version: 66.06
glider: 146
mission: 9
dive: 63
start: 3 21 114 21 32 51
data:
$ID,146
$MISSION,9
$DIVE,63
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,200
$T_MISSION,440
$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,-324595.28
$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,40
$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
$GPS1,212036,2238.857,-15737.646,38,0.9,38,10.1
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-70.5
$GPS2,213155,2238.945,-15737.813,10,1.2,10,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.053,0.254
$KALMAN_X,-48820.3,214.2,-151.2,79085.6,-322.2
$KALMAN_Y,37177.7,-292.4,313.9,-56350.0,748.0
$MHEAD_RNG_PITCHd_Wd,1.7,49219,-17.5,-10.000
$D_GRID,600
$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,-1.27,-145.9,0.0,0.0,0,111,0.00,0.00,-89.30,0.000,6,0.000,0.000,466,2195,3652,0,0,0,0,0,0
$GC,114,-1.27,-145.9,4.1,-10.2,12,131,11.65,2.58,0.00,0.000,4,0.139,0.030,2719,3789,3653,0,0,0,0,0,0
$GC,149,-0.24,-145.9,17.5,-38.9,16,157,1.02,2.55,0.00,0.000,6,0.078,0.023,2948,2211,3654,0,0,0,0,0,0
$GC,462,-0.80,-146.0,35.3,-6.4,58,471,0.47,0.00,0.00,0.000,6,0.057,0.000,2826,2212,3655,0,0,0,0,0,0
$GC,730,-0.91,-146.0,55.5,-8.0,83,734,0.00,2.60,0.00,0.000,4,0.000,0.048,2826,638,3655,0,0,0,0,0,0
$GC,777,-1.04,-146.0,59.2,-7.7,86,782,0.20,2.45,0.00,0.000,6,0.051,0.018,2758,2225,3654,0,0,0,0,0,0
$GC,1040,-1.00,-146.0,87.8,-11.7,110,1042,0.12,0.00,0.00,0.000,6,0.103,0.000,2785,2225,3655,0,0,0,0,0,0
$GC,1295,-1.00,-146.0,113.8,-9.8,134,1300,0.00,2.50,0.00,0.000,4,0.000,0.036,2785,3779,3655,0,0,0,0,0,0
$GC,1341,-1.07,-146.0,118.4,-10.4,137,1346,0.00,2.47,0.00,0.000,6,0.000,0.021,2785,2200,3655,0,0,0,0,0,0
$GC,1610,-1.13,-146.0,141.5,-7.9,161,1615,0.12,2.58,0.00,0.000,4,0.067,0.046,2734,632,3655,0,0,0,0,0,0
$GC,1633,-1.13,-146.0,144.2,-9.1,162,1642,0.00,2.50,0.00,0.000,6,0.000,0.020,2735,2225,3656,0,0,0,0,0,0
$GC,1900,-1.13,-146.0,170.9,-9.5,187,1905,0.10,2.50,0.00,0.000,4,0.111,0.037,2758,3774,3656,0,0,0,0,0,0
$GC,1944,-1.13,-146.0,175.6,-9.7,190,1948,0.00,2.45,0.00,0.000,6,0.000,0.020,2758,2212,3656,0,0,0,0,0,0
$GC,2210,-1.13,-146.0,200.5,-10.1,214,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2213,3656,0,0,0,0,0,0
$GC,2450,-1.13,-146.0,224.1,-9.6,220,2454,0.00,2.53,0.00,0.000,4,0.000,0.038,2758,3775,3656,0,0,0,0,0,0
$GC,2490,-1.19,-146.0,227.9,-9.5,221,2494,0.00,2.45,0.00,0.000,6,0.000,0.021,2758,2218,3656,0,0,0,0,0,0
$GC,2773,-1.24,-146.0,253.8,-9.2,228,2778,0.10,2.62,0.00,0.000,4,0.081,0.053,2715,637,3656,0,0,0,0,0,0
$GC,2835,-1.24,-146.0,260.8,-11.0,229,2840,0.00,2.47,0.00,0.000,6,0.000,0.024,2715,2211,3656,0,0,0,0,0,0
$GC,3097,-1.24,-146.0,287.0,-9.6,236,3101,0.00,2.60,0.00,0.000,4,0.000,0.053,2715,643,3656,0,0,0,0,0,0
$GC,3147,-1.24,-146.0,291.7,-9.2,237,3152,0.00,2.45,0.00,0.000,6,0.000,0.034,2715,2199,3656,0,0,0,0,0,0
$GC,3420,-1.24,-146.0,313.2,-7.8,244,3424,0.00,2.62,0.00,0.000,4,0.000,0.060,2715,641,3655,0,0,0,0,0,0
$GC,3441,-1.24,-146.0,315.3,-9.2,244,3445,0.00,2.50,0.00,0.000,6,0.000,0.029,2715,2200,3655,0,0,0,0,0,0
$GC,3698,-1.24,-146.0,337.5,-8.4,251,3702,0.00,2.62,0.00,0.000,4,0.000,0.050,2715,3793,3654,0,0,0,0,0,0
$GC,3786,-1.24,-146.0,345.0,-7.7,253,3791,0.00,2.53,0.00,0.000,6,0.000,0.028,2715,2218,3654,0,0,0,0,0,0
$GC,4064,-1.24,-146.0,365.4,-7.5,260,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2218,3652,0,0,0,0,0,0
$GC,4310,-1.24,-146.0,383.8,-7.7,266,4314,0.00,2.80,0.00,0.000,4,0.000,0.080,2715,628,3651,0,0,0,0,0,0
$GC,4364,-1.24,-146.0,389.2,-9.6,267,4369,0.00,2.55,0.00,0.000,6,0.000,0.038,2715,2197,3651,0,0,0,0,0,0
$GC,4631,-1.24,-146.0,413.7,-9.0,274,4635,0.00,2.72,0.00,0.000,4,0.000,0.064,2715,3798,3649,0,0,0,0,0,0
$GC,4736,-1.24,-146.0,423.1,-8.3,276,4741,0.00,2.62,0.00,0.000,6,0.000,0.039,2715,2217,3648,0,0,0,0,0,0
$GC,4997,-1.24,-146.0,442.5,-7.2,283,5001,0.00,2.67,0.00,0.000,4,0.000,0.059,2715,3792,3646,0,0,0,0,0,0
$GC,5030,-1.24,-146.0,445.1,-7.7,283,5036,0.00,2.62,0.00,0.000,6,0.000,0.048,2715,2219,3646,0,0,0,0,0,0
$GC,5280,-1.24,-146.0,462.6,-7.0,290,5285,0.00,2.70,0.00,0.000,4,0.000,0.068,2715,3791,3644,0,0,0,0,0,0
$GC,5330,-1.28,-146.0,466.5,-7.6,291,5335,0.00,2.60,0.00,0.000,6,0.000,0.048,2715,2232,3644,0,0,0,0,0,0
$GC,5604,-1.28,-146.0,485.8,-6.9,298,5609,0.00,2.97,0.00,0.000,4,0.000,0.106,2715,626,3643,0,0,0,0,0,0
$GC,5654,-1.33,-146.0,489.7,-7.7,299,5659,0.00,2.67,0.00,0.000,6,0.000,0.048,2715,2220,3642,0,0,0,0,0,0
$GC,5927,-1.36,-146.0,508.9,-7.3,306,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2220,3640,0,0,0,0,0,0
$GC,6171,-1.41,-146.0,528.0,-7.8,312,6176,0.00,2.78,0.00,0.000,4,0.000,0.077,2715,3801,3639,0,0,0,0,0,0
$GC,6204,-1.45,-146.0,530.9,-8.7,312,6210,0.12,2.67,0.00,0.000,6,0.073,0.052,2671,2216,3639,0,0,0,0,0,0
$GC,6456,-1.41,-146.0,552.2,-8.3,319,6458,0.12,0.00,0.00,0.000,6,0.108,0.000,2697,2216,3637,0,0,0,0,0,0
$GC,6698,-1.41,-146.0,569.6,-7.1,325,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2216,3635,0,0,0,0,0,0
$GC,6942,-1.41,-146.0,586.9,-7.1,331,6946,0.00,2.85,0.00,0.000,4,0.000,0.090,2698,3797,3634,0,0,0,0,0,0
$GC,7015,-1.41,-146.0,592.9,-8.3,332,7020,0.00,2.72,0.00,0.000,6,0.000,0.067,2698,2230,3634,0,0,0,0,0,0
$STATE,7140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7140,begin apogee
$GC,7148,-0.31,0.0,602.9,7.8,335,7268,1.05,0.00,117.12,1.023,6,0.072,0.000,2935,2378,3060,0,0,0,0,0,0
$STATE,7270,end apogee,CONTROL_FINISHED_OK
$STATE,7271,begin climb
$GC,7273,1.27,146.0,605.4,0.0,338,7407,1.45,2.88,124.32,0.995,4,0.037,0.092,3291,3928,2462,0,0,0,0,0,0
$GC,7446,1.10,146.0,593.2,13.1,342,7451,0.22,2.75,0.00,0.000,6,0.106,0.063,3245,2370,2458,0,0,0,0,0,0
$GC,7719,1.07,152.9,566.6,9.7,349,7730,0.00,2.83,5.88,0.749,4,0.000,0.073,3245,3932,2435,0,0,0,0,0,0
$GC,7822,1.01,152.9,554.9,11.8,351,7828,0.10,2.70,0.00,0.000,6,0.137,0.051,3226,2377,2434,0,0,0,0,0,0
$GC,8089,1.01,152.9,527.6,10.2,358,8094,0.00,3.05,0.00,0.000,4,0.000,0.114,3226,779,2432,0,0,0,0,0,0
$GC,8163,1.01,152.9,519.8,10.5,359,8168,0.00,2.70,0.00,0.000,6,0.000,0.050,3226,2375,2431,0,0,0,0,0,0
$GC,8413,1.01,152.9,494.0,10.4,365,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2376,2430,0,0,0,0,0,0
$GC,8657,1.01,154.5,469.6,9.9,371,8661,0.00,2.83,0.00,0.000,4,0.000,0.073,3226,775,2429,0,0,0,0,0,0
$GC,8683,1.02,159.9,467.0,9.7,371,8695,0.00,2.65,6.32,0.763,6,0.000,0.042,3226,2371,2409,0,0,0,0,0,0
$GC,8940,1.06,192.7,445.0,8.5,378,8973,0.00,0.00,31.02,0.915,6,0.000,0.000,3226,2371,2273,0,0,0,0,0,0
$GC,9182,1.09,216.8,423.1,8.9,384,9211,0.00,2.78,22.17,0.885,4,0.000,0.059,3226,3933,2175,0,0,0,0,0,0
$GC,9264,1.10,224.2,415.5,9.7,385,9278,0.00,2.62,7.72,0.765,6,0.000,0.039,3226,2361,2146,0,0,0,0,0,0
$GC,9559,1.16,244.5,389.1,9.1,393,9584,0.12,2.75,18.75,0.855,4,0.079,0.051,3261,3937,2062,0,0,0,0,0,0
$GC,9624,1.16,244.5,381.2,12.8,394,9628,0.00,2.60,0.00,0.000,6,0.000,0.037,3261,2380,2060,0,0,0,0,0,0
$GC,9884,1.16,244.5,350.4,11.5,401,9889,0.00,2.78,0.00,0.000,4,0.000,0.066,3261,779,2059,0,0,0,0,0,0
$GC,9916,1.16,244.5,346.7,11.6,401,9922,0.00,2.60,0.00,0.000,6,0.000,0.035,3261,2389,2057,0,0,0,0,0,0
$GC,10166,1.16,244.5,320.5,10.4,408,10171,0.00,2.60,0.00,0.000,4,0.000,0.051,3261,3930,2057,0,0,0,0,0,0
$GC,10189,1.16,244.5,317.9,10.7,408,10194,0.00,2.53,0.00,0.000,6,0.000,0.033,3261,2372,2056,0,0,0,0,0,0
$GC,10444,1.16,244.5,290.9,10.6,415,10448,0.00,2.67,0.00,0.000,4,0.000,0.058,3261,788,2056,0,0,0,0,0,0
$GC,10470,1.16,244.5,287.7,11.4,415,10475,0.00,2.58,0.00,0.000,6,0.000,0.027,3261,2389,2055,0,0,0,0,0,0
$GC,10721,1.16,244.5,260.3,11.0,421,10726,0.00,2.58,0.00,0.000,4,0.000,0.049,3261,3924,2055,0,0,0,0,0,0
$GC,10748,1.16,244.5,257.0,11.7,421,10752,0.00,2.50,0.00,0.000,6,0.000,0.027,3261,2376,2054,0,0,0,0,0,0
$GC,11004,1.16,244.5,230.4,10.3,428,11008,0.00,2.62,0.00,0.000,4,0.000,0.048,3262,3931,2055,0,0,0,0,0,0
$GC,11020,1.16,244.5,228.6,10.2,428,11025,0.00,2.53,0.00,0.000,6,0.000,0.027,3261,2374,2054,0,0,0,0,0,0
$GC,11281,1.18,253.2,203.3,9.6,435,11296,0.00,2.70,7.95,0.644,4,0.000,0.051,3261,792,2027,0,0,0,0,0,0
$GC,11302,1.18,253.2,201.1,10.7,435,11306,0.00,2.55,0.00,0.000,6,0.000,0.025,3261,2391,2026,0,0,0,0,0,0
$GC,11566,1.21,253.2,175.1,10.4,459,11571,0.00,2.53,0.00,0.000,4,0.000,0.046,3261,3924,2026,0,0,0,0,0,0
$GC,11607,1.21,253.2,170.5,10.8,462,11611,0.00,2.47,0.00,0.000,6,0.000,0.025,3261,2388,2026,0,0,0,0,0,0
$GC,11871,1.27,258.9,144.0,9.7,486,11884,0.00,2.60,6.62,0.558,4,0.000,0.044,3261,3938,2004,0,0,0,0,0,0
$GC,11901,1.31,258.9,140.6,10.1,488,11911,0.08,2.50,0.00,0.000,6,0.048,0.025,3294,2402,2003,0,0,0,0,0,0
$GC,12166,1.32,270.7,113.5,9.5,513,12191,0.00,2.75,12.07,0.593,4,0.000,0.047,3294,786,1955,0,0,0,0,0,0
$GC,12196,1.32,270.7,110.0,10.4,515,12202,0.00,2.55,0.00,0.000,6,0.000,0.021,3294,2395,1954,0,0,0,0,0,0
$GC,12460,1.32,270.7,83.8,10.9,540,12464,0.00,2.53,0.00,0.000,4,0.000,0.044,3294,3927,1954,0,0,0,0,0,0
$GC,12529,1.32,270.7,76.0,11.8,545,12533,0.00,2.45,0.00,0.000,6,0.000,0.025,3294,2395,1954,0,0,0,0,0,0
$GC,12796,1.32,270.7,46.3,11.6,569,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2395,1954,0,0,0,0,0,0
$GC,13093,1.32,270.7,13.2,10.3,605,13102,0.00,2.55,0.00,0.000,4,0.000,0.044,3294,3917,1954,0,0,0,0,0,0
$GC,13133,1.32,270.7,8.8,11.2,610,13142,0.00,2.42,0.00,0.000,6,0.000,0.027,3294,2418,1954,0,0,0,0,0,0
$STATE,13177,end climb,SURFACE_DEPTH_REACHED
$STATE,13177,begin surface coast
$FINISH,-0.4,1.008541
$STATE,13226,end surface coast,CONTROL_FINISHED_OK
$STATE,13227,begin surface
$SM_CCo,13249,88.05,0.526,0,0,1510,380.21
$SM_GC,0.27,0.00,0.00,88.05,0.000,0.000,0.526,464,2169,1510,-11.68,-1.16,380.21
$IRIDIUM_FIX,2230.01,-15735.92,150603,212135
$TT8_MAMPS,0.025311
$HUMID,59.45
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,19
$24V_AH,23.3,9.083
$10V_AH,10.4,7.928
$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,28.350,178.850,359.975,88.050,0.000,60.558,71.019,340.545,4.750,0.000,12.364,1302.502,8968.131,592.142,2329.363,823.828,33.356,1462.515,0.000,2334.050,0.000,0.535,0.000
$DEVICE_MAMPS,138.827,113.516,1023.178,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,423.130,365.895,457.717,703.413,1338.602,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,47778,623
$CAP_FILE_SIZE,142308,0
$CFSIZE,260165632,176144384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220314,011653,2241.123,-15738.219,46,1.1,63,10.1