version: 66.06
glider: 146
mission: 9
dive: 313
start: 5 7 114 11 39 0
data:
$ID,146
$MISSION,9
$DIVE,313
$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,-330399.62
$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,29
$R_STBD_OVSHOOT,11
$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
$GPS1,112536,2305.486,-15734.765,45,1.2,45,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-70.2
$GPS2,113801,2305.602,-15734.724,13,1.1,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.167,-0.199
$KALMAN_X,-249759.2,153.6,-85.1,285284.4,256.9
$KALMAN_Y,9394.3,110.8,-351.2,21067.2,1084.3
$MHEAD_RNG_PITCHd_Wd,209.8,70838,-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,16,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-86.07,0.000,2,0.000,0.000,460,2154,3637,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.5,-7.6,11,126,12.57,2.70,-0.30,0.000,4,0.166,0.046,2710,3812,3655,0,0,0,0,0,0
$GC,274,-1.16,-146.0,36.9,-10.6,31,279,0.15,2.53,0.00,0.000,6,0.115,0.022,2739,2201,3657,0,0,0,0,0,0
$GC,542,-1.11,-146.0,63.0,-10.4,55,546,0.00,2.55,0.00,0.000,4,0.000,0.046,2739,635,3657,0,0,0,0,0,0
$GC,567,-1.04,-146.0,66.8,-12.3,56,576,0.10,2.50,0.00,0.000,6,0.086,0.017,2764,2249,3657,0,0,0,0,0,0
$GC,834,-1.04,-146.0,93.4,-8.0,81,838,0.00,2.45,0.00,0.000,4,0.000,0.035,2764,3778,3658,0,0,0,0,0,0
$GC,851,-1.04,-146.0,95.3,-7.7,82,855,0.00,2.42,0.00,0.000,6,0.000,0.020,2764,2213,3658,0,0,0,0,0,0
$GC,1115,-1.04,-146.0,114.1,-7.9,106,1119,0.00,2.55,0.00,0.000,4,0.000,0.047,2764,643,3658,0,0,0,0,0,0
$GC,1160,-1.04,-146.0,117.7,-8.2,109,1165,0.00,2.40,0.00,0.000,6,0.000,0.017,2764,2222,3658,0,0,0,0,0,0
$GC,1428,-1.04,-146.0,142.9,-9.7,133,1433,0.00,2.47,0.00,0.000,4,0.000,0.034,2764,3771,3658,0,0,0,0,0,0
$GC,1446,-1.04,-146.0,145.3,-9.8,134,1450,0.00,2.40,0.00,0.000,6,0.000,0.019,2764,2224,3658,0,0,0,0,0,0
$GC,1710,-1.04,-146.0,166.6,-6.9,158,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2225,3658,0,0,0,0,0,0
$GC,1975,-1.08,-146.0,189.4,-10.4,183,1980,0.00,2.47,0.00,0.000,4,0.000,0.035,2764,3775,3658,0,0,0,0,0,0
$GC,1997,-1.12,-146.0,192.4,-11.3,184,2006,0.00,2.42,0.00,0.000,6,0.000,0.019,2764,2235,3658,0,0,0,0,0,0
$GC,2261,-1.17,-146.0,216.3,-8.5,209,2266,0.10,2.62,0.00,0.000,4,0.080,0.051,2717,641,3658,0,0,0,0,0,0
$GC,2313,-1.17,-146.0,221.8,-10.3,213,2318,0.10,2.45,0.00,0.000,6,0.110,0.020,2738,2220,3658,0,0,0,0,0,0
$GC,2574,-1.17,-146.0,244.1,-8.2,237,2578,0.00,2.53,0.00,0.000,4,0.000,0.038,2738,3785,3658,0,0,0,0,0,0
$GC,2618,-1.17,-146.0,248.1,-8.8,240,2628,0.00,2.47,0.00,0.000,6,0.000,0.021,2738,2224,3658,0,0,0,0,0,0
$GC,2887,-1.17,-146.0,271.5,-9.9,265,2891,0.00,2.53,0.00,0.000,4,0.000,0.040,2738,3776,3658,0,0,0,0,0,0
$GC,2919,-1.17,-146.0,275.7,-10.4,267,2929,0.00,2.45,0.00,0.000,6,0.000,0.021,2738,2233,3658,0,0,0,0,0,0
$GC,3188,-1.17,-146.0,296.6,-6.7,292,3192,0.00,2.67,0.00,0.000,4,0.000,0.061,2738,635,3657,0,0,0,0,0,0
$GC,3233,-1.17,-146.0,300.4,-7.5,295,3238,0.00,2.50,0.00,0.000,6,0.000,0.027,2738,2218,3657,0,0,0,0,0,0
$GC,3497,-1.17,-146.0,318.0,-7.8,320,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2218,3656,0,0,0,0,0,0
$GC,3760,-1.21,-146.0,340.8,-8.2,345,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2218,3655,0,0,0,0,0,0
$GC,4016,-1.25,-146.0,359.4,-6.9,369,4021,0.00,2.58,0.00,0.000,4,0.000,0.051,2738,3785,3654,0,0,0,0,0,0
$GC,4046,-1.31,-146.0,362.0,-7.7,371,4051,0.12,2.47,0.00,0.000,6,0.067,0.028,2690,2230,3653,0,0,0,0,0,0
$GC,4309,-1.26,-146.0,385.5,-9.1,395,4314,0.15,2.62,0.00,0.000,4,0.096,0.051,2722,3787,3652,0,0,0,0,0,0
$GC,4328,-1.26,-146.0,387.1,-8.2,396,4333,0.00,2.50,0.00,0.000,6,0.000,0.031,2722,2230,3652,0,0,0,0,0,0
$GC,4591,-1.26,-146.0,408.8,-8.6,420,4596,0.00,2.83,0.00,0.000,4,0.000,0.087,2722,631,3651,0,0,0,0,0,0
$GC,4627,-1.30,-146.0,412.1,-9.7,422,4632,0.00,2.60,0.00,0.000,6,0.000,0.044,2722,2223,3650,0,0,0,0,0,0
$GC,4889,-1.30,-146.0,434.8,-9.1,447,4894,0.00,2.65,0.00,0.000,4,0.000,0.058,2722,3798,3648,0,0,0,0,0,0
$GC,4925,-1.34,-146.0,438.2,-8.9,449,4931,0.00,2.55,0.00,0.000,6,0.000,0.042,2722,2245,3648,0,0,0,0,0,0
$GC,5188,-1.34,-146.0,460.1,-7.7,474,5193,0.00,2.95,0.00,0.000,4,0.000,0.101,2722,620,3646,0,0,0,0,0,0
$GC,5212,-1.34,-146.0,461.6,-8.2,475,5216,0.00,2.70,0.00,0.000,6,0.000,0.046,2722,2245,3646,0,0,0,0,0,0
$GC,5478,-1.34,-146.0,481.1,-7.2,499,5483,0.00,2.62,0.00,0.000,4,0.000,0.064,2722,3799,3645,0,0,0,0,0,0
$GC,5511,-1.38,-146.0,484.1,-7.9,501,5521,0.08,2.60,0.00,0.000,6,0.041,0.044,2681,2251,3645,0,0,0,0,0,0
$GC,5776,-1.38,-146.0,507.4,-9.6,526,5781,0.00,3.00,0.00,0.000,4,0.000,0.108,2681,622,3643,0,0,0,0,0,0
$GC,5819,-1.34,-146.0,511.8,-10.9,529,5825,0.10,2.72,0.00,0.000,6,0.114,0.050,2702,2245,3643,0,0,0,0,0,0
$GC,6085,-1.34,-146.0,535.3,-8.1,553,6089,0.00,2.70,0.00,0.000,4,0.000,0.075,2702,3794,3641,0,0,0,0,0,0
$GC,6101,-1.34,-146.0,536.9,-7.9,554,6106,0.00,2.62,0.00,0.000,6,0.000,0.057,2701,2240,3641,0,0,0,0,0,0
$GC,6366,-1.34,-146.0,555.0,-6.5,578,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2240,3639,0,0,0,0,0,0
$GC,6627,-1.34,-146.0,572.7,-7.2,603,6632,0.00,2.75,0.00,0.000,4,0.000,0.079,2702,3793,3638,0,0,0,0,0,0
$GC,6651,-1.34,-146.0,573.9,-6.9,604,6655,0.00,2.65,0.00,0.000,6,0.000,0.061,2702,2236,3638,0,0,0,0,0,0
$GC,6917,-1.34,-146.0,596.1,-8.6,628,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2236,3636,0,0,0,0,0,0
$GC,7169,-1.34,-146.0,617.6,-8.5,638,7174,0.00,2.83,0.00,0.000,4,0.000,0.091,2702,3798,3634,0,0,0,0,0,0
$GC,7192,-1.34,-146.0,619.5,-8.6,638,7197,0.00,2.75,0.00,0.000,6,0.000,0.075,2702,2248,3634,0,0,0,0,0,0
$GC,7447,-1.34,-146.0,639.3,-7.4,645,7452,0.00,2.80,0.00,0.000,4,0.000,0.100,2702,3790,3632,0,0,0,0,0,0
$GC,7519,-1.34,-146.0,645.1,-8.2,646,7524,0.00,2.75,0.00,0.000,6,0.000,0.087,2702,2262,3632,0,0,0,0,0,0
$GC,7771,-1.34,-146.0,662.1,-6.6,652,7776,0.00,2.85,0.00,0.000,4,0.000,0.109,2702,3791,3631,0,0,0,0,0,0
$GC,7804,-1.34,-146.0,664.5,-7.2,652,7809,0.00,2.80,0.00,0.000,6,0.000,0.092,2702,2267,3631,0,0,0,0,0,0
$GC,8054,-1.34,-146.0,680.7,-6.5,659,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2267,3629,0,0,0,0,0,0
$GC,8299,-1.34,-146.0,698.5,-7.5,665,8300,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2267,3628,0,0,0,0,0,0
$GC,8541,-1.34,-146.0,716.5,-7.4,671,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2267,3627,0,0,0,0,0,0
$GC,8785,-1.34,-146.0,732.6,-6.5,677,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2267,3626,0,0,0,0,0,0
$GC,9028,-1.34,-146.0,748.0,-6.5,683,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2266,3625,0,0,0,0,0,0
$GC,9274,-1.34,-146.0,766.6,-7.7,689,9279,0.00,3.70,0.00,0.000,4,0.000,0.198,2702,621,3624,0,0,0,0,0,0
$GC,9296,-1.34,-146.0,768.6,-8.1,689,9301,0.00,3.30,0.00,0.000,6,0.000,0.138,2702,2266,3624,0,0,0,0,0,0
$GC,9552,-1.38,-146.0,787.9,-7.4,696,9557,0.00,3.30,0.00,0.000,4,0.000,0.180,2702,3786,3623,0,0,0,0,0,0
$GC,9604,-1.42,-146.0,791.7,-7.4,697,9609,0.00,3.17,0.00,0.000,6,0.000,0.163,2701,2290,3622,0,0,1,0,0,0
$STATE,9751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9751,begin apogee
$GC,9758,-0.31,0.0,801.8,6.5,701,9882,1.00,0.00,120.57,1.176,6,0.070,0.000,2926,2357,3060,0,0,0,0,0,0
$STATE,9882,end apogee,CONTROL_FINISHED_OK
$STATE,9882,begin climb
$GC,9887,1.28,146.0,803.3,0.0,704,10027,1.45,3.50,129.43,1.147,4,0.036,0.170,3281,3938,2463,0,0,0,0,0,0
$GC,10051,1.12,146.0,790.6,12.1,708,10057,0.20,3.35,0.00,0.000,6,0.106,0.156,3242,2377,2460,0,0,1,0,0,0
$GC,10337,1.08,146.0,760.4,10.2,715,10342,0.00,3.25,0.00,0.000,4,0.000,0.150,3241,3945,2454,0,0,0,0,0,0
$GC,10359,1.02,146.0,757.7,10.8,715,10365,0.12,3.22,0.00,0.000,6,0.118,0.137,3218,2370,2453,0,0,0,0,0,0
$GC,10616,1.05,169.9,734.7,8.9,722,10640,0.00,0.00,21.40,1.069,6,0.000,0.000,3218,2370,2368,0,0,0,0,0,0
$GC,10859,1.06,180.2,711.5,9.5,728,10877,0.00,3.35,10.80,0.992,4,0.000,0.150,3217,774,2324,0,0,0,0,0,0
$GC,10928,1.06,180.2,704.4,10.3,729,10933,0.00,3.03,0.00,0.000,6,0.000,0.103,3218,2363,2322,0,0,0,0,0,0
$GC,11185,1.07,183.0,679.6,9.9,736,11186,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2363,2321,0,0,0,0,0,0
$GC,11426,1.07,183.0,653.8,10.6,742,11431,0.00,3.05,0.00,0.000,4,0.000,0.114,3218,771,2320,0,0,0,0,0,0
$GC,11442,1.07,183.0,652.2,10.3,742,11447,0.00,2.83,0.00,0.000,6,0.000,0.081,3218,2359,2319,0,0,0,0,0,0
$GC,11705,1.10,208.1,628.1,8.9,749,11739,0.00,2.97,26.27,1.043,4,0.000,0.094,3218,3942,2211,0,0,0,0,0,0
$GC,11778,1.13,208.1,620.7,10.1,750,11784,0.10,2.80,0.00,0.000,6,0.086,0.064,3246,2361,2209,0,0,0,0,0,0
$GC,12032,1.13,208.1,593.2,11.3,759,12033,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2361,2207,0,0,0,0,0,0
$GC,12285,1.13,208.1,564.3,11.2,783,12289,0.00,2.78,0.00,0.000,4,0.000,0.067,3245,3944,2206,0,0,0,0,0,0
$GC,12313,1.13,208.1,560.8,11.4,785,12318,0.00,2.70,0.00,0.000,6,0.000,0.054,3245,2361,2205,0,0,0,0,0,0
$GC,12576,1.13,208.1,529.6,12.3,809,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2361,2204,0,0,0,0,0,0
$GC,12829,1.13,208.1,500.6,10.2,833,12834,0.00,2.70,0.00,0.000,4,0.000,0.061,3245,3944,2204,0,0,0,0,0,0
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$STATE,17452,end climb,SURFACE_DEPTH_REACHED
$STATE,17452,begin surface coast
$FINISH,-0.1,1.010210
$STATE,17502,end surface coast,CONTROL_FINISHED_OK
$STATE,17503,begin surface
$SM_CCo,17526,39.80,0.516,0,0,1510,380.21
$SM_GC,0.46,0.00,0.00,39.80,0.000,0.000,0.516,461,2178,1510,-11.66,-0.90,380.21
$IRIDIUM_FIX,2258.07,-15736.68,010803,111110
$TT8_MAMPS,0.026078
$HUMID,64.05
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.70
$XPDR_PINGS,82
$24V_AH,23.2,49.278
$10V_AH,9.8,59.021
$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,28.075,228.725,423.175,39.800,0.000,54.448,68.839,376.842,20.500,0.000,14.539,2282.501,10290.171,603.057,4077.008,1048.991,33.374,1943.770,0.000,4094.840,0.000,0.534,0.000
$DEVICE_MAMPS,166.439,197.886,1175.811,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,873.084,914.296,1199.825,1320.442,2510.801,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355336
$DATA_FILE_SIZE,104649,1270
$CAP_FILE_SIZE,197841,0
$CFSIZE,260165632,154677248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,070514,163324,2303.796,-15735.950,57,1.4,57,10.1