version: 66.06
glider: 146
mission: 9
dive: 18
start: 3 14 114 20 5 7
data:
$ID,146
$MISSION,9
$DIVE,18
$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,400
$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,-323479.69
$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,3075
$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,64
$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
$GPS1,195723,2246.413,-15806.772,22,1.0,39,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-70.7
$GPS2,200412,2246.435,-15806.804,13,1.6,30,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.109,0.235
$KALMAN_X,-14477.1,-195.9,-6.6,-4474.9,-988.4
$KALMAN_Y,5847.0,759.3,281.0,-12165.3,-30.7
$MHEAD_RNG_PITCHd_Wd,14.9,33589,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-90.88,0.000,6,0.000,0.000,474,2173,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.0,-10.1,12,132,11.77,2.47,0.00,0.000,4,0.133,0.035,2790,655,3657,0,0,0,0,0,0
$GC,163,-0.95,-146.0,21.6,-28.4,18,173,0.30,2.47,0.00,0.000,6,0.071,0.023,2861,2216,3657,0,0,0,0,0,0
$GC,455,-1.13,-146.0,42.8,-6.3,50,460,0.15,2.55,0.00,0.000,4,0.063,0.042,2808,664,3658,0,0,0,0,0,0
$GC,503,-1.22,-146.0,46.6,-8.2,53,507,0.00,2.40,0.00,0.000,6,0.000,0.018,2808,2202,3658,0,0,0,0,0,0
$GC,772,-1.29,-146.0,68.4,-8.4,77,777,0.00,2.53,0.00,0.000,4,0.000,0.036,2808,3782,3658,0,0,0,0,0,0
$GC,808,-1.38,-146.0,72.4,-9.2,79,818,0.10,2.47,0.00,0.000,6,0.038,0.021,2761,2225,3658,0,0,0,0,0,0
$GC,1072,-1.38,-146.0,98.8,-9.9,104,1076,0.00,2.60,0.00,0.000,4,0.000,0.044,2761,638,3659,0,0,0,0,0,0
$GC,1128,-1.38,-146.0,105.1,-10.2,108,1138,0.00,2.42,0.00,0.000,6,0.000,0.022,2761,2182,3659,0,0,0,0,0,0
$GC,1395,-1.38,-146.0,128.6,-9.2,133,1399,0.00,2.55,0.00,0.000,4,0.000,0.036,2761,3782,3659,0,0,0,0,0,0
$GC,1454,-1.43,-146.0,134.7,-9.3,137,1459,0.00,2.50,0.00,0.000,6,0.000,0.021,2761,2187,3660,0,0,0,0,0,0
$GC,1716,-1.43,-146.0,157.0,-8.7,162,1721,0.00,2.53,0.00,0.000,4,0.000,0.047,2761,640,3660,0,0,0,0,0,0
$GC,1782,-1.47,-146.0,163.0,-9.1,167,1787,0.00,2.38,0.00,0.000,6,0.000,0.025,2761,2186,3660,0,0,0,0,0,0
$GC,2045,-1.51,-146.0,187.3,-8.9,191,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2186,3660,0,0,0,0,0,0
$GC,2326,-1.55,-146.0,208.8,-7.3,209,2331,0.10,2.58,0.00,0.000,4,0.083,0.039,2721,3774,3660,0,0,0,0,0,0
$GC,2383,-1.55,-146.0,214.1,-9.6,210,2388,0.00,2.47,0.00,0.000,6,0.000,0.021,2721,2197,3660,0,0,0,0,0,0
$GC,2651,-1.55,-146.0,238.9,-9.1,217,2655,0.00,2.58,0.00,0.000,4,0.000,0.040,2721,3780,3661,0,0,0,0,0,0
$GC,2707,-1.55,-146.0,244.4,-9.6,218,2712,0.00,2.47,0.00,0.000,6,0.000,0.022,2721,2196,3660,0,0,0,0,0,0
$GC,2973,-1.55,-146.0,268.6,-8.8,225,2978,0.00,2.62,0.00,0.000,4,0.000,0.059,2721,633,3661,0,0,0,0,0,0
$GC,3035,-1.55,-146.0,275.1,-10.9,226,3039,0.00,2.45,0.00,0.000,6,0.000,0.025,2721,2191,3660,0,0,0,0,0,0
$GC,3296,-1.55,-146.0,300.8,-9.7,233,3300,0.00,2.62,0.00,0.000,4,0.000,0.061,2721,639,3660,0,0,0,0,0,0
$GC,3339,-1.55,-146.0,305.0,-9.4,234,3344,0.00,2.47,0.00,0.000,6,0.000,0.038,2721,2190,3660,0,0,0,0,0,0
$GC,3619,-1.55,-146.0,325.5,-7.2,241,3623,0.00,2.65,0.00,0.000,4,0.000,0.058,2721,3797,3659,0,0,0,0,0,0
$GC,3663,-1.59,-146.0,329.1,-7.8,242,3667,0.00,2.53,0.00,0.000,6,0.000,0.030,2721,2217,3659,0,0,0,0,0,0
$GC,3940,-1.59,-146.0,351.5,-8.4,249,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2217,3656,0,0,0,0,0,0
$GC,4185,-1.59,-146.0,374.7,-9.7,255,4190,0.00,2.62,0.00,0.000,4,0.000,0.052,2721,3787,3656,0,0,0,0,0,0
$GC,4225,-1.64,-146.0,379.1,-11.3,256,4230,0.00,2.58,0.00,0.000,6,0.000,0.038,2720,2199,3656,0,0,0,0,0,0
$GC,4509,-1.64,-146.0,408.0,-10.0,263,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2199,3653,0,0,0,0,0,0
$GC,4754,-1.68,-146.0,430.5,-9.2,269,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2199,3651,0,0,0,0,0,0
$GC,4997,-1.72,-146.0,451.5,-8.6,275,5001,0.00,2.72,0.00,0.000,4,0.000,0.062,2721,3787,3650,0,0,0,0,0,0
$GC,5024,-1.72,-146.0,454.0,-8.8,275,5028,0.00,2.60,0.00,0.000,6,0.000,0.044,2721,2218,3650,0,0,0,0,0,0
$GC,5275,-1.76,-146.0,474.7,-8.2,281,5281,0.12,2.70,0.00,0.000,4,0.074,0.068,2681,3791,3647,0,0,0,0,0,0
$GC,5303,-1.76,-146.0,477.5,-9.6,281,5307,0.00,2.67,0.00,0.000,6,0.000,0.050,2681,2206,3647,0,0,0,0,0,0
$GC,5553,-1.76,-146.0,501.2,-9.3,287,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2206,3646,0,0,0,0,0,0
$GC,5798,-1.76,-146.0,523.5,-9.2,293,5803,0.00,2.97,0.00,0.000,4,0.000,0.118,2680,627,3644,0,0,0,0,0,0
$GC,5826,-1.72,-146.0,526.3,-9.9,293,5830,0.00,2.67,0.00,0.000,6,0.000,0.061,2680,2201,3644,0,0,0,0,0,0
$GC,6076,-1.72,-146.0,546.6,-7.8,299,6080,0.00,2.83,0.00,0.000,4,0.000,0.084,2680,3795,3642,0,0,0,0,0,0
$GC,6109,-1.72,-146.0,549.1,-8.0,299,6115,0.00,2.70,0.00,0.000,6,0.000,0.058,2680,2220,3643,0,0,0,0,0,0
$GC,6359,-1.72,-146.0,567.9,-7.6,306,6364,0.00,3.00,0.00,0.000,4,0.000,0.116,2680,623,3640,0,0,0,0,0,0
$GC,6399,-1.72,-146.0,571.2,-8.7,307,6404,0.00,2.75,0.00,0.000,6,0.000,0.064,2680,2209,3641,0,0,0,0,0,0
$GC,6683,-1.72,-146.0,594.8,-8.3,314,6688,0.00,2.95,0.00,0.000,4,0.000,0.108,2680,3801,3639,0,0,0,0,0,0
$GC,6733,-1.72,-146.0,599.6,-9.0,315,6736,0.00,2.10,0.00,0.000,3,0.000,0.067,2680,2580,3639,0,0,0,0,0,0
$STATE,6737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6737,begin apogee
$GC,6743,-0.31,0.0,600.1,9.7,315,6865,1.42,0.00,117.38,1.029,6,0.077,0.000,3003,2367,3060,0,0,0,0,0,0
$STATE,6867,end apogee,CONTROL_FINISHED_OK
$STATE,6867,begin climb
$GC,6869,1.27,146.0,604.1,0.0,318,7003,1.48,2.92,123.28,1.001,4,0.033,0.087,3361,3938,2463,0,0,0,0,0,0
$GC,7055,0.96,146.0,591.5,14.4,323,7061,0.38,2.80,0.00,0.000,6,0.110,0.067,3286,2366,2459,0,0,0,0,0,0
$GC,7340,0.83,146.0,562.0,10.1,330,7345,0.15,2.83,0.00,0.000,4,0.132,0.076,3257,3939,2454,0,0,0,0,0,0
$GC,7356,0.70,146.0,560.1,10.4,330,7361,0.15,2.72,0.00,0.000,6,0.125,0.055,3228,2361,2454,0,0,0,0,0,0
$GC,7619,0.76,196.5,539.6,7.7,337,7665,0.00,0.00,44.12,0.963,6,0.000,0.000,3228,2361,2258,0,0,0,0,0,0
$GC,7901,0.79,220.9,514.9,8.9,344,7930,0.00,3.12,21.77,0.927,4,0.000,0.110,3227,778,2159,0,0,0,0,0,0
$GC,7960,0.81,231.6,509.3,9.5,345,7979,0.10,2.75,11.07,0.858,6,0.097,0.059,3253,2370,2114,0,0,0,0,0,0
$GC,8229,0.81,231.6,477.5,12.1,352,8233,0.00,2.75,0.00,0.000,4,0.000,0.069,3252,3941,2110,0,0,0,0,0,0
$GC,8244,0.77,231.6,475.3,12.7,352,8249,0.00,2.62,0.00,0.000,6,0.000,0.041,3253,2365,2108,0,0,0,0,0,0
$GC,8506,0.77,231.6,443.2,12.1,359,8510,0.00,2.70,0.00,0.000,4,0.000,0.060,3253,3938,2108,0,0,0,0,0,0
$GC,8554,0.77,231.6,436.6,13.8,360,8559,0.00,2.62,0.00,0.000,6,0.000,0.038,3253,2370,2108,0,0,0,0,0,0
$GC,8827,0.77,231.6,405.6,11.3,367,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2370,2107,0,0,0,0,0,0
$GC,9072,0.77,231.6,377.2,11.7,373,9076,0.00,2.85,0.00,0.000,4,0.000,0.083,3253,775,2106,0,0,0,0,0,0
$GC,9104,0.73,231.6,372.8,13.3,373,9110,0.00,2.62,0.00,0.000,6,0.000,0.036,3253,2389,2105,0,0,0,0,0,0
$GC,9354,0.73,231.6,343.0,12.0,380,9358,0.00,2.58,0.00,0.000,4,0.000,0.052,3253,3931,2105,0,0,0,0,0,0
$GC,9427,0.73,231.6,334.0,11.7,381,9431,0.00,2.53,0.00,0.000,6,0.000,0.031,3253,2387,2104,0,0,0,0,0,0
$GC,9676,0.73,231.6,306.0,11.1,387,9681,0.00,2.60,0.00,0.000,4,0.000,0.051,3253,3935,2104,0,0,0,0,0,0
$GC,9754,0.73,231.6,297.0,12.0,388,9759,0.00,2.47,0.00,0.000,6,0.000,0.028,3253,2413,2104,0,0,0,0,0,0
$GC,10005,0.74,234.2,271.9,9.9,395,10010,0.00,2.72,0.00,0.000,4,0.000,0.056,3253,788,2104,0,0,0,0,0,0
$GC,10037,0.74,234.2,268.3,10.7,395,10043,0.00,2.62,0.00,0.000,6,0.000,0.031,3253,2405,2103,0,0,0,0,0,0
$GC,10288,0.76,252.3,245.3,9.2,402,10312,0.00,2.83,17.42,0.762,4,0.000,0.052,3253,787,2030,0,0,0,0,0,0
$GC,10352,0.76,252.3,239.1,10.2,403,10357,0.00,2.62,0.00,0.000,6,0.000,0.035,3253,2405,2029,0,0,0,0,0,0
$GC,10613,0.78,272.8,215.3,9.1,410,10637,0.00,2.60,19.25,0.729,4,0.000,0.048,3253,3932,1946,0,0,0,0,0,0
$GC,10665,0.78,272.8,209.8,11.2,411,10669,0.00,2.50,0.00,0.000,6,0.000,0.028,3253,2392,1945,0,0,0,0,0,0
$GC,10927,0.83,272.8,182.8,11.5,428,10931,0.00,2.58,0.00,0.000,4,0.000,0.044,3253,3937,1943,0,0,0,0,0,0
$GC,10972,0.87,272.8,176.7,12.7,431,10977,0.00,2.47,0.00,0.000,6,0.000,0.024,3253,2396,1943,0,0,0,0,0,0
$GC,11236,0.92,272.8,147.8,10.1,456,11241,0.10,2.67,0.00,0.000,4,0.093,0.048,3281,792,1943,0,0,0,0,0,0
$GC,11329,0.92,272.8,137.0,11.0,463,11335,0.00,2.53,0.00,0.000,6,0.000,0.023,3281,2397,1942,0,0,0,0,0,0
$GC,11593,0.92,272.8,110.0,10.0,488,11597,0.00,2.50,0.00,0.000,4,0.000,0.041,3281,3930,1942,0,0,0,0,0,0
$GC,11613,0.93,281.3,108.1,9.6,489,11627,0.00,2.47,8.48,0.562,6,0.000,0.024,3281,2374,1912,0,0,0,0,0,0
$GC,11893,0.93,281.3,80.2,10.5,515,11897,0.00,2.62,0.00,0.000,4,0.000,0.047,3281,782,1911,0,0,0,0,0,0
$GC,11915,0.93,281.3,77.3,10.1,516,11925,0.00,2.55,0.00,0.000,6,0.000,0.021,3281,2385,1910,0,0,0,0,0,0
$GC,12183,0.93,281.3,51.2,10.1,541,12191,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2385,1910,0,0,0,0,0,0
$GC,12466,0.93,281.6,21.8,10.0,572,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2385,1911,0,0,0,0,0,0
$STATE,12641,end climb,SURFACE_DEPTH_REACHED
$STATE,12641,begin surface coast
$FINISH,-0.3,1.009424
$STATE,12692,end surface coast,CONTROL_FINISHED_OK
$STATE,12693,begin surface
$SM_CCo,12714,96.12,0.529,0,0,1429,400.08
$SM_GC,0.39,0.00,0.00,96.12,0.000,0.000,0.529,468,2168,1429,-11.99,-1.19,400.08
$IRIDIUM_FIX,2237.01,-15807.58,080603,161654
$TT8_MAMPS,0.026845
$HUMID,59.49
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.30
$XPDR_PINGS,28
$24V_AH,23.3,2.956
$10V_AH,10.4,2.620
$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,27.675,173.675,362.775,96.125,0.000,28.189,34.666,193.458,7.000,0.000,31.701,1253.143,8497.416,574.837,2310.685,581.361,33.346,1440.713,0.000,2296.279,0.000,0.534,0.000
$DEVICE_MAMPS,132.691,118.118,1029.314,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,410.746,359.169,448.794,692.084,1319.291,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,47902,605
$CAP_FILE_SIZE,133894,0
$CFSIZE,260165632,178987008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140314,233959,2248.057,-15806.556,35,1.1,40,10.1