version: 66.06
glider: 146
mission: 9
dive: 156
start: 4 5 114 17 53 59
data:
$ID,146
$MISSION,9
$DIVE,156
$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,-326839.16
$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,67
$R_STBD_OVSHOOT,39
$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
$GPS1,174354,2238.568,-15738.505,64,0.9,64,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-69.6
$GPS2,175306,2238.545,-15738.660,15,1.6,20,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.158,0.206
$KALMAN_X,-137184.0,-175.7,-190.4,166444.2,-1642.1
$KALMAN_Y,76887.0,69.1,-122.2,-96719.8,-178.8
$MHEAD_RNG_PITCHd_Wd,27.4,50096,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-145.9,0.0,0.0,0,113,0.00,0.00,-89.93,0.000,6,0.000,0.000,459,2172,3655,0,0,0,0,0,0
$GC,116,-1.27,-146.0,3.9,-9.8,12,134,12.57,2.62,0.00,0.000,4,0.167,0.032,2717,3787,3656,0,0,0,0,0,0
$GC,205,-1.19,-146.0,27.2,-15.1,24,215,0.10,2.50,0.00,0.000,6,0.097,0.023,2740,2236,3657,0,0,0,0,0,0
$GC,483,-1.13,-146.0,60.2,-12.2,50,487,0.00,2.50,0.00,0.000,4,0.000,0.033,2740,3784,3658,0,0,0,0,0,0
$GC,505,-1.06,-146.0,63.2,-12.3,51,510,0.15,2.50,0.00,0.000,6,0.106,0.021,2770,2201,3658,0,0,0,0,0,0
$GC,774,-1.06,-146.0,91.5,-10.4,75,778,0.00,2.58,0.00,0.000,4,0.000,0.035,2770,3782,3658,0,0,0,0,0,0
$GC,794,-1.06,-146.0,94.1,-10.4,76,798,0.00,2.45,0.00,0.000,6,0.000,0.020,2770,2215,3658,0,0,0,0,0,0
$GC,1061,-1.06,-146.0,121.5,-10.3,100,1066,0.00,2.58,0.00,0.000,4,0.000,0.047,2770,638,3658,0,0,0,0,0,0
$GC,1082,-1.06,-146.0,123.9,-10.2,101,1086,0.00,2.47,0.00,0.000,6,0.000,0.023,2770,2237,3658,0,0,0,0,0,0
$GC,1351,-1.06,-146.0,149.5,-9.7,125,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2237,3659,0,0,0,0,0,0
$GC,1612,-1.06,-146.0,174.4,-8.2,150,1617,0.00,2.47,0.00,0.000,4,0.000,0.036,2770,3772,3658,0,0,0,0,0,0
$GC,1642,-1.11,-146.0,176.6,-7.1,152,1647,0.00,2.42,0.00,0.000,6,0.000,0.019,2770,2219,3658,0,0,0,0,0,0
$GC,1907,-1.15,-146.0,195.7,-8.7,176,1911,0.00,2.50,0.00,0.000,4,0.000,0.035,2770,3772,3659,0,0,0,0,0,0
$GC,1928,-1.20,-146.0,197.4,-8.4,177,1932,0.12,2.38,0.00,0.000,6,0.067,0.018,2716,2237,3659,0,0,0,0,0,0
$GC,2192,-1.15,-146.0,224.8,-9.0,201,2201,0.17,0.00,0.00,0.000,6,0.088,0.000,2755,2237,3659,0,0,0,0,0,0
$GC,2459,-1.20,-146.0,242.6,-6.8,226,2464,0.00,2.65,0.00,0.000,4,0.000,0.054,2754,637,3660,0,0,0,0,0,0
$GC,2490,-1.24,-146.0,245.1,-6.6,228,2494,0.00,2.47,0.00,0.000,6,0.000,0.023,2755,2232,3660,0,0,0,0,0,0
$GC,2753,-1.29,-146.0,262.3,-6.7,252,2758,0.15,2.65,0.00,0.000,4,0.059,0.051,2697,642,3660,0,0,0,0,0,0
$GC,2811,-1.24,-146.0,267.3,-9.8,256,2816,0.17,2.47,0.00,0.000,6,0.091,0.031,2734,2218,3659,0,0,0,0,0,0
$GC,3076,-1.24,-146.0,291.3,-8.9,280,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2219,3659,0,0,0,0,0,0
$GC,3338,-1.24,-146.0,313.6,-8.1,305,3342,0.00,2.58,0.00,0.000,4,0.000,0.044,2734,3779,3658,0,0,0,0,0,0
$GC,3426,-1.29,-146.0,321.1,-9.1,312,3431,0.00,2.45,0.00,0.000,6,0.000,0.026,2734,2242,3658,0,0,0,0,0,0
$GC,3691,-1.29,-146.0,340.5,-6.9,336,3695,0.00,2.78,0.00,0.000,4,0.000,0.070,2734,625,3657,0,0,0,0,0,0
$GC,3755,-1.33,-146.0,345.4,-7.2,341,3759,0.00,2.50,0.00,0.000,6,0.000,0.029,2734,2195,3657,0,0,0,0,0,0
$GC,4019,-1.38,-146.0,364.1,-8.0,365,4025,0.12,2.65,0.00,0.000,4,0.068,0.050,2682,3789,3655,0,0,0,0,0,0
$GC,4072,-1.33,-146.0,369.7,-10.7,369,4077,0.15,2.53,0.00,0.000,6,0.095,0.035,2714,2222,3655,0,0,0,0,0,0
$GC,4333,-1.33,-146.0,394.7,-9.5,393,4337,0.00,2.80,0.00,0.000,4,0.000,0.085,2714,633,3653,0,0,0,0,0,0
$GC,4361,-1.33,-146.0,397.7,-10.0,395,4366,0.00,2.58,0.00,0.000,6,0.000,0.042,2714,2217,3653,0,0,0,0,0,0
$GC,4625,-1.33,-146.0,423.7,-9.9,419,4630,0.00,2.65,0.00,0.000,4,0.000,0.062,2714,3793,3652,0,0,0,0,0,0
$GC,4706,-1.33,-146.0,432.5,-10.7,425,4711,0.00,2.55,0.00,0.000,6,0.000,0.038,2714,2238,3651,0,0,0,0,0,0
$GC,4970,-1.33,-146.0,456.8,-8.9,450,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2239,3649,0,0,0,0,0,0
$GC,5235,-1.33,-146.0,478.0,-7.5,475,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2239,3648,0,0,0,0,0,0
$GC,5498,-1.33,-146.0,498.6,-7.5,500,5502,0.00,2.70,0.00,0.000,4,0.000,0.068,2714,3799,3646,0,0,0,0,0,0
$GC,5529,-1.33,-146.0,501.0,-7.9,502,5534,0.00,2.60,0.00,0.000,6,0.000,0.053,2714,2243,3646,0,0,0,0,0,0
$GC,5796,-1.33,-146.0,521.6,-7.7,526,5801,0.00,3.05,0.00,0.000,4,0.000,0.117,2714,620,3645,0,0,0,0,0,0
$GC,5819,-1.33,-146.0,523.9,-8.3,527,5825,0.00,2.72,0.00,0.000,6,0.000,0.049,2714,2240,3644,0,0,0,0,0,0
$GC,6082,-1.37,-146.0,545.0,-8.1,552,6087,0.00,2.72,0.00,0.000,4,0.000,0.076,2714,3794,3643,0,0,0,0,0,0
$GC,6107,-1.40,-146.0,546.8,-8.4,553,6111,0.00,2.60,0.00,0.000,6,0.000,0.054,2714,2243,3643,0,0,0,0,0,0
$GC,6374,-1.45,-146.0,568.2,-7.9,577,6379,0.12,3.08,0.00,0.000,4,0.068,0.114,2665,621,3641,0,0,0,0,0,0
$GC,6404,-1.40,-146.0,571.4,-9.6,579,6410,0.15,2.78,0.00,0.000,6,0.097,0.058,2697,2244,3640,0,0,0,0,0,0
$GC,6666,-1.40,-146.0,592.0,-7.3,603,6670,0.00,2.80,0.00,0.000,4,0.000,0.094,2697,3800,3639,0,0,0,0,0,0
$GC,6700,-1.40,-146.0,594.6,-8.4,605,6706,0.00,2.67,0.00,0.000,6,0.000,0.061,2697,2243,3638,0,0,0,0,0,0
$STATE,6782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6782,begin apogee
$GC,6788,-0.31,0.0,600.6,7.1,613,6910,1.05,0.00,118.35,1.009,6,0.069,0.000,2935,2383,3060,0,0,0,0,0,0
$STATE,6912,end apogee,CONTROL_FINISHED_OK
$STATE,6912,begin climb
$GC,6915,1.27,146.0,603.2,0.0,616,7050,1.42,2.72,124.03,0.981,4,0.032,0.077,3289,3923,2462,0,0,0,0,0,0
$GC,7091,1.12,146.0,590.9,12.5,623,7097,0.20,2.72,0.00,0.000,6,0.108,0.057,3249,2369,2458,0,0,0,0,0,0
$GC,7355,1.11,171.7,567.2,8.8,648,7383,0.00,2.83,22.38,0.923,4,0.000,0.067,3250,3927,2360,0,0,0,0,0,0
$GC,7412,1.05,171.7,561.3,10.6,652,7418,0.00,2.70,0.00,0.000,6,0.000,0.051,3249,2376,2358,0,0,0,0,0,0
$GC,7676,1.08,196.3,538.1,8.9,677,7705,0.00,3.10,23.08,0.919,4,0.000,0.111,3250,776,2257,0,0,0,0,0,0
$GC,7744,1.09,199.0,532.2,9.9,682,7748,0.00,2.75,0.00,0.000,6,0.000,0.051,3249,2376,2255,0,0,0,0,0,0
$GC,8012,1.09,204.9,507.2,9.7,706,8022,0.00,0.00,8.32,0.812,6,0.000,0.000,3249,2377,2225,0,0,0,0,0,0
$GC,8274,1.09,204.9,478.4,11.5,731,8278,0.00,2.65,0.00,0.000,4,0.000,0.058,3249,3937,2221,0,0,0,0,0,0
$GC,8309,1.06,204.9,474.7,12.8,733,8313,0.00,2.60,0.00,0.000,6,0.000,0.035,3249,2367,2220,0,0,0,0,0,0
$GC,8575,1.06,204.9,443.8,10.9,757,8579,0.00,2.88,0.00,0.000,4,0.000,0.090,3249,780,2219,0,0,0,0,0,0
$GC,8594,1.06,204.9,441.2,11.6,758,8599,0.00,2.62,0.00,0.000,6,0.000,0.038,3249,2382,2218,0,0,0,0,0,0
$GC,8858,1.06,204.9,412.7,10.3,782,8863,0.00,2.62,0.00,0.000,4,0.000,0.051,3249,3942,2218,0,0,0,0,0,0
$GC,8945,1.06,204.9,402.5,11.9,789,8949,0.00,2.58,0.00,0.000,6,0.000,0.037,3249,2377,2217,0,0,0,0,0,0
$GC,9209,1.06,204.9,372.1,11.0,813,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2376,2216,0,0,0,0,0,0
$GC,9460,1.08,221.8,346.5,9.2,837,9484,0.00,2.70,15.32,0.818,4,0.000,0.047,3249,3932,2154,0,0,0,0,0,0
$GC,9556,1.09,234.7,337.6,9.4,845,9581,0.00,2.55,12.68,0.787,6,0.000,0.028,3249,2363,2102,0,0,0,0,0,0
$GC,9836,1.10,239.6,312.8,9.8,871,9847,0.00,2.70,5.30,0.637,4,0.000,0.059,3249,785,2083,0,0,0,0,0,0
$GC,9875,1.10,239.6,308.7,11.2,874,9880,0.00,2.62,0.00,0.000,6,0.000,0.033,3249,2398,2082,0,0,0,0,0,0
$GC,10142,1.10,239.6,280.6,11.4,898,10146,0.00,2.58,0.00,0.000,4,0.000,0.048,3249,3940,2082,0,0,0,0,0,0
$GC,10221,1.15,239.6,270.8,12.6,904,10226,0.00,2.50,0.00,0.000,6,0.000,0.025,3249,2392,2081,0,0,0,0,0,0
$GC,10488,1.19,239.6,242.2,10.1,928,10492,0.00,2.65,0.00,0.000,4,0.000,0.051,3249,787,2081,0,0,0,0,0,0
$GC,10557,1.23,239.6,234.7,10.1,933,10566,0.00,2.60,0.00,0.000,6,0.000,0.025,3249,2396,2080,0,0,0,0,0,0
$GC,10823,1.34,280.7,209.9,8.1,958,10868,0.20,2.60,37.17,0.727,4,0.058,0.045,3306,3931,1914,0,0,0,0,0,0
$GC,10898,1.28,280.7,202.4,11.9,964,10904,0.12,2.53,0.00,0.000,6,0.114,0.025,3281,2379,1912,0,0,0,0,0,0
$GC,11159,1.28,280.7,173.9,10.4,988,11164,0.00,2.65,0.00,0.000,4,0.000,0.047,3280,780,1910,0,0,0,0,0,0
$GC,11196,1.28,280.7,170.0,11.4,990,11205,0.00,2.58,0.00,0.000,6,0.000,0.022,3281,2389,1909,0,0,0,0,0,0
$GC,11463,1.28,280.7,139.3,11.9,1015,11467,0.00,2.50,0.00,0.000,4,0.000,0.041,3280,3926,1909,0,0,0,0,0,0
$GC,11483,1.28,280.7,136.6,11.6,1016,11488,0.00,2.47,0.00,0.000,6,0.000,0.021,3280,2374,1909,0,0,0,0,0,0
$GC,11752,1.28,280.7,106.0,12.0,1040,11756,0.00,2.60,0.00,0.000,4,0.000,0.044,3280,790,1909,0,0,0,0,0,0
$GC,11772,1.28,280.7,103.0,12.1,1041,11777,0.00,2.50,0.00,0.000,6,0.000,0.021,3280,2398,1909,0,0,0,0,0,0
$GC,12041,1.28,280.7,71.5,11.9,1065,12046,0.00,2.50,0.00,0.000,4,0.000,0.038,3280,3928,1909,0,0,0,0,0,0
$GC,12087,1.35,280.7,65.1,11.8,1068,12092,0.00,2.45,0.00,0.000,6,0.000,0.023,3280,2390,1909,0,0,0,0,0,0
$GC,12357,1.39,280.7,35.2,11.1,1092,12362,0.10,2.53,0.00,0.000,4,0.084,0.041,3315,3926,1909,0,0,0,0,0,0
$GC,12378,1.39,280.7,32.1,11.6,1093,12382,0.00,2.42,0.00,0.000,6,0.000,0.022,3315,2401,1909,0,0,0,0,0,0
$STATE,12601,end climb,SURFACE_DEPTH_REACHED
$STATE,12601,begin surface coast
$FINISH,-0.2,1.023108
$STATE,12645,end surface coast,CONTROL_FINISHED_OK
$STATE,12645,begin surface
$SM_CCo,12667,79.85,0.523,0,0,1510,380.21
$SM_GC,0.53,0.00,0.00,79.85,0.000,0.000,0.523,461,2151,1510,-11.70,-1.67,380.21
$IRIDIUM_FIX,2230.01,-15735.92,300603,141428
$TT8_MAMPS,0.026078
$HUMID,61.06
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.80
$XPDR_PINGS,21
$24V_AH,23.4,22.380
$10V_AH,10.3,22.474
$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,28.525,178.525,366.625,79.850,0.000,22.649,43.228,294.859,5.250,0.000,22.293,1997.238,5989.735,553.996,3922.582,820.261,33.363,1692.323,0.000,3940.322,0.000,0.534,0.000
$DEVICE_MAMPS,167.206,116.584,1008.605,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,777.679,904.472,1151.743,1414.356,2694.040,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,94999,1131
$CAP_FILE_SIZE,158971,0
$CFSIZE,260165632,169512960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050414,212735,2239.690,-15738.830,27,1.4,27,10.1