version: 66.06
glider: 146
mission: 9
dive: 157
start: 4 5 114 21 40 20
data:
$ID,146
$MISSION,9
$DIVE,157
$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,-326872.38
$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,34
$R_STBD_OVSHOOT,45
$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
$GPS1,212735,2239.690,-15738.830,27,1.4,27,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-71.0
$GPS2,213927,2239.686,-15739.100,11,2.1,30,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.141,0.218
$KALMAN_X,-139760.0,-39.4,-366.9,168307.0,-1318.5
$KALMAN_Y,76774.3,-155.6,-136.9,-94254.7,175.4
$MHEAD_RNG_PITCHd_Wd,22.7,48089,-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,17,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-89.70,0.000,6,0.000,0.000,460,2151,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.8,-9.4,12,133,12.55,2.62,0.00,0.000,4,0.166,0.027,2719,3784,3657,0,0,0,0,0,0
$GC,292,-1.18,-146.0,36.6,-13.3,34,297,0.12,2.50,0.00,0.000,6,0.122,0.022,2743,2196,3658,0,0,0,0,0,0
$GC,561,-1.12,-146.0,70.7,-12.1,58,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2196,3658,0,0,0,0,0,0
$GC,828,-1.08,-146.0,102.9,-11.6,83,833,0.12,2.60,0.00,0.000,4,0.117,0.034,2768,3782,3659,0,0,0,0,0,0
$GC,861,-1.08,-146.0,106.9,-10.7,85,866,0.00,2.47,0.00,0.000,6,0.000,0.021,2768,2202,3659,0,0,0,0,0,0
$GC,1129,-1.08,-146.0,132.0,-9.2,109,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2202,3659,0,0,0,0,0,0
$GC,1391,-1.08,-146.0,157.0,-9.0,134,1396,0.00,2.55,0.00,0.000,4,0.000,0.048,2768,641,3659,0,0,0,0,0,0
$GC,1414,-1.08,-146.0,159.3,-9.7,135,1419,0.00,2.42,0.00,0.000,6,0.000,0.021,2768,2225,3659,0,0,0,0,0,0
$GC,1677,-1.08,-146.0,181.4,-8.6,160,1681,0.00,2.50,0.00,0.000,4,0.000,0.034,2768,3775,3659,0,0,0,0,0,0
$GC,1697,-1.08,-146.0,183.0,-8.7,161,1701,0.00,2.47,0.00,0.000,6,0.000,0.018,2768,2196,3659,0,0,0,0,0,0
$GC,1960,-1.12,-146.0,207.2,-10.1,185,1964,0.00,2.53,0.00,0.000,4,0.000,0.046,2768,642,3660,0,0,0,0,0,0
$GC,1983,-1.17,-146.0,209.6,-9.7,186,1992,0.00,2.45,0.00,0.000,6,0.000,0.018,2768,2209,3660,0,0,0,0,0,0
$GC,2249,-1.23,-146.0,231.3,-6.2,211,2255,0.15,0.00,0.00,0.000,6,0.058,0.000,2707,2209,3660,0,0,0,0,0,0
$GC,2514,-1.19,-146.0,251.1,-7.6,236,2519,0.17,2.62,0.00,0.000,4,0.090,0.052,2745,640,3660,0,0,0,0,0,0
$GC,2546,-1.19,-146.0,253.5,-7.5,238,2551,0.00,2.42,0.00,0.000,6,0.000,0.020,2745,2209,3660,0,0,0,0,0,0
$GC,2815,-1.22,-146.0,275.8,-8.6,262,2819,0.00,2.55,0.00,0.000,4,0.000,0.041,2745,3782,3660,0,0,0,0,0,0
$GC,2858,-1.28,-146.0,279.9,-8.8,265,2863,0.00,2.47,0.00,0.000,6,0.000,0.022,2745,2212,3660,0,0,0,0,0,0
$GC,3127,-1.33,-146.0,302.2,-8.9,289,3132,0.12,2.58,0.00,0.000,4,0.069,0.043,2694,3773,3659,0,0,0,0,0,0
$GC,3150,-1.33,-146.0,305.3,-10.3,290,3156,0.10,2.47,0.00,0.000,6,0.113,0.025,2716,2216,3659,0,0,0,0,0,0
$GC,3414,-1.33,-146.0,330.4,-9.1,315,3419,0.00,2.70,0.00,0.000,4,0.000,0.068,2715,635,3658,0,0,0,0,0,0
$GC,3447,-1.33,-146.0,333.8,-9.6,317,3453,0.00,2.50,0.00,0.000,6,0.000,0.036,2716,2196,3658,0,0,0,0,0,0
$GC,3712,-1.33,-146.0,355.6,-8.4,342,3716,0.00,2.65,0.00,0.000,4,0.000,0.055,2716,3792,3657,0,0,0,0,0,0
$GC,3788,-1.33,-146.0,362.8,-9.2,348,3793,0.00,2.50,0.00,0.000,6,0.000,0.028,2716,2235,3656,0,0,0,0,0,0
$GC,4053,-1.33,-146.0,386.8,-9.4,372,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2235,3655,0,0,0,0,0,0
$GC,4318,-1.33,-146.0,409.2,-7.8,397,4322,0.00,2.62,0.00,0.000,4,0.000,0.059,2715,3792,3653,0,0,0,0,0,0
$GC,4347,-1.33,-146.0,411.9,-8.8,399,4352,0.00,2.55,0.00,0.000,6,0.000,0.040,2716,2227,3653,0,0,0,0,0,0
$GC,4610,-1.33,-146.0,432.4,-7.9,423,4614,0.00,2.62,0.00,0.000,4,0.000,0.058,2716,3794,3651,0,0,0,0,0,0
$GC,4708,-1.33,-146.0,440.9,-8.9,431,4713,0.00,2.58,0.00,0.000,6,0.000,0.041,2716,2240,3650,0,0,0,0,0,0
$GC,4973,-1.33,-146.0,462.4,-8.5,455,4977,0.00,2.92,0.00,0.000,4,0.000,0.096,2716,627,3649,0,0,0,0,0,0
$GC,5041,-1.33,-146.0,467.5,-7.8,460,5046,0.00,2.65,0.00,0.000,6,0.000,0.044,2716,2223,3648,0,0,0,0,0,0
$GC,5309,-1.33,-146.0,488.6,-7.8,484,5314,0.00,2.83,0.00,0.000,4,0.000,0.084,2716,627,3646,0,0,0,0,0,0
$GC,5361,-1.33,-146.0,493.0,-8.0,488,5365,0.00,2.65,0.00,0.000,6,0.000,0.047,2716,2225,3646,0,0,0,0,0,0
$GC,5625,-1.33,-146.0,511.5,-5.9,512,5629,0.00,2.85,0.00,0.000,4,0.000,0.086,2716,628,3644,0,0,0,0,0,0
$GC,5646,-1.33,-146.0,513.1,-6.1,513,5656,0.00,2.70,0.00,0.000,6,0.000,0.050,2716,2218,3644,0,0,0,0,0,0
$GC,5915,-1.37,-146.0,527.4,-5.1,538,5919,0.00,2.72,0.00,0.000,4,0.000,0.073,2716,3798,3643,0,0,0,0,0,0
$GC,5947,-1.37,-146.0,529.8,-6.3,540,5957,0.00,2.67,0.00,0.000,6,0.000,0.049,2716,2226,3643,0,0,0,0,0,0
$GC,6214,-1.41,-146.0,546.2,-7.4,565,6219,0.00,2.97,0.00,0.000,4,0.000,0.112,2716,625,3641,0,0,0,0,0,0
$GC,6238,-1.45,-146.0,548.4,-7.5,566,6244,0.12,2.70,0.00,0.000,6,0.069,0.051,2664,2221,3642,0,0,0,0,0,0
$GC,6500,-1.39,-146.0,574.4,-10.5,591,6502,0.15,0.00,0.00,0.000,6,0.095,0.000,2698,2221,3639,0,0,0,0,0,0
$GC,6755,-1.39,-146.0,597.9,-9.0,615,6759,0.00,2.85,0.00,0.000,4,0.000,0.091,2698,3799,3638,0,0,0,0,0,0
$STATE,6775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6775,begin apogee
$GC,6783,-0.31,0.0,600.1,8.8,616,6909,1.02,0.00,118.53,1.006,6,0.074,0.000,2931,2362,3060,0,0,0,0,0,0
$STATE,6909,end apogee,CONTROL_FINISHED_OK
$STATE,6909,begin climb
$GC,6913,1.27,146.0,603.8,0.0,620,7048,1.45,2.88,124.15,0.983,4,0.034,0.073,3292,3931,2463,0,0,0,0,0,0
$GC,7073,1.11,146.0,593.4,11.3,626,7079,0.22,2.72,0.00,0.000,6,0.104,0.058,3246,2372,2459,0,0,0,0,0,0
$GC,7336,1.07,146.0,568.3,10.3,650,7340,0.00,2.95,0.00,0.000,4,0.000,0.100,3245,778,2454,0,0,0,0,0,0
$GC,7368,1.01,149.8,565.4,9.8,652,7373,0.10,2.72,0.00,0.000,6,0.127,0.054,3226,2358,2453,0,0,0,0,0,0
$GC,7636,1.04,171.7,540.3,9.0,676,7665,0.00,0.00,22.40,0.923,6,0.000,0.000,3225,2359,2357,0,0,0,0,0,0
$GC,7923,1.04,174.7,512.7,9.9,703,7928,0.00,2.75,0.00,0.000,4,0.000,0.063,3225,3944,2353,0,0,0,0,0,0
$GC,7951,1.04,174.7,509.1,11.2,705,7955,0.00,2.67,0.00,0.000,6,0.000,0.041,3225,2354,2352,0,0,0,0,0,0
$GC,8214,1.05,183.6,483.8,9.6,729,8231,0.00,3.00,10.88,0.853,4,0.000,0.103,3225,786,2310,0,0,0,0,0,0
$GC,8320,1.06,187.5,473.1,9.8,738,8335,0.00,2.60,5.20,0.693,6,0.000,0.048,3225,2340,2294,0,0,0,0,0,0
$GC,8590,1.09,212.8,448.2,8.8,763,8625,0.00,2.85,23.65,0.891,4,0.000,0.073,3225,787,2191,0,0,0,0,0,0
$GC,8643,1.10,222.4,442.8,9.6,767,8662,0.00,2.58,9.88,0.802,6,0.000,0.035,3225,2331,2153,0,0,0,0,0,0
$GC,8919,1.15,234.7,417.3,9.4,793,8941,0.12,2.80,12.30,0.826,4,0.074,0.050,3262,3938,2102,0,0,0,0,0,0
$GC,9028,1.15,234.7,403.6,13.0,802,9032,0.00,2.65,0.00,0.000,6,0.000,0.033,3262,2336,2099,0,0,0,0,0,0
$GC,9295,1.15,234.7,369.9,12.3,826,9300,0.00,2.70,0.00,0.000,4,0.000,0.070,3262,786,2098,0,0,0,0,0,0
$GC,9312,1.15,234.7,366.9,12.1,827,9317,0.00,2.58,0.00,0.000,6,0.000,0.033,3262,2379,2097,0,0,0,0,0,0
$GC,9575,1.16,236.7,337.7,9.9,851,9579,0.00,2.58,0.00,0.000,4,0.000,0.048,3262,3933,2096,0,0,0,0,0,0
$GC,9621,1.16,236.7,332.5,12.1,854,9626,0.00,2.58,0.00,0.000,6,0.000,0.028,3262,2358,2096,0,0,0,0,0,0
$GC,9883,1.17,251.6,307.5,9.3,879,9907,0.00,2.75,15.32,0.786,4,0.000,0.059,3262,792,2033,0,0,0,0,0,0
$GC,9944,1.17,251.6,301.4,10.1,884,9949,0.00,2.53,0.00,0.000,6,0.000,0.026,3262,2349,2031,0,0,0,0,0,0
$GC,10207,1.17,251.6,270.9,13.4,908,10211,0.00,2.65,0.00,0.000,4,0.000,0.048,3262,3934,2031,0,0,0,0,0,0
$GC,10287,1.17,251.6,259.1,13.8,914,10293,0.00,2.55,0.00,0.000,6,0.000,0.025,3262,2362,2030,0,0,0,0,0,0
$GC,10550,1.20,273.6,231.1,9.0,939,10576,0.00,2.67,20.38,0.736,4,0.000,0.050,3262,782,1943,0,0,0,0,0,0
$GC,10606,1.20,273.6,225.7,10.0,943,10611,0.00,2.58,0.00,0.000,6,0.000,0.030,3262,2378,1941,0,0,0,0,0,0
$GC,10868,1.21,278.7,201.8,9.8,968,10880,0.00,2.55,5.68,0.577,4,0.000,0.041,3262,3925,1922,0,0,0,0,0,0
$GC,10897,1.24,278.7,199.0,10.9,970,10902,0.00,2.50,0.00,0.000,6,0.000,0.025,3262,2365,1921,0,0,0,0,0,0
$GC,11161,1.29,278.7,172.7,10.2,994,11166,0.10,2.60,0.00,0.000,4,0.084,0.048,3296,786,1921,0,0,0,0,0,0
$GC,11206,1.29,278.7,167.6,12.0,997,11210,0.00,2.53,0.00,0.000,6,0.000,0.022,3296,2381,1920,0,0,0,0,0,0
$GC,11475,1.29,278.7,135.6,12.5,1021,11479,0.00,2.53,0.00,0.000,4,0.000,0.039,3296,3928,1920,0,0,0,0,0,0
$GC,11534,1.29,278.7,126.4,13.8,1025,11544,0.00,2.47,0.00,0.000,6,0.000,0.022,3296,2386,1919,0,0,0,0,0,0
$GC,11804,1.29,278.7,93.8,12.3,1050,11808,0.00,2.60,0.00,0.000,4,0.000,0.045,3296,785,1919,0,0,0,0,0,0
$GC,11824,1.29,278.7,90.7,12.2,1051,11828,0.00,2.50,0.00,0.000,6,0.000,0.021,3296,2394,1919,0,0,0,0,0,0
$GC,12093,1.29,278.7,61.0,11.3,1075,12097,0.00,2.50,0.00,0.000,4,0.000,0.040,3296,3927,1919,0,0,0,0,0,0
$GC,12163,1.29,278.7,51.9,12.4,1080,12167,0.00,2.45,0.00,0.000,6,0.000,0.024,3296,2391,1920,0,0,0,0,0,0
$GC,12448,1.29,278.7,19.4,11.2,1111,12458,0.00,2.55,0.00,0.000,4,0.000,0.041,3296,3917,1920,0,0,0,0,0,0
$GC,12482,1.29,278.7,15.2,12.0,1115,12491,0.00,2.45,0.00,0.000,6,0.000,0.023,3296,2393,1921,0,0,0,0,0,0
$STATE,12580,end climb,SURFACE_DEPTH_REACHED
$STATE,12580,begin surface coast
$FINISH,-0.2,1.023762
$STATE,12624,end surface coast,CONTROL_FINISHED_OK
$STATE,12624,begin surface
$SM_CCo,12647,82.12,0.521,0,0,1509,380.21
$SM_GC,0.48,0.00,0.00,82.12,0.000,0.000,0.521,461,2174,1509,-11.70,-0.99,380.21
$IRIDIUM_FIX,2230.01,-15738.97,300603,212100
$TT8_MAMPS,0.026078
$HUMID,61.02
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.00
$XPDR_PINGS,18
$24V_AH,23.4,22.516
$10V_AH,10.3,22.705
$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,27.975,183.850,368.350,82.125,0.000,53.287,66.980,332.059,4.500,0.000,32.607,1990.454,5985.489,573.922,3956.117,921.970,33.362,1737.730,0.000,3965.467,0.000,0.535,0.000
$DEVICE_MAMPS,166.439,111.982,1006.304,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,779.232,902.484,1156.415,1419.426,2703.611,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,95134,1135
$CAP_FILE_SIZE,161160,0
$CFSIZE,260165632,169422848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060414,011335,2240.777,-15738.801,23,1.6,23,10.1