version: 66.06
glider: 146
mission: 9
dive: 230
start: 4 19 114 11 44 19
data:
$ID,146
$MISSION,9
$DIVE,230
$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,-328650.91
$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,39
$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
$GPS1,113359,2249.167,-15749.088,49,1.4,49,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-69.0
$GPS2,114325,2249.203,-15749.091,32,1.4,32,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.153
$KALMAN_X,-188717.0,191.6,-165.0,199773.2,374.6
$KALMAN_Y,931.2,386.0,635.8,-2102.7,-1354.1
$MHEAD_RNG_PITCHd_Wd,116.0,27538,-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,-87.93,0.000,6,0.000,0.000,457,2169,3656,0,0,0,0,0,0
$GC,113,-1.28,-146.0,4.9,-12.7,12,131,12.60,2.45,0.00,0.000,4,0.165,0.036,2717,659,3656,0,0,0,0,0,0
$GC,144,0.08,-146.0,18.6,-42.2,15,153,1.38,2.45,0.00,0.000,6,0.079,0.018,3017,2221,3657,0,0,0,0,0,0
$GC,441,-0.52,-146.0,38.3,-6.6,52,447,0.52,2.53,0.00,0.000,4,0.048,0.038,2880,3775,3658,0,0,0,0,0,0
$GC,516,-0.90,-146.0,43.2,-6.1,57,521,0.30,2.40,0.00,0.000,6,0.037,0.018,2780,2225,3658,0,0,0,0,0,0
$GC,785,-0.90,-146.0,67.8,-10.3,81,790,0.12,2.58,0.00,0.000,4,0.096,0.042,2809,651,3659,0,0,0,0,0,0
$GC,870,-1.03,-146.0,75.4,-8.1,87,875,0.12,2.42,0.00,0.000,6,0.065,0.018,2755,2215,3659,0,0,0,0,0,0
$GC,1137,-1.03,-146.0,101.1,-9.6,111,1142,0.12,2.58,0.00,0.000,4,0.098,0.042,2783,644,3659,0,0,0,0,0,0
$GC,1155,-1.03,-146.0,103.1,-8.8,112,1160,0.00,2.40,0.00,0.000,6,0.000,0.017,2782,2204,3659,0,0,0,0,0,0
$GC,1428,-1.08,-146.0,125.7,-8.4,137,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2204,3659,0,0,0,0,0,0
$GC,1693,-1.12,-146.0,147.1,-7.9,162,1702,0.10,0.00,0.00,0.000,6,0.079,0.000,2736,2204,3660,0,0,0,0,0,0
$GC,1959,-1.08,-146.0,171.5,-9.0,187,1964,0.15,2.58,0.00,0.000,4,0.092,0.044,2770,651,3660,0,0,0,0,0,0
$GC,1982,-1.08,-146.0,174.0,-8.7,188,1991,0.00,2.40,0.00,0.000,6,0.000,0.018,2769,2184,3660,0,0,0,0,0,0
$GC,2249,-1.13,-146.0,193.0,-7.0,213,2254,0.00,2.50,0.00,0.000,4,0.000,0.044,2769,651,3660,0,0,0,0,0,0
$GC,2283,-1.18,-146.0,195.6,-7.5,215,2288,0.10,2.38,0.00,0.000,6,0.079,0.021,2723,2191,3660,0,0,0,0,0,0
$GC,2545,-1.14,-146.0,221.2,-9.9,239,2550,0.15,2.58,0.00,0.000,4,0.093,0.038,2756,3771,3660,0,0,0,0,0,0
$GC,2562,-1.14,-146.0,222.9,-9.7,240,2566,0.00,2.47,0.00,0.000,6,0.000,0.019,2756,2183,3660,0,0,0,0,0,0
$GC,2827,-1.18,-146.0,244.1,-8.6,264,2831,0.00,2.58,0.00,0.000,4,0.000,0.039,2757,3770,3660,0,0,0,0,0,0
$GC,2869,-1.27,-146.0,247.9,-9.2,267,2874,0.15,2.45,0.00,0.000,6,0.053,0.020,2699,2202,3660,0,0,0,0,0,0
$GC,3130,-1.22,-146.0,275.7,-11.0,291,3131,0.17,0.00,0.00,0.000,6,0.089,0.000,2738,2202,3661,0,0,0,0,0,0
$GC,3387,-1.22,-146.0,294.8,-7.1,315,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2202,3660,0,0,0,0,0,0
$GC,3654,-1.25,-146.0,314.1,-8.0,340,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2202,3659,0,0,0,0,0,0
$GC,3919,-1.30,-146.0,334.8,-7.9,365,3923,0.00,2.67,0.00,0.000,4,0.000,0.067,2737,631,3657,0,0,0,0,0,0
$GC,3951,-1.34,-146.0,337.3,-8.3,367,3956,0.12,2.47,0.00,0.000,6,0.067,0.037,2688,2171,3658,0,0,0,0,0,0
$GC,4218,-1.29,-146.0,362.1,-9.4,391,4223,0.15,2.70,0.00,0.000,4,0.095,0.051,2722,3791,3656,0,0,0,0,0,0
$GC,4235,-1.29,-146.0,364.2,-9.1,392,4240,0.00,2.58,0.00,0.000,6,0.000,0.028,2722,2200,3656,0,0,0,0,0,0
$GC,4498,-1.29,-146.0,384.4,-7.4,416,4503,0.00,2.65,0.00,0.000,4,0.000,0.050,2722,3785,3655,0,0,0,0,0,0
$GC,4521,-1.29,-146.0,386.2,-7.8,417,4531,0.00,2.60,0.00,0.000,6,0.000,0.030,2722,2201,3654,0,0,0,0,0,0
$GC,4787,-1.29,-146.0,405.2,-7.2,442,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2200,3652,0,0,0,0,0,0
$GC,5050,-1.29,-146.0,423.5,-6.8,467,5054,0.00,2.67,0.00,0.000,4,0.000,0.060,2722,3789,3651,0,0,0,0,0,0
$GC,5130,-1.32,-146.0,429.7,-7.9,473,5135,0.00,2.62,0.00,0.000,6,0.000,0.037,2723,2191,3650,0,0,0,0,0,0
$GC,5393,-1.36,-146.0,448.4,-7.5,498,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2191,3649,0,0,0,0,0,0
$GC,5647,-1.40,-146.0,467.2,-7.3,522,5649,0.10,0.00,0.00,0.000,6,0.080,0.000,2680,2191,3647,0,0,0,0,0,0
$GC,5903,-1.40,-146.0,490.8,-9.8,546,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2190,3645,0,0,0,0,0,0
$GC,6168,-1.40,-146.0,515.7,-9.2,571,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2191,3644,0,0,0,0,0,0
$GC,6431,-1.40,-146.0,540.9,-9.5,596,6435,0.00,2.85,0.00,0.000,4,0.000,0.083,2680,3784,3643,0,0,0,0,0,0
$GC,6482,-1.40,-146.0,546.1,-9.9,600,6487,0.00,2.70,0.00,0.000,6,0.000,0.054,2680,2199,3643,0,0,0,0,0,0
$GC,6747,-1.40,-146.0,568.7,-8.3,624,6751,0.00,2.80,0.00,0.000,4,0.000,0.076,2680,3781,3641,0,0,0,0,0,0
$GC,6802,-1.40,-146.0,573.1,-8.0,628,6807,0.00,2.70,0.00,0.000,6,0.000,0.057,2680,2209,3640,0,0,0,0,0,0
$GC,7070,-1.40,-146.0,590.4,-5.9,652,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2210,3639,0,0,0,0,0,0
$GC,7358,-1.40,-146.0,608.1,-6.1,671,7362,0.00,2.80,0.00,0.000,4,0.000,0.083,2680,3779,3637,0,0,0,0,0,0
$GC,7379,-1.40,-146.0,609.6,-7.1,671,7384,0.00,2.72,0.00,0.000,6,0.000,0.068,2680,2215,3637,0,0,0,0,0,0
$GC,7636,-1.40,-146.0,627.6,-7.0,678,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2215,3636,0,0,0,0,0,0
$GC,7878,-1.40,-146.0,645.5,-7.4,684,7882,0.00,2.88,0.00,0.000,4,0.000,0.096,2680,3778,3634,0,0,0,0,0,0
$GC,7906,-1.40,-146.0,647.9,-8.5,684,7911,0.00,2.83,0.00,0.000,6,0.000,0.083,2680,2215,3634,0,0,0,0,0,0
$GC,8158,-1.40,-146.0,667.1,-7.7,690,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2215,3632,0,0,0,0,0,0
$GC,8400,-1.40,-146.0,685.7,-7.7,696,8404,0.00,2.95,0.00,0.000,4,0.000,0.117,2680,3778,3631,0,0,0,0,0,0
$GC,8460,-1.40,-146.0,690.7,-8.0,697,8465,0.00,2.92,0.00,0.000,6,0.000,0.104,2681,2224,3632,0,0,0,0,0,0
$GC,8723,-1.40,-146.0,710.9,-7.5,704,8727,0.00,3.03,0.00,0.000,4,0.000,0.123,2680,3781,3630,0,0,0,0,0,0
$GC,8762,-1.40,-146.0,714.2,-8.3,705,8767,0.00,2.97,0.00,0.000,6,0.000,0.117,2680,2240,3630,0,0,0,0,0,0
$GC,9045,-1.40,-146.0,736.7,-8.0,712,9050,0.00,3.10,0.00,0.000,4,0.000,0.143,2680,3776,3629,0,0,0,0,0,0
$GC,9063,-1.40,-146.0,738.2,-8.0,712,9068,0.00,3.05,0.00,0.000,6,0.000,0.130,2680,2241,3629,0,0,0,0,0,0
$GC,9324,-1.40,-146.0,759.8,-8.2,719,9329,0.00,3.20,0.00,0.000,4,0.000,0.155,2680,3779,3628,0,0,0,0,0,0
$GC,9356,-1.40,-146.0,762.9,-9.6,719,9362,0.00,3.12,0.00,0.000,6,0.000,0.146,2680,2248,3628,0,0,1,0,0,0
$GC,9608,-1.40,-146.0,783.4,-8.1,726,9613,0.00,3.25,0.00,0.000,4,0.000,0.166,2681,3775,3626,0,0,0,0,0,0
$GC,9630,-1.40,-146.0,785.5,-8.8,726,9635,0.00,3.17,0.00,0.000,6,0.000,0.158,2680,2256,3626,0,0,1,0,0,0
$STATE,9842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9842,begin apogee
$GC,9848,-0.31,0.0,802.2,7.7,732,9972,1.12,0.00,120.10,1.180,6,0.071,0.000,2935,2347,3060,0,0,0,0,0,0
$STATE,9972,end apogee,CONTROL_FINISHED_OK
$STATE,9973,begin climb
$GC,9976,1.28,146.0,804.6,0.0,735,10116,1.42,3.60,128.12,1.151,4,0.031,0.176,3289,3941,2463,0,0,0,0,0,0
$GC,10157,1.11,146.0,789.9,13.4,739,10163,0.20,3.40,0.00,0.000,6,0.105,0.160,3247,2371,2459,0,0,0,0,0,0
$GC,10424,1.04,146.0,761.3,10.3,746,10426,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2371,2454,0,0,0,0,0,0
$GC,10668,0.99,146.4,736.9,10.0,752,10670,0.15,0.00,0.00,0.000,6,0.120,0.000,3217,2371,2453,0,0,0,0,0,0
$GC,10913,1.01,168.4,714.9,9.0,758,10939,0.00,3.38,19.70,1.060,4,0.000,0.154,3217,779,2373,0,0,0,0,0,0
$GC,10955,1.03,185.3,710.9,9.2,759,10980,0.00,3.05,17.15,1.035,6,0.000,0.102,3217,2377,2303,0,0,0,0,0,0
$GC,11236,1.04,187.6,683.2,9.9,766,11237,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2377,2299,0,0,0,0,0,0
$GC,11481,1.04,188.5,659.1,10.0,772,11486,0.00,2.95,0.00,0.000,4,0.000,0.108,3217,3944,2297,0,0,0,0,0,0
$GC,11514,1.05,196.1,655.5,9.7,772,11530,0.00,2.85,10.45,0.973,6,0.000,0.077,3217,2364,2260,0,0,0,0,0,0
$GC,11804,1.06,206.5,627.7,9.5,780,11822,0.00,3.03,10.93,0.968,4,0.000,0.107,3217,777,2217,0,0,0,0,0,0
$GC,11851,1.06,206.5,622.8,10.2,781,11856,0.00,2.80,0.00,0.000,6,0.000,0.070,3217,2374,2215,0,0,0,0,0,0
$GC,12129,1.09,230.1,597.8,8.9,788,12159,0.10,0.00,22.88,1.019,6,0.089,0.000,3245,2374,2120,0,0,0,0,0,0
$GC,12413,1.09,230.1,569.4,10.4,815,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2374,2117,0,0,0,0,0,0
$GC,12668,1.09,230.1,541.6,10.8,839,12672,0.00,2.78,0.00,0.000,4,0.000,0.074,3245,3941,2116,0,0,0,0,0,0
$GC,12702,1.09,230.1,538.3,12.2,841,12707,0.00,2.70,0.00,0.000,6,0.000,0.044,3245,2358,2115,0,0,0,0,0,0
$GC,12968,1.09,230.1,506.9,11.5,865,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2358,2115,0,0,0,0,0,0
$GC,13231,1.09,230.1,475.8,11.5,890,13232,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2358,2114,0,0,0,0,0,0
$GC,13484,1.09,230.1,446.4,11.3,914,13485,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2358,2114,0,0,0,0,0,0
$GC,13740,1.09,230.1,418.2,10.9,938,13742,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2358,2114,0,0,0,0,0,0
$GC,13994,1.09,230.1,390.6,10.8,962,13995,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2358,2114,0,0,0,0,0,0
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$GC,14316,1.09,230.1,355.0,11.6,991,14321,0.00,2.60,0.00,0.000,6,0.000,0.028,3245,2355,2113,0,0,0,0,0,0
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$STATE,17532,end climb,SURFACE_DEPTH_REACHED
$STATE,17532,begin surface coast
$FINISH,0.0,1.023725
$STATE,17575,end surface coast,CONTROL_FINISHED_OK
$STATE,17575,begin surface
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$TT8_MAMPS,0.026078
$HUMID,61.61
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.70
$XPDR_PINGS,14
$24V_AH,23.2,34.308
$10V_AH,10.1,39.421
$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
$DEVICE_SECS,30.950,186.000,372.625,84.500,0.000,29.954,36.492,294.519,3.500,0.000,34.313,2311.694,10249.645,590.028,4208.986,867.515,33.375,1881.764,0.000,4202.995,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,895.019,944.503,1231.653,1376.062,2619.557,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,107859,1300
$CAP_FILE_SIZE,187468,0
$CFSIZE,260165632,162783232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,190414,164023,2247.720,-15747.542,41,1.9,41,10.1