version: 66.06
glider: 146
mission: 9
dive: 166
start: 4 7 114 8 30 26
data:
$ID,146
$MISSION,9
$DIVE,166
$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,633.60986
$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,-327079.69
$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,52
$R_STBD_OVSHOOT,43
$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
$GPS1,080554,2248.496,-15739.622,100,1.4,100,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.4
$GPS2,082930,2248.277,-15739.983,22,1.5,33,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.141,0.218
$KALMAN_X,-155021.1,-448.3,-103.0,182208.6,-1061.8
$KALMAN_Y,69416.5,-305.0,-323.0,-70645.7,-27.5
$MHEAD_RNG_PITCHd_Wd,22.9,32705,-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,16,-1.27,-146.0,0.0,0.0,0,110,0.00,0.00,-87.50,0.000,6,0.000,0.000,461,2176,3655,0,0,0,0,0,0
$GC,113,-1.27,-146.0,4.6,-12.0,12,130,12.77,0.00,0.00,0.000,6,0.167,0.000,2716,2176,3656,0,0,0,0,0,0
$GC,411,-1.14,-146.0,61.6,-15.6,44,420,0.17,0.00,0.00,0.000,6,0.114,0.000,2752,2176,3657,0,0,0,0,0,0
$GC,678,-1.08,-146.0,94.4,-12.1,69,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2176,3657,0,0,0,0,0,0
$GC,945,-1.08,-146.0,122.7,-9.8,94,949,0.00,2.60,0.00,0.000,4,0.000,0.034,2752,3779,3657,0,0,0,0,0,0
$GC,977,-1.08,-146.0,126.6,-10.9,96,982,0.00,2.45,0.00,0.000,6,0.000,0.020,2752,2210,3657,0,0,0,0,0,0
$GC,1241,-1.08,-146.0,153.0,-8.8,120,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2210,3658,0,0,0,0,0,0
$GC,1506,-1.08,-146.0,176.3,-8.0,145,1511,0.00,2.55,0.00,0.000,4,0.000,0.035,2752,3789,3658,0,0,0,0,0,0
$GC,1524,-1.08,-146.0,178.1,-8.3,146,1528,0.00,2.45,0.00,0.000,6,0.000,0.018,2752,2209,3658,0,0,0,0,0,0
$GC,1788,-1.08,-146.0,202.5,-9.4,170,1792,0.00,2.58,0.00,0.000,4,0.000,0.048,2752,636,3658,0,0,0,0,0,0
$GC,1856,-1.08,-146.0,209.3,-9.4,175,1862,0.00,2.42,0.00,0.000,6,0.000,0.022,2752,2217,3658,0,0,0,0,0,0
$GC,2120,-1.08,-146.0,230.6,-7.6,200,2125,0.00,2.60,0.00,0.000,4,0.000,0.048,2752,645,3657,0,0,0,0,0,0
$GC,2161,-1.12,-146.0,233.8,-7.7,203,2166,0.00,2.40,0.00,0.000,6,0.000,0.028,2752,2207,3657,0,0,0,0,0,0
$GC,2426,-1.12,-146.0,252.5,-6.7,227,2430,0.00,2.55,0.00,0.000,4,0.000,0.041,2752,3778,3657,0,0,0,0,0,0
$GC,2518,-1.16,-146.0,259.6,-7.0,234,2527,0.00,2.47,0.00,0.000,6,0.000,0.020,2752,2225,3657,0,0,0,0,0,0
$GC,2787,-1.22,-146.0,280.4,-8.3,259,2791,0.00,2.62,0.00,0.000,4,0.000,0.055,2752,641,3657,0,0,0,0,0,0
$GC,2810,-1.28,-146.0,282.8,-8.0,260,2816,0.12,2.45,0.00,0.000,6,0.068,0.028,2699,2213,3657,0,0,0,0,0,0
$GC,3074,-1.23,-146.0,309.9,-10.1,285,3080,0.15,2.65,0.00,0.000,4,0.094,0.058,2733,643,3656,0,0,0,0,0,0
$GC,3104,-1.23,-146.0,313.0,-9.6,287,3108,0.00,2.47,0.00,0.000,6,0.000,0.036,2733,2202,3656,0,0,0,0,0,0
$GC,3368,-1.23,-146.0,334.2,-8.3,311,3373,0.00,2.60,0.00,0.000,4,0.000,0.054,2733,3786,3655,0,0,0,0,0,0
$GC,3403,-1.23,-146.0,337.4,-8.5,313,3408,0.00,2.53,0.00,0.000,6,0.000,0.026,2733,2217,3655,0,0,0,0,0,0
$GC,3666,-1.27,-146.0,356.0,-6.6,338,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2217,3653,0,0,0,0,0,0
$GC,3920,-1.32,-146.0,372.8,-7.1,362,3925,0.00,2.75,0.00,0.000,4,0.000,0.076,2733,632,3652,0,0,0,0,0,0
$GC,3965,-1.37,-146.0,376.6,-7.8,365,3972,0.12,2.55,0.00,0.000,6,0.067,0.038,2680,2205,3651,0,0,0,0,0,0
$GC,4230,-1.31,-146.0,402.1,-10.0,390,4235,0.17,2.67,0.00,0.000,4,0.089,0.053,2718,3789,3650,0,0,0,0,0,0
$GC,4259,-1.31,-146.0,405.3,-9.7,392,4264,0.00,2.55,0.00,0.000,6,0.000,0.037,2718,2217,3650,0,0,0,0,0,0
$GC,4523,-1.31,-146.0,427.0,-7.9,416,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2217,3647,0,0,0,0,0,0
$GC,4785,-1.31,-146.0,447.8,-7.7,441,4789,0.00,2.90,0.00,0.000,4,0.000,0.097,2718,625,3646,0,0,0,0,0,0
$GC,4831,-1.35,-146.0,451.6,-8.5,444,4840,0.00,2.62,0.00,0.000,6,0.000,0.043,2718,2188,3645,0,0,0,0,0,0
$GC,5097,-1.35,-146.0,471.6,-7.5,469,5102,0.00,2.75,0.00,0.000,4,0.000,0.064,2718,3805,3644,0,0,0,0,0,0
$GC,5155,-1.39,-146.0,476.7,-8.7,473,5161,0.00,2.65,0.00,0.000,6,0.000,0.043,2718,2218,3644,0,0,0,0,0,0
$GC,5418,-1.39,-146.0,497.7,-8.0,498,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2218,3642,0,0,0,0,0,0
$GC,5673,-1.43,-146.0,518.9,-8.4,522,5675,0.12,0.00,0.00,0.000,6,0.068,0.000,2672,2218,3640,0,0,0,0,0,0
$GC,5928,-1.38,-146.0,544.0,-9.7,546,5930,0.15,0.00,0.00,0.000,6,0.093,0.000,2705,2218,3638,0,0,0,0,0,0
$GC,6184,-1.38,-146.0,565.9,-8.5,570,6188,0.00,2.80,0.00,0.000,4,0.000,0.087,2705,3792,3636,0,0,0,0,0,0
$GC,6282,-1.38,-146.0,575.5,-9.8,578,6287,0.00,2.70,0.00,0.000,6,0.000,0.059,2705,2225,3636,0,0,0,0,0,0
$GC,6546,-1.38,-146.0,598.6,-8.8,602,6551,0.00,2.80,0.00,0.000,4,0.000,0.082,2704,3791,3634,0,0,0,0,0,0
$STATE,6560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6560,begin apogee
$GC,6569,-0.31,0.0,600.1,7.8,603,6690,1.02,0.00,117.40,1.006,6,0.071,0.000,2936,2371,3060,0,0,0,0,0,0
$STATE,6690,end apogee,CONTROL_FINISHED_OK
$STATE,6690,begin climb
$GC,6693,1.27,146.0,603.6,0.0,606,6832,1.42,2.90,123.90,0.982,4,0.035,0.077,3289,3929,2462,0,0,0,0,0,0
$GC,6897,1.11,146.0,586.4,13.9,615,6906,0.17,2.75,0.00,0.000,6,0.087,0.056,3249,2372,2459,0,0,0,0,0,0
$GC,7164,1.06,146.0,558.4,11.0,640,7169,0.00,2.75,0.00,0.000,4,0.000,0.071,3249,3934,2454,0,0,0,0,0,0
$GC,7220,0.99,146.0,550.9,11.5,644,7227,0.15,2.67,0.00,0.000,6,0.113,0.046,3218,2370,2454,0,0,0,0,0,0
$GC,7485,1.03,181.7,526.9,8.3,669,7522,0.00,2.80,30.70,0.929,4,0.000,0.059,3218,3934,2319,0,0,0,0,0,0
$GC,7534,1.07,214.9,522.9,8.5,673,7571,0.00,2.65,31.17,0.919,6,0.000,0.043,3218,2378,2182,0,0,0,0,0,0
$GC,7832,1.11,214.9,492.8,10.2,701,7838,0.12,3.03,0.00,0.000,4,0.076,0.109,3254,783,2176,0,0,0,0,0,0
$GC,7878,1.11,214.9,487.1,12.3,704,7884,0.00,2.65,0.00,0.000,6,0.000,0.044,3253,2376,2173,0,0,0,0,0,0
$GC,8142,1.11,214.9,456.0,12.3,729,8147,0.00,2.65,0.00,0.000,4,0.000,0.057,3253,3937,2173,0,0,0,0,0,0
$GC,8198,1.11,214.9,449.2,12.0,733,8202,0.00,2.58,0.00,0.000,6,0.000,0.034,3254,2388,2172,0,0,0,0,0,0
$GC,8466,1.11,214.9,419.0,11.3,757,8470,0.00,2.83,0.00,0.000,4,0.000,0.080,3253,782,2171,0,0,0,0,0,0
$GC,8533,1.11,214.9,410.2,11.4,762,8542,0.00,2.65,0.00,0.000,6,0.000,0.033,3253,2389,2170,0,0,0,0,0,0
$GC,8801,1.11,214.9,380.7,10.7,787,8805,0.00,2.58,0.00,0.000,4,0.000,0.048,3253,3940,2170,0,0,0,0,0,0
$GC,8811,1.11,214.9,378.8,10.6,787,8817,0.00,2.55,0.00,0.000,6,0.000,0.033,3253,2371,2170,0,0,0,0,0,0
$GC,9074,1.11,215.4,351.8,10.0,812,9078,0.00,2.72,0.00,0.000,4,0.000,0.065,3254,785,2170,0,0,0,0,0,0
$GC,9097,1.12,216.3,349.5,10.0,813,9106,0.00,2.60,0.00,0.000,6,0.000,0.035,3253,2380,2168,0,0,0,0,0,0
$GC,9363,1.14,232.1,323.9,9.3,838,9384,0.00,2.65,13.85,0.797,4,0.000,0.054,3253,3940,2113,0,0,0,0,0,0
$GC,9414,1.14,232.1,318.2,10.6,842,9419,0.00,2.58,0.00,0.000,6,0.000,0.027,3254,2370,2112,0,0,0,0,0,0
$GC,9676,1.14,232.1,292.0,10.1,867,9681,0.00,2.67,0.00,0.000,4,0.000,0.054,3253,782,2111,0,0,0,0,0,0
$GC,9699,1.14,232.1,289.3,10.4,868,9705,0.00,2.58,0.00,0.000,6,0.000,0.025,3253,2390,2110,0,0,0,0,0,0
$GC,9963,1.14,232.1,261.7,11.9,893,9968,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2390,2110,0,0,0,0,0,0
$GC,10226,1.23,278.3,236.2,7.9,918,10273,0.00,2.62,41.12,0.753,4,0.000,0.046,3254,3930,1924,0,0,0,0,0,0
$GC,10380,1.34,301.4,223.3,8.9,931,10407,0.17,2.50,20.73,0.712,6,0.061,0.025,3305,2380,1831,0,0,0,0,0,0
$GC,10666,1.28,301.4,188.5,12.2,957,10671,0.10,2.65,0.00,0.000,4,0.126,0.048,3285,781,1827,0,0,0,0,0,0
$GC,10722,1.28,301.4,181.3,12.9,961,10727,0.00,2.55,0.00,0.000,6,0.000,0.021,3285,2390,1825,0,0,0,0,0,0
$GC,10990,1.28,301.4,147.9,12.5,985,10995,0.00,2.53,0.00,0.000,4,0.000,0.041,3285,3927,1825,0,0,0,0,0,0
$GC,11025,1.28,301.4,142.5,12.1,987,11034,0.00,2.47,0.00,0.000,6,0.000,0.022,3285,2394,1825,0,0,0,0,0,0
$GC,11292,1.28,301.4,111.9,11.4,1012,11296,0.00,2.50,0.00,0.000,4,0.000,0.039,3285,3926,1824,0,0,0,0,0,0
$GC,11314,1.28,301.4,109.3,11.2,1013,11318,0.00,2.42,0.00,0.000,6,0.000,0.023,3285,2408,1825,0,0,0,0,0,0
$GC,11581,1.29,307.7,82.8,9.7,1037,11596,0.00,2.55,5.97,0.485,4,0.000,0.040,3285,3924,1806,0,0,0,0,0,0
$GC,11615,1.29,307.7,79.2,10.1,1039,11619,0.00,2.40,0.00,0.000,6,0.000,0.022,3285,2420,1805,0,0,0,0,0,0
$GC,11883,1.35,356.6,53.6,7.7,1063,11937,0.00,2.78,42.55,0.561,4,0.000,0.047,3285,796,1605,0,0,0,0,0,0
$GC,11968,1.35,356.6,44.7,12.1,1069,11972,0.00,2.58,0.00,0.000,6,0.000,0.020,3285,2419,1603,0,0,0,0,0,0
$GC,12270,1.35,356.6,4.3,14.3,1107,12279,0.00,2.72,0.00,0.000,4,0.000,0.048,3285,796,1602,0,0,0,0,0,0
$STATE,12287,end climb,SURFACE_DEPTH_REACHED
$STATE,12287,begin surface coast
$FINISH,0.5,1.024022
$STATE,12297,end surface coast,CONTROL_FINISHED_OK
$STATE,12297,begin surface
$SM_CCo,12321,217.15,0.514,0,0,477,633.61
$SM_GC,0.11,0.00,0.00,217.15,0.000,0.000,0.514,458,2232,477,-11.71,0.62,633.61
$IRIDIUM_FIX,2241.69,-15739.35,020703,080834
$TT8_MAMPS,0.026078
$HUMID,58.78
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,22.00
$XPDR_PINGS,20
$24V_AH,23.4,23.828
$10V_AH,10.3,24.850
$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,28.250,162.000,427.400,217.150,0.000,142.435,185.170,596.464,5.000,0.000,34.813,1920.814,6020.708,728.688,3843.965,1427.305,33.365,1879.882,0.000,3850.851,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,108.914,1005.537,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,761.489,879.737,1131.708,1377.951,2623.719,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,92032,1110
$CAP_FILE_SIZE,163686,0
$CFSIZE,260165632,168636416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070414,120036,2249.501,-15739.910,29,1.2,29,10.1