version: 66.06
glider: 146
mission: 9
dive: 162
start: 4 6 114 16 29 28
data:
$ID,146
$MISSION,9
$DIVE,162
$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,-326962.91
$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,50
$R_STBD_OVSHOOT,38
$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
$GPS1,162000,2244.598,-15738.513,39,1.5,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-70.7
$GPS2,162831,2244.470,-15738.519,12,1.9,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.148,0.213
$KALMAN_X,-148065.1,-98.6,187.9,177103.5,-1530.5
$KALMAN_Y,72887.2,30.0,-32.0,-81791.6,-753.8
$MHEAD_RNG_PITCHd_Wd,24.7,39175,-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,-146.0,0.0,0.0,0,112,0.00,0.00,-89.85,0.000,6,0.000,0.000,459,2184,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.0,-9.6,12,132,12.52,2.53,0.00,0.000,4,0.166,0.038,2717,644,3657,0,0,0,0,0,0
$GC,209,-1.13,-146.0,27.8,-14.8,25,217,0.17,2.47,0.00,0.000,6,0.093,0.018,2757,2216,3658,0,0,0,0,0,0
$GC,487,-1.07,-146.0,62.2,-11.9,51,491,0.00,2.58,0.00,0.000,4,0.000,0.042,2757,644,3658,0,0,0,0,0,0
$GC,521,-1.01,-146.0,66.9,-12.7,53,526,0.12,2.40,0.00,0.000,6,0.113,0.017,2783,2204,3658,0,0,0,0,0,0
$GC,790,-1.01,-146.0,93.0,-9.7,77,795,0.00,2.55,0.00,0.000,4,0.000,0.042,2782,640,3658,0,0,0,0,0,0
$GC,824,-1.05,-146.0,96.8,-9.9,79,829,0.00,2.40,0.00,0.000,6,0.000,0.017,2782,2204,3658,0,0,0,0,0,0
$GC,1094,-1.09,-146.0,120.1,-8.1,103,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2204,3659,0,0,0,0,0,0
$GC,1361,-1.14,-146.0,140.2,-6.9,128,1366,0.12,2.55,0.00,0.000,4,0.067,0.043,2733,649,3659,0,0,0,0,0,0
$GC,1396,-1.14,-146.0,143.0,-8.9,130,1401,0.10,2.38,0.00,0.000,6,0.110,0.017,2754,2201,3659,0,0,0,0,0,0
$GC,1657,-1.14,-146.0,162.3,-6.3,154,1661,0.00,2.53,0.00,0.000,4,0.000,0.043,2754,650,3660,0,0,0,0,0,0
$GC,1679,-1.14,-146.0,163.5,-6.8,155,1683,0.00,2.38,0.00,0.000,6,0.000,0.025,2754,2188,3659,0,0,0,0,0,0
$GC,1945,-1.14,-146.0,182.8,-8.2,179,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2188,3660,0,0,0,0,0,0
$GC,2208,-1.14,-146.0,203.6,-8.0,204,2212,0.00,2.55,0.00,0.000,4,0.000,0.037,2754,3772,3660,0,0,0,0,0,0
$GC,2248,-1.19,-146.0,207.2,-8.8,207,2253,0.00,2.45,0.00,0.000,6,0.000,0.020,2754,2199,3660,0,0,0,0,0,0
$GC,2512,-1.19,-146.0,229.1,-8.6,231,2517,0.00,2.55,0.00,0.000,4,0.000,0.048,2754,639,3660,0,0,0,0,0,0
$GC,2583,-1.24,-146.0,235.2,-7.9,236,2589,0.00,2.35,0.00,0.000,6,0.000,0.019,2754,2163,3660,0,0,0,0,0,0
$GC,2847,-1.28,-146.0,253.9,-7.2,261,2857,0.12,0.00,0.00,0.000,6,0.069,0.000,2703,2163,3660,0,0,0,0,0,0
$GC,3115,-1.23,-146.0,279.0,-9.7,286,3120,0.15,0.00,0.00,0.000,6,0.094,0.000,2736,2163,3660,0,0,0,0,0,0
$GC,3379,-1.23,-146.0,301.4,-8.4,311,3384,0.00,2.65,0.00,0.000,4,0.000,0.047,2736,3768,3659,0,0,0,0,0,0
$GC,3449,-1.28,-146.0,307.6,-8.6,316,3454,0.00,2.55,0.00,0.000,6,0.000,0.025,2737,2185,3659,0,0,0,0,0,0
$GC,3713,-1.28,-146.0,328.6,-7.6,341,3717,0.00,2.65,0.00,0.000,4,0.000,0.048,2736,3770,3658,0,0,0,0,0,0
$GC,3780,-1.32,-146.0,333.8,-7.7,346,3784,0.00,2.55,0.00,0.000,6,0.000,0.036,2736,2194,3657,0,0,0,0,0,0
$GC,4048,-1.36,-146.0,350.9,-6.3,370,4054,0.12,2.72,0.00,0.000,4,0.067,0.072,2688,632,3656,0,0,0,0,0,0
$GC,4093,-1.31,-146.0,354.6,-8.6,373,4098,0.15,2.47,0.00,0.000,6,0.095,0.031,2720,2177,3656,0,0,0,0,0,0
$GC,4359,-1.31,-146.0,373.3,-7.0,397,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2177,3655,0,0,0,0,0,0
$GC,4620,-1.31,-146.0,393.1,-7.8,422,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2177,3653,0,0,0,0,0,0
$GC,4877,-1.31,-146.0,412.7,-7.7,446,4881,0.00,2.70,0.00,0.000,4,0.000,0.057,2720,3787,3651,0,0,0,0,0,0
$GC,4932,-1.31,-146.0,417.6,-8.7,450,4941,0.00,2.65,0.00,0.000,6,0.000,0.038,2720,2194,3651,0,0,0,0,0,0
$GC,5199,-1.31,-146.0,437.2,-7.3,475,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2194,3649,0,0,0,0,0,0
$GC,5462,-1.31,-146.0,455.5,-6.9,500,5466,0.00,2.70,0.00,0.000,4,0.000,0.058,2720,3789,3648,0,0,0,0,0,0
$GC,5480,-1.31,-146.0,456.9,-7.1,501,5485,0.00,2.65,0.00,0.000,6,0.000,0.046,2720,2183,3647,0,0,0,0,0,0
$GC,5744,-1.31,-146.0,475.1,-7.1,525,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2183,3646,0,0,0,0,0,0
$GC,6009,-1.31,-146.0,492.3,-6.4,550,6014,0.00,2.75,0.00,0.000,4,0.000,0.064,2720,3788,3644,0,0,0,0,0,0
$GC,6054,-1.35,-146.0,495.3,-7.5,553,6059,0.00,2.67,0.00,0.000,6,0.000,0.053,2720,2197,3644,0,0,0,0,0,0
$GC,6322,-1.39,-146.0,513.2,-6.9,577,6326,0.00,2.75,0.00,0.000,4,0.000,0.069,2720,3787,3643,0,0,0,0,0,0
$GC,6350,-1.39,-146.0,515.8,-7.4,579,6354,0.00,2.67,0.00,0.000,6,0.000,0.057,2720,2211,3643,0,0,0,0,0,0
$GC,6614,-1.43,-146.0,535.9,-7.5,603,6623,0.12,0.00,0.00,0.000,6,0.068,0.000,2674,2212,3641,0,0,0,0,0,0
$GC,6883,-1.39,-146.0,560.8,-9.3,628,6888,0.12,0.00,0.00,0.000,6,0.102,0.000,2701,2212,3640,0,0,0,0,0,0
$GC,7146,-1.39,-146.0,582.4,-7.6,653,7150,0.00,2.85,0.00,0.000,4,0.000,0.088,2701,3783,3639,0,0,0,0,0,0
$GC,7202,-1.39,-146.0,586.9,-8.1,657,7211,0.00,2.75,0.00,0.000,6,0.000,0.064,2701,2214,3638,0,0,0,0,0,0
$STATE,7400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7400,begin apogee
$GC,7408,-0.31,0.0,600.1,6.6,676,7529,1.02,0.00,118.22,1.008,6,0.071,0.000,2935,2366,3060,0,0,0,0,0,0
$STATE,7530,end apogee,CONTROL_FINISHED_OK
$STATE,7530,begin climb
$GC,7533,1.27,146.0,601.3,0.0,679,7670,1.42,2.92,123.97,0.979,4,0.035,0.080,3289,3930,2462,0,0,0,0,0,0
$GC,7718,1.13,146.0,584.2,14.2,692,7724,0.20,2.75,0.00,0.000,6,0.106,0.057,3248,2363,2458,0,0,0,0,0,0
$GC,7982,1.09,146.0,555.4,10.9,717,7986,0.00,2.78,0.00,0.000,4,0.000,0.067,3248,3935,2454,0,0,0,0,0,0
$GC,8004,1.03,146.0,553.2,10.6,718,8009,0.10,2.70,0.00,0.000,6,0.129,0.049,3229,2370,2453,0,0,0,0,0,0
$GC,8272,1.05,161.1,526.9,9.3,742,8287,0.00,0.00,12.57,0.872,6,0.000,0.000,3229,2370,2403,0,0,0,0,0,0
$GC,8546,1.08,189.8,501.8,8.7,768,8575,0.00,0.00,26.83,0.916,6,0.000,0.000,3229,2371,2286,0,0,0,0,0,0
$GC,8831,1.12,218.9,475.7,8.7,795,8865,0.00,2.75,26.62,0.901,4,0.000,0.056,3229,3937,2166,0,0,0,0,0,0
$GC,8882,1.15,243.1,471.3,8.9,799,8917,0.10,2.65,22.42,0.877,6,0.091,0.041,3259,2383,2069,0,0,0,0,0,0
$GC,9172,1.15,243.1,439.8,10.8,826,9176,0.00,2.92,0.00,0.000,4,0.000,0.092,3259,779,2064,0,0,0,0,0,0
$GC,9215,1.15,243.1,434.9,11.5,829,9219,0.00,2.65,0.00,0.000,6,0.000,0.037,3259,2378,2063,0,0,0,0,0,0
$GC,9482,1.15,243.1,405.0,11.7,853,9486,0.00,2.60,0.00,0.000,4,0.000,0.058,3259,3935,2062,0,0,0,0,0,0
$GC,9514,1.15,243.1,400.2,12.7,855,9524,0.00,2.62,0.00,0.000,6,0.000,0.033,3259,2366,2061,0,0,0,0,0,0
$GC,9782,1.15,243.1,370.0,11.3,880,9786,0.00,2.65,0.00,0.000,4,0.000,0.046,3258,3941,2060,0,0,0,0,0,0
$GC,9798,1.15,243.1,367.3,11.4,881,9802,0.00,2.55,0.00,0.000,6,0.000,0.035,3259,2369,2060,0,0,0,0,0,0
$GC,10060,1.15,243.1,337.8,11.8,905,10065,0.00,2.70,0.00,0.000,4,0.000,0.064,3259,783,2059,0,0,0,0,0,0
$GC,10113,1.15,243.1,331.5,12.2,909,10117,0.00,2.58,0.00,0.000,6,0.000,0.028,3259,2382,2058,0,0,0,0,0,0
$GC,10375,1.15,243.1,302.7,10.6,933,10380,0.00,2.58,0.00,0.000,4,0.000,0.049,3259,3927,2058,0,0,0,0,0,0
$GC,10397,1.15,243.1,300.6,10.8,934,10402,0.00,2.50,0.00,0.000,6,0.000,0.026,3259,2371,2057,0,0,0,0,0,0
$GC,10665,1.15,243.1,271.8,11.0,958,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2371,2057,0,0,0,0,0,0
$GC,10926,1.16,250.9,245.1,9.6,983,10938,0.00,2.67,6.55,0.650,4,0.000,0.046,3259,3921,2036,0,0,0,0,0,0
$GC,11011,1.21,256.8,236.9,9.7,990,11026,0.00,2.50,7.05,0.654,6,0.000,0.027,3259,2381,2012,0,0,0,0,0,0
$GC,11282,1.24,278.2,212.7,9.0,1015,11308,0.00,2.72,20.38,0.719,4,0.000,0.050,3259,782,1923,0,0,0,0,0,0
$GC,11337,1.28,278.2,206.9,10.5,1019,11343,0.10,2.58,0.00,0.000,6,0.085,0.024,3290,2382,1921,0,0,0,0,0,0
$GC,11600,1.28,278.2,178.5,11.5,1044,11605,0.00,2.53,0.00,0.000,4,0.000,0.043,3290,3925,1921,0,0,0,0,0,0
$GC,11630,1.28,278.2,174.6,12.6,1046,11634,0.00,2.47,0.00,0.000,6,0.000,0.024,3290,2382,1919,0,0,0,0,0,0
$GC,11897,1.28,278.2,145.2,11.3,1070,11902,0.00,2.65,0.00,0.000,4,0.000,0.047,3290,779,1920,0,0,0,0,0,0
$GC,11931,1.28,278.2,141.0,11.8,1072,11936,0.00,2.53,0.00,0.000,6,0.000,0.021,3290,2394,1919,0,0,0,0,0,0
$GC,12199,1.28,278.2,110.7,11.2,1096,12203,0.00,2.50,0.00,0.000,4,0.000,0.040,3290,3923,1919,0,0,0,0,0,0
$GC,12222,1.28,278.2,107.2,11.8,1097,12232,0.00,2.50,0.00,0.000,6,0.000,0.024,3290,2375,1919,0,0,0,0,0,0
$GC,12489,1.28,278.2,76.2,11.8,1122,12494,0.00,2.60,0.00,0.000,4,0.000,0.045,3290,792,1919,0,0,0,0,0,0
$GC,12510,1.28,278.2,73.2,12.2,1123,12514,0.00,2.47,0.00,0.000,6,0.000,0.019,3290,2375,1919,0,0,0,0,0,0
$GC,12779,1.28,278.2,42.4,11.1,1147,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2375,1919,0,0,0,0,0,0
$GC,13083,1.31,305.5,7.9,8.7,1186,13117,0.00,2.72,24.17,0.521,4,0.000,0.048,3290,790,1813,0,0,0,0,0,0
$STATE,13126,end climb,SURFACE_DEPTH_REACHED
$STATE,13126,begin surface coast
$FINISH,1.8,1.023973
$STATE,13136,end surface coast,CONTROL_FINISHED_OK
$STATE,13136,begin surface
$SM_CCo,13159,59.67,0.522,0,0,1509,380.21
$SM_GC,0.45,0.00,0.00,59.67,0.000,0.000,0.522,463,2228,1509,-11.69,0.51,380.21
$IRIDIUM_FIX,2234.68,-15738.08,010703,121204
$TT8_MAMPS,0.026078
$HUMID,61.45
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.70
$XPDR_PINGS,14
$24V_AH,23.4,23.184
$10V_AH,10.3,23.889
$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,28.225,156.300,388.800,59.675,0.000,27.660,36.852,274.873,3.500,0.000,13.835,2043.913,6277.500,545.627,4042.804,808.758,33.362,1723.080,0.000,4085.694,0.000,0.535,0.000
$DEVICE_MAMPS,166.439,92.040,1007.838,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,818.223,957.745,1218.652,1492.789,2837.427,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355380
$DATA_FILE_SIZE,98585,1192
$CAP_FILE_SIZE,155299,0
$CFSIZE,260165632,168996864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060414,201106,2245.464,-15738.367,37,1.0,37,10.1