version: 66.06
glider: 146
mission: 9
dive: 74
start: 3 23 114 15 17 15
data:
$ID,146
$MISSION,9
$DIVE,74
$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,-324809.19
$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,59
$R_STBD_OVSHOOT,43
$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
$GPS1,150406,2302.041,-15735.835,32,1.1,32,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.6
$GPS2,151619,2302.085,-15735.749,14,1.9,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.005,0.260
$KALMAN_X,-56281.7,7.0,248.0,89879.1,168.2
$KALMAN_Y,47288.3,368.4,512.7,-24459.4,-672.1
$MHEAD_RNG_PITCHd_Wd,350.9,6221,-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,12,begin dive
$GC,15,-1.27,-145.9,0.0,0.0,0,111,0.00,0.00,-88.95,0.000,6,0.000,0.000,464,2168,3655,0,0,0,0,0,0
$GC,114,-1.27,-145.9,4.3,-11.0,12,131,11.48,0.00,0.00,0.000,6,0.135,0.000,2722,2167,3656,0,0,0,0,0,0
$GC,410,-1.16,-145.9,57.9,-17.4,46,415,0.12,2.50,0.00,0.000,4,0.121,0.044,2749,659,3657,0,0,0,0,0,0
$GC,434,-1.07,-145.9,61.8,-13.3,47,443,0.00,2.42,0.00,0.000,6,0.000,0.017,2749,2221,3657,0,0,0,0,0,0
$GC,697,-1.00,-145.9,94.0,-12.4,72,699,0.17,0.00,0.00,0.000,6,0.099,0.000,2787,2224,3657,0,0,0,0,0,0
$GC,953,-1.05,-146.0,117.3,-8.3,96,957,0.00,2.55,0.00,0.000,4,0.000,0.044,2787,658,3658,0,0,0,0,0,0
$GC,1020,-1.11,-146.0,123.2,-8.5,101,1025,0.10,2.38,0.00,0.000,6,0.081,0.018,2742,2213,3657,0,0,0,0,0,0
$GC,1286,-1.11,-146.0,150.7,-10.4,125,1291,0.00,2.53,0.00,0.000,4,0.000,0.044,2742,660,3658,0,0,0,0,0,0
$GC,1318,-1.11,-146.0,154.4,-10.6,127,1323,0.00,2.38,0.00,0.000,6,0.000,0.026,2742,2212,3658,0,0,0,0,0,0
$GC,1584,-1.11,-146.0,182.1,-10.1,151,1589,0.00,2.53,0.00,0.000,4,0.000,0.045,2742,660,3658,0,0,0,0,0,0
$GC,1628,-1.11,-146.0,186.5,-10.3,154,1633,0.00,2.38,0.00,0.000,6,0.000,0.023,2742,2205,3659,0,0,0,0,0,0
$GC,1895,-1.11,-146.0,211.1,-8.9,170,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2206,3658,0,0,0,0,0,0
$GC,2138,-1.11,-146.0,232.8,-8.8,176,2143,0.00,2.55,0.00,0.000,4,0.000,0.048,2742,654,3658,0,0,0,0,0,0
$GC,2190,-1.15,-146.0,237.3,-9.0,177,2194,0.00,2.40,0.00,0.000,6,0.000,0.024,2742,2190,3658,0,0,0,0,0,0
$GC,2462,-1.15,-146.0,258.1,-7.5,184,2466,0.00,2.55,0.00,0.000,4,0.000,0.049,2742,657,3659,0,0,0,0,0,0
$GC,2508,-1.21,-146.0,261.7,-8.0,185,2512,0.00,2.38,0.00,0.000,6,0.000,0.022,2742,2181,3659,0,0,0,0,0,0
$GC,2786,-1.25,-146.0,284.8,-8.6,192,2790,0.00,2.62,0.00,0.000,4,0.000,0.044,2742,3778,3658,0,0,0,0,0,0
$GC,2881,-1.31,-146.0,293.5,-8.7,194,2886,0.10,2.50,0.00,0.000,6,0.081,0.024,2699,2212,3658,0,0,0,0,0,0
$GC,3155,-1.27,-146.0,320.4,-9.9,201,3160,0.12,2.72,0.00,0.000,4,0.104,0.069,2726,627,3657,0,0,0,0,0,0
$GC,3188,-1.27,-146.0,323.8,-9.3,201,3193,0.00,2.47,0.00,0.000,6,0.000,0.039,2726,2172,3657,0,0,0,0,0,0
$GC,3439,-1.27,-146.0,345.1,-8.5,208,3444,0.00,2.70,0.00,0.000,4,0.000,0.059,2726,3797,3656,0,0,0,0,0,0
$GC,3505,-1.27,-146.0,351.2,-9.0,209,3510,0.00,2.55,0.00,0.000,6,0.000,0.029,2726,2204,3655,0,0,0,0,0,0
$GC,3760,-1.27,-146.0,371.8,-8.0,216,3765,0.00,2.67,0.00,0.000,4,0.000,0.053,2726,3792,3653,0,0,0,0,0,0
$GC,3789,-1.27,-146.0,374.1,-8.5,216,3793,0.00,2.58,0.00,0.000,6,0.000,0.034,2726,2201,3654,0,0,0,0,0,0
$GC,4039,-1.32,-146.0,393.5,-7.7,222,4044,0.00,2.78,0.00,0.000,4,0.000,0.081,2726,629,3652,0,0,0,0,0,0
$GC,4060,-1.32,-146.0,395.2,-7.7,222,4065,0.00,2.58,0.00,0.000,6,0.000,0.040,2726,2201,3652,0,0,0,0,0,0
$GC,4317,-1.36,-146.0,413.8,-7.2,229,4322,0.00,2.75,0.00,0.000,4,0.000,0.073,2726,630,3651,0,0,0,0,0,0
$GC,4345,-1.41,-146.0,415.9,-7.6,229,4350,0.12,2.60,0.00,0.000,6,0.071,0.043,2680,2199,3650,0,0,0,0,0,0
$GC,4597,-1.36,-146.0,438.4,-9.1,235,4598,0.12,0.00,0.00,0.000,6,0.104,0.000,2707,2199,3648,0,0,0,0,0,0
$GC,4840,-1.36,-146.0,457.8,-7.7,241,4844,0.00,2.78,0.00,0.000,4,0.000,0.084,2707,631,3646,0,0,0,0,0,0
$GC,4867,-1.36,-146.0,460.0,-7.9,241,4871,0.00,2.60,0.00,0.000,6,0.000,0.051,2707,2200,3646,0,0,0,0,0,0
$GC,5117,-1.36,-146.0,476.6,-6.3,247,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2200,3645,0,0,0,0,0,0
$GC,5362,-1.36,-146.0,490.9,-5.8,253,5366,0.00,2.75,0.00,0.000,4,0.000,0.073,2707,3797,3644,0,0,0,0,0,0
$GC,5394,-1.36,-146.0,493.2,-7.0,253,5400,0.00,2.65,0.00,0.000,6,0.000,0.046,2707,2214,3643,0,0,0,0,0,0
$GC,5644,-1.36,-146.0,509.6,-6.7,260,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2214,3642,0,0,0,0,0,0
$GC,5889,-1.36,-146.0,527.2,-7.2,266,5894,0.00,2.95,0.00,0.000,4,0.000,0.108,2707,628,3640,0,0,0,0,0,0
$GC,5911,-1.36,-146.0,529.0,-8.2,266,5915,0.00,2.65,0.00,0.000,6,0.000,0.051,2707,2208,3640,0,0,0,0,0,0
$GC,6166,-1.36,-146.0,548.5,-7.7,273,6171,0.00,2.80,0.00,0.000,4,0.000,0.079,2707,3799,3639,0,0,0,0,0,0
$GC,6241,-1.36,-146.0,554.7,-8.8,274,6246,0.00,2.67,0.00,0.000,6,0.000,0.059,2707,2218,3638,0,0,0,0,0,0
$GC,6491,-1.36,-146.0,574.5,-7.6,280,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2218,3637,0,0,0,0,0,0
$GC,6734,-1.36,-146.0,592.2,-7.2,286,6739,0.00,2.83,0.00,0.000,4,0.000,0.084,2707,3792,3635,0,0,0,0,0,0
$GC,6820,-1.40,-146.0,598.8,-7.0,288,6825,0.00,2.75,0.00,0.000,6,0.000,0.070,2707,2224,3635,0,0,0,0,0,0
$STATE,6833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6834,begin apogee
$GC,6840,-0.31,0.0,600.2,7.9,288,6961,0.98,0.00,117.78,1.021,6,0.073,0.000,2930,2376,3060,0,0,0,0,0,0
$STATE,6963,end apogee,CONTROL_FINISHED_OK
$STATE,6963,begin climb
$GC,6966,1.27,146.0,601.8,0.0,291,7104,1.45,2.92,124.62,0.993,4,0.037,0.081,3287,3928,2462,0,0,0,0,0,0
$GC,7149,1.11,146.0,586.9,13.5,295,7154,0.20,2.75,0.00,0.000,6,0.104,0.059,3246,2366,2459,0,0,0,0,0,0
$GC,7417,1.07,147.8,559.6,9.9,302,7422,0.00,2.78,0.00,0.000,4,0.000,0.070,3246,3930,2454,0,0,0,0,0,0
$GC,7444,1.00,147.8,556.6,10.5,302,7449,0.12,2.70,0.00,0.000,6,0.123,0.050,3222,2365,2453,0,0,0,0,0,0
$GC,7694,1.07,198.6,536.8,7.7,308,7747,0.00,2.83,46.15,0.960,4,0.000,0.066,3222,3923,2250,0,0,0,0,0,0
$GC,7777,1.07,198.6,529.8,10.3,310,7782,0.00,2.70,0.00,0.000,6,0.000,0.050,3222,2368,2247,0,0,0,0,0,0
$GC,8061,1.08,207.6,503.0,9.6,317,8075,0.00,3.17,8.52,0.824,4,0.000,0.126,3222,783,2213,0,0,0,0,0,0
$GC,8105,1.08,207.6,498.3,10.7,318,8110,0.00,2.70,0.00,0.000,6,0.000,0.048,3222,2363,2212,0,0,0,0,0,0
$GC,8388,1.12,207.6,469.7,10.1,325,8393,0.10,2.85,0.00,0.000,4,0.092,0.077,3249,770,2211,0,0,0,0,0,0
$GC,8404,1.12,212.0,467.9,9.8,325,8415,0.00,2.67,5.05,0.690,6,0.000,0.041,3250,2370,2195,0,0,0,0,0,0
$GC,8666,1.12,212.0,440.4,10.4,332,8670,0.00,2.67,0.00,0.000,4,0.000,0.056,3250,3938,2193,0,0,0,0,0,0
$GC,8709,1.12,212.0,434.9,12.4,333,8714,0.00,2.62,0.00,0.000,6,0.000,0.035,3250,2356,2192,0,0,0,0,0,0
$GC,8987,1.12,212.0,404.4,10.8,340,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2356,2192,0,0,0,0,0,0
$GC,9232,1.12,212.0,377.0,11.4,346,9236,0.00,2.78,0.00,0.000,4,0.000,0.074,3250,776,2192,0,0,0,0,0,0
$GC,9253,1.12,212.0,374.3,12.4,346,9257,0.00,2.62,0.00,0.000,6,0.000,0.031,3250,2394,2191,0,0,0,0,0,0
$GC,9508,1.12,212.0,346.2,10.7,353,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2394,2191,0,0,0,0,0,0
$GC,9752,1.13,215.9,322.3,9.8,359,9761,0.00,2.62,4.40,0.598,4,0.000,0.052,3250,3934,2179,0,0,0,0,0,0
$GC,9800,1.13,215.9,316.7,11.9,360,9805,0.00,2.53,0.00,0.000,6,0.000,0.026,3250,2366,2179,0,0,0,0,0,0
$GC,10073,1.13,219.1,289.7,9.9,367,10083,0.00,2.65,4.75,0.607,4,0.000,0.054,3250,3934,2166,0,0,0,0,0,0
$GC,10117,1.13,219.1,284.9,11.5,368,10122,0.00,2.53,0.00,0.000,6,0.000,0.028,3250,2375,2165,0,0,0,0,0,0
$GC,10396,1.18,231.1,258.6,9.4,375,10415,0.00,2.78,12.23,0.746,4,0.000,0.057,3250,787,2116,0,0,0,0,0,0
$GC,10439,1.18,231.1,254.3,10.1,376,10443,0.00,2.55,0.00,0.000,6,0.000,0.027,3250,2372,2115,0,0,0,0,0,0
$GC,10723,1.23,239.8,227.1,9.6,383,10739,0.10,2.67,8.85,0.680,4,0.091,0.049,3279,3930,2082,0,0,0,0,0,0
$GC,10777,1.23,239.8,220.7,12.5,384,10782,0.00,2.55,0.00,0.000,6,0.000,0.028,3279,2370,2080,0,0,0,0,0,0
$GC,11032,1.23,239.8,193.6,10.6,392,11036,0.00,2.65,0.00,0.000,4,0.000,0.051,3279,783,2079,0,0,0,0,0,0
$GC,11053,1.23,239.8,191.2,10.2,393,11062,0.00,2.58,0.00,0.000,6,0.000,0.025,3279,2382,2078,0,0,0,0,0,0
$GC,11319,1.23,239.8,164.2,10.5,418,11323,0.00,2.65,0.00,0.000,4,0.000,0.046,3279,785,2078,0,0,0,0,0,0
$GC,11352,1.23,239.8,159.9,10.8,420,11361,0.00,2.53,0.00,0.000,6,0.000,0.023,3279,2362,2078,0,0,0,0,0,0
$GC,11618,1.23,239.8,132.8,10.7,445,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2362,2078,0,0,0,0,0,0
$GC,11882,1.30,256.1,107.0,9.2,470,11907,0.00,2.62,15.77,0.599,4,0.000,0.044,3279,784,2013,0,0,0,0,0,0
$GC,11959,1.36,275.6,99.3,9.1,476,11982,0.00,2.50,17.75,0.590,6,0.000,0.021,3279,2349,1936,0,0,0,0,0,0
$GC,12244,1.40,275.6,68.7,12.2,502,12253,0.12,0.00,0.00,0.000,6,0.074,0.000,3319,2349,1934,0,0,0,0,0,0
$GC,12511,1.40,275.6,33.4,12.0,527,12515,0.00,2.58,0.00,0.000,4,0.000,0.041,3319,3922,1934,0,0,0,0,0,0
$GC,12545,1.35,275.6,29.0,13.4,529,12555,0.00,2.55,0.00,0.000,6,0.000,0.025,3319,2342,1934,0,0,0,0,0,0
$STATE,12748,end climb,SURFACE_DEPTH_REACHED
$STATE,12748,begin surface coast
$FINISH,-0.0,1.023907
$STATE,12784,end surface coast,CONTROL_FINISHED_OK
$STATE,12784,begin surface
$SM_CCo,12806,84.30,0.525,0,0,1509,380.21
$SM_GC,0.48,0.00,0.00,84.30,0.000,0.000,0.525,467,2167,1509,-11.67,-1.22,380.21
$IRIDIUM_FIX,2253.38,-15737.57,170603,151510
$TT8_MAMPS,0.026078
$HUMID,59.84
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,24
$24V_AH,23.3,10.543
$10V_AH,10.4,9.215
$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,26.825,169.250,365.875,84.300,0.000,50.526,122.930,319.599,6.000,0.000,16.390,1196.434,8952.169,551.925,2072.739,850.617,33.381,1399.241,0.000,2066.721,0.000,0.535,0.000
$DEVICE_MAMPS,134.992,125.788,1020.877,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,383.017,310.945,394.693,570.399,1087.279,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,44672,564
$CAP_FILE_SIZE,137287,0
$CFSIZE,260165632,175452160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230314,185335,2303.536,-15735.633,42,0.9,47,10.1