version: 66.06
glider: 146
mission: 9
dive: 70
start: 3 22 114 23 59 55
data:
$ID,146
$MISSION,9
$DIVE,70
$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,-324741.97
$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,55
$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
$GPS1,234933,2254.274,-15737.346,9,99.0,28,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-69.1
$GPS2,235902,2254.288,-15737.381,12,99.0,31,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.120,0.230
$KALMAN_X,-55793.1,345.7,53.3,86459.3,-892.5
$KALMAN_Y,45364.8,-465.7,376.3,-36007.5,585.5
$MHEAD_RNG_PITCHd_Wd,17.4,20903,-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,13,begin dive
$GC,15,-1.27,-145.9,0.0,0.0,0,111,0.00,0.00,-88.80,0.000,6,0.000,0.000,465,2172,3654,0,0,0,0,0,0
$GC,114,-1.27,-145.9,4.1,-10.3,12,131,11.82,0.00,0.00,0.000,6,0.143,0.000,2720,2171,3656,0,0,0,0,0,0
$GC,414,-1.15,-145.9,56.0,-14.3,46,419,0.15,2.65,0.00,0.000,4,0.109,0.035,2752,3790,3657,0,0,0,0,0,0
$GC,437,-1.04,-145.9,59.2,-14.2,47,442,0.12,2.45,0.00,0.000,6,0.106,0.021,2778,2227,3657,0,0,0,0,0,0
$GC,703,-1.04,-145.9,88.9,-10.9,71,707,0.00,2.60,0.00,0.000,4,0.000,0.045,2778,632,3657,0,0,0,0,0,0
$GC,735,-1.04,-145.9,92.7,-11.4,73,739,0.00,2.45,0.00,0.000,6,0.000,0.018,2778,2218,3657,0,0,0,0,0,0
$GC,1000,-1.04,-145.9,122.0,-11.3,97,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2218,3658,0,0,0,0,0,0
$GC,1262,-1.04,-146.0,149.9,-9.6,122,1267,0.00,2.58,0.00,0.000,4,0.000,0.044,2778,640,3658,0,0,0,0,0,0
$GC,1296,-1.04,-146.0,152.8,-9.7,124,1300,0.00,2.42,0.00,0.000,6,0.000,0.024,2778,2218,3658,0,0,0,0,0,0
$GC,1563,-1.10,-146.0,176.6,-8.0,148,1567,0.00,2.50,0.00,0.000,4,0.000,0.036,2778,3778,3659,0,0,0,0,0,0
$GC,1627,-1.19,-146.0,182.4,-8.7,153,1632,0.15,2.42,0.00,0.000,6,0.061,0.020,2720,2219,3658,0,0,0,0,0,0
$GC,1887,-1.14,-146.0,208.5,-9.9,171,1889,0.15,0.00,0.00,0.000,6,0.096,0.000,2753,2219,3659,0,0,0,0,0,0
$GC,2130,-1.14,-146.0,230.6,-9.0,177,2134,0.00,2.53,0.00,0.000,4,0.000,0.038,2753,3772,3659,0,0,0,0,0,0
$GC,2151,-1.14,-146.0,232.7,-9.1,177,2155,0.00,2.40,0.00,0.000,6,0.000,0.019,2753,2227,3659,0,0,0,0,0,0
$GC,2406,-1.14,-146.0,252.6,-7.8,184,2410,0.00,2.60,0.00,0.000,4,0.000,0.051,2753,644,3659,0,0,0,0,0,0
$GC,2463,-1.21,-146.0,256.9,-7.4,185,2467,0.00,2.45,0.00,0.000,6,0.000,0.022,2753,2207,3659,0,0,0,0,0,0
$GC,2729,-1.26,-146.0,277.2,-7.8,192,2734,0.10,2.58,0.00,0.000,4,0.081,0.044,2708,3779,3659,0,0,0,0,0,0
$GC,2751,-1.26,-146.0,279.2,-8.6,192,2756,0.10,2.47,0.00,0.000,6,0.110,0.021,2730,2216,3659,0,0,0,0,0,0
$GC,3007,-1.26,-146.0,300.7,-8.4,199,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2216,3658,0,0,0,0,0,0
$GC,3250,-1.26,-146.0,320.2,-8.1,205,3255,0.00,2.67,0.00,0.000,4,0.000,0.064,2731,639,3658,0,0,0,0,0,0
$GC,3277,-1.26,-146.0,322.7,-8.7,205,3281,0.00,2.50,0.00,0.000,6,0.000,0.031,2730,2209,3657,0,0,0,0,0,0
$GC,3528,-1.26,-146.0,342.5,-7.9,211,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2209,3656,0,0,0,0,0,0
$GC,3771,-1.30,-146.0,361.1,-7.7,217,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2209,3655,0,0,0,0,0,0
$GC,4015,-1.34,-146.0,380.7,-8.1,223,4019,0.00,2.67,0.00,0.000,4,0.000,0.054,2730,3793,3654,0,0,0,0,0,0
$GC,4056,-1.39,-146.0,383.9,-8.4,224,4061,0.12,2.55,0.00,0.000,6,0.070,0.035,2685,2233,3654,0,0,0,0,0,0
$GC,4340,-1.35,-146.0,410.8,-9.2,231,4342,0.12,0.00,0.00,0.000,6,0.106,0.000,2711,2234,3651,0,0,0,0,0,0
$GC,4583,-1.35,-146.0,429.9,-7.9,237,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2234,3650,0,0,0,0,0,0
$GC,4828,-1.35,-146.0,446.7,-6.6,243,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2234,3648,0,0,0,0,0,0
$GC,5070,-1.35,-146.0,463.5,-7.0,249,5075,0.00,2.67,0.00,0.000,4,0.000,0.067,2711,3786,3646,0,0,0,0,0,0
$GC,5097,-1.35,-146.0,465.6,-7.6,249,5102,0.00,2.60,0.00,0.000,6,0.000,0.048,2711,2231,3646,0,0,0,0,0,0
$GC,5349,-1.35,-146.0,484.8,-7.9,255,5353,0.00,2.95,0.00,0.000,4,0.000,0.104,2710,621,3645,0,0,0,0,0,0
$GC,5364,-1.35,-146.0,486.4,-8.2,255,5369,0.00,2.70,0.00,0.000,6,0.000,0.050,2711,2234,3645,0,0,0,0,0,0
$GC,5625,-1.35,-146.0,508.4,-8.5,262,5630,0.00,2.70,0.00,0.000,4,0.000,0.069,2711,3798,3644,0,0,0,0,0,0
$GC,5660,-1.35,-146.0,511.4,-9.3,262,5665,0.00,2.62,0.00,0.000,6,0.000,0.047,2711,2235,3643,0,0,0,0,0,0
$GC,5910,-1.35,-146.0,530.0,-7.3,269,5914,0.00,3.00,0.00,0.000,4,0.000,0.112,2711,627,3642,0,0,0,0,0,0
$GC,5931,-1.35,-146.0,531.6,-7.2,269,5936,0.00,2.72,0.00,0.000,6,0.000,0.051,2711,2246,3642,0,0,0,0,0,0
$GC,6188,-1.39,-146.0,549.1,-6.8,276,6192,0.00,2.75,0.00,0.000,4,0.000,0.084,2711,3800,3640,0,0,0,0,0,0
$GC,6215,-1.39,-146.0,551.2,-7.5,276,6219,0.00,2.65,0.00,0.000,6,0.000,0.051,2711,2239,3640,0,0,0,0,0,0
$GC,6465,-1.39,-146.0,567.9,-6.7,282,6469,0.00,3.05,0.00,0.000,4,0.000,0.117,2711,624,3639,0,0,0,0,0,0
$GC,6486,-1.39,-146.0,569.6,-7.5,282,6491,0.00,2.75,0.00,0.000,6,0.000,0.058,2711,2244,3639,0,0,0,0,0,0
$GC,6743,-1.43,-146.0,588.3,-7.5,289,6747,0.00,2.80,0.00,0.000,4,0.000,0.095,2711,3795,3637,0,0,0,0,0,0
$GC,6770,-1.43,-146.0,590.7,-8.2,289,6774,0.00,2.67,0.00,0.000,6,0.000,0.070,2711,2243,3637,0,0,0,0,0,0
$STATE,6895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6895,begin apogee
$GC,6903,-0.31,0.0,600.1,7.4,292,7024,1.00,0.00,118.03,1.018,6,0.071,0.000,2938,2378,3060,0,0,0,0,0,0
$STATE,7026,end apogee,CONTROL_FINISHED_OK
$STATE,7026,begin climb
$GC,7029,1.27,146.0,602.1,0.0,295,7165,1.42,2.85,124.35,0.990,4,0.037,0.085,3289,3929,2462,0,0,0,0,0,0
$GC,7217,1.11,146.0,586.5,13.5,299,7222,0.20,2.72,0.00,0.000,6,0.105,0.060,3248,2370,2458,0,0,0,0,0,0
$GC,7478,1.06,146.0,557.3,11.0,306,7483,0.00,2.78,0.00,0.000,4,0.000,0.068,3248,3935,2453,0,0,0,0,0,0
$GC,7501,0.99,146.0,554.7,10.9,306,7506,0.15,2.67,0.00,0.000,6,0.114,0.058,3218,2376,2452,0,0,0,0,0,0
$GC,7757,1.00,160.4,530.7,9.3,313,7771,0.00,0.00,12.12,0.878,6,0.000,0.000,3218,2376,2405,0,0,0,0,0,0
$GC,8000,1.03,183.4,508.5,8.9,319,8029,0.00,3.10,21.73,0.919,4,0.000,0.112,3217,782,2310,0,0,0,0,0,0
$GC,8036,1.04,193.0,505.1,9.6,319,8052,0.00,2.75,10.02,0.832,6,0.000,0.048,3217,2383,2273,0,0,0,0,0,0
$GC,8324,1.07,214.9,478.8,9.0,327,8347,0.00,0.00,20.70,0.901,6,0.000,0.000,3218,2383,2182,0,0,0,0,0,0
$GC,8569,1.14,227.5,456.3,9.4,333,8588,0.15,2.90,11.98,0.848,4,0.092,0.071,3258,786,2132,0,0,0,0,0,0
$GC,8606,1.09,227.5,452.0,11.6,333,8612,0.00,2.65,0.00,0.000,6,0.000,0.038,3258,2367,2131,0,0,0,0,0,0
$GC,8856,1.09,227.5,423.1,11.5,340,8860,0.00,2.67,0.00,0.000,4,0.000,0.054,3258,3940,2129,0,0,0,0,0,0
$GC,8877,1.06,227.5,420.5,12.0,340,8882,0.12,2.60,0.00,0.000,6,0.119,0.031,3234,2357,2128,0,0,0,0,0,0
$GC,9134,1.10,227.5,394.1,10.3,347,9135,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2357,2127,0,0,0,0,0,0
$GC,9377,1.15,240.7,370.7,9.4,353,9396,0.00,2.75,12.45,0.816,4,0.000,0.048,3234,3932,2077,0,0,0,0,0,0
$GC,9424,1.15,240.7,365.8,11.4,354,9429,0.00,2.58,0.00,0.000,6,0.000,0.035,3234,2360,2075,0,0,0,0,0,0
$GC,9704,1.21,250.1,339.0,9.6,361,9716,0.15,0.00,9.65,0.767,6,0.071,0.000,3273,2360,2040,0,0,0,0,0,0
$GC,9946,1.21,250.1,310.4,11.9,367,9947,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2360,2037,0,0,0,0,0,0
$GC,10190,1.21,250.1,281.7,11.7,373,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2360,2037,0,0,0,0,0,0
$GC,10435,1.21,250.4,256.6,10.0,379,10436,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2361,2036,0,0,0,0,0,0
$GC,10677,1.21,250.4,230.5,10.8,385,10681,0.00,2.65,0.00,0.000,4,0.000,0.052,3272,775,2036,0,0,0,0,0,0
$GC,10692,1.21,250.4,228.7,10.7,385,10697,0.00,2.55,0.00,0.000,6,0.000,0.025,3273,2382,2036,0,0,0,0,0,0
$GC,10955,1.21,250.4,201.8,10.2,392,10959,0.00,2.55,0.00,0.000,4,0.000,0.045,3273,3919,2035,0,0,0,0,0,0
$GC,10981,1.21,250.4,198.7,11.5,392,10986,0.00,2.53,0.00,0.000,6,0.000,0.026,3273,2353,2035,0,0,0,0,0,0
$GC,11249,1.21,250.4,171.6,10.6,417,11250,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2354,2035,0,0,0,0,0,0
$GC,11508,1.23,266.1,147.3,9.3,441,11533,0.00,2.67,14.80,0.633,4,0.000,0.044,3273,3917,1975,0,0,0,0,0,0
$GC,11545,1.23,266.7,143.0,10.0,444,11549,0.00,2.50,0.00,0.000,6,0.000,0.025,3273,2375,1974,0,0,0,0,0,0
$GC,11809,1.28,271.1,117.6,9.8,468,11824,0.00,2.62,6.12,0.515,4,0.000,0.044,3273,3917,1954,0,0,0,0,0,0
$GC,11875,1.36,271.1,110.7,11.4,473,11880,0.12,2.47,0.00,0.000,6,0.074,0.025,3313,2382,1953,0,0,0,0,0,0
$GC,12141,1.36,271.1,80.9,10.5,497,12145,0.00,2.62,0.00,0.000,4,0.000,0.047,3313,782,1953,0,0,0,0,0,0
$GC,12174,1.36,271.1,76.9,11.6,499,12178,0.00,2.53,0.00,0.000,6,0.000,0.023,3313,2395,1953,0,0,0,0,0,0
$GC,12442,1.36,271.1,45.6,12.1,523,12447,0.00,2.53,0.00,0.000,4,0.000,0.044,3313,3922,1953,0,0,0,0,0,0
$GC,12465,1.36,271.1,41.6,12.1,524,12475,0.00,2.47,0.00,0.000,6,0.000,0.025,3313,2389,1953,0,0,0,0,0,0
$GC,12770,1.36,271.1,5.5,12.9,564,12779,0.00,2.58,0.00,0.000,4,0.000,0.043,3313,3922,1953,0,0,0,0,0,0
$STATE,12787,end climb,SURFACE_DEPTH_REACHED
$STATE,12787,begin surface coast
$FINISH,-0.4,1.023788
$STATE,12816,end surface coast,CONTROL_FINISHED_OK
$STATE,12816,begin surface
$SM_CCo,12840,88.03,0.522,0,0,1510,380.21
$SM_GC,0.30,0.00,0.00,88.03,0.000,0.000,0.522,469,2186,1510,-11.66,-0.68,380.21
$IRIDIUM_FIX,2246.36,-15738.46,170603,000031
$TT8_MAMPS,0.026078
$HUMID,59.72
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.10
$XPDR_PINGS,21
$24V_AH,23.3,9.988
$10V_AH,10.4,8.737
$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,27.675,153.475,361.950,88.025,0.000,60.927,114.068,178.283,5.250,0.000,33.784,1169.163,9155.972,556.141,1949.303,664.025,33.353,1317.181,0.000,1936.579,0.000,0.535,0.000
$DEVICE_MAMPS,142.662,148.798,1017.809,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.531,315.890,401.761,575.492,1096.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,44670,570
$CAP_FILE_SIZE,126825,0
$CFSIZE,260165632,175718400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230314,033636,2256.138,-15736.443,31,1.1,31,10.1