version: 66.06
glider: 146
mission: 9
dive: 291
start: 5 2 114 16 48 1
data:
$ID,146
$MISSION,9
$DIVE,291
$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,-329958.19
$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,40
$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
$GPS1,163729,2248.515,-15749.581,36,1.0,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-68.8
$GPS2,164706,2248.538,-15749.637,10,1.6,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.144
$KALMAN_X,-229481.2,-165.2,-39.0,239841.6,-905.7
$KALMAN_Y,5856.1,-273.3,-202.8,-6757.7,-19.2
$MHEAD_RNG_PITCHd_Wd,113.6,27356,-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,17,-1.28,-146.0,0.0,0.0,0,112,0.00,0.00,-88.65,0.000,6,0.000,0.000,458,2172,3656,0,0,0,0,0,0
$GC,115,-1.28,-146.0,4.8,-11.5,12,133,12.68,2.50,0.00,0.000,4,0.169,0.037,2707,628,3656,0,0,0,0,0,0
$GC,159,-0.51,-146.0,21.2,-37.5,17,169,0.80,2.50,0.00,0.000,6,0.082,0.019,2879,2223,3657,0,0,0,0,0,0
$GC,453,-0.72,-146.0,39.3,-4.7,50,458,0.17,2.53,0.00,0.000,4,0.051,0.035,2810,3778,3658,0,0,0,0,0,0
$GC,490,-0.84,-146.0,41.6,-7.0,52,494,0.00,2.45,0.00,0.000,6,0.000,0.022,2809,2209,3658,0,0,0,0,0,0
$GC,758,-0.93,-146.0,61.4,-7.4,76,763,0.00,2.55,0.00,0.000,4,0.000,0.043,2809,630,3658,0,0,0,0,0,0
$GC,792,-1.03,-146.0,64.2,-7.8,78,798,0.17,2.42,0.00,0.000,6,0.051,0.017,2743,2221,3658,0,0,0,0,0,0
$GC,1057,-0.99,-146.0,91.4,-10.0,102,1062,0.17,2.47,0.00,0.000,4,0.087,0.033,2781,3775,3658,0,0,0,0,0,0
$GC,1103,-1.05,-146.0,95.3,-8.6,105,1107,0.00,2.42,0.00,0.000,6,0.000,0.021,2781,2214,3658,0,0,0,0,0,0
$GC,1372,-1.08,-146.0,117.5,-8.7,129,1376,0.00,2.55,0.00,0.000,4,0.000,0.044,2781,637,3659,0,0,0,0,0,0
$GC,1389,-1.08,-146.0,119.5,-8.6,130,1393,0.00,2.42,0.00,0.000,6,0.000,0.021,2781,2226,3659,0,0,0,0,0,0
$GC,1653,-1.14,-146.0,141.3,-8.0,154,1665,0.15,0.00,0.00,0.000,6,0.057,0.000,2723,2226,3660,0,0,0,0,0,0
$GC,1921,-1.08,-146.0,166.6,-9.1,179,1927,0.17,0.00,0.00,0.000,6,0.087,0.000,2761,2226,3660,0,0,0,0,0,0
$GC,2186,-1.08,-146.0,186.4,-7.9,204,2190,0.00,2.58,0.00,0.000,4,0.000,0.044,2761,640,3660,0,0,0,0,0,0
$GC,2214,-1.08,-146.0,189.2,-8.5,206,2219,0.00,2.40,0.00,0.000,6,0.000,0.018,2761,2213,3660,0,0,0,0,0,0
$GC,2479,-1.12,-146.0,211.6,-8.2,230,2484,0.00,2.58,0.00,0.000,4,0.000,0.047,2761,636,3660,0,0,0,0,0,0
$GC,2525,-1.17,-146.0,216.0,-8.8,233,2531,0.00,2.42,0.00,0.000,6,0.000,0.026,2761,2210,3660,0,0,0,0,0,0
$GC,2790,-1.23,-146.0,235.2,-7.8,258,2795,0.15,2.53,0.00,0.000,4,0.058,0.038,2699,3783,3660,0,0,0,0,0,0
$GC,2846,-1.17,-146.0,240.6,-9.9,262,2852,0.17,2.42,0.00,0.000,6,0.086,0.021,2738,2221,3660,0,0,0,0,0,0
$GC,3111,-1.17,-146.0,261.4,-7.1,286,3116,0.00,2.62,0.00,0.000,4,0.000,0.055,2738,632,3661,0,0,0,0,0,0
$GC,3163,-1.22,-146.0,265.4,-7.4,290,3168,0.00,2.45,0.00,0.000,6,0.000,0.031,2738,2203,3660,0,0,0,0,0,0
$GC,3428,-1.22,-146.0,285.6,-8.1,314,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2203,3660,0,0,0,0,0,0
$GC,3689,-1.22,-146.0,306.3,-7.5,339,3693,0.00,2.65,0.00,0.000,4,0.000,0.058,2738,633,3659,0,0,0,0,0,0
$GC,3712,-1.22,-146.0,307.6,-7.5,340,3717,0.00,2.45,0.00,0.000,6,0.000,0.030,2738,2197,3659,0,0,0,0,0,0
$GC,3979,-1.27,-146.0,326.8,-6.8,364,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2197,3657,0,0,0,0,0,0
$GC,4244,-1.31,-146.0,344.9,-6.6,389,4249,0.12,2.65,0.00,0.000,4,0.066,0.064,2687,642,3656,0,0,0,0,0,0
$GC,4285,-1.27,-146.0,348.6,-9.0,392,4291,0.15,2.47,0.00,0.000,6,0.095,0.036,2720,2189,3655,0,0,0,0,0,0
$GC,4547,-1.27,-146.0,368.6,-7.1,416,4551,0.00,2.62,0.00,0.000,4,0.000,0.049,2720,3790,3654,0,0,0,0,0,0
$GC,4621,-1.27,-146.0,374.4,-8.4,422,4626,0.00,2.53,0.00,0.000,6,0.000,0.031,2721,2211,3654,0,0,0,0,0,0
$GC,4886,-1.27,-146.0,392.9,-6.8,446,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2211,3653,0,0,0,0,0,0
$GC,5147,-1.27,-146.0,410.5,-6.6,471,5151,0.00,2.78,0.00,0.000,4,0.000,0.084,2720,622,3651,0,0,0,0,0,0
$GC,5169,-1.27,-146.0,411.6,-6.3,472,5173,0.00,2.55,0.00,0.000,6,0.000,0.036,2720,2197,3650,0,0,0,0,0,0
$GC,5437,-1.27,-146.0,431.0,-7.4,496,5442,0.00,2.65,0.00,0.000,4,0.000,0.055,2720,3797,3649,0,0,0,0,0,0
$GC,5460,-1.27,-146.0,433.3,-7.6,497,5466,0.00,2.60,0.00,0.000,6,0.000,0.041,2720,2203,3649,0,0,0,0,0,0
$GC,5725,-1.27,-146.0,455.5,-9.0,522,5729,0.00,2.67,0.00,0.000,4,0.000,0.052,2720,3798,3647,0,0,0,0,0,0
$GC,5770,-1.31,-146.0,460.3,-9.9,525,5779,0.00,2.62,0.00,0.000,6,0.000,0.047,2720,2226,3647,0,0,0,0,0,0
$GC,6037,-1.31,-146.0,485.1,-9.4,550,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2226,3645,0,0,0,0,0,0
$GC,6301,-1.35,-146.0,507.9,-7.7,575,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2226,3644,0,0,0,0,0,0
$GC,6557,-1.40,-146.0,526.3,-6.6,599,6562,0.12,2.72,0.00,0.000,4,0.068,0.074,2673,3790,3643,0,0,0,0,0,0
$GC,6614,-1.35,-146.0,531.8,-9.7,603,6624,0.10,2.67,0.00,0.000,6,0.074,0.052,2700,2223,3642,0,0,0,0,0,0
$GC,6879,-1.35,-146.0,552.0,-7.8,628,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2222,3641,0,0,0,0,0,0
$GC,7140,-1.35,-146.0,571.5,-7.1,653,7145,0.00,2.78,0.00,0.000,4,0.000,0.080,2700,3791,3639,0,0,0,0,0,0
$GC,7175,-1.35,-146.0,574.1,-7.5,655,7181,0.00,2.67,0.00,0.000,6,0.000,0.063,2700,2226,3639,0,0,0,0,0,0
$GC,7438,-1.35,-146.0,592.6,-7.4,680,7443,0.00,2.78,0.00,0.000,4,0.000,0.082,2700,3792,3638,0,0,0,0,0,0
$GC,7461,-1.35,-146.0,594.7,-8.4,681,7470,0.00,2.72,0.00,0.000,6,0.000,0.070,2700,2233,3638,0,0,0,0,0,0
$GC,7735,-1.35,-146.0,617.2,-8.5,693,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2234,3636,0,0,0,0,0,0
$GC,7977,-1.35,-146.0,638.4,-8.7,699,7982,0.00,2.83,0.00,0.000,4,0.000,0.095,2700,3785,3636,0,0,0,0,0,0
$GC,7998,-1.35,-146.0,640.5,-9.2,699,8003,0.00,2.78,0.00,0.000,6,0.000,0.080,2700,2227,3635,0,0,0,0,0,0
$GC,8255,-1.35,-146.0,662.3,-8.3,706,8260,0.00,2.90,0.00,0.000,4,0.000,0.107,2700,3790,3634,0,0,0,0,0,0
$GC,8276,-1.35,-146.0,664.3,-8.3,706,8281,0.00,2.83,0.00,0.000,6,0.000,0.090,2700,2240,3634,0,0,0,0,0,0
$GC,8532,-1.35,-146.0,684.0,-7.5,713,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2240,3632,0,0,0,0,0,0
$GC,8777,-1.35,-146.0,701.0,-6.9,719,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2240,3631,0,0,0,0,0,0
$GC,9019,-1.35,-146.0,717.4,-6.7,725,9024,0.00,3.00,0.00,0.000,4,0.000,0.127,2700,3789,3631,0,0,0,0,0,0
$GC,9046,-1.35,-146.0,719.1,-7.0,725,9051,0.00,2.95,0.00,0.000,6,0.000,0.117,2700,2245,3631,0,0,0,0,0,0
$GC,9298,-1.35,-146.0,734.5,-6.1,731,9303,0.00,3.05,0.00,0.000,4,0.000,0.135,2700,3782,3630,0,0,0,0,0,0
$GC,9338,-1.35,-146.0,737.2,-6.4,732,9342,0.00,3.00,0.00,0.000,6,0.000,0.127,2700,2254,3630,0,0,0,0,0,0
$GC,9621,-1.35,-146.0,754.3,-6.0,739,9626,0.00,3.12,0.00,0.000,4,0.000,0.149,2700,3782,3628,0,0,0,0,0,0
$GC,9683,-1.35,-146.0,758.4,-6.7,740,9688,0.00,3.05,0.00,0.000,6,0.000,0.140,2700,2264,3628,0,0,0,0,0,0
$GC,9945,-1.39,-146.0,774.4,-6.3,747,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2264,3627,0,0,0,0,0,0
$GC,10188,-1.43,-146.0,790.1,-6.5,753,10193,0.00,3.28,0.00,0.000,4,0.000,0.181,2700,3784,3627,0,0,0,0,0,0
$GC,10246,-1.46,-146.0,794.3,-7.5,754,10252,0.10,3.22,0.00,0.000,6,0.084,0.166,2662,2268,3626,0,0,1,0,0,0
$STATE,10348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10348,begin apogee
$GC,10354,-0.31,0.0,802.4,7.7,757,10479,1.17,0.00,121.05,1.167,6,0.076,0.000,2924,2355,3060,0,0,0,0,0,0
$STATE,10480,end apogee,CONTROL_FINISHED_OK
$STATE,10480,begin climb
$GC,10484,1.28,146.0,804.7,0.0,760,10624,1.45,3.58,129.05,1.143,4,0.035,0.179,3282,3942,2464,0,0,0,0,0,0
$GC,10663,1.13,146.0,790.5,12.1,764,10669,0.20,3.40,0.00,0.000,6,0.104,0.160,3242,2372,2460,0,0,0,0,0,0
$GC,10933,1.09,146.0,763.2,10.1,771,10934,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2373,2455,0,0,0,0,0,0
$GC,11175,1.05,147.6,738.7,9.9,777,11180,0.00,3.15,0.00,0.000,4,0.000,0.137,3242,3940,2453,0,0,0,0,0,0
$GC,11249,0.98,147.6,730.6,11.0,778,11255,0.15,3.08,0.00,0.000,6,0.114,0.120,3213,2376,2452,0,0,0,0,0,0
$GC,11499,1.01,165.2,707.8,9.2,784,11524,0.00,3.35,16.88,1.040,4,0.000,0.144,3213,778,2385,0,0,0,0,0,0
$GC,11535,1.03,185.2,704.2,9.1,784,11561,0.00,3.03,20.17,1.039,6,0.000,0.105,3213,2377,2304,0,0,0,0,0,0
$GC,11824,1.03,185.2,674.6,10.5,792,11829,0.00,3.10,0.00,0.000,4,0.000,0.120,3213,778,2299,0,0,0,0,0,0
$GC,11850,1.03,185.2,671.3,10.8,792,11855,0.00,2.88,0.00,0.000,6,0.000,0.089,3213,2373,2298,0,0,0,0,0,0
$GC,12103,1.07,185.2,644.1,10.9,798,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2374,2297,0,0,0,0,0,0
$GC,12345,1.11,185.2,617.7,10.8,804,12350,0.10,2.95,0.00,0.000,4,0.093,0.100,3241,778,2296,0,0,0,0,0,0
$GC,12374,1.11,185.2,614.3,12.3,804,12378,0.00,2.72,0.00,0.000,6,0.000,0.068,3241,2363,2296,0,0,0,0,0,0
$GC,12630,1.11,185.2,585.5,10.7,819,12635,0.00,2.80,0.00,0.000,4,0.000,0.084,3241,3935,2295,0,0,0,0,0,0
$GC,12664,1.11,185.2,581.3,11.9,821,12670,0.00,2.70,0.00,0.000,6,0.000,0.054,3241,2357,2295,0,0,0,0,0,0
$GC,12926,1.11,185.2,554.3,10.5,846,12931,0.00,3.00,0.00,0.000,4,0.000,0.117,3241,776,2295,0,0,0,0,0,0
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$STATE,18086,end climb,SURFACE_DEPTH_REACHED
$STATE,18086,begin surface coast
$FINISH,0.1,1.023629
$STATE,18130,end surface coast,CONTROL_FINISHED_OK
$STATE,18132,begin surface
$SM_CCo,18153,59.75,0.518,0,0,1510,380.21
$SM_GC,0.63,0.00,0.00,59.75,0.000,0.000,0.518,458,2175,1510,-11.67,-0.99,380.21
$IRIDIUM_FIX,2244.02,-15751.06,270703,111118
$TT8_MAMPS,0.026078
$HUMID,61.93
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.60
$XPDR_PINGS,70
$24V_AH,23.2,45.341
$10V_AH,9.9,53.829
$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,30.050,239.600,404.525,59.750,0.000,30.709,37.127,313.240,17.500,0.000,17.331,2400.953,10491.659,625.063,4306.967,949.290,33.373,2010.890,0.000,4319.810,0.000,0.534,0.000
$DEVICE_MAMPS,168.740,181.012,1167.374,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,912.332,964.792,1260.201,1399.180,2661.668,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355352
$DATA_FILE_SIZE,110859,1327
$CAP_FILE_SIZE,205636,0
$CFSIZE,260165632,156823552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,020514,215300,2247.495,-15748.007,42,1.5,42,10.1