version: 66.06
glider: 146
mission: 9
dive: 303
start: 5 5 114 9 23 51
data:
$ID,146
$MISSION,9
$DIVE,303
$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,-330214.88
$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,2996
$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,57
$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
$GPS1,085421,2243.708,-15737.049,36,3.1,55,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-69.9
$GPS2,092257,2243.740,-15737.267,12,5.0,31,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.006,0.260
$KALMAN_X,-245410.5,-14.6,-471.7,277159.8,322.6
$KALMAN_Y,7860.9,116.6,-219.5,-18025.4,1176.2
$MHEAD_RNG_PITCHd_Wd,351.2,40292,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,113,0.00,0.00,-86.55,0.000,6,0.000,0.000,462,2182,3656,0,0,0,0,0,0
$GC,116,-1.28,-146.0,5.0,-12.8,12,133,12.43,2.55,0.00,0.000,4,0.166,0.025,2709,3793,3657,0,0,0,0,0,0
$GC,269,-1.14,-146.0,36.8,-14.4,31,274,0.17,2.47,0.00,0.000,6,0.112,0.022,2744,2225,3658,0,0,0,0,0,0
$GC,537,-1.07,-146.0,68.8,-11.8,55,541,0.00,2.62,0.00,0.000,4,0.000,0.047,2743,630,3658,0,0,0,0,0,0
$GC,610,-1.03,-146.0,78.0,-12.7,60,615,0.12,2.45,0.00,0.000,6,0.114,0.018,2770,2213,3658,0,0,0,0,0,0
$GC,873,-1.03,-146.0,105.7,-9.9,84,877,0.00,2.58,0.00,0.000,4,0.000,0.044,2770,636,3658,0,0,0,0,0,0
$GC,895,-1.03,-146.0,107.5,-9.8,85,899,0.00,2.38,0.00,0.000,6,0.000,0.017,2770,2196,3658,0,0,0,0,0,0
$GC,1161,-1.03,-146.0,132.7,-8.9,109,1165,0.00,2.53,0.00,0.000,4,0.000,0.034,2770,3778,3659,0,0,0,0,0,0
$GC,1227,-1.10,-146.0,138.7,-8.7,114,1231,0.00,2.47,0.00,0.000,6,0.000,0.021,2770,2179,3658,0,0,0,0,0,0
$GC,1491,-1.10,-146.0,158.4,-7.2,138,1495,0.00,2.53,0.00,0.000,4,0.000,0.034,2770,3768,3659,0,0,0,0,0,0
$GC,1537,-1.17,-146.0,162.2,-7.4,141,1544,0.12,2.45,0.00,0.000,6,0.066,0.020,2718,2200,3659,0,0,0,0,0,0
$GC,1802,-1.11,-146.0,185.1,-9.0,166,1812,0.17,0.00,0.00,0.000,6,0.091,0.000,2756,2200,3658,0,0,0,0,0,0
$GC,2067,-1.11,-146.0,208.0,-8.1,191,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2200,3658,0,0,0,0,0,0
$GC,2328,-1.14,-146.0,230.7,-8.7,216,2333,0.00,2.53,0.00,0.000,4,0.000,0.038,2756,3769,3658,0,0,0,0,0,0
$GC,2385,-1.21,-146.0,235.5,-8.8,220,2390,0.10,2.42,0.00,0.000,6,0.079,0.021,2708,2207,3658,0,0,0,0,0,0
$GC,2650,-1.17,-146.0,259.6,-9.1,244,2655,0.15,2.62,0.00,0.000,4,0.095,0.058,2740,638,3657,0,0,0,0,0,0
$GC,2683,-1.17,-146.0,262.9,-8.0,246,2693,0.00,2.45,0.00,0.000,6,0.000,0.025,2739,2188,3657,0,0,0,0,0,0
$GC,2952,-1.21,-146.0,283.6,-7.6,271,2956,0.00,2.58,0.00,0.000,4,0.000,0.042,2740,3782,3656,0,0,0,0,0,0
$GC,2996,-1.25,-146.0,287.3,-8.4,274,3000,0.00,2.50,0.00,0.000,6,0.000,0.024,2740,2203,3656,0,0,0,0,0,0
$GC,3264,-1.30,-146.0,305.8,-6.9,298,3269,0.12,2.60,0.00,0.000,4,0.065,0.044,2688,3786,3655,0,0,0,0,0,0
$GC,3293,-1.25,-146.0,308.7,-8.6,300,3299,0.15,2.50,0.00,0.000,6,0.091,0.025,2723,2203,3655,0,0,0,0,0,0
$GC,3554,-1.25,-146.0,328.9,-8.1,324,3558,0.00,2.70,0.00,0.000,4,0.000,0.068,2723,629,3653,0,0,0,0,0,0
$GC,3609,-1.25,-146.0,333.6,-9.2,328,3614,0.00,2.53,0.00,0.000,6,0.000,0.035,2723,2200,3653,0,0,0,0,0,0
$GC,3878,-1.25,-146.0,356.9,-8.8,352,3882,0.00,2.60,0.00,0.000,4,0.000,0.051,2723,3790,3651,0,0,0,0,0,0
$GC,3910,-1.25,-146.0,360.7,-9.9,354,3920,0.00,2.55,0.00,0.000,6,0.000,0.028,2723,2220,3650,0,0,0,0,0,0
$GC,4179,-1.25,-146.0,382.7,-8.4,379,4183,0.00,2.78,0.00,0.000,4,0.000,0.074,2723,621,3649,0,0,0,0,0,0
$GC,4236,-1.29,-146.0,388.4,-8.9,383,4241,0.00,2.55,0.00,0.000,6,0.000,0.032,2723,2201,3648,0,0,0,0,0,0
$GC,4500,-1.29,-146.0,411.2,-8.4,408,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2201,3647,0,0,0,0,0,0
$GC,4765,-1.29,-146.0,431.3,-6.8,433,4770,0.00,2.67,0.00,0.000,4,0.000,0.055,2723,3796,3645,0,0,0,0,0,0
$GC,4819,-1.34,-146.0,435.3,-7.0,437,4824,0.00,2.58,0.00,0.000,6,0.000,0.035,2723,2205,3644,0,0,0,0,0,0
$GC,5083,-1.38,-146.0,452.6,-7.1,461,5088,0.12,2.85,0.00,0.000,4,0.067,0.094,2671,630,3643,0,0,0,0,0,0
$GC,5130,-1.33,-146.0,457.0,-9.5,464,5137,0.15,2.58,0.00,0.000,6,0.095,0.046,2703,2194,3643,0,0,0,0,0,0
$GC,5393,-1.33,-146.0,478.1,-8.4,489,5398,0.00,2.72,0.00,0.000,4,0.000,0.061,2704,3802,3641,0,0,0,0,0,0
$GC,5459,-1.33,-146.0,484.1,-8.6,494,5464,0.00,2.65,0.00,0.000,6,0.000,0.049,2704,2205,3641,0,0,0,0,0,0
$GC,5722,-1.33,-146.0,505.3,-7.8,518,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2205,3639,0,0,0,0,0,0
$GC,5976,-1.33,-146.0,524.1,-7.3,542,5981,0.00,2.72,0.00,0.000,4,0.000,0.064,2704,3792,3637,0,0,0,0,0,0
$GC,6017,-1.33,-146.0,527.3,-8.1,545,6021,0.00,2.65,0.00,0.000,6,0.000,0.051,2704,2222,3637,0,0,0,0,0,0
$GC,6279,-1.33,-146.0,546.1,-7.4,569,6284,0.00,2.70,0.00,0.000,4,0.000,0.070,2704,3790,3635,0,0,0,0,0,0
$GC,6300,-1.33,-146.0,548.0,-7.9,570,6310,0.00,2.70,0.00,0.000,6,0.000,0.056,2704,2220,3635,0,0,0,0,0,0
$GC,6567,-1.33,-146.0,566.9,-6.9,595,6571,0.00,3.05,0.00,0.000,4,0.000,0.120,2704,617,3633,0,0,0,0,0,0
$GC,6601,-1.33,-146.0,569.9,-7.8,597,6610,0.00,2.75,0.00,0.000,6,0.000,0.056,2704,2215,3633,0,0,0,0,0,0
$GC,6867,-1.33,-146.0,588.4,-6.9,622,6872,0.00,2.83,0.00,0.000,4,0.000,0.090,2704,3796,3632,0,0,0,0,0,0
$GC,6910,-1.33,-146.0,591.9,-7.9,625,6915,0.00,2.70,0.00,0.000,6,0.000,0.062,2704,2215,3632,0,0,0,0,0,0
$GC,7187,-1.33,-146.0,612.0,-7.2,639,7192,0.00,2.97,0.00,0.000,4,0.000,0.114,2704,617,3630,0,0,0,0,0,0
$GC,7206,-1.33,-146.0,613.4,-7.1,639,7211,0.00,2.78,0.00,0.000,6,0.000,0.066,2704,2222,3630,0,0,0,0,0,0
$GC,7468,-1.33,-146.0,632.3,-7.2,646,7473,0.00,2.88,0.00,0.000,4,0.000,0.100,2704,3797,3629,0,0,0,0,0,0
$GC,7489,-1.33,-146.0,634.1,-7.8,646,7494,0.00,2.78,0.00,0.000,6,0.000,0.083,2704,2223,3629,0,0,0,0,0,0
$GC,7745,-1.33,-146.0,651.9,-7.0,653,7749,0.00,2.88,0.00,0.000,4,0.000,0.099,2703,3797,3627,0,0,0,0,0,0
$GC,7788,-1.33,-146.0,655.2,-7.9,654,7793,0.00,2.85,0.00,0.000,6,0.000,0.087,2704,2230,3627,0,0,0,0,0,0
$GC,8068,-1.33,-146.0,674.7,-7.0,661,8073,0.00,2.95,0.00,0.000,4,0.000,0.109,2704,3797,3626,0,0,0,0,0,0
$GC,8107,-1.33,-146.0,677.6,-7.4,662,8112,0.00,2.90,0.00,0.000,6,0.000,0.098,2704,2226,3626,0,0,0,0,0,0
$GC,8392,-1.33,-146.0,696.4,-6.5,669,8397,0.00,3.00,0.00,0.000,4,0.000,0.119,2704,3800,3624,0,0,0,0,0,0
$GC,8419,-1.33,-146.0,698.4,-6.6,669,8424,0.00,2.95,0.00,0.000,6,0.000,0.107,2704,2239,3624,0,0,0,0,0,0
$GC,8669,-1.33,-146.0,712.9,-5.7,675,8674,0.00,3.03,0.00,0.000,4,0.000,0.127,2704,3797,3623,0,0,0,0,0,0
$GC,8710,-1.33,-146.0,715.4,-6.4,676,8715,0.00,2.97,0.00,0.000,6,0.000,0.114,2704,2249,3623,0,0,0,0,0,0
$GC,8994,-1.33,-146.0,731.4,-5.5,683,8999,0.00,3.40,0.00,0.000,4,0.000,0.165,2704,621,3621,0,0,0,0,0,0
$GC,9021,-1.33,-146.0,733.0,-6.0,683,9026,0.00,3.12,0.00,0.000,6,0.000,0.114,2704,2255,3621,0,0,0,0,0,0
$GC,9273,-1.37,-146.0,746.7,-5.5,689,9278,0.00,3.17,0.00,0.000,4,0.000,0.154,2704,3799,3621,0,0,0,0,0,0
$GC,9317,-1.37,-146.0,749.7,-6.8,690,9322,0.00,3.05,0.00,0.000,6,0.000,0.133,2704,2264,3621,0,0,0,0,0,0
$GC,9595,-1.42,-146.0,766.1,-6.0,697,9600,0.00,3.20,0.00,0.000,4,0.000,0.154,2704,3805,3620,0,0,0,0,0,0
$GC,9630,-1.42,-146.0,768.5,-7.3,697,9635,0.00,3.12,0.00,0.000,6,0.000,0.143,2704,2272,3620,0,0,0,0,0,0
$GC,9880,-1.46,-146.0,783.6,-6.0,704,9882,0.12,0.00,0.00,0.000,6,0.068,0.000,2660,2272,3619,0,0,0,0,0,0
$STATE,10121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10121,begin apogee
$GC,10127,-0.31,0.0,801.1,7.2,710,10250,1.20,0.00,119.50,1.176,6,0.073,0.000,2928,2370,3060,0,0,0,0,0,0
$STATE,10251,end apogee,CONTROL_FINISHED_OK
$STATE,10251,begin climb
$GC,10255,1.28,146.0,803.1,0.0,713,10396,1.42,3.55,129.88,1.150,4,0.035,0.174,3279,3934,2462,0,0,0,0,0,0
$GC,10431,1.14,146.0,790.1,12.5,717,10437,0.17,3.33,0.00,0.000,6,0.108,0.157,3243,2373,2458,0,0,1,0,0,0
$GC,10705,1.10,147.0,762.3,10.0,724,10710,0.00,3.25,0.00,0.000,4,0.000,0.154,3243,3939,2453,0,0,0,0,0,0
$GC,10734,1.03,147.0,759.0,12.1,724,10740,0.12,3.20,0.00,0.000,6,0.123,0.137,3219,2375,2452,0,0,0,0,0,0
$GC,10984,1.06,175.7,736.4,8.7,730,11018,0.00,3.30,26.60,1.082,4,0.000,0.135,3219,3944,2342,0,0,0,0,0,0
$GC,11030,1.10,204.6,732.3,8.7,731,11068,0.00,3.12,28.05,1.075,6,0.000,0.120,3219,2376,2225,0,0,0,0,0,0
$GC,11312,1.11,215.1,705.3,9.5,738,11328,0.00,3.30,10.35,0.979,4,0.000,0.144,3218,775,2182,0,0,0,0,0,0
$GC,11367,1.12,221.0,699.5,9.8,739,11382,0.00,3.03,6.85,0.887,6,0.000,0.104,3219,2380,2159,0,0,0,0,0,0
$GC,11639,1.12,223.7,672.9,9.9,746,11640,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2381,2156,0,0,0,0,0,0
$GC,11882,1.16,223.7,648.1,10.3,752,11883,0.12,0.00,0.00,0.000,6,0.081,0.000,3252,2381,2155,0,0,0,0,0,0
$GC,12125,1.16,223.7,620.4,11.3,758,12129,0.00,3.00,0.00,0.000,4,0.000,0.101,3252,775,2154,0,0,0,0,0,0
$GC,12142,1.12,223.7,618.5,11.4,758,12147,0.00,2.78,0.00,0.000,6,0.000,0.062,3252,2369,2153,0,0,0,0,0,0
$GC,12396,1.12,223.7,590.3,10.6,770,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2370,2153,0,0,0,0,0,0
$GC,12650,1.12,223.7,563.2,10.4,794,12652,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2370,2153,0,0,0,0,0,0
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$STATE,17762,end climb,SURFACE_DEPTH_REACHED
$STATE,17762,begin surface coast
$FINISH,-0.0,1.023506
$STATE,17811,end surface coast,CONTROL_FINISHED_OK
$STATE,17811,begin surface
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$HUMID,64.01
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$TCM_TEMP,21.40
$XPDR_PINGS,70
$24V_AH,23.2,47.683
$10V_AH,9.8,56.737
$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
$DEVICE_SECS,28.775,263.875,418.575,48.300,0.000,56.872,71.201,1311.723,17.500,0.000,34.159,2326.115,10453.185,618.512,4159.204,2021.265,33.365,2002.293,0.000,4166.978,0.000,0.535,0.000
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$SENSOR_SECS,875.142,917.857,1198.329,1289.693,2454.985,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,104726,1270
$CAP_FILE_SIZE,222347,0
$CFSIZE,260165632,155607040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050514,142305,2246.157,-15737.447,29,1.6,29,10.1