version: 66.06
glider: 146
mission: 9
dive: 323
start: 5 9 114 14 47 41
data:
$ID,146
$MISSION,9
$DIVE,323
$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,-330603.78
$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,50
$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
$GPS1,143805,2251.930,-15751.979,39,1.0,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-71.7
$GPS2,144643,2252.020,-15751.885,13,1.4,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.207,-0.158
$KALMAN_X,-246119.7,102.4,-230.5,252555.6,510.9
$KALMAN_Y,8960.1,104.2,74.4,-4075.6,48.4
$MHEAD_RNG_PITCHd_Wd,222.6,32203,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-86.40,0.000,2,0.000,0.000,461,2184,3600,0,0,0,0,0,0
$GC,109,-1.28,-146.0,3.1,-7.2,11,135,12.50,2.55,-1.00,0.000,4,0.165,0.048,2708,647,3657,0,0,0,0,0,0
$GC,228,-1.11,-146.0,30.6,-14.8,27,233,0.20,2.45,0.00,0.000,6,0.109,0.018,2749,2226,3659,0,0,0,0,0,0
$GC,495,-1.04,-146.0,63.9,-10.8,51,500,0.00,2.50,0.00,0.000,4,0.000,0.033,2749,3782,3659,0,0,0,0,0,0
$GC,517,-0.97,-146.0,66.8,-11.4,52,523,0.17,2.47,0.00,0.000,6,0.095,0.021,2786,2212,3659,0,0,0,0,0,0
$GC,782,-1.01,-146.0,90.6,-8.4,76,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2212,3660,0,0,0,0,0,0
$GC,1049,-1.06,-146.0,113.9,-9.5,101,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2212,3661,0,0,0,0,0,0
$GC,1312,-1.13,-146.0,134.6,-6.6,126,1314,0.15,0.00,0.00,0.000,6,0.058,0.000,2724,2212,3661,0,0,0,0,0,0
$GC,1568,-1.07,-146.0,162.0,-11.4,150,1578,0.17,0.00,0.00,0.000,6,0.085,0.000,2763,2211,3662,0,0,0,0,0,0
$GC,1835,-1.07,-146.0,187.2,-9.2,175,1839,0.00,2.60,0.00,0.000,4,0.000,0.049,2763,634,3662,0,0,0,0,0,0
$GC,1867,-1.07,-146.0,190.3,-9.4,177,1871,0.00,2.45,0.00,0.000,6,0.000,0.020,2763,2224,3662,0,0,0,0,0,0
$GC,2131,-1.11,-146.0,212.2,-8.6,201,2136,0.00,2.50,0.00,0.000,4,0.000,0.043,2763,3771,3662,0,0,0,0,0,0
$GC,2155,-1.16,-146.0,214.5,-8.4,202,2160,0.00,2.45,0.00,0.000,6,0.000,0.020,2763,2210,3662,0,0,0,0,0,0
$GC,2420,-1.23,-146.0,234.3,-8.0,227,2427,0.15,0.00,0.00,0.000,6,0.058,0.000,2704,2210,3662,0,0,0,0,0,0
$GC,2683,-1.17,-146.0,261.2,-10.2,252,2688,0.15,2.58,0.00,0.000,4,0.092,0.048,2739,3771,3662,0,0,0,0,0,0
$GC,2707,-1.17,-146.0,263.6,-9.4,253,2713,0.00,2.45,0.00,0.000,6,0.000,0.023,2739,2213,3662,0,0,0,0,0,0
$GC,2970,-1.17,-146.0,286.0,-8.6,278,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2213,3661,0,0,0,0,0,0
$GC,3226,-1.21,-146.0,306.8,-7.0,302,3231,0.00,2.55,0.00,0.000,4,0.000,0.044,2739,3767,3661,0,0,0,0,0,0
$GC,3248,-1.26,-146.0,308.9,-7.3,303,3258,0.00,2.47,0.00,0.000,6,0.000,0.025,2739,2233,3661,0,0,0,0,0,0
$GC,3516,-1.30,-146.0,326.5,-7.1,328,3522,0.12,2.78,0.00,0.000,4,0.066,0.069,2688,631,3659,0,0,0,0,0,0
$GC,3561,-1.24,-146.0,330.6,-9.2,331,3566,0.17,2.53,0.00,0.000,6,0.086,0.029,2725,2213,3659,0,0,0,0,0,0
$GC,3826,-1.24,-146.0,354.6,-9.1,355,3830,0.00,2.58,0.00,0.000,4,0.000,0.049,2726,3779,3658,0,0,0,0,0,0
$GC,3870,-1.24,-146.0,358.6,-9.5,358,3875,0.00,2.50,0.00,0.000,6,0.000,0.028,2725,2224,3658,0,0,0,0,0,0
$GC,4139,-1.24,-146.0,382.5,-8.5,382,4143,0.00,2.83,0.00,0.000,4,0.000,0.083,2726,628,3656,0,0,0,0,0,0
$GC,4160,-1.24,-146.0,385.0,-8.4,383,4166,0.00,2.58,0.00,0.000,6,0.000,0.032,2726,2215,3656,0,0,0,0,0,0
$GC,4425,-1.28,-146.0,405.6,-7.7,408,4430,0.00,2.72,0.00,0.000,4,0.000,0.071,2726,634,3654,0,0,0,0,0,0
$GC,4494,-1.33,-146.0,411.4,-8.1,413,4500,0.00,2.55,0.00,0.000,6,0.000,0.035,2726,2194,3654,0,0,0,0,0,0
$GC,4759,-1.37,-146.0,430.3,-7.1,438,4764,0.12,2.72,0.00,0.000,4,0.069,0.059,2674,3796,3652,0,0,0,0,0,0
$GC,4817,-1.31,-146.0,435.8,-9.1,442,4823,0.17,2.62,0.00,0.000,6,0.089,0.038,2712,2207,3652,0,0,0,0,0,0
$GC,5081,-1.31,-146.0,455.6,-7.9,467,5086,0.00,2.90,0.00,0.000,4,0.000,0.101,2712,624,3650,0,0,0,0,0,0
$GC,5113,-1.31,-146.0,458.1,-8.4,469,5118,0.00,2.62,0.00,0.000,6,0.000,0.042,2712,2210,3650,0,0,0,0,0,0
$GC,5380,-1.31,-146.0,479.1,-8.1,493,5384,0.00,2.70,0.00,0.000,4,0.000,0.064,2712,3799,3648,0,0,0,0,0,0
$GC,5459,-1.31,-146.0,486.3,-8.9,499,5463,0.00,2.65,0.00,0.000,6,0.000,0.045,2711,2215,3647,0,0,0,0,0,0
$GC,5725,-1.31,-146.0,509.2,-8.6,523,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2215,3646,0,0,0,0,0,0
$GC,5988,-1.31,-146.0,530.4,-7.1,548,5993,0.00,2.72,0.00,0.000,4,0.000,0.075,2712,3793,3644,0,0,0,0,0,0
$GC,6055,-1.35,-146.0,535.4,-7.7,553,6060,0.00,2.67,0.00,0.000,6,0.000,0.054,2713,2223,3644,0,0,0,0,0,0
$GC,6323,-1.35,-146.0,553.1,-6.8,577,6328,0.00,3.05,0.00,0.000,4,0.000,0.122,2712,619,3643,0,0,0,0,0,0
$GC,6367,-1.35,-146.0,556.4,-7.4,580,6371,0.00,2.70,0.00,0.000,6,0.000,0.053,2712,2211,3643,0,0,0,0,0,0
$GC,6636,-1.38,-146.0,576.2,-7.9,604,6640,0.00,2.83,0.00,0.000,4,0.000,0.089,2712,3797,3640,0,0,0,0,0,0
$GC,6703,-1.42,-146.0,582.4,-8.6,609,6715,0.08,2.75,0.00,0.000,6,0.044,0.063,2673,2226,3640,0,0,0,0,0,0
$GC,6987,-1.38,-146.0,607.3,-8.6,630,6989,0.10,0.00,0.00,0.000,6,0.113,0.000,2696,2226,3639,0,0,0,0,0,0
$GC,7227,-1.38,-146.0,625.3,-7.2,636,7232,0.00,2.83,0.00,0.000,4,0.000,0.088,2696,3792,3637,0,0,0,0,0,0
$GC,7260,-1.38,-146.0,627.6,-7.3,636,7265,0.00,2.78,0.00,0.000,6,0.000,0.076,2696,2235,3637,0,0,0,0,0,0
$GC,7512,-1.38,-146.0,644.4,-6.8,643,7516,0.00,2.85,0.00,0.000,4,0.000,0.095,2695,3792,3635,0,0,0,0,0,0
$GC,7540,-1.38,-146.0,646.8,-8.2,643,7545,0.00,2.83,0.00,0.000,6,0.000,0.084,2696,2233,3636,0,0,0,0,0,0
$GC,7790,-1.38,-146.0,665.9,-7.8,649,7795,0.00,2.92,0.00,0.000,4,0.000,0.105,2696,3795,3634,0,0,0,0,0,0
$GC,7819,-1.38,-146.0,668.3,-9.5,649,7824,0.00,2.88,0.00,0.000,6,0.000,0.095,2695,2244,3634,0,0,0,0,0,0
$GC,8069,-1.38,-146.0,688.5,-7.9,655,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2244,3633,0,0,0,0,0,0
$GC,8313,-1.38,-146.0,707.4,-7.7,661,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2244,3632,0,0,0,0,0,0
$GC,8556,-1.38,-146.0,725.1,-7.1,667,8561,0.00,3.08,0.00,0.000,4,0.000,0.133,2695,3793,3631,0,0,0,0,0,0
$GC,8591,-1.38,-146.0,727.7,-8.0,667,8596,0.00,3.03,0.00,0.000,6,0.000,0.125,2695,2255,3631,0,0,0,0,0,0
$GC,8841,-1.38,-146.0,745.2,-7.0,674,8846,0.00,3.12,0.00,0.000,4,0.000,0.146,2695,3792,3629,0,0,0,0,0,0
$GC,8858,-1.38,-146.0,746.5,-7.0,674,8863,0.00,3.08,0.00,0.000,6,0.000,0.134,2696,2261,3629,0,0,0,0,0,0
$GC,9121,-1.38,-146.0,765.0,-7.1,681,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2262,3628,0,0,0,0,0,0
$GC,9363,-1.38,-146.0,782.3,-7.2,687,9368,0.00,3.25,0.00,0.000,4,0.000,0.166,2696,3790,3627,0,0,0,0,0,0
$GC,9384,-1.38,-146.0,784.2,-8.3,687,9389,0.00,3.20,0.00,0.000,6,0.000,0.157,2696,2266,3627,0,0,1,0,0,0
$STATE,9596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9596,begin apogee
$GC,9604,-0.31,0.0,800.3,7.5,693,9729,1.02,0.00,121.07,1.173,6,0.071,0.000,2925,2365,3060,0,0,0,0,0,0
$STATE,9730,end apogee,CONTROL_FINISHED_OK
$STATE,9730,begin climb
$GC,9732,1.28,146.0,803.4,0.0,696,9871,1.45,3.42,129.75,1.143,4,0.036,0.174,3282,3937,2462,0,0,0,0,0,0
$GC,9922,1.13,146.0,789.6,12.2,700,9928,0.20,3.38,0.00,0.000,6,0.104,0.159,3242,2373,2456,0,0,1,0,0,0
$GC,10184,1.09,146.0,762.8,10.3,707,10185,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2373,2453,0,0,0,0,0,0
$GC,10429,1.05,146.0,737.8,10.2,713,10435,0.00,3.40,0.00,0.000,4,0.000,0.167,3242,778,2450,0,0,0,0,0,0
$GC,10451,0.99,146.0,735.2,10.8,713,10457,0.15,3.08,0.00,0.000,6,0.113,0.117,3213,2364,2450,0,0,0,0,0,0
$GC,10707,1.02,170.4,712.2,8.9,720,10730,0.00,0.00,21.27,1.062,6,0.000,0.000,3213,2364,2365,0,0,0,0,0,0
$GC,10952,1.05,190.6,690.3,9.1,726,10978,0.00,3.22,19.95,1.046,4,0.000,0.131,3212,778,2281,0,0,0,0,0,0
$GC,11000,1.06,200.3,685.5,9.6,727,11016,0.00,2.95,10.40,0.964,6,0.000,0.095,3212,2363,2243,0,0,0,0,0,0
$GC,11274,1.11,204.3,658.9,9.8,734,11285,0.10,3.10,4.65,0.750,4,0.092,0.116,3240,772,2227,0,0,0,0,0,0
$GC,11307,1.11,204.3,654.9,11.0,734,11313,0.00,2.88,0.00,0.000,6,0.000,0.083,3240,2359,2226,0,0,0,0,0,0
$GC,11557,1.11,204.3,628.3,10.8,741,11559,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2359,2225,0,0,0,0,0,0
$GC,11803,1.11,204.3,600.7,11.3,747,11807,0.00,2.88,0.00,0.000,4,0.000,0.094,3240,3940,2224,0,0,0,0,0,0
$GC,11835,1.11,204.3,596.4,12.5,747,11841,0.00,2.75,0.00,0.000,6,0.000,0.058,3240,2356,2223,0,0,0,0,0,0
$GC,12102,1.11,204.3,566.8,10.8,772,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2357,2223,0,0,0,0,0,0
$GC,12364,1.11,204.3,538.6,10.1,797,12369,0.00,2.95,0.00,0.000,4,0.000,0.107,3240,776,2222,0,0,0,0,0,0
$GC,12397,1.11,204.3,534.8,11.1,799,12404,0.00,2.70,0.00,0.000,6,0.000,0.053,3240,2369,2221,0,0,0,0,0,0
$GC,12662,1.12,217.6,509.3,9.4,824,12687,0.00,2.92,13.30,0.929,4,0.000,0.081,3240,787,2171,0,0,0,0,0,0
$GC,12703,1.13,224.2,504.7,9.7,827,12723,0.00,2.65,7.88,0.840,6,0.000,0.045,3240,2357,2143,0,0,0,0,0,0
$GC,12978,1.13,224.2,476.1,11.0,853,12982,0.00,2.83,0.00,0.000,4,0.000,0.077,3240,773,2141,0,0,0,0,0,0
$GC,12999,1.13,224.2,473.2,10.9,854,13005,0.00,2.65,0.00,0.000,6,0.000,0.041,3241,2365,2140,0,0,0,0,0,0
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$STATE,17432,end climb,SURFACE_DEPTH_REACHED
$STATE,17432,begin surface coast
$FINISH,-0.1,1.023402
$STATE,17481,end surface coast,CONTROL_FINISHED_OK
$STATE,17481,begin surface
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$HUMID,62.67
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.70
$XPDR_PINGS,98
$24V_AH,23.2,50.869
$10V_AH,9.9,61.344
$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
$DEVICE_SECS,29.050,220.375,399.600,67.975,0.000,27.058,34.529,273.133,24.500,0.000,15.344,2280.796,10200.933,639.065,4079.399,874.572,33.377,1956.496,0.000,4092.243,0.000,0.534,0.000
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$SENSOR_SECS,877.736,919.691,1208.114,1330.698,2533.614,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355228
$DATA_FILE_SIZE,104772,1277
$CAP_FILE_SIZE,193019,0
$CFSIZE,260165632,153718784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,090514,194154,2250.284,-15753.994,40,1.2,40,10.1