version: 66.06
glider: 146
mission: 9
dive: 228
start: 4 19 114 1 37 54
data:
$ID,146
$MISSION,9
$DIVE,228
$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,-328582.84
$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,53
$R_STBD_OVSHOOT,38
$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
$GPS1,011236,2251.526,-15751.345,36,1.7,36,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-69.7
$GPS2,013700,2251.574,-15751.482,13,1.5,30,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.121
$KALMAN_X,-187053.5,-644.5,420.3,194282.0,-747.9
$KALMAN_Y,422.2,-117.7,459.2,3482.3,-1090.6
$MHEAD_RNG_PITCHd_Wd,107.6,33536,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.28,-146.0,0.0,0.0,0,112,0.00,0.00,-87.65,0.000,6,0.000,0.000,457,2175,3655,0,0,0,0,0,0
$GC,116,-1.28,-146.0,4.5,-11.5,12,134,12.62,2.65,0.00,0.000,4,0.166,0.037,2719,3793,3656,0,0,0,0,0,0
$GC,230,-1.17,-146.0,28.7,-11.1,28,238,0.10,2.53,0.00,0.000,6,0.098,0.023,2743,2226,3657,0,0,0,0,0,0
$GC,508,-1.10,-146.0,58.6,-11.8,54,513,0.10,2.65,0.00,0.000,4,0.127,0.048,2763,630,3657,0,0,0,0,0,0
$GC,531,-1.02,-146.0,61.8,-11.6,55,535,0.00,2.45,0.00,0.000,6,0.000,0.018,2763,2219,3657,0,0,0,0,0,0
$GC,798,-1.02,-146.0,89.9,-10.4,79,803,0.00,2.60,0.00,0.000,4,0.000,0.044,2763,637,3657,0,0,0,0,0,0
$GC,832,-1.02,-146.0,93.7,-11.0,81,836,0.00,2.45,0.00,0.000,6,0.000,0.018,2763,2212,3657,0,0,0,0,0,0
$GC,1100,-1.02,-146.0,120.8,-9.6,105,1104,0.00,2.58,0.00,0.000,4,0.000,0.041,2763,632,3657,0,0,0,0,0,0
$GC,1155,-1.02,-146.0,127.0,-9.9,109,1159,0.00,2.42,0.00,0.000,6,0.000,0.020,2763,2192,3657,0,0,0,0,0,0
$GC,1422,-1.02,-146.0,152.3,-9.8,133,1426,0.00,2.53,0.00,0.000,4,0.000,0.035,2763,3773,3657,0,0,0,0,0,0
$GC,1454,-1.02,-146.0,155.7,-10.2,135,1459,0.00,2.47,0.00,0.000,6,0.000,0.020,2763,2184,3658,0,0,0,0,0,0
$GC,1721,-1.02,-146.0,179.2,-8.5,159,1725,0.00,2.53,0.00,0.000,4,0.000,0.045,2762,633,3657,0,0,0,0,0,0
$GC,1780,-1.06,-146.0,184.3,-9.3,163,1784,0.00,2.42,0.00,0.000,6,0.000,0.026,2763,2193,3657,0,0,0,0,0,0
$GC,2046,-1.06,-146.0,207.8,-8.6,187,2051,0.00,2.55,0.00,0.000,4,0.000,0.037,2763,3785,3657,0,0,0,0,0,0
$GC,2068,-1.06,-146.0,210.4,-9.2,188,2074,0.00,2.53,0.00,0.000,6,0.000,0.019,2763,2169,3658,0,0,0,0,0,0
$GC,2333,-1.06,-146.0,235.1,-8.8,213,2337,0.00,2.60,0.00,0.000,4,0.000,0.043,2763,3775,3657,0,0,0,0,0,0
$GC,2373,-1.15,-146.0,238.9,-8.8,216,2377,0.00,2.47,0.00,0.000,6,0.000,0.019,2763,2194,3657,0,0,0,0,0,0
$GC,2638,-1.20,-146.0,257.6,-6.6,240,2642,0.00,2.58,0.00,0.000,4,0.000,0.048,2763,3778,3657,0,0,0,0,0,0
$GC,2678,-1.27,-146.0,260.8,-7.3,243,2684,0.15,2.45,0.00,0.000,6,0.059,0.020,2705,2207,3657,0,0,0,0,0,0
$GC,2941,-1.21,-146.0,284.5,-9.0,267,2946,0.15,2.60,0.00,0.000,4,0.095,0.041,2738,3774,3657,0,0,0,0,0,0
$GC,2975,-1.21,-146.0,287.5,-8.5,269,2981,0.00,2.45,0.00,0.000,6,0.000,0.021,2738,2211,3657,0,0,0,0,0,0
$GC,3239,-1.21,-146.0,308.7,-8.1,294,3244,0.00,2.65,0.00,0.000,4,0.000,0.060,2738,635,3656,0,0,0,0,0,0
$GC,3319,-1.26,-146.0,315.6,-8.3,300,3329,0.00,2.50,0.00,0.000,6,0.000,0.035,2738,2178,3656,0,0,0,0,0,0
$GC,3588,-1.30,-146.0,335.6,-8.3,325,3592,0.00,2.65,0.00,0.000,4,0.000,0.048,2738,3790,3655,0,0,0,0,0,0
$GC,3631,-1.36,-146.0,339.6,-9.0,328,3637,0.12,2.53,0.00,0.000,6,0.066,0.027,2689,2208,3655,0,0,0,0,0,0
$GC,3897,-1.31,-146.0,364.9,-9.2,352,3902,0.12,2.65,0.00,0.000,4,0.104,0.050,2717,3790,3653,0,0,0,0,0,0
$GC,3919,-1.31,-146.0,367.4,-8.8,353,3925,0.00,2.55,0.00,0.000,6,0.000,0.030,2717,2206,3653,0,0,0,0,0,0
$GC,4183,-1.31,-146.0,388.9,-8.1,378,4188,0.00,2.75,0.00,0.000,4,0.000,0.080,2717,630,3652,0,0,0,0,0,0
$GC,4240,-1.31,-146.0,393.7,-8.4,382,4244,0.00,2.58,0.00,0.000,6,0.000,0.040,2717,2200,3651,0,0,0,0,0,0
$GC,4508,-1.31,-146.0,415.8,-8.4,406,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2200,3649,0,0,0,0,0,0
$GC,4769,-1.31,-146.0,436.8,-7.3,431,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2201,3647,0,0,0,0,0,0
$GC,5025,-1.31,-146.0,454.7,-7.2,455,5030,0.00,2.72,0.00,0.000,4,0.000,0.062,2717,3793,3645,0,0,0,0,0,0
$GC,5058,-1.31,-146.0,456.9,-7.8,457,5062,0.00,2.62,0.00,0.000,6,0.000,0.039,2717,2208,3645,0,0,0,0,0,0
$GC,5326,-1.31,-146.0,477.6,-8.2,481,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2208,3644,0,0,0,0,0,0
$GC,5587,-1.31,-146.0,499.8,-8.2,506,5592,0.00,2.72,0.00,0.000,4,0.000,0.071,2717,3786,3642,0,0,0,0,0,0
$GC,5628,-1.35,-146.0,503.2,-8.5,509,5632,0.00,2.65,0.00,0.000,6,0.000,0.047,2717,2212,3642,0,0,0,0,0,0
$GC,5893,-1.39,-146.0,524.2,-7.9,533,5897,0.00,2.97,0.00,0.000,4,0.000,0.110,2717,624,3639,0,0,0,0,0,0
$GC,5960,-1.43,-146.0,529.7,-8.6,538,5965,0.12,2.65,0.00,0.000,6,0.069,0.055,2669,2192,3638,0,0,0,0,0,0
$GC,6225,-1.38,-146.0,553.1,-8.7,562,6230,0.15,2.85,0.00,0.000,4,0.096,0.079,2702,3801,3637,0,0,0,0,0,0
$GC,6258,-1.38,-146.0,556.2,-8.4,564,6268,0.00,2.75,0.00,0.000,6,0.000,0.058,2701,2193,3637,0,0,0,0,0,0
$GC,6527,-1.38,-146.0,574.5,-7.1,589,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2193,3635,0,0,0,0,0,0
$GC,6788,-1.38,-146.0,594.9,-7.7,614,6792,0.00,2.85,0.00,0.000,4,0.000,0.085,2702,3794,3633,0,0,0,0,0,0
$GC,6808,-1.38,-146.0,596.2,-7.9,615,6812,0.00,2.78,0.00,0.000,6,0.000,0.062,2701,2197,3633,0,0,0,0,0,0
$GC,7060,-1.38,-146.0,614.8,-7.2,624,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2197,3631,0,0,0,0,0,0
$GC,7303,-1.38,-146.0,631.3,-6.6,630,7308,0.00,2.88,0.00,0.000,4,0.000,0.090,2701,3793,3630,0,0,0,0,0,0
$GC,7337,-1.38,-146.0,633.6,-7.5,630,7343,0.00,2.83,0.00,0.000,6,0.000,0.075,2701,2206,3630,0,0,0,0,0,0
$GC,7587,-1.38,-146.0,649.9,-6.4,637,7592,0.00,2.92,0.00,0.000,4,0.000,0.097,2701,3793,3629,0,0,0,0,0,0
$GC,7626,-1.38,-146.0,652.6,-7.3,638,7631,0.00,2.85,0.00,0.000,6,0.000,0.084,2701,2217,3629,0,0,0,0,0,0
$GC,7911,-1.38,-146.0,671.8,-6.8,645,7916,0.00,2.97,0.00,0.000,4,0.000,0.109,2701,3793,3627,0,0,0,0,0,0
$GC,7944,-1.38,-146.0,674.6,-8.3,645,7950,0.00,2.92,0.00,0.000,6,0.000,0.097,2701,2217,3627,0,0,0,0,0,0
$GC,8194,-1.38,-146.0,693.4,-7.6,652,8199,0.00,3.00,0.00,0.000,4,0.000,0.117,2701,3791,3626,0,0,0,0,0,0
$GC,8217,-1.38,-146.0,695.2,-7.9,652,8222,0.00,2.95,0.00,0.000,6,0.000,0.106,2701,2228,3626,0,0,0,0,0,0
$GC,8472,-1.38,-146.0,714.3,-7.4,659,8477,0.00,3.05,0.00,0.000,4,0.000,0.130,2701,3789,3624,0,0,0,0,0,0
$GC,8539,-1.38,-146.0,719.6,-8.4,660,8544,0.00,3.00,0.00,0.000,6,0.000,0.119,2701,2238,3624,0,0,0,0,0,0
$GC,8795,-1.38,-146.0,737.5,-6.9,667,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2238,3623,0,0,0,0,0,0
$GC,9038,-1.42,-146.0,754.1,-6.7,673,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2238,3621,0,0,0,0,0,0
$GC,9281,-1.42,-146.0,770.5,-6.7,679,9286,0.00,3.28,0.00,0.000,4,0.000,0.171,2702,3787,3620,0,0,0,0,0,0
$GC,9305,-1.42,-146.0,772.2,-7.6,679,9310,0.00,3.20,0.00,0.000,6,0.000,0.151,2701,2240,3621,0,0,1,0,0,0
$GC,9560,-1.46,-146.0,790.6,-7.2,686,9566,0.00,3.38,0.00,0.000,4,0.000,0.176,2701,3790,3620,0,0,0,0,0,0
$GC,9616,-1.49,-146.0,795.1,-8.5,687,9622,0.10,3.25,0.00,0.000,6,0.084,0.164,2664,2253,3620,0,0,1,0,0,0
$STATE,9678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9678,begin apogee
$GC,9686,-0.31,0.0,800.5,8.6,689,9809,1.20,0.00,118.97,1.180,6,0.072,0.000,2934,2363,3060,0,0,0,0,0,0
$STATE,9809,end apogee,CONTROL_FINISHED_OK
$STATE,9809,begin climb
$GC,9812,1.28,146.0,803.9,0.0,692,9951,1.45,3.47,129.12,1.151,4,0.034,0.178,3291,3935,2462,0,0,0,0,0,0
$GC,9995,1.10,146.0,790.7,13.1,696,10001,0.22,3.38,0.00,0.000,6,0.102,0.160,3245,2369,2458,0,0,1,0,0,0
$GC,10263,1.06,158.0,765.4,9.5,703,10276,0.00,0.00,10.62,0.998,6,0.000,0.000,3244,2369,2415,0,0,0,0,0,0
$GC,10508,1.01,158.0,741.0,10.2,709,10513,0.00,3.22,0.00,0.000,4,0.000,0.140,3244,3944,2411,0,0,0,0,0,0
$GC,10530,0.93,158.0,738.2,11.1,709,10536,0.17,3.15,0.00,0.000,6,0.110,0.126,3209,2369,2411,0,0,0,0,0,0
$GC,10786,0.97,185.5,715.3,8.8,716,10820,0.00,3.17,26.25,1.079,4,0.000,0.123,3208,3946,2301,0,0,0,0,0,0
$GC,10844,0.97,186.1,709.8,10.0,717,10849,0.00,3.05,0.00,0.000,6,0.000,0.108,3209,2378,2299,0,0,0,0,0,0
$GC,11111,1.00,212.8,685.9,8.8,724,11144,0.00,3.28,25.73,1.067,4,0.000,0.138,3209,779,2191,0,0,0,0,0,0
$GC,11169,1.02,229.6,680.7,9.3,725,11195,0.00,2.97,16.70,1.027,6,0.000,0.091,3209,2376,2124,0,0,0,0,0,0
$GC,11439,1.10,251.4,656.6,9.0,732,11463,0.15,0.00,21.00,1.041,6,0.070,0.000,3249,2376,2035,0,0,0,0,0,0
$GC,11684,1.10,251.4,629.1,11.4,738,11685,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2376,2031,0,0,0,0,0,0
$GC,11926,1.10,251.4,600.5,11.8,744,11927,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2376,2029,0,0,0,0,0,0
$GC,12179,1.10,251.4,570.6,11.7,765,12184,0.00,2.80,0.00,0.000,4,0.000,0.079,3249,3944,2029,0,0,0,0,0,0
$GC,12203,1.10,251.4,567.7,12.5,766,12208,0.00,2.72,0.00,0.000,6,0.000,0.047,3249,2351,2028,0,0,0,0,0,0
$GC,12465,1.10,251.4,536.9,11.5,791,12470,0.00,2.97,0.00,0.000,4,0.000,0.111,3249,782,2027,0,0,0,0,0,0
$GC,12497,1.10,251.4,533.4,12.5,793,12502,0.00,2.70,0.00,0.000,6,0.000,0.051,3249,2370,2027,0,0,0,0,0,0
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$GC,16889,1.40,280.1,43.2,10.7,1191,16894,0.10,2.47,0.00,0.000,6,0.086,0.021,3322,2359,1916,0,0,0,0,0,0
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$STATE,17223,end climb,SURFACE_DEPTH_REACHED
$STATE,17223,begin surface coast
$FINISH,0.0,1.023723
$STATE,17265,end surface coast,CONTROL_FINISHED_OK
$STATE,17266,begin surface
$SM_CCo,17291,81.53,0.525,0,0,1509,380.21
$SM_GC,0.54,0.00,0.00,81.53,0.000,0.000,0.525,463,2175,1509,-11.69,-0.99,380.21
$IRIDIUM_FIX,2241.69,-15749.78,140703,010110
$TT8_MAMPS,0.026078
$HUMID,61.53
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.80
$XPDR_PINGS,21
$24V_AH,23.2,33.983
$10V_AH,10.1,38.950
$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
$DEVICE_SECS,28.725,230.975,375.575,81.525,0.000,142.231,178.629,668.395,5.250,0.000,31.442,2251.251,10371.376,628.836,4017.530,1549.170,33.374,1914.465,0.000,4023.338,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,853.163,898.542,1166.547,1279.869,2436.242,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355388
$DATA_FILE_SIZE,101723,1239
$CAP_FILE_SIZE,207054,0
$CFSIZE,260165632,162963456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,3,0,0
$GPS,190414,062836,2250.502,-15749.940,28,1.4,28,10.1