version: 66.06
glider: 146
mission: 9
dive: 159
start: 4 6 114 5 9 43
data:
$ID,146
$MISSION,9
$DIVE,159
$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,-326900.53
$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,42
$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
$GPS1,045706,2241.632,-15738.753,27,0.9,27,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-70.1
$GPS2,050849,2241.640,-15738.863,10,1.3,10,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.202,0.163
$KALMAN_X,-143633.7,20.8,233.0,171917.2,-2170.0
$KALMAN_Y,75626.1,-380.8,-151.8,-89241.7,-63.6
$MHEAD_RNG_PITCHd_Wd,40.9,44448,-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,16,-1.27,-146.0,0.0,0.0,0,104,0.00,0.00,-86.05,0.000,2,0.000,0.000,464,2174,3603,0,0,0,0,0,0
$GC,109,-1.27,-146.0,3.1,-7.7,11,135,12.57,2.65,-0.93,0.000,4,0.165,0.044,2716,3779,3658,0,0,0,0,0,0
$GC,246,-1.18,-146.0,30.7,-13.4,30,254,0.10,2.50,0.00,0.000,6,0.099,0.022,2740,2223,3659,0,0,0,0,0,0
$GC,515,-1.10,-146.0,64.0,-11.8,55,520,0.10,2.55,0.00,0.000,4,0.128,0.034,2760,3791,3658,0,0,0,0,0,0
$GC,564,-1.10,-146.0,70.6,-11.0,58,573,0.00,2.53,0.00,0.000,6,0.000,0.021,2761,2213,3658,0,0,0,0,0,0
$GC,831,-1.10,-146.0,96.1,-9.5,83,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2213,3658,0,0,0,0,0,0
$GC,1097,-1.10,-146.0,122.8,-9.9,108,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2214,3659,0,0,0,0,0,0
$GC,1365,-1.10,-146.0,147.5,-9.8,133,1369,0.00,2.53,0.00,0.000,4,0.000,0.038,2761,3781,3660,0,0,0,0,0,0
$GC,1398,-1.10,-146.0,151.0,-9.3,135,1402,0.00,2.42,0.00,0.000,6,0.000,0.019,2761,2227,3660,0,0,0,0,0,0
$GC,1666,-1.10,-146.0,174.9,-9.1,159,1670,0.00,2.62,0.00,0.000,4,0.000,0.048,2761,635,3660,0,0,0,0,0,0
$GC,1754,-1.14,-146.0,183.3,-9.2,166,1758,0.00,2.42,0.00,0.000,6,0.000,0.017,2761,2225,3660,0,0,0,0,0,0
$GC,2022,-1.14,-146.0,207.6,-9.4,190,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2225,3661,0,0,0,0,0,0
$GC,2285,-1.19,-146.0,232.5,-9.4,215,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2225,3660,0,0,0,0,0,0
$GC,2539,-1.26,-146.0,254.8,-7.9,239,2544,0.12,2.55,0.00,0.000,4,0.067,0.042,2708,3768,3661,0,0,0,0,0,0
$GC,2595,-1.26,-146.0,260.5,-10.1,243,2605,0.08,2.45,0.00,0.000,6,0.074,0.022,2730,2237,3660,0,0,0,0,0,0
$GC,2863,-1.26,-146.0,283.1,-8.2,268,2867,0.00,2.70,0.00,0.000,4,0.000,0.061,2730,630,3660,0,0,0,0,0,0
$GC,2932,-1.26,-146.0,289.7,-8.8,273,2941,0.00,2.50,0.00,0.000,6,0.000,0.028,2730,2190,3660,0,0,0,0,0,0
$GC,3200,-1.26,-146.0,309.2,-7.4,298,3204,0.00,2.62,0.00,0.000,4,0.000,0.053,2730,3782,3659,0,0,0,0,0,0
$GC,3222,-1.26,-146.0,311.5,-7.9,299,3228,0.00,2.50,0.00,0.000,6,0.000,0.025,2730,2212,3659,0,0,0,0,0,0
$GC,3485,-1.26,-146.0,331.0,-7.5,324,3490,0.00,2.72,0.00,0.000,4,0.000,0.068,2730,629,3658,0,0,0,0,0,0
$GC,3509,-1.26,-146.0,332.4,-7.6,325,3514,0.00,2.53,0.00,0.000,6,0.000,0.038,2730,2211,3658,0,0,0,0,0,0
$GC,3778,-1.26,-146.0,353.3,-8.1,349,3782,0.00,2.60,0.00,0.000,4,0.000,0.051,2730,3784,3656,0,0,0,0,0,0
$GC,3857,-1.30,-146.0,360.2,-8.5,355,3862,0.00,2.53,0.00,0.000,6,0.000,0.029,2730,2224,3656,0,0,0,0,0,0
$GC,4124,-1.34,-146.0,382.5,-8.8,379,4129,0.00,2.78,0.00,0.000,4,0.000,0.078,2730,631,3654,0,0,0,0,0,0
$GC,4169,-1.38,-146.0,386.7,-9.3,382,4175,0.12,2.55,0.00,0.000,6,0.067,0.036,2681,2208,3654,0,0,0,0,0,0
$GC,4435,-1.33,-146.0,414.7,-10.7,406,4440,0.15,2.67,0.00,0.000,4,0.094,0.057,2713,3791,3652,0,0,0,0,0,0
$GC,4465,-1.33,-146.0,418.0,-9.9,408,4469,0.00,2.55,0.00,0.000,6,0.000,0.038,2713,2227,3652,0,0,0,0,0,0
$GC,4727,-1.33,-146.0,441.0,-8.3,432,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2227,3651,0,0,0,0,0,0
$GC,4982,-1.33,-146.0,461.4,-8.2,456,4987,0.00,2.90,0.00,0.000,4,0.000,0.100,2713,629,3649,0,0,0,0,0,0
$GC,5004,-1.33,-146.0,462.7,-7.5,457,5009,0.00,2.65,0.00,0.000,6,0.000,0.044,2713,2223,3648,0,0,0,0,0,0
$GC,5271,-1.33,-146.0,483.9,-8.2,481,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2224,3647,0,0,0,0,0,0
$GC,5533,-1.33,-146.0,505.4,-7.9,506,5538,0.00,2.70,0.00,0.000,4,0.000,0.070,2713,3794,3645,0,0,0,0,0,0
$GC,5574,-1.37,-146.0,508.9,-8.2,509,5578,0.00,2.60,0.00,0.000,6,0.000,0.048,2713,2237,3645,0,0,0,0,0,0
$GC,5838,-1.37,-146.0,528.2,-7.0,533,5843,0.00,2.67,0.00,0.000,4,0.000,0.065,2713,3796,3643,0,0,0,0,0,0
$GC,5859,-1.37,-146.0,530.0,-7.1,534,5869,0.00,2.67,0.00,0.000,6,0.000,0.050,2714,2234,3643,0,0,0,0,0,0
$GC,6127,-1.40,-146.0,545.6,-5.8,559,6132,0.00,2.72,0.00,0.000,4,0.000,0.069,2713,3793,3642,0,0,0,0,0,0
$GC,6149,-1.40,-146.0,547.5,-6.3,560,6155,0.00,2.65,0.00,0.000,6,0.000,0.052,2713,2240,3642,0,0,0,0,0,0
$GC,6412,-1.40,-146.0,561.3,-4.8,585,6416,0.00,2.72,0.00,0.000,4,0.000,0.080,2713,3800,3640,0,0,0,0,0,0
$GC,6458,-1.44,-146.0,563.8,-5.4,588,6468,0.08,2.67,0.00,0.000,6,0.043,0.055,2675,2256,3640,0,0,0,0,0,0
$GC,6724,-1.44,-146.0,580.8,-7.2,613,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2256,3638,0,0,0,0,0,0
$GC,6987,-1.44,-146.0,599.2,-6.9,638,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2257,3637,0,0,0,0,0,0
$STATE,7008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7008,begin apogee
$GC,7014,-0.31,0.0,600.8,7.0,640,7136,1.15,0.00,118.30,1.013,6,0.073,0.000,2934,2379,3060,0,0,0,0,0,0
$STATE,7137,end apogee,CONTROL_FINISHED_OK
$STATE,7137,begin climb
$GC,7140,1.27,146.0,601.8,0.0,643,7275,1.42,2.88,124.30,0.985,4,0.034,0.081,3288,3935,2462,0,0,0,0,0,0
$GC,7317,1.12,146.0,587.1,12.6,652,7323,0.20,2.75,0.00,0.000,6,0.106,0.062,3247,2370,2458,0,0,0,0,0,0
$GC,7581,1.08,146.0,561.1,10.3,677,7586,0.00,3.00,0.00,0.000,4,0.000,0.108,3247,783,2453,0,0,0,0,0,0
$GC,7598,1.02,151.5,559.1,9.7,678,7613,0.00,2.72,4.00,0.601,6,0.000,0.060,3247,2364,2443,0,0,0,0,0,0
$GC,7868,1.02,182.7,534.9,8.6,703,7903,0.10,2.83,29.08,0.933,4,0.127,0.070,3226,3941,2316,0,0,0,0,0,0
$GC,7986,1.02,182.7,523.8,10.1,713,7991,0.00,2.65,0.00,0.000,6,0.000,0.044,3226,2381,2313,0,0,0,0,0,0
$GC,8250,1.06,217.9,501.8,8.4,737,8289,0.00,3.12,32.42,0.923,4,0.000,0.113,3226,783,2170,0,0,0,0,0,0
$GC,8305,1.07,228.8,496.1,9.5,741,8325,0.00,2.78,11.30,0.838,6,0.000,0.048,3226,2386,2126,0,0,0,0,0,0
$GC,8579,1.07,228.8,467.5,10.6,767,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2387,2121,0,0,0,0,0,0
$GC,8836,1.10,251.5,442.5,9.0,791,8863,0.00,2.95,20.65,0.881,4,0.000,0.073,3226,776,2033,0,0,0,0,0,0
$GC,8896,1.10,251.5,436.8,10.7,796,8901,0.00,2.67,0.00,0.000,6,0.000,0.041,3226,2392,2031,0,0,0,0,0,0
$GC,9164,1.17,275.9,412.9,8.9,820,9194,0.15,0.00,22.98,0.871,6,0.067,0.000,3269,2392,1934,0,0,0,0,0,0
$GC,9448,1.17,275.9,379.3,12.4,847,9453,0.00,2.80,0.00,0.000,4,0.000,0.061,3269,777,1929,0,0,0,0,0,0
$GC,9478,1.14,275.9,375.2,12.5,849,9483,0.00,2.62,0.00,0.000,6,0.000,0.029,3269,2388,1928,0,0,0,0,0,0
$GC,9742,1.14,275.9,339.7,13.7,873,9743,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2389,1928,0,0,0,0,0,0
$GC,9993,1.14,275.9,304.1,14.0,897,9994,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2389,1927,0,0,0,0,0,0
$GC,10250,1.14,275.9,274.4,10.4,921,10254,0.00,2.72,0.00,0.000,4,0.000,0.049,3269,770,1927,0,0,0,0,0,0
$GC,10278,1.14,275.9,271.0,11.5,923,10283,0.00,2.58,0.00,0.000,6,0.000,0.028,3269,2370,1926,0,0,0,0,0,0
$GC,10543,1.15,282.9,245.3,9.7,947,10554,0.00,2.60,6.43,0.647,4,0.000,0.046,3269,3930,1905,0,0,0,0,0,0
$GC,10613,1.15,282.9,237.1,11.8,953,10617,0.00,2.55,0.00,0.000,6,0.000,0.025,3269,2353,1904,0,0,0,0,0,0
$GC,10877,1.15,282.9,205.1,13.2,977,10881,0.00,2.60,0.00,0.000,4,0.000,0.049,3269,785,1903,0,0,0,0,0,0
$GC,10909,1.15,282.9,200.9,13.7,979,10914,0.00,2.50,0.00,0.000,6,0.000,0.023,3269,2373,1903,0,0,0,0,0,0
$GC,11177,1.15,282.9,166.2,12.4,1003,11181,0.00,2.60,0.00,0.000,4,0.000,0.044,3269,785,1903,0,0,0,0,0,0
$GC,11193,1.15,282.9,163.2,12.6,1004,11198,0.00,2.47,0.00,0.000,6,0.000,0.022,3269,2365,1903,0,0,0,0,0,0
$GC,11461,1.18,282.9,131.6,12.5,1028,11466,0.00,2.60,0.00,0.000,4,0.000,0.044,3269,784,1902,0,0,0,0,0,0
$GC,11495,1.18,282.9,126.7,13.6,1030,11500,0.00,2.47,0.00,0.000,6,0.000,0.030,3269,2350,1903,0,0,0,0,0,0
$GC,11763,1.23,282.9,93.7,11.8,1054,11768,0.00,2.58,0.00,0.000,4,0.000,0.041,3269,3927,1903,0,0,0,0,0,0
$GC,11811,1.28,282.9,87.8,11.8,1057,11815,0.00,2.53,0.00,0.000,6,0.000,0.023,3269,2339,1903,0,0,0,0,0,0
$GC,12079,1.34,282.9,57.4,10.9,1081,12088,0.12,0.00,0.00,0.000,6,0.073,0.000,3311,2339,1903,0,0,0,0,0,0
$GC,12354,1.34,282.9,24.9,12.2,1109,12363,0.00,2.65,0.00,0.000,4,0.000,0.041,3312,3924,1904,0,0,0,0,0,0
$GC,12394,1.34,282.9,19.5,12.8,1114,12404,0.00,2.53,0.00,0.000,6,0.000,0.025,3311,2358,1904,0,0,0,0,0,0
$STATE,12523,end climb,SURFACE_DEPTH_REACHED
$STATE,12523,begin surface coast
$FINISH,-0.2,1.010739
$STATE,12569,end surface coast,CONTROL_FINISHED_OK
$STATE,12569,begin surface
$SM_CCo,12592,78.75,0.527,0,0,1509,380.21
$SM_GC,0.56,0.00,0.00,78.75,0.000,0.000,0.527,465,2173,1509,-11.68,-1.05,380.21
$IRIDIUM_FIX,2234.68,-15740.24,010703,050538
$TT8_MAMPS,0.025311
$HUMID,61.22
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.60
$XPDR_PINGS,25
$24V_AH,23.4,22.785
$10V_AH,10.3,23.168
$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,27.875,153.650,369.450,78.750,0.000,52.266,74.344,339.227,6.250,0.000,11.512,1976.238,6028.308,543.508,3898.042,913.319,33.359,1675.682,0.000,3930.107,0.000,0.535,0.000
$DEVICE_MAMPS,164.905,112.749,1013.207,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,782.993,917.699,1162.067,1434.436,2731.023,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355436
$DATA_FILE_SIZE,95440,1139
$CAP_FILE_SIZE,153929,0
$CFSIZE,260165632,169259008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060414,084205,2242.293,-15738.513,29,1.3,29,10.1