version: 66.06
glider: 146
mission: 9
dive: 193
start: 4 11 114 17 19 9
data:
$ID,146
$MISSION,9
$DIVE,193
$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,-327762.78
$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,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,32
$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
$GPS1,170735,2248.230,-15751.027,27,1.1,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-70.5
$GPS2,171812,2248.201,-15750.980,9,1.1,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.260,-0.000
$KALMAN_X,-162113.5,-237.0,-157.3,170355.0,1072.0
$KALMAN_Y,40572.0,239.8,180.2,-42993.5,-1136.1
$MHEAD_RNG_PITCHd_Wd,259.9,29363,-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,-90.80,0.000,6,0.000,0.000,458,2118,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.4,-7.6,12,133,12.40,2.67,0.00,0.000,4,0.164,0.028,2719,3788,3656,0,0,0,0,0,0
$GC,256,-1.17,-146.0,36.4,-16.9,30,266,0.10,2.53,0.00,0.000,6,0.101,0.021,2742,2206,3658,0,0,0,0,0,0
$GC,525,-1.09,-146.0,71.4,-11.1,55,530,0.10,2.58,0.00,0.000,4,0.130,0.047,2763,636,3658,0,0,0,0,0,0
$GC,571,-1.09,-146.0,77.3,-11.3,58,576,0.00,2.45,0.00,0.000,6,0.000,0.018,2764,2222,3658,0,0,0,0,0,0
$GC,834,-1.09,-146.0,104.1,-10.1,82,838,0.00,2.60,0.00,0.000,4,0.000,0.042,2764,633,3658,0,0,0,0,0,0
$GC,857,-1.09,-146.0,106.7,-10.8,83,863,0.00,2.40,0.00,0.000,6,0.000,0.017,2764,2201,3658,0,0,0,0,0,0
$GC,1120,-1.09,-146.0,131.9,-9.5,108,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2201,3658,0,0,0,0,0,0
$GC,1375,-1.09,-146.0,153.9,-8.3,132,1379,0.00,2.55,0.00,0.000,4,0.000,0.043,2764,628,3658,0,0,0,0,0,0
$GC,1410,-1.09,-146.0,156.8,-8.6,134,1419,0.00,2.40,0.00,0.000,6,0.000,0.019,2763,2175,3658,0,0,0,0,0,0
$GC,1676,-1.09,-146.0,178.6,-8.7,159,1680,0.00,2.55,0.00,0.000,4,0.000,0.034,2764,3776,3659,0,0,0,0,0,0
$GC,1718,-1.15,-146.0,182.9,-9.8,162,1722,0.00,2.50,0.00,0.000,6,0.000,0.020,2764,2170,3659,0,0,0,0,0,0
$GC,1980,-1.15,-146.0,208.3,-9.4,186,1985,0.00,2.50,0.00,0.000,4,0.000,0.046,2764,638,3659,0,0,0,0,0,0
$GC,2004,-1.15,-146.0,210.2,-9.8,187,2009,0.00,2.38,0.00,0.000,6,0.000,0.023,2763,2183,3659,0,0,0,0,0,0
$GC,2271,-1.19,-146.0,232.5,-7.6,211,2276,0.00,2.55,0.00,0.000,4,0.000,0.041,2763,3779,3659,0,0,0,0,0,0
$GC,2433,-1.27,-146.0,245.6,-8.0,224,2438,0.15,2.45,0.00,0.000,6,0.058,0.019,2705,2212,3659,0,0,0,0,0,0
$GC,2696,-1.22,-146.0,270.1,-9.8,248,2701,0.15,2.60,0.00,0.000,4,0.098,0.053,2737,641,3659,0,0,0,0,0,0
$GC,2718,-1.22,-146.0,272.5,-9.8,249,2727,0.00,2.47,0.00,0.000,6,0.000,0.021,2737,2211,3659,0,0,0,0,0,0
$GC,2984,-1.22,-146.0,292.5,-7.8,274,2988,0.00,2.62,0.00,0.000,4,0.000,0.052,2737,636,3659,0,0,0,0,0,0
$GC,3042,-1.26,-146.0,297.8,-8.5,278,3048,0.00,2.47,0.00,0.000,6,0.000,0.026,2737,2206,3659,0,0,0,0,0,0
$GC,3305,-1.26,-146.0,320.4,-8.8,303,3309,0.00,2.62,0.00,0.000,4,0.000,0.057,2737,645,3659,0,0,0,0,0,0
$GC,3328,-1.26,-146.0,321.9,-8.9,304,3333,0.00,2.47,0.00,0.000,6,0.000,0.028,2737,2202,3659,0,0,0,0,0,0
$GC,3595,-1.30,-146.0,344.8,-8.7,328,3600,0.00,2.62,0.00,0.000,4,0.000,0.048,2737,3791,3658,0,0,0,0,0,0
$GC,3660,-1.34,-146.0,350.8,-9.0,333,3666,0.12,2.53,0.00,0.000,6,0.067,0.028,2688,2218,3658,0,0,0,0,0,0
$GC,3922,-1.29,-146.0,374.7,-8.1,357,3924,0.15,0.00,0.00,0.000,6,0.097,0.000,2720,2218,3655,0,0,0,0,0,0
$GC,4179,-1.29,-146.0,391.4,-6.9,381,4184,0.00,2.62,0.00,0.000,4,0.000,0.051,2720,3783,3654,0,0,0,0,0,0
$GC,4213,-1.29,-146.0,394.2,-7.5,383,4219,0.00,2.55,0.00,0.000,6,0.000,0.034,2721,2218,3654,0,0,0,0,0,0
$GC,4478,-1.29,-146.0,415.7,-8.7,408,4482,0.00,2.85,0.00,0.000,4,0.000,0.088,2720,621,3652,0,0,0,0,0,0
$GC,4553,-1.29,-146.0,422.8,-9.3,414,4557,0.00,2.58,0.00,0.000,6,0.000,0.038,2720,2194,3652,0,0,0,0,0,0
$GC,4817,-1.29,-146.0,443.0,-7.1,438,4822,0.00,2.67,0.00,0.000,4,0.000,0.058,2721,3795,3650,0,0,0,0,0,0
$GC,4873,-1.33,-146.0,446.7,-6.9,442,4877,0.00,2.60,0.00,0.000,6,0.000,0.044,2721,2203,3650,0,0,0,0,0,0
$GC,5141,-1.33,-146.0,464.4,-7.2,466,5145,0.00,2.67,0.00,0.000,4,0.000,0.064,2720,3793,3648,0,0,0,0,0,0
$GC,5198,-1.39,-146.0,469.4,-8.3,470,5203,0.00,2.60,0.00,0.000,6,0.000,0.043,2720,2228,3647,0,0,0,0,0,0
$GC,5462,-1.43,-146.0,488.6,-7.3,495,5471,0.12,0.00,0.00,0.000,6,0.067,0.000,2674,2228,3646,0,0,0,0,0,0
$GC,5730,-1.38,-146.0,512.2,-8.9,520,5735,0.12,3.00,0.00,0.000,4,0.102,0.110,2701,625,3644,0,0,0,0,0,0
$GC,5763,-1.38,-146.0,515.8,-8.4,522,5772,0.00,2.67,0.00,0.000,6,0.000,0.048,2701,2216,3644,0,0,0,0,0,0
$GC,6031,-1.38,-146.0,536.8,-8.0,547,6035,0.00,2.75,0.00,0.000,4,0.000,0.081,2701,3794,3643,0,0,0,0,0,0
$GC,6052,-1.38,-146.0,539.2,-8.3,548,6058,0.00,2.65,0.00,0.000,6,0.000,0.049,2701,2218,3643,0,0,0,0,0,0
$GC,6315,-1.38,-146.0,561.4,-9.0,573,6320,0.00,2.75,0.00,0.000,4,0.000,0.072,2701,3793,3641,0,0,0,0,0,0
$GC,6370,-1.38,-146.0,566.2,-9.2,577,6375,0.00,2.67,0.00,0.000,6,0.000,0.061,2701,2224,3641,0,0,0,0,0,0
$GC,6639,-1.38,-146.0,588.0,-7.5,601,6643,0.00,2.78,0.00,0.000,4,0.000,0.079,2701,3790,3639,0,0,0,0,0,0
$GC,6671,-1.38,-146.0,591.2,-8.4,603,6681,0.00,2.72,0.00,0.000,6,0.000,0.068,2701,2231,3639,0,0,0,0,0,0
$STATE,6806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6806,begin apogee
$GC,6814,-0.31,0.0,600.3,6.6,616,6936,1.02,0.00,118.55,1.007,6,0.070,0.000,2934,2371,3060,0,0,0,0,0,0
$STATE,6938,end apogee,CONTROL_FINISHED_OK
$STATE,6938,begin climb
$GC,6940,1.27,146.0,601.7,0.0,619,7073,1.45,2.85,125.03,0.984,4,0.033,0.077,3289,3930,2463,0,0,0,0,0,0
$GC,7091,1.12,146.0,589.6,12.9,628,7098,0.20,2.75,0.00,0.000,6,0.103,0.063,3249,2367,2459,0,0,0,0,0,0
$GC,7356,1.09,157.7,562.8,9.5,653,7371,0.00,2.80,10.00,0.846,4,0.000,0.068,3249,3939,2416,0,0,0,0,0,0
$GC,7437,1.04,158.4,554.7,10.0,659,7442,0.00,2.67,0.00,0.000,6,0.000,0.047,3249,2378,2415,0,0,0,0,0,0
$GC,7700,1.00,163.1,530.2,9.8,684,7715,0.12,2.72,6.15,0.749,4,0.120,0.058,3224,3925,2393,0,0,0,0,0,0
$GC,7744,1.00,163.1,525.4,10.5,687,7753,0.00,2.65,0.00,0.000,6,0.000,0.045,3224,2385,2392,0,0,0,0,0,0
$GC,8010,1.00,163.1,500.5,10.2,712,8015,0.00,3.05,0.00,0.000,4,0.000,0.115,3224,780,2391,0,0,0,0,0,0
$GC,8053,1.00,163.1,495.8,10.4,715,8058,0.00,2.67,0.00,0.000,6,0.000,0.044,3223,2382,2390,0,0,0,0,0,0
$GC,8321,1.04,190.0,472.0,8.8,739,8354,0.00,2.95,25.05,0.907,4,0.000,0.071,3223,772,2283,0,0,0,0,0,0
$GC,8365,1.05,200.7,467.2,9.5,743,8385,0.00,2.67,11.10,0.828,6,0.000,0.039,3223,2379,2240,0,0,0,0,0,0
$GC,8641,1.09,201.9,441.4,9.9,769,8645,0.00,2.65,0.00,0.000,4,0.000,0.054,3223,3942,2236,0,0,0,0,0,0
$GC,8692,1.09,201.9,435.3,11.2,773,8696,0.00,2.55,0.00,0.000,6,0.000,0.037,3223,2375,2236,0,0,0,0,0,0
$GC,8956,1.17,228.8,410.6,8.8,797,8991,0.15,2.90,25.38,0.874,4,0.069,0.076,3265,787,2126,0,0,0,0,0,0
$GC,9018,1.12,228.8,404.1,11.1,802,9023,0.00,2.60,0.00,0.000,6,0.000,0.037,3265,2381,2124,0,0,0,0,0,0
$GC,9286,1.12,228.8,373.4,12.0,826,9290,0.00,2.60,0.00,0.000,4,0.000,0.051,3265,3937,2122,0,0,0,0,0,0
$GC,9314,1.08,228.8,369.1,12.9,828,9319,0.12,2.58,0.00,0.000,6,0.116,0.035,3240,2362,2121,0,0,0,0,0,0
$GC,9575,1.12,228.8,340.0,11.3,852,9579,0.00,2.60,0.00,0.000,4,0.000,0.051,3240,3929,2120,0,0,0,0,0,0
$GC,9596,1.12,228.8,338.1,10.9,853,9601,0.00,2.53,0.00,0.000,6,0.000,0.034,3240,2363,2120,0,0,0,0,0,0
$GC,9865,1.18,240.9,310.9,9.4,877,9881,0.00,2.65,10.93,0.759,4,0.000,0.043,3240,3928,2078,0,0,0,0,0,0
$GC,9908,1.22,240.9,306.4,10.0,880,9913,0.12,2.53,0.00,0.000,6,0.079,0.027,3276,2365,2077,0,0,0,0,0,0
$GC,10173,1.22,240.9,278.1,11.3,904,10177,0.00,2.65,0.00,0.000,4,0.000,0.054,3276,785,2076,0,0,0,0,0,0
$GC,10189,1.22,240.9,276.0,10.9,905,10194,0.00,2.53,0.00,0.000,6,0.000,0.026,3276,2382,2075,0,0,0,0,0,0
$GC,10452,1.22,240.9,246.0,11.4,929,10456,0.00,2.55,0.00,0.000,4,0.000,0.046,3276,3924,2074,0,0,0,0,0,0
$GC,10493,1.22,240.9,241.4,10.7,932,10498,0.00,2.50,0.00,0.000,6,0.000,0.025,3276,2368,2074,0,0,0,0,0,0
$GC,10756,1.23,244.3,215.2,9.8,956,10767,0.00,2.60,4.22,0.509,4,0.000,0.044,3276,3923,2064,0,0,0,0,0,0
$GC,10820,1.23,244.3,207.7,12.1,961,10826,0.00,2.45,0.00,0.000,6,0.000,0.025,3276,2394,2063,0,0,0,0,0,0
$GC,11083,1.23,244.3,180.7,10.4,986,11087,0.00,2.53,0.00,0.000,4,0.000,0.042,3276,3925,2063,0,0,0,0,0,0
$GC,11151,1.23,244.3,172.9,12.9,991,11156,0.00,2.42,0.00,0.000,6,0.000,0.025,3275,2392,2063,0,0,0,0,0,0
$GC,11417,1.23,244.3,142.1,10.7,1015,11422,0.00,2.53,0.00,0.000,4,0.000,0.041,3276,3927,2063,0,0,0,0,0,0
$GC,11488,1.27,244.3,134.0,11.0,1020,11497,0.00,2.42,0.00,0.000,6,0.000,0.024,3276,2418,2063,0,0,0,0,0,0
$GC,11753,1.29,262.2,109.2,9.2,1045,11776,0.00,2.72,17.67,0.597,4,0.000,0.046,3276,782,1989,0,0,0,0,0,0
$GC,11789,1.31,279.2,105.4,9.2,1048,11813,0.00,2.60,16.12,0.581,6,0.000,0.021,3276,2426,1920,0,0,0,0,0,0
$GC,12074,1.38,292.6,77.6,9.4,1074,12092,0.12,2.75,12.77,0.548,4,0.077,0.044,3316,782,1866,0,0,0,0,0,0
$GC,12161,1.38,292.6,67.1,12.3,1080,12165,0.00,2.58,0.00,0.000,6,0.000,0.022,3316,2414,1864,0,0,0,0,0,0
$GC,12429,1.38,292.6,32.4,13.3,1104,12437,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2414,1864,0,0,0,0,0,0
$STATE,12654,end climb,SURFACE_DEPTH_REACHED
$STATE,12654,begin surface coast
$FINISH,-0.1,1.018737
$STATE,12697,end surface coast,CONTROL_FINISHED_OK
$STATE,12697,begin surface
$SM_CCo,12718,71.38,0.519,0,0,1509,380.21
$SM_GC,0.56,0.00,0.00,71.38,0.000,0.000,0.519,457,2169,1509,-11.72,-1.19,380.21
$IRIDIUM_FIX,2239.35,-15747.62,060703,131348
$TT8_MAMPS,0.026078
$HUMID,61.38
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.00
$XPDR_PINGS,26
$24V_AH,23.4,27.790
$10V_AH,10.3,30.919
$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,28.150,189.050,382.975,71.375,0.000,28.137,35.068,399.775,6.500,0.000,16.427,2013.905,6131.624,579.855,3759.501,931.528,33.360,1736.252,0.000,3779.760,0.000,0.535,0.000
$DEVICE_MAMPS,164.138,115.050,1007.071,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,784.642,888.461,1165.659,1277.510,2432.940,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,95446,1143
$CAP_FILE_SIZE,163463,0
$CFSIZE,260165632,166305792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110414,205336,2247.280,-15752.673,35,1.0,35,10.1