version: 66.06
glider: 146
mission: 9
dive: 64
start: 3 22 114 1 28 33
data:
$ID,146
$MISSION,9
$DIVE,64
$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,-324612.19
$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,60
$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
$GPS1,011653,2241.123,-15738.219,46,1.1,63,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-67.6
$GPS2,012737,2241.207,-15738.356,14,1.0,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.145,0.215
$KALMAN_X,-50166.4,-288.3,181.2,79685.5,-1386.5
$KALMAN_Y,38502.6,-439.3,265.8,-53289.1,631.4
$MHEAD_RNG_PITCHd_Wd,24.0,45139,-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,15,-1.27,-145.9,0.0,0.0,0,112,0.00,0.00,-89.62,0.000,6,0.000,0.000,463,2169,3656,0,0,0,0,0,0
$GC,116,-1.27,-145.9,4.0,-10.1,12,133,11.55,2.62,0.00,0.000,4,0.136,0.031,2720,3783,3657,0,0,0,0,0,0
$GC,191,-1.18,-145.9,25.2,-14.3,22,201,0.10,2.50,0.00,0.000,6,0.099,0.024,2744,2235,3657,0,0,0,0,0,0
$GC,469,-1.10,-145.9,58.9,-12.1,49,473,0.00,2.62,0.00,0.000,4,0.000,0.047,2744,636,3658,0,0,0,0,0,0
$GC,490,-1.02,-145.9,62.2,-12.4,50,495,0.17,2.47,0.00,0.000,6,0.102,0.018,2780,2226,3658,0,0,0,0,0,0
$GC,753,-1.02,-145.9,91.1,-10.5,74,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2226,3658,0,0,0,0,0,0
$GC,1008,-1.02,-146.0,118.0,-9.9,98,1012,0.00,2.50,0.00,0.000,4,0.000,0.037,2780,3781,3658,0,0,0,0,0,0
$GC,1043,-1.07,-146.0,121.6,-10.0,100,1052,0.00,2.53,0.00,0.000,6,0.000,0.022,2780,2202,3659,0,0,0,0,0,0
$GC,1311,-1.12,-146.0,146.7,-9.3,125,1315,0.00,2.55,0.00,0.000,4,0.000,0.045,2780,636,3659,0,0,0,0,0,0
$GC,1367,-1.19,-146.0,152.6,-9.6,129,1376,0.12,2.45,0.00,0.000,6,0.036,0.025,2727,2195,3659,0,0,0,0,0,0
$GC,1636,-1.14,-146.0,180.9,-10.9,154,1641,0.12,2.55,0.00,0.000,4,0.104,0.036,2754,3776,3659,0,0,0,0,0,0
$GC,1688,-1.14,-146.0,187.1,-9.7,158,1692,0.00,2.45,0.00,0.000,6,0.000,0.020,2753,2201,3659,0,0,0,0,0,0
$GC,1957,-1.14,-146.0,211.0,-9.1,174,1961,0.00,2.58,0.00,0.000,4,0.000,0.038,2754,3781,3659,0,0,0,0,0,0
$GC,1978,-1.14,-146.0,213.2,-8.5,174,1982,0.00,2.45,0.00,0.000,6,0.000,0.020,2753,2206,3660,0,0,0,0,0,0
$GC,2234,-1.19,-146.0,233.6,-7.7,181,2239,0.00,2.58,0.00,0.000,4,0.000,0.049,2753,634,3659,0,0,0,0,0,0
$GC,2292,-1.24,-146.0,237.8,-7.3,182,2296,0.00,2.45,0.00,0.000,6,0.000,0.028,2754,2200,3659,0,0,0,0,0,0
$GC,2558,-1.29,-146.0,257.0,-7.2,189,2563,0.12,2.60,0.00,0.000,4,0.071,0.050,2706,3783,3659,0,0,0,0,0,0
$GC,2574,-1.29,-146.0,258.5,-7.8,189,2579,0.00,2.50,0.00,0.000,6,0.000,0.021,2706,2200,3660,0,0,0,0,0,0
$GC,2837,-1.25,-146.0,282.4,-9.2,196,2842,0.12,2.60,0.00,0.000,4,0.103,0.043,2733,3776,3659,0,0,0,0,0,0
$GC,2859,-1.25,-146.0,284.7,-9.1,196,2863,0.00,2.50,0.00,0.000,6,0.000,0.023,2733,2192,3659,0,0,0,0,0,0
$GC,3115,-1.25,-146.0,307.9,-9.4,203,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2192,3658,0,0,0,0,0,0
$GC,3358,-1.29,-146.0,330.7,-9.5,209,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2192,3657,0,0,0,0,0,0
$GC,3602,-1.33,-146.0,353.9,-9.5,215,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2192,3656,0,0,0,0,0,0
$GC,3845,-1.37,-146.0,373.9,-8.0,221,3847,0.12,0.00,0.00,0.000,6,0.071,0.000,2687,2192,3654,0,0,0,0,0,0
$GC,4090,-1.34,-146.0,395.1,-8.6,227,4095,0.12,2.70,0.00,0.000,4,0.106,0.056,2714,3778,3653,0,0,0,0,0,0
$GC,4168,-1.34,-146.0,401.7,-7.9,228,4174,0.00,2.55,0.00,0.000,6,0.000,0.036,2713,2217,3653,0,0,0,0,0,0
$GC,4418,-1.34,-146.0,419.2,-6.8,235,4423,0.00,2.85,0.00,0.000,4,0.000,0.088,2713,619,3651,0,0,0,0,0,0
$GC,4435,-1.34,-146.0,420.3,-6.7,235,4440,0.00,2.60,0.00,0.000,6,0.000,0.040,2713,2192,3651,0,0,0,0,0,0
$GC,4696,-1.34,-146.0,438.3,-7.0,242,4700,0.00,2.70,0.00,0.000,4,0.000,0.061,2713,3797,3649,0,0,0,0,0,0
$GC,4769,-1.34,-146.0,444.4,-8.5,243,4773,0.00,2.60,0.00,0.000,6,0.000,0.044,2713,2218,3648,0,0,0,0,0,0
$GC,5019,-1.34,-146.0,466.2,-9.0,249,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2218,3647,0,0,0,0,0,0
$GC,5262,-1.34,-146.0,486.8,-8.3,255,5267,0.00,2.72,0.00,0.000,4,0.000,0.070,2713,3795,3645,0,0,0,0,0,0
$GC,5302,-1.37,-146.0,490.2,-8.7,256,5307,0.00,2.62,0.00,0.000,6,0.000,0.052,2713,2221,3645,0,0,0,0,0,0
$GC,5586,-1.37,-146.0,511.9,-7.3,263,5591,0.00,2.72,0.00,0.000,4,0.000,0.068,2713,3797,3644,0,0,0,0,0,0
$GC,5602,-1.37,-146.0,513.3,-7.2,263,5606,0.00,2.65,0.00,0.000,6,0.000,0.051,2713,2214,3643,0,0,0,0,0,0
$GC,5863,-1.37,-146.0,530.7,-6.7,270,5868,0.00,3.00,0.00,0.000,4,0.000,0.115,2713,626,3642,0,0,0,0,0,0
$GC,5909,-1.41,-146.0,534.1,-8.2,271,5913,0.00,2.70,0.00,0.000,6,0.000,0.052,2713,2220,3642,0,0,0,0,0,0
$GC,6187,-1.45,-146.0,554.0,-7.1,278,6192,0.12,2.78,0.00,0.000,4,0.071,0.080,2671,3794,3640,0,0,0,0,0,0
$GC,6216,-1.41,-146.0,556.4,-9.5,278,6221,0.12,2.65,0.00,0.000,6,0.110,0.053,2697,2231,3640,0,0,0,0,0,0
$GC,6466,-1.41,-146.0,576.2,-7.8,284,6470,0.00,2.78,0.00,0.000,4,0.000,0.084,2696,3792,3638,0,0,0,0,0,0
$GC,6526,-1.41,-146.0,581.2,-8.7,285,6531,0.00,2.67,0.00,0.000,6,0.000,0.063,2697,2245,3638,0,0,0,0,0,0
$STATE,6785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6785,begin apogee
$GC,6792,-0.31,0.0,602.5,8.3,292,6914,1.05,0.00,117.88,1.022,6,0.073,0.000,2934,2379,3060,0,0,0,0,0,0
$STATE,6914,end apogee,CONTROL_FINISHED_OK
$STATE,6915,begin climb
$GC,6917,1.27,146.0,606.5,0.0,295,7046,1.48,0.00,125.18,0.996,6,0.035,0.000,3292,2379,2464,0,0,0,0,0,0
$GC,7272,1.14,146.0,576.1,11.2,304,7278,0.20,2.80,0.00,0.000,4,0.113,0.076,3252,3936,2456,0,0,0,0,0,0
$GC,7373,1.06,146.0,565.1,10.7,306,7378,0.00,2.70,0.00,0.000,6,0.000,0.053,3252,2369,2454,0,0,0,0,0,0
$GC,7641,1.02,158.9,540.0,9.4,313,7654,0.12,0.00,10.77,0.873,6,0.127,0.000,3228,2369,2412,0,0,0,0,0,0
$GC,7883,1.07,197.4,519.8,8.2,319,7925,0.00,3.05,35.62,0.948,4,0.000,0.107,3228,782,2254,0,0,0,0,0,0
$GC,7980,1.07,197.4,510.7,10.1,321,7984,0.00,2.70,0.00,0.000,6,0.000,0.054,3228,2370,2250,0,0,0,0,0,0
$GC,8260,1.08,203.1,484.2,9.7,328,8267,0.00,0.00,5.65,0.726,6,0.000,0.000,3228,2370,2231,0,0,0,0,0,0
$GC,8502,1.08,203.1,458.5,10.6,334,8507,0.00,2.85,0.00,0.000,4,0.000,0.071,3228,771,2229,0,0,0,0,0,0
$GC,8536,1.08,203.1,454.8,11.4,334,8541,0.00,2.67,0.00,0.000,6,0.000,0.041,3228,2372,2228,0,0,0,0,0,0
$GC,8787,1.08,203.1,428.5,10.5,341,8791,0.00,2.67,0.00,0.000,4,0.000,0.057,3228,3942,2228,0,0,0,0,0,0
$GC,8880,1.08,203.1,418.0,11.0,343,8885,0.00,2.58,0.00,0.000,6,0.000,0.033,3228,2374,2226,0,0,0,0,0,0
$GC,9153,1.08,207.3,391.3,9.8,350,9162,0.00,2.80,4.32,0.617,4,0.000,0.074,3228,782,2215,0,0,0,0,0,0
$GC,9180,1.08,207.3,388.5,10.5,350,9184,0.00,2.62,0.00,0.000,6,0.000,0.031,3228,2396,2215,0,0,0,0,0,0
$GC,9429,1.08,207.3,363.3,10.1,356,9434,0.00,2.58,0.00,0.000,4,0.000,0.052,3228,3928,2214,0,0,0,0,0,0
$GC,9462,1.08,207.3,359.6,11.3,356,9468,0.00,2.55,0.00,0.000,6,0.000,0.029,3228,2373,2214,0,0,0,0,0,0
$GC,9713,1.15,226.2,335.7,9.1,363,9738,0.12,2.83,18.35,0.828,4,0.081,0.064,3262,782,2137,0,0,0,0,0,0
$GC,9765,1.15,226.2,330.0,12.0,364,9770,0.00,2.58,0.00,0.000,6,0.000,0.028,3262,2372,2135,0,0,0,0,0,0
$GC,10039,1.15,226.2,300.2,11.0,371,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2372,2134,0,0,0,0,0,0
$GC,10281,1.15,226.2,274.4,10.5,377,10285,0.00,2.60,0.00,0.000,4,0.000,0.050,3261,3934,2134,0,0,0,0,0,0
$GC,10320,1.15,226.2,269.9,11.8,378,10324,0.00,2.58,0.00,0.000,6,0.000,0.028,3262,2355,2133,0,0,0,0,0,0
$GC,10602,1.15,226.2,240.6,10.1,385,10603,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2355,2133,0,0,0,0,0,0
$GC,10848,1.15,226.2,215.9,10.1,391,10852,0.00,2.62,0.00,0.000,4,0.000,0.053,3262,784,2133,0,0,0,0,0,0
$GC,10863,1.16,231.1,214.2,9.8,391,10873,0.00,2.53,5.15,0.578,6,0.000,0.024,3262,2375,2117,0,0,0,0,0,0
$GC,11127,1.18,251.0,189.5,9.1,404,11152,0.00,2.70,18.95,0.700,4,0.000,0.044,3262,776,2034,0,0,0,0,0,0
$GC,11170,1.20,268.9,185.5,9.2,407,11193,0.00,2.53,17.05,0.679,6,0.000,0.028,3262,2357,1963,0,0,0,0,0,0
$GC,11457,1.24,270.7,158.0,9.9,434,11461,0.00,2.58,0.00,0.000,4,0.000,0.044,3262,3924,1959,0,0,0,0,0,0
$GC,11510,1.30,270.7,152.3,11.4,438,11515,0.10,2.53,0.00,0.000,6,0.085,0.025,3294,2357,1957,0,0,0,0,0,0
$GC,11772,1.30,270.7,122.6,11.1,462,11776,0.00,2.60,0.00,0.000,4,0.000,0.048,3294,785,1958,0,0,0,0,0,0
$GC,11793,1.30,270.7,119.9,10.9,463,11799,0.00,2.47,0.00,0.000,6,0.000,0.021,3294,2365,1957,0,0,0,0,0,0
$GC,12056,1.30,270.7,92.2,10.4,488,12060,0.00,2.55,0.00,0.000,4,0.000,0.042,3294,3928,1957,0,0,0,0,0,0
$GC,12079,1.30,270.7,89.5,10.8,489,12085,0.00,2.53,0.00,0.000,6,0.000,0.025,3294,2352,1957,0,0,0,0,0,0
$GC,12347,1.30,270.7,61.2,11.1,514,12351,0.00,2.58,0.00,0.000,4,0.000,0.042,3294,3922,1957,0,0,0,0,0,0
$GC,12367,1.30,270.7,58.6,11.2,515,12371,0.00,2.53,0.00,0.000,6,0.000,0.025,3294,2345,1957,0,0,0,0,0,0
$GC,12636,1.30,270.7,30.6,10.7,539,12640,0.00,2.60,0.00,0.000,4,0.000,0.044,3294,3923,1958,0,0,0,0,0,0
$GC,12697,1.30,270.7,22.7,12.3,547,12707,0.00,2.50,0.00,0.000,6,0.000,0.026,3294,2374,1958,0,0,0,0,0,0
$STATE,12865,end climb,SURFACE_DEPTH_REACHED
$STATE,12866,begin surface coast
$FINISH,-0.1,1.023898
$STATE,12911,end surface coast,CONTROL_FINISHED_OK
$STATE,12911,begin surface
$SM_CCo,12932,89.38,0.524,0,0,1510,380.21
$SM_GC,0.56,0.00,0.00,89.38,0.000,0.000,0.524,469,2137,1510,-11.66,-2.06,380.21
$IRIDIUM_FIX,2232.34,-15735.92,160603,010158
$TT8_MAMPS,0.026078
$HUMID,59.41
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,17
$24V_AH,23.3,9.216
$10V_AH,10.4,8.046
$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,27.225,168.275,358.925,89.375,0.000,57.896,68.501,304.431,4.250,0.000,16.284,1213.259,9071.082,581.422,2041.228,757.056,33.362,1370.926,0.000,2043.855,0.000,0.536,0.000
$DEVICE_MAMPS,135.759,115.050,1022.411,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.551,322.640,407.641,593.245,1130.815,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,44879,578
$CAP_FILE_SIZE,134739,0
$CFSIZE,260165632,176087040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220314,050653,2243.068,-15738.369,36,1.6,36,10.1