version: 66.06
glider: 146
mission: 9
dive: 322
start: 5 9 114 9 45 46
data:
$ID,146
$MISSION,9
$DIVE,322
$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,-330587.81
$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,57
$R_STBD_OVSHOOT,36
$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
$GPS1,093229,2253.083,-15750.003,38,1.2,43,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-71.0
$GPS2,094451,2253.133,-15749.947,13,1.1,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.203,-0.162
$KALMAN_X,-246102.8,-101.8,24.1,255802.2,-40.7
$KALMAN_Y,8577.1,158.6,-84.1,-1521.5,-223.3
$MHEAD_RNG_PITCHd_Wd,221.4,36054,-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,-146.0,0.0,0.0,0,111,0.00,0.00,-87.80,0.000,6,0.000,0.000,457,2170,3654,0,0,0,0,0,0
$GC,114,-1.28,-146.0,4.7,-11.5,12,132,12.73,2.45,0.00,0.000,4,0.167,0.034,2710,651,3655,0,0,0,0,0,0
$GC,254,-1.11,-146.0,36.1,-14.3,30,264,0.17,2.45,0.00,0.000,6,0.091,0.019,2750,2215,3656,0,0,0,0,0,0
$GC,524,-1.04,-146.0,70.0,-11.7,55,528,0.00,2.53,0.00,0.000,4,0.000,0.035,2750,3786,3657,0,0,0,0,0,0
$GC,582,-1.04,-146.0,77.0,-10.3,59,587,0.00,2.42,0.00,0.000,6,0.000,0.020,2750,2241,3657,0,0,0,0,0,0
$GC,851,-1.04,-146.0,103.6,-9.9,83,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2241,3658,0,0,0,0,0,0
$GC,1112,-1.04,-146.0,132.1,-10.3,108,1116,0.00,2.62,0.00,0.000,4,0.000,0.047,2750,642,3658,0,0,0,0,0,0
$GC,1158,-1.04,-146.0,136.2,-10.4,111,1163,0.00,2.47,0.00,0.000,6,0.000,0.018,2750,2243,3658,0,0,0,0,0,0
$GC,1425,-1.04,-146.0,158.8,-8.0,135,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2244,3658,0,0,0,0,0,0
$GC,1688,-1.04,-146.0,180.6,-8.2,160,1692,0.00,2.62,0.00,0.000,4,0.000,0.046,2750,638,3658,0,0,0,0,0,0
$GC,1710,-1.04,-146.0,182.8,-8.6,161,1715,0.00,2.45,0.00,0.000,6,0.000,0.018,2750,2228,3658,0,0,0,0,0,0
$GC,1973,-1.04,-146.0,206.3,-9.6,186,1977,0.00,2.47,0.00,0.000,4,0.000,0.036,2750,3782,3658,0,0,0,0,0,0
$GC,2004,-1.08,-146.0,209.3,-9.8,188,2008,0.00,2.42,0.00,0.000,6,0.000,0.020,2750,2231,3658,0,0,0,0,0,0
$GC,2267,-1.08,-146.0,231.7,-7.9,212,2271,0.00,2.60,0.00,0.000,4,0.000,0.051,2749,644,3658,0,0,0,0,0,0
$GC,2287,-1.08,-146.0,233.4,-8.6,213,2291,0.00,2.45,0.00,0.000,6,0.000,0.019,2749,2237,3658,0,0,0,0,0,0
$GC,2550,-1.13,-146.0,254.1,-7.6,237,2554,0.00,2.67,0.00,0.000,4,0.000,0.052,2750,635,3658,0,0,0,0,0,0
$GC,2574,-1.17,-146.0,255.7,-7.7,238,2578,0.00,2.47,0.00,0.000,6,0.000,0.028,2750,2221,3658,0,0,0,0,0,0
$GC,2841,-1.23,-146.0,276.5,-7.9,262,2846,0.00,2.65,0.00,0.000,4,0.000,0.056,2750,645,3657,0,0,0,0,0,0
$GC,2864,-1.28,-146.0,278.7,-7.3,263,2872,0.10,2.42,0.00,0.000,6,0.035,0.023,2697,2203,3657,0,0,0,0,0,0
$GC,3128,-1.23,-146.0,303.1,-9.1,288,3133,0.15,2.60,0.00,0.000,4,0.094,0.044,2729,3779,3656,0,0,0,0,0,0
$GC,3162,-1.23,-146.0,306.5,-8.4,290,3168,0.00,2.47,0.00,0.000,6,0.000,0.025,2729,2223,3656,0,0,0,0,0,0
$GC,3427,-1.23,-146.0,325.6,-6.6,315,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2223,3655,0,0,0,0,0,0
$GC,3692,-1.23,-146.0,345.6,-8.3,340,3696,0.00,2.58,0.00,0.000,4,0.000,0.048,2729,3775,3653,0,0,0,0,0,0
$GC,3715,-1.23,-146.0,348.0,-8.8,341,3723,0.00,2.47,0.00,0.000,6,0.000,0.028,2729,2223,3654,0,0,0,0,0,0
$GC,3978,-1.23,-146.0,371.5,-8.4,366,3982,0.00,2.80,0.00,0.000,4,0.000,0.080,2729,629,3652,0,0,0,0,0,0
$GC,4008,-1.23,-146.0,374.1,-8.6,368,4013,0.00,2.53,0.00,0.000,6,0.000,0.038,2729,2200,3651,0,0,0,0,0,0
$GC,4271,-1.27,-146.0,393.0,-6.8,392,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2200,3650,0,0,0,0,0,0
$GC,4528,-1.32,-146.0,411.6,-7.5,416,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2200,3648,0,0,0,0,0,0
$GC,4791,-1.36,-146.0,431.9,-8.0,441,4793,0.12,0.00,0.00,0.000,6,0.067,0.000,2680,2200,3646,0,0,0,0,0,0
$GC,5048,-1.31,-146.0,456.7,-9.7,465,5057,0.12,0.00,0.00,0.000,6,0.110,0.000,2708,2200,3645,0,0,0,0,0,0
$GC,5315,-1.31,-146.0,478.0,-7.4,490,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2200,3643,0,0,0,0,0,0
$GC,5577,-1.31,-146.0,497.4,-7.5,515,5582,0.00,2.75,0.00,0.000,4,0.000,0.075,2708,3786,3642,0,0,0,0,0,0
$GC,5629,-1.31,-146.0,501.9,-8.2,519,5634,0.00,2.65,0.00,0.000,6,0.000,0.054,2708,2215,3642,0,0,0,0,0,0
$GC,5893,-1.31,-146.0,521.2,-7.3,543,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2216,3640,0,0,0,0,0,0
$GC,6159,-1.31,-146.0,540.9,-7.4,568,6163,0.00,2.72,0.00,0.000,4,0.000,0.078,2708,3783,3639,0,0,0,0,0,0
$GC,6203,-1.31,-146.0,544.3,-8.2,571,6208,0.00,2.67,0.00,0.000,6,0.000,0.064,2708,2211,3638,0,0,0,0,0,0
$GC,6470,-1.31,-146.0,563.8,-7.8,595,6475,0.00,2.78,0.00,0.000,4,0.000,0.082,2708,3782,3637,0,0,0,0,0,0
$GC,6493,-1.31,-146.0,566.1,-8.1,596,6499,0.00,2.70,0.00,0.000,6,0.000,0.059,2708,2217,3636,0,0,0,0,0,0
$GC,6758,-1.31,-146.0,588.4,-8.5,621,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2217,3635,0,0,0,0,0,0
$GC,7024,-1.31,-146.0,610.2,-8.0,638,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2218,3633,0,0,0,0,0,0
$GC,7269,-1.31,-146.0,627.9,-7.0,644,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2217,3632,0,0,0,0,0,0
$GC,7511,-1.31,-146.0,642.7,-5.9,650,7516,0.00,2.90,0.00,0.000,4,0.000,0.104,2708,3786,3631,0,0,0,0,0,0
$GC,7533,-1.31,-146.0,644.1,-6.0,650,7537,0.00,2.83,0.00,0.000,6,0.000,0.091,2708,2223,3630,0,0,0,0,0,0
$GC,7788,-1.31,-146.0,659.1,-5.8,657,7792,0.00,2.90,0.00,0.000,4,0.000,0.101,2708,3785,3630,0,0,0,0,0,0
$GC,7824,-1.35,-146.0,661.3,-6.8,657,7830,0.00,2.85,0.00,0.000,6,0.000,0.091,2708,2236,3629,0,0,0,0,0,0
$GC,8074,-1.39,-146.0,677.5,-6.5,664,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2236,3628,0,0,0,0,0,0
$GC,8318,-1.43,-146.0,693.9,-6.8,670,8324,0.10,2.97,0.00,0.000,4,0.084,0.123,2670,3776,3627,0,0,0,0,0,0
$GC,8381,-1.43,-146.0,699.7,-9.9,671,8386,0.00,2.92,0.00,0.000,6,0.000,0.110,2670,2244,3627,0,0,0,0,0,0
$GC,8642,-1.43,-146.0,722.3,-8.6,678,8647,0.00,3.03,0.00,0.000,4,0.000,0.133,2670,3782,3626,0,0,0,0,0,0
$GC,8671,-1.43,-146.0,724.7,-9.0,678,8676,0.00,2.97,0.00,0.000,6,0.000,0.122,2670,2258,3626,0,0,0,0,0,0
$GC,8921,-1.43,-146.0,745.6,-8.3,684,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2258,3624,0,0,0,0,0,0
$GC,9164,-1.43,-146.0,764.4,-7.7,690,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2258,3623,0,0,0,0,0,0
$GC,9408,-1.43,-146.0,782.9,-7.6,696,9414,0.00,3.75,0.00,0.000,4,0.000,0.204,2669,619,3622,0,0,0,0,0,0
$GC,9432,-1.43,-146.0,784.8,-7.5,696,9437,0.00,3.30,0.00,0.000,6,0.000,0.150,2669,2235,3622,0,0,0,0,0,0
$STATE,9644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9644,begin apogee
$GC,9650,-0.31,0.0,801.3,7.6,702,9774,1.15,0.00,120.40,1.171,6,0.071,0.000,2927,2370,3060,0,0,0,0,0,0
$STATE,9775,end apogee,CONTROL_FINISHED_OK
$STATE,9775,begin climb
$GC,9778,1.28,146.0,803.5,0.0,705,9920,1.48,3.58,130.20,1.144,4,0.034,0.179,3287,3942,2462,0,0,0,0,0,0
$GC,9937,1.12,146.0,791.3,11.9,709,9943,0.22,3.42,0.00,0.000,6,0.101,0.161,3242,2365,2459,0,0,1,0,0,0
$GC,10212,1.08,146.0,761.6,11.0,716,10217,0.00,3.30,0.00,0.000,4,0.000,0.150,3242,3942,2453,0,0,0,0,0,0
$GC,10228,1.02,146.0,759.4,11.4,716,10234,0.12,3.22,0.00,0.000,6,0.121,0.138,3218,2369,2453,0,0,0,0,0,0
$GC,10490,1.02,146.0,731.9,10.5,723,10491,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2369,2451,0,0,0,0,0,0
$GC,10735,1.04,159.3,708.6,9.4,729,10754,0.00,3.33,11.30,1.000,4,0.000,0.147,3217,774,2409,0,0,0,0,0,0
$GC,10765,1.06,171.5,705.5,9.5,729,10785,0.00,3.05,12.85,1.000,6,0.000,0.101,3218,2380,2360,0,0,0,0,0,0
$GC,11067,1.09,203.8,679.3,8.5,737,11107,0.00,3.05,30.77,1.060,4,0.000,0.110,3217,3942,2228,0,0,0,0,0,0
$GC,11129,1.09,203.8,672.9,10.1,738,11134,0.00,2.92,0.00,0.000,6,0.000,0.088,3217,2372,2226,0,0,0,0,0,0
$GC,11390,1.11,216.5,648.4,9.4,745,11405,0.00,0.00,12.77,0.985,6,0.000,0.000,3217,2372,2177,0,0,0,0,0,0
$GC,11636,1.16,225.6,624.9,9.6,751,11648,0.12,0.00,9.60,0.939,6,0.209,0.000,3252,2373,2140,0,0,0,0,0,0
$GC,11877,1.16,225.6,597.1,11.6,757,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2373,2137,0,0,0,0,0,0
$GC,12136,1.16,225.6,566.4,12.1,781,12141,0.00,2.97,0.00,0.000,4,0.000,0.104,3253,776,2136,0,0,0,0,0,0
$GC,12181,1.16,225.6,561.0,12.6,784,12185,0.00,2.75,0.00,0.000,6,0.000,0.050,3253,2391,2135,0,0,0,0,0,0
$GC,12447,1.16,225.6,529.1,11.6,808,12452,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2391,2135,0,0,0,0,0,0
$GC,12709,1.16,225.6,498.6,11.5,833,12714,0.00,2.67,0.00,0.000,4,0.000,0.067,3253,3941,2135,0,0,0,0,0,0
$GC,12742,1.16,225.6,495.2,11.1,835,12747,0.00,2.62,0.00,0.000,6,0.000,0.041,3253,2375,2134,0,0,0,0,0,0
$GC,13010,1.16,225.6,465.9,10.6,859,13015,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2375,2134,0,0,0,0,0,0
$GC,13271,1.16,225.6,436.5,10.7,884,13276,0.00,2.88,0.00,0.000,4,0.000,0.091,3252,783,2134,0,0,0,0,0,0
$GC,13303,1.16,225.6,433.4,11.1,886,13307,0.00,2.65,0.00,0.000,6,0.000,0.035,3253,2398,2133,0,0,0,0,0,0
$GC,13571,1.16,225.6,405.1,10.2,910,13575,0.00,2.83,0.00,0.000,4,0.000,0.067,3253,773,2133,0,0,0,0,0,0
$GC,13613,1.16,225.6,400.1,11.3,913,13618,0.00,2.62,0.00,0.000,6,0.000,0.032,3253,2383,2132,0,0,0,0,0,0
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$STATE,17347,end climb,SURFACE_DEPTH_REACHED
$STATE,17347,begin surface coast
$FINISH,-0.1,1.023396
$STATE,17393,end surface coast,CONTROL_FINISHED_OK
$STATE,17393,begin surface
$SM_CCo,17414,44.75,0.519,0,0,1509,380.21
$SM_GC,0.69,0.00,0.00,44.75,0.000,0.000,0.519,461,2183,1509,-11.66,-0.76,380.21
$IRIDIUM_FIX,2241.69,-15751.94,030803,090911
$TT8_MAMPS,0.026078
$HUMID,63.42
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.90
$XPDR_PINGS,87
$24V_AH,23.2,50.715
$10V_AH,9.9,61.112
$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
$DEVICE_SECS,28.425,197.525,424.325,44.750,0.000,54.749,76.042,354.705,21.750,0.000,16.382,2245.625,10308.488,614.992,3981.859,1030.815,33.376,1902.174,0.000,4008.418,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,870.257,908.214,1197.446,1292.726,2458.821,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355280
$DATA_FILE_SIZE,104846,1265
$CAP_FILE_SIZE,187830,0
$CFSIZE,260165632,153821184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090514,143805,2251.930,-15751.979,39,1.0,39,10.1