version: 66.06
glider: 146
mission: 9
dive: 178
start: 4 9 114 7 28 2
data:
$ID,146
$MISSION,9
$DIVE,178
$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,-327427
$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,34
$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
$GPS1,070236,2300.595,-15736.282,28,1.3,28,10.1
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-67.3
$GPS2,072706,2300.372,-15736.219,11,1.4,16,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.077,0.248
$KALMAN_X,-165501.4,118.0,474.9,197952.7,-608.5
$KALMAN_Y,58073.2,-67.3,76.3,-37542.9,-842.8
$MHEAD_RNG_PITCHd_Wd,7.1,9466,-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,-146.0,0.0,0.0,0,112,0.00,0.00,-89.18,0.000,6,0.000,0.000,457,2147,3656,0,0,0,0,0,0
$GC,116,-1.27,-146.0,3.7,-9.4,12,134,12.48,2.67,0.00,0.000,4,0.166,0.030,2718,3800,3658,0,0,0,0,0,0
$GC,178,-1.14,-146.0,23.5,-16.9,20,188,0.12,2.58,0.00,0.000,6,0.097,0.023,2747,2207,3658,0,0,0,0,0,0
$GC,464,-1.08,-146.0,53.8,-10.4,49,469,0.10,2.62,0.00,0.000,4,0.130,0.047,2767,633,3658,0,0,0,0,0,0
$GC,511,-1.08,-146.0,59.8,-10.5,52,521,0.00,2.47,0.00,0.000,6,0.000,0.018,2767,2210,3658,0,0,0,0,0,0
$GC,778,-1.08,-146.0,85.1,-9.7,77,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2210,3658,0,0,0,0,0,0
$GC,1040,-1.08,-146.0,110.6,-10.2,102,1044,0.00,2.60,0.00,0.000,4,0.000,0.044,2767,634,3659,0,0,0,0,0,0
$GC,1092,-1.11,-146.0,116.1,-9.8,106,1097,0.00,2.42,0.00,0.000,6,0.000,0.025,2767,2214,3658,0,0,0,0,0,0
$GC,1357,-1.11,-146.0,143.0,-9.9,130,1361,0.00,2.58,0.00,0.000,4,0.000,0.044,2767,639,3658,0,0,0,0,0,0
$GC,1379,-1.11,-146.0,145.6,-10.0,131,1384,0.00,2.40,0.00,0.000,6,0.000,0.020,2767,2208,3659,0,0,0,0,0,0
$GC,1643,-1.11,-146.0,171.3,-9.7,156,1647,0.00,2.58,0.00,0.000,4,0.000,0.043,2767,630,3659,0,0,0,0,0,0
$GC,1689,-1.18,-146.0,175.4,-9.3,159,1693,0.00,2.38,0.00,0.000,6,0.000,0.018,2767,2181,3659,0,0,0,0,0,0
$GC,1957,-1.22,-146.0,197.8,-8.1,183,1962,0.12,2.58,0.00,0.000,4,0.066,0.034,2715,3780,3659,0,0,0,0,0,0
$GC,2047,-1.22,-146.0,207.4,-10.5,190,2052,0.10,2.50,0.00,0.000,6,0.108,0.020,2738,2187,3659,0,0,0,0,0,0
$GC,2312,-1.22,-146.0,229.7,-8.8,214,2316,0.00,2.60,0.00,0.000,4,0.000,0.036,2738,3782,3659,0,0,0,0,0,0
$GC,2340,-1.22,-146.0,232.6,-8.9,216,2344,0.00,2.50,0.00,0.000,6,0.000,0.019,2738,2188,3659,0,0,0,0,0,0
$GC,2603,-1.22,-146.0,256.1,-9.2,240,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2188,3659,0,0,0,0,0,0
$GC,2857,-1.22,-146.0,276.3,-7.6,264,2862,0.00,2.55,0.00,0.000,4,0.000,0.054,2738,645,3658,0,0,0,0,0,0
$GC,2880,-1.22,-146.0,277.8,-7.5,265,2884,0.00,2.42,0.00,0.000,6,0.000,0.023,2738,2192,3658,0,0,0,0,0,0
$GC,3148,-1.22,-146.0,299.2,-7.9,289,3152,0.00,2.62,0.00,0.000,4,0.000,0.050,2738,3792,3658,0,0,0,0,0,0
$GC,3216,-1.25,-146.0,305.8,-8.8,294,3225,0.00,2.53,0.00,0.000,6,0.000,0.024,2738,2228,3657,0,0,0,0,0,0
$GC,3484,-1.29,-146.0,327.9,-8.7,319,3488,0.00,2.72,0.00,0.000,4,0.000,0.067,2738,629,3656,0,0,0,0,0,0
$GC,3516,-1.29,-146.0,331.6,-9.0,321,3526,0.00,2.55,0.00,0.000,6,0.000,0.039,2738,2195,3656,0,0,0,0,0,0
$GC,3785,-1.33,-146.0,353.4,-8.5,346,3790,0.10,2.67,0.00,0.000,4,0.081,0.053,2693,3796,3655,0,0,0,0,0,0
$GC,3837,-1.28,-146.0,359.2,-10.6,350,3842,0.15,2.58,0.00,0.000,6,0.095,0.031,2726,2214,3654,0,0,0,0,0,0
$GC,4098,-1.28,-146.0,381.8,-7.8,374,4103,0.00,2.65,0.00,0.000,4,0.000,0.053,2726,3789,3653,0,0,0,0,0,0
$GC,4131,-1.28,-146.0,384.0,-8.3,376,4135,0.00,2.55,0.00,0.000,6,0.000,0.037,2726,2218,3653,0,0,0,0,0,0
$GC,4399,-1.28,-146.0,404.7,-7.7,400,4404,0.00,2.83,0.00,0.000,4,0.000,0.087,2726,622,3651,0,0,0,0,0,0
$GC,4456,-1.32,-146.0,409.8,-8.4,404,4461,0.00,2.60,0.00,0.000,6,0.000,0.045,2726,2216,3651,0,0,0,0,0,0
$GC,4720,-1.36,-146.0,429.9,-7.8,429,4725,0.00,2.65,0.00,0.000,4,0.000,0.064,2725,3794,3649,0,0,0,0,0,0
$GC,4750,-1.40,-146.0,432.4,-7.6,431,4756,0.12,2.60,0.00,0.000,6,0.069,0.038,2678,2220,3649,0,0,0,0,0,0
$GC,5012,-1.34,-146.0,456.5,-8.6,455,5014,0.15,0.00,0.00,0.000,6,0.097,0.000,2711,2221,3647,0,0,0,0,0,0
$GC,5269,-1.34,-146.0,475.9,-7.4,479,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2220,3645,0,0,0,0,0,0
$GC,5531,-1.34,-146.0,495.7,-7.4,504,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2221,3644,0,0,0,0,0,0
$GC,5787,-1.34,-146.0,514.3,-7.2,528,5792,0.00,2.75,0.00,0.000,4,0.000,0.067,2711,3797,3642,0,0,0,0,0,0
$GC,5832,-1.34,-146.0,517.9,-7.7,531,5841,0.00,2.70,0.00,0.000,6,0.000,0.056,2711,2223,3642,0,0,0,0,0,0
$GC,6100,-1.34,-146.0,537.2,-7.5,556,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2223,3640,0,0,0,0,0,0
$GC,6361,-1.34,-146.0,557.7,-7.8,581,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2223,3638,0,0,0,0,0,0
$GC,6617,-1.34,-146.0,576.4,-7.2,605,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2223,3636,0,0,0,0,0,0
$GC,6871,-1.34,-146.0,594.7,-8.0,629,6875,0.00,2.83,0.00,0.000,4,0.000,0.092,2711,3786,3635,0,0,0,0,0,0
$GC,6893,-1.34,-146.0,596.5,-8.0,630,6903,0.00,2.78,0.00,0.000,6,0.000,0.074,2711,2217,3635,0,0,0,0,0,0
$STATE,6939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6939,begin apogee
$GC,6945,-0.31,0.0,600.4,8.2,635,7067,0.98,0.00,117.82,1.008,6,0.068,0.000,2935,2370,3060,0,0,0,0,0,0
$STATE,7067,end apogee,CONTROL_FINISHED_OK
$STATE,7068,begin climb
$GC,7070,1.27,146.0,603.8,0.0,638,7206,1.42,2.78,124.43,0.989,4,0.034,0.081,3288,3929,2462,0,0,0,0,0,0
$GC,7271,1.12,146.0,590.0,11.8,647,7277,0.20,2.75,0.00,0.000,6,0.105,0.060,3248,2367,2458,0,0,0,0,0,0
$GC,7535,1.11,169.5,566.6,8.9,672,7561,0.00,0.00,20.62,0.923,6,0.000,0.000,3248,2366,2367,0,0,0,0,0,0
$GC,7818,1.11,169.5,538.3,10.4,699,7823,0.00,2.95,0.00,0.000,4,0.000,0.100,3248,777,2363,0,0,0,0,0,0
$GC,7842,1.06,169.5,535.8,10.3,700,7848,0.00,2.67,0.00,0.000,6,0.000,0.049,3247,2362,2361,0,0,0,0,0,0
$GC,8105,1.06,169.5,508.1,10.7,725,8109,0.00,2.83,0.00,0.000,4,0.000,0.077,3248,779,2361,0,0,0,0,0,0
$GC,8121,1.02,169.5,506.2,10.6,726,8127,0.10,2.67,0.00,0.000,6,0.127,0.044,3227,2367,2360,0,0,0,0,0,0
$GC,8382,1.03,180.8,480.6,9.5,750,8400,0.00,2.78,10.27,0.843,4,0.000,0.059,3227,3942,2321,0,0,0,0,0,0
$GC,8418,1.03,180.8,476.8,10.9,753,8423,0.00,2.65,0.00,0.000,6,0.000,0.037,3227,2352,2321,0,0,0,0,0,0
$GC,8682,1.03,180.8,449.9,10.1,777,8686,0.00,2.83,0.00,0.000,4,0.000,0.093,3227,784,2319,0,0,0,0,0,0
$GC,8715,1.03,180.8,445.7,11.1,779,8721,0.00,2.60,0.00,0.000,6,0.000,0.043,3227,2356,2318,0,0,0,0,0,0
$GC,8979,1.04,189.6,419.9,9.6,804,8990,0.00,0.00,8.75,0.805,6,0.000,0.000,3227,2356,2287,0,0,0,0,0,0
$GC,9246,1.05,200.1,393.9,9.5,829,9261,0.00,0.00,11.10,0.819,6,0.000,0.000,3227,2356,2243,0,0,0,0,0,0
$GC,9520,1.12,220.3,368.4,9.1,855,9541,0.00,0.00,18.80,0.841,6,0.000,0.000,3227,2356,2161,0,0,0,0,0,0
$GC,9794,1.21,250.3,344.5,8.6,881,9824,0.17,0.00,27.67,0.831,6,0.064,0.000,3276,2356,2039,0,0,0,0,0,0
$GC,10077,1.21,250.3,312.2,11.5,908,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2356,2034,0,0,0,0,0,0
$GC,10332,1.21,250.3,283.3,11.4,932,10336,0.00,2.62,0.00,0.000,4,0.000,0.051,3275,3937,2033,0,0,0,0,0,0
$GC,10434,1.21,250.3,271.3,12.1,940,10438,0.00,2.60,0.00,0.000,6,0.000,0.027,3275,2321,2031,0,0,0,0,0,0
$GC,10700,1.21,250.3,242.8,11.0,964,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2321,2031,0,0,0,0,0,0
$GC,10962,1.21,250.3,213.9,10.9,989,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2321,2031,0,0,0,0,0,0
$GC,11220,1.21,250.3,184.7,12.1,1013,11224,0.00,2.67,0.00,0.000,4,0.000,0.041,3275,3937,2031,0,0,0,0,0,0
$GC,11242,1.21,250.3,181.7,11.9,1014,11251,0.00,2.60,0.00,0.000,6,0.000,0.024,3275,2335,2031,0,0,0,0,0,0
$GC,11508,1.21,250.3,153.2,11.2,1039,11513,0.00,2.65,0.00,0.000,4,0.000,0.038,3275,3939,2031,0,0,0,0,0,0
$GC,11548,1.21,250.3,147.8,12.4,1042,11552,0.00,2.55,0.00,0.000,6,0.000,0.024,3276,2336,2030,0,0,0,0,0,0
$GC,11812,1.21,250.3,119.0,11.0,1066,11820,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2337,2031,0,0,0,0,0,0
$GC,12078,1.21,250.3,89.4,11.1,1091,12082,0.00,2.60,0.00,0.000,4,0.000,0.040,3276,3935,2030,0,0,0,0,0,0
$GC,12135,1.25,250.3,82.3,11.6,1095,12140,0.00,2.50,0.00,0.000,6,0.000,0.022,3276,2348,2031,0,0,0,0,0,0
$GC,12403,1.30,255.8,57.4,9.7,1120,12418,0.00,2.58,5.12,0.445,4,0.000,0.044,3276,797,2017,0,0,0,0,0,0
$GC,12437,1.35,255.8,52.6,11.4,1122,12447,0.00,2.50,0.00,0.000,6,0.000,0.021,3275,2377,2016,0,0,0,0,0,0
$GC,12716,1.42,281.5,24.2,8.8,1152,12750,0.15,2.60,23.98,0.533,4,0.067,0.041,3322,3914,1910,0,0,0,0,0,0
$GC,12763,1.37,297.2,20.7,9.3,1157,12789,0.00,2.53,14.75,0.506,6,0.000,0.026,3322,2372,1846,0,0,0,0,0,0
$STATE,12878,end climb,SURFACE_DEPTH_REACHED
$STATE,12878,begin surface coast
$FINISH,0.2,1.024081
$STATE,12915,end surface coast,CONTROL_FINISHED_OK
$STATE,12916,begin surface
$SM_CCo,12938,65.85,0.521,0,0,1510,380.21
$SM_GC,0.51,0.00,0.00,65.85,0.000,0.000,0.521,460,2150,1510,-11.70,-1.70,380.21
$IRIDIUM_FIX,2251.04,-15744.96,040703,070724
$TT8_MAMPS,0.026078
$HUMID,62.01
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.70
$XPDR_PINGS,17
$24V_AH,23.4,25.681
$10V_AH,10.3,27.584
$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,28.075,142.075,383.325,65.850,0.000,142.028,219.549,654.043,4.250,0.000,17.629,2011.274,6598.523,533.615,3817.187,1502.344,33.363,1689.473,0.000,3844.471,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,99.710,1007.838,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,808.866,909.608,1201.858,1333.289,2537.040,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355332
$DATA_FILE_SIZE,98857,1178
$CAP_FILE_SIZE,165989,0
$CFSIZE,260165632,167596032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090414,110605,2301.549,-15735.842,37,1.5,37,10.1