version: 66.06
glider: 146
mission: 9
dive: 259
start: 4 25 114 18 53 6
data:
$ID,146
$MISSION,9
$DIVE,259
$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,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,-329249.31
$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,43
$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
$GPS1,181519,2257.893,-15741.400,34,99.0,53,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-67.9
$GPS2,185212,2258.311,-15741.426,42,1.3,48,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.254,-0.057
$KALMAN_X,-214783.3,-69.6,-349.7,239360.4,1930.4
$KALMAN_Y,8229.8,529.6,423.5,7536.9,-762.6
$MHEAD_RNG_PITCHd_Wd,247.3,53401,-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,-85.32,0.000,6,0.000,0.000,459,2189,3657,0,0,0,0,0,0
$GC,110,-1.28,-146.0,3.8,-9.7,11,128,12.70,2.50,0.00,0.000,4,0.168,0.034,2718,635,3659,0,0,0,0,0,0
$GC,333,-1.16,-146.0,46.7,-12.8,36,338,0.15,2.45,0.00,0.000,6,0.114,0.018,2748,2228,3659,0,0,0,0,0,0
$GC,602,-1.11,-146.0,73.6,-10.8,60,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2229,3659,0,0,0,0,0,0
$GC,868,-1.07,-146.0,101.6,-10.3,85,873,0.10,2.60,0.00,0.000,4,0.129,0.042,2769,643,3659,0,0,0,0,0,0
$GC,900,-1.07,-146.0,104.8,-9.4,87,905,0.00,2.38,0.00,0.000,6,0.000,0.017,2769,2201,3659,0,0,0,0,0,0
$GC,1167,-1.07,-146.0,127.7,-8.6,111,1171,0.00,2.53,0.00,0.000,4,0.000,0.036,2768,3773,3659,0,0,0,0,0,0
$GC,1200,-1.07,-146.0,130.7,-8.9,113,1204,0.00,2.45,0.00,0.000,6,0.000,0.019,2768,2199,3660,0,0,0,0,0,0
$GC,1466,-1.07,-146.0,153.5,-8.5,137,1471,0.00,2.53,0.00,0.000,4,0.000,0.043,2768,643,3659,0,0,0,0,0,0
$GC,1489,-1.07,-146.0,155.9,-8.8,138,1498,0.00,2.42,0.00,0.000,6,0.000,0.018,2769,2200,3659,0,0,0,0,0,0
$GC,1756,-1.07,-146.0,178.2,-8.6,163,1760,0.00,2.55,0.00,0.000,4,0.000,0.042,2768,639,3659,0,0,0,0,0,0
$GC,1777,-1.07,-146.0,180.8,-9.4,164,1786,0.00,2.40,0.00,0.000,6,0.000,0.021,2769,2189,3659,0,0,0,0,0,0
$GC,2042,-1.12,-146.0,201.4,-7.1,189,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2190,3659,0,0,0,0,0,0
$GC,2309,-1.18,-146.0,218.1,-6.0,214,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2190,3659,0,0,0,0,0,0
$GC,2574,-1.24,-146.0,236.4,-7.3,239,2580,0.15,0.00,0.00,0.000,6,0.060,0.000,2708,2190,3658,0,0,0,0,0,0
$GC,2839,-1.19,-146.0,263.9,-9.7,264,2844,0.15,2.58,0.00,0.000,4,0.094,0.052,2741,645,3657,0,0,0,0,0,0
$GC,2863,-1.19,-146.0,265.7,-9.3,265,2867,0.00,2.40,0.00,0.000,6,0.000,0.021,2741,2192,3658,0,0,0,0,0,0
$GC,3130,-1.19,-146.0,286.7,-7.5,289,3134,0.00,2.58,0.00,0.000,4,0.000,0.043,2742,3776,3656,0,0,0,0,0,0
$GC,3210,-1.25,-146.0,293.0,-7.9,295,3214,0.00,2.45,0.00,0.000,6,0.000,0.022,2741,2219,3657,0,0,0,0,0,0
$GC,3477,-1.29,-146.0,311.3,-6.8,319,3481,0.00,2.65,0.00,0.000,4,0.000,0.061,2741,631,3655,0,0,0,0,0,0
$GC,3507,-1.34,-146.0,313.8,-7.5,321,3512,0.12,2.45,0.00,0.000,6,0.066,0.035,2689,2193,3654,0,0,0,0,0,0
$GC,3768,-1.29,-146.0,339.7,-10.4,345,3773,0.15,2.62,0.00,0.000,4,0.094,0.049,2722,3791,3653,0,0,0,0,0,0
$GC,3811,-1.33,-146.0,343.7,-9.3,348,3815,0.00,2.55,0.00,0.000,6,0.000,0.036,2722,2200,3653,0,0,0,0,0,0
$GC,4073,-1.33,-146.0,366.1,-8.5,372,4078,0.00,2.72,0.00,0.000,4,0.000,0.078,2722,630,3651,0,0,0,0,0,0
$GC,4130,-1.33,-146.0,371.0,-9.9,376,4134,0.00,2.50,0.00,0.000,6,0.000,0.039,2722,2182,3651,0,0,0,0,0,0
$GC,4397,-1.33,-146.0,394.9,-8.7,400,4401,0.00,2.67,0.00,0.000,4,0.000,0.056,2722,3792,3649,0,0,0,0,0,0
$GC,4441,-1.33,-146.0,398.8,-8.9,403,4446,0.00,2.60,0.00,0.000,6,0.000,0.032,2721,2185,3649,0,0,0,0,0,0
$GC,4708,-1.33,-146.0,418.8,-6.6,427,4712,0.00,2.70,0.00,0.000,4,0.000,0.052,2722,3795,3647,0,0,0,0,0,0
$GC,4736,-1.33,-146.0,421.1,-6.6,429,4741,0.00,2.62,0.00,0.000,6,0.000,0.041,2722,2187,3647,0,0,0,0,0,0
$GC,5000,-1.33,-146.0,438.7,-6.8,453,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2187,3645,0,0,0,0,0,0
$GC,5267,-1.33,-146.0,457.9,-7.5,478,5271,0.00,2.72,0.00,0.000,4,0.000,0.057,2722,3794,3643,0,0,0,0,0,0
$GC,5323,-1.33,-146.0,463.0,-8.2,482,5329,0.00,2.62,0.00,0.000,6,0.000,0.046,2722,2198,3643,0,0,0,0,0,0
$GC,5587,-1.36,-146.0,484.0,-8.0,507,5591,0.00,2.67,0.00,0.000,4,0.000,0.058,2722,3786,3641,0,0,0,0,0,0
$GC,5629,-1.41,-146.0,487.6,-8.7,510,5634,0.10,2.62,0.00,0.000,6,0.079,0.048,2682,2205,3641,0,0,0,0,0,0
$GC,5890,-1.41,-146.0,512.5,-9.4,534,5895,0.00,2.92,0.00,0.000,4,0.000,0.109,2682,626,3638,0,0,0,0,0,0
$GC,5921,-1.36,-146.0,515.3,-10.0,536,5926,0.12,2.62,0.00,0.000,6,0.104,0.051,2708,2203,3638,0,0,0,0,0,0
$GC,6182,-1.36,-146.0,537.2,-8.2,560,6186,0.00,2.72,0.00,0.000,4,0.000,0.074,2708,3793,3637,0,0,0,0,0,0
$GC,6217,-1.36,-146.0,540.2,-9.1,562,6223,0.00,2.65,0.00,0.000,6,0.000,0.051,2708,2216,3637,0,0,0,0,0,0
$GC,6480,-1.36,-146.0,561.5,-7.6,587,6485,0.00,2.75,0.00,0.000,4,0.000,0.070,2708,3795,3635,0,0,0,0,0,0
$GC,6522,-1.36,-146.0,564.9,-7.9,590,6527,0.00,2.67,0.00,0.000,6,0.000,0.054,2708,2221,3635,0,0,0,0,0,0
$GC,6785,-1.36,-146.0,585.4,-7.9,614,6790,0.00,3.03,0.00,0.000,4,0.000,0.118,2708,620,3633,0,0,0,0,0,0
$GC,6806,-1.36,-146.0,587.3,-8.3,615,6816,0.00,2.72,0.00,0.000,6,0.000,0.058,2708,2210,3632,0,0,0,0,0,0
$GC,7065,-1.36,-146.0,605.4,-6.7,634,7070,0.00,2.88,0.00,0.000,4,0.000,0.097,2709,3804,3632,0,0,0,0,0,0
$GC,7115,-1.36,-146.0,609.2,-7.3,635,7119,0.00,2.78,0.00,0.000,6,0.000,0.072,2708,2215,3631,0,0,0,0,0,0
$GC,7389,-1.36,-146.0,626.8,-6.4,642,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2216,3630,0,0,0,0,0,0
$GC,7632,-1.40,-146.0,643.2,-6.7,648,7637,0.00,2.88,0.00,0.000,4,0.000,0.100,2708,3798,3628,0,0,0,0,0,0
$GC,7693,-1.40,-146.0,648.0,-7.8,649,7697,0.00,2.85,0.00,0.000,6,0.000,0.084,2708,2217,3628,0,0,0,0,0,0
$GC,7955,-1.44,-146.0,666.4,-7.0,656,7960,0.00,2.92,0.00,0.000,4,0.000,0.102,2707,3795,3627,0,0,0,0,0,0
$GC,8000,-1.48,-146.0,670.0,-7.5,657,8005,0.12,2.88,0.00,0.000,6,0.071,0.094,2663,2232,3627,0,0,0,0,0,0
$GC,8280,-1.43,-146.0,692.8,-8.1,664,8285,0.12,2.97,0.00,0.000,4,0.104,0.119,2689,3800,3625,0,0,0,0,0,0
$GC,8342,-1.43,-146.0,697.8,-8.1,665,8346,0.00,2.92,0.00,0.000,6,0.000,0.107,2689,2243,3625,0,0,0,0,0,0
$GC,8602,-1.43,-146.0,715.9,-6.9,672,8608,0.00,3.35,0.00,0.000,4,0.000,0.163,2689,618,3624,0,0,0,0,0,0
$GC,8620,-1.43,-146.0,717.3,-7.1,672,8625,0.00,3.03,0.00,0.000,6,0.000,0.107,2689,2240,3623,0,0,0,0,0,0
$GC,8881,-1.43,-146.0,735.8,-7.1,679,8886,0.00,3.12,0.00,0.000,4,0.000,0.146,2689,3798,3622,0,0,0,0,0,0
$GC,8902,-1.43,-146.0,737.5,-7.6,679,8907,0.00,3.08,0.00,0.000,6,0.000,0.127,2689,2236,3621,0,0,0,0,0,0
$GC,9159,-1.43,-146.0,755.6,-7.1,686,9164,0.00,3.20,0.00,0.000,4,0.000,0.149,2689,3800,3621,0,0,0,0,0,0
$GC,9186,-1.43,-146.0,757.8,-8.1,686,9191,0.00,3.12,0.00,0.000,6,0.000,0.138,2689,2249,3621,0,0,0,0,0,0
$GC,9437,-1.43,-146.0,775.9,-7.1,692,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2250,3620,0,0,0,0,0,0
$GC,9680,-1.43,-146.0,791.9,-6.5,698,9685,0.00,3.33,0.00,0.000,4,0.000,0.170,2689,3800,3619,0,0,0,0,0,0
$GC,9755,-1.43,-146.0,797.1,-7.2,699,9760,0.00,3.28,0.00,0.000,6,0.000,0.163,2689,2253,3619,0,0,1,0,0,0
$STATE,9799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9800,begin apogee
$GC,9806,-0.31,0.0,800.4,6.8,700,9929,1.08,0.00,119.72,1.177,6,0.067,0.000,2934,2369,3060,0,0,0,0,0,0
$STATE,9930,end apogee,CONTROL_FINISHED_OK
$STATE,9930,begin climb
$GC,9934,1.28,146.0,802.0,0.0,703,10074,1.42,3.50,129.75,1.151,4,0.034,0.170,3288,3930,2463,0,0,0,0,0,0
$GC,10149,1.12,146.0,782.2,13.5,708,10155,0.20,3.28,0.00,0.000,6,0.104,0.150,3249,2371,2457,0,0,0,0,0,0
$GC,10428,1.06,146.0,752.2,10.5,715,10433,0.00,3.22,0.00,0.000,4,0.000,0.143,3249,3939,2453,0,0,0,0,0,0
$GC,10489,0.98,146.0,745.3,11.5,716,10494,0.15,3.15,0.00,0.000,6,0.114,0.130,3220,2370,2452,0,0,0,0,0,0
$GC,10752,1.03,182.5,723.0,8.3,723,10789,0.00,0.00,33.28,1.085,6,0.000,0.000,3220,2370,2313,0,0,0,0,0,0
$GC,11034,1.06,205.9,697.7,8.9,730,11063,0.00,3.33,22.23,1.054,4,0.000,0.141,3219,776,2219,0,0,0,0,0,0
$GC,11093,1.06,205.9,691.9,11.0,731,11098,0.00,2.95,0.00,0.000,6,0.000,0.092,3219,2370,2217,0,0,0,0,0,0
$GC,11359,1.06,208.8,665.8,9.9,738,11364,0.00,3.00,0.00,0.000,4,0.000,0.109,3219,3941,2214,0,0,0,0,0,0
$GC,11408,1.06,208.8,660.4,10.9,739,11413,0.00,2.88,0.00,0.000,6,0.000,0.082,3219,2364,2213,0,0,0,0,0,0
$GC,11682,1.06,208.8,631.9,10.6,746,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2364,2212,0,0,0,0,0,0
$GC,11924,1.06,208.8,605.9,10.7,752,11929,0.00,2.92,0.00,0.000,4,0.000,0.105,3219,779,2211,0,0,0,0,0,0
$GC,11945,1.06,208.8,603.3,11.4,752,11950,0.00,2.72,0.00,0.000,6,0.000,0.055,3219,2377,2210,0,0,0,0,0,0
$GC,12212,1.10,208.8,575.2,10.5,774,12218,0.10,2.90,0.00,0.000,4,0.091,0.091,3246,779,2210,0,0,0,0,0,0
$GC,12235,1.10,208.8,572.2,11.0,775,12241,0.00,2.65,0.00,0.000,6,0.000,0.050,3246,2352,2210,0,0,0,0,0,0
$GC,12499,1.10,208.8,542.3,10.9,800,12504,0.00,2.78,0.00,0.000,4,0.000,0.073,3246,3937,2210,0,0,0,0,0,0
$GC,12565,1.10,208.8,534.5,12.1,805,12570,0.00,2.67,0.00,0.000,6,0.000,0.044,3246,2349,2209,0,0,0,0,0,0
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$STATE,17625,end climb,SURFACE_DEPTH_REACHED
$STATE,17625,begin surface coast
$FINISH,-0.1,1.007631
$STATE,17661,end surface coast,CONTROL_FINISHED_OK
$STATE,17661,begin surface
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$IRIDIUM_FIX,2251.04,-15739.74,200703,181821
$TT8_MAMPS,0.026078
$HUMID,58.93
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$TCM_TEMP,21.90
$XPDR_PINGS,28
$24V_AH,23.2,39.815
$10V_AH,10.0,46.287
$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
$DEVICE_SECS,28.675,247.300,426.250,239.050,0.000,138.343,237.117,1326.006,7.000,0.000,49.449,2327.529,10453.092,816.578,4231.419,2288.034,33.368,2199.264,0.000,4196.850,0.000,0.536,0.000
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$SENSOR_SECS,878.242,917.396,1204.745,1318.080,2509.939,0.000,0.000,0.000
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$MEM,355448
$DATA_FILE_SIZE,104739,1276
$CAP_FILE_SIZE,225737,0
$CFSIZE,260165632,159916032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250414,235306,2256.973,-15743.406,36,1.2,36,10.1