version: 66.06
glider: 146
mission: 9
dive: 252
start: 4 24 114 4 15 30
data:
$ID,146
$MISSION,9
$DIVE,252
$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,633.60986
$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,-329088.97
$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,33
$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
$GPS1,033430,2259.447,-15735.491,64,1.4,64,10.1
$_CALLS,5
$_XMS_NAKs,21
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-70.3
$GPS2,041436,2259.415,-15735.389,12,1.4,17,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.016,0.285
$KALMAN_X,-218649.9,-176.1,-146.5,253438.1,232.7
$KALMAN_Y,5856.5,-240.3,177.9,12972.9,286.8
$MHEAD_RNG_PITCHd_Wd,346.7,11141,-15.6,-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,-1.15,-146.0,0.0,0.0,0,103,0.00,0.00,-85.53,0.000,2,0.000,0.000,458,2141,3625,0,0,0,0,0,0
$GC,107,-1.15,-146.0,3.1,-7.3,11,133,12.57,2.72,-0.55,0.000,4,0.163,0.038,2744,3798,3660,0,0,0,0,0,0
$GC,274,-1.07,-146.0,34.4,-11.7,33,279,0.12,2.50,0.00,0.000,6,0.120,0.021,2769,2205,3660,0,0,0,0,0,0
$GC,544,-1.02,-146.0,60.9,-9.4,57,548,0.00,2.58,0.00,0.000,4,0.000,0.047,2768,633,3659,0,0,0,0,0,0
$GC,616,-1.02,-146.0,68.2,-9.7,62,620,0.00,2.47,0.00,0.000,6,0.000,0.018,2769,2224,3660,0,0,0,0,0,0
$GC,880,-0.96,-146.0,92.3,-8.8,86,885,0.12,2.50,0.00,0.000,4,0.107,0.035,2796,3772,3660,0,0,0,0,0,0
$GC,901,-0.96,-146.0,94.1,-8.6,87,906,0.00,2.47,0.00,0.000,6,0.000,0.019,2796,2184,3660,0,0,0,0,0,0
$GC,1169,-0.96,-146.0,114.0,-7.5,111,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2184,3660,0,0,0,0,0,0
$GC,1431,-0.96,-146.0,133.0,-6.7,136,1435,0.00,2.50,0.00,0.000,4,0.000,0.044,2796,645,3660,0,0,0,0,0,0
$GC,1461,-0.96,-146.0,135.1,-7.3,138,1465,0.00,2.40,0.00,0.000,6,0.000,0.018,2796,2198,3660,0,0,0,0,0,0
$GC,1724,-0.96,-146.0,153.4,-7.4,162,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2198,3660,0,0,0,0,0,0
$GC,1978,-0.96,-146.0,172.0,-7.3,186,1983,0.00,2.55,0.00,0.000,4,0.000,0.044,2796,637,3660,0,0,0,0,0,0
$GC,2014,-1.00,-146.0,174.6,-6.9,188,2024,0.00,2.42,0.00,0.000,6,0.000,0.020,2796,2186,3660,0,0,0,0,0,0
$GC,2282,-1.04,-146.0,192.3,-6.6,213,2286,0.00,2.58,0.00,0.000,4,0.000,0.037,2796,3775,3659,0,0,0,0,0,0
$GC,2362,-1.12,-146.0,197.5,-6.5,219,2367,0.15,2.47,0.00,0.000,6,0.058,0.018,2734,2192,3659,0,0,0,0,0,0
$GC,2625,-1.05,-146.0,221.2,-8.9,243,2630,0.17,2.53,0.00,0.000,4,0.088,0.044,2773,646,3659,0,0,0,0,0,0
$GC,2718,-1.11,-146.0,228.9,-7.6,250,2724,0.00,2.35,0.00,0.000,6,0.000,0.019,2773,2171,3659,0,0,0,0,0,0
$GC,2982,-1.11,-146.0,248.1,-7.4,275,2987,0.00,2.60,0.00,0.000,4,0.000,0.041,2773,3774,3659,0,0,0,0,0,0
$GC,3035,-1.16,-146.0,252.5,-8.2,279,3039,0.00,2.47,0.00,0.000,6,0.000,0.021,2773,2189,3659,0,0,0,0,0,0
$GC,3299,-1.16,-146.0,271.5,-6.9,303,3304,0.00,2.58,0.00,0.000,4,0.000,0.052,2773,640,3658,0,0,0,0,0,0
$GC,3357,-1.22,-146.0,275.3,-6.5,307,3362,0.15,2.40,0.00,0.000,6,0.058,0.025,2715,2170,3657,0,0,0,0,0,0
$GC,3624,-1.14,-146.0,297.0,-8.8,331,3629,0.17,2.65,0.00,0.000,4,0.086,0.044,2755,3783,3656,0,0,0,0,0,0
$GC,3681,-1.14,-146.0,302.2,-7.8,335,3687,0.00,2.55,0.00,0.000,6,0.000,0.023,2754,2187,3656,0,0,0,0,0,0
$GC,3945,-1.14,-146.0,320.5,-6.9,360,3950,0.00,2.65,0.00,0.000,4,0.000,0.046,2754,3782,3655,0,0,0,0,0,0
$GC,3974,-1.14,-146.0,322.9,-7.2,362,3979,0.00,2.55,0.00,0.000,6,0.000,0.031,2754,2190,3654,0,0,0,0,0,0
$GC,4237,-1.14,-146.0,339.7,-6.1,386,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2190,3652,0,0,0,0,0,0
$GC,4492,-1.14,-146.0,356.4,-6.6,410,4496,0.00,2.65,0.00,0.000,4,0.000,0.054,2754,3786,3651,0,0,0,0,0,0
$GC,4532,-1.14,-146.0,359.5,-7.4,413,4536,0.00,2.58,0.00,0.000,6,0.000,0.027,2754,2193,3651,0,0,0,0,0,0
$GC,4796,-1.14,-146.0,377.5,-6.8,437,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2193,3649,0,0,0,0,0,0
$GC,5058,-1.14,-146.0,395.2,-6.7,462,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2193,3648,0,0,0,0,0,0
$GC,5314,-1.14,-146.0,411.8,-6.5,486,5318,0.00,2.65,0.00,0.000,4,0.000,0.052,2754,3776,3646,0,0,0,0,0,0
$GC,5371,-1.18,-146.0,415.9,-7.2,490,5377,0.00,2.58,0.00,0.000,6,0.000,0.034,2754,2196,3645,0,0,0,0,0,0
$GC,5636,-1.18,-146.0,432.4,-5.8,515,5640,0.00,2.70,0.00,0.000,4,0.000,0.054,2754,3782,3644,0,0,0,0,0,0
$GC,5668,-1.22,-146.0,434.4,-6.6,517,5673,0.00,2.60,0.00,0.000,6,0.000,0.039,2754,2206,3644,0,0,0,0,0,0
$GC,5936,-1.22,-146.0,450.0,-5.7,541,5941,0.00,2.83,0.00,0.000,4,0.000,0.087,2754,624,3642,0,0,0,0,0,0
$GC,5980,-1.26,-146.0,452.7,-6.3,544,5985,0.10,2.60,0.00,0.000,6,0.081,0.047,2709,2199,3642,0,0,0,0,0,0
$GC,6247,-1.21,-146.0,473.5,-8.4,568,6252,0.15,2.72,0.00,0.000,4,0.092,0.059,2742,3794,3640,0,0,0,0,0,0
$GC,6291,-1.21,-146.0,477.2,-7.8,571,6295,0.00,2.60,0.00,0.000,6,0.000,0.040,2742,2210,3640,0,0,0,0,0,0
$GC,6558,-1.21,-146.0,495.0,-6.6,595,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2210,3638,0,0,0,0,0,0
$GC,6820,-1.21,-146.0,512.0,-6.3,620,6825,0.00,2.72,0.00,0.000,4,0.000,0.064,2742,3794,3637,0,0,0,0,0,0
$GC,6873,-1.25,-146.0,515.5,-7.4,624,6877,0.00,2.65,0.00,0.000,6,0.000,0.048,2742,2202,3636,0,0,0,0,0,0
$GC,7137,-1.25,-146.0,532.7,-7.3,648,7142,0.00,2.95,0.00,0.000,4,0.000,0.110,2741,627,3635,0,0,0,0,0,0
$GC,7159,-1.25,-146.0,534.2,-7.0,649,7164,0.00,2.65,0.00,0.000,6,0.000,0.057,2742,2199,3634,0,0,0,0,0,0
$GC,7427,-1.25,-146.0,553.2,-6.7,673,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2200,3633,0,0,0,0,0,0
$GC,7688,-1.25,-146.0,569.9,-5.6,698,7693,0.00,2.80,0.00,0.000,4,0.000,0.078,2742,3799,3632,0,0,0,0,0,0
$GC,7729,-1.25,-146.0,572.3,-6.1,701,7733,0.00,2.72,0.00,0.000,6,0.000,0.054,2742,2202,3631,0,0,0,0,0,0
$GC,7993,-1.28,-146.0,586.7,-5.1,725,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2202,3631,0,0,0,0,0,0
$GC,8256,-1.28,-146.0,599.9,-5.1,750,8261,0.00,2.85,0.00,0.000,4,0.000,0.081,2742,3797,3629,0,0,0,0,0,0
$GC,8312,-1.33,-146.0,603.4,-5.7,751,8317,0.12,2.78,0.00,0.000,6,0.070,0.067,2695,2213,3629,0,0,0,0,0,0
$GC,8579,-1.27,-146.0,621.9,-7.1,758,8585,0.15,3.05,0.00,0.000,4,0.095,0.123,2728,621,3628,0,0,0,0,0,0
$GC,8603,-1.27,-146.0,623.6,-7.2,758,8607,0.00,2.78,0.00,0.000,6,0.000,0.066,2728,2211,3628,0,0,0,0,0,0
$GC,8858,-1.27,-146.0,638.8,-5.9,765,8863,0.00,2.92,0.00,0.000,4,0.000,0.105,2728,3797,3626,0,0,0,0,0,0
$GC,8899,-1.27,-146.0,641.2,-6.3,766,8903,0.00,2.80,0.00,0.000,6,0.000,0.077,2728,2217,3627,0,0,0,0,0,0
$GC,9184,-1.27,-146.0,659.0,-6.2,773,9188,0.00,2.92,0.00,0.000,4,0.000,0.100,2728,3803,3625,0,0,0,0,0,0
$GC,9205,-1.27,-146.0,660.5,-6.4,773,9210,0.00,2.88,0.00,0.000,6,0.000,0.084,2728,2219,3625,0,0,0,0,0,0
$GC,9460,-1.27,-146.0,676.5,-6.3,780,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2219,3624,0,0,0,0,0,0
$GC,9705,-1.27,-146.0,691.2,-6.0,786,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2219,3622,0,0,0,0,0,0
$GC,9947,-1.27,-146.0,705.2,-5.7,792,9952,0.00,3.03,0.00,0.000,4,0.000,0.120,2728,3794,3621,0,0,0,0,0,0
$GC,9969,-1.27,-146.0,706.5,-5.9,792,9974,0.00,2.97,0.00,0.000,6,0.000,0.109,2727,2231,3621,0,0,0,0,0,0
$GC,10226,-1.27,-146.0,720.8,-5.5,799,10230,0.00,3.08,0.00,0.000,4,0.000,0.129,2727,3794,3621,0,0,0,0,0,0
$GC,10258,-1.27,-146.0,723.0,-6.7,799,10264,0.00,3.00,0.00,0.000,6,0.000,0.118,2728,2237,3620,0,0,0,0,0,0
$GC,10509,-1.27,-146.0,736.0,-5.2,806,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2237,3620,0,0,0,0,0,0
$GC,10754,-1.27,-146.0,748.7,-5.2,812,10759,0.00,3.17,0.00,0.000,4,0.000,0.146,2728,3794,3619,0,0,0,0,0,0
$GC,10776,-1.27,-146.0,750.1,-5.6,812,10780,0.00,3.12,0.00,0.000,6,0.000,0.134,2728,2236,3619,0,0,0,0,0,0
$GC,11031,-1.27,-146.0,764.2,-5.5,819,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2236,3618,0,0,0,0,0,0
$GC,11274,-1.27,-146.0,777.8,-5.6,825,11280,0.00,3.28,0.00,0.000,4,0.000,0.162,2728,3793,3618,0,0,0,0,0,0
$GC,11309,-1.27,-146.0,779.9,-6.3,825,11315,0.00,3.22,0.00,0.000,6,0.000,0.153,2728,2242,3618,0,0,1,0,0,0
$GC,11559,-1.27,-146.0,793.9,-5.5,832,11564,0.00,3.75,0.00,0.000,4,0.000,0.208,2727,619,3617,0,0,0,0,0,0
$GC,11581,-1.27,-146.0,795.3,-5.7,832,11586,0.00,3.33,0.00,0.000,6,0.000,0.150,2728,2235,3617,0,0,0,0,0,0
$STATE,11671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11671,begin apogee
$GC,11679,-0.31,0.0,800.6,5.7,835,11802,0.90,0.00,119.05,1.183,6,0.065,0.000,2935,2371,3060,0,0,0,0,0,0
$STATE,11802,end apogee,CONTROL_FINISHED_OK
$STATE,11802,begin climb
$GC,11805,1.15,146.0,802.6,0.0,838,11946,1.33,3.55,129.88,1.157,4,0.034,0.178,3262,3939,2464,0,0,0,0,0,0
$GC,12002,0.97,146.0,787.2,12.2,842,12008,0.22,3.38,0.00,0.000,6,0.171,0.156,3217,2363,2459,0,0,1,0,0,0
$GC,12254,0.95,182.1,764.9,8.7,848,12291,0.00,0.00,33.35,1.104,6,0.000,0.000,3217,2363,2316,0,0,0,0,0,0
$GC,12538,0.94,211.5,739.6,8.9,855,12568,0.00,0.00,28.02,1.085,6,0.000,0.000,3217,2363,2196,0,0,0,0,0,0
$GC,12780,0.92,228.2,717.0,9.4,861,12798,0.00,0.00,16.45,1.042,6,0.000,0.000,3217,2363,2129,0,0,0,0,0,0
$GC,13023,0.92,228.2,692.0,10.5,867,13024,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2362,2124,0,0,0,0,0,0
$GC,13268,0.92,228.2,665.8,10.7,873,13269,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2362,2123,0,0,0,0,0,0
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$STATE,19313,end climb,SURFACE_DEPTH_REACHED
$STATE,19313,begin surface coast
$FINISH,-0.1,1.003244
$STATE,19362,end surface coast,CONTROL_FINISHED_OK
$STATE,19362,begin surface
$SM_CCo,19385,230.12,0.515,0,0,476,633.61
$SM_GC,0.36,0.00,0.00,230.12,0.000,0.000,0.515,461,2126,476,-11.70,-2.35,633.61
$IRIDIUM_FIX,2251.04,-15732.35,190703,040425
$TT8_MAMPS,0.026078
$HUMID,59.84
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.70
$XPDR_PINGS,18
$24V_AH,23.2,38.286
$10V_AH,10.1,44.564
$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
$DEVICE_SECS,28.350,235.200,440.125,230.125,0.000,132.181,205.266,1589.501,4.500,0.000,20.228,2504.778,11675.998,841.299,4451.341,2528.832,33.372,2220.824,0.000,4458.548,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,959.687,1001.824,1310.635,1434.647,2731.969,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,114254,1393
$CAP_FILE_SIZE,237090,0
$CFSIZE,260165632,160587776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,240414,094335,2301.964,-15735.223,27,1.2,27,10.1