version: 66.06
glider: 146
mission: 9
dive: 143
start: 4 3 114 14 58 15
data:
$ID,146
$MISSION,9
$DIVE,143
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,200
$T_MISSION,440
$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,633.60986
$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,-326559.72
$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,3004
$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,41
$R_STBD_OVSHOOT,37
$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
$GPS1,143429,2238.816,-15741.266,38,1.1,38,10.1
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-68.1
$GPS2,145719,2238.808,-15741.582,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.257,0.036
$KALMAN_X,-103450.8,-142.9,-100.8,127606.7,-1577.6
$KALMAN_Y,74033.2,-5.4,56.5,-93482.5,-532.3
$MHEAD_RNG_PITCHd_Wd,71.8,6466,-17.5,-10.000
$D_GRID,600
$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,-1.27,-146.0,0.0,0.0,0,104,0.00,0.00,-86.38,0.000,2,0.000,0.000,462,2198,3649,0,0,0,0,0,0
$GC,108,-1.27,-146.0,3.2,-7.4,11,125,12.65,0.00,0.00,0.000,6,0.167,0.000,2716,2197,3650,0,0,0,0,0,0
$GC,403,-1.16,-146.0,52.2,-13.1,45,408,0.15,2.60,0.00,0.000,4,0.121,0.035,2747,3785,3651,0,0,0,0,0,0
$GC,448,-1.16,-146.0,57.8,-11.0,48,453,0.00,2.50,0.00,0.000,6,0.000,0.021,2747,2210,3651,0,0,0,0,0,0
$GC,718,-1.16,-146.0,83.2,-9.9,72,722,0.00,2.62,0.00,0.000,4,0.000,0.048,2747,635,3651,0,0,0,0,0,0
$GC,738,-1.12,-146.0,85.7,-9.9,73,743,0.00,2.45,0.00,0.000,6,0.000,0.017,2747,2234,3651,0,0,0,0,0,0
$GC,1004,-1.12,-146.0,112.6,-10.3,97,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2234,3651,0,0,0,0,0,0
$GC,1272,-1.12,-146.0,140.6,-10.1,122,1276,0.00,2.65,0.00,0.000,4,0.000,0.045,2747,632,3651,0,0,0,0,0,0
$GC,1306,-1.12,-146.0,144.1,-9.8,124,1311,0.00,2.42,0.00,0.000,6,0.000,0.021,2747,2201,3651,0,0,0,0,0,0
$GC,1570,-1.12,-146.0,168.1,-9.3,148,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2201,3652,0,0,0,0,0,0
$GC,1835,-1.12,-146.0,194.8,-10.5,173,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2201,3651,0,0,0,0,0,0
$GC,2096,-1.12,-146.0,220.1,-10.0,198,2101,0.00,2.60,0.00,0.000,4,0.000,0.050,2747,640,3651,0,0,0,0,0,0
$GC,2125,-1.12,-146.0,223.3,-11.0,200,2129,0.00,2.40,0.00,0.000,6,0.000,0.018,2747,2201,3651,0,0,0,0,0,0
$GC,2389,-1.12,-146.0,247.3,-7.6,224,2393,0.00,2.60,0.00,0.000,4,0.000,0.048,2747,635,3651,0,0,0,0,0,0
$GC,2423,-1.16,-146.0,249.6,-7.4,226,2427,0.00,2.42,0.00,0.000,6,0.000,0.022,2747,2193,3651,0,0,0,0,0,0
$GC,2690,-1.20,-146.0,267.3,-6.1,250,2694,0.00,2.58,0.00,0.000,4,0.000,0.041,2747,3779,3651,0,0,0,0,0,0
$GC,2778,-1.26,-146.0,273.3,-6.2,257,2783,0.00,2.50,0.00,0.000,6,0.000,0.022,2747,2211,3651,0,0,0,0,0,0
$GC,3041,-1.31,-146.0,289.9,-7.0,281,3047,0.12,2.67,0.00,0.000,4,0.067,0.061,2698,631,3650,0,0,0,0,0,0
$GC,3075,-1.31,-146.0,292.7,-10.0,283,3080,0.00,2.50,0.00,0.000,6,0.000,0.028,2698,2201,3650,0,0,0,0,0,0
$GC,3342,-1.31,-146.0,318.7,-9.9,307,3346,0.00,2.60,0.00,0.000,4,0.000,0.044,2698,3795,3648,0,0,0,0,0,0
$GC,3371,-1.31,-146.0,322.2,-10.7,309,3375,0.00,2.53,0.00,0.000,6,0.000,0.033,2698,2208,3648,0,0,0,0,0,0
$GC,3634,-1.31,-146.0,348.6,-9.7,333,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2208,3647,0,0,0,0,0,0
$GC,3889,-1.31,-146.0,373.5,-9.4,357,3893,0.00,2.62,0.00,0.000,4,0.000,0.055,2698,3787,3645,0,0,0,0,0,0
$GC,3917,-1.31,-146.0,376.5,-9.9,359,3922,0.00,2.60,0.00,0.000,6,0.000,0.031,2698,2193,3645,0,0,0,0,0,0
$GC,4182,-1.31,-146.0,400.7,-9.4,383,4186,0.00,2.65,0.00,0.000,4,0.000,0.051,2698,3780,3644,0,0,0,0,0,0
$GC,4226,-1.31,-146.0,405.6,-10.4,386,4232,0.00,2.58,0.00,0.000,6,0.000,0.039,2698,2207,3643,0,0,0,0,0,0
$GC,4490,-1.31,-146.0,430.0,-9.6,411,4494,0.00,2.83,0.00,0.000,4,0.000,0.091,2698,622,3641,0,0,0,0,0,0
$GC,4524,-1.31,-146.0,433.5,-9.6,413,4530,0.00,2.55,0.00,0.000,6,0.000,0.038,2698,2190,3641,0,0,0,0,0,0
$GC,4787,-1.31,-146.0,457.4,-8.5,438,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2189,3640,0,0,0,0,0,0
$GC,5042,-1.31,-146.0,478.9,-8.1,462,5046,0.00,2.75,0.00,0.000,4,0.000,0.064,2698,3800,3638,0,0,0,0,0,0
$GC,5064,-1.31,-146.0,481.2,-9.0,463,5072,0.00,2.62,0.00,0.000,6,0.000,0.047,2698,2212,3638,0,0,0,0,0,0
$GC,5329,-1.31,-146.0,501.7,-7.6,488,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2212,3636,0,0,0,0,0,0
$GC,5590,-1.31,-146.0,521.9,-7.4,513,5594,0.00,2.72,0.00,0.000,4,0.000,0.064,2698,3788,3634,0,0,0,0,0,0
$GC,5645,-1.31,-146.0,526.1,-8.5,517,5650,0.00,2.67,0.00,0.000,6,0.000,0.054,2698,2202,3634,0,0,0,0,0,0
$GC,5913,-1.31,-146.0,547.0,-7.9,541,5918,0.00,2.75,0.00,0.000,4,0.000,0.071,2698,3787,3632,0,0,0,0,0,0
$GC,5941,-1.31,-146.0,549.7,-8.5,543,5946,0.00,2.67,0.00,0.000,6,0.000,0.051,2698,2214,3632,0,0,0,0,0,0
$GC,6206,-1.31,-146.0,569.2,-7.2,567,6210,0.00,2.78,0.00,0.000,4,0.000,0.076,2698,3792,3631,0,0,0,0,0,0
$GC,6269,-1.31,-146.0,574.4,-7.7,572,6274,0.00,2.70,0.00,0.000,6,0.000,0.064,2698,2226,3630,0,0,0,0,0,0
$GC,6534,-1.31,-146.0,593.3,-7.2,596,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2226,3629,0,0,0,0,0,0
$STATE,6622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6622,begin apogee
$GC,6628,-0.31,0.0,600.2,7.5,605,6748,1.05,0.00,116.55,1.015,6,0.071,0.000,2935,2380,3060,0,0,0,0,0,0
$STATE,6749,end apogee,CONTROL_FINISHED_OK
$STATE,6749,begin climb
$GC,6752,1.27,146.0,601.9,0.0,608,6883,1.42,0.00,125.28,0.983,6,0.034,0.000,3288,2380,2463,0,0,0,0,0,0
$GC,7138,1.15,146.0,564.6,11.9,639,7140,0.15,0.00,0.00,0.000,6,0.115,0.000,3257,2380,2454,0,0,0,0,0,0
$GC,7395,1.10,151.5,539.7,9.7,663,7410,0.00,2.75,4.20,0.624,4,0.000,0.064,3257,3923,2442,0,0,0,0,0,0
$GC,7427,1.02,151.5,535.9,11.0,665,7433,0.15,2.67,0.00,0.000,6,0.116,0.044,3227,2361,2441,0,0,0,0,0,0
$GC,7690,1.06,182.9,512.9,8.5,690,7726,0.00,2.85,29.27,0.930,4,0.000,0.058,3227,3939,2313,0,0,0,0,0,0
$GC,7808,1.06,182.9,501.5,10.5,700,7812,0.00,2.67,0.00,0.000,6,0.000,0.051,3227,2377,2310,0,0,0,0,0,0
$GC,8076,1.07,193.0,475.9,9.5,724,8091,0.00,0.00,9.82,0.831,6,0.000,0.000,3227,2377,2273,0,0,0,0,0,0
$GC,8348,1.08,205.2,449.5,9.4,750,8366,0.00,2.97,12.02,0.848,4,0.000,0.095,3227,780,2223,0,0,0,0,0,0
$GC,8395,1.09,210.3,444.9,9.8,753,8407,0.00,2.70,6.35,0.729,6,0.000,0.038,3227,2378,2201,0,0,0,0,0,0
$GC,8670,1.16,236.1,419.6,8.8,779,8704,0.12,2.88,24.08,0.877,4,0.076,0.068,3263,774,2095,0,0,0,0,0,0
$GC,8733,1.12,236.1,413.5,12.1,784,8738,0.00,2.65,0.00,0.000,6,0.000,0.040,3263,2370,2093,0,0,0,0,0,0
$GC,9000,1.12,236.1,385.1,10.2,808,9004,0.00,2.67,0.00,0.000,4,0.000,0.054,3263,3942,2091,0,0,0,0,0,0
$GC,9093,1.12,236.1,373.6,11.9,815,9099,0.00,2.62,0.00,0.000,6,0.000,0.036,3263,2355,2089,0,0,0,0,0,0
$GC,9356,1.12,236.1,344.4,11.1,840,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2354,2089,0,0,0,0,0,0
$GC,9610,1.12,236.1,316.0,11.1,864,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2354,2088,0,0,0,0,0,0
$GC,9864,1.12,236.1,288.3,10.9,888,9868,0.00,2.65,0.00,0.000,4,0.000,0.044,3262,3934,2088,0,0,0,0,0,0
$GC,9929,1.12,236.1,281.1,11.4,893,9933,0.00,2.53,0.00,0.000,6,0.000,0.027,3263,2369,2087,0,0,0,0,0,0
$GC,10191,1.12,236.1,254.7,10.8,917,10195,0.00,2.62,0.00,0.000,4,0.000,0.045,3263,3938,2087,0,0,0,0,0,0
$GC,10224,1.12,236.1,251.4,11.4,919,10228,0.00,2.50,0.00,0.000,6,0.000,0.027,3263,2383,2087,0,0,0,0,0,0
$GC,10492,1.13,244.0,224.9,9.6,943,10506,0.00,2.75,6.70,0.635,4,0.000,0.051,3263,782,2064,0,0,0,0,0,0
$GC,10547,1.13,244.0,218.4,10.1,948,10552,0.00,2.58,0.00,0.000,6,0.000,0.023,3263,2400,2064,0,0,0,0,0,0
$GC,10812,1.14,249.3,192.4,9.8,972,10826,0.00,2.58,6.55,0.603,4,0.000,0.043,3263,3922,2042,0,0,0,0,0,0
$GC,10900,1.19,249.3,182.8,11.6,979,10905,0.00,2.45,0.00,0.000,6,0.000,0.025,3263,2404,2041,0,0,0,0,0,0
$GC,11169,1.24,249.3,156.0,10.3,1003,11173,0.00,2.67,0.00,0.000,4,0.000,0.046,3263,784,2041,0,0,0,0,0,0
$GC,11224,1.29,249.3,150.0,10.9,1007,11229,0.10,2.58,0.00,0.000,6,0.083,0.021,3297,2415,2040,0,0,0,0,0,0
$GC,11489,1.29,249.3,119.1,12.3,1031,11494,0.00,2.47,0.00,0.000,4,0.000,0.040,3297,3926,2040,0,0,0,0,0,0
$GC,11523,1.29,249.3,114.7,13.0,1033,11527,0.00,2.42,0.00,0.000,6,0.000,0.022,3297,2406,2040,0,0,0,0,0,0
$GC,11792,1.29,249.3,82.8,11.8,1057,11796,0.00,2.50,0.00,0.000,4,0.000,0.041,3296,3923,2040,0,0,0,0,0,0
$GC,11814,1.29,249.3,79.0,12.2,1058,11824,0.00,2.42,0.00,0.000,6,0.000,0.022,3297,2415,2040,0,0,0,0,0,0
$GC,12083,1.29,249.3,49.9,10.3,1083,12088,0.00,2.65,0.00,0.000,4,0.000,0.044,3297,792,2040,0,0,0,0,0,0
$GC,12103,1.29,249.3,47.4,10.3,1084,12108,0.00,2.55,0.00,0.000,6,0.000,0.021,3297,2430,2040,0,0,0,0,0,0
$GC,12390,1.31,262.9,19.4,9.4,1116,12416,0.00,2.55,13.62,0.513,4,0.000,0.042,3296,3934,1986,0,0,0,0,0,0
$GC,12468,1.31,264.3,11.6,9.9,1126,12477,0.00,2.40,0.00,0.000,6,0.000,0.021,3297,2439,1985,0,0,0,0,0,0
$STATE,12559,end climb,SURFACE_DEPTH_REACHED
$STATE,12559,begin surface coast
$FINISH,0.0,1.023891
$STATE,12623,end surface coast,CONTROL_FINISHED_OK
$STATE,12623,begin surface
$SM_CCo,12646,293.55,0.515,0,0,476,633.61
$SM_GC,0.25,0.00,0.00,293.55,0.000,0.000,0.515,462,2162,476,-11.69,-1.33,633.61
$IRIDIUM_FIX,2230.01,-15742.02,280603,151554
$TT8_MAMPS,0.026078
$HUMID,57.04
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,21.90
$XPDR_PINGS,16
$24V_AH,23.4,20.374
$10V_AH,10.3,19.345
$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,27.250,152.100,354.450,293.550,0.000,140.769,186.549,580.945,4.000,0.000,16.298,1984.338,6199.053,752.702,3939.357,1423.408,33.359,1862.157,0.000,3992.044,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,95.108,1014.741,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,789.647,935.616,1175.781,1459.950,2781.198,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355384
$DATA_FILE_SIZE,95233,1148
$CAP_FILE_SIZE,162612,0
$CFSIZE,260165632,170622976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030414,183524,2238.930,-15741.354,47,1.8,47,10.1