version: 66.06
glider: 146
mission: 9
dive: 271
start: 4 28 114 9 57 2
data:
$ID,146
$MISSION,9
$DIVE,271
$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,-329598.62
$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,75
$R_STBD_OVSHOOT,42
$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
$GPS1,094300,2243.074,-15806.730,41,1.1,41,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-70.9
$GPS2,095605,2242.993,-15806.807,12,1.6,28,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.087,0.245
$KALMAN_X,-223868.5,-110.4,-41.4,204859.8,-1060.6
$KALMAN_Y,3596.1,-28.6,200.4,-15421.5,-524.6
$MHEAD_RNG_PITCHd_Wd,9.6,39928,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.28,-146.0,0.0,0.0,0,112,0.00,0.00,-87.97,0.000,6,0.000,0.000,458,2158,3654,0,0,0,0,0,0
$GC,114,-1.28,-146.0,4.8,-12.1,12,132,12.60,2.65,0.00,0.000,4,0.168,0.032,2715,3790,3656,0,0,0,0,0,0
$GC,157,-0.51,-146.0,22.1,-40.6,17,167,0.80,2.50,0.00,0.000,6,0.084,0.025,2888,2253,3656,0,0,0,0,0,0
$GC,441,-0.76,-146.0,41.4,-5.8,48,447,0.20,2.67,0.00,0.000,4,0.050,0.044,2814,632,3657,0,0,0,0,0,0
$GC,502,-0.92,-146.0,46.4,-8.6,52,506,0.00,2.45,0.00,0.000,6,0.000,0.018,2814,2225,3657,0,0,0,0,0,0
$GC,772,-1.01,-146.0,68.5,-8.4,76,781,0.12,0.00,0.00,0.000,6,0.066,0.000,2755,2225,3658,0,0,0,0,0,0
$GC,1040,-1.01,-146.0,96.5,-9.7,101,1045,0.12,0.00,0.00,0.000,6,0.099,0.000,2783,2225,3658,0,0,0,0,0,0
$GC,1303,-1.06,-146.0,118.0,-7.5,126,1307,0.00,2.60,0.00,0.000,4,0.000,0.043,2783,629,3657,0,0,0,0,0,0
$GC,1324,-1.10,-146.0,119.4,-7.6,127,1328,0.00,2.42,0.00,0.000,6,0.000,0.018,2783,2214,3658,0,0,0,0,0,0
$GC,1592,-1.16,-146.0,138.6,-7.6,151,1597,0.15,2.50,0.00,0.000,4,0.057,0.041,2724,3775,3658,0,0,0,0,0,0
$GC,1625,-1.16,-146.0,141.9,-10.2,153,1630,0.12,2.47,0.00,0.000,6,0.097,0.020,2751,2186,3658,0,0,0,0,0,0
$GC,1890,-1.16,-146.0,167.8,-9.5,177,1895,0.00,2.55,0.00,0.000,4,0.000,0.038,2751,3778,3658,0,0,0,0,0,0
$GC,1912,-1.16,-146.0,170.4,-9.8,178,1921,0.00,2.47,0.00,0.000,6,0.000,0.018,2751,2208,3659,0,0,0,0,0,0
$GC,2180,-1.16,-146.0,193.4,-9.1,203,2185,0.00,2.55,0.00,0.000,4,0.000,0.045,2751,636,3659,0,0,0,0,0,0
$GC,2202,-1.16,-146.0,196.1,-9.5,204,2211,0.00,2.45,0.00,0.000,6,0.000,0.025,2751,2206,3659,0,0,0,0,0,0
$GC,2469,-1.16,-146.0,221.5,-9.9,229,2474,0.00,2.53,0.00,0.000,4,0.000,0.036,2752,3775,3659,0,0,0,0,0,0
$GC,2498,-1.21,-146.0,225.1,-10.5,231,2502,0.00,2.40,0.00,0.000,6,0.000,0.018,2751,2221,3659,0,0,0,0,0,0
$GC,2760,-1.21,-146.0,250.0,-8.8,255,2765,0.00,2.60,0.00,0.000,4,0.000,0.049,2751,633,3658,0,0,0,0,0,0
$GC,2784,-1.21,-146.0,251.7,-8.4,256,2789,0.00,2.45,0.00,0.000,6,0.000,0.022,2751,2226,3659,0,0,0,0,0,0
$GC,3052,-1.26,-146.0,272.2,-7.5,280,3056,0.00,2.62,0.00,0.000,4,0.000,0.050,2751,639,3658,0,0,0,0,0,0
$GC,3097,-1.32,-146.0,275.6,-7.7,283,3102,0.15,2.45,0.00,0.000,6,0.058,0.025,2691,2218,3658,0,0,0,0,0,0
$GC,3362,-1.25,-146.0,304.1,-10.8,307,3367,0.17,2.55,0.00,0.000,4,0.090,0.042,2729,3778,3657,0,0,0,0,0,0
$GC,3420,-1.25,-146.0,310.2,-9.6,311,3425,0.00,2.47,0.00,0.000,6,0.000,0.023,2729,2225,3657,0,0,0,0,0,0
$GC,3683,-1.25,-146.0,333.2,-8.5,336,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2225,3656,0,0,0,0,0,0
$GC,3937,-1.25,-146.0,351.5,-6.5,360,3942,0.00,2.72,0.00,0.000,4,0.000,0.068,2729,629,3655,0,0,0,0,0,0
$GC,3978,-1.29,-146.0,354.4,-6.9,363,3982,0.00,2.50,0.00,0.000,6,0.000,0.032,2729,2194,3655,0,0,0,0,0,0
$GC,4242,-1.29,-146.0,372.8,-7.2,387,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2195,3653,0,0,0,0,0,0
$GC,4509,-1.33,-146.0,392.2,-7.6,412,4514,0.00,2.67,0.00,0.000,4,0.000,0.061,2729,3786,3651,0,0,0,0,0,0
$GC,4538,-1.33,-146.0,394.9,-8.0,414,4543,0.00,2.55,0.00,0.000,6,0.000,0.030,2729,2216,3652,0,0,0,0,0,0
$GC,4803,-1.37,-146.0,416.5,-8.3,438,4808,0.10,2.65,0.00,0.000,4,0.080,0.053,2687,3785,3649,0,0,0,0,0,0
$GC,4837,-1.32,-146.0,420.3,-10.4,440,4843,0.12,2.60,0.00,0.000,6,0.103,0.035,2714,2206,3649,0,0,0,0,0,0
$GC,5101,-1.32,-146.0,441.7,-7.2,465,5106,0.00,2.65,0.00,0.000,4,0.000,0.060,2714,3783,3648,0,0,0,0,0,0
$GC,5176,-1.32,-146.0,448.2,-8.2,471,5181,0.00,2.55,0.00,0.000,6,0.000,0.038,2714,2227,3647,0,0,0,0,0,0
$GC,5440,-1.32,-146.0,467.0,-7.4,495,5445,0.00,2.88,0.00,0.000,4,0.000,0.096,2714,629,3645,0,0,0,0,0,0
$GC,5463,-1.32,-146.0,469.0,-7.8,496,5470,0.00,2.62,0.00,0.000,6,0.000,0.042,2714,2225,3645,0,0,0,0,0,0
$GC,5727,-1.32,-146.0,489.1,-8.0,521,5732,0.00,2.83,0.00,0.000,4,0.000,0.081,2714,625,3644,0,0,0,0,0,0
$GC,5761,-1.32,-146.0,492.3,-8.8,523,5767,0.00,2.62,0.00,0.000,6,0.000,0.045,2714,2220,3643,0,0,0,0,0,0
$GC,6026,-1.32,-146.0,514.3,-8.5,548,6030,0.00,2.72,0.00,0.000,4,0.000,0.073,2714,3805,3642,0,0,0,0,0,0
$GC,6057,-1.32,-146.0,517.0,-9.6,550,6062,0.00,2.62,0.00,0.000,6,0.000,0.043,2714,2231,3642,0,0,0,0,0,0
$GC,6326,-1.36,-146.0,538.7,-8.1,574,6331,0.00,2.70,0.00,0.000,4,0.000,0.069,2714,3799,3640,0,0,0,0,0,0
$GC,6361,-1.40,-146.0,542.1,-8.9,576,6370,0.00,2.67,0.00,0.000,6,0.000,0.053,2714,2236,3640,0,0,0,0,0,0
$GC,6628,-1.44,-146.0,561.0,-7.0,601,6633,0.10,0.00,0.00,0.000,6,0.080,0.000,2671,2236,3638,0,0,0,0,0,0
$GC,6892,-1.40,-146.0,582.2,-8.1,626,6898,0.12,3.12,0.00,0.000,4,0.100,0.126,2698,625,3637,0,0,0,0,0,0
$GC,6925,-1.40,-146.0,584.8,-8.0,628,6930,0.00,2.75,0.00,0.000,6,0.000,0.060,2698,2247,3637,0,0,0,0,0,0
$GC,7218,-1.40,-146.0,607.3,-8.1,649,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2247,3635,0,0,0,0,0,0
$GC,7458,-1.40,-146.0,626.1,-7.6,655,7463,0.00,2.85,0.00,0.000,4,0.000,0.106,2698,3793,3634,0,0,0,0,0,0
$GC,7543,-1.40,-146.0,632.8,-8.1,657,7547,0.00,2.72,0.00,0.000,6,0.000,0.074,2698,2258,3633,0,0,0,0,0,0
$GC,7827,-1.40,-146.0,653.6,-7.3,664,7832,0.00,3.17,0.00,0.000,4,0.000,0.128,2698,620,3632,0,0,0,0,0,0
$GC,7854,-1.40,-146.0,655.9,-8.2,664,7859,0.00,2.90,0.00,0.000,6,0.000,0.079,2698,2252,3632,0,0,0,0,0,0
$GC,8105,-1.40,-146.0,674.9,-7.6,670,8109,0.00,2.95,0.00,0.000,4,0.000,0.117,2698,3804,3631,0,0,0,0,0,0
$GC,8150,-1.40,-146.0,678.6,-8.8,671,8155,0.00,2.83,0.00,0.000,6,0.000,0.095,2698,2267,3631,0,0,0,0,0,0
$GC,8428,-1.40,-146.0,699.5,-7.4,678,8432,0.00,2.92,0.00,0.000,4,0.000,0.119,2698,3797,3630,0,0,0,0,0,0
$GC,8449,-1.40,-146.0,701.3,-8.0,678,8454,0.00,2.88,0.00,0.000,6,0.000,0.106,2698,2268,3630,0,0,0,0,0,0
$GC,8706,-1.40,-146.0,720.0,-7.3,685,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2269,3628,0,0,0,0,0,0
$GC,8948,-1.40,-146.0,738.1,-7.4,691,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2269,3627,0,0,0,0,0,0
$GC,9192,-1.40,-146.0,755.2,-6.8,697,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2269,3626,0,0,0,0,0,0
$GC,9437,-1.40,-146.0,771.4,-6.7,703,9442,0.00,3.17,0.00,0.000,4,0.000,0.159,2698,3794,3625,0,0,0,0,0,0
$GC,9453,-1.40,-146.0,772.6,-6.7,703,9458,0.00,3.08,0.00,0.000,6,0.000,0.146,2698,2282,3625,0,0,1,0,0,0
$GC,9714,-1.40,-146.0,790.0,-6.7,710,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2281,3624,0,0,0,0,0,0
$STATE,9875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9875,begin apogee
$GC,9883,-0.31,0.0,801.6,7.2,714,10007,1.05,0.00,120.68,1.173,6,0.066,0.000,2937,2369,3060,0,0,0,0,0,0
$STATE,10008,end apogee,CONTROL_FINISHED_OK
$STATE,10008,begin climb
$GC,10011,1.28,146.0,804.9,0.0,717,10153,1.45,3.55,130.23,1.144,4,0.032,0.176,3294,3937,2463,0,0,0,0,0,0
$GC,10171,1.10,146.0,794.7,11.5,721,10177,0.25,3.40,0.00,0.000,6,0.100,0.160,3243,2376,2460,0,0,0,0,0,0
$GC,10445,1.07,163.8,769.2,9.2,728,10463,0.00,0.00,16.05,1.043,6,0.000,0.000,3243,2375,2392,0,0,0,0,0,0
$GC,10690,1.03,163.8,744.4,10.4,734,10691,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2375,2388,0,0,0,0,0,0
$GC,10932,0.99,163.8,718.3,10.8,740,10938,0.12,3.30,0.00,0.000,4,0.128,0.153,3219,776,2386,0,0,0,0,0,0
$GC,10948,0.99,163.8,716.2,11.0,740,10953,0.00,3.00,0.00,0.000,6,0.000,0.107,3219,2373,2386,0,0,0,0,0,0
$GC,11209,0.99,164.6,690.0,10.0,747,11211,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2373,2385,0,0,0,0,0,0
$GC,11454,1.00,175.5,666.6,9.5,753,11473,0.00,2.97,11.10,0.983,4,0.000,0.106,3219,3939,2344,0,0,0,0,0,0
$GC,11496,1.00,175.5,662.2,10.4,754,11501,0.00,2.88,0.00,0.000,6,0.000,0.081,3219,2356,2343,0,0,0,0,0,0
$GC,11780,1.01,183.2,635.0,9.7,761,11794,0.00,3.08,8.50,0.925,4,0.000,0.113,3219,782,2312,0,0,0,0,0,0
$GC,11812,1.02,191.3,631.7,9.7,761,11827,0.00,2.78,9.32,0.930,6,0.000,0.069,3219,2370,2280,0,0,0,0,0,0
$GC,12105,1.02,191.3,601.7,10.3,769,12110,0.00,2.85,0.00,0.000,4,0.000,0.085,3219,3935,2277,0,0,0,0,0,0
$GC,12157,1.02,191.3,596.0,11.8,771,12162,0.00,2.72,0.00,0.000,6,0.000,0.054,3219,2358,2277,0,0,0,0,0,0
$GC,12420,1.05,214.1,570.3,9.0,795,12447,0.00,3.05,21.88,0.992,4,0.000,0.108,3219,780,2187,0,0,0,0,0,0
$GC,12489,1.05,214.1,563.3,10.6,800,12495,0.00,2.70,0.00,0.000,6,0.000,0.049,3219,2359,2184,0,0,0,0,0,0
$GC,12752,1.13,244.2,539.6,8.6,825,12787,0.12,2.90,28.75,0.978,4,0.081,0.081,3253,776,2063,0,0,0,0,0,0
$GC,12806,1.13,244.2,534.6,10.6,829,12810,0.00,2.65,0.00,0.000,6,0.000,0.044,3252,2345,2061,0,0,0,0,0,0
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$STATE,17717,end climb,SURFACE_DEPTH_REACHED
$STATE,17717,begin surface coast
$FINISH,-0.1,1.021854
$STATE,17764,end surface coast,CONTROL_FINISHED_OK
$STATE,17764,begin surface
$SM_CCo,17786,58.65,0.513,0,0,1509,380.21
$SM_GC,0.59,0.00,0.00,58.65,0.000,0.000,0.513,458,2145,1509,-11.71,-1.84,380.21
$IRIDIUM_FIX,2234.68,-15805.41,230703,090958
$TT8_MAMPS,0.025311
$HUMID,60.94
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.00
$XPDR_PINGS,42
$24V_AH,23.2,42.058
$10V_AH,9.9,49.136
$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
$DEVICE_SECS,29.625,233.350,406.375,58.650,0.000,71.048,71.734,372.943,10.500,0.000,29.533,2324.840,10361.937,613.184,4227.555,1087.906,33.375,1963.165,0.000,4236.583,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,886.806,939.183,1219.212,1381.431,2628.538,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355296
$DATA_FILE_SIZE,107857,1290
$CAP_FILE_SIZE,201008,0
$CFSIZE,260165632,158781440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280414,145553,2244.821,-15806.454,26,1.9,44,10.0