version: 66.06
glider: 146
mission: 9
dive: 20
start: 3 15 114 3 33 25
data:
$ID,146
$MISSION,9
$DIVE,20
$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,-323509.47
$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,3020
$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,78
$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
$GPS1,032330,2249.437,-15806.404,37,1.3,37,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-68.7
$GPS2,033231,2249.451,-15806.449,10,1.9,10,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.118,0.231
$KALMAN_X,-16910.4,225.6,-32.7,-1836.2,-1057.9
$KALMAN_Y,7015.8,20.6,-214.9,-6513.0,224.4
$MHEAD_RNG_PITCHd_Wd,16.9,27971,-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,16,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-91.22,0.000,6,0.000,0.000,468,2157,3656,0,0,0,0,0,0
$GC,116,-1.27,-146.0,3.9,-9.0,12,133,11.48,2.65,0.00,0.000,4,0.132,0.034,2736,3783,3657,0,0,0,0,0,0
$GC,151,-0.27,-146.0,18.9,-41.1,16,160,0.95,2.47,0.00,0.000,6,0.067,0.024,2956,2253,3657,0,0,0,0,0,0
$GC,457,-0.87,-146.0,37.5,-7.5,55,462,0.50,2.65,0.00,0.000,4,0.051,0.043,2824,632,3657,0,0,0,0,0,0
$GC,530,-1.01,-146.0,42.9,-7.2,60,535,0.10,2.40,0.00,0.000,6,0.084,0.018,2780,2194,3657,0,0,0,0,0,0
$GC,798,-1.01,-146.0,70.1,-10.7,84,802,0.00,2.53,0.00,0.000,4,0.000,0.035,2780,3773,3658,0,0,0,0,0,0
$GC,832,-1.01,-146.0,75.1,-11.5,86,842,0.00,2.53,0.00,0.000,6,0.000,0.022,2780,2189,3658,0,0,0,0,0,0
$GC,1098,-1.01,-146.0,102.7,-10.1,111,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2189,3658,0,0,0,0,0,0
$GC,1361,-1.05,-146.0,126.6,-9.0,136,1366,0.00,2.53,0.00,0.000,4,0.000,0.046,2780,638,3658,0,0,0,0,0,0
$GC,1391,-1.05,-146.0,129.5,-9.7,138,1395,0.00,2.38,0.00,0.000,6,0.000,0.018,2780,2175,3658,0,0,0,0,0,0
$GC,1655,-1.11,-146.0,154.6,-9.1,162,1659,0.00,2.55,0.00,0.000,4,0.000,0.044,2780,3772,3659,0,0,0,0,0,0
$GC,1695,-1.20,-146.0,158.4,-9.0,165,1700,0.00,2.50,0.00,0.000,6,0.000,0.021,2780,2165,3659,0,0,0,0,0,0
$GC,1960,-1.27,-146.0,180.1,-8.2,189,1965,0.15,2.50,0.00,0.000,4,0.063,0.048,2725,643,3659,0,0,0,0,0,0
$GC,1982,-1.27,-146.0,182.8,-10.4,190,1988,0.00,2.35,0.00,0.000,6,0.000,0.019,2725,2176,3659,0,0,0,0,0,0
$GC,2270,-1.27,-146.0,213.4,-10.7,209,2275,0.00,2.58,0.00,0.000,4,0.000,0.038,2725,3779,3659,0,0,0,0,0,0
$GC,2336,-1.27,-146.0,220.9,-11.3,210,2341,0.00,2.50,0.00,0.000,6,0.000,0.022,2725,2189,3660,0,0,0,0,0,0
$GC,2592,-1.27,-146.0,245.9,-9.8,217,2597,0.00,2.58,0.00,0.000,4,0.000,0.053,2725,641,3659,0,0,0,0,0,0
$GC,2682,-1.27,-146.0,255.0,-10.4,219,2687,0.00,2.40,0.00,0.000,6,0.000,0.028,2724,2173,3659,0,0,0,0,0,0
$GC,2960,-1.27,-146.0,280.9,-9.0,226,2965,0.00,2.55,0.00,0.000,4,0.000,0.054,2724,642,3660,0,0,0,0,0,0
$GC,2993,-1.27,-146.0,283.5,-8.4,226,2999,0.00,2.42,0.00,0.000,6,0.000,0.024,2725,2179,3659,0,0,0,0,0,0
$GC,3245,-1.27,-146.0,302.0,-7.5,233,3249,0.00,2.62,0.00,0.000,4,0.000,0.051,2725,3783,3659,0,0,0,0,0,0
$GC,3271,-1.27,-146.0,304.5,-8.3,233,3276,0.00,2.53,0.00,0.000,6,0.000,0.025,2725,2186,3659,0,0,0,0,0,0
$GC,3521,-1.27,-146.0,324.4,-7.9,239,3526,0.00,2.65,0.00,0.000,4,0.000,0.051,2725,3789,3658,0,0,0,0,0,0
$GC,3578,-1.27,-146.0,329.4,-8.7,240,3582,0.00,2.55,0.00,0.000,6,0.000,0.034,2724,2195,3658,0,0,0,0,0,0
$GC,3844,-1.27,-146.0,352.6,-8.8,247,3848,0.00,2.65,0.00,0.000,4,0.000,0.048,2725,3788,3657,0,0,0,0,0,0
$GC,3878,-1.31,-146.0,355.8,-9.7,247,3884,0.00,2.60,0.00,0.000,6,0.000,0.040,2725,2194,3656,0,0,0,0,0,0
$GC,4128,-1.35,-146.0,378.1,-8.8,254,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2193,3655,0,0,0,0,0,0
$GC,4372,-1.39,-146.0,398.7,-8.3,260,4376,0.00,2.78,0.00,0.000,4,0.000,0.088,2725,628,3653,0,0,0,0,0,0
$GC,4388,-1.43,-146.0,400.1,-8.1,260,4392,0.00,2.55,0.00,0.000,6,0.000,0.044,2725,2190,3653,0,0,0,0,0,0
$GC,4650,-1.47,-146.0,421.3,-8.0,267,4652,0.10,0.00,0.00,0.000,6,0.086,0.000,2687,2190,3651,0,0,0,0,0,0
$GC,4892,-1.47,-146.0,443.8,-9.3,273,4897,0.00,2.72,0.00,0.000,4,0.000,0.067,2688,3797,3649,0,0,0,0,0,0
$GC,4914,-1.47,-146.0,446.0,-9.0,273,4919,0.00,2.62,0.00,0.000,6,0.000,0.041,2687,2200,3650,0,0,0,0,0,0
$GC,5170,-1.47,-146.0,467.9,-8.5,280,5175,0.00,2.70,0.00,0.000,4,0.000,0.064,2687,3792,3647,0,0,0,0,0,0
$GC,5209,-1.47,-146.0,471.4,-8.9,281,5214,0.00,2.65,0.00,0.000,6,0.000,0.051,2687,2204,3647,0,0,0,0,0,0
$GC,5494,-1.47,-146.0,494.5,-8.2,288,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2204,3646,0,0,0,0,0,0
$GC,5737,-1.47,-146.0,515.7,-8.7,294,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2204,3644,0,0,0,0,0,0
$GC,5980,-1.47,-146.0,537.1,-8.7,300,5985,0.00,2.95,0.00,0.000,4,0.000,0.115,2687,628,3642,0,0,0,0,0,0
$GC,6020,-1.47,-146.0,540.9,-9.7,301,6024,0.00,2.70,0.00,0.000,6,0.000,0.058,2687,2217,3642,0,0,0,0,0,0
$GC,6304,-1.47,-146.0,564.6,-8.1,308,6309,0.00,2.88,0.00,0.000,4,0.000,0.095,2687,3800,3640,0,0,0,0,0,0
$GC,6343,-1.47,-146.0,568.0,-8.5,309,6348,0.00,2.72,0.00,0.000,6,0.000,0.062,2687,2224,3640,0,0,0,0,0,0
$GC,6628,-1.47,-146.0,588.6,-7.1,316,6632,0.00,2.80,0.00,0.000,4,0.000,0.087,2687,3793,3638,0,0,0,0,0,0
$GC,6688,-1.47,-146.0,593.6,-8.0,317,6693,0.00,2.78,0.00,0.000,6,0.000,0.081,2687,2225,3638,0,0,0,0,0,0
$STATE,6784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6784,begin apogee
$GC,6790,-0.31,0.0,601.0,7.6,320,6912,1.17,0.00,117.40,1.026,6,0.077,0.000,2952,2373,3059,0,0,0,0,0,0
$STATE,6914,end apogee,CONTROL_FINISHED_OK
$STATE,6914,begin climb
$GC,6916,1.27,146.0,603.1,0.0,323,7050,1.42,2.90,123.65,0.996,4,0.038,0.095,3301,3931,2462,0,0,0,0,0,0
$GC,7125,1.07,146.0,586.4,13.3,328,7131,0.22,2.78,0.00,0.000,6,0.113,0.064,3256,2371,2457,0,0,0,0,0,0
$GC,7410,1.00,153.3,558.0,9.7,335,7421,0.00,2.80,6.00,0.757,4,0.000,0.074,3256,3931,2434,0,0,0,0,0,0
$GC,7506,0.90,153.3,548.1,10.6,337,7512,0.17,2.70,0.00,0.000,6,0.121,0.054,3220,2377,2433,0,0,0,0,0,0
$GC,7779,0.96,196.4,526.0,8.0,344,7824,0.00,3.15,39.08,0.960,4,0.000,0.116,3220,778,2259,0,0,0,0,0,0
$GC,7866,0.96,197.0,518.3,10.0,346,7870,0.00,2.78,0.00,0.000,6,0.000,0.060,3220,2372,2255,0,0,0,0,0,0
$GC,8143,0.98,214.8,492.5,9.2,353,8162,0.00,0.00,16.98,0.908,6,0.000,0.000,3220,2371,2184,0,0,0,0,0,0
$GC,8388,1.00,233.8,470.3,9.1,359,8408,0.00,0.00,18.02,0.902,6,0.000,0.000,3220,2371,2106,0,0,0,0,0,0
$GC,8671,1.00,235.0,442.8,9.9,366,8675,0.00,2.67,0.00,0.000,4,0.000,0.062,3220,3936,2102,0,0,0,0,0,0
$GC,8703,1.00,235.0,438.9,12.1,366,8709,0.00,2.62,0.00,0.000,6,0.000,0.037,3220,2363,2100,0,0,0,0,0,0
$GC,8953,1.05,235.0,411.3,11.0,373,8958,0.12,2.88,0.00,0.000,4,0.087,0.087,3251,779,2100,0,0,0,0,0,0
$GC,8982,1.05,235.0,407.6,12.6,373,8986,0.00,2.65,0.00,0.000,6,0.000,0.037,3251,2381,2098,0,0,0,0,0,0
$GC,9231,1.05,235.0,379.1,11.2,379,9236,0.00,2.60,0.00,0.000,4,0.000,0.055,3251,3930,2098,0,0,0,0,0,0
$GC,9272,1.05,235.0,374.7,11.0,380,9276,0.00,2.58,0.00,0.000,6,0.000,0.033,3251,2368,2097,0,0,0,0,0,0
$GC,9556,1.05,236.3,345.6,9.9,387,9560,0.00,2.75,0.00,0.000,4,0.000,0.073,3251,785,2098,0,0,0,0,0,0
$GC,9588,1.05,236.3,341.8,10.9,387,9594,0.00,2.60,0.00,0.000,6,0.000,0.033,3251,2381,2096,0,0,0,0,0,0
$GC,9838,1.05,241.2,317.4,9.8,394,9852,0.00,2.62,6.62,0.711,4,0.000,0.051,3251,3931,2076,0,0,0,0,0,0
$GC,9869,1.05,241.2,314.1,10.5,394,9873,0.00,2.55,0.00,0.000,6,0.000,0.030,3251,2373,2075,0,0,0,0,0,0
$GC,10120,1.05,241.2,287.5,10.7,400,10125,0.00,2.60,0.00,0.000,4,0.000,0.049,3251,3928,2074,0,0,0,0,0,0
$GC,10153,1.05,241.2,283.2,12.5,400,10159,0.00,2.50,0.00,0.000,6,0.000,0.031,3251,2392,2073,0,0,0,0,0,0
$GC,10403,1.05,241.2,256.0,10.7,407,10408,0.00,2.58,0.00,0.000,4,0.000,0.051,3251,3934,2073,0,0,0,0,0,0
$GC,10425,1.05,241.2,253.7,10.4,407,10430,0.00,2.50,0.00,0.000,6,0.000,0.032,3251,2389,2073,0,0,0,0,0,0
$GC,10681,1.10,247.9,228.9,9.7,414,10695,0.00,2.75,7.18,0.661,4,0.000,0.053,3251,790,2049,0,0,0,0,0,0
$GC,10756,1.10,247.9,221.0,10.4,415,10761,0.00,2.58,0.00,0.000,6,0.000,0.030,3251,2400,2047,0,0,0,0,0,0
$GC,11014,1.16,262.7,196.9,9.3,422,11035,0.00,0.00,14.57,0.697,6,0.000,0.000,3251,2401,1987,0,0,0,0,0,0
$GC,11293,1.21,262.7,169.0,10.4,448,11298,0.12,0.00,0.00,0.000,6,0.081,0.000,3288,2401,1986,0,0,0,0,0,0
$GC,11561,1.21,262.7,137.9,11.7,473,11565,0.00,2.53,0.00,0.000,4,0.000,0.044,3287,3935,1986,0,0,0,0,0,0
$GC,11624,1.21,262.7,128.9,12.1,478,11628,0.00,2.45,0.00,0.000,6,0.000,0.024,3287,2398,1985,0,0,0,0,0,0
$GC,11888,1.21,262.7,98.1,10.5,502,11892,0.00,2.65,0.00,0.000,4,0.000,0.046,3287,782,1985,0,0,0,0,0,0
$GC,11908,1.21,262.7,96.1,10.7,503,11912,0.00,2.53,0.00,0.000,6,0.000,0.022,3287,2399,1985,0,0,0,0,0,0
$GC,12177,1.22,266.1,69.4,9.8,527,12192,0.00,2.55,4.45,0.429,4,0.000,0.043,3287,3928,1975,0,0,0,0,0,0
$GC,12208,1.22,266.1,65.9,10.4,529,12213,0.00,2.45,0.00,0.000,6,0.000,0.024,3288,2388,1974,0,0,0,0,0,0
$GC,12477,1.22,266.1,39.0,10.1,553,12481,0.00,2.62,0.00,0.000,4,0.000,0.044,3287,785,1974,0,0,0,0,0,0
$GC,12497,1.22,266.1,36.5,10.2,554,12502,0.00,2.53,0.00,0.000,6,0.000,0.022,3287,2402,1975,0,0,0,0,0,0
$STATE,12809,end climb,SURFACE_DEPTH_REACHED
$STATE,12809,begin surface coast
$FINISH,-0.3,1.000308
$STATE,12858,end surface coast,CONTROL_FINISHED_OK
$STATE,12858,begin surface
$SM_CCo,12881,93.45,0.530,0,0,1509,380.21
$SM_GC,0.52,0.00,0.00,93.45,0.000,0.000,0.530,470,2169,1509,-11.73,-1.16,380.21
$IRIDIUM_FIX,2241.69,-15804.53,090603,030326
$TT8_MAMPS,0.025311
$HUMID,59.49
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.30
$XPDR_PINGS,26
$24V_AH,23.3,3.215
$10V_AH,10.4,2.872
$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,27.825,173.500,353.950,93.450,0.000,64.667,111.869,169.799,6.500,0.000,12.248,1253.527,8759.931,563.781,2273.449,663.392,33.344,1418.489,0.000,2277.632,0.000,0.535,0.000
$DEVICE_MAMPS,131.924,115.817,1026.246,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,410.341,352.998,441.391,681.801,1298.743,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,47754,604
$CAP_FILE_SIZE,134051,0
$CFSIZE,260165632,178855936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150314,071059,2250.964,-15806.489,38,1.3,38,10.1