version: 66.06
glider: 146
mission: 9
dive: 165
start: 4 7 114 4 19 33
data:
$ID,146
$MISSION,9
$DIVE,165
$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,-327044.25
$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,36
$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
$GPS1,035700,2247.669,-15738.964,44,1.6,44,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-70.0
$GPS2,041840,2247.479,-15739.331,10,2.0,25,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.100,0.240
$KALMAN_X,-152920.1,-358.1,-54.6,181078.6,-769.4
$KALMAN_Y,70414.9,-220.0,-33.5,-73495.0,-754.7
$MHEAD_RNG_PITCHd_Wd,12.5,33906,-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,-145.9,0.0,0.0,0,112,0.00,0.00,-88.15,0.000,6,0.000,0.000,459,2182,3655,0,0,0,0,0,0
$GC,115,-1.27,-145.9,4.8,-12.8,12,133,12.68,2.60,0.00,0.000,4,0.166,0.030,2718,3796,3657,0,0,0,0,0,0
$GC,153,-0.19,-145.9,20.5,-44.1,16,161,1.10,2.53,0.00,0.000,6,0.078,0.021,2957,2225,3657,0,0,0,0,0,0
$GC,449,-0.77,-146.0,41.4,-8.2,51,455,0.50,2.55,0.00,0.000,4,0.050,0.035,2826,3789,3657,0,0,0,0,0,0
$GC,499,-0.95,-146.0,45.4,-7.3,54,504,0.15,2.45,0.00,0.000,6,0.055,0.020,2768,2223,3657,0,0,0,0,0,0
$GC,767,-0.91,-146.0,71.8,-11.8,78,772,0.17,2.60,0.00,0.000,4,0.087,0.047,2808,643,3657,0,0,0,0,0,0
$GC,829,-0.99,-146.0,77.9,-9.1,82,833,0.00,2.45,0.00,0.000,6,0.000,0.018,2809,2239,3657,0,0,0,0,0,0
$GC,1097,-1.07,-146.0,99.2,-7.0,106,1106,0.17,0.00,0.00,0.000,6,0.052,0.000,2742,2239,3657,0,0,0,0,0,0
$GC,1364,-1.07,-146.0,128.1,-10.3,131,1369,0.12,2.47,0.00,0.000,4,0.098,0.035,2770,3771,3658,0,0,0,0,0,0
$GC,1422,-1.13,-146.0,134.1,-9.6,135,1426,0.00,2.45,0.00,0.000,6,0.000,0.020,2770,2197,3658,0,0,0,0,0,0
$GC,1690,-1.13,-146.0,158.1,-8.8,159,1694,0.00,2.55,0.00,0.000,4,0.000,0.046,2770,643,3658,0,0,0,0,0,0
$GC,1745,-1.19,-146.0,163.7,-9.4,163,1750,0.12,2.38,0.00,0.000,6,0.067,0.018,2716,2194,3658,0,0,0,0,0,0
$GC,2010,-1.12,-146.0,192.6,-10.4,187,2015,0.20,2.53,0.00,0.000,4,0.084,0.034,2760,3770,3658,0,0,0,0,0,0
$GC,2068,-1.18,-146.0,197.7,-7.0,191,2074,0.00,2.45,0.00,0.000,6,0.000,0.020,2760,2200,3658,0,0,0,0,0,0
$GC,2333,-1.22,-146.0,211.5,-5.8,216,2337,0.00,2.55,0.00,0.000,4,0.000,0.048,2760,637,3658,0,0,0,0,0,0
$GC,2388,-1.28,-146.0,215.4,-7.6,220,2394,0.15,2.38,0.00,0.000,6,0.058,0.018,2699,2189,3658,0,0,0,0,0,0
$GC,2654,-1.21,-146.0,243.5,-10.3,244,2659,0.20,2.58,0.00,0.000,4,0.085,0.039,2742,3776,3658,0,0,0,0,0,0
$GC,2699,-1.21,-146.0,247.5,-8.6,247,2703,0.00,2.50,0.00,0.000,6,0.000,0.020,2742,2192,3658,0,0,0,0,0,0
$GC,2967,-1.21,-146.0,268.7,-8.4,271,2971,0.00,2.60,0.00,0.000,4,0.000,0.041,2742,3775,3658,0,0,0,0,0,0
$GC,3010,-1.25,-146.0,272.8,-9.1,274,3015,0.00,2.47,0.00,0.000,6,0.000,0.021,2742,2199,3658,0,0,0,0,0,0
$GC,3279,-1.29,-146.0,294.0,-8.2,298,3283,0.00,2.62,0.00,0.000,4,0.000,0.061,2742,637,3657,0,0,0,0,0,0
$GC,3301,-1.29,-146.0,296.3,-7.7,299,3307,0.00,2.45,0.00,0.000,6,0.000,0.026,2742,2190,3656,0,0,0,0,0,0
$GC,3565,-1.33,-146.0,315.9,-7.3,324,3570,0.12,2.62,0.00,0.000,4,0.069,0.058,2690,640,3656,0,0,0,0,0,0
$GC,3600,-1.26,-146.0,319.1,-9.3,326,3607,0.17,2.45,0.00,0.000,6,0.091,0.028,2728,2181,3656,0,0,0,0,0,0
$GC,3863,-1.26,-146.0,340.1,-7.6,351,3868,0.00,2.67,0.00,0.000,4,0.000,0.049,2728,3789,3654,0,0,0,0,0,0
$GC,3921,-1.26,-146.0,344.6,-8.5,355,3925,0.00,2.55,0.00,0.000,6,0.000,0.029,2727,2198,3654,0,0,0,0,0,0
$GC,4187,-1.26,-146.0,363.0,-6.7,379,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2199,3653,0,0,0,0,0,0
$GC,4450,-1.26,-146.0,380.5,-6.8,404,4454,0.00,2.67,0.00,0.000,4,0.000,0.048,2728,3785,3651,0,0,0,0,0,0
$GC,4483,-1.26,-146.0,382.6,-7.3,406,4488,0.00,2.62,0.00,0.000,6,0.000,0.033,2727,2181,3651,0,0,0,0,0,0
$GC,4751,-1.26,-146.0,402.6,-7.5,430,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2182,3649,0,0,0,0,0,0
$GC,5012,-1.26,-146.0,420.9,-6.5,455,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2182,3648,0,0,0,0,0,0
$GC,5269,-1.31,-146.0,438.7,-7.4,479,5274,0.00,2.72,0.00,0.000,4,0.000,0.057,2727,3793,3645,0,0,0,0,0,0
$GC,5288,-1.35,-146.0,440.1,-7.5,480,5293,0.00,2.65,0.00,0.000,6,0.000,0.042,2728,2185,3645,0,0,0,0,0,0
$GC,5553,-1.39,-146.0,459.7,-7.6,504,5558,0.12,2.75,0.00,0.000,4,0.069,0.060,2680,3782,3644,0,0,0,0,0,0
$GC,5575,-1.39,-146.0,461.5,-8.0,505,5580,0.00,2.67,0.00,0.000,6,0.000,0.044,2680,2184,3644,0,0,0,0,0,0
$GC,5842,-1.35,-146.0,486.4,-9.1,529,5847,0.12,2.75,0.00,0.000,4,0.100,0.063,2708,3782,3643,0,0,0,0,0,0
$GC,5861,-1.35,-146.0,488.4,-9.2,530,5866,0.00,2.67,0.00,0.000,6,0.000,0.044,2708,2186,3642,0,0,0,0,0,0
$GC,6124,-1.35,-146.0,509.7,-7.9,554,6128,0.00,2.78,0.00,0.000,4,0.000,0.065,2708,3785,3641,0,0,0,0,0,0
$GC,6147,-1.35,-146.0,511.8,-8.4,555,6156,0.00,2.72,0.00,0.000,6,0.000,0.049,2708,2193,3640,0,0,0,0,0,0
$GC,6414,-1.35,-146.0,531.0,-7.3,580,6419,0.00,2.78,0.00,0.000,4,0.000,0.076,2708,3789,3639,0,0,0,0,0,0
$GC,6447,-1.35,-146.0,534.1,-8.2,582,6456,0.00,2.75,0.00,0.000,6,0.000,0.057,2708,2196,3638,0,0,0,0,0,0
$GC,6715,-1.35,-146.0,552.8,-6.8,607,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2197,3637,0,0,0,0,0,0
$GC,6976,-1.35,-146.0,572.3,-7.2,632,6980,0.00,2.83,0.00,0.000,4,0.000,0.083,2708,3779,3635,0,0,0,0,0,0
$GC,7044,-1.35,-146.0,577.2,-7.8,637,7048,0.00,2.72,0.00,0.000,6,0.000,0.062,2707,2191,3635,0,0,0,0,0,0
$GC,7310,-1.35,-146.0,597.3,-7.8,661,7315,0.00,2.83,0.00,0.000,4,0.000,0.086,2708,3783,3633,0,0,0,0,0,0
$STATE,7340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7340,begin apogee
$GC,7350,-0.31,0.0,600.2,8.3,663,7471,0.98,0.00,117.43,1.013,6,0.067,0.000,2934,2365,3060,0,0,0,0,0,0
$STATE,7472,end apogee,CONTROL_FINISHED_OK
$STATE,7472,begin climb
$GC,7474,1.27,146.0,602.7,0.0,666,7608,1.45,2.78,124.15,0.987,4,0.033,0.081,3294,3920,2462,0,0,0,0,0,0
$GC,7626,1.11,146.0,594.1,11.0,672,7631,0.22,2.72,0.00,0.000,6,0.101,0.058,3247,2362,2459,0,0,0,0,0,0
$GC,7890,1.11,184.7,570.7,8.2,696,7930,0.00,2.83,33.62,0.946,4,0.000,0.067,3246,3923,2307,0,0,0,0,0,0
$GC,8002,1.07,184.7,560.2,10.3,705,8006,0.00,2.65,0.00,0.000,6,0.000,0.049,3246,2385,2303,0,0,0,0,0,0
$GC,8266,1.07,185.3,535.5,10.0,729,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2385,2301,0,0,0,0,0,0
$GC,8531,1.07,185.3,507.9,10.9,754,8535,0.00,2.97,0.00,0.000,4,0.000,0.104,3246,778,2299,0,0,0,0,0,0
$GC,8553,1.07,185.3,504.9,11.6,755,8559,0.00,2.72,0.00,0.000,6,0.000,0.047,3246,2387,2297,0,0,0,0,0,0
$GC,8817,1.07,185.3,474.9,11.6,780,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2387,2297,0,0,0,0,0,0
$GC,9068,1.07,185.3,446.4,11.2,804,9073,0.00,2.62,0.00,0.000,4,0.000,0.055,3246,3946,2296,0,0,0,0,0,0
$GC,9091,1.07,185.3,444.5,10.7,805,9096,0.00,2.55,0.00,0.000,6,0.000,0.031,3246,2388,2295,0,0,0,0,0,0
$GC,9358,1.08,194.8,417.7,9.6,829,9372,0.00,2.88,8.85,0.805,4,0.000,0.081,3246,785,2265,0,0,0,0,0,0
$GC,9419,1.08,194.8,410.6,10.5,834,9428,0.00,2.67,0.00,0.000,6,0.000,0.036,3246,2389,2263,0,0,0,0,0,0
$GC,9686,1.09,205.3,385.6,9.5,859,9701,0.00,0.00,10.85,0.815,6,0.000,0.000,3246,2389,2222,0,0,0,0,0,0
$GC,9960,1.11,217.0,359.3,9.5,885,9977,0.00,2.65,11.62,0.802,4,0.000,0.049,3246,3924,2174,0,0,0,0,0,0
$GC,10010,1.11,217.0,354.1,11.2,889,10014,0.00,2.55,0.00,0.000,6,0.000,0.027,3246,2359,2173,0,0,0,0,0,0
$GC,10278,1.11,217.0,327.5,10.9,913,10282,0.00,2.67,0.00,0.000,4,0.000,0.062,3246,785,2172,0,0,0,0,0,0
$GC,10294,1.11,217.0,324.9,11.4,914,10298,0.00,2.58,0.00,0.000,6,0.000,0.029,3246,2379,2170,0,0,0,0,0,0
$GC,10556,1.11,217.0,296.5,10.2,938,10561,0.00,2.60,0.00,0.000,4,0.000,0.056,3246,3929,2170,0,0,0,0,0,0
$GC,10598,1.11,217.0,291.8,11.6,941,10603,0.00,2.58,0.00,0.000,6,0.000,0.033,3246,2343,2169,0,0,0,0,0,0
$GC,10861,1.14,245.1,266.9,8.7,965,10892,0.00,2.65,25.42,0.778,4,0.000,0.051,3246,789,2059,0,0,0,0,0,0
$GC,10906,1.17,270.3,263.0,8.8,969,10934,0.00,2.55,23.45,0.752,6,0.000,0.025,3246,2363,1957,0,0,0,0,0,0
$GC,11190,1.23,270.3,235.0,10.1,995,11195,0.10,2.65,0.00,0.000,4,0.087,0.048,3278,3930,1952,0,0,0,0,0,0
$GC,11319,1.23,270.3,218.9,12.7,1005,11328,0.00,2.58,0.00,0.000,6,0.000,0.028,3278,2371,1951,0,0,0,0,0,0
$GC,11581,1.23,270.3,189.6,10.1,1030,11585,0.00,2.60,0.00,0.000,4,0.000,0.046,3278,786,1950,0,0,0,0,0,0
$GC,11604,1.23,270.3,186.9,11.2,1031,11610,0.00,2.53,0.00,0.000,6,0.000,0.021,3278,2389,1950,0,0,0,0,0,0
$GC,11866,1.23,270.3,159.8,10.6,1056,11867,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2390,1950,0,0,0,0,0,0
$GC,12126,1.24,276.8,135.0,9.7,1080,12141,0.00,2.55,6.12,0.532,4,0.000,0.041,3278,3913,1930,0,0,0,0,0,0
$GC,12195,1.25,284.9,127.6,9.6,1085,12209,0.00,2.47,8.80,0.569,6,0.000,0.022,3279,2378,1897,0,0,0,0,0,0
$GC,12470,1.30,284.9,100.6,10.9,1110,12474,0.00,2.53,0.00,0.000,4,0.000,0.039,3278,3925,1895,0,0,0,0,0,0
$GC,12503,1.35,284.9,96.5,12.1,1112,12507,0.00,2.42,0.00,0.000,6,0.000,0.022,3278,2386,1895,0,0,0,0,0,0
$GC,12771,1.40,284.9,67.9,10.9,1136,12780,0.12,0.00,0.00,0.000,6,0.072,0.000,3320,2386,1895,0,0,0,0,0,0
$GC,13037,1.36,284.9,32.0,13.9,1161,13042,0.00,2.50,0.00,0.000,4,0.000,0.041,3320,3917,1896,0,0,0,0,0,0
$GC,13074,1.32,284.9,27.0,14.4,1164,13083,0.10,2.45,0.00,0.000,6,0.081,0.025,3293,2398,1896,0,0,0,0,0,0
$STATE,13296,end climb,SURFACE_DEPTH_REACHED
$STATE,13296,begin surface coast
$FINISH,-0.2,1.023933
$STATE,13339,end surface coast,CONTROL_FINISHED_OK
$STATE,13339,begin surface
$SM_CCo,13361,77.03,0.519,0,0,1509,380.21
$SM_GC,0.37,0.00,0.00,77.03,0.000,0.000,0.519,463,2176,1509,-11.69,-0.96,380.21
$IRIDIUM_FIX,2237.01,-15740.24,020703,040403
$TT8_MAMPS,0.026078
$HUMID,60.75
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.20
$XPDR_PINGS,23
$24V_AH,23.4,23.639
$10V_AH,10.3,24.615
$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,30.400,177.675,370.325,77.025,0.000,110.698,140.554,640.211,5.750,0.000,26.776,2109.178,6472.040,552.665,4183.791,1406.719,33.358,1745.740,0.000,4201.289,0.000,0.535,0.000
$DEVICE_MAMPS,165.672,103.545,1013.207,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,827.245,958.929,1226.596,1535.668,2920.590,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,98494,1203
$CAP_FILE_SIZE,177711,0
$CFSIZE,260165632,168714240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070414,080554,2248.496,-15739.622,100,1.4,100,10.1