version: 66.06
glider: 146
mission: 9
dive: 290
start: 5 2 114 11 37 25
data:
$ID,146
$MISSION,9
$DIVE,290
$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,-329940.22
$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,2996
$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,42
$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
$GPS1,112730,2250.458,-15750.733,45,1.1,45,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-67.9
$GPS2,113630,2250.509,-15750.729,8,1.5,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.200,-0.166
$KALMAN_X,-228279.6,-118.2,-10.3,236702.7,211.6
$KALMAN_Y,6103.2,44.0,237.0,-4100.7,-761.3
$MHEAD_RNG_PITCHd_Wd,119.6,31226,-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,-146.0,0.0,0.0,0,111,0.00,0.00,-88.70,0.000,6,0.000,0.000,460,2186,3657,0,0,0,0,0,0
$GC,114,-1.28,-146.0,4.4,-10.4,12,132,12.50,2.50,0.00,0.000,4,0.167,0.035,2709,637,3657,0,0,0,0,0,0
$GC,165,-0.81,-146.0,21.7,-29.9,18,173,0.47,2.47,0.00,0.000,6,0.085,0.018,2813,2221,3658,0,0,0,0,0,0
$GC,443,-0.88,-146.0,48.6,-8.4,47,448,0.00,2.47,0.00,0.000,4,0.000,0.034,2814,3776,3659,0,0,0,0,0,0
$GC,504,-1.00,-146.0,53.0,-6.5,51,509,0.15,2.42,0.00,0.000,6,0.056,0.021,2753,2230,3659,0,0,0,0,0,0
$GC,772,-1.00,-146.0,78.8,-10.3,75,781,0.12,0.00,0.00,0.000,6,0.100,0.000,2780,2231,3659,0,0,0,0,0,0
$GC,1034,-1.00,-146.0,100.8,-8.3,100,1038,0.00,2.50,0.00,0.000,4,0.000,0.034,2780,3784,3659,0,0,0,0,0,0
$GC,1054,-1.00,-146.0,102.5,-8.9,101,1058,0.00,2.40,0.00,0.000,6,0.000,0.021,2780,2233,3660,0,0,0,0,0,0
$GC,1321,-1.00,-146.0,125.8,-8.8,125,1325,0.00,2.58,0.00,0.000,4,0.000,0.044,2780,641,3660,0,0,0,0,0,0
$GC,1344,-1.00,-146.0,128.3,-8.9,126,1353,0.00,2.50,0.00,0.000,6,0.000,0.018,2780,2251,3660,0,0,0,0,0,0
$GC,1611,-1.05,-146.0,150.1,-7.7,151,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2251,3661,0,0,0,0,0,0
$GC,1876,-1.10,-146.0,171.9,-8.0,176,1885,0.10,0.00,0.00,0.000,6,0.081,0.000,2733,2251,3661,0,0,0,0,0,0
$GC,2142,-1.07,-146.0,198.2,-10.5,201,2147,0.15,2.65,0.00,0.000,4,0.093,0.046,2765,643,3661,0,0,0,0,0,0
$GC,2176,-1.07,-146.0,202.2,-9.4,203,2182,0.00,2.42,0.00,0.000,6,0.000,0.018,2766,2237,3662,0,0,0,0,0,0
$GC,2441,-1.13,-146.0,223.4,-7.6,228,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2237,3662,0,0,0,0,0,0
$GC,2710,-1.19,-146.0,244.0,-8.2,253,2716,0.12,0.00,0.00,0.000,6,0.065,0.000,2714,2237,3662,0,0,0,0,0,0
$GC,2971,-1.19,-146.0,272.4,-11.2,278,2973,0.10,0.00,0.00,0.000,6,0.108,0.000,2737,2238,3662,0,0,0,0,0,0
$GC,3229,-1.19,-146.0,296.9,-9.4,302,3234,0.00,2.70,0.00,0.000,4,0.000,0.064,2737,640,3661,0,0,0,0,0,0
$GC,3263,-1.19,-146.0,299.8,-9.0,304,3268,0.00,2.50,0.00,0.000,6,0.000,0.032,2736,2229,3661,0,0,0,0,0,0
$GC,3532,-1.23,-146.0,320.8,-7.5,328,3536,0.00,2.55,0.00,0.000,4,0.000,0.044,2737,3792,3660,0,0,0,0,0,0
$GC,3549,-1.27,-146.0,322.5,-7.1,329,3553,0.00,2.45,0.00,0.000,6,0.000,0.033,2737,2244,3660,0,0,0,0,0,0
$GC,3814,-1.32,-146.0,340.5,-7.0,353,3819,0.12,2.80,0.00,0.000,4,0.067,0.075,2686,637,3659,0,0,0,0,0,0
$GC,3836,-1.32,-146.0,342.7,-8.2,354,3846,0.08,2.58,0.00,0.000,6,0.072,0.033,2708,2231,3659,0,0,0,0,0,0
$GC,4104,-1.32,-146.0,365.8,-9.3,379,4108,0.00,2.55,0.00,0.000,4,0.000,0.054,2708,3793,3657,0,0,0,0,0,0
$GC,4156,-1.32,-146.0,371.7,-10.0,383,4160,0.00,2.47,0.00,0.000,6,0.000,0.032,2708,2246,3657,0,0,0,0,0,0
$GC,4418,-1.32,-146.0,396.2,-9.5,407,4423,0.00,2.85,0.00,0.000,4,0.000,0.087,2708,628,3655,0,0,0,0,0,0
$GC,4472,-1.32,-146.0,401.4,-9.9,411,4476,0.00,2.58,0.00,0.000,6,0.000,0.044,2708,2227,3656,0,0,0,0,0,0
$GC,4735,-1.32,-146.0,424.5,-8.0,435,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2227,3653,0,0,0,0,0,0
$GC,4989,-1.32,-146.0,443.9,-7.6,459,4994,0.00,2.62,0.00,0.000,4,0.000,0.064,2708,3793,3651,0,0,0,0,0,0
$GC,5012,-1.32,-146.0,445.4,-7.7,460,5017,0.00,2.58,0.00,0.000,6,0.000,0.043,2708,2227,3651,0,0,0,0,0,0
$GC,5280,-1.32,-146.0,465.4,-7.3,484,5285,0.00,2.92,0.00,0.000,4,0.000,0.101,2708,623,3649,0,0,0,0,0,0
$GC,5302,-1.32,-146.0,467.7,-7.4,485,5307,0.00,2.65,0.00,0.000,6,0.000,0.044,2708,2226,3649,0,0,0,0,0,0
$GC,5566,-1.32,-146.0,487.3,-7.2,510,5570,0.00,2.62,0.00,0.000,4,0.000,0.060,2708,3797,3647,0,0,0,0,0,0
$GC,5599,-1.32,-146.0,490.2,-7.6,512,5605,0.00,2.60,0.00,0.000,6,0.000,0.044,2708,2214,3647,0,0,0,0,0,0
$GC,5862,-1.32,-146.0,509.0,-6.7,537,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2215,3645,0,0,0,0,0,0
$GC,6117,-1.32,-146.0,525.7,-6.3,561,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2215,3644,0,0,0,0,0,0
$GC,6370,-1.32,-146.0,543.4,-7.1,585,6375,0.00,2.72,0.00,0.000,4,0.000,0.067,2708,3796,3642,0,0,0,0,0,0
$GC,6405,-1.32,-146.0,545.9,-7.8,587,6411,0.00,2.65,0.00,0.000,6,0.000,0.058,2708,2228,3643,0,0,0,0,0,0
$GC,6668,-1.32,-146.0,565.0,-6.7,612,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2228,3641,0,0,0,0,0,0
$GC,6923,-1.32,-146.0,583.0,-7.0,636,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2228,3639,0,0,0,0,0,0
$GC,7206,-1.32,-146.0,603.1,-7.0,660,7211,0.00,2.80,0.00,0.000,4,0.000,0.089,2708,3794,3637,0,0,0,0,0,0
$GC,7233,-1.32,-146.0,605.2,-7.7,660,7238,0.00,2.72,0.00,0.000,6,0.000,0.071,2708,2225,3637,0,0,0,0,0,0
$GC,7485,-1.36,-146.0,622.5,-7.0,666,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2225,3636,0,0,0,0,0,0
$GC,7728,-1.40,-146.0,639.7,-7.1,672,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2226,3635,0,0,0,0,0,0
$GC,7971,-1.44,-146.0,657.0,-7.2,678,7973,0.12,0.00,0.00,0.000,6,0.071,0.000,2662,2225,3633,0,0,0,0,0,0
$GC,8217,-1.39,-146.0,678.9,-9.1,684,8222,0.15,2.97,0.00,0.000,4,0.094,0.116,2694,3788,3632,0,0,0,0,0,0
$GC,8258,-1.39,-146.0,682.7,-8.8,685,8263,0.00,2.92,0.00,0.000,6,0.000,0.104,2694,2223,3632,0,0,0,0,0,0
$GC,8542,-1.39,-146.0,705.7,-7.8,692,8547,0.00,3.05,0.00,0.000,4,0.000,0.133,2694,3792,3631,0,0,0,0,0,0
$GC,8570,-1.39,-146.0,708.1,-8.6,692,8575,0.00,2.97,0.00,0.000,6,0.000,0.115,2694,2226,3631,0,0,0,0,0,0
$GC,8820,-1.39,-146.0,727.3,-7.6,698,8825,0.00,3.10,0.00,0.000,4,0.000,0.138,2694,3786,3630,0,0,0,0,0,0
$GC,8848,-1.39,-146.0,729.5,-7.8,698,8852,0.00,3.00,0.00,0.000,6,0.000,0.125,2694,2236,3630,0,0,0,0,0,0
$GC,9099,-1.39,-146.0,746.1,-6.4,704,9104,0.00,3.12,0.00,0.000,4,0.000,0.143,2694,3786,3629,0,0,0,0,0,0
$GC,9149,-1.39,-146.0,749.4,-6.4,705,9154,0.00,3.08,0.00,0.000,6,0.000,0.137,2694,2248,3629,0,0,0,0,0,0
$GC,9423,-1.39,-146.0,765.1,-5.7,712,9424,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2248,3628,0,0,0,0,0,0
$GC,9665,-1.39,-146.0,779.5,-5.9,718,9670,0.00,3.25,0.00,0.000,4,0.000,0.169,2694,3786,3627,0,0,0,0,0,0
$GC,9704,-1.39,-146.0,782.2,-7.1,719,9710,0.00,3.17,0.00,0.000,6,0.000,0.158,2694,2252,3626,0,0,1,0,0,0
$GC,9988,-1.39,-146.0,799.4,-5.9,726,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2253,3626,0,0,0,0,0,0
$STATE,10027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10028,begin apogee
$GC,10035,-0.31,0.0,801.8,5.9,727,10160,1.02,0.00,121.28,1.172,6,0.071,0.000,2925,2364,3060,0,0,0,0,0,0
$STATE,10161,end apogee,CONTROL_FINISHED_OK
$STATE,10161,begin climb
$GC,10163,1.28,146.0,803.3,0.0,730,10304,1.45,3.47,129.80,1.147,4,0.037,0.171,3281,3941,2462,0,0,0,0,0,0
$GC,10337,1.14,146.0,787.9,14.2,734,10343,0.17,3.38,0.00,0.000,6,0.109,0.158,3245,2369,2458,0,0,1,0,0,0
$GC,10612,1.09,146.0,758.1,10.7,741,10613,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2370,2453,0,0,0,0,0,0
$GC,10855,1.04,150.7,734.0,9.8,747,10857,0.12,0.00,0.00,0.000,6,0.127,0.000,3222,2370,2451,0,0,0,0,0,0
$GC,11098,1.09,190.8,713.9,8.2,753,11144,0.00,3.17,39.92,1.085,4,0.000,0.127,3222,3945,2281,0,0,0,0,0,0
$GC,11162,1.12,216.4,708.1,8.8,754,11193,0.00,3.05,25.20,1.052,6,0.000,0.109,3222,2374,2177,0,0,0,0,0,0
$GC,11462,1.12,219.1,678.2,9.9,762,11467,0.00,3.20,0.00,0.000,4,0.000,0.140,3221,777,2170,0,0,0,0,0,0
$GC,11483,1.12,219.1,675.7,10.5,762,11488,0.00,2.95,0.00,0.000,6,0.000,0.091,3221,2382,2169,0,0,0,0,0,0
$GC,11740,1.13,220.1,650.1,10.0,769,11745,0.00,2.88,0.00,0.000,4,0.000,0.105,3221,3939,2168,0,0,0,0,0,0
$GC,11763,1.13,220.1,647.6,10.2,769,11768,0.00,2.80,0.00,0.000,6,0.000,0.074,3221,2362,2167,0,0,0,0,0,0
$GC,12020,1.13,220.4,622.1,10.0,776,12025,0.00,2.95,0.00,0.000,4,0.000,0.111,3221,782,2167,0,0,0,0,0,0
$GC,12071,1.16,220.4,616.6,10.5,777,12077,0.12,2.78,0.00,0.000,6,0.078,0.065,3257,2372,2165,0,0,0,0,0,0
$GC,12329,1.16,220.4,587.8,10.8,791,12331,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2372,2165,0,0,0,0,0,0
$GC,12584,1.16,220.4,560.6,10.9,815,12589,0.00,2.75,0.00,0.000,4,0.000,0.074,3257,3944,2165,0,0,0,0,0,0
$GC,12605,1.11,220.4,557.9,11.0,816,12615,0.00,2.72,0.00,0.000,6,0.000,0.050,3257,2359,2164,0,0,0,0,0,0
$GC,12873,1.11,220.4,529.2,11.1,841,12878,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2359,2164,0,0,0,0,0,0
$GC,13134,1.11,220.4,499.5,10.8,866,13139,0.00,2.95,0.00,0.000,4,0.000,0.114,3257,780,2164,0,0,0,0,0,0
$GC,13151,1.11,220.4,497.5,11.7,867,13155,0.00,2.65,0.00,0.000,6,0.000,0.047,3257,2377,2163,0,0,0,0,0,0
$GC,13415,1.11,220.4,469.2,10.7,891,13419,0.00,2.62,0.00,0.000,4,0.000,0.058,3257,3945,2164,0,0,0,0,0,0
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$STATE,17797,end climb,SURFACE_DEPTH_REACHED
$STATE,17798,begin surface coast
$FINISH,-0.1,1.022218
$STATE,17853,end surface coast,CONTROL_FINISHED_OK
$STATE,17853,begin surface
$SM_CCo,17875,45.00,0.514,0,0,1509,380.21
$SM_GC,0.48,0.00,0.00,45.00,0.000,0.000,0.514,459,2171,1509,-11.67,-1.07,380.21
$IRIDIUM_FIX,2244.02,-15756.28,270703,060620
$TT8_MAMPS,0.025311
$HUMID,62.36
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.50
$XPDR_PINGS,57
$24V_AH,23.2,45.187
$10V_AH,9.9,53.586
$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,28.675,208.725,414.750,45.000,0.000,27.759,41.254,286.330,14.250,0.000,15.112,2329.172,10411.972,587.355,4206.496,907.668,33.373,1943.174,0.000,4234.841,0.000,0.534,0.000
$DEVICE_MAMPS,167.206,171.041,1171.976,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,899.734,965.544,1242.807,1373.466,2613.405,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,107908,1308
$CAP_FILE_SIZE,193063,0
$CFSIZE,260165632,156942336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,020514,163729,2248.515,-15749.581,36,1.0,41,10.1