version: 66.06
glider: 146
mission: 9
dive: 273
start: 4 28 114 20 4 40
data:
$ID,146
$MISSION,9
$DIVE,273
$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,-329628.19
$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,58
$R_STBD_OVSHOOT,41
$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
$GPS1,195506,2246.892,-15806.751,37,1.3,37,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-69.2
$GPS2,200343,2246.893,-15806.777,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.062,0.252
$KALMAN_X,-225991.5,-149.3,-144.0,207176.5,-514.6
$KALMAN_Y,3094.0,14.5,-47.2,-7485.4,-32.9
$MHEAD_RNG_PITCHd_Wd,3.7,32742,-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,13,begin dive
$GC,15,-1.28,-146.0,0.0,0.0,0,111,0.00,0.00,-89.53,0.000,6,0.000,0.000,457,2181,3655,0,0,0,0,0,0
$GC,114,-1.28,-146.0,4.1,-9.8,12,132,12.62,2.60,0.00,0.000,4,0.164,0.027,2718,3800,3657,0,0,0,0,0,0
$GC,210,-1.21,-146.0,29.0,-15.0,25,218,0.08,2.53,0.00,0.000,6,0.111,0.024,2736,2237,3658,0,0,0,0,0,0
$GC,478,-1.14,-146.0,62.7,-11.0,50,482,0.00,2.62,0.00,0.000,4,0.000,0.044,2736,626,3658,0,0,0,0,0,0
$GC,512,-1.07,-146.0,66.8,-11.4,52,517,0.15,2.42,0.00,0.000,6,0.108,0.018,2767,2203,3658,0,0,0,0,0,0
$GC,776,-1.07,-146.0,93.0,-9.7,76,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2204,3659,0,0,0,0,0,0
$GC,1041,-1.07,-146.0,118.5,-9.3,101,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2204,3659,0,0,0,0,0,0
$GC,1304,-1.07,-146.0,141.8,-8.1,126,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2203,3659,0,0,0,0,0,0
$GC,1557,-1.07,-146.0,162.3,-8.3,150,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2203,3660,0,0,0,0,0,0
$GC,1814,-1.11,-146.0,185.5,-9.2,174,1818,0.00,2.60,0.00,0.000,4,0.000,0.046,2767,630,3660,0,0,0,0,0,0
$GC,1849,-1.15,-146.0,188.9,-9.4,176,1858,0.00,2.42,0.00,0.000,6,0.000,0.018,2766,2182,3660,0,0,0,0,0,0
$GC,2113,-1.20,-146.0,208.2,-6.5,201,2118,0.10,2.58,0.00,0.000,4,0.079,0.036,2722,3782,3660,0,0,0,0,0,0
$GC,2136,-1.20,-146.0,209.8,-7.1,202,2140,0.00,2.53,0.00,0.000,6,0.000,0.020,2721,2173,3660,0,0,0,0,0,0
$GC,2404,-1.20,-146.0,235.7,-10.6,226,2409,0.10,2.60,0.00,0.000,4,0.110,0.038,2743,3774,3660,0,0,0,0,0,0
$GC,2436,-1.20,-146.0,240.1,-10.1,228,2446,0.00,2.50,0.00,0.000,6,0.000,0.020,2743,2198,3660,0,0,0,0,0,0
$GC,2705,-1.23,-146.0,263.5,-8.4,253,2709,0.00,2.58,0.00,0.000,4,0.000,0.041,2743,3779,3660,0,0,0,0,0,0
$GC,2748,-1.28,-146.0,267.8,-9.1,256,2753,0.00,2.47,0.00,0.000,6,0.000,0.021,2743,2204,3660,0,0,0,0,0,0
$GC,3017,-1.32,-146.0,289.2,-8.3,280,3022,0.12,2.67,0.00,0.000,4,0.068,0.060,2690,632,3660,0,0,0,0,0,0
$GC,3095,-1.27,-146.0,297.6,-10.7,286,3101,0.17,2.45,0.00,0.000,6,0.095,0.027,2726,2186,3660,0,0,0,0,0,0
$GC,3360,-1.27,-146.0,318.9,-7.7,310,3365,0.00,2.60,0.00,0.000,4,0.000,0.057,2726,637,3658,0,0,0,0,0,0
$GC,3391,-1.27,-146.0,321.6,-8.4,312,3395,0.00,2.47,0.00,0.000,6,0.000,0.036,2726,2199,3658,0,0,0,0,0,0
$GC,3653,-1.27,-146.0,343.4,-8.6,336,3658,0.00,2.62,0.00,0.000,4,0.000,0.047,2726,3796,3657,0,0,0,0,0,0
$GC,3689,-1.27,-146.0,346.4,-8.6,338,3695,0.00,2.55,0.00,0.000,6,0.000,0.028,2726,2208,3657,0,0,0,0,0,0
$GC,3952,-1.27,-146.0,366.3,-7.4,363,3956,0.00,2.75,0.00,0.000,4,0.000,0.075,2726,633,3655,0,0,0,0,0,0
$GC,3975,-1.27,-146.0,367.7,-7.8,364,3980,0.00,2.50,0.00,0.000,6,0.000,0.038,2726,2197,3655,0,0,0,0,0,0
$GC,4242,-1.27,-146.0,386.6,-6.5,388,4246,0.00,2.65,0.00,0.000,4,0.000,0.053,2726,3798,3653,0,0,0,0,0,0
$GC,4287,-1.31,-146.0,389.9,-7.4,391,4291,0.00,2.60,0.00,0.000,6,0.000,0.034,2726,2200,3653,0,0,0,0,0,0
$GC,4554,-1.35,-146.0,409.7,-7.5,415,4558,0.00,2.67,0.00,0.000,4,0.000,0.048,2726,3796,3652,0,0,0,0,0,0
$GC,4575,-1.35,-146.0,412.1,-8.5,416,4583,0.00,2.58,0.00,0.000,6,0.000,0.035,2726,2210,3652,0,0,0,0,0,0
$GC,4840,-1.39,-146.0,432.2,-7.3,441,4846,0.12,2.88,0.00,0.000,4,0.070,0.091,2679,625,3650,0,0,0,0,0,0
$GC,4875,-1.34,-146.0,435.6,-9.7,443,4881,0.15,2.58,0.00,0.000,6,0.098,0.037,2709,2199,3650,0,0,0,0,0,0
$GC,5139,-1.34,-146.0,456.3,-7.7,468,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2200,3648,0,0,0,0,0,0
$GC,5404,-1.34,-146.0,477.5,-7.8,493,5409,0.00,2.72,0.00,0.000,4,0.000,0.060,2710,3800,3646,0,0,0,0,0,0
$GC,5450,-1.34,-146.0,481.9,-9.1,496,5456,0.00,2.65,0.00,0.000,6,0.000,0.039,2710,2207,3646,0,0,0,0,0,0
$GC,5713,-1.34,-146.0,502.2,-7.8,521,5718,0.00,2.70,0.00,0.000,4,0.000,0.058,2710,3791,3645,0,0,0,0,0,0
$GC,5748,-1.34,-146.0,504.6,-8.1,523,5752,0.00,2.65,0.00,0.000,6,0.000,0.046,2710,2219,3645,0,0,0,0,0,0
$GC,6015,-1.34,-146.0,524.9,-7.7,547,6019,0.00,3.00,0.00,0.000,4,0.000,0.112,2709,623,3643,0,0,0,0,0,0
$GC,6073,-1.38,-146.0,529.9,-8.1,551,6079,0.00,2.67,0.00,0.000,6,0.000,0.049,2710,2211,3643,0,0,0,0,0,0
$GC,6336,-1.38,-146.0,548.3,-7.1,576,6340,0.00,2.78,0.00,0.000,4,0.000,0.074,2709,3797,3641,0,0,0,0,0,0
$GC,6369,-1.38,-146.0,550.9,-7.6,578,6375,0.00,2.67,0.00,0.000,6,0.000,0.048,2710,2217,3641,0,0,0,0,0,0
$GC,6634,-1.38,-146.0,569.5,-7.2,603,6638,0.00,2.78,0.00,0.000,4,0.000,0.077,2710,3796,3639,0,0,0,0,0,0
$GC,6674,-1.38,-146.0,573.0,-8.9,606,6678,0.00,2.70,0.00,0.000,6,0.000,0.061,2710,2221,3639,0,0,0,0,0,0
$GC,6938,-1.38,-146.0,591.6,-6.9,630,6943,0.00,2.78,0.00,0.000,4,0.000,0.077,2710,3798,3638,0,0,0,0,0,0
$GC,6983,-1.42,-146.0,595.3,-7.7,633,6992,0.00,2.75,0.00,0.000,6,0.000,0.063,2710,2235,3637,0,0,0,0,0,0
$GC,7258,-1.42,-146.0,614.2,-6.8,645,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2235,3636,0,0,0,0,0,0
$GC,7503,-1.45,-146.0,631.9,-7.3,651,7507,0.00,2.80,0.00,0.000,4,0.000,0.089,2709,3793,3635,0,0,0,0,0,0
$GC,7542,-1.50,-146.0,635.2,-8.0,652,7548,0.15,2.78,0.00,0.000,6,0.062,0.077,2661,2230,3635,0,0,0,0,0,0
$GC,7828,-1.44,-146.0,661.4,-9.2,659,7834,0.12,3.20,0.00,0.000,4,0.104,0.137,2688,620,3633,0,0,0,0,0,0
$GC,7903,-1.44,-146.0,668.0,-8.3,660,7908,0.00,2.90,0.00,0.000,6,0.000,0.085,2688,2225,3632,0,0,0,0,0,0
$GC,8154,-1.44,-146.0,687.9,-7.8,666,8159,0.00,3.03,0.00,0.000,4,0.000,0.122,2688,3797,3632,0,0,0,0,0,0
$GC,8194,-1.44,-146.0,691.2,-7.7,667,8199,0.00,2.95,0.00,0.000,6,0.000,0.101,2688,2224,3632,0,0,0,0,0,0
$GC,8477,-1.44,-146.0,712.1,-7.2,674,8482,0.00,3.05,0.00,0.000,4,0.000,0.121,2688,3797,3631,0,0,0,0,0,0
$GC,8511,-1.44,-146.0,714.7,-7.6,674,8517,0.00,3.00,0.00,0.000,6,0.000,0.113,2688,2237,3631,0,0,0,0,0,0
$GC,8761,-1.44,-146.0,731.6,-6.6,681,8766,0.00,3.12,0.00,0.000,4,0.000,0.137,2687,3799,3630,0,0,0,0,0,0
$GC,8805,-1.44,-146.0,734.8,-7.4,682,8810,0.00,3.05,0.00,0.000,6,0.000,0.125,2688,2240,3630,0,0,0,0,0,0
$GC,9085,-1.44,-146.0,752.4,-6.3,689,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2240,3629,0,0,0,0,0,0
$GC,9327,-1.44,-146.0,769.5,-7.3,695,9332,0.00,3.25,0.00,0.000,4,0.000,0.160,2688,3794,3628,0,0,0,0,0,0
$GC,9349,-1.44,-146.0,771.2,-7.5,695,9354,0.00,3.17,0.00,0.000,6,0.000,0.147,2688,2250,3627,0,0,0,0,0,0
$GC,9604,-1.44,-146.0,789.8,-7.2,702,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2250,3627,0,0,0,0,0,0
$STATE,9764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9764,begin apogee
$GC,9771,-0.31,0.0,801.0,6.9,706,9896,1.10,0.00,120.97,1.167,6,0.070,0.000,2937,2365,3060,0,0,0,0,0,0
$STATE,9897,end apogee,CONTROL_FINISHED_OK
$STATE,9897,begin climb
$GC,9899,1.28,146.0,803.2,0.0,709,10040,1.42,3.53,129.55,1.141,4,0.036,0.173,3288,3938,2462,0,0,0,0,0,0
$GC,10068,1.12,146.0,789.6,13.8,713,10074,0.20,3.38,0.00,0.000,6,0.104,0.156,3249,2366,2459,0,0,0,0,0,0
$GC,10347,1.06,146.0,759.3,10.8,720,10348,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2366,2453,0,0,0,0,0,0
$GC,10592,1.00,146.0,733.0,10.7,726,10598,0.12,3.17,0.00,0.000,4,0.127,0.136,3223,3941,2451,0,0,0,0,0,0
$GC,10642,1.00,146.0,727.2,10.9,727,10647,0.00,3.05,0.00,0.000,6,0.000,0.117,3224,2373,2450,0,0,0,0,0,0
$GC,10916,1.02,161.8,701.7,9.3,734,10935,0.00,3.12,13.50,1.012,4,0.000,0.114,3224,3945,2399,0,0,0,0,0,0
$GC,10960,1.02,161.8,697.1,11.1,735,10965,0.00,2.97,0.00,0.000,6,0.000,0.100,3224,2375,2398,0,0,0,0,0,0
$GC,11243,1.03,171.2,669.6,9.6,742,11255,0.00,0.00,9.75,0.959,6,0.000,0.000,3224,2376,2362,0,0,0,0,0,0
$GC,11488,1.04,174.8,645.8,9.9,748,11499,0.00,3.10,4.80,0.759,4,0.000,0.117,3223,779,2347,0,0,0,0,0,0
$GC,11532,1.04,174.8,640.8,11.1,749,11537,0.00,2.88,0.00,0.000,6,0.000,0.070,3224,2393,2346,0,0,0,0,0,0
$GC,11810,1.04,174.8,612.0,10.2,756,11811,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2393,2346,0,0,0,0,0,0
$GC,12059,1.07,198.8,589.4,8.9,768,12088,0.00,2.83,23.42,1.004,4,0.000,0.081,3223,3941,2249,0,0,0,0,0,0
$GC,12115,1.07,200.6,584.2,9.9,772,12120,0.00,2.70,0.00,0.000,6,0.000,0.048,3224,2380,2248,0,0,0,0,0,0
$GC,12384,1.08,211.8,559.4,9.5,796,12405,0.00,2.80,13.12,0.943,4,0.000,0.068,3223,3935,2195,0,0,0,0,0,0
$GC,12429,1.08,211.8,554.0,11.0,800,12433,0.00,2.67,0.00,0.000,6,0.000,0.048,3223,2383,2194,0,0,0,0,0,0
$GC,12693,1.09,220.8,528.0,9.6,824,12712,0.00,0.00,9.60,0.882,6,0.000,0.000,3224,2383,2159,0,0,0,0,0,0
$GC,12969,1.10,226.5,500.6,9.8,850,12983,0.00,3.12,6.65,0.801,4,0.000,0.109,3224,777,2136,0,0,0,0,0,0
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$STATE,17584,end climb,SURFACE_DEPTH_REACHED
$STATE,17584,begin surface coast
$FINISH,-0.2,1.010887
$STATE,17650,end surface coast,CONTROL_FINISHED_OK
$STATE,17650,begin surface
$SM_CCo,17671,100.00,0.519,0,0,1510,380.21
$SM_GC,0.57,0.00,0.00,100.00,0.000,0.000,0.519,457,2185,1510,-11.72,-0.68,380.21
$IRIDIUM_FIX,2239.35,-15802.37,230703,151541
$TT8_MAMPS,0.026078
$HUMID,60.43
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.70
$XPDR_PINGS,42
$24V_AH,23.2,42.361
$10V_AH,9.9,49.596
$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,28.300,235.650,368.500,100.000,0.000,26.071,35.671,277.621,10.500,0.000,13.684,2324.930,10255.992,643.689,4170.587,879.208,33.366,1998.515,0.000,4186.085,0.000,0.534,0.000
$DEVICE_MAMPS,176.410,172.575,1166.607,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,887.335,939.906,1222.082,1330.605,2532.762,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355380
$DATA_FILE_SIZE,108042,1290
$CAP_FILE_SIZE,197169,0
$CFSIZE,260165632,158593024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290414,010206,2249.339,-15806.864,32,0.9,32,10.1