version: 66.06
glider: 146
mission: 9
dive: 246
start: 4 22 114 20 43 6
data:
$ID,146
$MISSION,9
$DIVE,246
$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,-328989.72
$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,28
$R_STBD_OVSHOOT,37
$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
$GPS1,201054,2245.810,-15737.020,39,1.4,39,10.1
$_CALLS,4
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-68.2
$GPS2,204212,2245.625,-15737.279,17,1.2,34,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.091,0.243
$KALMAN_X,-213869.9,-250.0,-154.3,245515.3,-1057.4
$KALMAN_Y,4609.1,-185.9,-428.8,-10769.8,661.0
$MHEAD_RNG_PITCHd_Wd,10.4,36816,-17.6,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.28,-145.8,0.0,0.0,0,111,0.00,0.00,-87.15,0.000,6,0.000,0.000,457,2143,3654,0,0,0,0,0,0
$GC,115,-1.28,-145.8,4.7,-11.9,12,132,12.52,2.47,0.00,0.000,4,0.166,0.036,2716,622,3656,0,0,0,0,0,0
$GC,151,-0.22,-145.8,20.4,-41.9,16,161,1.10,2.53,0.00,0.000,6,0.082,0.019,2951,2219,3656,0,0,0,0,0,0
$GC,446,-0.57,-146.0,33.5,-1.8,51,451,0.28,2.53,0.00,0.000,4,0.044,0.036,2865,3781,3656,0,0,0,0,0,0
$GC,471,-0.83,-146.0,34.7,-3.7,52,480,0.15,2.53,0.00,0.000,6,0.028,0.021,2796,2193,3656,0,0,0,0,0,0
$GC,738,-0.83,-146.0,59.7,-9.4,77,743,0.12,2.55,0.00,0.000,4,0.095,0.044,2825,640,3656,0,0,0,0,0,0
$GC,787,-0.93,-146.0,64.0,-8.4,80,792,0.10,2.42,0.00,0.000,6,0.078,0.018,2776,2219,3656,0,0,0,0,0,0
$GC,1049,-0.93,-146.0,83.7,-7.2,104,1051,0.12,0.00,0.00,0.000,6,0.096,0.000,2804,2219,3656,0,0,0,0,0,0
$GC,1306,-1.02,-146.0,97.5,-5.5,128,1311,0.10,2.60,0.00,0.000,4,0.077,0.042,2753,631,3657,0,0,0,0,0,0
$GC,1335,-1.02,-146.0,99.9,-7.9,130,1340,0.12,2.42,0.00,0.000,6,0.094,0.019,2780,2212,3657,0,0,0,0,0,0
$GC,1596,-1.08,-146.0,120.2,-8.2,154,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2212,3656,0,0,0,0,0,0
$GC,1853,-1.13,-146.0,142.0,-8.5,178,1857,0.00,2.58,0.00,0.000,4,0.000,0.042,2780,632,3657,0,0,0,0,0,0
$GC,1882,-1.18,-146.0,144.8,-8.7,180,1887,0.15,2.42,0.00,0.000,6,0.058,0.020,2720,2201,3657,0,0,0,0,0,0
$GC,2145,-1.11,-146.0,173.3,-11.2,204,2150,0.17,2.55,0.00,0.000,4,0.088,0.035,2759,3775,3656,0,0,0,0,0,0
$GC,2182,-1.11,-146.0,176.9,-9.5,206,2191,0.00,2.50,0.00,0.000,6,0.000,0.020,2759,2202,3657,0,0,0,0,0,0
$GC,2448,-1.11,-146.0,199.5,-8.4,231,2452,0.00,2.55,0.00,0.000,4,0.000,0.045,2759,633,3657,0,0,0,0,0,0
$GC,2479,-1.15,-146.0,202.4,-8.2,233,2483,0.00,2.45,0.00,0.000,6,0.000,0.019,2759,2215,3656,0,0,0,0,0,0
$GC,2742,-1.19,-146.0,222.6,-7.5,257,2746,0.00,2.53,0.00,0.000,4,0.000,0.039,2759,3780,3656,0,0,0,0,0,0
$GC,2810,-1.26,-146.0,227.6,-7.8,262,2815,0.12,2.47,0.00,0.000,6,0.064,0.020,2704,2195,3656,0,0,0,0,0,0
$GC,3075,-1.20,-146.0,254.7,-10.1,286,3081,0.17,2.60,0.00,0.000,4,0.090,0.052,2742,643,3656,0,0,0,0,0,0
$GC,3134,-1.25,-146.0,260.1,-8.2,290,3139,0.00,2.40,0.00,0.000,6,0.000,0.025,2742,2193,3656,0,0,0,0,0,0
$GC,3397,-1.29,-146.0,282.1,-8.6,315,3401,0.00,2.58,0.00,0.000,4,0.000,0.048,2742,3779,3655,0,0,0,0,0,0
$GC,3467,-1.35,-146.0,288.4,-8.6,320,3474,0.15,2.47,0.00,0.000,6,0.059,0.022,2682,2210,3655,0,0,0,0,0,0
$GC,3730,-1.28,-146.0,315.2,-10.9,345,3732,0.20,0.00,0.00,0.000,6,0.085,0.000,2726,2211,3653,0,0,0,0,0,0
$GC,3986,-1.28,-146.0,337.7,-8.5,369,3991,0.00,2.60,0.00,0.000,4,0.000,0.055,2726,3776,3652,0,0,0,0,0,0
$GC,4009,-1.28,-146.0,339.9,-8.4,370,4014,0.00,2.50,0.00,0.000,6,0.000,0.027,2726,2215,3652,0,0,0,0,0,0
$GC,4273,-1.28,-146.0,360.9,-8.2,395,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2215,3651,0,0,0,0,0,0
$GC,4534,-1.28,-146.0,382.0,-7.8,420,4539,0.00,2.62,0.00,0.000,4,0.000,0.050,2726,3771,3649,0,0,0,0,0,0
$GC,4564,-1.28,-146.0,384.5,-8.9,422,4568,0.00,2.55,0.00,0.000,6,0.000,0.030,2726,2206,3649,0,0,0,0,0,0
$GC,4828,-1.28,-146.0,404.9,-8.0,446,4833,0.00,2.62,0.00,0.000,4,0.000,0.051,2726,3776,3646,0,0,0,0,0,0
$GC,4885,-1.32,-146.0,409.9,-8.4,450,4894,0.00,2.58,0.00,0.000,6,0.000,0.034,2726,2227,3646,0,0,0,0,0,0
$GC,5153,-1.36,-146.0,428.6,-6.8,475,5158,0.00,2.85,0.00,0.000,4,0.000,0.087,2726,619,3644,0,0,0,0,0,0
$GC,5181,-1.40,-146.0,431.2,-7.6,477,5187,0.12,2.58,0.00,0.000,6,0.068,0.039,2675,2194,3644,0,0,0,0,0,0
$GC,5443,-1.35,-146.0,454.1,-9.0,501,5448,0.15,2.72,0.00,0.000,4,0.096,0.061,2709,3798,3642,0,0,0,0,0,0
$GC,5484,-1.35,-146.0,457.7,-9.0,504,5488,0.00,2.62,0.00,0.000,6,0.000,0.041,2708,2212,3642,0,0,0,0,0,0
$GC,5748,-1.35,-146.0,479.4,-8.5,528,5753,0.00,2.67,0.00,0.000,4,0.000,0.058,2709,3794,3641,0,0,0,0,0,0
$GC,5793,-1.35,-146.0,483.9,-9.3,531,5802,0.00,2.65,0.00,0.000,6,0.000,0.044,2709,2222,3640,0,0,0,0,0,0
$GC,6061,-1.35,-146.0,506.7,-8.9,556,6065,0.00,2.70,0.00,0.000,4,0.000,0.061,2709,3794,3638,0,0,0,0,0,0
$GC,6089,-1.35,-146.0,509.9,-9.3,558,6093,0.00,2.65,0.00,0.000,6,0.000,0.047,2708,2220,3638,0,0,0,0,0,0
$GC,6353,-1.35,-146.0,531.4,-7.8,582,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2220,3636,0,0,0,0,0,0
$GC,6618,-1.35,-146.0,552.6,-8.0,607,6623,0.00,3.05,0.00,0.000,4,0.000,0.119,2708,619,3634,0,0,0,0,0,0
$GC,6646,-1.35,-146.0,555.3,-8.4,609,6651,0.00,2.75,0.00,0.000,6,0.000,0.054,2709,2235,3634,0,0,0,0,0,0
$GC,6911,-1.35,-146.0,577.1,-8.4,633,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2237,3632,0,0,0,0,0,0
$GC,7176,-1.35,-146.0,598.5,-8.2,658,7180,0.00,2.83,0.00,0.000,4,0.000,0.099,2709,3793,3631,0,0,0,0,0,0
$GC,7194,-1.35,-146.0,600.4,-8.1,659,7199,0.00,2.67,0.00,0.000,6,0.000,0.062,2709,2241,3631,0,0,0,0,0,0
$GC,7455,-1.35,-146.0,621.0,-7.8,666,7460,0.00,3.05,0.00,0.000,4,0.000,0.120,2709,626,3629,0,0,0,0,0,0
$GC,7505,-1.39,-146.0,625.0,-7.9,667,7510,0.00,2.80,0.00,0.000,6,0.000,0.067,2708,2228,3629,0,0,0,0,0,0
$GC,7779,-1.42,-146.0,645.2,-7.3,674,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2228,3627,0,0,0,0,0,0
$GC,8021,-1.46,-146.0,661.9,-6.7,680,8026,0.10,2.97,0.00,0.000,4,0.083,0.114,2669,3796,3626,0,0,0,0,0,0
$GC,8037,-1.46,-146.0,663.3,-6.6,680,8042,0.00,2.83,0.00,0.000,6,0.000,0.085,2669,2236,3626,0,0,0,0,0,0
$GC,8300,-1.43,-146.0,683.2,-7.6,687,8306,0.10,2.95,0.00,0.000,4,0.112,0.114,2692,3796,3625,0,0,0,0,0,0
$GC,8334,-1.43,-146.0,686.0,-7.5,687,8339,0.00,2.90,0.00,0.000,6,0.000,0.097,2692,2235,3625,0,0,0,0,0,0
$GC,8584,-1.43,-146.0,703.1,-6.8,694,8588,0.00,3.03,0.00,0.000,4,0.000,0.120,2692,3799,3623,0,0,0,0,0,0
$GC,8618,-1.43,-146.0,705.7,-8.0,694,8624,0.00,2.95,0.00,0.000,6,0.000,0.107,2692,2243,3623,0,0,0,0,0,0
$GC,8868,-1.43,-146.0,722.4,-6.7,701,8873,0.00,3.08,0.00,0.000,4,0.000,0.131,2692,3799,3622,0,0,0,0,0,0
$GC,8918,-1.43,-146.0,726.2,-7.8,702,8922,0.00,3.00,0.00,0.000,6,0.000,0.119,2692,2255,3622,0,0,0,0,0,0
$GC,9191,-1.43,-146.0,744.7,-6.8,709,9196,0.00,3.12,0.00,0.000,4,0.000,0.146,2692,3797,3621,0,0,0,0,0,0
$GC,9246,-1.43,-146.0,749.2,-8.0,710,9251,0.00,3.05,0.00,0.000,6,0.000,0.133,2692,2263,3621,0,0,0,0,0,0
$GC,9514,-1.43,-146.0,768.0,-7.0,717,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2264,3620,0,0,0,0,0,0
$GC,9757,-1.43,-146.0,784.4,-6.7,723,9762,0.00,3.25,0.00,0.000,4,0.000,0.170,2692,3793,3619,0,0,0,0,0,0
$GC,9790,-1.43,-146.0,786.8,-7.2,723,9796,0.00,3.20,0.00,0.000,6,0.000,0.156,2692,2267,3619,0,0,1,0,0,0
$STATE,9996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9997,begin apogee
$GC,10004,-0.31,0.0,800.5,6.5,729,10127,1.08,0.00,118.75,1.172,6,0.069,0.000,2934,2367,3060,0,0,0,0,0,0
$STATE,10127,end apogee,CONTROL_FINISHED_OK
$STATE,10128,begin climb
$GC,10130,1.28,146.0,802.1,0.0,732,10268,1.48,3.55,130.23,1.146,4,0.032,0.175,3293,3941,2463,0,0,0,0,0,0
$GC,10293,1.09,146.0,789.7,13.1,736,10299,0.25,3.35,0.00,0.000,6,0.100,0.156,3242,2372,2460,0,0,1,0,0,0
$GC,10568,1.04,146.0,761.2,10.2,743,10573,0.00,3.28,0.00,0.000,4,0.000,0.152,3243,3940,2454,0,0,0,0,0,0
$GC,10601,0.96,146.0,757.2,11.7,743,10607,0.15,3.17,0.00,0.000,6,0.117,0.136,3214,2374,2453,0,0,0,0,0,0
$GC,10852,1.01,188.9,736.3,8.0,750,10897,0.00,3.22,38.58,1.094,4,0.000,0.131,3214,3945,2288,0,0,0,0,0,0
$GC,10938,1.03,200.5,728.8,9.5,752,10957,0.00,3.10,12.00,0.996,6,0.000,0.118,3214,2383,2242,0,0,0,0,0,0
$GC,11220,1.07,231.9,704.5,8.6,759,11256,0.00,3.12,29.40,1.068,4,0.000,0.115,3214,3945,2114,0,0,0,0,0,0
$GC,11283,1.07,231.9,698.5,10.3,759,11288,0.00,2.95,0.00,0.000,6,0.000,0.100,3214,2388,2111,0,0,0,0,0,0
$GC,11539,1.12,244.2,674.7,9.5,766,11559,0.15,3.28,12.07,0.988,4,0.077,0.131,3252,784,2063,0,0,0,0,0,0
$GC,11572,1.07,244.2,671.0,11.5,766,11577,0.00,2.92,0.00,0.000,6,0.000,0.080,3252,2396,2062,0,0,0,0,0,0
$GC,11822,1.07,244.2,639.8,12.5,772,11823,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2396,2060,0,0,0,0,0,0
$GC,12065,1.07,244.2,609.5,12.3,778,12070,0.00,3.00,0.00,0.000,4,0.000,0.097,3252,778,2059,0,0,0,0,0,0
$GC,12106,1.07,244.2,604.5,12.7,779,12111,0.00,2.75,0.00,0.000,6,0.000,0.058,3252,2385,2058,0,0,0,0,0,0
$GC,12368,1.07,244.2,571.5,12.5,801,12373,0.00,2.92,0.00,0.000,4,0.000,0.089,3252,772,2058,0,0,0,0,0,0
$GC,12391,1.07,244.2,569.5,12.5,802,12396,0.00,2.72,0.00,0.000,6,0.000,0.050,3251,2385,2057,0,0,0,0,0,0
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$STATE,17429,end climb,SURFACE_DEPTH_REACHED
$STATE,17429,begin surface coast
$FINISH,-0.2,1.018004
$STATE,17472,end surface coast,CONTROL_FINISHED_OK
$STATE,17472,begin surface
$SM_CCo,17494,68.93,0.524,0,0,1510,380.21
$SM_GC,0.57,0.00,0.00,68.93,0.000,0.000,0.524,459,2181,1510,-11.71,-0.82,380.21
$IRIDIUM_FIX,2237.01,-15737.19,170703,202019
$TT8_MAMPS,0.025311
$HUMID,62.28
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.70
$XPDR_PINGS,16
$24V_AH,23.2,37.170
$10V_AH,10.1,43.126
$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,30.625,241.975,388.925,68.925,0.000,115.537,188.969,1172.647,4.000,0.000,35.459,2320.164,10167.838,641.597,4242.099,2051.364,33.373,1967.347,0.000,4253.086,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,174.876,1171.976,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,879.733,929.979,1211.729,1389.062,2644.717,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,104865,1278
$CAP_FILE_SIZE,216066,0
$CFSIZE,260165632,161222656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,230414,013706,2248.083,-15737.301,35,1.0,35,10.1