version: 66.06
glider: 146
mission: 9
dive: 177
start: 4 9 114 3 22 12
data:
$ID,146
$MISSION,9
$DIVE,177
$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,-327408.75
$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,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
$GPS1,031100,2259.203,-15736.866,65,1.4,65,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-70.0
$GPS2,032119,2259.160,-15736.869,32,2.0,32,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.022,0.259
$KALMAN_X,-165616.3,46.7,-164.5,197672.2,266.1
$KALMAN_Y,58959.2,-243.2,221.9,-40639.9,-645.9
$MHEAD_RNG_PITCHd_Wd,354.7,11871,-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,17,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-89.05,0.000,6,0.000,0.000,460,2182,3657,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.5,-11.4,12,133,12.62,2.60,0.00,0.000,4,0.166,0.028,2719,3790,3658,1,0,0,0,0,0
$GC,218,-1.19,-146.0,31.2,-13.5,26,228,0.08,2.50,0.00,0.000,6,0.100,0.022,2738,2229,3659,0,0,0,0,0,0
$GC,486,-1.11,-146.0,64.3,-12.0,51,491,0.10,2.62,0.00,0.000,4,0.128,0.045,2759,635,3659,0,0,0,0,0,0
$GC,559,-1.11,-146.0,73.3,-12.0,56,563,0.00,2.42,0.00,0.000,6,0.000,0.018,2759,2206,3659,0,0,0,0,0,0
$GC,821,-1.11,-146.0,101.6,-10.4,80,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2206,3660,0,0,0,0,0,0
$GC,1076,-1.11,-146.0,129.7,-11.4,104,1080,0.00,2.60,0.00,0.000,4,0.000,0.044,2759,629,3659,0,0,0,0,0,0
$GC,1096,-1.11,-146.0,131.8,-11.9,105,1100,0.00,2.38,0.00,0.000,6,0.000,0.017,2759,2186,3660,0,0,0,0,0,0
$GC,1363,-1.11,-146.0,159.4,-10.2,129,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2186,3660,0,0,0,0,0,0
$GC,1624,-1.11,-146.0,181.8,-7.2,154,1629,0.00,2.53,0.00,0.000,4,0.000,0.045,2759,639,3660,0,0,0,0,0,0
$GC,1701,-1.15,-146.0,186.9,-7.1,160,1705,0.00,2.35,0.00,0.000,6,0.000,0.019,2759,2178,3660,0,0,0,0,0,0
$GC,1969,-1.15,-146.0,205.3,-7.8,184,1973,0.00,2.55,0.00,0.000,4,0.000,0.036,2759,3772,3661,0,0,0,0,0,0
$GC,2025,-1.20,-146.0,211.0,-8.9,188,2031,0.00,2.45,0.00,0.000,6,0.000,0.019,2759,2177,3661,0,0,0,0,0,0
$GC,2290,-1.24,-146.0,233.4,-8.7,213,2295,0.12,2.60,0.00,0.000,4,0.065,0.038,2704,3774,3661,0,0,0,0,0,0
$GC,2312,-1.24,-146.0,235.3,-9.1,214,2317,0.12,2.47,0.00,0.000,6,0.101,0.019,2732,2178,3661,0,0,0,0,0,0
$GC,2577,-1.24,-146.0,260.6,-8.4,238,2582,0.00,2.53,0.00,0.000,4,0.000,0.052,2732,643,3661,0,0,0,0,0,0
$GC,2629,-1.24,-146.0,265.3,-8.5,242,2634,0.00,2.38,0.00,0.000,6,0.000,0.026,2732,2169,3661,0,0,0,0,0,0
$GC,2893,-1.24,-146.0,284.5,-6.5,266,2898,0.00,2.62,0.00,0.000,4,0.000,0.051,2732,3780,3661,0,0,0,0,0,0
$GC,2950,-1.24,-146.0,289.0,-7.9,270,2959,0.00,2.55,0.00,0.000,6,0.000,0.023,2732,2193,3661,0,0,0,0,0,0
$GC,3218,-1.24,-146.0,307.5,-7.4,295,3222,0.00,2.65,0.00,0.000,4,0.000,0.065,2732,630,3660,0,0,0,0,0,0
$GC,3241,-1.24,-146.0,309.6,-7.3,296,3246,0.00,2.50,0.00,0.000,6,0.000,0.037,2732,2185,3660,0,0,0,0,0,0
$GC,3505,-1.24,-146.0,329.4,-7.8,321,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2185,3659,0,0,0,0,0,0
$GC,3770,-1.24,-146.0,350.9,-8.4,346,3774,0.00,2.67,0.00,0.000,4,0.000,0.054,2732,3796,3658,0,0,0,0,0,0
$GC,3826,-1.28,-146.0,356.6,-9.5,350,3832,0.00,2.60,0.00,0.000,6,0.000,0.030,2732,2197,3658,0,0,0,0,0,0
$GC,4090,-1.28,-146.0,378.4,-7.5,375,4095,0.00,2.65,0.00,0.000,4,0.000,0.056,2732,3791,3656,0,0,0,0,0,0
$GC,4131,-1.33,-146.0,382.2,-8.8,378,4136,0.00,2.58,0.00,0.000,6,0.000,0.032,2732,2197,3656,0,0,0,0,0,0
$GC,4396,-1.37,-146.0,403.3,-8.1,402,4401,0.12,2.80,0.00,0.000,4,0.066,0.087,2681,621,3654,0,0,0,0,0,0
$GC,4452,-1.31,-146.0,408.7,-10.5,406,4457,0.15,2.58,0.00,0.000,6,0.097,0.038,2715,2195,3653,0,0,0,0,0,0
$GC,4717,-1.31,-146.0,430.8,-8.1,430,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2195,3652,0,0,0,0,0,0
$GC,4978,-1.31,-146.0,453.0,-8.4,455,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2195,3650,0,0,0,0,0,0
$GC,5234,-1.31,-146.0,472.5,-7.7,479,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2195,3649,0,0,0,0,0,0
$GC,5488,-1.31,-146.0,490.6,-7.0,503,5493,0.00,2.75,0.00,0.000,4,0.000,0.068,2715,3797,3647,0,0,0,0,0,0
$GC,5530,-1.31,-146.0,493.7,-7.7,506,5534,0.00,2.70,0.00,0.000,6,0.000,0.047,2715,2189,3647,0,0,0,0,0,0
$GC,5792,-1.31,-146.0,513.2,-7.7,530,5797,0.00,2.75,0.00,0.000,4,0.000,0.064,2716,3794,3645,0,0,0,0,0,0
$GC,5839,-1.35,-146.0,517.0,-8.5,533,5844,0.00,2.67,0.00,0.000,6,0.000,0.057,2716,2206,3645,0,0,0,0,0,0
$GC,6101,-1.35,-146.0,535.2,-6.3,558,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2206,3643,0,0,0,0,0,0
$GC,6356,-1.35,-146.0,551.3,-6.5,582,6361,0.00,2.72,0.00,0.000,4,0.000,0.104,2716,715,3642,0,0,0,0,0,0
$GC,6385,-1.35,-146.0,553.2,-6.9,584,6389,0.00,2.50,0.00,0.000,6,0.000,0.051,2716,2210,3642,0,0,0,0,0,0
$GC,6649,-1.40,-146.0,570.5,-6.7,608,6654,0.00,2.85,0.00,0.000,4,0.000,0.085,2715,3794,3640,0,0,0,0,0,0
$GC,6681,-1.40,-146.0,572.8,-7.5,610,6686,0.00,2.72,0.00,0.000,6,0.000,0.063,2715,2208,3640,0,0,0,0,0,0
$GC,6948,-1.45,-146.0,590.7,-6.5,634,6954,0.12,0.00,0.00,0.000,6,0.069,0.000,2669,2208,3639,0,0,0,0,0,0
$STATE,7058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7058,begin apogee
$GC,7066,-0.31,0.0,600.2,8.2,645,7188,1.17,0.00,118.62,1.008,6,0.072,0.000,2934,2376,3060,0,0,0,0,0,0
$STATE,7189,end apogee,CONTROL_FINISHED_OK
$STATE,7189,begin climb
$GC,7191,1.27,146.0,602.1,0.0,648,7334,1.42,2.92,124.30,0.986,4,0.034,0.084,3288,3937,2461,0,0,0,0,0,0
$GC,7342,1.13,146.0,591.8,11.4,655,7348,0.17,2.75,0.00,0.000,6,0.109,0.058,3252,2367,2460,0,0,0,0,0,0
$GC,7606,1.11,171.8,566.6,8.8,680,7634,0.00,2.83,22.70,0.923,4,0.000,0.068,3253,3930,2358,0,0,0,0,0,0
$GC,7651,1.08,200.1,562.1,8.7,683,7683,0.00,2.70,26.50,0.923,6,0.000,0.049,3253,2375,2243,0,0,0,0,0,0
$GC,7945,1.08,200.1,532.7,10.2,711,7950,0.00,2.97,0.00,0.000,4,0.000,0.104,3252,782,2237,0,0,0,0,0,0
$GC,7985,1.04,200.1,528.3,10.8,714,7991,0.10,2.67,0.00,0.000,6,0.128,0.048,3233,2369,2235,0,0,0,0,0,0
$GC,8247,1.05,205.3,502.6,9.8,738,8261,0.00,2.75,4.53,0.644,4,0.000,0.063,3233,3926,2223,0,0,0,0,0,0
$GC,8266,1.05,205.3,500.4,10.3,739,8272,0.00,2.60,0.00,0.000,6,0.000,0.038,3233,2369,2222,0,0,0,0,0,0
$GC,8530,1.05,205.3,473.9,10.1,764,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2370,2221,0,0,0,0,0,0
$GC,8782,1.05,205.3,448.3,10.1,788,8786,0.00,2.88,0.00,0.000,4,0.000,0.093,3233,778,2220,0,0,0,0,0,0
$GC,8813,1.05,205.3,445.5,10.0,790,8818,0.00,2.65,0.00,0.000,6,0.000,0.036,3232,2383,2219,0,0,0,0,0,0
$GC,9081,1.05,205.3,418.1,10.3,814,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2383,2219,0,0,0,0,0,0
$GC,9342,1.06,214.8,391.7,9.6,839,9357,0.00,2.80,9.62,0.802,4,0.000,0.060,3233,778,2184,0,0,0,0,0,0
$GC,9382,1.06,214.8,387.7,10.4,842,9387,0.00,2.58,0.00,0.000,6,0.000,0.031,3232,2366,2182,0,0,0,0,0,0
$GC,9645,1.12,227.6,362.3,9.4,866,9670,0.00,2.70,12.70,0.811,4,0.000,0.050,3232,3922,2131,0,0,0,0,0,0
$GC,9699,1.12,227.6,356.6,11.0,870,9708,0.00,2.60,0.00,0.000,6,0.000,0.027,3232,2356,2130,0,0,0,0,0,0
$GC,9965,1.19,242.0,331.2,9.3,895,9982,0.12,0.00,14.00,0.796,6,0.077,0.000,3270,2356,2072,0,0,0,0,0,0
$GC,10236,1.19,242.0,300.5,11.5,921,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2356,2069,0,0,0,0,0,0
$GC,10491,1.19,242.0,272.2,11.2,945,10495,0.00,2.65,0.00,0.000,4,0.000,0.045,3270,3937,2069,0,0,0,0,0,0
$GC,10560,1.19,242.0,263.4,12.7,950,10566,0.00,2.58,0.00,0.000,6,0.000,0.025,3270,2347,2068,0,0,0,0,0,0
$GC,10823,1.19,242.0,236.4,10.1,975,10827,0.00,2.58,0.00,0.000,4,0.000,0.052,3270,786,2068,0,0,0,0,0,0
$GC,10845,1.19,242.0,233.9,10.2,976,10851,0.00,2.53,0.00,0.000,6,0.000,0.025,3270,2376,2067,0,0,0,0,0,0
$GC,11109,1.19,242.0,208.3,10.7,1001,11113,0.00,2.55,0.00,0.000,4,0.000,0.045,3270,3921,2067,0,0,0,0,0,0
$GC,11149,1.19,242.0,203.8,11.2,1004,11153,0.00,2.47,0.00,0.000,6,0.000,0.024,3270,2360,2066,0,0,0,0,0,0
$GC,11413,1.19,242.0,176.2,10.4,1028,11417,0.00,2.58,0.00,0.000,4,0.000,0.041,3270,3923,2066,0,0,0,0,0,0
$GC,11458,1.23,242.0,171.6,11.4,1031,11462,0.00,2.45,0.00,0.000,6,0.000,0.024,3270,2377,2067,0,0,0,0,0,0
$GC,11726,1.25,257.0,146.9,9.3,1055,11751,0.00,2.67,13.73,0.624,4,0.000,0.046,3270,792,2010,0,0,0,0,0,0
$GC,11802,1.30,260.7,139.3,9.8,1061,11813,0.00,2.50,4.72,0.476,6,0.000,0.021,3270,2372,1996,0,0,0,0,0,0
$GC,12068,1.34,260.7,112.8,10.1,1086,12073,0.10,2.58,0.00,0.000,4,0.084,0.041,3306,3931,1996,0,0,0,0,0,0
$GC,12098,1.34,260.7,109.0,13.3,1088,12103,0.00,2.47,0.00,0.000,6,0.000,0.022,3306,2367,1996,0,0,0,0,0,0
$GC,12367,1.34,260.7,76.9,12.3,1112,12372,0.00,2.55,0.00,0.000,4,0.000,0.040,3306,3927,1995,0,0,0,0,0,0
$GC,12388,1.34,260.7,73.6,12.9,1113,12393,0.00,2.45,0.00,0.000,6,0.000,0.023,3306,2378,1995,0,0,0,0,0,0
$GC,12656,1.34,260.7,44.4,10.9,1137,12660,0.00,2.62,0.00,0.000,4,0.000,0.049,3306,791,1995,0,0,0,0,0,0
$GC,12692,1.34,260.7,38.9,13.2,1139,12701,0.00,2.53,0.00,0.000,6,0.000,0.021,3306,2385,1995,0,0,0,0,0,0
$STATE,12985,end climb,SURFACE_DEPTH_REACHED
$STATE,12985,begin surface coast
$FINISH,-0.2,1.018126
$STATE,13034,end surface coast,CONTROL_FINISHED_OK
$STATE,13034,begin surface
$SM_CCo,13057,96.50,0.520,0,0,1510,380.21
$SM_GC,0.44,0.00,0.00,96.50,0.000,0.000,0.520,459,2148,1510,-11.71,-1.75,380.21
$IRIDIUM_FIX,2251.04,-15735.41,030703,232323
$TT8_MAMPS,0.026078
$HUMID,61.41
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.90
$XPDR_PINGS,18
$24V_AH,23.4,25.517
$10V_AH,10.3,27.354
$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,27.950,162.575,351.425,96.500,0.000,30.715,44.583,349.216,4.500,0.000,34.356,2044.077,6422.325,561.700,3857.735,870.999,33.364,1713.196,0.000,3857.388,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,104.312,1007.838,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,814.790,918.762,1209.577,1318.096,2504.682,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355316
$DATA_FILE_SIZE,98675,1186
$CAP_FILE_SIZE,158385,0
$CFSIZE,260165632,167690240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,090414,070236,2300.595,-15736.282,28,1.3,28,10.1