version: 66.06
glider: 146
mission: 9
dive: 202
start: 4 13 114 11 21 0
data:
$ID,146
$MISSION,9
$DIVE,202
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$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,266
$T_MISSION,540
$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,-327962.28
$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,71
$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
$GPS1,104735,2242.226,-15805.821,27,1.1,27,10.0
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-63.5
$GPS2,112003,2242.060,-15806.107,21,99.0,40,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.126,0.227
$KALMAN_X,-171305.4,229.6,69.7,153038.2,-1857.6
$KALMAN_Y,30603.8,25.7,34.8,-44039.2,-1313.8
$MHEAD_RNG_PITCHd_Wd,19.0,41554,-17.5,-10.025
$D_GRID,800
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.28,-146.0,0.0,0.0,0,111,0.00,0.00,-87.50,0.000,6,0.000,0.000,459,2156,3657,0,0,0,0,0,0
$GC,113,-1.28,-146.0,4.4,-11.0,12,131,12.45,2.62,0.00,0.000,4,0.165,0.029,2714,3793,3657,0,0,0,0,0,0
$GC,252,-1.17,-146.0,36.2,-16.3,29,257,0.15,2.42,0.00,0.000,6,0.119,0.022,2744,2242,3658,0,0,0,0,0,0
$GC,520,-1.10,-146.0,66.4,-10.2,53,525,0.10,2.67,0.00,0.000,4,0.131,0.054,2763,633,3658,0,0,0,0,0,0
$GC,556,-1.05,-146.0,70.6,-11.4,55,561,0.00,2.45,0.00,0.000,6,0.000,0.018,2763,2216,3658,0,0,0,0,0,0
$GC,824,-1.05,-146.0,99.6,-10.4,79,829,0.00,2.47,0.00,0.000,4,0.000,0.034,2763,3778,3658,0,0,0,0,0,0
$GC,905,-1.09,-146.0,107.7,-9.2,85,910,0.00,2.45,0.00,0.000,6,0.000,0.021,2763,2213,3658,0,0,0,0,0,0
$GC,1171,-1.09,-146.0,134.7,-10.8,109,1176,0.00,2.55,0.00,0.000,4,0.000,0.046,2763,640,3659,0,0,0,0,0,0
$GC,1203,-1.09,-146.0,138.5,-11.0,111,1208,0.00,2.42,0.00,0.000,6,0.000,0.026,2763,2228,3659,0,0,0,0,0,0
$GC,1471,-1.09,-146.0,167.3,-11.1,135,1475,0.00,2.58,0.00,0.000,4,0.000,0.045,2763,640,3658,0,0,0,0,0,0
$GC,1515,-1.09,-146.0,173.2,-11.2,138,1525,0.00,2.42,0.00,0.000,6,0.000,0.023,2763,2203,3658,0,0,0,0,0,0
$GC,1783,-1.09,-146.0,196.8,-8.7,163,1788,0.00,2.55,0.00,0.000,4,0.000,0.045,2763,633,3658,0,0,0,0,0,0
$GC,1801,-1.09,-146.0,198.8,-8.2,164,1805,0.00,2.42,0.00,0.000,6,0.000,0.018,2763,2215,3659,0,0,0,0,0,0
$GC,2071,-1.12,-146.0,217.8,-7.1,189,2076,0.00,2.55,0.00,0.000,4,0.000,0.044,2763,640,3658,0,0,0,0,0,0
$GC,2101,-1.18,-146.0,220.0,-6.7,191,2106,0.00,2.40,0.00,0.000,6,0.000,0.022,2763,2199,3659,0,0,0,0,0,0
$GC,2366,-1.23,-146.0,238.4,-7.4,215,2371,0.12,2.55,0.00,0.000,4,0.067,0.039,2710,3783,3659,0,0,0,0,0,0
$GC,2480,-1.23,-146.0,250.2,-10.5,224,2487,0.12,2.42,0.00,0.000,6,0.098,0.021,2737,2218,3659,0,0,0,0,0,0
$GC,2745,-1.23,-146.0,275.7,-9.9,249,2749,0.00,2.62,0.00,0.000,4,0.000,0.054,2737,635,3659,0,0,0,0,0,0
$GC,2773,-1.23,-146.0,278.8,-10.3,251,2778,0.00,2.45,0.00,0.000,6,0.000,0.024,2737,2206,3659,0,0,0,0,0,0
$GC,3038,-1.23,-146.0,303.3,-9.1,275,3042,0.00,2.58,0.00,0.000,4,0.000,0.044,2737,3783,3658,0,0,0,0,0,0
$GC,3083,-1.29,-146.0,308.0,-10.0,278,3088,0.00,2.45,0.00,0.000,6,0.000,0.024,2737,2223,3658,0,0,0,0,0,0
$GC,3346,-1.29,-146.0,329.2,-7.4,303,3350,0.00,2.70,0.00,0.000,4,0.000,0.067,2737,636,3657,0,0,0,0,0,0
$GC,3462,-1.33,-146.0,339.0,-8.3,312,3472,0.08,2.53,0.00,0.000,6,0.042,0.030,2691,2203,3656,0,0,0,0,0,0
$GC,3730,-1.29,-146.0,364.7,-10.1,337,3735,0.15,2.62,0.00,0.000,4,0.096,0.051,2723,3791,3655,0,0,0,0,0,0
$GC,3763,-1.29,-146.0,368.8,-9.5,339,3774,0.00,2.55,0.00,0.000,6,0.000,0.038,2723,2223,3655,0,0,0,0,0,0
$GC,4030,-1.29,-146.0,393.8,-9.6,364,4035,0.00,2.80,0.00,0.000,4,0.000,0.082,2723,619,3653,0,0,0,0,0,0
$GC,4060,-1.29,-146.0,397.2,-9.9,366,4064,0.00,2.55,0.00,0.000,6,0.000,0.035,2723,2206,3653,0,0,0,0,0,0
$GC,4322,-1.29,-146.0,423.7,-10.4,390,4327,0.00,2.65,0.00,0.000,4,0.000,0.056,2723,3789,3651,0,0,0,0,0,0
$GC,4380,-1.33,-146.0,429.2,-10.2,394,4384,0.00,2.58,0.00,0.000,6,0.000,0.038,2723,2205,3651,0,0,0,0,0,0
$GC,4647,-1.33,-146.0,451.9,-7.2,418,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2206,3649,0,0,0,0,0,0
$GC,4911,-1.37,-146.0,470.1,-6.5,443,4916,0.00,2.67,0.00,0.000,4,0.000,0.062,2723,3787,3647,0,0,0,0,0,0
$GC,4987,-1.41,-146.0,475.8,-7.2,449,4992,0.12,2.62,0.00,0.000,6,0.068,0.045,2675,2210,3647,0,0,0,0,0,0
$GC,5248,-1.36,-146.0,496.3,-7.2,473,5254,0.15,2.92,0.00,0.000,4,0.097,0.105,2707,626,3645,0,0,0,0,0,0
$GC,5290,-1.36,-146.0,499.4,-7.2,476,5294,0.00,2.62,0.00,0.000,6,0.000,0.047,2707,2204,3644,0,0,0,0,0,0
$GC,5554,-1.36,-146.0,518.0,-7.8,500,5558,0.00,2.75,0.00,0.000,4,0.000,0.072,2707,3796,3643,0,0,0,0,0,0
$GC,5588,-1.36,-146.0,521.1,-8.6,502,5593,0.00,2.65,0.00,0.000,6,0.000,0.052,2707,2206,3643,0,0,0,0,0,0
$GC,5852,-1.36,-146.0,542.5,-8.4,527,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2206,3642,0,0,0,0,0,0
$GC,6113,-1.36,-146.0,563.7,-8.0,552,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2206,3639,0,0,0,0,0,0
$GC,6368,-1.36,-146.0,583.0,-7.4,576,6373,0.00,2.80,0.00,0.000,4,0.000,0.079,2708,3791,3637,0,0,0,0,0,0
$GC,6392,-1.36,-146.0,584.2,-7.3,577,6396,0.00,2.70,0.00,0.000,6,0.000,0.067,2708,2221,3637,0,0,0,0,0,0
$GC,6682,-1.36,-146.0,607.2,-7.9,598,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2221,3635,0,0,0,0,0,0
$GC,6926,-1.36,-146.0,627.8,-8.4,604,6931,0.00,2.88,0.00,0.000,4,0.000,0.093,2707,3798,3634,0,0,0,0,0,0
$GC,6959,-1.36,-146.0,631.0,-9.9,604,6965,0.00,2.80,0.00,0.000,6,0.000,0.081,2707,2224,3634,0,0,0,0,0,0
$GC,7209,-1.40,-146.0,650.7,-7.7,611,7214,0.00,2.90,0.00,0.000,4,0.000,0.103,2707,3795,3632,0,0,0,0,0,0
$GC,7254,-1.43,-146.0,653.9,-7.8,612,7258,0.00,2.85,0.00,0.000,6,0.000,0.091,2707,2235,3632,0,0,0,0,0,0
$GC,7537,-1.47,-146.0,673.3,-6.6,619,7539,0.10,0.00,0.00,0.000,6,0.081,0.000,2664,2236,3631,0,0,0,0,0,0
$GC,7781,-1.43,-146.0,689.4,-6.5,625,7783,0.12,0.00,0.00,0.000,6,0.100,0.000,2691,2236,3630,0,0,0,0,0,0
$GC,8026,-1.43,-146.0,702.5,-5.4,631,8030,0.00,3.05,0.00,0.000,4,0.000,0.133,2691,3792,3628,0,0,0,0,0,0
$GC,8070,-1.43,-146.0,705.4,-6.3,632,8074,0.00,3.00,0.00,0.000,6,0.000,0.119,2691,2240,3628,0,0,0,0,0,0
$GC,8347,-1.43,-146.0,722.7,-6.5,639,8352,0.00,3.10,0.00,0.000,4,0.000,0.140,2690,3787,3627,0,0,0,0,0,0
$GC,8388,-1.43,-146.0,725.7,-7.7,640,8393,0.00,3.05,0.00,0.000,6,0.000,0.130,2691,2245,3627,0,0,0,0,0,0
$GC,8672,-1.43,-146.0,746.4,-7.3,647,8676,0.00,3.15,0.00,0.000,4,0.000,0.150,2691,3788,3625,0,0,0,0,0,0
$GC,8738,-1.43,-146.0,751.9,-8.8,648,8743,0.00,3.12,0.00,0.000,6,0.000,0.145,2691,2257,3625,0,0,0,0,0,0
$GC,8993,-1.43,-146.0,772.0,-7.9,655,8999,0.00,3.25,0.00,0.000,4,0.000,0.168,2691,3786,3623,0,0,0,0,0,0
$GC,9038,-1.43,-146.0,775.9,-8.8,656,9043,0.00,3.17,0.00,0.000,6,0.000,0.160,2691,2266,3623,0,0,1,0,0,0
$GC,9317,-1.43,-146.0,799.3,-8.4,663,9322,0.00,3.35,0.00,0.000,4,0.000,0.186,2691,3786,3622,0,0,0,0,0,0
$STATE,9325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9325,begin apogee
$GC,9334,-0.31,0.0,800.3,8.4,663,9457,1.05,0.00,118.75,1.181,6,0.072,0.000,2930,2371,3060,0,0,0,0,0,0
$STATE,9457,end apogee,CONTROL_FINISHED_OK
$STATE,9457,begin climb
$GC,9460,1.28,146.0,804.0,0.0,666,9601,1.50,3.58,129.20,1.148,4,0.035,0.182,3295,3927,2463,0,0,0,0,0,0
$GC,9626,1.09,146.0,793.8,11.9,670,9633,0.25,3.40,0.00,0.000,6,0.100,0.168,3243,2371,2460,0,0,1,0,0,0
$GC,9889,1.06,169.4,769.6,8.9,677,9918,0.00,3.40,21.35,1.073,4,0.000,0.162,3243,3927,2367,0,0,0,0,0,0
$GC,9937,0.99,169.4,764.8,10.7,678,9943,0.12,3.30,0.00,0.000,6,0.123,0.149,3219,2369,2366,0,0,0,0,0,0
$GC,10215,1.01,185.7,739.0,9.3,685,10237,0.00,3.28,15.38,1.042,4,0.000,0.140,3218,3932,2303,0,0,0,0,0,0
$GC,10294,1.01,185.7,730.7,11.3,686,10299,0.00,3.12,0.00,0.000,6,0.000,0.127,3219,2379,2301,0,0,0,0,0,0
$GC,10543,1.01,185.7,704.0,10.7,693,10544,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2379,2299,0,0,0,0,0,0
$GC,10787,1.01,185.7,677.6,10.9,699,10792,0.00,3.17,0.00,0.000,4,0.000,0.138,3218,778,2297,0,0,0,0,0,0
$GC,10808,1.01,185.7,675.2,11.3,699,10813,0.00,2.90,0.00,0.000,6,0.000,0.087,3218,2380,2296,0,0,0,0,0,0
$GC,11065,1.01,185.7,649.1,10.2,706,11066,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2380,2296,0,0,0,0,0,0
$GC,11307,1.02,193.6,625.8,9.7,712,11321,0.00,3.05,8.05,0.918,4,0.000,0.100,3218,782,2270,0,0,0,0,0,0
$GC,11333,1.02,194.7,623.1,10.0,712,11338,0.00,2.80,0.00,0.000,6,0.000,0.061,3218,2388,2269,0,0,0,0,0,0
$GC,11590,1.04,207.1,599.1,9.5,719,11615,0.00,3.05,13.55,0.981,4,0.000,0.093,3218,778,2214,0,0,0,0,0,0
$GC,11627,1.04,207.1,595.3,10.1,722,11631,0.00,2.75,0.00,0.000,6,0.000,0.054,3218,2371,2214,0,0,0,0,0,0
$GC,11891,1.04,207.1,569.1,10.1,746,11895,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2371,2213,0,0,0,0,0,0
$GC,12154,1.08,208.5,542.0,10.0,771,12159,0.00,2.88,0.00,0.000,4,0.000,0.085,3218,775,2212,0,0,0,0,0,0
$GC,12176,1.10,220.0,540.2,9.5,772,12197,0.10,2.67,13.02,0.941,6,0.087,0.046,3248,2369,2162,0,0,0,0,0,0
$GC,12452,1.10,220.0,508.7,11.5,798,12456,0.00,2.70,0.00,0.000,4,0.000,0.066,3248,3942,2160,0,0,0,0,0,0
$GC,12480,1.10,220.0,505.4,11.7,800,12485,0.00,2.65,0.00,0.000,6,0.000,0.044,3248,2364,2158,0,0,0,0,0,0
$GC,12744,1.10,220.0,476.1,11.2,824,12749,0.00,2.97,0.00,0.000,4,0.000,0.110,3249,776,2158,0,0,0,0,0,0
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$GC,14131,1.12,240.4,332.7,9.4,951,14155,0.00,2.70,14.77,0.807,4,0.000,0.045,3249,3938,2078,0,0,0,0,0,0
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$STATE,17124,end climb,SURFACE_DEPTH_REACHED
$STATE,17124,begin surface coast
$FINISH,-0.0,1.010784
$STATE,17189,end surface coast,CONTROL_FINISHED_OK
$STATE,17189,begin surface
$SM_CCo,17210,79.10,0.519,0,0,1510,380.21
$SM_GC,0.47,0.00,0.00,79.10,0.000,0.000,0.519,459,2157,1510,-11.71,-1.53,380.21
$IRIDIUM_FIX,2232.34,-15806.28,080703,111155
$TT8_MAMPS,0.026078
$HUMID,59.76
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.90
$XPDR_PINGS,27
$24V_AH,23.2,29.225
$10V_AH,10.2,32.889
$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
$DEVICE_SECS,28.100,236.375,379.800,79.100,0.000,116.283,147.806,1271.583,6.750,0.000,45.640,2246.801,10202.838,642.083,4054.031,2077.747,33.373,1944.545,0.000,4039.821,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,852.720,893.462,1168.289,1272.461,2423.225,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,101676,1240
$CAP_FILE_SIZE,211756,0
$CFSIZE,260165632,165445632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,130414,161030,2243.215,-15805.513,39,1.2,39,10.0