version: 66.06
glider: 146
mission: 9
dive: 73
start: 3 23 114 11 30 24
data:
$ID,146
$MISSION,9
$DIVE,73
$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,-324792.19
$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,55
$R_STBD_OVSHOOT,38
$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
$GPS1,111935,2259.849,-15735.998,25,1.4,25,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-69.2
$GPS2,112930,2259.906,-15735.977,9,1.4,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.033,0.258
$KALMAN_X,-56090.3,-300.6,-414.9,90270.4,779.2
$KALMAN_Y,46968.5,263.7,-11.3,-27544.8,1077.1
$MHEAD_RNG_PITCHd_Wd,342.7,10273,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.27,-145.9,0.0,0.0,0,113,0.00,0.00,-88.68,0.000,6,0.000,0.000,467,2174,3655,0,0,0,0,0,0
$GC,117,-1.27,-145.9,4.3,-10.5,12,134,11.62,2.62,0.00,0.000,4,0.141,0.032,2718,3793,3656,0,0,0,0,0,0
$GC,224,-1.18,-145.9,30.5,-14.2,27,232,0.10,2.53,0.00,0.000,6,0.090,0.024,2744,2231,3657,0,0,0,0,0,0
$GC,493,-1.12,-145.9,64.0,-12.0,52,498,0.00,2.65,0.00,0.000,4,0.000,0.049,2744,629,3658,0,0,0,0,0,0
$GC,517,-1.04,-145.9,67.8,-11.5,53,527,0.12,2.50,0.00,0.000,6,0.081,0.018,2775,2222,3657,0,0,0,0,0,0
$GC,779,-1.04,-145.9,94.0,-10.1,78,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2222,3658,0,0,0,0,0,0
$GC,1034,-1.04,-146.0,118.6,-9.4,102,1038,0.00,2.62,0.00,0.000,4,0.000,0.046,2775,628,3658,0,0,0,0,0,0
$GC,1091,-1.09,-146.0,124.4,-9.4,106,1100,0.00,2.47,0.00,0.000,6,0.000,0.025,2775,2205,3658,0,0,0,0,0,0
$GC,1359,-1.13,-146.0,145.3,-7.8,131,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2205,3659,0,0,0,0,0,0
$GC,1622,-1.19,-146.0,167.2,-8.6,156,1627,0.12,2.60,0.00,0.000,4,0.067,0.048,2726,634,3659,0,0,0,0,0,0
$GC,1645,-1.19,-146.0,169.2,-9.6,157,1650,0.00,2.42,0.00,0.000,6,0.000,0.021,2726,2210,3659,0,0,0,0,0,0
$GC,1912,-1.19,-146.0,197.0,-10.1,181,1916,0.00,2.62,0.00,0.000,4,0.000,0.048,2726,628,3659,0,0,0,0,0,0
$GC,1945,-1.19,-146.0,201.0,-11.1,183,1950,0.00,2.42,0.00,0.000,6,0.000,0.018,2726,2199,3659,0,0,0,0,0,0
$GC,2195,-1.19,-146.0,226.3,-9.9,190,2199,0.00,2.60,0.00,0.000,4,0.000,0.047,2726,626,3659,0,0,0,0,0,0
$GC,2227,-1.19,-146.0,229.9,-10.5,190,2233,0.00,2.40,0.00,0.000,6,0.000,0.021,2726,2182,3659,0,0,0,0,0,0
$GC,2478,-1.19,-146.0,251.8,-8.4,197,2482,0.00,2.58,0.00,0.000,4,0.000,0.039,2725,3779,3659,0,0,0,0,0,0
$GC,2545,-1.19,-146.0,258.1,-9.0,198,2549,0.00,2.50,0.00,0.000,6,0.000,0.022,2726,2189,3659,0,0,0,0,0,0
$GC,2800,-1.19,-146.0,278.7,-7.8,205,2805,0.00,2.62,0.00,0.000,4,0.000,0.042,2726,3782,3659,0,0,0,0,0,0
$GC,2821,-1.19,-146.0,280.5,-7.4,205,2826,0.00,2.50,0.00,0.000,6,0.000,0.022,2726,2191,3659,0,0,0,0,0,0
$GC,3078,-1.19,-146.0,299.7,-7.7,212,3083,0.00,2.62,0.00,0.000,4,0.000,0.046,2726,3778,3658,0,0,0,0,0,0
$GC,3111,-1.19,-146.0,302.5,-8.1,212,3117,0.00,2.50,0.00,0.000,6,0.000,0.025,2726,2212,3658,0,0,0,0,0,0
$GC,3361,-1.19,-146.0,320.6,-7.2,219,3365,0.00,2.67,0.00,0.000,4,0.000,0.066,2726,634,3658,0,0,0,0,0,0
$GC,3402,-1.19,-146.0,323.2,-6.8,220,3406,0.00,2.47,0.00,0.000,6,0.000,0.038,2726,2186,3657,0,0,0,0,0,0
$GC,3685,-1.19,-146.0,344.9,-7.8,227,3689,0.00,2.67,0.00,0.000,4,0.000,0.054,2726,3790,3656,0,0,0,0,0,0
$GC,3713,-1.19,-146.0,347.2,-8.6,227,3718,0.00,2.58,0.00,0.000,6,0.000,0.035,2726,2205,3656,0,0,0,0,0,0
$GC,3965,-1.19,-146.0,369.0,-8.7,233,3969,0.00,2.67,0.00,0.000,4,0.000,0.051,2726,3793,3654,0,0,0,0,0,0
$GC,4004,-1.23,-146.0,372.9,-9.8,234,4009,0.00,2.60,0.00,0.000,6,0.000,0.041,2726,2205,3654,0,0,0,0,0,0
$GC,4289,-1.26,-146.0,396.7,-8.0,241,4294,0.00,2.67,0.00,0.000,4,0.000,0.056,2726,3793,3652,0,0,0,0,0,0
$GC,4310,-1.26,-146.0,398.7,-7.9,241,4315,0.00,2.58,0.00,0.000,6,0.000,0.035,2726,2208,3652,0,0,0,0,0,0
$GC,4567,-1.30,-146.0,417.8,-7.4,248,4571,0.00,2.78,0.00,0.000,4,0.000,0.082,2726,629,3651,0,0,0,0,0,0
$GC,4595,-1.34,-146.0,420.0,-7.8,248,4600,0.00,2.60,0.00,0.000,6,0.000,0.045,2726,2204,3650,0,0,0,0,0,0
$GC,4846,-1.38,-146.0,439.1,-7.7,254,4851,0.10,2.70,0.00,0.000,4,0.083,0.067,2687,3794,3649,0,0,0,0,0,0
$GC,4895,-1.38,-146.0,443.8,-9.6,255,4900,0.00,2.62,0.00,0.000,6,0.000,0.040,2687,2210,3648,0,0,0,0,0,0
$GC,5169,-1.38,-146.0,467.4,-8.8,262,5173,0.00,2.90,0.00,0.000,4,0.000,0.097,2687,628,3647,0,0,0,0,0,0
$GC,5248,-1.38,-146.0,474.8,-9.2,263,5253,0.00,2.65,0.00,0.000,6,0.000,0.046,2687,2214,3646,0,0,0,0,0,0
$GC,5499,-1.38,-146.0,495.8,-8.3,270,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2214,3645,0,0,0,0,0,0
$GC,5743,-1.38,-146.0,515.8,-8.1,276,5748,0.00,2.72,0.00,0.000,4,0.000,0.071,2686,3794,3644,0,0,0,0,0,0
$GC,5764,-1.38,-146.0,517.9,-8.2,276,5769,0.00,2.65,0.00,0.000,6,0.000,0.049,2686,2212,3644,0,0,0,0,0,0
$GC,6020,-1.38,-146.0,539.1,-8.5,283,6024,0.00,3.03,0.00,0.000,4,0.000,0.119,2686,625,3642,0,0,0,0,0,0
$GC,6053,-1.38,-146.0,542.2,-9.4,283,6059,0.00,2.70,0.00,0.000,6,0.000,0.055,2686,2207,3642,0,0,0,0,0,0
$GC,6303,-1.38,-146.0,563.5,-8.5,290,6308,0.00,2.80,0.00,0.000,4,0.000,0.083,2686,3796,3640,0,0,0,0,0,0
$GC,6358,-1.38,-146.0,568.6,-8.8,291,6363,0.00,2.72,0.00,0.000,6,0.000,0.058,2686,2210,3640,0,0,0,0,0,0
$GC,6626,-1.38,-146.0,590.8,-8.2,298,6631,0.00,2.88,0.00,0.000,4,0.000,0.085,2686,3798,3638,0,0,0,0,0,0
$GC,6692,-1.38,-146.0,597.0,-9.1,299,6697,0.00,2.75,0.00,0.000,6,0.000,0.068,2686,2226,3638,0,0,0,0,0,0
$STATE,6743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6743,begin apogee
$GC,6750,-0.31,0.0,601.6,8.8,301,6872,1.10,0.00,118.30,1.016,6,0.072,0.000,2935,2378,3060,0,0,0,0,0,0
$STATE,6873,end apogee,CONTROL_FINISHED_OK
$STATE,6873,begin climb
$GC,6875,1.27,146.0,604.0,0.0,304,7012,1.42,2.85,124.22,0.989,4,0.036,0.082,3286,3929,2462,0,0,0,0,0,0
$GC,7052,1.11,146.0,591.3,12.4,308,7057,0.20,2.75,0.00,0.000,6,0.105,0.065,3245,2370,2459,0,0,0,0,0,0
$GC,7325,1.07,146.0,562.8,10.4,315,7329,0.00,2.78,0.00,0.000,4,0.000,0.070,3245,3931,2454,0,0,0,0,0,0
$GC,7399,1.00,146.0,554.6,11.2,316,7405,0.10,2.65,0.00,0.000,6,0.133,0.050,3224,2380,2453,0,0,0,0,0,0
$GC,7649,1.03,163.2,531.2,9.2,322,7666,0.00,0.00,14.62,0.901,6,0.000,0.000,3224,2380,2394,0,0,0,0,0,0
$GC,7893,1.06,188.4,509.4,8.8,328,7922,0.00,3.15,23.45,0.925,4,0.000,0.115,3224,775,2292,0,0,0,0,0,0
$GC,7968,1.06,188.4,502.2,10.3,329,7973,0.00,2.72,0.00,0.000,6,0.000,0.051,3224,2381,2289,0,0,0,0,0,0
$GC,8218,1.08,208.2,479.2,9.1,335,8239,0.00,0.00,18.58,0.898,6,0.000,0.000,3224,2381,2211,0,0,0,0,0,0
$GC,8462,1.14,224.3,456.7,9.3,341,8486,0.12,2.90,15.82,0.876,4,0.078,0.072,3260,776,2143,0,0,0,0,0,0
$GC,8521,1.14,224.3,449.9,12.4,342,8525,0.00,2.67,0.00,0.000,6,0.000,0.039,3260,2384,2141,0,0,0,0,0,0
$GC,8787,1.14,224.3,415.4,13.1,349,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2384,2140,0,0,0,0,0,0
$GC,9032,1.14,224.3,383.5,13.0,355,9036,0.00,2.78,0.00,0.000,4,0.000,0.061,3259,776,2139,0,0,0,0,0,0
$GC,9047,1.14,224.3,381.2,13.0,355,9051,0.00,2.62,0.00,0.000,6,0.000,0.033,3260,2387,2138,0,0,0,0,0,0
$GC,9308,1.14,224.3,349.8,11.6,362,9313,0.00,2.60,0.00,0.000,4,0.000,0.051,3260,3931,2137,0,0,0,0,0,0
$GC,9352,1.14,224.3,344.7,11.0,363,9357,0.00,2.55,0.00,0.000,6,0.000,0.028,3260,2363,2137,0,0,0,0,0,0
$GC,9637,1.14,224.3,316.5,10.0,370,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2363,2137,0,0,0,0,0,0
$GC,9880,1.14,224.3,290.9,10.4,376,9884,0.00,2.67,0.00,0.000,4,0.000,0.058,3260,783,2137,0,0,0,0,0,0
$GC,9895,1.14,224.3,289.2,10.1,376,9899,0.00,2.58,0.00,0.000,6,0.000,0.032,3260,2383,2136,0,0,0,0,0,0
$GC,10157,1.14,224.3,263.4,10.2,383,10162,0.00,2.58,0.00,0.000,4,0.000,0.050,3260,3926,2135,0,0,0,0,0,0
$GC,10207,1.14,224.3,257.7,11.5,384,10211,0.00,2.50,0.00,0.000,6,0.000,0.027,3260,2364,2135,0,0,0,0,0,0
$GC,10480,1.15,230.6,230.8,9.7,391,10490,0.00,2.62,5.35,0.592,4,0.000,0.048,3260,3924,2119,0,0,0,0,0,0
$GC,10520,1.15,230.6,226.7,10.7,392,10525,0.00,2.50,0.00,0.000,6,0.000,0.032,3260,2386,2119,0,0,0,0,0,0
$GC,10804,1.16,245.3,199.4,9.3,399,10827,0.00,2.78,14.50,0.688,4,0.000,0.051,3260,779,2058,0,0,0,0,0,0
$GC,10864,1.20,245.3,193.3,10.8,404,10869,0.00,2.60,0.00,0.000,6,0.000,0.025,3260,2398,2057,0,0,0,0,0,0
$GC,11127,1.28,276.8,169.3,8.5,428,11159,0.10,0.00,28.48,0.675,6,0.091,0.000,3289,2399,1931,0,0,0,0,0,0
$GC,11414,1.28,276.8,138.5,10.4,455,11418,0.00,2.70,0.00,0.000,4,0.000,0.046,3290,778,1928,0,0,0,0,0,0
$GC,11430,1.28,276.8,136.4,10.6,456,11435,0.00,2.55,0.00,0.000,6,0.000,0.022,3289,2402,1928,0,0,0,0,0,0
$GC,11694,1.28,276.8,108.2,10.6,480,11698,0.00,2.70,0.00,0.000,4,0.000,0.046,3290,776,1928,0,0,0,0,0,0
$GC,11739,1.28,276.8,103.2,12.1,483,11743,0.00,2.55,0.00,0.000,6,0.000,0.021,3290,2393,1928,0,0,0,0,0,0
$GC,12006,1.28,276.8,74.7,10.9,507,12015,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2394,1928,0,0,0,0,0,0
$GC,12273,1.28,276.8,43.1,12.1,532,12278,0.00,2.65,0.00,0.000,4,0.000,0.044,3289,779,1928,0,0,0,0,0,0
$GC,12294,1.28,276.8,40.0,12.5,533,12299,0.00,2.53,0.00,0.000,6,0.000,0.021,3290,2391,1928,0,0,0,0,0,0
$STATE,12599,end climb,SURFACE_DEPTH_REACHED
$STATE,12600,begin surface coast
$FINISH,-0.2,1.023960
$STATE,12642,end surface coast,CONTROL_FINISHED_OK
$STATE,12642,begin surface
$SM_CCo,12663,83.22,0.522,0,0,1510,380.21
$SM_GC,0.38,0.00,0.00,83.22,0.000,0.000,0.522,465,2167,1510,-11.68,-1.22,380.21
$IRIDIUM_FIX,2251.04,-15734.52,170603,111127
$TT8_MAMPS,0.026078
$HUMID,59.41
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.20
$XPDR_PINGS,20
$24V_AH,23.3,10.406
$10V_AH,10.4,9.098
$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,26.425,175.325,363.325,83.225,0.000,52.183,68.594,268.512,5.000,0.000,15.642,1211.968,8750.635,561.760,2105.538,710.324,33.358,1393.315,0.000,2102.198,0.000,0.535,0.000
$DEVICE_MAMPS,141.128,118.885,1015.508,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.887,325.878,415.220,600.663,1144.064,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,44580,579
$CAP_FILE_SIZE,135346,0
$CFSIZE,260165632,175513600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230314,150406,2302.041,-15735.835,32,1.1,32,10.1