version: 66.06
glider: 146
mission: 9
dive: 21
start: 3 15 114 7 18 49
data:
$ID,146
$MISSION,9
$DIVE,21
$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,-323522.84
$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,68
$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
$GPS1,071059,2250.964,-15806.489,38,1.3,38,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-67.9
$GPS2,071755,2250.970,-15806.529,11,1.9,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.124,0.228
$KALMAN_X,-18259.0,148.3,-147.2,-429.4,-1077.6
$KALMAN_Y,7340.9,-591.5,115.2,-3738.2,255.6
$MHEAD_RNG_PITCHd_Wd,18.4,25197,-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,-87.68,0.000,6,0.000,0.000,469,2169,3657,0,0,0,0,0,0
$GC,115,-1.27,-146.0,5.0,-13.5,12,133,11.45,2.45,0.00,0.000,4,0.132,0.035,2735,662,3657,0,0,0,0,0,0
$GC,177,-1.13,-146.0,26.5,-18.3,20,187,0.12,2.47,0.00,0.000,6,0.087,0.021,2766,2219,3658,0,0,0,0,0,0
$GC,452,-1.13,-146.0,58.3,-11.3,46,457,0.00,2.55,0.00,0.000,4,0.000,0.042,2765,664,3658,0,0,0,0,0,0
$GC,498,-1.13,-146.0,64.0,-11.6,49,502,0.00,2.42,0.00,0.000,6,0.000,0.019,2766,2211,3658,0,0,0,0,0,0
$GC,765,-1.13,-146.0,93.0,-10.7,73,770,0.00,2.55,0.00,0.000,4,0.000,0.043,2766,665,3658,0,0,0,0,0,0
$GC,797,-1.13,-146.0,96.7,-10.6,75,801,0.00,2.40,0.00,0.000,6,0.000,0.018,2766,2206,3658,0,0,0,0,0,0
$GC,1064,-1.13,-146.0,125.0,-9.9,99,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2206,3658,0,0,0,0,0,0
$GC,1326,-1.13,-146.0,148.1,-8.3,124,1330,0.00,2.53,0.00,0.000,4,0.000,0.038,2765,3778,3659,0,0,0,0,0,0
$GC,1372,-1.17,-146.0,151.5,-8.1,127,1376,0.00,2.42,0.00,0.000,6,0.000,0.021,2766,2222,3659,0,0,0,0,0,0
$GC,1640,-1.21,-146.0,172.1,-7.7,151,1644,0.00,2.58,0.00,0.000,4,0.000,0.047,2765,642,3660,0,0,0,0,0,0
$GC,1661,-1.25,-146.0,174.3,-7.9,152,1669,0.00,2.42,0.00,0.000,6,0.000,0.020,2766,2204,3660,0,0,0,0,0,0
$GC,1926,-1.30,-146.0,195.9,-8.1,177,1931,0.12,2.55,0.00,0.000,4,0.071,0.039,2722,3782,3660,0,0,0,0,0,0
$GC,1959,-1.30,-146.0,199.5,-10.6,179,1965,0.00,2.47,0.00,0.000,6,0.000,0.021,2722,2197,3660,0,0,0,0,0,0
$GC,2220,-1.30,-146.0,224.1,-9.5,187,2225,0.00,2.58,0.00,0.000,4,0.000,0.051,2721,632,3660,0,0,0,0,0,0
$GC,2265,-1.30,-146.0,228.8,-10.4,188,2270,0.00,2.45,0.00,0.000,6,0.000,0.026,2721,2214,3660,0,0,0,0,0,0
$GC,2544,-1.30,-146.0,254.1,-8.8,195,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2214,3660,0,0,0,0,0,0
$GC,2787,-1.30,-146.0,275.0,-8.7,201,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2214,3660,0,0,0,0,0,0
$GC,3032,-1.30,-146.0,298.4,-9.5,207,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2214,3659,0,0,0,0,0,0
$GC,3275,-1.30,-146.0,320.0,-9.0,213,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2214,3659,0,0,0,0,0,0
$GC,3518,-1.30,-146.0,340.2,-8.1,219,3523,0.00,2.72,0.00,0.000,4,0.000,0.074,2721,644,3658,0,0,0,0,0,0
$GC,3585,-1.30,-146.0,346.0,-8.7,220,3589,0.00,2.53,0.00,0.000,6,0.000,0.043,2722,2191,3657,0,0,0,0,0,0
$GC,3841,-1.30,-146.0,367.5,-8.7,227,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2192,3655,0,0,0,0,0,0
$GC,4083,-1.30,-146.0,388.1,-8.4,233,4088,0.00,2.70,0.00,0.000,4,0.000,0.058,2722,3804,3654,0,0,0,0,0,0
$GC,4139,-1.35,-146.0,393.1,-9.0,234,4143,0.00,2.58,0.00,0.000,6,0.000,0.037,2721,2229,3653,0,0,0,0,0,0
$GC,4406,-1.35,-146.0,414.7,-8.1,241,4411,0.00,2.65,0.00,0.000,4,0.000,0.059,2721,3799,3652,0,0,0,0,0,0
$GC,4433,-1.39,-146.0,417.2,-8.5,241,4438,0.00,2.62,0.00,0.000,6,0.000,0.048,2721,2206,3651,0,0,0,0,0,0
$GC,4685,-1.43,-146.0,437.5,-8.2,247,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2206,3650,0,0,0,0,0,0
$GC,4927,-1.48,-146.0,457.3,-7.9,253,4933,0.10,2.75,0.00,0.000,4,0.088,0.062,2688,3798,3648,0,0,0,0,0,0
$GC,4955,-1.48,-146.0,459.8,-9.3,253,4959,0.00,2.67,0.00,0.000,6,0.000,0.054,2688,2206,3647,0,0,0,0,0,0
$GC,5205,-1.48,-146.0,482.0,-8.9,259,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2206,3646,0,0,0,0,0,0
$GC,5450,-1.48,-146.0,503.7,-9.0,265,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2206,3644,0,0,0,0,0,0
$GC,5692,-1.48,-146.0,524.5,-8.5,271,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2206,3643,0,0,0,0,0,0
$GC,5937,-1.48,-146.0,544.1,-7.9,277,5942,0.00,2.83,0.00,0.000,4,0.000,0.092,2688,3787,3642,0,0,0,0,0,0
$GC,5988,-1.48,-146.0,548.4,-8.8,278,5993,0.00,2.72,0.00,0.000,6,0.000,0.061,2688,2199,3641,0,0,0,0,0,0
$GC,6260,-1.48,-146.0,568.3,-7.2,285,6265,0.00,2.85,0.00,0.000,4,0.000,0.084,2687,3792,3639,0,0,0,0,0,0
$GC,6299,-1.48,-146.0,571.3,-7.9,286,6304,0.00,2.75,0.00,0.000,6,0.000,0.067,2688,2205,3639,0,0,0,0,0,0
$GC,6583,-1.48,-146.0,593.3,-7.9,293,6588,0.00,2.85,0.00,0.000,4,0.000,0.096,2688,3788,3637,0,0,0,0,0,0
$GC,6623,-1.48,-146.0,596.9,-8.9,294,6627,0.00,2.78,0.00,0.000,6,0.000,0.076,2688,2214,3637,0,0,0,0,0,0
$STATE,6659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6659,begin apogee
$GC,6666,-0.31,0.0,600.2,8.4,295,6787,1.17,0.00,117.53,1.032,6,0.077,0.000,2951,2375,3059,0,0,0,0,0,0
$STATE,6788,end apogee,CONTROL_FINISHED_OK
$STATE,6788,begin climb
$GC,6791,1.27,146.0,604.2,0.0,298,6925,1.42,2.92,123.43,1.005,4,0.038,0.094,3300,3930,2462,0,0,0,0,0,0
$GC,7053,1.08,146.0,582.6,12.7,304,7058,0.22,2.75,0.00,0.000,6,0.112,0.064,3255,2370,2456,0,0,0,0,0,0
$GC,7331,1.00,146.0,553.8,10.1,311,7336,0.00,2.80,0.00,0.000,4,0.000,0.081,3255,3933,2452,0,0,0,0,0,0
$GC,7377,0.90,146.0,548.7,11.1,312,7383,0.20,2.70,0.00,0.000,6,0.116,0.053,3215,2372,2451,0,0,0,0,0,0
$GC,7655,0.94,180.3,524.6,8.4,319,7689,0.00,0.00,29.17,0.952,6,0.000,0.000,3215,2373,2324,0,0,0,0,0,0
$GC,7942,0.98,212.0,500.0,8.5,326,7973,0.00,0.00,29.10,0.944,6,0.000,0.000,3215,2372,2195,0,0,0,0,0,0
$GC,8184,1.02,241.1,479.1,8.7,332,8219,0.12,3.05,26.38,0.922,4,0.085,0.105,3246,781,2075,0,0,0,0,0,0
$GC,8246,1.02,241.1,472.5,11.4,333,8251,0.00,2.75,0.00,0.000,6,0.000,0.049,3246,2379,2073,0,0,0,0,0,0
$GC,8508,1.02,241.1,443.6,11.1,340,8513,0.00,2.67,0.00,0.000,4,0.000,0.059,3246,3938,2071,0,0,0,0,0,0
$GC,8547,1.02,241.1,438.6,12.7,341,8552,0.00,2.62,0.00,0.000,6,0.000,0.040,3246,2381,2070,0,0,0,0,0,0
$GC,8831,1.02,241.1,403.3,12.6,348,8835,0.00,2.88,0.00,0.000,4,0.000,0.086,3246,777,2069,0,0,0,0,0,0
$GC,8853,1.02,241.1,400.3,13.6,348,8858,0.00,2.70,0.00,0.000,6,0.000,0.038,3247,2400,2068,0,0,0,0,0,0
$GC,9108,1.02,241.1,369.8,11.7,355,9112,0.00,2.60,0.00,0.000,4,0.000,0.056,3246,3945,2068,0,0,0,0,0,0
$GC,9162,1.02,241.1,363.4,11.5,356,9167,0.00,2.53,0.00,0.000,6,0.000,0.032,3246,2397,2067,0,0,0,0,0,0
$GC,9430,1.02,246.6,337.1,9.7,363,9440,0.00,2.85,4.72,0.633,4,0.000,0.074,3246,778,2054,0,0,0,0,0,0
$GC,9485,1.02,246.6,330.9,11.4,364,9489,0.00,2.65,0.00,0.000,6,0.000,0.035,3246,2400,2053,0,0,0,0,0,0
$GC,9752,1.02,246.6,303.0,10.5,371,9756,0.00,2.78,0.00,0.000,4,0.000,0.060,3246,783,2053,0,0,0,0,0,0
$GC,9785,1.02,246.6,299.5,10.7,371,9791,0.00,2.58,0.00,0.000,6,0.000,0.029,3246,2386,2053,0,0,0,0,0,0
$GC,10035,1.03,249.8,275.1,9.9,378,10041,0.00,0.00,4.55,0.590,6,0.000,0.000,3246,2387,2041,0,0,0,0,0,0
$GC,10278,1.03,249.8,248.6,10.8,384,10279,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2387,2041,0,0,0,0,0,0
$GC,10524,1.04,259.2,224.9,9.6,390,10539,0.00,2.60,10.02,0.707,4,0.000,0.049,3246,3928,2003,0,0,0,0,0,0
$GC,10624,1.09,259.2,213.9,10.9,392,10629,0.00,2.50,0.00,0.000,6,0.000,0.026,3246,2370,2001,0,0,0,0,0,0
$GC,10887,1.13,259.2,188.0,10.2,407,10891,0.00,2.67,0.00,0.000,4,0.000,0.053,3246,788,2001,0,0,0,0,0,0
$GC,10943,1.18,259.2,181.8,10.4,411,10953,0.10,2.58,0.00,0.000,6,0.054,0.025,3278,2385,2000,0,0,0,0,0,0
$GC,11209,1.18,260.2,154.4,10.0,436,11213,0.00,2.53,0.00,0.000,4,0.000,0.044,3278,3925,2000,0,0,0,0,0,0
$GC,11253,1.18,260.2,149.6,11.8,439,11257,0.00,2.47,0.00,0.000,6,0.000,0.025,3278,2372,1999,0,0,0,0,0,0
$GC,11519,1.18,260.2,121.8,10.5,463,11524,0.00,2.55,0.00,0.000,4,0.000,0.043,3278,3934,1999,0,0,0,0,0,0
$GC,11600,1.18,260.2,112.6,11.2,469,11604,0.00,2.42,0.00,0.000,6,0.000,0.022,3279,2391,1999,0,0,0,0,0,0
$GC,11866,1.18,260.2,84.3,10.1,493,11870,0.00,2.60,0.00,0.000,4,0.000,0.045,3278,792,1999,0,0,0,0,0,0
$GC,11922,1.18,260.2,78.2,11.2,497,11926,0.00,2.53,0.00,0.000,6,0.000,0.022,3278,2394,1999,0,0,0,0,0,0
$GC,12189,1.18,260.2,52.5,10.1,521,12194,0.00,2.62,0.00,0.000,4,0.000,0.042,3278,781,2000,0,0,0,0,0,0
$GC,12210,1.19,264.5,50.2,9.8,522,12225,0.00,2.50,5.88,0.472,6,0.000,0.021,3279,2388,1983,0,0,0,0,0,0
$GC,12498,1.24,264.5,21.3,10.2,553,12508,0.00,2.53,0.00,0.000,4,0.000,0.044,3278,3919,1983,0,0,0,0,0,0
$GC,12558,1.24,264.5,14.6,12.5,561,12567,0.00,2.42,0.00,0.000,6,0.000,0.024,3278,2402,1982,0,0,0,0,0,0
$STATE,12648,end climb,SURFACE_DEPTH_REACHED
$STATE,12648,begin surface coast
$FINISH,-0.3,1.023935
$STATE,12693,end surface coast,CONTROL_FINISHED_OK
$STATE,12693,begin surface
$SM_CCo,12714,93.72,0.539,0,0,1509,380.21
$SM_GC,0.32,0.00,0.00,93.72,0.000,0.000,0.539,474,2168,1509,-11.71,-1.16,380.21
$IRIDIUM_FIX,2241.69,-15859.26,090603,030321
$TT8_MAMPS,0.026078
$HUMID,60.08
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.20
$XPDR_PINGS,15
$24V_AH,23.3,3.343
$10V_AH,10.4,2.989
$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,26.425,152.800,350.775,93.725,0.000,30.646,32.638,220.618,3.750,0.000,12.762,1201.962,8778.993,549.064,2102.690,590.505,33.350,1363.887,0.000,2104.817,0.000,0.535,0.000
$DEVICE_MAMPS,131.924,105.079,1032.382,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,394.639,327.326,417.205,608.430,1159.791,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,44736,580
$CAP_FILE_SIZE,126966,0
$CFSIZE,260165632,178802688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150314,105336,2252.591,-15806.982,37,1.1,37,10.1