version: 66.06
glider: 146
mission: 9
dive: 171
start: 4 8 114 4 18 7
data:
$ID,146
$MISSION,9
$DIVE,171
$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,-327209.62
$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,71
$R_STBD_OVSHOOT,40
$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
$GPS1,040136,2253.498,-15739.551,38,1.1,38,10.1
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-68.4
$GPS2,041713,2253.330,-15739.572,14,1.6,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.108,0.236
$KALMAN_X,-162679.0,101.8,104.7,189794.8,-746.5
$KALMAN_Y,64629.4,-97.3,311.9,-57346.3,-1109.4
$MHEAD_RNG_PITCHd_Wd,14.4,23500,-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,-145.9,0.0,0.0,0,112,0.00,0.00,-89.15,0.000,6,0.000,0.000,462,2159,3654,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.6,-8.1,12,133,12.55,2.62,0.00,0.000,4,0.166,0.028,2719,3796,3656,0,0,0,0,0,0
$GC,280,-1.18,-146.0,37.8,-12.7,33,289,0.10,2.47,0.00,0.000,6,0.096,0.021,2743,2245,3657,0,0,0,0,0,0
$GC,549,-1.10,-146.0,68.3,-10.6,58,554,0.00,2.62,0.00,0.000,4,0.000,0.046,2743,639,3657,0,0,0,0,0,0
$GC,635,-1.05,-146.0,78.3,-9.8,64,645,0.10,2.45,0.00,0.000,6,0.084,0.018,2770,2206,3656,0,0,0,0,0,0
$GC,903,-1.05,-146.0,98.6,-6.7,89,908,0.00,2.58,0.00,0.000,4,0.000,0.043,2769,630,3657,0,0,0,0,0,0
$GC,936,-1.05,-146.0,101.0,-7.2,91,941,0.00,2.40,0.00,0.000,6,0.000,0.017,2769,2198,3657,0,0,0,0,0,0
$GC,1204,-1.05,-146.0,121.5,-8.7,115,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2198,3657,0,0,0,0,0,0
$GC,1465,-1.05,-146.0,145.2,-8.4,140,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2198,3658,0,0,0,0,0,0
$GC,1722,-1.05,-146.0,166.3,-8.6,164,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2199,3658,0,0,0,0,0,0
$GC,1975,-1.05,-146.0,191.5,-10.5,188,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2198,3658,0,0,0,0,0,0
$GC,2232,-1.05,-146.0,216.7,-9.1,212,2236,0.00,2.55,0.00,0.000,4,0.000,0.046,2770,638,3658,0,0,0,0,0,0
$GC,2283,-1.09,-146.0,221.4,-8.8,216,2288,0.00,2.38,0.00,0.000,6,0.000,0.021,2769,2192,3658,0,0,0,0,0,0
$GC,2548,-1.15,-146.0,243.0,-8.1,240,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2192,3658,0,0,0,0,0,0
$GC,2815,-1.22,-146.0,263.7,-7.4,265,2820,0.12,2.58,0.00,0.000,4,0.069,0.041,2716,3771,3658,0,0,0,0,0,0
$GC,2929,-1.22,-146.0,274.3,-8.9,274,2934,0.10,2.50,0.00,0.000,6,0.108,0.022,2738,2177,3658,0,0,0,0,0,0
$GC,3194,-1.22,-146.0,294.8,-8.6,298,3198,0.00,2.58,0.00,0.000,4,0.000,0.059,2738,635,3658,0,0,0,0,0,0
$GC,3217,-1.22,-146.0,297.2,-9.2,299,3222,0.00,2.40,0.00,0.000,6,0.000,0.032,2738,2169,3657,0,0,0,0,0,0
$GC,3479,-1.22,-146.0,320.1,-8.5,324,3484,0.00,2.65,0.00,0.000,4,0.000,0.048,2738,3781,3657,0,0,0,0,0,0
$GC,3526,-1.26,-146.0,324.2,-8.5,327,3535,0.00,2.58,0.00,0.000,6,0.000,0.026,2738,2192,3657,0,0,0,0,0,0
$GC,3792,-1.31,-146.0,342.7,-6.5,352,3797,0.00,2.62,0.00,0.000,4,0.000,0.046,2738,3786,3656,0,0,0,0,0,0
$GC,3826,-1.36,-146.0,345.5,-6.9,354,3836,0.10,2.58,0.00,0.000,6,0.035,0.029,2688,2212,3656,0,0,0,0,0,0
$GC,4094,-1.31,-146.0,367.4,-8.8,379,4099,0.12,2.62,0.00,0.000,4,0.103,0.048,2716,3781,3654,0,0,0,0,0,0
$GC,4118,-1.31,-146.0,370.1,-8.7,380,4123,0.00,2.60,0.00,0.000,6,0.000,0.033,2717,2189,3654,0,0,0,0,0,0
$GC,4382,-1.31,-146.0,392.4,-9.1,405,4386,0.00,2.75,0.00,0.000,4,0.000,0.086,2716,629,3653,0,0,0,0,0,0
$GC,4415,-1.31,-146.0,396.1,-10.7,407,4421,0.00,2.53,0.00,0.000,6,0.000,0.043,2716,2188,3652,0,0,0,0,0,0
$GC,4679,-1.31,-146.0,419.9,-8.8,432,4684,0.00,2.67,0.00,0.000,4,0.000,0.059,2716,3794,3651,0,0,0,0,0,0
$GC,4748,-1.31,-146.0,426.7,-9.4,437,4754,0.00,2.62,0.00,0.000,6,0.000,0.038,2716,2205,3650,0,0,0,0,0,0
$GC,5012,-1.31,-146.0,447.0,-7.4,462,5017,0.00,2.67,0.00,0.000,4,0.000,0.057,2716,3798,3648,0,0,0,0,0,0
$GC,5034,-1.31,-146.0,448.5,-7.6,463,5039,0.00,2.65,0.00,0.000,6,0.000,0.044,2716,2201,3648,0,0,0,0,0,0
$GC,5302,-1.31,-146.0,465.6,-6.6,487,5307,0.00,2.85,0.00,0.000,4,0.000,0.100,2716,628,3646,0,0,0,0,0,0
$GC,5330,-1.31,-146.0,468.0,-7.0,489,5335,0.00,2.60,0.00,0.000,6,0.000,0.044,2717,2204,3646,0,0,0,0,0,0
$GC,5593,-1.31,-146.0,484.5,-6.7,513,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2204,3644,0,0,0,0,0,0
$GC,5847,-1.31,-146.0,501.0,-6.2,537,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2204,3643,0,0,0,0,0,0
$GC,6100,-1.31,-146.0,515.7,-5.9,561,6105,0.00,2.72,0.00,0.000,4,0.000,0.076,2717,3794,3641,0,0,0,0,0,0
$GC,6131,-1.31,-146.0,517.5,-6.4,563,6135,0.00,2.67,0.00,0.000,6,0.000,0.052,2716,2206,3641,0,0,0,0,0,0
$GC,6394,-1.35,-146.0,534.4,-6.9,587,6399,0.00,2.75,0.00,0.000,4,0.000,0.072,2716,3800,3638,0,0,0,0,0,0
$GC,6417,-1.35,-146.0,536.1,-7.2,588,6426,0.00,2.75,0.00,0.000,6,0.000,0.051,2716,2198,3638,0,0,0,0,0,0
$GC,6683,-1.39,-146.0,553.1,-6.3,613,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2198,3637,0,0,0,0,0,0
$GC,6948,-1.43,-146.0,569.7,-6.2,638,6953,0.12,2.83,0.00,0.000,4,0.070,0.083,2668,3792,3636,0,0,0,0,0,0
$GC,6981,-1.38,-146.0,572.2,-8.6,640,6986,0.15,2.72,0.00,0.000,6,0.097,0.065,2700,2201,3635,0,0,0,0,0,0
$GC,7249,-1.38,-146.0,591.0,-7.3,664,7254,0.00,2.80,0.00,0.000,4,0.000,0.084,2700,3791,3633,0,0,0,0,0,0
$GC,7292,-1.38,-146.0,595.0,-9.3,667,7297,0.00,2.72,0.00,0.000,6,0.000,0.067,2700,2216,3633,0,0,0,0,0,0
$STATE,7349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7349,begin apogee
$GC,7355,-0.31,0.0,600.2,8.4,672,7476,1.02,0.00,117.32,1.012,6,0.070,0.000,2935,2374,3060,0,0,0,0,0,0
$STATE,7478,end apogee,CONTROL_FINISHED_OK
$STATE,7478,begin climb
$GC,7481,1.27,146.0,603.4,0.0,675,7618,1.42,2.88,124.00,0.986,4,0.033,0.083,3289,3926,2463,0,0,0,0,0,0
$GC,7648,1.12,146.0,593.0,11.5,681,7657,0.17,2.78,0.00,0.000,6,0.087,0.064,3249,2364,2460,0,0,0,0,0,0
$GC,7914,1.07,146.0,566.8,10.5,706,7918,0.00,2.78,0.00,0.000,4,0.000,0.066,3249,3936,2455,0,0,0,0,0,0
$GC,7957,1.00,146.0,561.7,11.6,709,7962,0.12,2.70,0.00,0.000,6,0.120,0.050,3223,2369,2454,0,0,0,0,0,0
$GC,8225,1.02,161.8,535.9,9.3,733,8246,0.00,3.08,13.60,0.889,4,0.000,0.110,3223,781,2399,0,0,0,0,0,0
$GC,8263,1.04,178.0,532.2,9.3,736,8285,0.00,2.70,15.98,0.893,6,0.000,0.052,3223,2362,2334,0,0,0,0,0,0
$GC,8540,1.08,209.0,506.1,8.6,762,8574,0.00,2.80,28.55,0.921,4,0.000,0.063,3223,3933,2206,0,0,0,0,0,0
$GC,8591,1.09,217.7,501.3,9.6,766,8607,0.00,2.67,9.20,0.815,6,0.000,0.048,3223,2363,2172,0,0,0,0,0,0
$GC,8862,1.10,224.2,476.1,9.7,792,8876,0.00,2.97,6.55,0.759,4,0.000,0.102,3223,782,2145,0,0,0,0,0,0
$GC,8930,1.14,227.1,469.4,9.9,797,8940,0.12,2.65,4.30,0.622,6,0.074,0.044,3261,2364,2134,0,0,0,0,0,0
$GC,9195,1.14,227.1,440.1,11.3,822,9200,0.00,2.80,0.00,0.000,4,0.000,0.072,3261,780,2131,0,0,0,0,0,0
$GC,9218,1.11,227.1,437.4,12.3,823,9224,0.00,2.58,0.00,0.000,6,0.000,0.034,3261,2354,2131,0,0,0,0,0,0
$GC,9482,1.11,227.1,409.3,11.0,848,9486,0.00,2.65,0.00,0.000,4,0.000,0.050,3261,3934,2130,0,0,0,0,0,0
$GC,9526,1.11,227.1,403.5,11.9,851,9532,0.00,2.60,0.00,0.000,6,0.000,0.037,3261,2349,2129,0,0,0,0,0,0
$GC,9790,1.11,227.1,374.0,11.5,876,9795,0.00,2.75,0.00,0.000,4,0.000,0.073,3261,775,2128,0,0,0,0,0,0
$GC,9823,1.11,227.1,369.5,12.2,878,9829,0.00,2.58,0.00,0.000,6,0.000,0.028,3261,2375,2128,0,0,0,0,0,0
$GC,10087,1.11,227.1,340.3,10.9,903,10092,0.00,2.60,0.00,0.000,4,0.000,0.050,3261,3928,2128,0,0,0,0,0,0
$GC,10144,1.11,227.1,334.1,11.6,907,10148,0.00,2.55,0.00,0.000,6,0.000,0.028,3261,2355,2127,0,0,0,0,0,0
$GC,10410,1.11,230.5,307.3,9.8,931,10415,0.00,2.60,0.00,0.000,4,0.000,0.051,3261,3924,2127,0,0,0,0,0,0
$GC,10463,1.11,230.5,301.3,11.0,935,10468,0.00,2.50,0.00,0.000,6,0.000,0.026,3261,2380,2126,0,0,0,0,0,0
$GC,10726,1.11,230.5,274.4,10.4,959,10727,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2380,2126,0,0,0,0,0,0
$GC,10980,1.16,271.6,251.5,8.1,983,11022,0.00,0.00,39.30,0.766,6,0.000,0.000,3261,2380,1952,0,0,0,0,0,0
$GC,11278,1.21,271.6,221.0,11.0,1011,11282,0.00,2.58,0.00,0.000,4,0.000,0.042,3261,3926,1946,0,0,0,0,0,0
$GC,11342,1.29,271.6,213.0,12.6,1016,11347,0.10,2.47,0.00,0.000,6,0.085,0.025,3293,2382,1945,0,0,0,0,0,0
$GC,11603,1.29,271.6,179.7,12.9,1040,11607,0.00,2.62,0.00,0.000,4,0.000,0.047,3293,788,1945,0,0,0,0,0,0
$GC,11639,1.29,271.6,175.1,13.4,1042,11648,0.00,2.58,0.00,0.000,6,0.000,0.022,3293,2396,1944,0,0,0,0,0,0
$GC,11904,1.29,271.6,141.2,13.4,1067,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2396,1944,0,0,0,0,0,0
$GC,12166,1.29,271.6,107.0,12.1,1092,12171,0.00,2.50,0.00,0.000,4,0.000,0.039,3293,3926,1945,0,0,0,0,0,0
$GC,12187,1.29,271.6,104.7,12.4,1093,12191,0.00,2.47,0.00,0.000,6,0.000,0.023,3293,2376,1944,0,0,0,0,0,0
$GC,12456,1.29,271.6,74.6,11.6,1117,12460,0.00,2.60,0.00,0.000,4,0.000,0.045,3293,788,1944,0,0,0,0,0,0
$GC,12476,1.29,271.6,71.9,11.1,1118,12481,0.00,2.53,0.00,0.000,6,0.000,0.020,3293,2403,1944,0,0,0,0,0,0
$GC,12744,1.29,271.6,43.0,10.7,1142,12752,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2403,1944,0,0,0,0,0,0
$GC,13047,1.29,271.6,5.9,13.7,1181,13056,0.00,2.50,0.00,0.000,4,0.000,0.041,3293,3913,1946,0,0,0,0,0,0
$STATE,13064,end climb,SURFACE_DEPTH_REACHED
$STATE,13064,begin surface coast
$FINISH,0.4,1.024031
$STATE,13106,end surface coast,CONTROL_FINISHED_OK
$STATE,13106,begin surface
$SM_CCo,13132,86.65,0.521,0,0,1509,380.21
$SM_GC,0.57,0.00,0.00,86.65,0.000,0.000,0.521,463,2201,1509,-11.69,-0.25,380.21
$IRIDIUM_FIX,2246.36,-15738.46,030703,040413
$TT8_MAMPS,0.026078
$HUMID,62.04
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.70
$XPDR_PINGS,28
$24V_AH,23.4,24.662
$10V_AH,10.3,26.022
$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,27.700,169.200,358.800,86.650,0.000,84.488,101.038,442.431,7.000,0.000,15.504,2056.252,6549.504,565.135,3877.069,1093.641,33.360,1727.503,0.000,3897.803,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,110.448,1012.440,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,816.783,926.302,1211.490,1329.542,2532.174,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,98553,1189
$CAP_FILE_SIZE,165575,0
$CFSIZE,260165632,168198144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080414,075935,2254.286,-15739.162,11,1.9,27,10.1