version: 66.06
glider: 146
mission: 9
dive: 169
start: 4 7 114 20 27 38
data:
$ID,146
$MISSION,9
$DIVE,169
$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,-327177.44
$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,46
$R_STBD_OVSHOOT,44
$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
$GPS1,200830,2251.321,-15740.476,38,1.0,38,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-61.8
$GPS2,202642,2251.164,-15740.559,8,1.0,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.159,0.205
$KALMAN_X,-160452.8,-88.1,-21.9,186212.3,-1171.1
$KALMAN_Y,66365.9,-55.8,-410.5,-62409.3,-236.4
$MHEAD_RNG_PITCHd_Wd,27.7,27835,-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,-145.9,0.0,0.0,0,150,0.00,0.00,-128.73,0.000,6,0.000,0.000,458,2196,3655,0,0,0,0,0,0
$GC,155,-1.27,-146.0,3.9,-9.4,17,173,12.55,2.53,0.00,0.000,4,0.166,0.037,2718,643,3656,0,0,0,0,0,0
$GC,185,0.05,-146.0,17.8,-40.2,20,195,1.35,2.47,0.00,0.000,6,0.083,0.016,3013,2234,3657,0,0,0,0,0,0
$GC,479,-0.53,-146.0,45.2,-9.5,55,484,0.50,2.50,0.00,0.000,4,0.047,0.038,2881,3766,3657,0,0,0,0,0,0
$GC,527,-1.00,-146.0,49.7,-8.1,58,532,0.40,2.42,0.00,0.000,6,0.041,0.019,2773,2204,3657,0,0,0,0,0,0
$GC,795,-1.00,-146.0,76.1,-10.7,82,800,0.00,2.53,0.00,0.000,4,0.000,0.043,2773,646,3656,0,0,0,0,0,0
$GC,865,-1.00,-146.0,83.4,-9.9,87,869,0.00,2.38,0.00,0.000,6,0.000,0.018,2773,2196,3656,0,0,0,0,0,0
$GC,1133,-1.00,-146.0,107.7,-8.2,111,1137,0.00,2.53,0.00,0.000,4,0.000,0.041,2773,641,3656,0,0,0,0,0,0
$GC,1178,-1.04,-146.0,112.1,-7.9,114,1187,0.00,2.42,0.00,0.000,6,0.000,0.018,2773,2192,3656,0,0,0,0,0,0
$GC,1444,-1.04,-146.0,132.0,-8.0,139,1448,0.00,2.53,0.00,0.000,4,0.000,0.041,2773,639,3656,0,0,0,0,0,0
$GC,1466,-1.04,-146.0,134.2,-7.7,140,1475,0.00,2.42,0.00,0.000,6,0.000,0.018,2773,2190,3656,0,0,0,0,0,0
$GC,1733,-1.04,-146.0,157.8,-9.6,165,1737,0.00,2.53,0.00,0.000,4,0.000,0.034,2773,3772,3656,0,0,0,0,0,0
$GC,1751,-1.04,-146.0,160.0,-9.8,166,1756,0.00,2.45,0.00,0.000,6,0.000,0.019,2773,2194,3656,0,0,0,0,0,0
$GC,2014,-1.09,-146.0,184.7,-8.5,190,2019,0.00,2.53,0.00,0.000,4,0.000,0.044,2773,638,3656,0,0,0,0,0,0
$GC,2046,-1.13,-146.0,187.6,-9.4,192,2050,0.00,2.42,0.00,0.000,6,0.000,0.019,2773,2207,3656,0,0,0,0,0,0
$GC,2309,-1.19,-146.0,209.1,-7.4,216,2311,0.12,0.00,0.00,0.000,6,0.067,0.000,2722,2207,3656,0,0,0,0,0,0
$GC,2565,-1.15,-146.0,232.2,-10.2,240,2570,0.15,2.58,0.00,0.000,4,0.094,0.048,2755,646,3656,0,0,0,0,0,0
$GC,2587,-1.15,-146.0,234.4,-10.5,241,2591,0.00,2.38,0.00,0.000,6,0.000,0.019,2755,2189,3656,0,0,0,0,0,0
$GC,2855,-1.20,-146.0,257.1,-7.8,265,2860,0.00,2.58,0.00,0.000,4,0.000,0.042,2755,3774,3656,0,0,0,0,0,0
$GC,2899,-1.26,-146.0,260.9,-8.2,268,2905,0.10,2.47,0.00,0.000,6,0.080,0.021,2708,2195,3656,0,0,0,0,0,0
$GC,3165,-1.26,-146.0,282.5,-7.7,292,3170,0.10,2.60,0.00,0.000,4,0.110,0.058,2730,640,3655,0,0,0,0,0,0
$GC,3209,-1.26,-146.0,285.7,-7.0,295,3214,0.00,2.42,0.00,0.000,6,0.000,0.026,2730,2187,3655,0,0,0,0,0,0
$GC,3476,-1.26,-146.0,305.9,-8.8,319,3480,0.00,2.62,0.00,0.000,4,0.000,0.048,2730,3783,3654,0,0,0,0,0,0
$GC,3499,-1.26,-146.0,308.2,-8.4,320,3504,0.00,2.53,0.00,0.000,6,0.000,0.024,2730,2193,3654,0,0,0,0,0,0
$GC,3761,-1.26,-146.0,330.5,-7.7,345,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2193,3653,0,0,0,0,0,0
$GC,4016,-1.26,-146.0,349.8,-7.6,369,4020,0.00,2.62,0.00,0.000,4,0.000,0.046,2730,3782,3651,0,0,0,0,0,0
$GC,4061,-1.30,-146.0,353.6,-8.2,372,4070,0.00,2.60,0.00,0.000,6,0.000,0.030,2730,2201,3651,0,0,0,0,0,0
$GC,4329,-1.30,-146.0,371.6,-6.8,397,4333,0.00,2.72,0.00,0.000,4,0.000,0.077,2730,630,3649,0,0,0,0,0,0
$GC,4357,-1.30,-146.0,374.0,-7.6,399,4361,0.00,2.53,0.00,0.000,6,0.000,0.035,2730,2187,3649,0,0,0,0,0,0
$GC,4621,-1.34,-146.0,393.0,-7.3,423,4626,0.00,2.67,0.00,0.000,4,0.000,0.060,2730,3790,3647,0,0,0,0,0,0
$GC,4651,-1.38,-146.0,395.4,-7.7,425,4657,0.12,2.60,0.00,0.000,6,0.068,0.035,2682,2193,3647,0,0,0,0,0,0
$GC,4913,-1.33,-146.0,421.0,-9.8,449,4918,0.15,2.72,0.00,0.000,4,0.096,0.058,2714,3795,3644,0,0,0,0,0,0
$GC,4960,-1.33,-146.0,425.4,-9.1,452,4966,0.00,2.60,0.00,0.000,6,0.000,0.043,2715,2215,3644,0,0,0,0,0,0
$GC,5222,-1.33,-146.0,447.3,-7.9,477,5227,0.00,2.70,0.00,0.000,4,0.000,0.057,2714,3796,3643,0,0,0,0,0,0
$GC,5246,-1.33,-146.0,449.3,-8.0,478,5252,0.00,2.62,0.00,0.000,6,0.000,0.041,2714,2209,3643,0,0,0,0,0,0
$GC,5509,-1.33,-146.0,469.3,-7.8,503,5514,0.00,2.67,0.00,0.000,4,0.000,0.059,2714,3787,3642,0,0,0,0,0,0
$GC,5531,-1.33,-146.0,471.3,-8.4,504,5540,0.00,2.65,0.00,0.000,6,0.000,0.048,2714,2222,3642,0,0,0,0,0,0
$GC,5798,-1.33,-146.0,491.1,-7.7,529,5803,0.00,2.92,0.00,0.000,4,0.000,0.104,2714,625,3639,0,0,0,0,0,0
$GC,5842,-1.33,-146.0,494.5,-8.1,532,5846,0.00,2.65,0.00,0.000,6,0.000,0.048,2714,2219,3638,0,0,0,0,0,0
$GC,6110,-1.33,-146.0,513.3,-6.8,556,6114,0.00,2.70,0.00,0.000,4,0.000,0.068,2714,3794,3637,0,0,0,0,0,0
$GC,6142,-1.33,-146.0,516.2,-7.6,558,6152,0.00,2.67,0.00,0.000,6,0.000,0.047,2714,2221,3637,0,0,0,0,0,0
$GC,6410,-1.33,-146.0,534.6,-7.5,583,6414,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2221,3635,0,0,0,0,0,0
$GC,6673,-1.37,-146.0,553.2,-6.9,608,6677,0.00,2.75,0.00,0.000,4,0.000,0.072,2714,3794,3633,0,0,0,0,0,0
$GC,6741,-1.41,-146.0,558.4,-8.0,613,6746,0.00,2.70,0.00,0.000,6,0.000,0.054,2714,2219,3633,0,0,0,0,0,0
$GC,7008,-1.45,-146.0,578.2,-7.2,637,7014,0.12,2.83,0.00,0.000,4,0.067,0.080,2666,3794,3631,0,0,0,0,0,0
$GC,7043,-1.39,-146.0,581.8,-9.6,639,7053,0.12,2.75,0.00,0.000,6,0.074,0.067,2698,2227,3631,0,0,0,0,0,0
$STATE,7282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7282,begin apogee
$GC,7288,-0.31,0.0,600.1,7.2,662,7408,1.05,0.00,116.65,1.012,6,0.070,0.000,2936,2379,3060,0,0,0,0,0,0
$STATE,7409,end apogee,CONTROL_FINISHED_OK
$STATE,7409,begin climb
$GC,7413,1.27,146.0,602.0,0.0,665,7552,1.45,2.88,125.05,0.984,4,0.034,0.079,3292,3926,2462,0,0,0,0,0,0
$GC,7569,1.12,146.0,590.6,12.1,674,7576,0.20,2.75,0.00,0.000,6,0.105,0.064,3250,2365,2459,0,0,0,0,0,0
$GC,7834,1.08,152.8,563.9,9.7,699,7846,0.00,2.83,6.03,0.747,4,0.000,0.067,3250,3927,2436,0,0,0,0,0,0
$GC,7858,1.01,152.8,561.0,10.3,701,7864,0.12,2.67,0.00,0.000,6,0.120,0.054,3224,2368,2435,0,0,0,0,0,0
$GC,8122,1.01,156.0,537.0,9.9,726,8126,0.00,2.70,0.00,0.000,4,0.000,0.062,3225,3931,2432,0,0,0,0,0,0
$GC,8143,1.01,156.0,535.0,10.3,727,8148,0.00,2.67,0.00,0.000,6,0.000,0.046,3225,2366,2431,0,0,0,0,0,0
$GC,8411,1.01,156.0,507.2,10.4,751,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2367,2430,0,0,0,0,0,0
$GC,8672,1.02,158.4,479.8,9.9,776,8682,0.00,0.00,5.53,0.723,6,0.000,0.000,3225,2367,2413,0,0,0,0,0,0
$GC,8940,1.06,192.1,455.0,8.4,801,8977,0.00,3.03,31.15,0.910,4,0.000,0.098,3224,781,2275,0,0,0,0,0,0
$GC,9023,1.06,192.2,447.3,10.0,808,9027,0.00,2.67,0.00,0.000,6,0.000,0.039,3224,2379,2272,0,0,0,0,0,0
$GC,9291,1.10,225.2,423.6,8.5,832,9327,0.00,2.67,29.92,0.888,4,0.000,0.051,3224,3936,2140,0,0,0,0,0,0
$GC,9344,1.12,239.4,418.2,9.3,836,9364,0.10,2.62,13.50,0.825,6,0.088,0.035,3253,2365,2083,0,0,0,0,0,0
$GC,9619,1.12,239.4,390.1,10.2,862,9623,0.00,2.67,0.00,0.000,4,0.000,0.046,3253,3945,2078,0,0,0,0,0,0
$GC,9651,1.12,239.4,385.9,11.4,864,9661,0.00,2.62,0.00,0.000,6,0.000,0.035,3254,2375,2077,0,0,0,0,0,0
$GC,9919,1.12,239.4,358.9,10.4,889,9924,0.00,2.75,0.00,0.000,4,0.000,0.068,3253,781,2076,0,0,0,0,0,0
$GC,9962,1.12,239.4,353.8,11.1,892,9966,0.00,2.58,0.00,0.000,6,0.000,0.028,3253,2387,2074,0,0,0,0,0,0
$GC,10228,1.13,253.4,328.3,9.3,916,10250,0.00,2.65,12.62,0.785,4,0.000,0.048,3253,3917,2025,0,0,0,0,0,0
$GC,10275,1.15,264.8,323.6,9.5,920,10299,0.00,2.55,11.45,0.761,6,0.000,0.033,3253,2358,1979,0,0,0,0,0,0
$GC,10554,1.15,264.8,296.6,10.7,946,10558,0.00,2.67,0.00,0.000,4,0.000,0.057,3253,781,1976,0,0,0,0,0,0
$GC,10572,1.15,264.8,294.4,10.8,947,10576,0.00,2.55,0.00,0.000,6,0.000,0.029,3254,2362,1975,0,0,0,0,0,0
$GC,10834,1.15,264.8,263.8,12.5,971,10838,0.00,2.60,0.00,0.000,4,0.000,0.048,3253,3927,1975,0,0,0,0,0,0
$GC,10869,1.19,264.8,259.3,13.2,973,10875,0.00,2.53,0.00,0.000,6,0.000,0.025,3253,2361,1973,0,0,0,0,0,0
$GC,11132,1.24,264.8,229.8,10.6,998,11137,0.00,2.62,0.00,0.000,4,0.000,0.047,3253,3924,1973,0,0,0,0,0,0
$GC,11200,1.31,264.8,222.4,11.5,1003,11205,0.15,2.50,0.00,0.000,6,0.068,0.027,3298,2385,1973,0,0,0,0,0,0
$GC,11465,1.31,264.8,192.3,10.2,1027,11470,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2385,1973,0,0,0,0,0,0
$GC,11727,1.31,264.8,161.8,12.4,1052,11728,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2385,1973,0,0,0,0,0,0
$GC,11981,1.31,264.8,128.2,13.1,1076,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2385,1973,0,0,0,0,0,0
$GC,12237,1.31,264.8,96.8,11.7,1100,12241,0.00,2.62,0.00,0.000,4,0.000,0.046,3298,783,1973,0,0,0,0,0,0
$GC,12282,1.31,264.8,91.9,12.1,1103,12287,0.00,2.55,0.00,0.000,6,0.000,0.026,3298,2403,1973,0,0,0,0,0,0
$GC,12550,1.31,264.8,61.7,10.9,1127,12554,0.00,2.65,0.00,0.000,4,0.000,0.044,3298,784,1973,0,0,0,0,0,0
$GC,12571,1.31,264.8,59.1,11.2,1128,12576,0.00,2.53,0.00,0.000,6,0.000,0.022,3298,2408,1973,0,0,0,0,0,0
$GC,12839,1.31,264.8,29.1,11.4,1152,12848,0.00,2.50,0.00,0.000,4,0.000,0.043,3298,3914,1973,0,0,0,0,0,0
$GC,12886,1.31,264.8,23.9,11.3,1158,12895,0.00,2.45,0.00,0.000,6,0.000,0.024,3298,2392,1974,0,0,0,0,0,0
$STATE,13042,end climb,SURFACE_DEPTH_REACHED
$STATE,13043,begin surface coast
$FINISH,-0.2,1.016130
$STATE,13082,end surface coast,CONTROL_FINISHED_OK
$STATE,13082,begin surface
$SM_CCo,13103,91.65,0.525,0,0,1510,380.21
$SM_GC,0.42,0.00,0.00,91.65,0.000,0.000,0.525,457,2152,1510,-11.72,-1.64,380.21
$IRIDIUM_FIX,2244.02,-15741.52,020703,202030
$TT8_MAMPS,0.026078
$HUMID,61.89
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.60
$XPDR_PINGS,24
$24V_AH,23.4,24.379
$10V_AH,10.3,25.568
$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,30.175,183.175,351.900,91.650,0.000,93.254,100.505,586.547,6.000,0.000,14.762,2054.857,6476.209,585.653,3877.225,1282.746,33.360,1777.183,0.000,3917.664,0.000,0.538,0.000
$DEVICE_MAMPS,166.439,103.545,1011.673,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,813.994,929.408,1212.859,1353.540,2578.141,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355328
$DATA_FILE_SIZE,98521,1186
$CAP_FILE_SIZE,172473,0
$CFSIZE,260165632,168366080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080414,000853,2252.298,-15740.217,36,1.7,36,10.1