version: 66.06
glider: 146
mission: 9
dive: 174
start: 4 8 114 15 49 42
data:
$ID,146
$MISSION,9
$DIVE,174
$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,-327321.78
$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,75
$R_STBD_OVSHOOT,41
$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
$GPS1,153936,2256.413,-15737.977,30,1.1,30,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-69.7
$GPS2,154849,2256.358,-15738.037,20,1.3,20,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.067,0.251
$KALMAN_X,-164602.8,16.2,89.5,194436.7,-232.3
$KALMAN_Y,62267.9,-79.0,226.7,-49306.1,-878.6
$MHEAD_RNG_PITCHd_Wd,4.8,17384,-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,-146.0,0.0,0.0,0,104,0.00,0.00,-86.18,0.000,2,0.000,0.000,466,2163,3583,0,0,0,0,0,0
$GC,108,-1.27,-146.0,3.1,-7.8,11,134,12.48,2.65,-1.35,0.000,4,0.165,0.038,2720,3783,3658,0,0,0,0,0,0
$GC,226,-1.18,-146.0,30.0,-16.1,27,231,0.12,2.42,0.00,0.000,6,0.126,0.021,2743,2237,3659,0,0,0,0,0,0
$GC,494,-1.12,-146.0,60.7,-10.2,51,498,0.00,2.50,0.00,0.000,4,0.000,0.033,2743,3786,3658,0,0,0,0,0,0
$GC,542,-1.12,-146.0,65.6,-9.4,54,546,0.00,2.45,0.00,0.000,6,0.000,0.021,2743,2223,3658,0,0,0,0,0,0
$GC,806,-1.08,-146.0,92.8,-10.4,78,811,0.12,2.60,0.00,0.000,4,0.114,0.046,2769,642,3659,0,0,0,0,0,0
$GC,852,-1.08,-146.0,97.1,-9.5,81,856,0.00,2.45,0.00,0.000,6,0.000,0.018,2769,2236,3659,0,0,0,0,0,0
$GC,1118,-1.08,-146.0,122.3,-9.7,105,1123,0.00,2.45,0.00,0.000,4,0.000,0.034,2769,3772,3659,0,0,0,0,0,0
$GC,1140,-1.08,-146.0,125.0,-9.1,106,1149,0.00,2.45,0.00,0.000,6,0.000,0.019,2769,2227,3659,0,0,0,0,0,0
$GC,1406,-1.08,-146.0,151.1,-10.2,131,1411,0.00,2.58,0.00,0.000,4,0.000,0.044,2769,638,3660,0,0,0,0,0,0
$GC,1440,-1.08,-146.0,155.5,-10.9,133,1446,0.00,2.45,0.00,0.000,6,0.000,0.025,2769,2223,3660,0,0,0,0,0,0
$GC,1704,-1.08,-146.0,183.7,-10.3,158,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2223,3660,0,0,0,0,0,0
$GC,1957,-1.12,-146.0,207.6,-9.5,182,1961,0.00,2.50,0.00,0.000,4,0.000,0.035,2769,3780,3660,0,0,0,0,0,0
$GC,2014,-1.20,-146.0,213.3,-9.9,186,2024,0.08,2.47,0.00,0.000,6,0.041,0.020,2723,2223,3660,0,0,0,0,0,0
$GC,2280,-1.20,-146.0,242.5,-11.0,211,2284,0.00,2.60,0.00,0.000,4,0.000,0.050,2723,640,3661,0,0,0,0,0,0
$GC,2359,-1.20,-146.0,251.5,-11.1,217,2363,0.00,2.40,0.00,0.000,6,0.000,0.026,2723,2198,3661,0,0,0,0,0,0
$GC,2625,-1.20,-146.0,277.0,-8.2,241,2630,0.10,2.58,0.00,0.000,4,0.110,0.041,2745,3778,3661,0,0,0,0,0,0
$GC,2655,-1.20,-146.0,279.7,-7.6,243,2660,0.00,2.47,0.00,0.000,6,0.000,0.021,2745,2197,3661,0,0,0,0,0,0
$GC,2918,-1.24,-146.0,298.5,-6.8,267,2923,0.00,2.62,0.00,0.000,4,0.000,0.060,2745,633,3661,0,0,0,0,0,0
$GC,2989,-1.30,-146.0,303.8,-7.7,272,2995,0.10,2.42,0.00,0.000,6,0.080,0.033,2698,2175,3661,0,0,0,0,0,0
$GC,3251,-1.30,-146.0,329.0,-10.7,297,3256,0.10,2.67,0.00,0.000,4,0.112,0.049,2720,3790,3660,0,0,0,0,0,0
$GC,3280,-1.30,-146.0,332.2,-9.9,299,3285,0.00,2.58,0.00,0.000,6,0.000,0.028,2720,2196,3660,0,0,0,0,0,0
$GC,3545,-1.30,-146.0,354.8,-7.7,323,3549,0.00,2.70,0.00,0.000,4,0.000,0.074,2720,632,3659,0,0,0,0,0,0
$GC,3577,-1.30,-146.0,357.2,-7.8,325,3581,0.00,2.53,0.00,0.000,6,0.000,0.035,2720,2201,3659,0,0,0,0,0,0
$GC,3845,-1.30,-146.0,377.0,-7.5,349,3849,0.00,2.70,0.00,0.000,4,0.000,0.067,2720,628,3657,0,0,0,0,0,0
$GC,3888,-1.30,-146.0,380.6,-8.3,352,3892,0.00,2.53,0.00,0.000,6,0.000,0.042,2720,2189,3657,0,0,0,0,0,0
$GC,4156,-1.30,-146.0,400.7,-7.4,376,4160,0.00,2.70,0.00,0.000,4,0.000,0.055,2720,3794,3655,0,0,0,0,0,0
$GC,4219,-1.30,-146.0,406.5,-8.4,381,4223,0.00,2.62,0.00,0.000,6,0.000,0.037,2720,2198,3655,0,0,0,0,0,0
$GC,4483,-1.30,-146.0,427.6,-8.5,405,4488,0.00,2.70,0.00,0.000,4,0.000,0.061,2720,3792,3654,0,0,0,0,0,0
$GC,4516,-1.30,-146.0,430.9,-9.2,407,4522,0.00,2.65,0.00,0.000,6,0.000,0.040,2720,2193,3653,0,0,0,0,0,0
$GC,4781,-1.30,-146.0,454.0,-8.4,432,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2193,3651,0,0,0,0,0,0
$GC,5046,-1.34,-146.0,475.3,-7.4,457,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2193,3650,0,0,0,0,0,0
$GC,5309,-1.38,-146.0,495.3,-7.5,482,5314,0.00,2.75,0.00,0.000,4,0.000,0.067,2720,3788,3647,0,0,0,0,0,0
$GC,5366,-1.42,-146.0,500.5,-9.0,486,5376,0.08,2.70,0.00,0.000,6,0.043,0.051,2680,2210,3647,0,0,0,0,0,0
$GC,5634,-1.42,-146.0,525.4,-9.6,511,5638,0.00,2.78,0.00,0.000,4,0.000,0.077,2680,3786,3646,0,0,0,0,0,0
$GC,5711,-1.42,-146.0,533.5,-10.1,517,5715,0.00,2.67,0.00,0.000,6,0.000,0.060,2680,2214,3646,0,0,0,0,0,0
$GC,5978,-1.42,-146.0,557.9,-8.8,541,5982,0.00,2.78,0.00,0.000,4,0.000,0.084,2680,3792,3644,0,0,0,0,0,0
$GC,6035,-1.42,-146.0,563.8,-9.5,545,6041,0.00,2.67,0.00,0.000,6,0.000,0.060,2680,2227,3644,0,0,0,0,0,0
$GC,6298,-1.42,-146.0,585.3,-7.9,570,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2228,3642,0,0,0,0,0,0
$STATE,6499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6499,begin apogee
$GC,6507,-0.31,0.0,600.6,7.4,589,6630,1.12,0.00,119.18,1.006,6,0.070,0.000,2935,2366,3060,0,0,0,0,0,0
$STATE,6631,end apogee,CONTROL_FINISHED_OK
$STATE,6631,begin climb
$GC,6633,1.27,146.0,602.5,0.0,592,6762,1.45,0.00,125.05,0.980,6,0.033,0.000,3291,2366,2464,0,0,0,0,0,0
$GC,7013,1.15,146.0,562.1,12.5,624,7019,0.17,2.78,0.00,0.000,4,0.114,0.071,3256,3932,2455,0,0,0,0,0,0
$GC,7059,1.07,146.0,556.4,12.6,627,7068,0.00,2.70,0.00,0.000,6,0.000,0.049,3256,2373,2454,0,0,0,0,0,0
$GC,7327,1.02,146.0,528.8,10.1,652,7332,0.15,2.72,0.00,0.000,4,0.114,0.064,3226,3938,2452,0,0,0,0,0,0
$GC,7355,1.02,146.0,525.1,10.1,654,7360,0.00,2.67,0.00,0.000,6,0.000,0.046,3225,2376,2451,0,0,0,0,0,0
$GC,7619,1.05,173.6,502.4,8.7,678,7648,0.00,2.78,23.42,0.911,4,0.000,0.057,3226,3935,2352,0,0,0,0,0,0
$GC,7672,1.06,183.7,497.3,9.5,682,7688,0.00,2.62,10.57,0.834,6,0.000,0.042,3225,2384,2311,0,0,0,0,0,0
$GC,7943,1.10,217.2,474.2,8.5,708,7977,0.00,0.00,30.75,0.905,6,0.000,0.000,3225,2384,2174,0,0,0,0,0,0
$GC,8233,1.19,253.4,449.5,8.3,735,8276,0.17,0.00,32.83,0.890,6,0.062,0.000,3273,2384,2025,0,0,0,0,0,0
$GC,8530,1.19,253.4,416.2,12.1,763,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2384,2021,0,0,0,0,0,0
$GC,8791,1.19,253.4,382.8,13.1,788,8795,0.00,2.65,0.00,0.000,4,0.000,0.048,3273,3942,2020,0,0,0,0,0,0
$GC,8825,1.15,253.4,378.9,13.9,790,8830,0.00,2.60,0.00,0.000,6,0.000,0.031,3273,2373,2018,0,0,0,0,0,0
$GC,9092,1.15,253.4,341.6,14.6,814,9096,0.00,2.72,0.00,0.000,4,0.000,0.064,3273,780,2018,0,0,0,0,0,0
$GC,9156,1.15,253.4,331.8,13.9,819,9160,0.00,2.60,0.00,0.000,6,0.000,0.028,3273,2399,2017,0,0,0,0,0,0
$GC,9418,1.15,253.4,300.2,10.8,843,9423,0.00,2.75,0.00,0.000,4,0.000,0.053,3273,778,2016,0,0,0,0,0,0
$GC,9447,1.15,253.4,296.9,10.6,845,9451,0.00,2.60,0.00,0.000,6,0.000,0.029,3272,2392,2016,0,0,0,0,0,0
$GC,9711,1.17,270.1,271.6,9.2,869,9735,0.00,2.80,15.00,0.759,4,0.000,0.051,3273,781,1957,0,0,0,0,0,0
$GC,9787,1.17,270.1,263.2,10.7,875,9793,0.00,2.58,0.00,0.000,6,0.000,0.027,3273,2371,1954,0,0,0,0,0,0
$GC,10051,1.17,270.1,234.8,12.3,900,10052,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2372,1954,0,0,0,0,0,0
$GC,10302,1.17,270.1,206.8,11.1,924,10307,0.00,2.55,0.00,0.000,4,0.000,0.045,3273,3927,1954,0,0,0,0,0,0
$GC,10337,1.17,270.1,202.8,11.8,926,10343,0.00,2.47,0.00,0.000,6,0.000,0.023,3273,2375,1953,0,0,0,0,0,0
$GC,10603,1.17,270.1,174.9,10.6,951,10608,0.00,2.62,0.00,0.000,4,0.000,0.045,3272,780,1953,0,0,0,0,0,0
$GC,10620,1.17,270.1,172.5,11.0,952,10624,0.00,2.55,0.00,0.000,6,0.000,0.021,3273,2400,1952,0,0,0,0,0,0
$GC,10884,1.22,270.1,142.9,11.7,976,10888,0.00,2.50,0.00,0.000,4,0.000,0.041,3273,3921,1953,0,0,0,0,0,0
$GC,10918,1.22,270.1,138.4,12.6,978,10928,0.00,2.47,0.00,0.000,6,0.000,0.022,3273,2387,1952,0,0,0,0,0,0
$GC,11186,1.26,270.1,109.2,11.1,1003,11191,0.00,2.62,0.00,0.000,4,0.000,0.045,3273,784,1952,0,0,0,0,0,0
$GC,11219,1.26,270.1,105.1,12.4,1005,11224,0.00,2.50,0.00,0.000,6,0.000,0.021,3273,2392,1952,0,0,0,0,0,0
$GC,11489,1.32,270.1,76.6,10.2,1029,11497,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2392,1952,0,0,0,0,0,0
$GC,11757,1.39,287.1,50.0,9.2,1054,11786,0.15,2.58,15.80,0.538,4,0.067,0.038,3318,3920,1888,0,0,0,0,0,0
$GC,11828,1.39,287.1,41.0,13.0,1059,11833,0.00,2.42,0.00,0.000,6,0.000,0.023,3318,2393,1887,0,0,0,0,0,0
$STATE,12096,end climb,SURFACE_DEPTH_REACHED
$STATE,12096,begin surface coast
$FINISH,-0.2,1.024378
$STATE,12132,end surface coast,CONTROL_FINISHED_OK
$STATE,12132,begin surface
$SM_CCo,12155,74.68,0.520,0,0,1509,380.21
$SM_GC,0.50,0.00,0.00,74.68,0.000,0.000,0.520,462,2168,1509,-11.69,-1.19,380.21
$IRIDIUM_FIX,2246.36,-15738.46,030703,121205
$TT8_MAMPS,0.026078
$HUMID,60.98
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.90
$XPDR_PINGS,20
$24V_AH,23.4,25.071
$10V_AH,10.3,26.672
$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,27.900,151.200,372.600,74.675,0.000,28.517,37.550,308.262,5.000,0.000,22.376,1895.745,5917.250,564.221,3588.577,803.223,33.357,1634.066,0.000,3610.982,0.000,0.534,0.000
$DEVICE_MAMPS,164.905,88.205,1006.304,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,754.082,859.386,1121.319,1247.087,2373.618,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,92245,1099
$CAP_FILE_SIZE,145518,0
$CFSIZE,260165632,167968768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080414,191453,2257.124,-15737.528,39,1.4,39,10.1