version: 66.06
glider: 146
mission: 9
dive: 218
start: 4 16 114 23 54 44
data:
$ID,146
$MISSION,9
$DIVE,218
$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,-328333.56
$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,69
$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
$GPS1,234405,2301.980,-15805.614,46,1.0,57,10.1
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-69.5
$GPS2,235349,2301.942,-15805.657,10,1.2,10,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.122,0.230
$KALMAN_X,-186571.2,-351.9,576.1,169148.5,-1220.1
$KALMAN_Y,3941.1,124.7,219.4,19161.7,-1925.9
$MHEAD_RNG_PITCHd_Wd,17.8,5029,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.28,-146.0,0.0,0.0,0,113,0.00,0.00,-88.70,0.000,6,0.000,0.000,464,2168,3655,0,0,0,0,0,0
$GC,116,-1.28,-146.0,4.4,-11.3,12,133,12.62,2.62,0.00,0.000,4,0.165,0.028,2717,3797,3656,0,0,0,0,0,0
$GC,231,-1.18,-146.0,29.1,-13.3,28,241,0.10,2.50,0.00,0.000,6,0.081,0.022,2736,2242,3657,0,0,0,0,0,0
$GC,500,-1.08,-146.0,62.9,-12.7,53,505,0.15,2.55,0.00,0.000,4,0.110,0.035,2767,3793,3658,0,0,0,0,0,0
$GC,522,-1.01,-146.0,66.4,-13.1,54,526,0.00,2.50,0.00,0.000,6,0.000,0.021,2766,2211,3658,0,0,0,0,0,0
$GC,784,-1.01,-146.0,93.8,-10.7,78,789,0.00,2.60,0.00,0.000,4,0.000,0.046,2767,635,3658,0,0,0,0,0,0
$GC,831,-1.01,-146.0,99.1,-10.6,81,837,0.00,2.42,0.00,0.000,6,0.000,0.018,2767,2220,3658,0,0,0,0,0,0
$GC,1094,-1.01,-146.0,125.0,-8.8,106,1098,0.00,2.58,0.00,0.000,4,0.000,0.043,2766,641,3659,0,0,0,0,0,0
$GC,1131,-1.01,-146.0,128.2,-9.0,108,1140,0.00,2.45,0.00,0.000,6,0.000,0.017,2767,2215,3659,0,0,0,0,0,0
$GC,1397,-1.01,-146.0,151.8,-8.9,133,1401,0.00,2.50,0.00,0.000,4,0.000,0.035,2766,3768,3659,0,0,0,0,0,0
$GC,1428,-1.01,-146.0,154.8,-8.9,135,1432,0.00,2.42,0.00,0.000,6,0.000,0.020,2767,2209,3659,0,0,0,0,0,0
$GC,1696,-1.01,-146.0,177.7,-8.9,159,1701,0.00,2.55,0.00,0.000,4,0.000,0.046,2766,642,3659,0,0,0,0,0,0
$GC,1730,-1.01,-146.0,181.1,-9.4,161,1734,0.00,2.42,0.00,0.000,6,0.000,0.018,2767,2206,3659,0,0,0,0,0,0
$GC,1994,-1.01,-146.0,204.2,-8.6,185,1999,0.00,2.58,0.00,0.000,4,0.000,0.037,2767,3783,3660,0,0,0,0,0,0
$GC,2013,-1.01,-146.0,205.9,-8.5,186,2017,0.00,2.45,0.00,0.000,6,0.000,0.019,2767,2207,3660,0,0,0,0,0,0
$GC,2278,-1.06,-146.0,227.6,-7.8,210,2282,0.00,2.55,0.00,0.000,4,0.000,0.048,2766,641,3660,0,0,0,0,0,0
$GC,2300,-1.11,-146.0,229.3,-8.1,211,2305,0.00,2.42,0.00,0.000,6,0.000,0.025,2767,2215,3660,0,0,0,0,0,0
$GC,2569,-1.17,-146.0,251.8,-7.8,235,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2215,3660,0,0,0,0,0,0
$GC,2830,-1.24,-146.0,271.6,-7.1,260,2832,0.15,0.00,0.00,0.000,6,0.058,0.000,2708,2215,3660,0,0,0,0,0,0
$GC,3088,-1.24,-146.0,295.3,-9.4,284,3093,0.10,0.00,0.00,0.000,6,0.111,0.000,2731,2215,3659,0,0,0,0,0,0
$GC,3351,-1.24,-146.0,318.0,-8.9,309,3355,0.00,2.65,0.00,0.000,4,0.000,0.060,2731,646,3659,0,0,0,0,0,0
$GC,3457,-1.29,-146.0,327.4,-8.7,317,3463,0.00,2.47,0.00,0.000,6,0.000,0.028,2731,2189,3658,0,0,0,0,0,0
$GC,3722,-1.29,-146.0,349.7,-8.2,342,3726,0.00,2.62,0.00,0.000,4,0.000,0.049,2731,3785,3657,0,0,0,0,0,0
$GC,3779,-1.29,-146.0,355.0,-9.0,346,3785,0.00,2.53,0.00,0.000,6,0.000,0.028,2731,2212,3657,0,0,0,0,0,0
$GC,4044,-1.33,-146.0,374.8,-7.8,371,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2212,3655,0,0,0,0,0,0
$GC,4307,-1.33,-146.0,395.7,-8.1,396,4311,0.00,2.75,0.00,0.000,4,0.000,0.078,2731,630,3654,0,0,0,0,0,0
$GC,4340,-1.36,-146.0,398.8,-9.2,398,4347,0.10,2.53,0.00,0.000,6,0.078,0.041,2686,2191,3654,0,0,0,0,0,0
$GC,4604,-1.32,-146.0,423.9,-9.5,423,4609,0.15,2.70,0.00,0.000,4,0.094,0.056,2719,3796,3652,0,0,0,0,0,0
$GC,4628,-1.32,-146.0,426.3,-9.5,424,4634,0.00,2.65,0.00,0.000,6,0.000,0.044,2719,2191,3652,0,0,0,0,0,0
$GC,4891,-1.32,-146.0,447.6,-7.9,449,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2192,3650,0,0,0,0,0,0
$GC,5145,-1.32,-146.0,468.1,-7.9,473,5150,0.00,2.72,0.00,0.000,4,0.000,0.064,2718,3790,3649,0,0,0,0,0,0
$GC,5178,-1.32,-146.0,470.6,-9.2,475,5183,0.00,2.62,0.00,0.000,6,0.000,0.042,2719,2201,3649,0,0,0,0,0,0
$GC,5447,-1.32,-146.0,490.1,-6.8,499,5451,0.00,2.72,0.00,0.000,4,0.000,0.060,2719,3790,3646,0,0,0,0,0,0
$GC,5463,-1.32,-146.0,491.8,-7.0,500,5468,0.00,2.67,0.00,0.000,6,0.000,0.051,2719,2197,3647,0,0,0,0,0,0
$GC,5728,-1.37,-146.0,509.9,-7.4,524,5733,0.00,2.75,0.00,0.000,4,0.000,0.071,2719,3786,3645,0,0,0,0,0,0
$GC,5769,-1.40,-146.0,513.2,-7.7,527,5774,0.00,2.65,0.00,0.000,6,0.000,0.051,2718,2211,3645,0,0,0,0,0,0
$GC,6032,-1.45,-146.0,532.8,-7.5,551,6034,0.12,0.00,0.00,0.000,6,0.068,0.000,2672,2211,3643,0,0,0,0,0,0
$GC,6288,-1.40,-146.0,556.2,-9.4,575,6294,0.12,2.78,0.00,0.000,4,0.102,0.081,2699,3783,3642,0,0,0,0,0,0
$GC,6310,-1.40,-146.0,558.8,-9.5,576,6320,0.00,2.70,0.00,0.000,6,0.000,0.054,2699,2218,3642,0,0,0,0,0,0
$GC,6578,-1.40,-146.0,579.1,-7.4,601,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2218,3640,0,0,0,0,0,0
$GC,6839,-1.40,-146.0,599.3,-7.6,626,6844,0.00,2.83,0.00,0.000,4,0.000,0.084,2699,3784,3638,0,0,0,0,0,0
$GC,6884,-1.40,-146.0,603.2,-8.6,628,6889,0.00,2.78,0.00,0.000,6,0.000,0.071,2700,2214,3638,0,0,0,0,0,0
$GC,7162,-1.40,-146.0,622.9,-7.0,635,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2214,3636,0,0,0,0,0,0
$GC,7406,-1.40,-146.0,638.9,-6.5,641,7410,0.00,2.90,0.00,0.000,4,0.000,0.096,2699,3790,3635,0,0,0,0,0,0
$GC,7440,-1.40,-146.0,641.4,-7.8,641,7445,0.00,2.83,0.00,0.000,6,0.000,0.083,2699,2217,3635,0,0,0,0,0,0
$GC,7690,-1.40,-146.0,658.9,-7.3,648,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2217,3633,0,0,0,0,0,0
$GC,7933,-1.40,-146.0,677.6,-7.7,654,7938,0.00,2.97,0.00,0.000,4,0.000,0.113,2699,3782,3632,0,0,0,0,0,0
$GC,7951,-1.40,-146.0,679.0,-8.0,654,7955,0.00,2.90,0.00,0.000,6,0.000,0.101,2699,2225,3632,0,0,0,0,0,0
$GC,8211,-1.40,-146.0,700.8,-8.5,661,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2225,3631,0,0,0,0,0,0
$GC,8455,-1.40,-146.0,721.2,-8.4,667,8460,0.00,3.08,0.00,0.000,4,0.000,0.132,2699,3781,3630,0,0,0,0,0,0
$GC,8488,-1.40,-146.0,724.1,-8.7,667,8493,0.00,3.03,0.00,0.000,6,0.000,0.125,2699,2231,3630,0,0,0,0,0,0
$GC,8739,-1.40,-146.0,744.8,-8.1,674,8744,0.00,3.15,0.00,0.000,4,0.000,0.152,2699,3782,3628,0,0,0,0,0,0
$GC,8761,-1.40,-146.0,746.8,-8.5,674,8766,0.00,3.10,0.00,0.000,6,0.000,0.137,2699,2238,3628,0,0,1,0,0,0
$GC,9016,-1.40,-146.0,765.4,-7.1,681,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2239,3628,0,0,0,0,0,0
$GC,9262,-1.44,-146.0,781.3,-6.4,687,9267,0.00,3.28,0.00,0.000,4,0.000,0.170,2699,3780,3627,0,0,0,0,0,0
$GC,9289,-1.44,-146.0,783.2,-7.0,687,9294,0.00,3.25,0.00,0.000,6,0.000,0.160,2699,2240,3626,0,0,1,0,0,0
$GC,9540,-1.48,-146.0,798.5,-6.1,693,9545,0.00,3.35,0.00,0.000,4,0.000,0.179,2699,3779,3625,0,0,0,0,0,0
$GC,9557,-1.48,-146.0,799.5,-6.4,693,9562,0.00,3.30,0.00,0.000,6,0.000,0.170,2699,2244,3625,0,0,1,0,0,0
$STATE,9565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9566,begin apogee
$GC,9572,-0.31,0.0,800.3,7.1,693,9698,1.02,0.00,120.10,1.176,6,0.069,0.000,2935,2354,3059,0,0,0,0,0,0
$STATE,9698,end apogee,CONTROL_FINISHED_OK
$STATE,9699,begin climb
$GC,9701,1.28,146.0,802.6,0.0,697,9840,1.42,3.50,129.25,1.151,4,0.033,0.178,3289,3934,2463,0,0,0,0,0,0
$GC,9937,1.11,146.0,781.3,12.9,702,9943,0.20,3.35,0.00,0.000,6,0.105,0.156,3248,2363,2456,0,0,0,0,0,0
$GC,10201,1.07,161.4,756.1,9.3,709,10220,0.00,3.35,13.77,1.030,4,0.000,0.146,3248,3942,2400,0,0,0,0,0,0
$GC,10237,1.00,168.1,752.4,9.7,709,10252,0.12,3.25,7.82,0.924,6,0.120,0.138,3224,2372,2373,0,0,0,0,0,0
$GC,10534,1.03,193.3,726.7,8.9,717,10564,0.00,3.50,23.90,1.071,4,0.000,0.165,3223,776,2271,0,0,0,0,0,0
$GC,10580,1.03,193.3,721.7,10.1,718,10585,0.00,3.10,0.00,0.000,6,0.000,0.109,3223,2375,2269,0,0,0,0,0,0
$GC,10853,1.03,193.3,693.4,10.6,725,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2374,2267,0,0,0,0,0,0
$GC,11096,1.03,193.3,666.9,10.9,731,11101,0.00,3.12,0.00,0.000,4,0.000,0.125,3223,778,2266,0,0,0,0,0,0
$GC,11123,1.03,193.3,663.8,11.0,731,11128,0.00,2.88,0.00,0.000,6,0.000,0.081,3223,2367,2264,0,0,0,0,0,0
$GC,11373,1.03,193.3,636.7,10.9,737,11374,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2368,2264,0,0,0,0,0,0
$GC,11618,1.03,193.3,610.8,10.5,743,11622,0.00,2.85,0.00,0.000,4,0.000,0.091,3223,3940,2264,0,0,0,0,0,0
$GC,11633,1.03,193.3,608.8,10.5,743,11638,0.00,2.75,0.00,0.000,6,0.000,0.061,3223,2356,2263,0,0,0,0,0,0
$GC,11893,1.03,193.8,582.8,10.0,761,11894,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2357,2263,0,0,0,0,0,0
$GC,12147,1.04,197.9,557.9,9.8,785,12155,0.00,0.00,4.15,0.681,6,0.000,0.000,3223,2357,2253,0,0,0,0,0,0
$GC,12412,1.06,215.0,533.1,9.2,810,12436,0.00,2.83,17.42,0.964,4,0.000,0.063,3223,3943,2182,0,0,0,0,0,0
$GC,12450,1.09,242.1,529.6,8.8,813,12484,0.00,2.72,26.35,0.973,6,0.000,0.051,3223,2367,2071,0,0,0,0,0,0
$GC,12741,1.13,243.0,500.5,10.0,840,12747,0.12,3.08,0.00,0.000,4,0.080,0.117,3258,777,2066,0,0,0,0,0,0
$GC,12764,1.13,243.0,498.2,10.2,841,12768,0.00,2.70,0.00,0.000,6,0.000,0.051,3258,2370,2065,0,0,0,0,0,0
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$GC,13094,1.13,243.0,456.5,14.3,870,13099,0.00,2.60,0.00,0.000,6,0.000,0.038,3259,2367,2063,0,0,0,0,0,0
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$STATE,17236,end climb,SURFACE_DEPTH_REACHED
$STATE,17236,begin surface coast
$FINISH,1.0,1.024022
$STATE,17259,end surface coast,CONTROL_FINISHED_OK
$STATE,17262,begin surface
$SM_CCo,17287,62.38,0.520,0,0,1510,380.21
$SM_GC,0.44,0.00,0.00,62.38,0.000,0.000,0.520,459,2199,1510,-11.71,-0.31,380.21
$IRIDIUM_FIX,2251.04,-15802.79,110703,181813
$TT8_MAMPS,0.026078
$HUMID,60.71
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.80
$XPDR_PINGS,19
$24V_AH,23.2,32.417
$10V_AH,10.1,36.684
$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
$DEVICE_SECS,29.400,231.150,397.725,62.375,0.000,24.643,38.111,341.373,4.750,0.000,12.293,2262.319,10097.189,595.260,4020.209,938.949,33.361,1920.790,0.000,4045.972,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,865.035,911.226,1191.501,1292.731,2461.747,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,104813,1258
$CAP_FILE_SIZE,192393,0
$CFSIZE,260165632,163905536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,3,0,0
$GPS,170414,044506,2303.140,-15805.061,31,1.3,31,10.1