version: 66.06
glider: 146
mission: 9
dive: 168
start: 4 7 114 16 32 59
data:
$ID,146
$MISSION,9
$DIVE,168
$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,-327162.06
$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,67
$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
$GPS1,155554,2250.524,-15740.202,34,1.5,52,10.1
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-68.8
$GPS2,163206,2250.500,-15740.380,65,1.7,65,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.109,0.236
$KALMAN_X,-158697.9,-208.1,-88.6,184950.9,-676.8
$KALMAN_Y,67493.2,-110.5,69.5,-65191.7,-754.9
$MHEAD_RNG_PITCHd_Wd,14.8,28914,-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,17,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-88.10,0.000,6,0.000,0.000,460,2171,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.9,-9.8,12,132,12.55,2.60,0.00,0.000,4,0.166,0.027,2719,3794,3657,0,0,0,0,0,0
$GC,255,-1.20,-146.0,34.4,-12.5,30,265,0.08,2.50,0.00,0.000,6,0.102,0.022,2738,2235,3657,0,0,0,0,0,0
$GC,524,-1.10,-146.0,70.8,-11.2,55,529,0.12,2.62,0.00,0.000,4,0.118,0.046,2762,639,3657,0,0,0,0,0,0
$GC,548,-1.03,-146.0,74.9,-12.1,56,557,0.00,2.47,0.00,0.000,6,0.000,0.018,2762,2220,3658,0,0,0,0,0,0
$GC,816,-1.03,-146.0,103.0,-10.1,81,821,0.00,2.50,0.00,0.000,4,0.000,0.034,2762,3782,3658,0,0,0,0,0,0
$GC,912,-1.06,-146.0,112.5,-9.0,88,916,0.00,2.42,0.00,0.000,6,0.000,0.021,2762,2230,3658,0,0,0,0,0,0
$GC,1181,-1.06,-146.0,134.7,-8.5,112,1186,0.00,2.58,0.00,0.000,4,0.000,0.043,2762,640,3658,0,0,0,0,0,0
$GC,1239,-1.06,-146.0,139.9,-8.5,116,1244,0.00,2.45,0.00,0.000,6,0.000,0.023,2762,2237,3658,0,0,0,0,0,0
$GC,1504,-1.06,-146.0,163.0,-8.8,140,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2237,3658,0,0,0,0,0,0
$GC,1769,-1.06,-146.0,185.9,-8.3,165,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2237,3658,0,0,0,0,0,0
$GC,2035,-1.06,-146.0,209.0,-8.6,190,2039,0.00,2.50,0.00,0.000,4,0.000,0.037,2762,3776,3658,0,0,0,0,0,0
$GC,2056,-1.06,-146.0,211.5,-8.8,191,2062,0.00,2.42,0.00,0.000,6,0.000,0.018,2762,2221,3658,0,0,0,0,0,0
$GC,2321,-1.06,-146.0,231.6,-7.4,216,2325,0.00,2.58,0.00,0.000,4,0.000,0.048,2762,646,3658,0,0,0,0,0,0
$GC,2376,-1.11,-146.0,235.9,-8.4,220,2381,0.00,2.42,0.00,0.000,6,0.000,0.019,2762,2225,3657,0,0,0,0,0,0
$GC,2645,-1.15,-146.0,257.0,-7.8,244,2649,0.00,2.53,0.00,0.000,4,0.000,0.041,2762,3771,3657,0,0,0,0,0,0
$GC,2758,-1.23,-146.0,267.1,-9.2,253,2763,0.12,2.40,0.00,0.000,6,0.069,0.021,2710,2239,3657,0,0,0,0,0,0
$GC,3024,-1.19,-146.0,293.1,-9.3,277,3029,0.15,2.67,0.00,0.000,4,0.097,0.058,2743,642,3656,0,0,0,0,0,0
$GC,3081,-1.24,-146.0,298.3,-8.0,281,3086,0.00,2.45,0.00,0.000,6,0.000,0.023,2743,2215,3656,0,0,0,0,0,0
$GC,3345,-1.28,-146.0,317.9,-7.5,306,3350,0.00,2.65,0.00,0.000,4,0.000,0.060,2743,643,3656,0,0,0,0,0,0
$GC,3379,-1.34,-146.0,320.8,-8.2,308,3387,0.10,2.47,0.00,0.000,6,0.036,0.034,2690,2204,3655,0,0,0,0,0,0
$GC,3644,-1.28,-146.0,346.5,-9.9,333,3649,0.15,2.62,0.00,0.000,4,0.096,0.054,2723,3787,3655,0,0,0,0,0,0
$GC,3673,-1.28,-146.0,349.5,-9.2,335,3678,0.00,2.50,0.00,0.000,6,0.000,0.028,2723,2223,3654,0,0,0,0,0,0
$GC,3937,-1.28,-146.0,372.0,-8.1,359,3942,0.00,2.78,0.00,0.000,4,0.000,0.075,2723,629,3652,0,0,0,0,0,0
$GC,3959,-1.28,-146.0,374.1,-8.4,360,3968,0.00,2.55,0.00,0.000,6,0.000,0.038,2723,2188,3652,0,0,0,0,0,0
$GC,4225,-1.28,-146.0,396.2,-8.3,385,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2188,3651,0,0,0,0,0,0
$GC,4488,-1.28,-146.0,418.6,-7.9,410,4492,0.00,2.67,0.00,0.000,4,0.000,0.061,2723,3792,3649,0,0,0,0,0,0
$GC,4528,-1.28,-146.0,422.2,-8.9,413,4532,0.00,2.60,0.00,0.000,6,0.000,0.037,2723,2203,3649,0,0,0,0,0,0
$GC,4792,-1.28,-146.0,443.8,-8.3,437,4797,0.00,2.67,0.00,0.000,4,0.000,0.054,2724,3796,3647,0,0,0,0,0,0
$GC,4824,-1.28,-146.0,446.6,-8.8,439,4829,0.00,2.62,0.00,0.000,6,0.000,0.041,2723,2208,3647,0,0,0,0,0,0
$GC,5092,-1.28,-146.0,468.0,-7.6,463,5097,0.00,2.90,0.00,0.000,4,0.000,0.103,2723,619,3645,0,0,0,0,0,0
$GC,5113,-1.28,-146.0,470.3,-8.0,464,5119,0.00,2.62,0.00,0.000,6,0.000,0.048,2723,2203,3644,0,0,0,0,0,0
$GC,5377,-1.32,-146.0,488.3,-6.3,489,5381,0.00,2.75,0.00,0.000,4,0.000,0.064,2723,3803,3643,0,0,0,0,0,0
$GC,5447,-1.37,-146.0,493.1,-6.1,494,5453,0.00,2.65,0.00,0.000,6,0.000,0.045,2723,2225,3643,0,0,0,0,0,0
$GC,5710,-1.42,-146.0,509.0,-6.5,519,5712,0.12,0.00,0.00,0.000,6,0.068,0.000,2674,2225,3641,0,0,0,0,0,0
$GC,5966,-1.37,-146.0,529.5,-8.4,543,5972,0.15,3.00,0.00,0.000,4,0.094,0.110,2707,621,3638,0,0,0,0,0,0
$GC,5996,-1.37,-146.0,532.2,-8.7,545,6001,0.00,2.70,0.00,0.000,6,0.000,0.051,2707,2220,3638,0,0,0,0,0,0
$GC,6260,-1.37,-146.0,551.8,-7.8,569,6265,0.00,2.75,0.00,0.000,4,0.000,0.079,2707,3796,3637,0,0,0,0,0,0
$GC,6361,-1.37,-146.0,560.3,-9.0,577,6366,0.00,2.67,0.00,0.000,6,0.000,0.054,2707,2230,3636,0,0,0,0,0,0
$GC,6630,-1.37,-146.0,582.1,-8.6,601,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2230,3634,0,0,0,0,0,0
$STATE,6824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6824,begin apogee
$GC,6831,-0.31,0.0,600.8,9.3,620,6951,1.00,0.00,117.35,1.008,6,0.067,0.000,2936,2382,3060,0,0,0,0,0,0
$STATE,6952,end apogee,CONTROL_FINISHED_OK
$STATE,6952,begin climb
$GC,6956,1.27,146.0,605.3,0.0,623,7086,1.45,0.00,125.35,0.985,6,0.031,0.000,3295,2382,2464,0,0,0,0,0,0
$GC,7320,1.14,146.0,574.3,11.6,647,7326,0.20,2.75,0.00,0.000,4,0.109,0.072,3254,3929,2456,0,0,0,0,0,0
$GC,7344,1.03,146.0,571.5,12.4,648,7354,0.10,2.72,0.00,0.000,6,0.097,0.052,3229,2370,2454,0,0,0,0,0,0
$GC,7610,1.03,146.0,543.8,11.1,673,7614,0.00,2.72,0.00,0.000,4,0.000,0.068,3229,3931,2452,0,0,0,0,0,0
$GC,7663,1.03,146.0,536.7,13.1,677,7667,0.00,2.65,0.00,0.000,6,0.000,0.045,3229,2377,2451,0,0,0,0,0,0
$GC,7925,1.03,146.0,507.2,10.6,701,7930,0.00,3.03,0.00,0.000,4,0.000,0.114,3229,782,2449,0,0,0,0,0,0
$GC,7991,1.03,146.0,500.2,11.0,706,7996,0.00,2.67,0.00,0.000,6,0.000,0.052,3229,2380,2448,0,0,0,0,0,0
$GC,8260,1.08,182.4,476.6,8.3,730,8297,0.00,2.78,30.50,0.918,4,0.000,0.058,3229,3936,2316,0,0,0,0,0,0
$GC,8304,1.12,213.5,472.1,8.6,734,8339,0.00,2.62,29.02,0.904,6,0.000,0.034,3229,2367,2189,0,0,0,0,0,0
$GC,8593,1.13,226.2,444.2,9.4,761,8618,0.00,2.97,11.90,0.837,4,0.000,0.087,3229,780,2136,0,0,0,0,0,0
$GC,8630,1.13,226.2,440.6,10.1,764,8634,0.00,2.65,0.00,0.000,6,0.000,0.036,3229,2368,2135,0,0,0,0,0,0
$GC,8894,1.13,226.2,414.3,10.7,788,8898,0.00,2.65,0.00,0.000,4,0.000,0.051,3229,3938,2133,0,0,0,0,0,0
$GC,8950,1.17,226.2,407.6,11.5,792,8959,0.10,2.62,0.00,0.000,6,0.049,0.031,3264,2367,2131,0,0,0,0,0,0
$GC,9214,1.17,226.2,377.5,12.0,817,9219,0.00,2.78,0.00,0.000,4,0.000,0.072,3264,780,2131,0,0,0,0,0,0
$GC,9235,1.17,226.2,374.3,12.3,818,9241,0.00,2.58,0.00,0.000,6,0.000,0.029,3263,2381,2130,0,0,0,0,0,0
$GC,9499,1.17,226.2,343.7,11.4,843,9504,0.00,2.60,0.00,0.000,4,0.000,0.050,3263,3928,2130,0,0,0,0,0,0
$GC,9544,1.17,226.2,337.6,12.7,846,9554,0.00,2.58,0.00,0.000,6,0.000,0.028,3263,2370,2129,0,0,0,0,0,0
$GC,9811,1.17,226.2,309.3,10.5,871,9815,0.00,2.67,0.00,0.000,4,0.000,0.058,3264,777,2129,0,0,0,0,0,0
$GC,9833,1.17,226.2,306.3,10.8,872,9839,0.00,2.58,0.00,0.000,6,0.000,0.027,3263,2375,2127,0,0,0,0,0,0
$GC,10096,1.20,254.7,281.2,8.7,897,10130,0.00,2.72,24.77,0.789,4,0.000,0.050,3263,3931,2019,0,0,0,0,0,0
$GC,10137,1.22,263.4,277.2,9.6,900,10151,0.00,2.58,8.90,0.702,6,0.000,0.024,3263,2375,1986,0,0,0,0,0,0
$GC,10410,1.24,282.7,253.1,9.1,925,10431,0.00,0.00,18.02,0.745,6,0.000,0.000,3263,2375,1906,0,0,0,0,0,0
$GC,10686,1.24,282.7,223.9,12.1,951,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2375,1903,0,0,0,0,0,0
$GC,10945,1.28,282.7,195.0,10.9,975,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2375,1902,0,0,0,0,0,0
$GC,11208,1.32,282.7,166.0,10.4,1000,11210,0.12,0.00,0.00,0.000,6,0.074,0.000,3301,2375,1902,0,0,0,0,0,0
$GC,11467,1.32,282.7,133.4,13.6,1024,11476,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2376,1902,0,0,0,0,0,0
$GC,11735,1.32,282.7,96.8,12.5,1049,11739,0.00,2.62,0.00,0.000,4,0.000,0.044,3301,778,1902,0,0,0,0,0,0
$GC,11755,1.32,282.7,93.7,13.0,1050,11759,0.00,2.50,0.00,0.000,6,0.000,0.021,3301,2390,1902,0,0,0,0,0,0
$GC,12024,1.32,282.7,62.0,11.8,1074,12028,0.00,2.50,0.00,0.000,4,0.000,0.039,3301,3924,1902,0,0,0,0,0,0
$GC,12044,1.32,282.7,58.8,12.3,1075,12049,0.00,2.42,0.00,0.000,6,0.000,0.022,3301,2381,1902,0,0,0,0,0,0
$GC,12317,1.32,282.7,27.3,10.3,1101,12325,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2381,1902,0,0,0,0,0,0
$STATE,12510,end climb,SURFACE_DEPTH_REACHED
$STATE,12513,begin surface coast
$FINISH,0.0,1.024257
$STATE,12551,end surface coast,CONTROL_FINISHED_OK
$STATE,12551,begin surface
$SM_CCo,12572,276.88,0.515,0,0,477,633.61
$SM_GC,0.41,0.00,0.00,276.88,0.000,0.000,0.515,459,2195,477,-11.71,-0.42,633.61
$IRIDIUM_FIX,2241.69,-15739.35,020703,161601
$TT8_MAMPS,0.026078
$HUMID,58.15
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,21.90
$XPDR_PINGS,11
$24V_AH,23.4,24.225
$10V_AH,10.3,25.337
$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,27.850,152.825,365.825,276.875,0.000,138.585,184.687,1342.221,2.750,0.000,66.908,1957.870,6196.737,780.154,3907.061,2165.731,33.364,1870.667,0.000,3901.147,0.000,0.537,0.000
$DEVICE_MAMPS,165.672,113.516,1007.838,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,779.646,912.683,1160.548,1414.330,2693.482,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,95124,1135
$CAP_FILE_SIZE,173367,0
$CFSIZE,260165632,168431616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070414,200830,2251.321,-15740.476,38,1.0,38,10.1