version: 66.06
glider: 146
mission: 9
dive: 310
start: 5 6 114 21 10 59
data:
$ID,146
$MISSION,9
$DIVE,310
$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,-330354.31
$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,70
$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
$GPS1,205906,2259.018,-15736.137,62,0.9,62,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-71.3
$GPS2,211001,2259.052,-15736.061,12,1.7,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.096,0.242
$KALMAN_X,-251199.8,150.3,226.7,284136.1,-1081.9
$KALMAN_Y,8775.8,74.9,-482.3,9719.2,914.7
$MHEAD_RNG_PITCHd_Wd,11.5,11863,-17.6,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.28,-145.9,0.0,0.0,0,104,0.00,0.00,-86.40,0.000,2,0.000,0.000,457,2163,3602,0,0,0,0,0,0
$GC,109,-1.28,-146.0,3.0,-6.7,11,135,12.48,2.65,-0.95,0.000,4,0.166,0.043,2711,3783,3659,0,0,0,0,0,0
$GC,288,-1.15,-146.0,39.3,-14.6,33,293,0.17,2.42,0.00,0.000,6,0.111,0.023,2745,2235,3660,0,0,0,0,0,0
$GC,557,-1.10,-146.0,71.9,-10.4,57,562,0.00,2.62,0.00,0.000,4,0.000,0.046,2745,637,3659,0,0,0,0,0,0
$GC,641,-1.10,-146.0,82.6,-12.4,63,645,0.00,2.40,0.00,0.000,6,0.000,0.018,2745,2205,3660,0,0,0,0,0,0
$GC,909,-1.06,-146.0,112.7,-10.4,87,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2205,3660,0,0,0,0,0,0
$GC,1171,-1.06,-146.0,136.2,-7.3,112,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2205,3661,0,0,0,0,0,0
$GC,1427,-1.06,-146.0,156.3,-9.1,136,1431,0.00,2.58,0.00,0.000,4,0.000,0.047,2745,633,3661,0,0,0,0,0,0
$GC,1447,-1.06,-146.0,158.2,-9.6,137,1452,0.00,2.40,0.00,0.000,6,0.000,0.026,2745,2186,3662,0,0,0,0,0,0
$GC,1714,-1.06,-146.0,188.7,-11.5,161,1718,0.00,2.53,0.00,0.000,4,0.000,0.036,2745,3777,3661,0,0,0,0,0,0
$GC,1736,-1.06,-146.0,191.9,-11.5,162,1745,0.00,2.53,0.00,0.000,6,0.000,0.020,2745,2177,3661,0,0,0,0,0,0
$GC,2002,-1.06,-146.0,216.9,-8.4,187,2007,0.00,2.60,0.00,0.000,4,0.000,0.037,2745,3782,3661,0,0,0,0,0,0
$GC,2033,-1.06,-146.0,219.8,-8.3,189,2037,0.00,2.47,0.00,0.000,6,0.000,0.021,2745,2185,3661,0,0,0,0,0,0
$GC,2297,-1.06,-146.0,237.7,-6.4,213,2301,0.00,2.53,0.00,0.000,4,0.000,0.051,2745,641,3661,0,0,0,0,0,0
$GC,2338,-1.11,-146.0,240.7,-7.3,216,2342,0.00,2.38,0.00,0.000,6,0.000,0.020,2745,2184,3661,0,0,0,0,0,0
$GC,2602,-1.11,-146.0,261.3,-8.1,240,2607,0.00,2.58,0.00,0.000,4,0.000,0.041,2745,3786,3661,0,0,0,0,0,0
$GC,2667,-1.16,-146.0,267.1,-8.5,245,2672,0.00,2.50,0.00,0.000,6,0.000,0.022,2745,2184,3662,0,0,0,0,0,0
$GC,2932,-1.21,-146.0,288.8,-8.6,269,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2184,3661,0,0,0,0,0,0
$GC,3195,-1.25,-146.0,312.1,-8.5,294,3200,0.00,2.60,0.00,0.000,4,0.000,0.044,2745,3776,3660,0,0,0,0,0,0
$GC,3220,-1.30,-146.0,314.0,-9.5,295,3225,0.15,2.53,0.00,0.000,6,0.059,0.025,2689,2196,3660,0,0,0,0,0,0
$GC,3485,-1.24,-146.0,341.9,-10.1,319,3490,0.17,2.70,0.00,0.000,4,0.092,0.074,2726,633,3659,0,0,0,0,0,0
$GC,3509,-1.24,-146.0,344.6,-9.5,320,3514,0.00,2.47,0.00,0.000,6,0.000,0.035,2726,2183,3658,0,0,0,0,0,0
$GC,3771,-1.24,-146.0,365.6,-7.8,345,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2184,3657,0,0,0,0,0,0
$GC,4026,-1.24,-146.0,386.6,-8.6,369,4031,0.00,2.67,0.00,0.000,4,0.000,0.051,2726,3792,3656,0,0,0,0,0,0
$GC,4082,-1.28,-146.0,391.1,-8.3,373,4087,0.00,2.58,0.00,0.000,6,0.000,0.033,2726,2205,3656,0,0,0,0,0,0
$GC,4350,-1.28,-146.0,412.2,-7.5,397,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2205,3653,0,0,0,0,0,0
$GC,4614,-1.32,-146.0,431.6,-7.3,422,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2205,3652,0,0,0,0,0,0
$GC,4869,-1.36,-146.0,451.6,-8.2,446,4871,0.12,0.00,0.00,0.000,6,0.070,0.000,2678,2205,3650,0,0,0,0,0,0
$GC,5123,-1.31,-146.0,475.4,-9.4,470,5125,0.15,0.00,0.00,0.000,6,0.095,0.000,2710,2205,3648,0,0,0,0,0,0
$GC,5379,-1.31,-146.0,495.2,-7.8,494,5384,0.00,2.72,0.00,0.000,4,0.000,0.067,2710,3782,3647,0,0,0,0,0,0
$GC,5413,-1.31,-146.0,497.7,-8.6,496,5418,0.00,2.65,0.00,0.000,6,0.000,0.052,2710,2211,3646,0,0,0,0,0,0
$GC,5681,-1.31,-146.0,520.2,-8.1,520,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2211,3645,0,0,0,0,0,0
$GC,5943,-1.31,-146.0,542.2,-7.7,545,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2211,3644,0,0,0,0,0,0
$GC,6199,-1.31,-146.0,561.4,-6.7,569,6200,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2211,3642,0,0,0,0,0,0
$GC,6452,-1.31,-146.0,579.5,-7.1,593,6457,0.00,2.80,0.00,0.000,4,0.000,0.088,2710,3781,3640,0,0,0,0,0,0
$GC,6554,-1.36,-146.0,586.8,-7.7,601,6559,0.00,2.75,0.00,0.000,6,0.000,0.074,2710,2207,3640,0,0,0,0,0,0
$GC,6826,-1.40,-146.0,606.1,-7.1,620,6830,0.00,2.83,0.00,0.000,4,0.000,0.085,2710,3782,3639,0,0,0,0,0,0
$GC,6858,-1.40,-146.0,608.8,-7.8,620,6864,0.00,2.72,0.00,0.000,6,0.000,0.072,2710,2223,3638,0,0,0,0,0,0
$GC,7111,-1.44,-146.0,627.5,-7.6,627,7116,0.12,2.85,0.00,0.000,4,0.068,0.098,2666,3779,3637,0,0,0,0,0,0
$GC,7144,-1.38,-146.0,630.8,-9.8,627,7150,0.15,2.80,0.00,0.000,6,0.099,0.081,2697,2222,3636,0,0,0,0,0,0
$GC,7394,-1.38,-146.0,651.1,-7.9,634,7399,0.00,2.88,0.00,0.000,4,0.000,0.100,2697,3779,3635,0,0,0,0,0,0
$GC,7417,-1.38,-146.0,652.9,-8.0,634,7422,0.00,2.83,0.00,0.000,6,0.000,0.088,2697,2231,3634,0,0,0,0,0,0
$GC,7672,-1.38,-146.0,672.2,-7.3,641,7677,0.00,3.20,0.00,0.000,4,0.000,0.144,2697,620,3633,0,0,0,0,0,0
$GC,7694,-1.38,-146.0,674.0,-8.4,641,7699,0.00,2.90,0.00,0.000,6,0.000,0.091,2697,2223,3633,0,0,0,0,0,0
$GC,7952,-1.38,-146.0,693.1,-7.6,648,7957,0.00,3.08,0.00,0.000,4,0.000,0.130,2697,3804,3632,0,0,0,0,0,0
$GC,7985,-1.38,-146.0,696.2,-8.7,648,7991,0.00,2.95,0.00,0.000,6,0.000,0.106,2697,2237,3631,0,0,0,0,0,0
$GC,8235,-1.38,-146.0,715.2,-7.6,655,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2237,3631,0,0,0,0,0,0
$GC,8480,-1.38,-146.0,733.3,-7.4,661,8485,0.00,3.12,0.00,0.000,4,0.000,0.140,2697,3802,3629,0,0,0,0,0,0
$GC,8513,-1.38,-146.0,736.1,-8.2,661,8519,0.00,3.05,0.00,0.000,6,0.000,0.126,2697,2248,3629,0,0,0,0,0,0
$GC,8763,-1.38,-146.0,754.5,-7.4,668,8769,0.00,3.50,0.00,0.000,4,0.000,0.179,2697,615,3628,0,0,0,0,0,0
$GC,8785,-1.38,-146.0,756.3,-8.2,668,8790,0.00,3.20,0.00,0.000,6,0.000,0.129,2697,2239,3628,0,0,0,0,0,0
$GC,9042,-1.38,-146.0,775.4,-7.4,675,9048,0.00,3.35,0.00,0.000,4,0.000,0.174,2697,3800,3627,0,0,0,0,0,0
$GC,9098,-1.38,-146.0,780.0,-8.2,676,9103,0.00,3.20,0.00,0.000,6,0.000,0.154,2697,2248,3627,0,0,1,0,0,0
$GC,9366,-1.38,-146.0,799.3,-7.2,683,9371,0.00,3.35,0.00,0.000,4,0.000,0.174,2697,3798,3626,0,0,0,0,0,0
$STATE,9375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9375,begin apogee
$GC,9383,-0.31,0.0,800.3,7.4,683,9508,1.00,0.00,121.07,1.174,6,0.074,0.000,2923,2367,3060,0,0,0,0,0,0
$STATE,9509,end apogee,CONTROL_FINISHED_OK
$STATE,9509,begin climb
$GC,9512,1.28,146.0,802.8,0.0,686,9655,1.50,3.55,129.80,1.147,4,0.035,0.173,3287,3940,2462,0,0,1,0,0,0
$GC,9666,1.13,146.0,791.9,11.6,690,9672,0.22,3.40,0.00,0.000,6,0.100,0.158,3242,2366,2460,0,0,1,0,0,0
$GC,9939,1.09,146.0,762.7,10.6,697,9944,0.00,3.30,0.00,0.000,4,0.000,0.150,3242,3942,2454,0,0,0,0,0,0
$GC,9979,1.02,146.0,758.1,12.0,698,9985,0.12,3.20,0.00,0.000,6,0.121,0.136,3217,2376,2452,0,0,0,0,0,0
$GC,10263,1.06,170.6,731.9,8.9,705,10293,0.00,3.47,21.67,1.066,4,0.000,0.160,3217,777,2363,0,0,0,0,0,0
$GC,10334,1.06,170.6,725.2,10.8,706,10339,0.00,3.08,0.00,0.000,6,0.000,0.112,3217,2368,2361,0,0,0,0,0,0
$GC,10589,1.08,189.2,701.7,9.2,713,10609,0.00,0.00,18.40,1.045,6,0.000,0.000,3217,2368,2288,0,0,0,0,0,0
$GC,10833,1.10,209.3,679.3,9.1,719,10854,0.00,0.00,19.77,1.040,6,0.000,0.000,3217,2368,2206,0,0,0,0,0,0
$GC,11078,1.13,234.1,657.6,8.9,725,11105,0.10,0.00,24.02,1.039,6,0.086,0.000,3246,2368,2105,0,0,0,0,0,0
$GC,11320,1.13,234.1,631.1,11.2,731,11325,0.00,3.03,0.00,0.000,4,0.000,0.108,3247,773,2100,0,0,0,0,0,0
$GC,11343,1.13,234.1,628.6,12.0,731,11347,0.00,2.83,0.00,0.000,6,0.000,0.067,3246,2374,2099,0,0,0,0,0,0
$GC,11599,1.13,234.1,599.7,11.3,738,11604,0.00,2.80,0.00,0.000,4,0.000,0.086,3246,3939,2099,0,0,0,0,0,0
$GC,11622,1.13,234.1,597.5,11.1,739,11626,0.00,2.75,0.00,0.000,6,0.000,0.058,3246,2354,2098,0,0,0,0,0,0
$GC,11889,1.13,234.1,568.5,10.8,763,11894,0.00,2.78,0.00,0.000,4,0.000,0.066,3247,3941,2098,0,0,0,0,0,0
$GC,11912,1.13,234.1,565.2,11.0,764,11918,0.00,2.70,0.00,0.000,6,0.000,0.050,3247,2362,2097,0,0,0,0,0,0
$GC,12175,1.13,234.1,536.7,10.9,789,12179,0.00,3.03,0.00,0.000,4,0.000,0.119,3246,779,2097,0,0,0,0,0,0
$GC,12216,1.13,234.1,531.9,11.9,792,12221,0.00,2.70,0.00,0.000,6,0.000,0.051,3247,2370,2096,0,0,0,0,0,0
$GC,12478,1.13,234.1,502.4,11.4,816,12480,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2371,2096,0,0,0,0,0,0
$GC,12733,1.13,234.1,472.7,11.7,840,12735,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2370,2096,0,0,0,0,0,0
$GC,12987,1.13,234.1,443.6,11.3,864,12988,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2370,2096,0,0,0,0,0,0
$GC,13243,1.13,234.1,414.6,11.4,888,13248,0.00,2.75,0.00,0.000,4,0.000,0.065,3246,777,2095,0,0,0,0,0,0
$GC,13272,1.13,234.1,411.1,11.5,890,13276,0.00,2.60,0.00,0.000,6,0.000,0.034,3247,2372,2095,0,0,0,0,0,0
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$GC,14451,1.24,251.9,286.2,10.8,996,14455,0.00,2.67,0.00,0.000,4,0.000,0.051,3247,779,2031,0,0,0,0,0,0
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$GC,17128,1.53,313.2,10.9,8.6,1249,17163,0.20,2.60,29.80,0.522,4,0.056,0.043,3340,786,1781,0,0,0,0,0,0
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$STATE,17193,end climb,SURFACE_DEPTH_REACHED
$STATE,17193,begin surface coast
$FINISH,-0.1,1.023454
$STATE,17236,end surface coast,CONTROL_FINISHED_OK
$STATE,17236,begin surface
$SM_CCo,17258,53.58,0.516,0,0,1510,380.21
$SM_GC,0.53,0.00,0.00,53.58,0.000,0.000,0.516,458,2123,1510,-11.67,-2.46,380.21
$IRIDIUM_FIX,2246.36,-15738.46,310703,161656
$TT8_MAMPS,0.026078
$HUMID,62.71
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.90
$XPDR_PINGS,82
$24V_AH,23.2,48.819
$10V_AH,9.8,58.351
$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
$DEVICE_SECS,28.400,221.200,408.475,53.575,0.000,30.138,35.480,409.077,20.500,0.000,13.575,2264.485,10027.706,608.047,4040.125,1013.746,33.372,1890.792,0.000,4065.503,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,868.939,913.110,1194.226,1312.955,2499.659,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,105070,1262
$CAP_FILE_SIZE,189049,0
$CFSIZE,260165632,154963968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,070514,020035,2301.356,-15735.133,22,1.7,22,10.1