version: 66.06
glider: 146
mission: 9
dive: 173
start: 4 8 114 12 5 14
data:
$ID,146
$MISSION,9
$DIVE,173
$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,-327298.78
$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,45
$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
$GPS1,115430,2255.307,-15738.828,36,1.7,43,10.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-66.5
$GPS2,120418,2255.229,-15738.974,10,1.6,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,0.228
$KALMAN_X,-164359.9,32.6,-237.8,192912.0,-562.6
$KALMAN_Y,63269.2,-40.2,-213.4,-52004.0,174.2
$MHEAD_RNG_PITCHd_Wd,18.6,19840,-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,-146.0,0.0,0.0,0,111,0.00,0.00,-88.20,0.000,6,0.000,0.000,463,2187,3655,0,0,0,0,0,0
$GC,116,-1.27,-146.0,5.0,-12.9,12,133,12.73,2.60,0.00,0.000,4,0.166,0.030,2718,3793,3656,0,0,0,0,0,0
$GC,171,-1.08,-146.0,25.3,-24.7,19,179,0.20,2.53,0.00,0.000,6,0.088,0.023,2763,2223,3658,0,0,0,0,0,0
$GC,450,-1.08,-146.0,56.8,-11.2,46,454,0.00,2.53,0.00,0.000,4,0.000,0.034,2763,3788,3658,0,0,0,0,0,0
$GC,486,-1.08,-146.0,61.4,-10.6,48,496,0.00,2.50,0.00,0.000,6,0.000,0.021,2763,2218,3658,0,0,0,0,0,0
$GC,753,-1.08,-146.0,86.0,-8.5,73,757,0.00,2.58,0.00,0.000,4,0.000,0.047,2763,645,3658,0,0,0,0,0,0
$GC,786,-1.08,-146.0,89.2,-9.7,75,790,0.00,2.45,0.00,0.000,6,0.000,0.018,2763,2237,3658,0,0,0,0,0,0
$GC,1053,-1.08,-146.0,112.2,-8.5,99,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2238,3658,0,0,0,0,0,0
$GC,1315,-1.08,-146.0,135.8,-9.4,124,1319,0.00,2.62,0.00,0.000,4,0.000,0.044,2763,635,3658,0,0,0,0,0,0
$GC,1344,-1.08,-146.0,138.9,-10.3,126,1348,0.00,2.42,0.00,0.000,6,0.000,0.018,2763,2219,3659,0,0,0,0,0,0
$GC,1606,-1.08,-146.0,163.7,-10.1,150,1610,0.00,2.58,0.00,0.000,4,0.000,0.045,2763,644,3658,0,0,0,0,0,0
$GC,1654,-1.08,-146.0,168.1,-10.8,153,1658,0.00,2.40,0.00,0.000,6,0.000,0.018,2763,2204,3658,0,0,0,0,0,0
$GC,1920,-1.08,-146.0,195.9,-10.1,177,1924,0.00,2.55,0.00,0.000,4,0.000,0.045,2763,644,3659,0,0,0,0,0,0
$GC,1937,-1.08,-146.0,197.8,-9.1,178,1941,0.00,2.35,0.00,0.000,6,0.000,0.017,2763,2185,3659,0,0,0,0,0,0
$GC,2205,-1.13,-146.0,221.5,-9.0,202,2209,0.00,2.55,0.00,0.000,4,0.000,0.043,2763,3768,3659,0,0,0,0,0,0
$GC,2227,-1.17,-146.0,224.0,-8.5,203,2232,0.00,2.50,0.00,0.000,6,0.000,0.020,2763,2166,3659,0,0,0,0,0,0
$GC,2490,-1.23,-146.0,246.7,-8.6,228,2495,0.12,2.65,0.00,0.000,4,0.067,0.039,2713,3775,3659,0,0,0,0,0,0
$GC,2554,-1.23,-146.0,253.5,-10.4,233,2559,0.10,2.50,0.00,0.000,6,0.111,0.021,2735,2177,3659,0,0,0,0,0,0
$GC,2815,-1.23,-146.0,275.0,-8.2,257,2820,0.00,2.62,0.00,0.000,4,0.000,0.042,2735,3769,3659,0,0,0,0,0,0
$GC,2849,-1.23,-146.0,277.4,-9.0,259,2854,0.00,2.53,0.00,0.000,6,0.000,0.023,2735,2182,3660,0,0,0,0,0,0
$GC,3117,-1.23,-146.0,297.6,-7.1,283,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2182,3659,0,0,0,0,0,0
$GC,3378,-1.23,-146.0,320.0,-9.0,308,3383,0.00,2.62,0.00,0.000,4,0.000,0.066,2735,635,3658,0,0,0,0,0,0
$GC,3413,-1.23,-146.0,322.8,-9.5,310,3418,0.00,2.45,0.00,0.000,6,0.000,0.035,2735,2174,3658,0,0,0,0,0,0
$GC,3681,-1.27,-146.0,346.5,-8.9,334,3685,0.00,2.67,0.00,0.000,4,0.000,0.050,2735,3791,3658,0,0,0,0,0,0
$GC,3734,-1.32,-146.0,351.7,-9.3,338,3739,0.00,2.55,0.00,0.000,6,0.000,0.028,2735,2201,3657,0,0,0,0,0,0
$GC,3997,-1.37,-146.0,373.0,-7.5,362,4002,0.12,2.75,0.00,0.000,4,0.069,0.078,2684,630,3655,0,0,0,0,0,0
$GC,4051,-1.31,-146.0,378.2,-10.3,366,4056,0.15,2.53,0.00,0.000,6,0.098,0.039,2716,2186,3655,0,0,0,0,0,0
$GC,4312,-1.31,-146.0,399.6,-7.9,390,4317,0.00,2.67,0.00,0.000,4,0.000,0.053,2716,3791,3654,0,0,0,0,0,0
$GC,4335,-1.31,-146.0,400.9,-7.7,391,4339,0.00,2.62,0.00,0.000,6,0.000,0.041,2716,2182,3653,0,0,0,0,0,0
$GC,4603,-1.31,-146.0,420.9,-7.4,415,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2182,3652,0,0,0,0,0,0
$GC,4864,-1.31,-146.0,439.6,-6.9,440,4868,0.00,2.72,0.00,0.000,4,0.000,0.060,2716,3797,3651,0,0,0,0,0,0
$GC,4932,-1.31,-146.0,444.1,-7.3,445,4936,0.00,2.65,0.00,0.000,6,0.000,0.041,2716,2189,3650,0,0,0,0,0,0
$GC,5198,-1.31,-146.0,463.4,-7.9,469,5203,0.00,2.85,0.00,0.000,4,0.000,0.100,2716,619,3648,0,0,0,0,0,0
$GC,5228,-1.31,-146.0,466.1,-8.3,471,5232,0.00,2.58,0.00,0.000,6,0.000,0.045,2716,2179,3648,0,0,0,0,0,0
$GC,5492,-1.31,-146.0,488.7,-9.1,495,5497,0.00,2.75,0.00,0.000,4,0.000,0.083,2716,625,3646,0,0,0,0,0,0
$GC,5528,-1.31,-146.0,492.4,-9.7,497,5533,0.00,2.60,0.00,0.000,6,0.000,0.048,2716,2176,3646,0,0,0,0,0,0
$GC,5791,-1.31,-146.0,515.1,-8.4,522,5795,0.00,2.80,0.00,0.000,4,0.000,0.074,2716,3796,3645,0,0,0,0,0,0
$GC,5882,-1.31,-146.0,523.0,-9.4,529,5886,0.00,2.70,0.00,0.000,6,0.000,0.049,2716,2186,3644,0,0,0,0,0,0
$GC,6149,-1.35,-146.0,544.8,-7.9,553,6153,0.00,2.78,0.00,0.000,4,0.000,0.071,2716,3794,3643,0,0,0,0,0,0
$GC,6177,-1.35,-146.0,547.3,-8.0,555,6181,0.00,2.72,0.00,0.000,6,0.000,0.060,2716,2184,3643,0,0,0,0,0,0
$GC,6441,-1.39,-146.0,565.1,-6.2,579,6446,0.00,2.80,0.00,0.000,4,0.000,0.077,2716,3793,3641,0,0,0,0,0,0
$GC,6470,-1.39,-146.0,567.4,-7.3,581,6475,0.00,2.75,0.00,0.000,6,0.000,0.058,2716,2193,3641,0,0,0,0,0,0
$GC,6735,-1.44,-146.0,583.8,-6.2,605,6740,0.12,2.83,0.00,0.000,4,0.070,0.081,2668,3793,3639,0,0,0,0,0,0
$GC,6781,-1.39,-146.0,587.7,-8.4,608,6787,0.15,2.75,0.00,0.000,6,0.097,0.070,2700,2201,3639,0,0,0,0,0,0
$STATE,6965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6965,begin apogee
$GC,6973,-0.31,0.0,600.5,6.8,626,7095,1.02,0.00,118.65,1.005,6,0.070,0.000,2935,2384,3060,0,0,0,0,0,0
$STATE,7096,end apogee,CONTROL_FINISHED_OK
$STATE,7096,begin climb
$GC,7098,1.27,146.0,601.8,0.0,629,7239,1.45,2.85,124.47,0.979,4,0.032,0.078,3291,3923,2462,0,0,0,0,0,0
$GC,7277,1.11,146.0,587.2,13.6,640,7283,0.20,2.72,0.00,0.000,6,0.104,0.057,3249,2371,2459,0,0,0,0,0,0
$GC,7546,1.07,147.7,559.4,9.9,664,7550,0.00,2.75,0.00,0.000,4,0.000,0.066,3249,3932,2455,0,0,0,0,0,0
$GC,7574,1.00,147.7,555.8,10.9,666,7579,0.15,2.67,0.00,0.000,6,0.113,0.049,3218,2377,2454,0,0,0,0,0,0
$GC,7836,1.04,181.0,533.6,8.5,690,7873,0.00,3.12,30.25,0.932,4,0.000,0.111,3218,787,2321,0,0,0,0,0,0
$GC,7899,1.05,192.5,527.9,9.5,695,7918,0.00,2.72,12.05,0.856,6,0.000,0.051,3218,2371,2274,0,0,0,0,0,0
$GC,8175,1.07,206.1,501.8,9.4,721,8196,0.00,2.78,12.95,0.864,4,0.000,0.064,3218,3927,2218,0,0,0,0,0,0
$GC,8255,1.07,206.1,492.8,10.4,728,8259,0.00,2.60,0.00,0.000,6,0.000,0.039,3218,2375,2216,0,0,0,0,0,0
$GC,8519,1.11,206.1,466.1,10.7,752,8524,0.12,2.95,0.00,0.000,4,0.076,0.096,3254,782,2215,0,0,0,0,0,0
$GC,8602,1.11,206.1,455.4,12.6,758,8608,0.00,2.62,0.00,0.000,6,0.000,0.037,3254,2366,2212,0,0,0,0,0,0
$GC,8866,1.11,206.1,424.1,11.8,783,8870,0.00,2.65,0.00,0.000,4,0.000,0.058,3254,3942,2212,0,0,0,0,0,0
$GC,8921,1.11,206.1,417.0,13.2,787,8925,0.00,2.62,0.00,0.000,6,0.000,0.033,3254,2352,2212,0,0,0,0,0,0
$GC,9187,1.11,206.1,386.4,11.4,811,9192,0.00,2.67,0.00,0.000,4,0.000,0.048,3254,3938,2211,0,0,0,0,0,0
$GC,9216,1.11,206.1,382.4,12.3,813,9221,0.00,2.62,0.00,0.000,6,0.000,0.032,3254,2346,2211,0,0,0,0,0,0
$GC,9478,1.11,206.1,352.3,11.5,837,9483,0.00,2.70,0.00,0.000,4,0.000,0.071,3254,777,2211,0,0,0,0,0,0
$GC,9523,1.11,206.1,347.1,11.1,840,9532,0.00,2.58,0.00,0.000,6,0.000,0.028,3254,2364,2210,0,0,0,0,0,0
$GC,9791,1.13,218.7,321.7,9.4,865,9806,0.00,0.00,11.12,0.773,6,0.000,0.000,3254,2363,2168,0,0,0,0,0,0
$GC,10064,1.13,218.7,294.5,11.2,891,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2363,2165,0,0,0,0,0,0
$GC,10316,1.13,218.7,267.6,10.6,915,10320,0.00,2.62,0.00,0.000,4,0.000,0.050,3254,782,2165,0,0,0,0,0,0
$GC,10337,1.13,218.7,265.7,11.7,916,10342,0.00,2.50,0.00,0.000,6,0.000,0.029,3254,2359,2164,0,0,0,0,0,0
$GC,10605,1.18,264.3,243.2,7.9,940,10653,0.00,2.70,40.65,0.754,4,0.000,0.045,3254,3921,1982,0,0,0,0,0,0
$GC,10685,1.24,279.3,235.9,9.3,947,10710,0.00,2.55,14.50,0.700,6,0.000,0.024,3254,2355,1919,0,0,0,0,0,0
$GC,10965,1.31,286.7,207.9,9.7,973,10975,0.15,0.00,7.38,0.611,6,0.067,0.000,3297,2356,1890,0,0,0,0,0,0
$GC,11225,1.31,286.7,175.1,12.2,998,11230,0.00,2.62,0.00,0.000,4,0.000,0.041,3297,3937,1888,0,0,0,0,0,0
$GC,11248,1.31,286.7,172.3,11.7,999,11254,0.00,2.53,0.00,0.000,6,0.000,0.023,3297,2363,1887,0,0,0,0,0,0
$GC,11510,1.31,286.7,141.4,12.6,1024,11515,0.00,2.60,0.00,0.000,4,0.000,0.039,3298,3935,1887,0,0,0,0,0,0
$GC,11532,1.31,286.7,139.1,13.0,1025,11536,0.00,2.50,0.00,0.000,6,0.000,0.023,3297,2370,1887,0,0,0,0,0,0
$GC,11798,1.31,286.7,104.1,13.0,1049,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2371,1887,0,0,0,0,0,0
$GC,12065,1.31,286.7,70.5,11.4,1074,12070,0.00,2.60,0.00,0.000,4,0.000,0.044,3298,788,1888,0,0,0,0,0,0
$GC,12086,1.31,286.7,67.7,12.2,1075,12091,0.00,2.47,0.00,0.000,6,0.000,0.020,3298,2382,1888,0,0,0,0,0,0
$GC,12354,1.31,286.7,35.9,10.3,1099,12358,0.00,2.53,0.00,0.000,4,0.000,0.038,3298,3931,1888,0,0,0,0,0,0
$GC,12447,1.31,286.7,25.3,10.3,1108,12456,0.00,2.50,0.00,0.000,6,0.000,0.024,3298,2379,1887,0,0,0,0,0,0
$STATE,12649,end climb,SURFACE_DEPTH_REACHED
$STATE,12650,begin surface coast
$FINISH,-0.1,1.024019
$STATE,12692,end surface coast,CONTROL_FINISHED_OK
$STATE,12692,begin surface
$SM_CCo,12715,75.45,0.522,0,0,1510,380.21
$SM_GC,0.40,0.00,0.00,75.45,0.000,0.000,0.522,466,2163,1510,-11.67,-1.36,380.21
$IRIDIUM_FIX,2248.70,-15738.46,030703,080824
$TT8_MAMPS,0.026078
$HUMID,61.45
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.60
$XPDR_PINGS,25
$24V_AH,23.4,24.939
$10V_AH,10.3,26.464
$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,28.100,179.550,372.025,75.450,0.000,31.345,36.013,347.803,6.250,0.000,17.054,1995.658,6196.688,564.039,3755.492,855.380,33.363,1689.592,0.000,3770.489,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,111.215,1004.770,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,785.506,881.861,1165.892,1290.083,2450.806,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355368
$DATA_FILE_SIZE,95371,1144
$CAP_FILE_SIZE,158188,0
$CFSIZE,260165632,168038400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080414,153936,2256.413,-15737.977,30,1.1,30,10.1