version: 66.06
glider: 146
mission: 9
dive: 72
start: 3 23 114 7 42 30
data:
$ID,146
$MISSION,9
$DIVE,72
$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,-324775.91
$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,59
$R_STBD_OVSHOOT,33
$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
$GPS1,072635,2257.539,-15736.097,34,1.4,40,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-68.3
$GPS2,074136,2257.560,-15736.094,10,1.2,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.067,0.251
$KALMAN_X,-55813.2,-352.2,-46.5,89472.5,-447.1
$KALMAN_Y,46566.3,-130.0,-553.3,-30548.2,1479.2
$MHEAD_RNG_PITCHd_Wd,4.8,14620,-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,-145.8,0.0,0.0,0,112,0.00,0.00,-88.47,0.000,6,0.000,0.000,468,2166,3655,0,0,0,0,0,0
$GC,114,-1.27,-145.8,4.3,-10.9,12,131,11.55,2.62,0.00,0.000,4,0.136,0.031,2716,3792,3656,0,0,0,0,0,0
$GC,202,-1.17,-145.8,27.5,-14.9,24,212,0.12,2.53,0.00,0.000,6,0.093,0.024,2746,2232,3657,0,0,0,0,0,0
$GC,481,-1.11,-145.8,60.3,-11.5,50,485,0.00,2.65,0.00,0.000,4,0.000,0.048,2745,633,3657,0,0,0,0,0,0
$GC,505,-1.03,-145.8,64.2,-12.4,51,514,0.12,2.50,0.00,0.000,6,0.084,0.018,2777,2227,3657,0,0,0,0,0,0
$GC,768,-1.03,-145.8,92.7,-11.0,76,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2227,3657,0,0,0,0,0,0
$GC,1022,-1.03,-145.8,118.4,-10.5,100,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2227,3657,0,0,0,0,0,0
$GC,1278,-1.07,-146.0,141.4,-8.7,124,1283,0.00,2.62,0.00,0.000,4,0.000,0.046,2777,629,3658,0,0,0,0,0,0
$GC,1380,-1.13,-146.0,150.4,-8.6,132,1384,0.00,2.42,0.00,0.000,6,0.000,0.018,2777,2212,3658,0,0,0,0,0,0
$GC,1643,-1.19,-146.0,171.5,-7.7,156,1645,0.15,0.00,0.00,0.000,6,0.059,0.000,2720,2212,3658,0,0,0,0,0,0
$GC,1899,-1.15,-146.0,197.7,-10.2,180,1904,0.15,2.53,0.00,0.000,4,0.094,0.037,2754,3774,3658,0,0,0,0,0,0
$GC,1940,-1.19,-146.0,202.1,-9.6,183,1944,0.00,2.47,0.00,0.000,6,0.000,0.021,2753,2190,3658,0,0,0,0,0,0
$GC,2224,-1.19,-146.0,224.7,-7.8,190,2229,0.00,2.55,0.00,0.000,4,0.000,0.050,2753,636,3658,0,0,0,0,0,0
$GC,2257,-1.19,-146.0,227.5,-8.0,190,2263,0.00,2.42,0.00,0.000,6,0.000,0.027,2753,2194,3658,0,0,0,0,0,0
$GC,2508,-1.23,-146.0,245.1,-7.0,197,2512,0.00,2.58,0.00,0.000,4,0.000,0.041,2753,3776,3659,0,0,0,0,0,0
$GC,2553,-1.29,-146.0,248.3,-7.1,198,2558,0.15,2.47,0.00,0.000,6,0.061,0.022,2698,2210,3658,0,0,0,0,0,0
$GC,2832,-1.24,-146.0,274.7,-9.9,205,2837,0.15,2.65,0.00,0.000,4,0.097,0.057,2732,633,3658,0,0,0,0,0,0
$GC,2859,-1.24,-146.0,277.6,-10.0,205,2864,0.00,2.47,0.00,0.000,6,0.000,0.025,2732,2218,3658,0,0,0,0,0,0
$GC,3111,-1.24,-146.0,297.5,-7.8,211,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2219,3657,0,0,0,0,0,0
$GC,3353,-1.24,-146.0,315.5,-7.4,217,3357,0.00,2.67,0.00,0.000,4,0.000,0.062,2732,638,3656,0,0,0,0,0,0
$GC,3442,-1.28,-146.0,323.2,-8.2,219,3446,0.00,2.50,0.00,0.000,6,0.000,0.031,2732,2203,3656,0,0,0,0,0,0
$GC,3721,-1.28,-146.0,346.5,-8.5,226,3725,0.00,2.65,0.00,0.000,4,0.000,0.051,2731,3789,3655,0,0,0,0,0,0
$GC,3736,-1.28,-146.0,348.1,-8.4,226,3741,0.00,2.53,0.00,0.000,6,0.000,0.028,2732,2217,3655,0,0,0,0,0,0
$GC,3999,-1.32,-146.0,369.7,-8.1,233,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2217,3653,0,0,0,0,0,0
$GC,4242,-1.37,-146.0,387.7,-7.3,239,4244,0.12,0.00,0.00,0.000,6,0.070,0.000,2685,2217,3651,0,0,0,0,0,0
$GC,4485,-1.37,-146.0,409.3,-8.9,245,4489,0.00,2.67,0.00,0.000,4,0.000,0.058,2686,3787,3650,0,0,0,0,0,0
$GC,4507,-1.33,-146.0,411.3,-9.3,245,4512,0.12,2.60,0.00,0.000,6,0.104,0.043,2713,2214,3650,0,0,0,0,0,0
$GC,4763,-1.33,-146.0,431.8,-7.9,252,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2213,3648,0,0,0,0,0,0
$GC,5006,-1.33,-146.0,450.4,-7.6,258,5010,0.00,2.70,0.00,0.000,4,0.000,0.061,2713,3784,3647,0,0,0,0,0,0
$GC,5046,-1.37,-146.0,453.5,-8.2,259,5050,0.00,2.62,0.00,0.000,6,0.000,0.048,2713,2220,3646,0,0,0,0,0,0
$GC,5330,-1.37,-146.0,475.9,-8.1,266,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2220,3645,0,0,0,0,0,0
$GC,5572,-1.37,-146.0,496.8,-8.8,272,5577,0.00,2.72,0.00,0.000,4,0.000,0.068,2713,3783,3643,0,0,0,0,0,0
$GC,5605,-1.37,-146.0,499.9,-9.2,272,5611,0.00,2.62,0.00,0.000,6,0.000,0.050,2713,2234,3643,0,0,0,0,0,0
$GC,5857,-1.41,-146.0,520.5,-8.1,279,5861,0.00,3.05,0.00,0.000,4,0.000,0.116,2713,619,3642,0,0,0,0,0,0
$GC,5912,-1.45,-146.0,525.3,-8.6,280,5918,0.10,2.67,0.00,0.000,6,0.081,0.058,2673,2214,3640,0,0,0,0,0,0
$GC,6181,-1.41,-146.0,548.5,-8.8,287,6186,0.10,2.80,0.00,0.000,4,0.117,0.081,2695,3800,3639,0,0,0,0,0,0
$GC,6203,-1.41,-146.0,550.8,-9.3,287,6207,0.00,2.67,0.00,0.000,6,0.000,0.053,2695,2217,3639,0,0,0,0,0,0
$GC,6458,-1.41,-146.0,571.3,-8.1,294,6463,0.00,2.80,0.00,0.000,4,0.000,0.078,2695,3793,3638,0,0,0,0,0,0
$GC,6492,-1.41,-146.0,574.4,-9.4,294,6497,0.00,2.70,0.00,0.000,6,0.000,0.061,2695,2226,3637,0,0,0,0,0,0
$GC,6742,-1.41,-146.0,597.7,-9.3,301,6746,0.00,2.80,0.00,0.000,4,0.000,0.084,2695,3793,3636,0,0,0,0,0,0
$GC,6757,-1.41,-146.0,599.4,-9.6,301,6762,0.00,2.75,0.00,0.000,6,0.000,0.070,2695,2230,3636,0,0,0,0,0,0
$STATE,6765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6765,begin apogee
$GC,6773,-0.31,0.0,600.4,10.4,301,6898,1.05,0.00,117.93,1.017,6,0.074,0.000,2934,2383,3060,0,0,0,0,0,0
$STATE,6899,end apogee,CONTROL_FINISHED_OK
$STATE,6899,begin climb
$GC,6901,1.27,146.0,605.4,0.0,305,7035,1.45,2.85,124.05,0.991,4,0.035,0.083,3291,3928,2464,0,0,0,0,0,0
$GC,7128,1.12,146.0,588.1,12.5,310,7133,0.20,2.72,0.00,0.000,6,0.105,0.061,3250,2372,2459,0,0,0,0,0,0
$GC,7395,1.08,155.7,562.4,9.6,317,7409,0.00,2.83,8.50,0.830,4,0.000,0.074,3251,3926,2424,0,0,0,0,0,0
$GC,7456,1.02,155.7,555.7,11.8,318,7462,0.12,2.70,0.00,0.000,6,0.122,0.052,3226,2372,2424,0,0,0,0,0,0
$GC,7723,1.03,166.6,530.2,9.5,325,7736,0.00,0.00,11.20,0.874,6,0.000,0.000,3226,2373,2380,0,0,0,0,0,0
$GC,7968,1.06,190.9,508.5,8.9,331,7998,0.00,3.15,22.65,0.924,4,0.000,0.115,3226,779,2280,0,0,0,0,0,0
$GC,8043,1.06,190.9,501.2,10.1,332,8048,0.00,2.75,0.00,0.000,6,0.000,0.051,3226,2383,2279,0,0,0,0,0,0
$GC,8293,1.07,203.1,477.6,9.4,338,8312,0.00,2.78,11.77,0.863,4,0.000,0.067,3225,3935,2231,0,0,0,0,0,0
$GC,8342,1.07,203.1,472.9,10.2,339,8346,0.00,2.62,0.00,0.000,6,0.000,0.041,3226,2380,2230,0,0,0,0,0,0
$GC,8619,1.08,211.5,446.2,9.6,346,8633,0.00,3.00,8.80,0.814,4,0.000,0.097,3226,790,2197,0,0,0,0,0,0
$GC,8644,1.08,211.5,443.5,10.2,346,8649,0.00,2.67,0.00,0.000,6,0.000,0.043,3225,2400,2195,0,0,0,0,0,0
$GC,8902,1.13,213.7,418.3,9.9,353,8907,0.10,2.85,0.00,0.000,4,0.090,0.068,3255,784,2194,0,0,0,0,0,0
$GC,8929,1.13,213.7,414.8,11.6,353,8934,0.00,2.65,0.00,0.000,6,0.000,0.041,3255,2390,2192,0,0,0,0,0,0
$GC,9179,1.13,213.7,387.4,10.9,359,9184,0.00,2.62,0.00,0.000,4,0.000,0.061,3255,3941,2193,0,0,0,0,0,0
$GC,9208,1.09,213.7,384.3,11.6,359,9213,0.00,2.58,0.00,0.000,6,0.000,0.035,3255,2366,2192,0,0,0,0,0,0
$GC,9458,1.09,213.7,358.1,10.4,365,9462,0.00,2.72,0.00,0.000,4,0.000,0.070,3255,784,2192,0,0,0,0,0,0
$GC,9479,1.09,213.7,355.8,10.3,365,9483,0.00,2.60,0.00,0.000,6,0.000,0.028,3255,2390,2191,0,0,0,0,0,0
$GC,9735,1.09,213.7,329.2,10.7,372,9739,0.00,2.58,0.00,0.000,4,0.000,0.050,3255,3928,2191,0,0,0,0,0,0
$GC,9812,1.09,213.7,320.2,10.6,373,9818,0.00,2.50,0.00,0.000,6,0.000,0.027,3255,2387,2191,0,0,0,0,0,0
$GC,10062,1.11,232.4,297.3,9.1,380,10087,0.00,2.80,18.80,0.797,4,0.000,0.061,3255,782,2111,0,0,0,0,0,0
$GC,10133,1.11,232.4,290.2,10.3,381,10137,0.00,2.60,0.00,0.000,6,0.000,0.028,3255,2380,2110,0,0,0,0,0,0
$GC,10388,1.15,261.0,267.1,8.7,388,10419,0.00,2.65,26.08,0.776,4,0.000,0.050,3255,3932,1995,0,0,0,0,0,0
$GC,10437,1.15,264.9,262.4,9.8,389,10447,0.00,2.53,4.85,0.564,6,0.000,0.025,3255,2378,1980,0,0,0,0,0,0
$GC,10709,1.19,264.9,233.2,10.9,396,10713,0.00,2.62,0.00,0.000,4,0.000,0.048,3255,3931,1977,0,0,0,0,0,0
$GC,10730,1.23,264.9,230.4,12.2,396,10734,0.00,2.53,0.00,0.000,6,0.000,0.033,3255,2379,1975,0,0,0,0,0,0
$GC,10987,1.28,264.9,202.0,10.9,403,10992,0.12,2.67,0.00,0.000,4,0.081,0.052,3289,786,1975,0,0,0,0,0,0
$GC,11002,1.28,264.9,199.8,10.8,403,11007,0.00,2.58,0.00,0.000,6,0.000,0.031,3289,2396,1975,0,0,0,0,0,0
$GC,11270,1.28,264.9,169.9,10.8,427,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2396,1974,0,0,0,0,0,0
$GC,11531,1.28,264.9,140.0,11.1,452,11532,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2396,1975,0,0,0,0,0,0
$GC,11787,1.28,264.9,110.0,11.6,476,11788,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2396,1975,0,0,0,0,0,0
$GC,12041,1.28,264.9,83.6,10.2,500,12045,0.00,2.65,0.00,0.000,4,0.000,0.045,3289,783,1975,0,0,0,0,0,0
$GC,12076,1.28,264.9,80.0,11.1,502,12085,0.00,2.53,0.00,0.000,6,0.000,0.022,3289,2371,1975,0,0,0,0,0,0
$GC,12344,1.29,274.0,53.5,9.6,527,12359,0.00,2.55,9.20,0.517,4,0.000,0.043,3289,3923,1942,0,0,0,0,0,0
$GC,12377,1.29,274.0,49.0,11.0,529,12386,0.00,2.53,0.00,0.000,6,0.000,0.026,3289,2370,1941,0,0,0,0,0,0
$GC,12664,1.29,274.0,18.5,11.6,562,12673,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2370,1941,0,0,0,0,0,0
$STATE,12792,end climb,SURFACE_DEPTH_REACHED
$STATE,12792,begin surface coast
$FINISH,-0.2,1.023899
$STATE,12849,end surface coast,CONTROL_FINISHED_OK
$STATE,12849,begin surface
$SM_CCo,12870,85.75,0.525,0,0,1509,380.21
$SM_GC,0.38,0.00,0.00,85.75,0.000,0.000,0.525,468,2174,1509,-11.67,-1.02,380.21
$IRIDIUM_FIX,2246.36,-15736.30,170603,070732
$TT8_MAMPS,0.026078
$HUMID,59.13
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.30
$XPDR_PINGS,18
$24V_AH,23.3,10.275
$10V_AH,10.4,8.980
$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,27.175,164.975,363.825,85.750,0.000,49.552,76.258,566.630,4.500,0.000,17.265,1227.953,8915.285,553.624,2141.725,1018.206,33.354,1392.963,0.000,2139.388,0.000,0.536,0.000
$DEVICE_MAMPS,135.759,115.817,1017.042,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,400.293,333.899,420.493,620.905,1181.418,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355816
$DATA_FILE_SIZE,44647,589
$CAP_FILE_SIZE,140504,0
$CFSIZE,260165632,175575040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230314,111935,2259.849,-15735.998,25,1.4,25,10.1