.58,0.00,0.00,83.53,0.000,0.000,0.525,462,2174,1509,-11.69,-1.05,380.21
$IRIDIUM_FIX,2255.72,-15804.96,120703,131357
$TT8_MAMPS,0.026078
$HUMID,61.53
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.80
$XPDR_PINGS,18
$24V_AH,23.2,32.859
$10V_AH,10.2,37.346
$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
$DEVICE_SECS,29.950,231.175,379.150,83.525,0.000,79.951,118.578,594.432,4.500,0.000,16.982,2384.958,10471.296,636.013,4382.633,1374.020,33.378,2034.573,0.000,4407.729,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,918.089,974.001,1269.596,1449.533,2758.590,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,111163,1336
$CAP_FILE_SIZE,211263,0
$CFSIZE,260165632,163614720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,170414,184429,2302.155,-15759.752,36,1.7,41,10.1