version: 66.06
glider: 146
mission: 9
dive: 158
start: 4 6 114 1 22 46
data:
$ID,146
$MISSION,9
$DIVE,158
$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,-326888.41
$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,62
$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
$GPS1,011335,2240.777,-15738.801,23,1.6,23,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-70.4
$GPS2,012149,2240.825,-15738.928,13,1.6,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.161,0.204
$KALMAN_X,-141745.9,39.7,142.5,169990.6,-1632.5
$KALMAN_Y,76306.7,-343.0,37.4,-91658.6,-156.6
$MHEAD_RNG_PITCHd_Wd,28.2,45958,-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,-146.0,0.0,0.0,0,113,0.00,0.00,-88.93,0.000,6,0.000,0.000,461,2175,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.5,-11.4,12,133,12.60,2.60,0.00,0.000,4,0.166,0.029,2717,3785,3657,0,0,0,0,0,0
$GC,330,-1.17,-146.0,42.3,-12.6,37,335,0.15,2.45,0.00,0.000,6,0.119,0.022,2746,2231,3658,0,0,0,0,0,0
$GC,598,-1.11,-146.0,72.7,-10.9,61,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2231,3659,0,0,0,0,0,0
$GC,864,-1.11,-146.0,100.3,-10.5,86,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2231,3659,0,0,0,0,0,0
$GC,1131,-1.11,-146.0,127.3,-10.0,111,1135,0.00,2.60,0.00,0.000,4,0.000,0.046,2746,639,3659,0,0,0,0,0,0
$GC,1151,-1.11,-146.0,129.6,-9.8,112,1156,0.00,2.42,0.00,0.000,6,0.000,0.017,2746,2227,3659,0,0,0,0,0,0
$GC,1415,-1.11,-146.0,155.4,-9.0,136,1420,0.00,2.50,0.00,0.000,4,0.000,0.034,2746,3778,3659,0,0,0,0,0,0
$GC,1445,-1.11,-146.0,158.3,-8.9,138,1449,0.00,2.45,0.00,0.000,6,0.000,0.021,2746,2217,3659,0,0,0,0,0,0
$GC,1709,-1.11,-146.0,183.1,-9.7,162,1713,0.00,2.60,0.00,0.000,4,0.000,0.046,2746,637,3660,0,0,0,0,0,0
$GC,1800,-1.11,-146.0,192.2,-10.3,169,1804,0.00,2.42,0.00,0.000,6,0.000,0.017,2746,2207,3660,0,0,0,0,0,0
$GC,2067,-1.11,-146.0,214.0,-7.7,193,2072,0.00,2.60,0.00,0.000,4,0.000,0.045,2746,633,3660,0,0,0,0,0,0
$GC,2084,-1.11,-146.0,215.8,-7.8,194,2089,0.00,2.42,0.00,0.000,6,0.000,0.021,2746,2208,3661,0,0,0,0,0,0
$GC,2348,-1.11,-146.0,237.3,-9.1,218,2353,0.00,2.58,0.00,0.000,4,0.000,0.048,2746,641,3661,0,0,0,0,0,0
$GC,2382,-1.11,-146.0,240.2,-8.4,220,2386,0.00,2.40,0.00,0.000,6,0.000,0.026,2746,2185,3660,0,0,0,0,0,0
$GC,2649,-1.15,-146.0,261.7,-7.8,244,2653,0.00,2.58,0.00,0.000,4,0.000,0.041,2746,3775,3661,0,0,0,0,0,0
$GC,2694,-1.21,-146.0,265.1,-7.3,247,2698,0.00,2.50,0.00,0.000,6,0.000,0.021,2746,2190,3660,0,0,0,0,0,0
$GC,2962,-1.26,-146.0,283.1,-7.3,271,2967,0.00,2.58,0.00,0.000,4,0.000,0.040,2746,3771,3660,0,0,0,0,0,0
$GC,3042,-1.33,-146.0,289.7,-8.2,277,3047,0.15,2.47,0.00,0.000,6,0.058,0.023,2690,2201,3660,0,0,0,0,0,0
$GC,3307,-1.27,-146.0,317.8,-10.5,301,3312,0.17,2.67,0.00,0.000,4,0.093,0.066,2727,633,3659,0,0,0,0,0,0
$GC,3330,-1.27,-146.0,320.7,-10.6,302,3336,0.00,2.50,0.00,0.000,6,0.000,0.031,2727,2196,3659,0,0,0,0,0,0
$GC,3593,-1.27,-146.0,344.7,-9.2,327,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2196,3658,0,0,0,0,0,0
$GC,3847,-1.27,-146.0,364.4,-7.0,351,3852,0.00,2.62,0.00,0.000,4,0.000,0.054,2727,3786,3657,0,0,0,0,0,0
$GC,3927,-1.27,-146.0,370.6,-7.3,357,3936,0.00,2.58,0.00,0.000,6,0.000,0.029,2727,2214,3656,0,0,0,0,0,0
$GC,4196,-1.31,-146.0,387.7,-6.5,382,4200,0.00,2.78,0.00,0.000,4,0.000,0.077,2727,627,3655,0,0,0,0,0,0
$GC,4241,-1.35,-146.0,391.8,-8.0,385,4247,0.00,2.53,0.00,0.000,6,0.000,0.035,2727,2188,3654,0,0,0,0,0,0
$GC,4505,-1.35,-146.0,413.7,-8.8,410,4510,0.00,2.70,0.00,0.000,4,0.000,0.059,2727,3800,3652,0,0,0,0,0,0
$GC,4551,-1.39,-146.0,418.5,-9.4,413,4557,0.12,2.60,0.00,0.000,6,0.069,0.036,2680,2200,3652,0,0,0,0,0,0
$GC,4815,-1.34,-146.0,448.9,-11.6,438,4824,0.15,0.00,0.00,0.000,6,0.095,0.000,2712,2201,3650,0,0,0,0,0,0
$GC,5082,-1.34,-146.0,472.5,-7.2,463,5087,0.00,2.90,0.00,0.000,4,0.000,0.102,2712,623,3649,0,0,0,0,0,0
$GC,5114,-1.34,-146.0,475.1,-6.4,465,5124,0.00,2.65,0.00,0.000,6,0.000,0.044,2712,2198,3649,0,0,0,0,0,0
$GC,5382,-1.34,-146.0,487.7,-4.6,490,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2198,3647,0,0,0,0,0,0
$GC,5644,-1.34,-146.0,502.0,-5.9,515,5648,0.00,2.75,0.00,0.000,4,0.000,0.066,2713,3798,3645,0,0,0,0,0,0
$GC,5696,-1.34,-146.0,505.6,-7.8,519,5701,0.00,2.65,0.00,0.000,6,0.000,0.045,2712,2209,3645,0,0,0,0,0,0
$GC,5959,-1.34,-146.0,523.8,-7.2,543,5964,0.00,2.72,0.00,0.000,4,0.000,0.062,2712,3794,3644,0,0,0,0,0,0
$GC,5994,-1.34,-146.0,526.7,-8.6,545,6000,0.00,2.67,0.00,0.000,6,0.000,0.054,2712,2216,3643,0,0,0,0,0,0
$GC,6257,-1.34,-146.0,547.2,-8.0,570,6261,0.00,2.75,0.00,0.000,4,0.000,0.069,2712,3793,3642,0,0,0,0,0,0
$GC,6291,-1.34,-146.0,550.3,-9.3,572,6297,0.00,2.67,0.00,0.000,6,0.000,0.053,2712,2226,3642,0,0,0,0,0,0
$GC,6554,-1.34,-146.0,571.4,-8.1,597,6559,0.00,2.78,0.00,0.000,4,0.000,0.083,2712,3792,3640,0,0,0,0,0,0
$GC,6583,-1.38,-146.0,574.1,-9.0,599,6588,0.00,2.65,0.00,0.000,6,0.000,0.059,2712,2235,3640,0,0,0,0,0,0
$GC,6848,-1.42,-146.0,595.0,-7.9,623,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2235,3638,0,0,0,0,0,0
$STATE,6915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6915,begin apogee
$GC,6921,-0.31,0.0,600.6,7.7,630,7043,0.98,0.00,118.40,1.009,6,0.069,0.000,2934,2374,3060,0,0,0,0,0,0
$STATE,7044,end apogee,CONTROL_FINISHED_OK
$STATE,7044,begin climb
$GC,7048,1.27,146.0,603.8,0.0,633,7186,1.42,2.88,123.97,0.984,4,0.033,0.080,3289,3922,2464,0,0,0,0,0,0
$GC,7262,1.12,146.0,587.5,12.4,643,7267,0.20,2.72,0.00,0.000,6,0.107,0.055,3249,2364,2459,0,0,0,0,0,0
$GC,7529,1.10,165.9,561.7,9.1,667,7553,0.00,2.85,17.83,0.911,4,0.000,0.071,3249,3928,2381,0,0,0,0,0,0
$GC,7589,1.05,165.9,555.2,10.6,672,7598,0.00,2.70,0.00,0.000,6,0.000,0.048,3249,2379,2379,0,0,0,0,0,0
$GC,7856,1.09,197.2,530.9,8.6,697,7890,0.00,2.75,28.70,0.929,4,0.000,0.058,3248,3931,2255,0,0,0,0,0,0
$GC,7904,1.06,209.8,526.2,9.4,701,7928,0.00,2.70,12.52,0.858,6,0.000,0.047,3249,2372,2204,0,0,0,0,0,0
$GC,8183,1.07,213.8,499.1,9.8,727,8194,0.00,2.72,4.45,0.639,4,0.000,0.058,3249,3932,2188,0,0,0,0,0,0
$GC,8207,1.07,213.8,496.3,10.3,729,8212,0.00,2.65,0.00,0.000,6,0.000,0.044,3249,2376,2187,0,0,0,0,0,0
$GC,8470,1.07,213.8,466.0,12.1,753,8475,0.00,2.97,0.00,0.000,4,0.000,0.102,3248,777,2186,0,0,0,0,0,0
$GC,8545,1.07,213.8,456.2,13.0,759,8549,0.00,2.65,0.00,0.000,6,0.000,0.041,3248,2364,2184,0,0,0,0,0,0
$GC,8808,1.07,213.8,425.3,10.9,783,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2364,2184,0,0,0,0,0,0
$GC,9073,1.07,219.8,398.1,9.7,808,9085,0.00,2.67,6.32,0.727,4,0.000,0.051,3249,3941,2163,0,0,0,0,0,0
$GC,9138,1.07,219.8,391.2,10.1,813,9147,0.00,2.65,0.00,0.000,6,0.000,0.030,3249,2353,2162,0,0,0,0,0,0
$GC,9404,1.12,254.9,368.4,8.4,838,9442,0.00,2.78,32.30,0.854,4,0.000,0.069,3249,785,2020,0,0,0,0,0,0
$GC,9467,1.13,260.6,362.1,9.7,843,9481,0.00,2.60,7.12,0.709,6,0.000,0.026,3249,2380,1996,0,0,0,0,0,0
$GC,9736,1.13,260.6,334.4,10.8,868,9740,0.00,2.60,0.00,0.000,4,0.000,0.048,3249,3925,1992,0,0,0,0,0,0
$GC,9782,1.13,260.6,328.6,12.4,871,9788,0.00,2.55,0.00,0.000,6,0.000,0.028,3248,2361,1990,0,0,0,0,0,0
$GC,10044,1.13,260.6,297.3,12.3,896,10049,0.00,2.65,0.00,0.000,4,0.000,0.057,3249,786,1990,0,0,0,0,0,0
$GC,10112,1.17,260.6,289.6,12.2,901,10117,0.00,2.55,0.00,0.000,6,0.000,0.027,3249,2365,1989,0,0,0,0,0,0
$GC,10379,1.17,260.6,259.5,10.9,925,10383,0.00,2.60,0.00,0.000,4,0.000,0.049,3248,3929,1989,0,0,0,0,0,0
$GC,10425,1.22,260.6,253.2,12.4,928,10431,0.00,2.53,0.00,0.000,6,0.000,0.025,3249,2369,1988,0,0,0,0,0,0
$GC,10688,1.30,280.7,226.2,9.1,953,10713,0.15,2.65,17.38,0.729,4,0.069,0.045,3292,3926,1916,0,0,0,0,0,0
$GC,10779,1.30,280.7,215.0,13.2,960,10788,0.00,2.53,0.00,0.000,6,0.000,0.027,3292,2398,1914,0,0,0,0,0,0
$GC,11045,1.30,280.7,183.1,11.8,985,11049,0.00,2.67,0.00,0.000,4,0.000,0.048,3292,776,1913,0,0,0,0,0,0
$GC,11114,1.30,280.7,173.6,12.5,990,11124,0.00,2.58,0.00,0.000,6,0.000,0.022,3292,2382,1912,0,0,0,0,0,0
$GC,11382,1.30,280.7,143.6,11.8,1015,11386,0.00,2.65,0.00,0.000,4,0.000,0.044,3292,779,1912,0,0,0,0,0,0
$GC,11402,1.30,280.7,140.7,12.6,1016,11407,0.00,2.53,0.00,0.000,6,0.000,0.021,3292,2378,1912,0,0,0,0,0,0
$GC,11671,1.30,280.7,109.4,11.4,1040,11676,0.00,2.53,0.00,0.000,4,0.000,0.040,3292,3922,1912,0,0,0,0,0,0
$GC,11705,1.30,280.7,104.9,11.7,1042,11709,0.00,2.50,0.00,0.000,6,0.000,0.024,3292,2357,1912,0,0,0,0,0,0
$GC,11974,1.30,280.7,75.8,10.6,1066,11978,0.00,2.58,0.00,0.000,4,0.000,0.040,3292,3928,1912,0,0,0,0,0,0
$GC,11994,1.30,280.7,72.9,11.0,1067,11998,0.00,2.47,0.00,0.000,6,0.000,0.025,3292,2382,1912,0,0,0,0,0,0
$GC,12263,1.30,280.7,45.0,10.4,1091,12268,0.00,2.55,0.00,0.000,4,0.000,0.042,3292,3918,1912,0,0,0,0,0,0
$GC,12297,1.30,280.7,40.8,11.1,1093,12301,0.00,2.42,0.00,0.000,6,0.000,0.024,3292,2385,1912,0,0,0,0,0,0
$GC,12602,1.30,280.7,8.1,10.1,1132,12611,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2385,1913,0,0,0,0,0,0
$STATE,12640,end climb,SURFACE_DEPTH_REACHED
$STATE,12640,begin surface coast
$FINISH,-0.2,1.023950
$STATE,12689,end surface coast,CONTROL_FINISHED_OK
$STATE,12689,begin surface
$SM_CCo,12710,80.65,0.524,0,0,1509,380.21
$SM_GC,0.50,0.00,0.00,80.65,0.000,0.000,0.524,464,2174,1509,-11.68,-1.02,380.21
$IRIDIUM_FIX,2232.34,-15738.08,300603,212125
$TT8_MAMPS,0.026078
$HUMID,61.14
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.90
$XPDR_PINGS,18
$24V_AH,23.4,22.646
$10V_AH,10.3,22.937
$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,27.425,173.300,369.000,80.650,0.000,30.827,42.806,248.958,4.500,0.000,15.402,1995.050,5948.438,567.515,3982.376,781.699,33.383,1735.665,0.000,4010.936,0.000,0.534,0.000
$DEVICE_MAMPS,166.439,102.011,1008.605,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,785.944,924.709,1169.656,1444.719,2751.691,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355380
$DATA_FILE_SIZE,95248,1144
$CAP_FILE_SIZE,155452,0
$CFSIZE,260165632,169345024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060414,045706,2241.632,-15738.753,27,0.9,27,10.1