version: 66.06
glider: 146
mission: 9
dive: 161
start: 4 6 114 12 40 44
data:
$ID,146
$MISSION,9
$DIVE,161
$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,-326948.44
$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,59
$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
$GPS1,122806,2243.543,-15738.409,26,1.4,26,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-72.1
$GPS2,123951,2243.476,-15738.395,11,2.4,30,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.100,0.239
$KALMAN_X,-146491.9,-3.4,-87.3,175919.1,-871.8
$KALMAN_Y,73943.1,-59.8,6.1,-84638.7,-228.8
$MHEAD_RNG_PITCHd_Wd,12.6,40974,-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,16,begin dive
$GC,18,-1.27,-145.9,0.0,0.0,0,113,0.00,0.00,-89.30,0.000,6,0.000,0.000,461,2179,3655,0,0,0,0,0,0
$GC,115,-1.27,-145.9,3.9,-10.2,12,133,12.40,2.58,0.00,0.000,4,0.166,0.024,2718,3794,3656,0,0,0,0,0,0
$GC,151,-0.23,-145.9,17.8,-39.8,16,160,1.05,2.50,0.00,0.000,6,0.077,0.023,2951,2240,3657,0,0,0,0,0,0
$GC,470,-0.80,-146.0,35.0,-6.3,59,475,0.47,2.62,0.00,0.000,4,0.051,0.042,2822,630,3656,0,0,0,0,0,0
$GC,518,-0.91,-146.0,38.5,-7.3,62,522,0.00,2.42,0.00,0.000,6,0.000,0.017,2822,2209,3656,0,0,0,0,0,0
$GC,787,-1.00,-146.0,58.5,-7.3,86,792,0.15,2.53,0.00,0.000,4,0.057,0.035,2760,3774,3657,0,0,0,0,0,0
$GC,820,-1.00,-146.0,61.9,-10.2,88,825,0.12,2.50,0.00,0.000,6,0.095,0.021,2788,2177,3657,0,0,0,0,0,0
$GC,1089,-1.00,-146.0,85.3,-8.6,112,1094,0.00,2.50,0.00,0.000,4,0.000,0.043,2788,633,3657,0,0,0,0,0,0
$GC,1111,-1.03,-146.0,87.5,-8.7,113,1115,0.00,2.40,0.00,0.000,6,0.000,0.017,2788,2203,3657,0,0,0,0,0,0
$GC,1380,-1.09,-146.0,108.6,-7.3,137,1385,0.00,2.50,0.00,0.000,4,0.000,0.034,2788,3769,3658,0,0,0,0,0,0
$GC,1427,-1.17,-146.0,112.2,-7.1,140,1432,0.17,2.45,0.00,0.000,6,0.052,0.019,2721,2190,3658,0,0,0,0,0,0
$GC,1695,-1.09,-146.0,137.6,-10.6,164,1700,0.20,2.53,0.00,0.000,4,0.086,0.043,2765,639,3658,0,0,0,0,0,0
$GC,1766,-1.09,-146.0,144.1,-8.6,169,1770,0.00,2.38,0.00,0.000,6,0.000,0.017,2765,2191,3658,0,0,0,0,0,0
$GC,2034,-1.09,-146.0,166.4,-8.4,193,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2191,3658,0,0,0,0,0,0
$GC,2295,-1.09,-146.0,189.6,-8.0,218,2299,0.00,2.53,0.00,0.000,4,0.000,0.044,2765,643,3659,0,0,0,0,0,0
$GC,2319,-1.14,-146.0,191.4,-7.6,219,2325,0.00,2.38,0.00,0.000,6,0.000,0.018,2765,2182,3658,0,0,0,0,0,0
$GC,2586,-1.18,-146.0,211.9,-7.2,244,2590,0.00,2.55,0.00,0.000,4,0.000,0.037,2765,3772,3658,0,0,0,0,0,0
$GC,2665,-1.25,-146.0,218.2,-7.6,250,2670,0.15,2.50,0.00,0.000,6,0.063,0.019,2707,2177,3659,0,0,0,0,0,0
$GC,2932,-1.20,-146.0,243.6,-9.9,274,2937,0.15,2.58,0.00,0.000,4,0.094,0.051,2741,637,3659,0,0,0,0,0,0
$GC,2965,-1.20,-146.0,247.4,-9.7,276,2974,0.00,2.42,0.00,0.000,6,0.000,0.027,2741,2181,3659,0,0,0,0,0,0
$GC,3232,-1.20,-146.0,271.8,-9.4,301,3237,0.00,2.55,0.00,0.000,4,0.000,0.051,2741,637,3659,0,0,0,0,0,0
$GC,3265,-1.20,-146.0,275.7,-9.8,303,3275,0.00,2.42,0.00,0.000,6,0.000,0.022,2741,2167,3658,0,0,0,0,0,0
$GC,3533,-1.20,-146.0,300.1,-8.7,328,3537,0.00,2.62,0.00,0.000,4,0.000,0.043,2741,3779,3658,0,0,0,0,0,0
$GC,3550,-1.20,-146.0,302.2,-8.8,329,3554,0.00,2.58,0.00,0.000,6,0.000,0.022,2741,2158,3658,0,0,0,0,0,0
$GC,3813,-1.23,-146.0,322.0,-7.3,353,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2158,3657,0,0,0,0,0,0
$GC,4066,-1.27,-146.0,338.6,-6.5,377,4070,0.00,2.70,0.00,0.000,4,0.000,0.046,2741,3786,3656,0,0,0,0,0,0
$GC,4112,-1.33,-146.0,342.0,-8.0,380,4119,0.12,2.58,0.00,0.000,6,0.066,0.027,2690,2173,3656,0,0,0,0,0,0
$GC,4375,-1.28,-146.0,368.3,-11.0,405,4380,0.15,2.70,0.00,0.000,4,0.094,0.048,2723,3779,3655,0,0,0,0,0,0
$GC,4445,-1.33,-146.0,375.9,-10.6,410,4451,0.00,2.62,0.00,0.000,6,0.000,0.032,2723,2171,3654,0,0,0,0,0,0
$GC,4708,-1.33,-146.0,401.5,-10.1,435,4712,0.00,2.70,0.00,0.000,4,0.000,0.081,2723,628,3653,0,0,0,0,0,0
$GC,4741,-1.33,-146.0,404.9,-9.5,437,4747,0.00,2.47,0.00,0.000,6,0.000,0.038,2723,2157,3653,0,0,0,0,0,0
$GC,5006,-1.33,-146.0,425.8,-7.3,462,5010,0.00,2.72,0.00,0.000,4,0.000,0.057,2723,3776,3651,0,0,0,0,0,0
$GC,5063,-1.37,-146.0,430.1,-7.3,466,5068,0.00,2.65,0.00,0.000,6,0.000,0.038,2723,2169,3651,0,0,0,0,0,0
$GC,5327,-1.41,-146.0,446.6,-6.7,491,5333,0.12,0.00,0.00,0.000,6,0.066,0.000,2672,2169,3649,0,0,0,0,0,0
$GC,5592,-1.36,-146.0,468.6,-8.7,516,5597,0.15,2.75,0.00,0.000,4,0.094,0.060,2706,3781,3647,0,0,0,0,0,0
$GC,5622,-1.36,-146.0,471.3,-8.2,518,5626,0.00,2.70,0.00,0.000,6,0.000,0.052,2706,2169,3647,0,0,0,0,0,0
$GC,5884,-1.36,-146.0,491.3,-7.8,542,5889,0.00,2.75,0.00,0.000,4,0.000,0.068,2706,3772,3646,0,0,0,0,0,0
$GC,5937,-1.36,-146.0,495.9,-9.0,546,5942,0.00,2.65,0.00,0.000,6,0.000,0.052,2706,2192,3645,0,0,0,0,0,0
$GC,6200,-1.36,-146.0,517.4,-8.3,570,6205,0.00,2.72,0.00,0.000,4,0.000,0.073,2706,3775,3643,0,0,0,0,0,0
$GC,6224,-1.36,-146.0,519.6,-8.9,571,6230,0.00,2.67,0.00,0.000,6,0.000,0.058,2706,2191,3643,0,0,0,0,0,0
$GC,6487,-1.36,-146.0,541.8,-8.6,596,6491,0.00,2.75,0.00,0.000,4,0.000,0.075,2706,3771,3641,0,0,0,0,0,0
$GC,6533,-1.36,-146.0,546.3,-9.4,599,6539,0.00,2.70,0.00,0.000,6,0.000,0.060,2706,2200,3641,0,0,0,0,0,0
$GC,6796,-1.36,-146.0,570.0,-9.0,624,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2201,3640,0,0,0,0,0,0
$GC,7051,-1.36,-146.0,592.1,-8.0,648,7055,0.00,2.83,0.00,0.000,4,0.000,0.087,2706,3776,3638,0,0,0,0,0,0
$GC,7107,-1.36,-146.0,596.8,-9.9,652,7112,0.00,2.75,0.00,0.000,6,0.000,0.069,2706,2201,3638,0,0,0,0,0,0
$STATE,7148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7148,begin apogee
$GC,7154,-0.31,0.0,600.3,8.4,655,7276,1.00,0.00,118.30,1.008,6,0.067,0.000,2936,2350,3060,0,0,0,0,0,0
$STATE,7277,end apogee,CONTROL_FINISHED_OK
$STATE,7277,begin climb
$GC,7281,1.27,146.0,602.9,0.0,658,7415,1.42,2.90,124.03,0.980,4,0.033,0.080,3289,3938,2462,0,0,0,0,0,0
$GC,7475,1.12,146.0,587.9,12.2,669,7480,0.20,2.75,0.00,0.000,6,0.107,0.058,3249,2370,2457,0,0,0,0,0,0
$GC,7738,1.08,157.8,562.3,9.5,693,7750,0.00,0.00,10.12,0.848,6,0.000,0.000,3249,2370,2416,0,0,0,0,0,0
$GC,8008,1.06,174.1,537.6,9.2,718,8029,0.00,2.80,15.65,0.895,4,0.000,0.065,3249,3934,2349,0,0,0,0,0,0
$GC,8048,1.02,183.6,533.0,9.6,721,8064,0.10,2.70,10.02,0.836,6,0.130,0.049,3228,2360,2310,0,0,0,0,0,0
$GC,8319,1.06,213.5,508.8,8.6,747,8352,0.00,0.00,27.50,0.917,6,0.000,0.000,3228,2360,2188,0,0,0,0,0,0
$GC,8608,1.08,228.7,482.7,9.3,774,8631,0.00,2.83,14.45,0.871,4,0.000,0.057,3228,3937,2126,0,0,0,0,0,0
$GC,8649,1.08,229.2,478.6,10.0,777,8658,0.00,2.70,0.00,0.000,6,0.000,0.041,3228,2369,2124,0,0,0,0,0,0
$GC,8915,1.10,247.4,453.8,9.2,802,8939,0.00,3.03,17.45,0.875,4,0.000,0.097,3228,784,2050,0,0,0,0,0,0
$GC,8970,1.10,247.4,447.8,10.6,807,8975,0.00,2.67,0.00,0.000,6,0.000,0.040,3228,2372,2048,0,0,0,0,0,0
$GC,9233,1.16,251.6,421.9,9.8,831,9249,0.12,2.85,4.75,0.647,4,0.077,0.069,3264,779,2034,0,0,0,0,0,0
$GC,9255,1.16,251.6,419.3,10.6,832,9261,0.00,2.62,0.00,0.000,6,0.000,0.033,3264,2368,2033,0,0,0,0,0,0
$GC,9518,1.16,251.6,388.9,11.1,857,9522,0.00,2.62,0.00,0.000,4,0.000,0.050,3264,3941,2032,0,0,0,0,0,0
$GC,9539,1.16,251.6,386.1,11.8,858,9548,0.00,2.65,0.00,0.000,6,0.000,0.037,3263,2341,2032,0,0,0,0,0,0
$GC,9806,1.16,251.6,355.9,12.1,883,9810,0.00,2.70,0.00,0.000,4,0.000,0.067,3264,782,2031,0,0,0,0,0,0
$GC,9828,1.16,251.6,352.4,12.1,884,9834,0.00,2.55,0.00,0.000,6,0.000,0.028,3264,2356,2030,0,0,0,0,0,0
$GC,10091,1.16,251.6,322.8,11.0,909,10095,0.00,2.65,0.00,0.000,4,0.000,0.050,3264,3933,2030,0,0,0,0,0,0
$GC,10189,1.16,251.6,310.5,12.0,917,10194,0.00,2.58,0.00,0.000,6,0.000,0.027,3264,2345,2029,0,0,0,0,0,0
$GC,10453,1.16,251.6,282.4,10.3,941,10457,0.00,2.62,0.00,0.000,4,0.000,0.054,3264,779,2029,0,0,0,0,0,0
$GC,10494,1.16,251.6,277.7,10.4,944,10499,0.00,2.53,0.00,0.000,6,0.000,0.024,3264,2359,2028,0,0,0,0,0,0
$GC,10758,1.17,260.5,251.3,9.6,968,10773,0.00,2.67,8.82,0.690,4,0.000,0.049,3264,775,1998,0,0,0,0,0,0
$GC,10785,1.18,268.1,248.9,9.6,970,10799,0.00,2.50,8.88,0.678,6,0.000,0.031,3264,2340,1965,0,0,0,0,0,0
$GC,11062,1.18,268.1,218.3,12.2,996,11063,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2340,1963,0,0,0,0,0,0
$GC,11318,1.18,268.1,186.1,12.8,1020,11322,0.00,2.62,0.00,0.000,4,0.000,0.044,3264,3926,1963,0,0,0,0,0,0
$GC,11385,1.23,268.1,177.5,14.1,1025,11390,0.00,2.55,0.00,0.000,6,0.000,0.025,3264,2336,1962,0,0,0,0,0,0
$GC,11655,1.27,268.1,145.7,11.2,1049,11659,0.00,2.53,0.00,0.000,4,0.000,0.048,3264,789,1962,0,0,0,0,0,0
$GC,11689,1.31,268.1,141.5,11.8,1051,11695,0.10,2.45,0.00,0.000,6,0.085,0.023,3298,2340,1962,0,0,0,0,0,0
$GC,11955,1.31,268.1,111.0,12.1,1075,11960,0.00,2.60,0.00,0.000,4,0.000,0.041,3298,3924,1962,0,0,0,0,0,0
$GC,11988,1.31,268.1,106.8,12.2,1077,11993,0.00,2.55,0.00,0.000,6,0.000,0.024,3297,2326,1961,0,0,0,0,0,0
$GC,12257,1.31,268.1,75.9,11.5,1101,12261,0.00,2.62,0.00,0.000,4,0.000,0.040,3298,3931,1961,0,0,0,0,0,0
$GC,12277,1.31,268.1,73.0,11.7,1102,12282,0.00,2.55,0.00,0.000,6,0.000,0.023,3298,2327,1961,0,0,0,0,0,0
$GC,12545,1.31,268.1,44.5,10.5,1126,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2327,1962,0,0,0,0,0,0
$GC,12842,1.31,268.1,12.9,11.0,1163,12850,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2327,1963,0,0,0,0,0,0
$STATE,12920,end climb,SURFACE_DEPTH_REACHED
$STATE,12920,begin surface coast
$FINISH,-0.2,1.013910
$STATE,12962,end surface coast,CONTROL_FINISHED_OK
$STATE,12962,begin surface
$SM_CCo,12985,90.05,0.523,0,0,1510,380.21
$SM_GC,0.56,0.00,0.00,90.05,0.000,0.000,0.523,459,2184,1510,-11.71,-0.74,380.21
$IRIDIUM_FIX,2234.68,-15740.24,010703,121238
$TT8_MAMPS,0.026078
$HUMID,61.34
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.90
$XPDR_PINGS,18
$24V_AH,23.4,23.054
$10V_AH,10.3,23.650
$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,29.675,178.300,359.975,90.050,0.000,56.730,65.877,324.539,4.500,0.000,32.565,2067.539,6028.688,561.916,4183.227,924.197,33.360,1730.291,0.000,4197.535,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,97.409,1007.838,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,810.110,954.748,1204.004,1556.144,2962.412,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,98350,1180
$CAP_FILE_SIZE,166104,0
$CFSIZE,260165632,169070592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060414,162000,2244.598,-15738.513,39,1.5,39,10.1