version: 66.06
glider: 146
mission: 9
dive: 163
start: 4 6 114 20 20 33
data:
$ID,146
$MISSION,9
$DIVE,163
$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,-326982
$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,33
$R_STBD_OVSHOOT,54
$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
$GPS1,201106,2245.464,-15738.367,37,1.0,37,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-67.8
$GPS2,201937,2245.331,-15738.473,14,1.9,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.113,0.234
$KALMAN_X,-149370.0,-148.4,-151.8,178874.6,-1021.7
$KALMAN_Y,72096.9,20.3,-195.2,-79239.1,-395.2
$MHEAD_RNG_PITCHd_Wd,15.8,37585,-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,-90.43,0.000,6,0.000,0.000,462,2229,3657,0,0,0,0,0,0
$GC,116,-1.27,-146.0,3.7,-8.9,12,133,12.52,0.00,0.00,0.000,6,0.166,0.000,2720,2229,3657,0,0,0,0,0,0
$GC,418,-1.14,-146.0,55.2,-14.0,47,423,0.17,2.62,0.00,0.000,4,0.116,0.044,2755,633,3659,0,0,0,0,0,0
$GC,451,-1.05,-146.0,59.8,-13.0,49,456,0.00,2.42,0.00,0.000,6,0.000,0.017,2755,2213,3659,0,0,0,0,0,0
$GC,721,-1.05,-146.0,86.7,-8.4,73,726,0.10,2.62,0.00,0.000,4,0.125,0.044,2775,625,3659,0,0,0,0,0,0
$GC,754,-1.05,-146.0,90.1,-8.5,75,758,0.00,2.42,0.00,0.000,6,0.000,0.017,2775,2208,3659,0,0,0,0,0,0
$GC,1022,-1.05,-146.0,112.0,-7.8,99,1026,0.00,2.50,0.00,0.000,4,0.000,0.034,2775,3769,3660,0,0,0,0,0,0
$GC,1045,-1.05,-146.0,114.4,-7.9,100,1055,0.00,2.50,0.00,0.000,6,0.000,0.020,2775,2200,3660,0,0,0,0,0,0
$GC,1313,-1.05,-146.0,136.3,-9.0,125,1317,0.00,2.55,0.00,0.000,4,0.000,0.044,2775,636,3660,0,0,0,0,0,0
$GC,1337,-1.05,-146.0,139.2,-9.5,126,1346,0.00,2.45,0.00,0.000,6,0.000,0.023,2775,2206,3660,0,0,0,0,0,0
$GC,1603,-1.09,-146.0,163.3,-9.6,151,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2206,3661,0,0,0,0,0,0
$GC,1868,-1.14,-146.0,187.8,-8.2,176,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2206,3661,0,0,0,0,0,0
$GC,2131,-1.20,-146.0,208.9,-6.7,201,2133,0.15,0.00,0.00,0.000,6,0.058,0.000,2717,2206,3661,0,0,0,0,0,0
$GC,2387,-1.15,-146.0,230.7,-7.7,225,2392,0.15,2.60,0.00,0.000,4,0.094,0.048,2750,638,3661,0,0,0,0,0,0
$GC,2410,-1.15,-146.0,232.7,-7.4,226,2415,0.00,2.42,0.00,0.000,6,0.000,0.025,2750,2212,3662,0,0,0,0,0,0
$GC,2674,-1.15,-146.0,251.0,-7.6,251,2678,0.00,2.58,0.00,0.000,4,0.000,0.048,2750,643,3662,0,0,0,0,0,0
$GC,2714,-1.22,-146.0,254.3,-7.7,254,2719,0.00,2.40,0.00,0.000,6,0.000,0.021,2750,2191,3662,0,0,0,0,0,0
$GC,2979,-1.26,-146.0,273.8,-7.2,278,2983,0.00,2.62,0.00,0.000,4,0.000,0.044,2750,3786,3661,0,0,0,0,0,0
$GC,3024,-1.32,-146.0,277.5,-7.4,281,3030,0.15,2.47,0.00,0.000,6,0.057,0.021,2690,2209,3662,0,0,0,0,0,0
$GC,3288,-1.26,-146.0,302.7,-10.1,306,3293,0.17,2.60,0.00,0.000,4,0.092,0.043,2728,3782,3660,0,0,0,0,0,0
$GC,3310,-1.26,-146.0,304.6,-10.2,307,3315,0.00,2.50,0.00,0.000,6,0.000,0.024,2728,2202,3660,0,0,0,0,0,0
$GC,3577,-1.26,-146.0,326.7,-7.8,331,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2202,3660,0,0,0,0,0,0
$GC,3839,-1.26,-146.0,346.9,-7.6,356,3844,0.00,2.65,0.00,0.000,4,0.000,0.050,2728,3779,3659,0,0,0,0,0,0
$GC,3881,-1.30,-146.0,350.2,-8.0,359,3885,0.00,2.53,0.00,0.000,6,0.000,0.028,2728,2209,3659,0,0,0,0,0,0
$GC,4145,-1.30,-146.0,370.5,-7.8,383,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2209,3657,0,0,0,0,0,0
$GC,4406,-1.30,-146.0,392.3,-8.1,408,4410,0.00,2.62,0.00,0.000,4,0.000,0.050,2728,3780,3655,0,0,0,0,0,0
$GC,4436,-1.30,-146.0,394.8,-8.5,410,4441,0.00,2.55,0.00,0.000,6,0.000,0.033,2728,2214,3655,0,0,0,0,0,0
$GC,4699,-1.34,-146.0,413.9,-6.8,434,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2214,3653,0,0,0,0,0,0
$GC,4953,-1.38,-146.0,431.0,-6.6,458,4955,0.12,0.00,0.00,0.000,6,0.067,0.000,2680,2214,3652,0,0,0,0,0,0
$GC,5208,-1.33,-146.0,451.9,-8.5,482,5213,0.15,2.65,0.00,0.000,4,0.093,0.056,2713,3772,3650,0,0,0,0,0,0
$GC,5262,-1.33,-146.0,456.4,-8.3,486,5266,0.00,2.60,0.00,0.000,6,0.000,0.048,2713,2217,3650,0,0,0,0,0,0
$GC,5524,-1.33,-146.0,475.7,-7.9,510,5529,0.00,2.88,0.00,0.000,4,0.000,0.097,2713,625,3648,0,0,0,0,0,0
$GC,5547,-1.33,-146.0,477.8,-8.2,511,5553,0.00,2.62,0.00,0.000,6,0.000,0.051,2712,2199,3648,0,0,0,0,0,0
$GC,5811,-1.33,-146.0,497.8,-7.5,536,5816,0.00,2.72,0.00,0.000,4,0.000,0.069,2713,3797,3647,0,0,0,0,0,0
$GC,5851,-1.33,-146.0,501.2,-7.7,539,5856,0.00,2.65,0.00,0.000,6,0.000,0.044,2712,2218,3646,0,0,0,0,0,0
$GC,6115,-1.33,-146.0,520.3,-6.7,563,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2218,3645,0,0,0,0,0,0
$GC,6377,-1.33,-146.0,537.7,-7.0,588,6381,0.00,2.95,0.00,0.000,4,0.000,0.107,2713,619,3643,0,0,0,0,0,0
$GC,6407,-1.33,-146.0,539.7,-7.4,590,6412,0.00,2.70,0.00,0.000,6,0.000,0.052,2712,2219,3644,0,0,0,0,0,0
$GC,6670,-1.33,-146.0,556.7,-6.7,614,6674,0.00,2.78,0.00,0.000,4,0.000,0.077,2712,3794,3642,0,0,0,0,0,0
$GC,6691,-1.33,-146.0,558.5,-7.4,615,6700,0.00,2.70,0.00,0.000,6,0.000,0.051,2713,2224,3642,0,0,0,0,0,0
$GC,6959,-1.37,-146.0,576.9,-7.0,640,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2225,3640,0,0,0,0,0,0
$GC,7223,-1.41,-146.0,597.1,-7.9,665,7228,0.00,2.80,0.00,0.000,4,0.000,0.081,2713,3793,3639,0,0,0,0,0,0
$GC,7255,-1.41,-146.0,599.7,-9.0,667,7259,0.00,2.08,0.00,0.000,3,0.000,0.054,2713,2580,3639,0,0,0,0,0,0
$STATE,7260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7260,begin apogee
$GC,7266,-0.31,0.0,600.6,8.7,667,7392,0.95,0.00,118.55,1.011,6,0.071,0.000,2931,2363,3059,0,0,0,0,0,0
$STATE,7394,end apogee,CONTROL_FINISHED_OK
$STATE,7394,begin climb
$GC,7396,1.27,146.0,604.4,0.0,671,7532,1.45,2.83,124.15,0.986,4,0.035,0.076,3290,3927,2462,0,0,0,0,0,0
$GC,7583,1.12,146.0,592.8,11.4,679,7588,0.20,2.75,0.00,0.000,6,0.107,0.058,3249,2363,2458,0,0,0,0,0,0
$GC,7851,1.14,202.0,571.0,7.4,703,7906,0.00,3.03,49.20,0.956,4,0.000,0.104,3249,783,2234,0,0,0,0,0,0
$GC,7924,1.14,246.5,565.4,7.9,709,7971,0.00,2.75,40.20,0.939,6,0.000,0.054,3249,2365,2054,0,0,0,0,0,0
$GC,8232,1.14,246.5,534.8,10.5,738,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2366,2047,0,0,0,0,0,0
$GC,8488,1.14,246.5,505.3,12.4,762,8493,0.00,2.85,0.00,0.000,4,0.000,0.081,3249,780,2045,0,0,0,0,0,0
$GC,8517,1.14,246.5,501.3,12.8,764,8521,0.00,2.65,0.00,0.000,6,0.000,0.044,3249,2363,2044,0,0,0,0,0,0
$GC,8779,1.14,246.5,468.9,12.1,788,8784,0.00,2.67,0.00,0.000,4,0.000,0.056,3249,3938,2044,0,0,0,0,0,0
$GC,8826,1.14,246.5,463.0,12.9,791,8831,0.00,2.62,0.00,0.000,6,0.000,0.036,3249,2358,2043,0,0,0,0,0,0
$GC,9088,1.14,246.5,432.9,11.4,816,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2358,2043,0,0,0,0,0,0
$GC,9343,1.14,246.5,404.5,10.6,840,9347,0.00,2.67,0.00,0.000,4,0.000,0.048,3249,3939,2041,0,0,0,0,0,0
$GC,9365,1.14,246.5,401.8,11.2,841,9371,0.00,2.60,0.00,0.000,6,0.000,0.031,3249,2367,2041,0,0,0,0,0,0
$GC,9629,1.14,246.5,374.4,10.3,866,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2367,2041,0,0,0,0,0,0
$GC,9880,1.14,246.5,347.2,11.0,890,9885,0.00,2.75,0.00,0.000,4,0.000,0.067,3249,776,2040,0,0,0,0,0,0
$GC,9897,1.14,246.5,345.2,11.3,891,9901,0.00,2.60,0.00,0.000,6,0.000,0.034,3249,2396,2039,0,0,0,0,0,0
$GC,10159,1.14,246.5,315.8,11.5,915,10164,0.00,2.58,0.00,0.000,4,0.000,0.050,3249,3927,2039,0,0,0,0,0,0
$GC,10215,1.14,246.5,309.8,10.9,919,10219,0.00,2.53,0.00,0.000,6,0.000,0.026,3249,2374,2039,0,0,0,0,0,0
$GC,10483,1.16,261.8,283.8,9.3,943,10498,0.00,0.00,12.35,0.760,6,0.000,0.000,3248,2374,1992,0,0,0,0,0,0
$GC,10756,1.22,261.8,256.7,11.2,969,10760,0.00,2.62,0.00,0.000,4,0.000,0.046,3249,3931,1989,0,0,0,0,0,0
$GC,10814,1.29,261.8,249.6,12.2,973,10820,0.15,2.50,0.00,0.000,6,0.071,0.025,3290,2390,1988,0,0,0,0,0,0
$GC,11075,1.29,261.8,215.7,13.5,998,11079,0.00,2.67,0.00,0.000,4,0.000,0.050,3290,785,1988,0,0,0,0,0,0
$GC,11096,1.29,261.8,212.5,14.8,999,11106,0.00,2.60,0.00,0.000,6,0.000,0.028,3290,2398,1988,0,0,0,0,0,0
$GC,11360,1.29,261.8,180.5,11.8,1024,11364,0.00,2.53,0.00,0.000,4,0.000,0.043,3290,3929,1988,0,0,0,0,0,0
$GC,11412,1.29,261.8,173.6,12.6,1028,11416,0.00,2.42,0.00,0.000,6,0.000,0.023,3290,2401,1987,0,0,0,0,0,0
$GC,11681,1.29,261.8,142.9,11.8,1052,11685,0.00,2.53,0.00,0.000,4,0.000,0.039,3290,3930,1988,0,0,0,0,0,0
$GC,11701,1.29,261.8,140.0,11.6,1053,11706,0.00,2.42,0.00,0.000,6,0.000,0.021,3290,2409,1988,0,0,0,0,0,0
$GC,11970,1.29,261.8,108.1,11.6,1077,11979,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2409,1988,0,0,0,0,0,0
$GC,12236,1.31,274.3,78.9,9.4,1102,12256,0.00,0.00,12.65,0.558,6,0.000,0.000,3290,2409,1939,0,0,0,0,0,0
$GC,12515,1.31,274.3,49.7,10.7,1128,12524,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2409,1939,0,0,0,0,0,0
$GC,12799,1.34,274.3,19.1,10.3,1160,12809,0.00,2.53,0.00,0.000,4,0.000,0.035,3290,3937,1939,0,0,0,0,0,0
$GC,12835,1.34,274.3,14.4,13.0,1164,12844,0.00,2.40,0.00,0.000,6,0.000,0.022,3290,2439,1939,0,0,0,0,0,0
$STATE,12919,end climb,SURFACE_DEPTH_REACHED
$STATE,12920,begin surface coast
$FINISH,-0.1,0.999614
$STATE,12964,end surface coast,CONTROL_FINISHED_OK
$STATE,12964,begin surface
$SM_CCo,12985,85.47,0.522,0,0,1510,380.21
$SM_GC,0.49,0.00,0.00,85.47,0.000,0.000,0.522,458,2189,1510,-11.71,-0.59,380.21
$IRIDIUM_FIX,2237.01,-15740.24,010703,161630
$TT8_MAMPS,0.025311
$HUMID,61.02
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.90
$XPDR_PINGS,14
$24V_AH,23.4,23.314
$10V_AH,10.3,24.126
$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,27.725,146.625,357.100,85.475,0.000,31.210,34.946,272.977,3.500,0.000,18.468,2027.483,6177.917,550.470,4021.989,792.549,33.365,1687.138,0.000,4049.162,0.000,0.534,0.000
$DEVICE_MAMPS,166.439,106.613,1010.906,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,812.508,955.702,1204.995,1492.938,2841.226,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355468
$DATA_FILE_SIZE,98369,1182
$CAP_FILE_SIZE,151933,0
$CFSIZE,260165632,168910848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060414,235957,2246.866,-15738.518,30,99.0,49,10.1