version: 66.06
glider: 146
mission: 9
dive: 164
start: 4 7 114 0 25 29
data:
$ID,146
$MISSION,9
$DIVE,164
$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,-327016.84
$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,30
$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
$GPS1,235957,2246.866,-15738.518,30,99.0,49,10.1
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.8
$GPS2,002436,2246.560,-15738.973,32,1.8,32,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.077,0.248
$KALMAN_X,-151182.1,-284.7,-369.0,180193.9,-496.9
$KALMAN_Y,71405.5,-66.3,59.4,-76439.7,-500.1
$MHEAD_RNG_PITCHd_Wd,7.2,35467,-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,-146.0,0.0,0.0,0,110,0.00,0.00,-88.38,0.000,6,0.000,0.000,457,2188,3654,0,0,0,0,0,0
$GC,113,-1.27,-146.0,4.3,-10.9,12,130,12.90,0.00,0.00,0.000,6,0.168,0.000,2717,2187,3656,0,0,0,0,0,0
$GC,411,-1.13,-146.0,58.9,-14.9,45,416,0.17,2.62,0.00,0.000,4,0.117,0.035,2753,3801,3657,0,0,0,0,0,0
$GC,447,-1.08,-146.0,64.8,-13.1,47,457,0.00,2.53,0.00,0.000,6,0.000,0.021,2753,2216,3656,0,0,0,0,0,0
$GC,716,-1.04,-146.0,94.4,-11.7,72,721,0.10,2.62,0.00,0.000,4,0.127,0.046,2774,637,3657,0,0,0,0,0,0
$GC,775,-1.04,-146.0,101.0,-10.4,76,779,0.00,2.45,0.00,0.000,6,0.000,0.017,2774,2221,3657,0,0,0,0,0,0
$GC,1043,-1.04,-146.0,124.4,-9.3,100,1047,0.00,2.50,0.00,0.000,4,0.000,0.035,2774,3779,3657,0,0,0,0,0,0
$GC,1092,-1.09,-146.0,129.5,-8.9,103,1101,0.00,2.50,0.00,0.000,6,0.000,0.020,2774,2204,3657,0,0,0,0,0,0
$GC,1354,-1.09,-146.0,151.5,-8.5,128,1358,0.00,2.55,0.00,0.000,4,0.000,0.045,2774,635,3657,0,0,0,0,0,0
$GC,1400,-1.15,-146.0,155.3,-9.2,131,1404,0.00,2.40,0.00,0.000,6,0.000,0.018,2774,2201,3657,0,0,0,0,0,0
$GC,1668,-1.18,-146.0,179.6,-9.3,155,1673,0.12,2.55,0.00,0.000,4,0.067,0.035,2724,3782,3657,0,0,0,0,0,0
$GC,1710,-1.13,-146.0,184.8,-11.5,158,1716,0.15,2.47,0.00,0.000,6,0.092,0.019,2756,2186,3657,0,0,0,0,0,0
$GC,1971,-1.13,-146.0,209.2,-8.6,182,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2186,3657,0,0,0,0,0,0
$GC,2226,-1.13,-146.0,230.8,-9.0,206,2230,0.00,2.53,0.00,0.000,4,0.000,0.048,2756,642,3657,0,0,0,0,0,0
$GC,2260,-1.13,-146.0,233.5,-9.5,208,2265,0.00,2.38,0.00,0.000,6,0.000,0.021,2756,2188,3657,0,0,0,0,0,0
$GC,2529,-1.17,-146.0,256.9,-8.4,232,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2189,3657,0,0,0,0,0,0
$GC,2793,-1.22,-146.0,276.7,-7.0,257,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2189,3657,0,0,0,0,0,0
$GC,3057,-1.28,-146.0,297.5,-8.1,282,3062,0.15,2.62,0.00,0.000,4,0.059,0.045,2699,3778,3656,0,0,0,0,0,0
$GC,3138,-1.24,-146.0,306.6,-11.5,288,3148,0.12,2.53,0.00,0.000,6,0.067,0.024,2732,2214,3656,0,0,0,0,0,0
$GC,3403,-1.24,-146.0,327.9,-7.2,313,3407,0.00,2.70,0.00,0.000,4,0.000,0.067,2732,631,3655,0,0,0,0,0,0
$GC,3425,-1.24,-146.0,329.8,-7.2,314,3431,0.00,2.47,0.00,0.000,6,0.000,0.038,2732,2179,3655,0,0,0,0,0,0
$GC,3688,-1.24,-146.0,350.7,-8.2,339,3693,0.00,2.67,0.00,0.000,4,0.000,0.049,2732,3794,3653,0,0,0,0,0,0
$GC,3758,-1.29,-146.0,357.3,-9.2,344,3765,0.00,2.53,0.00,0.000,6,0.000,0.031,2732,2218,3653,0,0,0,0,0,0
$GC,4021,-1.29,-146.0,382.0,-9.6,369,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2218,3651,0,0,0,0,0,0
$GC,4275,-1.33,-146.0,406.5,-8.9,393,4280,0.00,2.65,0.00,0.000,4,0.000,0.052,2732,3786,3650,0,0,0,0,0,0
$GC,4331,-1.39,-146.0,411.6,-9.8,397,4336,0.15,2.58,0.00,0.000,6,0.059,0.038,2677,2211,3650,0,0,0,0,0,0
$GC,4598,-1.34,-146.0,441.2,-10.7,421,4603,0.15,2.67,0.00,0.000,4,0.095,0.054,2710,3789,3647,0,0,0,0,0,0
$GC,4619,-1.34,-146.0,444.1,-10.6,422,4625,0.00,2.58,0.00,0.000,6,0.000,0.044,2710,2226,3647,0,0,0,0,0,0
$GC,4884,-1.34,-146.0,466.6,-8.4,447,4888,0.00,2.62,0.00,0.000,4,0.000,0.056,2710,3784,3645,0,0,0,0,0,0
$GC,4917,-1.34,-146.0,469.9,-8.9,449,4923,0.00,2.55,0.00,0.000,6,0.000,0.044,2710,2241,3645,0,0,0,0,0,0
$GC,5180,-1.34,-146.0,489.5,-7.7,474,5185,0.00,2.65,0.00,0.000,4,0.000,0.061,2710,3787,3644,0,0,0,0,0,0
$GC,5238,-1.34,-146.0,493.8,-7.9,478,5242,0.00,2.58,0.00,0.000,6,0.000,0.047,2710,2256,3643,0,0,0,0,0,0
$GC,5504,-1.34,-146.0,512.8,-6.8,502,5509,0.00,3.03,0.00,0.000,4,0.000,0.109,2710,622,3642,0,0,0,0,0,0
$GC,5527,-1.34,-146.0,514.8,-7.3,503,5533,0.00,2.72,0.00,0.000,6,0.000,0.050,2710,2251,3641,0,0,0,0,0,0
$GC,5790,-1.34,-146.0,533.0,-6.8,528,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2251,3639,0,0,0,0,0,0
$GC,6044,-1.34,-146.0,551.2,-7.6,552,6049,0.00,2.97,0.00,0.000,4,0.000,0.094,2710,622,3637,0,0,0,0,0,0
$GC,6073,-1.34,-146.0,553.6,-8.1,554,6078,0.00,2.75,0.00,0.000,6,0.000,0.054,2710,2253,3637,0,0,0,0,0,0
$GC,6337,-1.34,-146.0,574.1,-7.9,578,6342,0.00,2.75,0.00,0.000,4,0.000,0.086,2710,3796,3636,0,0,0,0,0,0
$GC,6378,-1.34,-146.0,577.6,-8.3,581,6382,0.00,2.62,0.00,0.000,6,0.000,0.056,2709,2263,3636,0,0,0,0,0,0
$GC,6640,-1.34,-146.0,597.3,-7.4,605,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2263,3634,0,0,0,0,0,0
$STATE,6680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6680,begin apogee
$GC,6688,-0.31,0.0,600.5,7.5,609,6809,1.00,0.00,117.65,1.006,6,0.068,0.000,2938,2386,3059,0,0,0,0,0,0
$STATE,6810,end apogee,CONTROL_FINISHED_OK
$STATE,6810,begin climb
$GC,6812,1.27,146.0,603.7,0.0,612,6953,1.40,2.85,124.15,0.980,4,0.034,0.078,3286,3927,2462,0,0,0,0,0,0
$GC,6977,1.12,146.0,592.7,11.7,618,6983,0.17,2.75,0.00,0.000,6,0.107,0.058,3251,2365,2459,0,0,0,0,0,0
$GC,7242,1.07,146.0,565.7,10.0,642,7246,0.00,2.78,0.00,0.000,4,0.000,0.067,3251,3934,2454,0,0,0,0,0,0
$GC,7299,1.00,146.0,558.8,11.3,646,7305,0.15,2.65,0.00,0.000,6,0.114,0.053,3220,2378,2453,0,0,0,0,0,0
$GC,7562,1.01,155.0,533.7,9.6,671,7576,0.00,3.08,7.40,0.798,4,0.000,0.105,3220,782,2427,0,0,0,0,0,0
$GC,7607,1.01,156.0,529.2,10.0,675,7612,0.00,2.70,0.00,0.000,6,0.000,0.056,3220,2374,2426,0,0,0,0,0,0
$GC,7870,1.04,180.2,505.0,8.9,699,7899,0.00,2.90,23.40,0.917,4,0.000,0.078,3220,781,2325,0,0,0,0,0,0
$GC,7928,1.05,188.7,500.1,9.6,703,7942,0.00,2.70,9.25,0.821,6,0.000,0.046,3220,2367,2290,0,0,0,0,0,0
$GC,8199,1.09,222.5,475.2,8.4,728,8236,0.10,2.78,30.90,0.910,4,0.091,0.061,3250,3932,2152,0,0,0,0,0,0
$GC,8261,1.05,222.5,469.1,11.1,733,8267,0.00,2.65,0.00,0.000,6,0.000,0.035,3250,2361,2150,0,0,0,0,0,0
$GC,8524,1.05,222.5,441.9,10.3,758,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2361,2146,0,0,0,0,0,0
$GC,8778,1.05,222.5,415.2,10.5,782,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2361,2146,0,0,0,0,0,0
$GC,9032,1.08,246.7,390.6,8.9,806,9056,0.00,0.00,21.48,0.858,6,0.000,0.000,3250,2361,2054,0,0,0,0,0,0
$GC,9314,1.08,246.7,363.3,10.0,832,9318,0.00,2.67,0.00,0.000,4,0.000,0.048,3250,3946,2049,0,0,0,0,0,0
$GC,9335,1.08,246.7,360.3,10.2,833,9341,0.00,2.60,0.00,0.000,6,0.000,0.027,3250,2361,2049,0,0,0,0,0,0
$GC,9599,1.09,254.4,334.4,9.6,858,9614,0.00,2.67,7.70,0.732,4,0.000,0.047,3250,3939,2022,0,0,0,0,0,0
$GC,9641,1.09,254.4,329.8,10.5,861,9651,0.00,2.60,0.00,0.000,6,0.000,0.027,3250,2369,2021,0,0,0,0,0,0
$GC,9910,1.09,254.4,303.8,10.2,886,9914,0.00,2.67,0.00,0.000,4,0.000,0.056,3250,786,2020,0,0,0,0,0,0
$GC,9942,1.09,254.4,299.8,10.2,888,9951,0.00,2.60,0.00,0.000,6,0.000,0.027,3250,2383,2019,0,0,0,0,0,0
$GC,10208,1.09,254.4,271.5,11.3,913,10212,0.00,2.58,0.00,0.000,4,0.000,0.049,3251,3934,2019,0,0,0,0,0,0
$GC,10237,1.09,254.4,267.5,12.3,915,10241,0.00,2.53,0.00,0.000,6,0.000,0.025,3250,2361,2018,0,0,0,0,0,0
$GC,10500,1.14,254.4,238.1,10.4,939,10504,0.00,2.62,0.00,0.000,4,0.000,0.047,3250,3928,2018,0,0,0,0,0,0
$GC,10581,1.19,254.4,229.5,10.5,945,10590,0.00,2.50,0.00,0.000,6,0.000,0.027,3250,2400,2018,0,0,0,0,0,0
$GC,10848,1.27,277.8,204.7,8.9,970,10884,0.12,2.72,21.17,0.708,4,0.077,0.046,3289,789,1926,0,0,0,0,0,0
$GC,10915,1.27,277.8,196.7,12.0,975,10920,0.00,2.58,0.00,0.000,6,0.000,0.025,3289,2389,1925,0,0,0,0,0,0
$GC,11177,1.27,277.8,164.2,13.1,1000,11182,0.00,2.55,0.00,0.000,4,0.000,0.043,3289,3935,1925,0,0,0,0,0,0
$GC,11232,1.27,277.8,157.0,13.4,1004,11236,0.00,2.45,0.00,0.000,6,0.000,0.022,3289,2387,1924,0,0,0,0,0,0
$GC,11498,1.27,277.8,123.4,12.7,1028,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2386,1924,0,0,0,0,0,0
$GC,11763,1.27,277.8,90.5,12.7,1053,11768,0.00,2.55,0.00,0.000,4,0.000,0.039,3289,3934,1924,0,0,0,0,0,0
$GC,11858,1.27,277.8,77.8,12.7,1060,11862,0.00,2.42,0.00,0.000,6,0.000,0.023,3289,2400,1924,0,0,0,0,0,0
$GC,12127,1.27,277.8,45.7,12.6,1084,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2400,1924,0,0,0,0,0,0
$GC,12425,1.27,277.8,8.0,14.8,1122,12435,0.00,2.53,0.00,0.000,4,0.000,0.038,3289,3929,1925,0,0,0,0,0,0
$GC,12445,1.27,277.8,5.0,14.8,1124,12454,0.00,2.42,0.00,0.000,6,0.000,0.021,3289,2408,1924,0,0,0,0,0,0
$STATE,12462,end climb,SURFACE_DEPTH_REACHED
$STATE,12462,begin surface coast
$FINISH,-0.2,1.023728
$STATE,12499,end surface coast,CONTROL_FINISHED_OK
$STATE,12499,begin surface
$SM_CCo,12522,82.85,0.527,0,0,1509,380.21
$SM_GC,0.46,0.00,0.00,82.85,0.000,0.000,0.527,461,2182,1509,-11.70,-0.79,380.21
$IRIDIUM_FIX,2237.01,-15740.24,020703,000006
$TT8_MAMPS,0.026078
$HUMID,61.61
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.80
$XPDR_PINGS,15
$24V_AH,23.4,23.479
$10V_AH,10.3,24.363
$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,28.225,157.975,363.100,82.850,0.000,137.965,186.747,690.266,3.750,0.000,34.209,1960.663,6170.996,553.969,3892.342,1492.393,33.365,1692.805,0.000,3900.256,0.000,0.535,0.000
$DEVICE_MAMPS,167.973,108.914,1006.304,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,777.076,893.432,1152.932,1405.936,2678.379,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,95043,1131
$CAP_FILE_SIZE,167121,0
$CFSIZE,260165632,168820736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070414,035700,2247.669,-15738.964,44,1.6,44,10.1