version: 66.06
glider: 146
mission: 9
dive: 152
start: 4 5 114 2 47 55
data:
$ID,146
$MISSION,9
$DIVE,152
$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,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,-326742.44
$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,35
$R_STBD_OVSHOOT,39
$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
$GPS1,023805,2238.707,-15739.284,41,1.1,47,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-70.9
$GPS2,024701,2238.693,-15739.442,12,1.1,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.260,0.004
$KALMAN_X,-126721.6,-219.9,-1.6,154505.9,-1949.8
$KALMAN_Y,76707.1,-316.3,211.1,-96215.0,-129.5
$MHEAD_RNG_PITCHd_Wd,79.0,2803,-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,-146.0,0.0,0.0,0,112,0.00,0.00,-89.78,0.000,6,0.000,0.000,464,2200,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.1,-10.0,12,132,12.60,0.00,0.00,0.000,6,0.166,0.000,2718,2200,3657,0,0,0,0,0,0
$GC,408,-1.18,-146.0,52.9,-12.6,45,413,0.12,2.58,0.00,0.000,4,0.130,0.035,2744,3783,3659,0,0,0,0,0,0
$GC,429,-1.10,-146.0,55.5,-11.3,46,434,0.00,2.50,0.00,0.000,6,0.000,0.020,2744,2203,3659,0,0,0,0,0,0
$GC,698,-1.10,-146.0,84.9,-11.1,70,702,0.00,2.58,0.00,0.000,4,0.000,0.047,2744,640,3659,0,0,0,0,0,0
$GC,745,-1.10,-146.0,91.2,-11.1,73,755,0.00,2.47,0.00,0.000,6,0.000,0.018,2744,2220,3659,0,0,0,0,0,0
$GC,1011,-1.10,-146.0,120.3,-11.5,98,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2220,3659,0,0,0,0,0,0
$GC,1278,-1.10,-146.0,150.9,-11.0,123,1283,0.00,2.53,0.00,0.000,4,0.000,0.034,2743,3774,3659,0,0,0,0,0,0
$GC,1310,-1.10,-146.0,154.7,-10.6,125,1315,0.00,2.47,0.00,0.000,6,0.000,0.020,2744,2200,3659,0,0,0,0,0,0
$GC,1578,-1.10,-146.0,181.2,-9.6,149,1582,0.00,2.55,0.00,0.000,4,0.000,0.046,2744,634,3660,0,0,0,0,0,0
$GC,1599,-1.10,-146.0,183.9,-9.0,150,1608,0.00,2.47,0.00,0.000,6,0.000,0.019,2744,2219,3660,0,0,0,0,0,0
$GC,1867,-1.10,-146.0,207.6,-9.5,175,1872,0.00,2.60,0.00,0.000,4,0.000,0.046,2744,636,3660,0,0,0,0,0,0
$GC,1912,-1.10,-146.0,212.5,-9.4,178,1918,0.00,2.40,0.00,0.000,6,0.000,0.018,2744,2205,3660,0,0,0,0,0,0
$GC,2175,-1.10,-146.0,235.1,-8.1,203,2180,0.00,2.53,0.00,0.000,4,0.000,0.037,2743,3769,3661,0,0,0,0,0,0
$GC,2244,-1.10,-146.0,240.8,-8.8,208,2248,0.00,2.42,0.00,0.000,6,0.000,0.021,2744,2223,3661,0,0,0,0,0,0
$GC,2510,-1.10,-146.0,262.2,-7.9,232,2515,0.00,2.62,0.00,0.000,4,0.000,0.054,2744,639,3661,0,0,0,0,0,0
$GC,2574,-1.15,-146.0,267.7,-8.3,237,2579,0.00,2.45,0.00,0.000,6,0.000,0.023,2744,2211,3661,0,0,0,0,0,0
$GC,2837,-1.20,-146.0,288.1,-7.6,261,2842,0.00,2.62,0.00,0.000,4,0.000,0.054,2744,638,3660,0,0,0,0,0,0
$GC,2903,-1.26,-146.0,293.6,-8.4,266,2907,0.00,2.47,0.00,0.000,6,0.000,0.026,2744,2210,3660,0,0,0,0,0,0
$GC,3166,-1.32,-146.0,313.5,-7.6,290,3171,0.12,2.62,0.00,0.000,4,0.069,0.044,2692,3789,3660,0,0,0,0,0,0
$GC,3207,-1.32,-146.0,317.7,-10.5,293,3213,0.12,2.53,0.00,0.000,6,0.102,0.032,2719,2219,3659,0,0,0,0,0,0
$GC,3469,-1.32,-146.0,341.6,-9.2,317,3473,0.00,2.75,0.00,0.000,4,0.000,0.072,2719,623,3658,0,0,0,0,0,0
$GC,3510,-1.32,-146.0,345.6,-9.9,320,3515,0.00,2.53,0.00,0.000,6,0.000,0.030,2719,2200,3658,0,0,0,0,0,0
$GC,3773,-1.32,-146.0,369.8,-9.5,344,3778,0.00,2.67,0.00,0.000,4,0.000,0.051,2719,3797,3656,0,0,0,0,0,0
$GC,3795,-1.32,-146.0,372.4,-10.6,345,3806,0.00,2.60,0.00,0.000,6,0.000,0.029,2719,2209,3656,0,0,0,0,0,0
$GC,4064,-1.32,-146.0,396.2,-8.7,370,4068,0.00,2.65,0.00,0.000,4,0.000,0.057,2719,3792,3655,0,0,0,0,0,0
$GC,4142,-1.36,-146.0,403.3,-8.8,376,4147,0.00,2.58,0.00,0.000,6,0.000,0.036,2719,2213,3654,0,0,0,0,0,0
$GC,4410,-1.36,-146.0,422.7,-6.9,400,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2213,3653,0,0,0,0,0,0
$GC,4671,-1.36,-146.0,440.0,-6.7,425,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2213,3651,0,0,0,0,0,0
$GC,4927,-1.36,-146.0,458.2,-7.9,449,4932,0.00,2.88,0.00,0.000,4,0.000,0.095,2719,629,3649,0,0,0,0,0,0
$GC,4959,-1.36,-146.0,460.6,-8.2,451,4964,0.00,2.60,0.00,0.000,6,0.000,0.041,2719,2214,3649,0,0,0,0,0,0
$GC,5228,-1.40,-146.0,483.4,-9.1,475,5232,0.00,2.67,0.00,0.000,4,0.000,0.061,2719,3796,3646,0,0,0,0,0,0
$GC,5245,-1.44,-146.0,485.6,-8.8,476,5250,0.12,2.62,0.00,0.000,6,0.070,0.042,2674,2216,3646,0,0,0,0,0,0
$GC,5507,-1.40,-146.0,513.1,-10.4,500,5512,0.12,2.72,0.00,0.000,4,0.105,0.061,2701,3793,3645,0,0,0,0,0,0
$GC,5528,-1.40,-146.0,515.6,-10.7,501,5538,0.00,2.65,0.00,0.000,6,0.000,0.052,2701,2231,3645,0,0,0,0,0,0
$GC,5796,-1.40,-146.0,539.6,-8.7,526,5801,0.00,2.72,0.00,0.000,4,0.000,0.068,2701,3793,3644,0,0,0,0,0,0
$GC,5840,-1.40,-146.0,543.8,-9.4,529,5845,0.00,2.65,0.00,0.000,6,0.000,0.056,2701,2235,3644,0,0,0,0,0,0
$GC,6107,-1.40,-146.0,564.6,-7.2,553,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2235,3642,0,0,0,0,0,0
$GC,6369,-1.40,-146.0,582.9,-6.4,578,6374,0.00,2.78,0.00,0.000,4,0.000,0.082,2701,3787,3640,0,0,0,0,0,0
$GC,6410,-1.40,-146.0,586.2,-7.2,581,6414,0.00,2.67,0.00,0.000,6,0.000,0.061,2701,2244,3641,0,0,0,0,0,0
$STATE,6604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6604,begin apogee
$GC,6612,-0.31,0.0,600.4,7.4,599,6734,1.05,0.00,118.55,1.011,6,0.074,0.000,2939,2372,3060,0,0,0,0,0,0
$STATE,6735,end apogee,CONTROL_FINISHED_OK
$STATE,6735,begin climb
$GC,6737,1.27,146.0,602.7,0.0,602,6871,1.45,0.00,125.35,0.979,6,0.034,0.000,3293,2372,2463,0,0,0,0,0,0
$GC,7126,1.14,146.0,569.5,10.2,631,7132,0.20,2.78,0.00,0.000,4,0.109,0.077,3253,3928,2455,0,0,0,0,0,0
$GC,7170,1.06,146.0,565.2,10.2,634,7175,0.00,2.70,0.00,0.000,6,0.000,0.055,3253,2365,2454,0,0,0,0,0,0
$GC,7438,1.05,169.9,542.0,8.9,658,7467,0.00,0.00,20.77,0.917,6,0.000,0.000,3252,2365,2365,0,0,0,0,0,0
$GC,7725,1.00,169.9,514.0,10.3,685,7730,0.15,2.70,0.00,0.000,4,0.113,0.056,3222,3931,2361,0,0,0,0,0,0
$GC,7779,1.00,169.9,508.1,10.3,689,7783,0.00,2.65,0.00,0.000,6,0.000,0.044,3222,2375,2360,0,0,0,0,0,0
$GC,8041,1.04,200.4,484.4,8.6,713,8075,0.00,3.10,27.65,0.915,4,0.000,0.107,3222,781,2243,0,0,0,0,0,0
$GC,8084,1.08,229.2,480.7,8.7,717,8119,0.00,2.70,27.12,0.898,6,0.000,0.044,3222,2375,2125,0,0,0,0,0,0
$GC,8374,1.14,239.5,452.5,9.5,744,8392,0.12,2.85,9.90,0.813,4,0.079,0.071,3258,779,2082,0,0,0,0,0,0
$GC,8460,1.14,239.5,442.9,11.6,751,8465,0.00,2.65,0.00,0.000,6,0.000,0.038,3259,2371,2081,0,0,0,0,0,0
$GC,8727,1.14,239.5,411.4,12.3,775,8731,0.00,2.78,0.00,0.000,4,0.000,0.065,3259,778,2079,0,0,0,0,0,0
$GC,8760,1.14,239.5,406.5,13.4,777,8769,0.00,2.60,0.00,0.000,6,0.000,0.038,3258,2342,2078,0,0,0,0,0,0
$GC,9027,1.14,239.5,373.7,12.7,802,9031,0.00,2.65,0.00,0.000,4,0.000,0.048,3259,3937,2078,0,0,0,0,0,0
$GC,9095,1.14,239.5,364.0,13.0,807,9104,0.00,2.62,0.00,0.000,6,0.000,0.028,3259,2355,2077,0,0,0,0,0,0
$GC,9361,1.14,239.5,333.3,11.3,832,9365,0.00,2.70,0.00,0.000,4,0.000,0.063,3258,782,2077,0,0,0,0,0,0
$GC,9388,1.14,239.5,329.4,12.1,834,9393,0.00,2.58,0.00,0.000,6,0.000,0.032,3258,2383,2076,0,0,0,0,0,0
$GC,9652,1.15,244.8,301.5,9.8,858,9667,0.00,2.62,4.88,0.610,4,0.000,0.048,3258,3923,2062,0,0,0,0,0,0
$GC,9730,1.19,244.8,293.3,11.1,864,9739,0.00,2.55,0.00,0.000,6,0.000,0.028,3259,2381,2061,0,0,0,0,0,0
$GC,9997,1.19,244.8,268.0,10.4,889,10001,0.00,2.67,0.00,0.000,4,0.000,0.052,3259,785,2061,0,0,0,0,0,0
$GC,10040,1.19,244.8,262.6,12.4,892,10044,0.00,2.58,0.00,0.000,6,0.000,0.026,3259,2389,2060,0,0,0,0,0,0
$GC,10308,1.22,244.8,231.2,11.7,916,10312,0.00,2.55,0.00,0.000,4,0.000,0.046,3258,3927,2060,0,0,0,0,0,0
$GC,10351,1.22,244.8,225.7,12.3,919,10355,0.00,2.50,0.00,0.000,6,0.000,0.025,3259,2375,2060,0,0,0,0,0,0
$GC,10619,1.28,254.4,197.8,9.6,943,10635,0.10,2.67,10.38,0.663,4,0.088,0.047,3289,781,2021,0,0,0,0,0,0
$GC,10659,1.28,254.4,192.8,10.9,946,10664,0.00,2.58,0.00,0.000,6,0.000,0.025,3289,2389,2019,0,0,0,0,0,0
$GC,10923,1.28,254.4,162.4,12.4,970,10927,0.00,2.53,0.00,0.000,4,0.000,0.041,3289,3925,2019,0,0,0,0,0,0
$GC,10943,1.28,254.4,159.8,12.9,971,10948,0.00,2.47,0.00,0.000,6,0.000,0.022,3289,2365,2018,0,0,0,0,0,0
$GC,11211,1.28,254.4,129.5,10.7,995,11215,0.00,2.58,0.00,0.000,4,0.000,0.040,3289,3925,2019,0,0,0,0,0,0
$GC,11282,1.28,254.4,121.1,11.9,1000,11286,0.00,2.45,0.00,0.000,6,0.000,0.024,3289,2394,2018,0,0,0,0,0,0
$GC,11550,1.28,254.4,92.9,10.6,1024,11554,0.00,2.62,0.00,0.000,4,0.000,0.044,3289,791,2018,0,0,0,0,0,0
$GC,11571,1.28,254.4,90.3,10.7,1025,11576,0.00,2.53,0.00,0.000,6,0.000,0.020,3289,2403,2019,0,0,0,0,0,0
$GC,11839,1.28,254.4,62.3,10.5,1049,11843,0.00,2.62,0.00,0.000,4,0.000,0.041,3289,788,2019,0,0,0,0,0,0
$GC,11873,1.28,254.4,58.4,11.5,1051,11878,0.00,2.53,0.00,0.000,6,0.000,0.021,3289,2398,2019,0,0,0,0,0,0
$GC,12142,1.28,254.4,29.6,10.4,1075,12151,0.00,2.53,0.00,0.000,4,0.000,0.040,3289,3923,2019,0,0,0,0,0,0
$GC,12202,1.28,254.4,22.8,10.5,1083,12211,0.00,2.45,0.00,0.000,6,0.000,0.025,3289,2400,2020,0,0,0,0,0,0
$STATE,12387,end climb,SURFACE_DEPTH_REACHED
$STATE,12387,begin surface coast
$FINISH,-0.3,1.010404
$STATE,12436,end surface coast,CONTROL_FINISHED_OK
$STATE,12436,begin surface
$SM_CCo,12458,101.70,0.523,0,0,1509,380.21
$SM_GC,0.29,0.00,0.00,101.70,0.000,0.000,0.523,462,2165,1509,-11.69,-1.30,380.21
$IRIDIUM_FIX,2232.34,-15741.13,290603,222241
$TT8_MAMPS,0.026078
$HUMID,60.67
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.80
$XPDR_PINGS,21
$24V_AH,23.4,21.844
$10V_AH,10.3,21.539
$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,27.575,172.750,344.600,101.700,0.000,27.733,38.212,281.174,5.250,0.000,13.802,1955.198,5882.363,593.523,3842.923,806.454,33.358,1690.604,0.000,3880.413,0.000,0.534,0.000
$DEVICE_MAMPS,166.439,106.613,1010.906,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,768.541,907.795,1139.996,1414.301,2694.171,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,92021,1117
$CAP_FILE_SIZE,151406,0
$CFSIZE,260165632,169865216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050414,061836,2238.758,-15739.252,39,1.2,39,10.1