version: 66.06
glider: 146
mission: 9
dive: 181
start: 4 9 114 19 17 30
data:
$ID,146
$MISSION,9
$DIVE,181
$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,-327506.62
$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,64
$R_STBD_OVSHOOT,34
$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
$GPS1,185423,2304.001,-15735.352,35,1.4,35,10.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-67.8
$GPS2,191636,2303.830,-15735.464,10,1.6,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.018,0.258
$KALMAN_X,-165222.5,14.1,271.4,199275.4,-168.5
$KALMAN_Y,55481.5,-98.8,113.8,-28548.9,-1154.5
$MHEAD_RNG_PITCHd_Wd,354.0,2964,-17.6,-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,-1.28,-144.9,0.0,0.0,0,112,0.00,0.00,-88.55,0.000,6,0.000,0.000,459,2168,3650,0,0,0,0,0,0
$GC,115,-1.28,-146.0,3.6,-8.0,12,132,12.43,2.62,0.00,0.000,4,0.166,0.026,2711,3806,3651,0,0,0,0,0,0
$GC,170,-1.11,-146.0,20.8,-20.3,19,180,0.20,2.53,0.00,0.000,6,0.089,0.021,2757,2236,3652,0,0,0,0,0,0
$GC,456,-1.06,-146.0,53.6,-11.3,49,460,0.00,2.62,0.00,0.000,4,0.000,0.044,2757,628,3652,0,0,0,0,0,0
$GC,490,-1.00,-146.0,57.9,-12.6,51,495,0.12,2.47,0.00,0.000,6,0.114,0.018,2784,2233,3652,0,0,0,0,0,0
$GC,758,-1.00,-146.0,83.4,-9.6,75,762,0.00,2.50,0.00,0.000,4,0.000,0.033,2783,3779,3653,0,0,0,0,0,0
$GC,798,-1.00,-146.0,87.7,-9.0,78,803,0.00,2.47,0.00,0.000,6,0.000,0.020,2784,2201,3653,0,0,0,0,0,0
$GC,1062,-1.00,-146.0,111.1,-8.1,102,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2201,3653,0,0,0,0,0,0
$GC,1329,-1.05,-146.0,133.1,-7.8,127,1334,0.00,2.53,0.00,0.000,4,0.000,0.043,2784,639,3653,0,0,0,0,0,0
$GC,1363,-1.09,-146.0,135.8,-7.6,129,1368,0.00,2.42,0.00,0.000,6,0.000,0.017,2784,2217,3653,0,0,0,0,0,0
$GC,1630,-1.15,-146.0,155.9,-7.0,153,1635,0.12,2.50,0.00,0.000,4,0.064,0.034,2732,3776,3653,0,0,0,0,0,0
$GC,1677,-1.15,-146.0,160.8,-9.9,156,1686,0.00,2.47,0.00,0.000,6,0.000,0.020,2732,2211,3653,0,0,0,0,0,0
$GC,1943,-1.15,-146.0,186.5,-10.2,181,1947,0.00,2.58,0.00,0.000,4,0.000,0.044,2732,635,3654,0,0,0,0,0,0
$GC,2029,-1.15,-146.0,196.3,-10.8,188,2034,0.00,2.42,0.00,0.000,6,0.000,0.018,2732,2215,3654,0,0,0,0,0,0
$GC,2293,-1.15,-146.0,221.3,-8.6,212,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2215,3654,0,0,0,0,0,0
$GC,2555,-1.15,-146.0,243.2,-7.9,237,2559,0.00,2.53,0.00,0.000,4,0.000,0.039,2731,3772,3654,0,0,0,0,0,0
$GC,2596,-1.15,-146.0,246.6,-8.8,240,2601,0.00,2.42,0.00,0.000,6,0.000,0.020,2732,2222,3654,0,0,0,0,0,0
$GC,2859,-1.15,-146.0,268.6,-8.7,264,2864,0.00,2.62,0.00,0.000,4,0.000,0.054,2732,639,3653,0,0,0,0,0,0
$GC,2904,-1.15,-146.0,273.1,-9.4,267,2913,0.00,2.53,0.00,0.000,6,0.000,0.029,2732,2219,3653,0,0,0,0,0,0
$GC,3170,-1.15,-146.0,294.9,-8.1,292,3174,0.00,2.67,0.00,0.000,4,0.000,0.056,2732,634,3652,0,0,0,0,0,0
$GC,3223,-1.15,-146.0,299.7,-8.6,296,3228,0.00,2.50,0.00,0.000,6,0.000,0.025,2732,2221,3652,0,0,0,0,0,0
$GC,3486,-1.15,-146.0,320.3,-7.8,320,3490,0.00,2.65,0.00,0.000,4,0.000,0.057,2732,641,3651,0,0,0,0,0,0
$GC,3504,-1.15,-146.0,321.9,-8.0,321,3509,0.00,2.50,0.00,0.000,6,0.000,0.028,2732,2217,3651,0,0,0,0,0,0
$GC,3767,-1.15,-146.0,341.8,-8.0,345,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2217,3649,0,0,0,0,0,0
$GC,4022,-1.19,-146.0,362.6,-8.3,369,4027,0.00,2.67,0.00,0.000,4,0.000,0.062,2732,640,3648,0,0,0,0,0,0
$GC,4046,-1.19,-146.0,364.2,-8.3,370,4050,0.00,2.53,0.00,0.000,6,0.000,0.035,2732,2211,3648,0,0,0,0,0,0
$GC,4313,-1.23,-146.0,385.7,-7.6,394,4317,0.00,2.62,0.00,0.000,4,0.000,0.058,2732,3792,3646,0,0,0,0,0,0
$GC,4342,-1.27,-146.0,388.2,-8.1,396,4347,0.00,2.55,0.00,0.000,6,0.000,0.031,2732,2225,3646,0,0,0,0,0,0
$GC,4606,-1.31,-146.0,405.6,-6.2,420,4610,0.00,2.85,0.00,0.000,4,0.000,0.084,2732,620,3644,0,0,0,0,0,0
$GC,4664,-1.36,-146.0,409.3,-6.5,424,4670,0.12,2.60,0.00,0.000,6,0.065,0.036,2680,2210,3643,0,0,0,0,0,0
$GC,4930,-1.31,-146.0,431.4,-9.0,448,4935,0.17,2.67,0.00,0.000,4,0.089,0.058,2719,3794,3642,0,0,0,0,0,0
$GC,4953,-1.31,-146.0,433.8,-8.8,449,4958,0.00,2.62,0.00,0.000,6,0.000,0.037,2718,2204,3642,0,0,0,0,0,0
$GC,5216,-1.31,-146.0,455.4,-7.9,474,5220,0.00,2.70,0.00,0.000,4,0.000,0.054,2719,3796,3640,0,0,0,0,0,0
$GC,5271,-1.31,-146.0,459.7,-8.2,478,5275,0.00,2.62,0.00,0.000,6,0.000,0.048,2718,2216,3640,0,0,0,0,0,0
$GC,5539,-1.31,-146.0,479.4,-7.1,502,5543,0.00,2.70,0.00,0.000,4,0.000,0.061,2718,3791,3638,0,0,0,0,0,0
$GC,5562,-1.31,-146.0,481.7,-8.0,503,5567,0.00,2.65,0.00,0.000,6,0.000,0.048,2719,2215,3638,0,0,0,0,0,0
$GC,5826,-1.35,-146.0,501.9,-7.9,528,5831,0.00,2.72,0.00,0.000,4,0.000,0.064,2718,3791,3636,0,0,0,0,0,0
$GC,5848,-1.35,-146.0,503.6,-7.9,529,5853,0.00,2.65,0.00,0.000,6,0.000,0.048,2718,2219,3636,0,0,0,0,0,0
$GC,6117,-1.39,-146.0,523.7,-7.5,553,6122,0.00,2.92,0.00,0.000,4,0.000,0.104,2718,623,3634,0,0,0,0,0,0
$GC,6145,-1.39,-146.0,526.3,-7.8,555,6150,0.00,2.67,0.00,0.000,6,0.000,0.053,2719,2222,3634,0,0,0,0,0,0
$GC,6410,-1.43,-146.0,545.3,-7.2,579,6415,0.12,2.78,0.00,0.000,4,0.068,0.077,2672,3793,3633,0,0,0,0,0,0
$GC,6511,-1.38,-146.0,554.7,-9.9,587,6516,0.15,2.65,0.00,0.000,6,0.097,0.058,2704,2235,3631,0,0,0,0,0,0
$GC,6771,-1.38,-146.0,573.7,-7.1,611,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2235,3630,0,0,0,0,0,0
$GC,7026,-1.38,-146.0,591.4,-7.2,635,7031,0.00,2.78,0.00,0.000,4,0.000,0.092,2704,3790,3629,0,0,0,0,0,0
$GC,7085,-1.38,-146.0,595.9,-7.9,639,7094,0.00,2.75,0.00,0.000,6,0.000,0.067,2704,2236,3629,0,0,0,0,0,0
$STATE,7141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7141,begin apogee
$GC,7147,-0.31,0.0,600.3,7.2,645,7267,1.02,0.00,116.55,1.009,6,0.068,0.000,2938,2374,3060,0,0,0,0,0,0
$STATE,7268,end apogee,CONTROL_FINISHED_OK
$STATE,7268,begin climb
$GC,7271,1.28,146.0,602.3,0.0,648,7414,1.42,2.85,124.35,0.989,4,0.035,0.084,3290,3928,2461,0,0,0,0,0,0
$GC,7453,1.13,146.0,588.3,12.8,658,7458,0.20,2.75,0.00,0.000,6,0.105,0.058,3249,2367,2458,0,0,0,0,0,0
$GC,7718,1.11,161.4,561.0,9.3,682,7734,0.00,0.00,13.40,0.884,6,0.000,0.000,3249,2367,2402,0,0,0,0,0,0
$GC,7991,1.14,184.5,535.9,8.9,708,8018,0.00,2.80,21.62,0.917,4,0.000,0.063,3249,3931,2306,0,0,0,0,0,0
$GC,8043,1.09,184.5,530.7,10.2,712,8049,0.00,2.70,0.00,0.000,6,0.000,0.044,3249,2355,2304,0,0,0,0,0,0
$GC,8305,1.09,184.5,503.6,10.5,737,8310,0.00,2.72,0.00,0.000,4,0.000,0.054,3249,3933,2301,0,0,0,0,0,0
$GC,8351,1.09,184.5,498.2,11.9,740,8357,0.00,2.65,0.00,0.000,6,0.000,0.042,3250,2373,2300,0,0,0,0,0,0
$GC,8613,1.09,184.5,469.2,11.0,765,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2373,2299,0,0,0,0,0,0
$GC,8868,1.09,184.5,441.7,10.5,789,8872,0.00,2.65,0.00,0.000,4,0.000,0.052,3250,3938,2298,0,0,0,0,0,0
$GC,8923,1.09,184.5,435.7,11.1,793,8927,0.00,2.60,0.00,0.000,6,0.000,0.035,3250,2375,2298,0,0,0,0,0,0
$GC,9191,1.10,190.6,409.2,9.7,817,9202,0.00,2.67,5.47,0.699,4,0.000,0.054,3250,3935,2282,0,0,0,0,0,0
$GC,9242,1.10,190.6,403.1,10.7,821,9248,0.00,2.55,0.00,0.000,6,0.000,0.037,3249,2382,2281,0,0,0,0,0,0
$GC,9505,1.13,217.6,380.0,8.7,846,9533,0.00,0.00,25.35,0.861,6,0.000,0.000,3250,2383,2172,0,0,0,0,0,0
$GC,9792,1.13,219.6,352.8,9.9,873,9796,0.00,2.75,0.00,0.000,4,0.000,0.067,3249,781,2168,0,0,0,0,0,0
$GC,9820,1.13,219.6,349.4,10.6,875,9825,0.00,2.62,0.00,0.000,6,0.000,0.028,3249,2401,2167,0,0,0,0,0,0
$GC,10084,1.13,219.6,322.7,10.3,899,10088,0.00,2.75,0.00,0.000,4,0.000,0.053,3249,777,2166,0,0,0,0,0,0
$GC,10115,1.13,219.6,319.3,11.1,901,10120,0.00,2.55,0.00,0.000,6,0.000,0.029,3250,2374,2165,0,0,0,0,0,0
$GC,10383,1.14,225.7,292.2,9.7,925,10398,0.00,2.65,7.68,0.709,4,0.000,0.048,3249,3920,2139,0,0,0,0,0,0
$GC,10428,1.14,225.7,286.6,11.3,929,10433,0.00,2.53,0.00,0.000,6,0.000,0.026,3249,2363,2138,0,0,0,0,0,0
$GC,10693,1.16,239.5,262.2,9.4,953,10712,0.00,0.00,13.45,0.745,6,0.000,0.000,3249,2363,2083,0,0,0,0,0,0
$GC,10970,1.21,239.5,233.9,10.4,979,10975,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2363,2081,0,0,0,0,0,0
$GC,11233,1.27,239.5,207.2,10.2,1004,11235,0.12,0.00,0.00,0.000,6,0.077,0.000,3288,2363,2081,0,0,0,0,0,0
$GC,11487,1.27,241.2,179.3,9.9,1028,11491,0.00,2.60,0.00,0.000,4,0.000,0.046,3288,784,2080,0,0,0,0,0,0
$GC,11545,1.27,241.2,173.0,11.0,1032,11554,0.00,2.58,0.00,0.000,6,0.000,0.022,3287,2393,2080,0,0,0,0,0,0
$GC,11810,1.27,241.2,146.3,10.2,1057,11815,0.00,2.53,0.00,0.000,4,0.000,0.042,3287,3927,2080,0,0,0,0,0,0
$GC,11850,1.27,241.2,141.4,10.2,1060,11855,0.00,2.42,0.00,0.000,6,0.000,0.022,3287,2401,2080,0,0,0,0,0,0
$GC,12113,1.28,246.7,115.8,9.7,1084,12124,0.00,0.00,7.62,0.551,6,0.000,0.000,3287,2401,2053,0,0,0,0,0,0
$GC,12381,1.28,246.7,88.7,10.8,1109,12386,0.00,2.53,0.00,0.000,4,0.000,0.039,3287,3931,2052,0,0,0,0,0,0
$GC,12393,1.28,246.7,86.9,10.5,1109,12399,0.00,2.42,0.00,0.000,6,0.000,0.021,3287,2402,2052,0,0,0,0,0,0
$GC,12661,1.32,286.1,62.6,8.2,1134,12702,0.00,2.55,35.45,0.570,4,0.000,0.038,3287,3919,1891,0,0,0,0,0,0
$GC,12745,1.38,286.1,54.5,10.4,1140,12750,0.00,2.38,0.00,0.000,6,0.000,0.024,3287,2430,1889,0,0,0,0,0,0
$GC,13020,1.42,286.1,24.7,11.2,1167,13030,0.10,2.72,0.00,0.000,4,0.085,0.045,3323,801,1888,0,0,0,0,0,0
$GC,13063,1.42,286.1,19.3,13.2,1172,13072,0.00,2.58,0.00,0.000,6,0.000,0.021,3323,2415,1888,0,0,0,0,0,0
$STATE,13179,end climb,SURFACE_DEPTH_REACHED
$STATE,13179,begin surface coast
$FINISH,-0.2,1.005246
$STATE,13217,end surface coast,CONTROL_FINISHED_OK
$STATE,13217,begin surface
$SM_CCo,13238,74.72,0.518,0,0,1510,380.21
$SM_GC,0.37,0.00,0.00,74.72,0.000,0.000,0.518,459,2160,1510,-11.71,-1.41,380.21
$IRIDIUM_FIX,2255.72,-15741.91,040703,191904
$TT8_MAMPS,0.026078
$HUMID,61.65
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.90
$XPDR_PINGS,24
$24V_AH,23.4,26.131
$10V_AH,10.3,28.264
$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,27.725,172.950,370.950,74.725,0.000,93.089,135.756,791.619,6.000,0.000,16.466,2076.989,6603.554,544.401,3912.267,1496.303,33.359,1729.658,0.000,3929.810,0.000,0.535,0.000
$DEVICE_MAMPS,165.672,104.312,1008.605,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,820.639,924.091,1217.257,1351.019,2572.734,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,98588,1194
$CAP_FILE_SIZE,173008,0
$CFSIZE,260165632,167329792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090414,230036,2304.833,-15735.444,30,1.2,30,10.1