version: 66.06
glider: 146
mission: 9
dive: 22
start: 3 15 114 11 1 25
data:
$ID,146
$MISSION,9
$DIVE,22
$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,-323539.25
$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,60
$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
$GPS1,105336,2252.591,-15806.982,37,1.1,37,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,2
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-68.6
$GPS2,110031,2252.560,-15807.054,14,1.4,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.151,0.211
$KALMAN_X,-20118.9,-251.7,-227.6,1022.1,-1223.7
$KALMAN_Y,7668.4,-713.8,116.8,-1001.8,465.4
$MHEAD_RNG_PITCHd_Wd,25.4,22438,-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,-88.68,0.000,6,0.000,0.000,473,2169,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.7,-12.0,12,133,11.57,2.45,0.00,0.000,4,0.135,0.036,2735,656,3656,0,0,0,0,0,0
$GC,215,-1.20,-146.0,31.8,-14.4,25,220,0.10,2.45,0.00,0.000,6,0.124,0.021,2755,2214,3657,0,0,0,0,0,0
$GC,484,-1.14,-146.0,64.7,-11.9,49,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2215,3657,0,0,0,0,0,0
$GC,745,-1.10,-146.0,97.2,-11.1,74,750,0.12,2.58,0.00,0.000,4,0.115,0.044,2781,654,3658,0,0,0,0,0,0
$GC,803,-1.10,-146.0,103.2,-9.5,78,814,0.00,2.45,0.00,0.000,6,0.000,0.019,2781,2204,3658,0,0,0,0,0,0
$GC,1071,-1.14,-146.0,125.4,-8.1,103,1075,0.00,2.53,0.00,0.000,4,0.000,0.038,2781,3779,3658,0,0,0,0,0,0
$GC,1111,-1.20,-146.0,129.2,-8.2,106,1116,0.10,2.42,0.00,0.000,6,0.084,0.020,2743,2229,3658,0,0,0,0,0,0
$GC,1376,-1.20,-146.0,155.9,-10.4,130,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2229,3659,0,0,0,0,0,0
$GC,1638,-1.20,-146.0,184.5,-11.0,155,1642,0.00,2.53,0.00,0.000,4,0.000,0.038,2743,3781,3659,0,0,0,0,0,0
$GC,1678,-1.20,-146.0,189.0,-11.1,158,1682,0.00,2.45,0.00,0.000,6,0.000,0.021,2742,2202,3660,0,0,0,0,0,0
$GC,1963,-1.20,-146.0,214.7,-8.6,173,1968,0.00,2.55,0.00,0.000,4,0.000,0.049,2742,642,3660,0,0,0,0,0,0
$GC,2031,-1.20,-146.0,220.8,-9.1,174,2036,0.00,2.42,0.00,0.000,6,0.000,0.021,2742,2205,3659,0,0,0,0,0,0
$GC,2287,-1.20,-146.0,241.0,-7.8,181,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2205,3660,0,0,0,0,0,0
$GC,2530,-1.20,-146.0,259.2,-7.6,187,2535,0.00,2.58,0.00,0.000,4,0.000,0.045,2743,3785,3660,0,0,0,0,0,0
$GC,2565,-1.25,-146.0,261.9,-8.7,187,2570,0.00,2.47,0.00,0.000,6,0.000,0.022,2742,2209,3660,0,0,0,0,0,0
$GC,2815,-1.30,-146.0,282.6,-8.3,194,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2209,3659,0,0,0,0,0,0
$GC,3059,-1.35,-146.0,303.4,-8.6,200,3063,0.00,2.67,0.00,0.000,4,0.000,0.066,2742,637,3658,0,0,0,0,0,0
$GC,3100,-1.41,-146.0,306.8,-9.1,201,3105,0.15,2.53,0.00,0.000,6,0.065,0.033,2691,2199,3658,0,0,0,0,0,0
$GC,3384,-1.37,-146.0,334.1,-9.3,208,3389,0.15,2.72,0.00,0.000,4,0.104,0.067,2722,635,3657,0,0,0,0,0,0
$GC,3428,-1.37,-146.0,338.3,-9.3,209,3432,0.00,2.55,0.00,0.000,6,0.000,0.037,2723,2206,3656,0,0,0,0,0,0
$GC,3708,-1.37,-146.0,361.4,-8.3,216,3712,0.00,2.70,0.00,0.000,4,0.000,0.070,2722,639,3655,0,0,0,0,0,0
$GC,3729,-1.37,-146.0,363.3,-8.3,216,3733,0.00,2.55,0.00,0.000,6,0.000,0.037,2722,2197,3655,0,0,0,0,0,0
$GC,3984,-1.37,-146.0,382.3,-7.4,223,3988,0.00,2.67,0.00,0.000,4,0.000,0.061,2722,3804,3653,0,0,0,0,0,0
$GC,4063,-1.42,-146.0,389.2,-9.2,224,4069,0.00,2.60,0.00,0.000,6,0.000,0.044,2723,2228,3653,0,0,0,0,0,0
$GC,4314,-1.47,-146.0,410.4,-8.4,231,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2228,3651,0,0,0,0,0,0
$GC,4558,-1.51,-146.0,428.7,-7.4,237,4564,0.12,2.95,0.00,0.000,4,0.074,0.099,2679,617,3650,0,0,0,0,0,0
$GC,4580,-1.51,-146.0,430.7,-7.9,237,4585,0.00,2.67,0.00,0.000,6,0.000,0.042,2679,2231,3649,0,0,0,0,0,0
$GC,4836,-1.47,-146.0,451.8,-8.2,244,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2231,3648,0,0,0,0,0,0
$GC,5081,-1.47,-146.0,474.2,-9.4,250,5085,0.00,2.67,0.00,0.000,4,0.000,0.064,2679,3797,3647,0,0,0,0,0,0
$GC,5102,-1.43,-146.0,476.6,-10.3,250,5107,0.12,2.60,0.00,0.000,6,0.110,0.051,2706,2229,3647,0,0,0,0,0,0
$GC,5357,-1.43,-146.0,500.4,-9.3,257,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2229,3645,0,0,0,0,0,0
$GC,5601,-1.43,-146.0,523.1,-9.2,263,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2229,3643,0,0,0,0,0,0
$GC,5846,-1.43,-146.0,542.7,-7.8,269,5851,0.00,2.78,0.00,0.000,4,0.000,0.084,2705,3796,3641,0,0,0,0,0,0
$GC,5890,-1.43,-146.0,546.4,-7.7,270,5895,0.00,2.67,0.00,0.000,6,0.000,0.056,2705,2233,3641,0,0,0,0,0,0
$GC,6169,-1.43,-146.0,565.0,-6.5,277,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2233,3640,0,0,0,0,0,0
$GC,6412,-1.43,-146.0,580.7,-6.4,283,6417,0.00,2.80,0.00,0.000,4,0.000,0.087,2706,3794,3639,0,0,0,0,0,0
$GC,6468,-1.47,-146.0,584.9,-7.7,284,6472,0.00,2.72,0.00,0.000,6,0.000,0.068,2705,2243,3638,0,0,0,0,0,0
$STATE,6691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6691,begin apogee
$GC,6698,-0.31,0.0,601.2,7.1,290,6819,1.10,0.00,117.00,1.038,6,0.077,0.000,2953,2376,3060,0,0,0,0,0,0
$STATE,6819,end apogee,CONTROL_FINISHED_OK
$STATE,6819,begin climb
$GC,6822,1.27,146.0,604.5,0.0,293,6955,1.45,2.90,123.55,1.004,4,0.036,0.092,3305,3928,2464,0,0,0,0,0,0
$GC,6990,1.07,146.0,594.2,12.3,297,6996,0.25,2.80,0.00,0.000,6,0.109,0.066,3254,2363,2460,0,0,0,0,0,0
$GC,7258,1.01,167.1,569.4,9.0,304,7282,0.00,2.90,18.40,0.941,4,0.000,0.077,3254,3927,2377,0,0,0,0,0,0
$GC,7323,0.92,167.1,562.8,10.9,305,7328,0.17,2.70,0.00,0.000,6,0.117,0.055,3219,2377,2376,0,0,0,0,0,0
$GC,7585,0.95,190.7,539.3,8.9,312,7614,0.00,3.15,21.83,0.943,4,0.000,0.111,3219,782,2281,0,0,0,0,0,0
$GC,7627,0.96,200.1,535.3,9.6,313,7643,0.00,2.75,9.75,0.847,6,0.000,0.055,3219,2365,2244,0,0,0,0,0,0
$GC,7910,0.97,207.1,507.6,9.7,320,7924,0.00,2.83,7.22,0.802,4,0.000,0.070,3219,3937,2215,0,0,0,0,0,0
$GC,7935,0.98,211.0,504.9,9.8,320,7946,0.00,2.67,5.03,0.693,6,0.000,0.045,3219,2363,2199,0,0,0,0,0,0
$GC,8192,1.00,228.2,481.0,9.2,326,8210,0.00,0.00,16.73,0.907,6,0.000,0.000,3219,2363,2129,0,0,0,0,0,0
$GC,8479,1.01,238.0,454.4,9.5,333,8494,0.00,3.00,9.70,0.841,4,0.000,0.104,3219,778,2089,0,0,0,0,0,0
$GC,8510,1.01,238.0,450.9,11.2,333,8516,0.00,2.67,0.00,0.000,6,0.000,0.044,3219,2368,2088,0,0,0,0,0,0
$GC,8762,1.05,238.0,424.3,10.6,340,8768,0.12,2.85,0.00,0.000,4,0.086,0.077,3251,778,2086,0,0,0,0,0,0
$GC,8789,1.05,238.0,420.8,12.2,340,8794,0.00,2.62,0.00,0.000,6,0.000,0.040,3251,2362,2085,0,0,0,0,0,0
$GC,9040,1.05,238.0,394.0,10.4,346,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2363,2085,0,0,0,0,0,0
$GC,9285,1.05,239.1,369.6,9.9,352,9289,0.00,2.67,0.00,0.000,4,0.000,0.057,3250,3942,2085,0,0,0,0,0,0
$GC,9323,1.05,239.1,365.3,11.2,353,9328,0.00,2.65,0.00,0.000,6,0.000,0.039,3251,2333,2084,0,0,0,0,0,0
$GC,9606,1.05,239.1,336.8,10.0,360,9611,0.00,2.67,0.00,0.000,4,0.000,0.071,3251,785,2084,0,0,0,0,0,0
$GC,9662,1.05,239.1,330.8,11.7,361,9666,0.00,2.53,0.00,0.000,6,0.000,0.037,3251,2346,2082,0,0,0,0,0,0
$GC,9928,1.05,239.1,303.9,10.1,368,9932,0.00,2.67,0.00,0.000,4,0.000,0.058,3250,782,2082,0,0,0,0,0,0
$GC,9971,1.05,239.1,299.3,10.8,369,9975,0.00,2.50,0.00,0.000,6,0.000,0.034,3251,2329,2082,0,0,0,0,0,0
$GC,10251,1.05,239.1,271.5,10.1,376,10255,0.00,2.67,0.00,0.000,4,0.000,0.051,3251,3930,2082,0,0,0,0,0,0
$GC,10277,1.05,239.1,268.5,10.9,376,10281,0.00,2.60,0.00,0.000,6,0.000,0.027,3251,2319,2082,0,0,0,0,0,0
$GC,10527,1.07,256.3,244.8,9.2,382,10551,0.00,2.75,16.35,0.757,4,0.000,0.048,3251,3936,2015,0,0,0,0,0,0
$GC,10633,1.12,256.3,234.7,10.3,384,10637,0.00,2.60,0.00,0.000,6,0.000,0.028,3251,2342,2013,0,0,0,0,0,0
$GC,10899,1.17,267.4,209.8,9.5,391,10913,0.10,0.00,11.43,0.693,6,0.096,0.000,3278,2342,1969,0,0,0,0,0,0
$GC,11153,1.17,267.4,182.1,11.1,406,11157,0.00,2.60,0.00,0.000,4,0.000,0.048,3279,781,1967,0,0,0,0,0,0
$GC,11182,1.17,267.4,178.5,11.7,408,11187,0.00,2.50,0.00,0.000,6,0.000,0.025,3279,2356,1966,0,0,0,0,0,0
$GC,11444,1.17,267.4,150.7,10.0,432,11449,0.00,2.58,0.00,0.000,4,0.000,0.044,3279,3930,1966,0,0,0,0,0,0
$GC,11467,1.17,267.4,148.6,11.3,433,11472,0.00,2.55,0.00,0.000,6,0.000,0.024,3278,2333,1966,0,0,0,0,0,0
$GC,11733,1.17,267.4,122.1,10.1,457,11738,0.00,2.65,0.00,0.000,4,0.000,0.044,3278,3933,1966,0,0,0,0,0,0
$GC,11826,1.17,267.4,112.4,10.0,464,11835,0.00,2.55,0.00,0.000,6,0.000,0.025,3278,2353,1966,0,0,0,0,0,0
$GC,12092,1.20,288.2,88.1,9.0,489,12116,0.00,2.60,18.90,0.597,4,0.000,0.044,3278,789,1886,0,0,0,0,0,0
$GC,12158,1.24,288.2,80.6,11.2,494,12167,0.00,2.53,0.00,0.000,6,0.000,0.023,3278,2359,1884,0,0,0,0,0,0
$GC,12425,1.29,288.2,52.9,10.6,519,12434,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2359,1884,0,0,0,0,0,0
$GC,12706,1.29,288.2,22.4,11.0,549,12715,0.00,2.60,0.00,0.000,4,0.000,0.044,3279,3923,1884,0,0,0,0,0,0
$GC,12746,1.29,288.2,17.5,13.2,554,12755,0.00,2.53,0.00,0.000,6,0.000,0.025,3278,2354,1884,0,0,0,0,0,0
$STATE,12855,end climb,SURFACE_DEPTH_REACHED
$STATE,12855,begin surface coast
$FINISH,0.1,1.023795
$STATE,12894,end surface coast,CONTROL_FINISHED_OK
$STATE,12894,begin surface
$SM_CCo,12916,75.18,0.532,0,0,1510,380.21
$SM_GC,0.39,0.00,0.00,75.18,0.000,0.000,0.532,474,2176,1510,-11.72,-0.96,380.21
$IRIDIUM_FIX,2239.35,-15804.53,090603,070755
$TT8_MAMPS,0.026078
$HUMID,59.56
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.40
$XPDR_PINGS,18
$24V_AH,23.3,3.472
$10V_AH,10.4,3.104
$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,27.200,159.075,375.875,75.175,0.000,28.464,37.678,211.801,4.500,0.000,15.788,1195.986,8996.587,555.921,2065.550,590.869,33.348,1384.335,0.000,2067.272,0.000,0.534,0.000
$DEVICE_MAMPS,134.992,111.215,1037.751,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.614,321.461,405.124,588.147,1120.216,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,44597,575
$CAP_FILE_SIZE,129165,0
$CFSIZE,260165632,178737152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150314,143909,2254.371,-15806.991,29,1.5,31,10.1