version: 66.06
glider: 146
mission: 9
dive: 319
start: 5 8 114 18 21 56
data:
$ID,146
$MISSION,9
$DIVE,319
$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,-330538.16
$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,54
$R_STBD_OVSHOOT,41
$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
$GPS1,180823,2256.848,-15743.870,39,1.2,39,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-69.7
$GPS2,182102,2256.920,-15743.698,9,2.4,28,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.222,-0.135
$KALMAN_X,-246030.9,49.0,134.4,266126.2,260.6
$KALMAN_Y,8659.2,-120.0,171.9,5435.0,-457.5
$MHEAD_RNG_PITCHd_Wd,228.5,48757,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,107,0.00,0.00,-86.20,0.000,2,0.000,0.000,458,2183,3621,0,0,0,0,0,0
$GC,111,-1.28,-146.0,3.1,-7.3,11,129,12.50,2.55,-0.60,0.000,4,0.166,0.051,2708,652,3658,0,0,0,0,0,0
$GC,161,-0.81,-146.0,20.1,-29.4,17,169,0.50,2.45,0.00,0.000,6,0.083,0.024,2816,2221,3659,0,0,0,0,0,0
$GC,447,-0.86,-146.0,49.1,-9.7,48,451,0.00,2.47,0.00,0.000,4,0.000,0.035,2816,3771,3660,0,0,0,0,0,0
$GC,484,-0.97,-146.0,52.7,-8.1,50,494,0.12,2.42,0.00,0.000,6,0.029,0.018,2758,2230,3660,0,0,0,0,0,0
$GC,753,-0.97,-146.0,78.2,-9.4,75,762,0.12,0.00,0.00,0.000,6,0.098,0.000,2786,2229,3660,0,0,0,0,0,0
$GC,1017,-1.01,-146.0,101.9,-8.6,100,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2229,3661,0,0,0,0,0,0
$GC,1284,-1.07,-146.0,124.7,-8.3,125,1290,0.10,0.00,0.00,0.000,6,0.075,0.000,2737,2229,3661,0,0,0,0,0,0
$GC,1548,-1.07,-146.0,150.4,-8.9,150,1558,0.12,0.00,0.00,0.000,6,0.096,0.000,2765,2229,3662,0,0,0,0,0,0
$GC,1815,-1.07,-146.0,172.4,-8.6,175,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2229,3661,0,0,0,0,0,0
$GC,2079,-1.10,-146.0,194.7,-7.5,200,2084,0.00,2.58,0.00,0.000,4,0.000,0.047,2765,644,3662,0,0,0,0,0,0
$GC,2126,-1.16,-146.0,198.6,-7.5,203,2132,0.10,2.42,0.00,0.000,6,0.078,0.018,2717,2215,3662,0,0,0,0,0,0
$GC,2390,-1.12,-146.0,225.5,-11.2,228,2401,0.15,0.00,0.00,0.000,6,0.091,0.000,2750,2215,3662,0,0,0,0,0,0
$GC,2658,-1.16,-146.0,249.2,-7.7,253,2662,0.00,2.53,0.00,0.000,4,0.000,0.040,2750,3773,3662,0,0,0,0,0,0
$GC,2675,-1.20,-146.0,251.0,-8.2,254,2679,0.00,2.45,0.00,0.000,6,0.000,0.021,2750,2213,3662,0,0,0,0,0,0
$GC,2940,-1.24,-146.0,271.3,-7.4,278,2945,0.12,2.67,0.00,0.000,4,0.064,0.059,2695,631,3661,0,0,0,0,0,0
$GC,2973,-1.20,-146.0,274.1,-9.2,280,2978,0.17,2.47,0.00,0.000,6,0.091,0.024,2733,2207,3661,0,0,0,0,0,0
$GC,3238,-1.20,-146.0,296.6,-8.7,304,3242,0.00,2.58,0.00,0.000,4,0.000,0.043,2733,3786,3661,0,0,0,0,0,0
$GC,3259,-1.20,-146.0,299.0,-9.4,305,3264,0.00,2.47,0.00,0.000,6,0.000,0.023,2733,2223,3661,0,0,0,0,0,0
$GC,3523,-1.20,-146.0,320.3,-8.1,330,3527,0.00,2.72,0.00,0.000,4,0.000,0.068,2733,633,3659,0,0,0,0,0,0
$GC,3552,-1.20,-146.0,323.1,-8.8,332,3556,0.00,2.55,0.00,0.000,6,0.000,0.032,2732,2223,3659,0,0,0,0,0,0
$GC,3817,-1.23,-146.0,342.6,-6.8,356,3821,0.00,2.58,0.00,0.000,4,0.000,0.047,2733,3787,3658,0,0,0,0,0,0
$GC,3838,-1.23,-146.0,344.5,-7.3,357,3848,0.00,2.55,0.00,0.000,6,0.000,0.029,2733,2214,3658,0,0,0,0,0,0
$GC,4106,-1.27,-146.0,364.3,-7.8,382,4111,0.00,2.75,0.00,0.000,4,0.000,0.079,2733,630,3656,0,0,0,0,0,0
$GC,4150,-1.34,-146.0,367.9,-8.2,385,4155,0.12,2.55,0.00,0.000,6,0.067,0.039,2680,2206,3656,0,0,0,0,0,0
$GC,4415,-1.27,-146.0,393.1,-9.2,409,4421,0.17,2.65,0.00,0.000,4,0.088,0.058,2718,3795,3654,0,0,0,0,0,0
$GC,4472,-1.27,-146.0,398.4,-8.5,413,4478,0.00,2.58,0.00,0.000,6,0.000,0.033,2718,2218,3654,0,0,0,0,0,0
$GC,4737,-1.27,-146.0,419.1,-7.9,438,4741,0.00,2.85,0.00,0.000,4,0.000,0.093,2718,623,3652,0,0,0,0,0,0
$GC,4777,-1.32,-146.0,422.6,-8.3,441,4782,0.00,2.60,0.00,0.000,6,0.000,0.040,2718,2216,3652,0,0,0,0,0,0
$GC,5042,-1.32,-146.0,443.9,-8.3,465,5046,0.00,2.65,0.00,0.000,4,0.000,0.058,2718,3790,3650,0,0,0,0,0,0
$GC,5064,-1.32,-146.0,446.1,-8.4,466,5070,0.00,2.62,0.00,0.000,6,0.000,0.041,2718,2205,3650,0,0,0,0,0,0
$GC,5327,-1.32,-146.0,467.8,-8.2,491,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2205,3648,0,0,0,0,0,0
$GC,5581,-1.32,-146.0,487.6,-7.6,515,5586,0.00,2.70,0.00,0.000,4,0.000,0.060,2718,3786,3646,0,0,0,0,0,0
$GC,5600,-1.32,-146.0,489.0,-7.5,516,5604,0.00,2.65,0.00,0.000,6,0.000,0.048,2718,2211,3646,0,0,0,0,0,0
$GC,5865,-1.36,-146.0,508.5,-7.5,540,5869,0.00,2.95,0.00,0.000,4,0.000,0.111,2718,622,3644,0,0,0,0,0,0
$GC,5894,-1.40,-146.0,511.1,-8.0,542,5899,0.12,2.65,0.00,0.000,6,0.067,0.051,2669,2204,3644,0,0,0,0,0,0
$GC,6156,-1.34,-146.0,536.3,-9.2,566,6161,0.15,2.80,0.00,0.000,4,0.094,0.077,2702,3794,3643,0,0,0,0,0,0
$GC,6178,-1.34,-146.0,538.4,-8.5,567,6187,0.00,2.72,0.00,0.000,6,0.000,0.060,2702,2206,3643,0,0,0,0,0,0
$GC,6446,-1.34,-146.0,556.2,-6.3,592,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2206,3641,0,0,0,0,0,0
$GC,6707,-1.34,-146.0,575.3,-7.4,617,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2206,3639,0,0,0,0,0,0
$GC,6962,-1.34,-146.0,595.4,-8.1,641,6966,0.00,2.88,0.00,0.000,4,0.000,0.089,2702,3795,3638,0,0,0,0,0,0
$GC,7030,-1.34,-146.0,600.8,-8.9,646,7035,0.00,2.80,0.00,0.000,6,0.000,0.071,2702,2202,3637,0,0,0,0,0,0
$GC,7291,-1.34,-146.0,619.3,-6.6,653,7295,0.00,2.88,0.00,0.000,4,0.000,0.087,2702,3794,3635,0,0,0,0,0,0
$GC,7313,-1.34,-146.0,620.8,-6.3,653,7318,0.00,2.83,0.00,0.000,6,0.000,0.077,2702,2212,3635,0,0,0,0,0,0
$GC,7570,-1.34,-146.0,636.6,-6.1,660,7575,0.00,2.90,0.00,0.000,4,0.000,0.094,2702,3799,3634,0,0,0,0,0,0
$GC,7592,-1.34,-146.0,638.1,-6.5,660,7596,0.00,2.83,0.00,0.000,6,0.000,0.081,2702,2222,3634,0,0,0,0,0,0
$GC,7848,-1.34,-146.0,654.8,-6.7,667,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2222,3633,0,0,0,0,0,0
$GC,8090,-1.34,-146.0,673.8,-8.1,673,8095,0.00,2.95,0.00,0.000,4,0.000,0.107,2702,3791,3631,0,0,0,0,0,0
$GC,8106,-1.34,-146.0,675.3,-8.6,673,8111,0.00,2.90,0.00,0.000,6,0.000,0.097,2702,2225,3631,0,0,0,0,0,0
$GC,8367,-1.34,-146.0,697.9,-8.7,680,8372,0.00,3.00,0.00,0.000,4,0.000,0.117,2702,3790,3629,0,0,0,0,0,0
$GC,8396,-1.34,-146.0,700.5,-9.3,680,8400,0.00,2.97,0.00,0.000,6,0.000,0.110,2702,2231,3630,0,0,0,0,0,0
$GC,8645,-1.34,-146.0,721.6,-8.2,686,8651,0.00,3.38,0.00,0.000,4,0.000,0.166,2702,621,3628,0,0,0,0,0,0
$GC,8662,-1.34,-146.0,722.9,-7.7,686,8667,0.00,3.03,0.00,0.000,6,0.000,0.107,2702,2224,3629,0,0,0,0,0,0
$GC,8925,-1.38,-146.0,740.7,-6.5,693,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2224,3627,0,0,0,0,0,0
$GC,9167,-1.42,-146.0,755.1,-5.8,699,9172,0.00,3.25,0.00,0.000,4,0.000,0.157,2702,3797,3627,0,0,0,0,0,0
$GC,9188,-1.42,-146.0,756.6,-6.6,699,9193,0.00,3.17,0.00,0.000,6,0.000,0.140,2702,2232,3626,0,0,0,0,0,0
$GC,9446,-1.47,-146.0,772.5,-6.4,706,9452,0.12,3.33,0.00,0.000,4,0.070,0.166,2658,3796,3625,0,0,0,0,0,0
$GC,9475,-1.42,-146.0,775.1,-9.1,706,9480,0.12,3.22,0.00,0.000,6,0.107,0.151,2685,2238,3625,0,0,1,0,0,0
$GC,9724,-1.42,-146.0,793.1,-7.0,712,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2239,3624,0,0,0,0,0,0
$STATE,9844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9844,begin apogee
$GC,9851,-0.31,0.0,801.4,6.8,715,9976,1.08,0.00,120.80,1.174,6,0.068,0.000,2928,2373,3060,0,0,0,0,0,0
$STATE,9977,end apogee,CONTROL_FINISHED_OK
$STATE,9977,begin climb
$GC,9979,1.28,146.0,803.1,0.0,718,10121,1.48,3.47,129.55,1.146,4,0.035,0.170,3285,3941,2465,0,0,0,0,0,0
$GC,10143,1.13,146.0,790.1,12.3,722,10150,0.22,3.38,0.00,0.000,6,0.102,0.157,3240,2372,2461,0,0,1,0,0,0
$GC,10412,1.09,151.2,763.1,9.8,729,10422,0.00,3.33,4.75,0.769,4,0.000,0.153,3240,3946,2443,0,0,0,0,0,0
$GC,10435,1.03,151.2,760.7,10.2,729,10440,0.00,3.25,0.00,0.000,6,0.000,0.138,3240,2372,2442,0,0,0,0,0,0
$GC,10693,1.02,166.5,736.6,9.3,736,10711,0.10,0.00,15.77,1.040,6,0.137,0.000,3220,2372,2381,0,0,0,0,0,0
$GC,10934,1.06,204.0,716.1,8.3,742,10978,0.00,3.40,35.88,1.083,4,0.000,0.154,3220,775,2226,0,0,0,0,0,0
$GC,11020,1.06,204.0,708.4,10.3,744,11025,0.00,3.05,0.00,0.000,6,0.000,0.101,3220,2381,2224,0,0,0,0,0,0
$GC,11303,1.08,215.9,681.6,9.5,751,11323,0.00,3.10,11.88,0.990,4,0.000,0.113,3219,3944,2178,0,0,0,0,0,0
$GC,11353,1.08,215.9,676.7,10.4,752,11358,0.00,2.95,0.00,0.000,6,0.000,0.091,3220,2366,2176,0,0,0,0,0,0
$GC,11630,1.09,224.4,649.8,9.6,759,11641,0.00,0.00,8.80,0.933,6,0.000,0.000,3220,2367,2145,0,0,0,0,0,0
$GC,11876,1.13,232.3,626.1,9.7,765,11891,0.10,3.05,9.02,0.929,4,0.094,0.110,3247,780,2112,0,0,0,0,0,0
$GC,11902,1.13,232.3,623.1,10.4,765,11907,0.00,2.83,0.00,0.000,6,0.000,0.063,3246,2382,2110,0,0,0,0,0,0
$GC,12152,1.13,232.3,595.8,10.9,771,12157,0.00,2.80,0.00,0.000,4,0.000,0.084,3247,3938,2109,0,0,0,0,0,0
$GC,12183,1.13,232.3,592.3,12.3,773,12187,0.00,2.70,0.00,0.000,6,0.000,0.055,3247,2376,2108,0,0,0,0,0,0
$GC,12445,1.13,232.3,561.0,12.3,797,12450,0.00,3.03,0.00,0.000,4,0.000,0.112,3247,778,2108,0,0,0,0,0,0
$GC,12485,1.13,232.3,555.9,12.7,800,12490,0.00,2.72,0.00,0.000,6,0.000,0.054,3247,2378,2106,0,0,0,0,0,0
$GC,12749,1.13,232.3,526.5,10.6,824,12754,0.00,2.70,0.00,0.000,4,0.000,0.067,3247,3934,2107,0,0,0,0,0,0
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$STATE,17572,end climb,SURFACE_DEPTH_REACHED
$STATE,17572,begin surface coast
$FINISH,-0.1,1.022485
$STATE,17623,end surface coast,CONTROL_FINISHED_OK
$STATE,17623,begin surface
$SM_CCo,17645,78.15,0.522,0,0,1509,380.21
$SM_GC,0.51,0.00,0.00,78.15,0.000,0.000,0.522,463,2184,1509,-11.65,-0.76,380.21
$IRIDIUM_FIX,2251.04,-15742.79,020803,181812
$TT8_MAMPS,0.026078
$HUMID,62.83
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.80
$XPDR_PINGS,90
$24V_AH,23.2,50.237
$10V_AH,9.8,60.420
$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,29.575,233.300,388.425,78.150,0.000,57.485,73.391,356.731,22.500,0.000,30.818,2308.056,10328.901,648.963,4120.279,1058.080,33.376,1961.970,0.000,4127.486,0.000,0.535,0.000
$DEVICE_MAMPS,165.672,169.507,1173.510,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,880.382,921.550,1208.192,1338.143,2546.908,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355256
$DATA_FILE_SIZE,104684,1279
$CAP_FILE_SIZE,201611,0
$CFSIZE,260165632,154091520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,080514,231836,2255.393,-15746.191,34,1.1,34,10.1