version: 66.06
glider: 146
mission: 9
dive: 67
start: 3 22 114 12 33 1
data:
$ID,146
$MISSION,9
$DIVE,67
$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,-324662.38
$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,51
$R_STBD_OVSHOOT,32
$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
$GPS1,122506,2248.448,-15738.316,27,1.0,27,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-68.1
$GPS2,123207,2248.495,-15738.321,12,1.6,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.072,0.250
$KALMAN_X,-53525.2,-193.7,216.5,82965.7,-370.9
$KALMAN_Y,42107.7,635.4,470.3,-44675.1,91.9
$MHEAD_RNG_PITCHd_Wd,5.9,31750,-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,-89.05,0.000,6,0.000,0.000,465,2183,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.3,-10.4,12,132,11.57,2.60,0.00,0.000,4,0.137,0.031,2719,3794,3657,0,0,0,0,0,0
$GC,195,-1.19,-146.0,27.4,-17.7,23,205,0.08,2.53,0.00,0.000,6,0.099,0.023,2739,2230,3658,0,0,0,0,0,0
$GC,475,-1.11,-146.0,61.5,-11.2,49,480,0.10,2.65,0.00,0.000,4,0.130,0.047,2760,629,3658,0,0,0,0,0,0
$GC,499,-1.05,-146.0,65.3,-11.6,50,509,0.00,2.50,0.00,0.000,6,0.000,0.018,2760,2219,3658,0,0,0,0,0,0
$GC,767,-1.00,-146.0,97.3,-13.1,75,773,0.12,0.00,0.00,0.000,6,0.109,0.000,2787,2221,3658,0,0,0,0,0,0
$GC,1030,-1.04,-146.0,123.9,-8.4,100,1035,0.00,2.60,0.00,0.000,4,0.000,0.044,2787,628,3659,0,0,0,0,0,0
$GC,1084,-1.09,-146.0,129.2,-9.6,104,1088,0.00,2.42,0.00,0.000,6,0.000,0.018,2787,2207,3658,0,0,0,0,0,0
$GC,1348,-1.15,-146.0,150.8,-7.3,128,1353,0.15,0.00,0.00,0.000,6,0.061,0.000,2730,2208,3659,0,0,0,0,0,0
$GC,1612,-1.11,-146.0,178.4,-10.1,153,1617,0.15,2.55,0.00,0.000,4,0.094,0.036,2764,3775,3660,0,0,0,0,0,0
$GC,1655,-1.17,-146.0,182.6,-8.7,156,1659,0.00,2.45,0.00,0.000,6,0.000,0.021,2763,2206,3660,0,0,0,0,0,0
$GC,1947,-1.21,-146.0,207.0,-8.2,177,1952,0.00,2.55,0.00,0.000,4,0.000,0.046,2764,639,3660,0,0,0,0,0,0
$GC,2054,-1.26,-146.0,217.2,-9.6,179,2059,0.15,2.42,0.00,0.000,6,0.060,0.019,2708,2214,3660,0,0,0,0,0,0
$GC,2315,-1.20,-146.0,242.8,-9.4,186,2320,0.15,2.55,0.00,0.000,4,0.096,0.039,2741,3782,3661,0,0,0,0,0,0
$GC,2350,-1.20,-146.0,245.6,-8.5,186,2355,0.00,2.45,0.00,0.000,6,0.000,0.019,2741,2212,3661,0,0,0,0,0,0
$GC,2600,-1.20,-146.0,266.9,-9.2,193,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2212,3661,0,0,0,0,0,0
$GC,2844,-1.24,-146.0,289.2,-9.4,199,2848,0.00,2.55,0.00,0.000,4,0.000,0.042,2741,3771,3660,0,0,0,0,0,0
$GC,2867,-1.27,-146.0,291.3,-8.8,199,2871,0.00,2.45,0.00,0.000,6,0.000,0.021,2741,2230,3661,0,0,0,0,0,0
$GC,3122,-1.31,-146.0,312.6,-8.3,206,3127,0.10,2.72,0.00,0.000,4,0.080,0.065,2699,634,3660,0,0,0,0,0,0
$GC,3151,-1.28,-146.0,315.2,-9.1,206,3156,0.12,2.50,0.00,0.000,6,0.104,0.030,2725,2207,3660,0,0,0,0,0,0
$GC,3401,-1.28,-146.0,336.1,-8.3,212,3405,0.00,2.62,0.00,0.000,4,0.000,0.051,2725,3794,3660,0,0,0,0,0,0
$GC,3422,-1.28,-146.0,338.0,-8.8,212,3427,0.00,2.53,0.00,0.000,6,0.000,0.032,2725,2214,3660,0,0,0,0,0,0
$GC,3679,-1.28,-146.0,357.5,-7.6,219,3684,0.00,2.65,0.00,0.000,4,0.000,0.050,2725,3792,3658,0,0,0,0,0,0
$GC,3752,-1.31,-146.0,364.2,-8.7,220,3757,0.00,2.53,0.00,0.000,6,0.000,0.034,2725,2230,3658,0,0,0,0,0,0
$GC,4002,-1.31,-146.0,386.3,-8.9,226,4007,0.00,2.80,0.00,0.000,4,0.000,0.077,2725,629,3656,0,0,0,0,0,0
$GC,4054,-1.35,-146.0,390.9,-9.5,227,4058,0.00,2.58,0.00,0.000,6,0.000,0.043,2725,2216,3655,0,0,0,0,0,0
$GC,4326,-1.35,-146.0,413.8,-8.3,234,4330,0.00,2.72,0.00,0.000,4,0.000,0.067,2725,629,3654,0,0,0,0,0,0
$GC,4358,-1.39,-146.0,416.6,-8.8,234,4366,0.08,2.60,0.00,0.000,6,0.044,0.043,2684,2212,3654,0,0,0,0,0,0
$GC,4610,-1.35,-146.0,437.1,-7.9,241,4612,0.12,0.00,0.00,0.000,6,0.127,0.000,2710,2212,3653,0,0,0,0,0,0
$GC,4852,-1.35,-146.0,455.8,-7.9,247,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2212,3651,0,0,0,0,0,0
$GC,5096,-1.35,-146.0,476.9,-8.6,253,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2212,3650,0,0,0,0,0,0
$GC,5341,-1.35,-146.0,495.1,-7.3,259,5345,0.00,2.75,0.00,0.000,4,0.000,0.081,2710,3797,3648,0,0,0,0,0,0
$GC,5407,-1.35,-146.0,500.2,-7.5,260,5412,0.00,2.65,0.00,0.000,6,0.000,0.048,2710,2215,3647,0,0,0,0,0,0
$GC,5662,-1.35,-146.0,517.3,-6.6,267,5667,0.00,2.75,0.00,0.000,4,0.000,0.067,2710,3796,3646,0,0,0,0,0,0
$GC,5748,-1.35,-146.0,523.0,-7.0,269,5752,0.00,2.65,0.00,0.000,6,0.000,0.051,2710,2237,3646,0,0,0,0,0,0
$GC,6031,-1.35,-146.0,539.4,-5.6,276,6035,0.00,2.72,0.00,0.000,4,0.000,0.081,2711,3792,3644,0,0,0,0,0,0
$GC,6052,-1.35,-146.0,540.8,-6.5,276,6057,0.00,2.65,0.00,0.000,6,0.000,0.052,2710,2237,3644,0,0,0,0,0,0
$GC,6309,-1.35,-146.0,557.0,-6.6,283,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2237,3641,0,0,0,0,0,0
$GC,6551,-1.39,-146.0,574.1,-7.2,289,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2237,3640,0,0,0,0,0,0
$GC,6795,-1.43,-146.0,591.1,-6.9,295,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2237,3639,0,0,0,0,0,0
$STATE,6955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6955,begin apogee
$GC,6962,-0.31,0.0,601.5,6.4,299,7084,1.00,0.00,118.22,1.023,6,0.072,0.000,2936,2372,3060,0,0,0,0,0,0
$STATE,7085,end apogee,CONTROL_FINISHED_OK
$STATE,7085,begin climb
$GC,7087,1.27,146.0,602.9,0.0,302,7224,1.48,2.97,124.30,0.993,4,0.036,0.088,3294,3928,2463,0,0,0,0,0,0
$GC,7230,1.12,146.0,593.0,10.6,305,7236,0.22,2.78,0.00,0.000,6,0.103,0.062,3248,2363,2461,0,0,0,0,0,0
$GC,7481,1.07,149.6,567.7,9.8,311,7485,0.00,2.80,0.00,0.000,4,0.000,0.071,3249,3930,2454,0,0,0,0,0,0
$GC,7503,1.01,156.4,565.5,9.7,311,7520,0.12,2.72,9.05,0.844,6,0.122,0.054,3224,2366,2422,0,0,0,0,0,0
$GC,7763,1.04,184.8,542.5,8.7,318,7797,0.00,3.10,26.33,0.945,4,0.000,0.117,3224,783,2305,0,0,0,0,0,0
$GC,7831,1.04,184.8,536.0,10.1,319,7835,0.00,2.70,0.00,0.000,6,0.000,0.051,3224,2364,2303,0,0,0,0,0,0
$GC,8088,1.06,202.1,512.5,9.2,326,8112,0.00,2.83,16.33,0.909,4,0.000,0.068,3224,3942,2235,0,0,0,0,0,0
$GC,8168,1.06,202.1,504.1,11.1,327,8174,0.00,2.67,0.00,0.000,6,0.000,0.041,3224,2371,2232,0,0,0,0,0,0
$GC,8419,1.07,208.7,479.7,9.7,334,8433,0.00,2.80,6.70,0.776,4,0.000,0.057,3224,3942,2209,0,0,0,0,0,0
$GC,8462,1.07,208.7,475.0,10.9,335,8467,0.00,2.62,0.00,0.000,6,0.000,0.039,3224,2378,2207,0,0,0,0,0,0
$GC,8746,1.07,210.0,446.5,9.9,342,8751,0.00,2.88,0.00,0.000,4,0.000,0.091,3224,783,2205,0,0,0,0,0,0
$GC,8768,1.07,210.0,444.3,10.0,342,8773,0.00,2.65,0.00,0.000,6,0.000,0.038,3224,2392,2205,0,0,0,0,0,0
$GC,9024,1.13,221.7,420.0,9.5,349,9044,0.12,2.90,12.52,0.854,4,0.080,0.067,3259,781,2155,0,0,0,0,0,0
$GC,9055,1.10,221.7,416.7,10.8,349,9060,0.00,2.62,0.00,0.000,6,0.000,0.034,3260,2364,2154,0,0,0,0,0,0
$GC,9306,1.10,221.7,391.1,10.0,355,9311,0.00,2.72,0.00,0.000,4,0.000,0.062,3260,779,2154,0,0,0,0,0,0
$GC,9327,1.10,221.7,388.6,10.3,355,9332,0.00,2.55,0.00,0.000,6,0.000,0.038,3259,2340,2153,0,0,0,0,0,0
$GC,9583,1.10,223.4,363.2,9.9,362,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2340,2152,0,0,0,0,0,0
$GC,9828,1.10,223.4,337.2,10.9,368,9832,0.00,2.70,0.00,0.000,4,0.000,0.054,3259,3939,2152,0,0,0,0,0,0
$GC,9912,1.10,223.4,327.1,11.6,370,9916,0.00,2.60,0.00,0.000,6,0.000,0.028,3259,2350,2150,0,0,0,0,0,0
$GC,10194,1.10,223.4,297.3,10.6,377,10199,0.00,2.65,0.00,0.000,4,0.000,0.059,3259,777,2150,0,0,0,0,0,0
$GC,10211,1.10,223.4,295.4,11.0,377,10215,0.00,2.55,0.00,0.000,6,0.000,0.032,3260,2363,2150,0,0,0,0,0,0
$GC,10471,1.10,223.4,267.9,10.4,384,10476,0.00,2.65,0.00,0.000,4,0.000,0.049,3260,779,2150,0,0,0,0,0,0
$GC,10493,1.10,223.4,265.4,11.0,384,10497,0.00,2.50,0.00,0.000,6,0.000,0.025,3260,2356,2150,0,0,0,0,0,0
$GC,10749,1.11,234.9,240.4,9.5,391,10764,0.00,0.00,12.45,0.723,6,0.000,0.000,3260,2356,2102,0,0,0,0,0,0
$GC,10992,1.13,253.7,217.7,9.1,397,11017,0.00,2.70,17.67,0.714,4,0.000,0.046,3260,3923,2024,0,0,0,0,0,0
$GC,11117,1.13,253.7,204.4,10.8,399,11123,0.00,2.55,0.00,0.000,6,0.000,0.027,3259,2354,2022,0,0,0,0,0,0
$GC,11384,1.17,253.7,177.6,10.5,421,11388,0.00,2.60,0.00,0.000,4,0.000,0.049,3259,775,2021,0,0,0,0,0,0
$GC,11429,1.22,253.7,171.8,10.9,424,11434,0.00,2.53,0.00,0.000,6,0.000,0.024,3259,2364,2021,0,0,0,0,0,0
$GC,11697,1.28,258.4,143.6,9.8,449,11709,0.10,2.58,5.38,0.515,4,0.092,0.044,3289,3924,2004,0,0,0,0,0,0
$GC,11799,1.28,258.4,130.0,13.0,457,11805,0.00,2.50,0.00,0.000,6,0.000,0.025,3289,2371,2004,0,0,0,0,0,0
$GC,12063,1.28,258.4,101.9,10.2,482,12067,0.00,2.60,0.00,0.000,4,0.000,0.049,3289,786,2004,0,0,0,0,0,0
$GC,12119,1.28,258.4,95.4,10.6,486,12129,0.00,2.50,0.00,0.000,6,0.000,0.023,3289,2355,2004,0,0,0,0,0,0
$GC,12388,1.28,258.4,68.2,10.7,511,12392,0.00,2.58,0.00,0.000,4,0.000,0.043,3289,3930,2004,0,0,0,0,0,0
$GC,12420,1.28,258.4,63.8,11.4,513,12425,0.00,2.53,0.00,0.000,6,0.000,0.025,3289,2354,2004,0,0,0,0,0,0
$GC,12689,1.29,271.3,36.0,9.4,537,12708,0.00,0.00,13.55,0.528,6,0.000,0.000,3289,2355,1951,0,0,0,0,0,0
$STATE,12949,end climb,SURFACE_DEPTH_REACHED
$STATE,12949,begin surface coast
$FINISH,-0.2,1.023928
$STATE,12998,end surface coast,CONTROL_FINISHED_OK
$STATE,12998,begin surface
$SM_CCo,13021,87.00,0.525,0,0,1510,380.21
$SM_GC,0.37,0.00,0.00,87.00,0.000,0.000,0.525,465,2162,1510,-11.68,-1.36,380.21
$IRIDIUM_FIX,2239.35,-15740.24,160603,080843
$TT8_MAMPS,0.026078
$HUMID,59.68
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,15
$24V_AH,23.3,9.593
$10V_AH,10.4,8.388
$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,27.275,163.800,362.500,87.000,0.000,31.257,46.946,205.516,3.750,0.000,15.132,1212.824,9055.686,566.630,2084.078,608.205,33.359,1392.847,0.000,2088.540,0.000,0.534,0.000
$DEVICE_MAMPS,137.293,116.584,1023.178,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,394.330,325.474,410.340,593.212,1129.461,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,44596,581
$CAP_FILE_SIZE,133057,0
$CFSIZE,260165632,175902720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220314,161236,2250.341,-15738.043,25,1.4,25,10.1