version: 66.06
glider: 146
mission: 9
dive: 25
start: 3 15 114 22 23 2
data:
$ID,146
$MISSION,9
$DIVE,25
$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,-323636.69
$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,3001
$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,45
$R_STBD_OVSHOOT,43
$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
$GPS1,220959,2258.028,-15806.321,92,1.2,92,10.1
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-68.9
$GPS2,222208,2257.977,-15806.409,12,1.5,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.105,0.237
$KALMAN_X,-24443.5,-113.7,-46.6,6119.3,-606.8
$KALMAN_Y,8575.1,720.8,20.9,6790.0,-404.3
$MHEAD_RNG_PITCHd_Wd,13.8,12410,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-86.43,0.000,2,0.000,0.000,471,2189,3639,0,0,0,0,0,0
$GC,109,-1.27,-146.0,3.5,-8.6,11,127,11.38,2.53,-0.30,0.000,4,0.133,0.048,2716,638,3656,0,0,0,0,0,0
$GC,198,-1.14,-146.0,28.8,-17.7,23,206,0.12,2.50,0.00,0.000,6,0.089,0.020,2746,2210,3657,0,0,0,0,0,0
$GC,467,-1.07,-146.0,60.4,-10.8,48,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2210,3657,0,0,0,0,0,0
$GC,731,-1.02,-146.0,89.6,-10.4,73,736,0.15,2.58,0.00,0.000,4,0.107,0.038,2779,3787,3658,0,0,0,0,0,0
$GC,801,-1.08,-146.0,97.0,-9.9,78,812,0.00,2.50,0.00,0.000,6,0.000,0.023,2778,2216,3658,0,0,0,0,0,0
$GC,1069,-1.12,-146.0,119.1,-7.7,103,1074,0.10,2.60,0.00,0.000,4,0.083,0.048,2737,638,3658,0,0,0,0,0,0
$GC,1162,-1.12,-146.0,129.0,-11.2,110,1171,0.00,2.45,0.00,0.000,6,0.000,0.025,2737,2187,3658,0,0,0,0,0,0
$GC,1423,-1.12,-146.0,157.0,-10.8,135,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2188,3658,0,0,0,0,0,0
$GC,1678,-1.12,-146.0,182.3,-10.1,159,1683,0.00,2.55,0.00,0.000,4,0.000,0.047,2737,638,3658,0,0,0,0,0,0
$GC,1712,-1.12,-146.0,186.1,-10.6,161,1718,0.00,2.45,0.00,0.000,6,0.000,0.022,2737,2202,3659,0,0,0,0,0,0
$GC,2001,-1.12,-146.0,211.3,-8.6,180,2005,0.00,2.58,0.00,0.000,4,0.000,0.041,2737,3783,3658,0,0,0,0,0,0
$GC,2043,-1.12,-146.0,215.0,-9.1,181,2048,0.00,2.50,0.00,0.000,6,0.000,0.021,2737,2180,3659,0,0,0,0,0,0
$GC,2326,-1.12,-146.0,240.9,-8.9,188,2331,0.00,2.55,0.00,0.000,4,0.000,0.053,2737,639,3658,0,0,0,0,0,0
$GC,2368,-1.12,-146.0,244.5,-8.9,189,2372,0.00,2.45,0.00,0.000,6,0.000,0.025,2737,2194,3658,0,0,0,0,0,0
$GC,2652,-1.12,-146.0,268.6,-8.4,196,2656,0.00,2.58,0.00,0.000,4,0.000,0.051,2737,642,3658,0,0,0,0,0,0
$GC,2696,-1.17,-146.0,272.6,-8.8,197,2701,0.00,2.42,0.00,0.000,6,0.000,0.033,2737,2179,3658,0,0,0,0,0,0
$GC,2975,-1.17,-146.0,295.3,-8.1,204,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2179,3657,0,0,0,0,0,0
$GC,3218,-1.21,-146.0,314.1,-7.6,210,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2179,3656,0,0,0,0,0,0
$GC,3461,-1.26,-146.0,331.2,-7.0,216,3466,0.00,2.70,0.00,0.000,4,0.000,0.052,2737,3793,3654,0,0,0,0,0,0
$GC,3483,-1.31,-146.0,333.0,-7.5,216,3488,0.00,2.58,0.00,0.000,6,0.000,0.031,2737,2187,3655,0,0,0,0,0,0
$GC,3740,-1.36,-146.0,350.7,-7.0,223,3745,0.15,2.67,0.00,0.000,4,0.064,0.050,2688,3782,3654,0,0,0,0,0,0
$GC,3829,-1.32,-146.0,359.8,-10.3,225,3834,0.10,2.58,0.00,0.000,6,0.118,0.040,2710,2189,3653,0,0,0,0,0,0
$GC,4108,-1.32,-146.0,385.8,-9.5,232,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2189,3651,0,0,0,0,0,0
$GC,4351,-1.32,-146.0,407.8,-8.9,238,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2189,3649,0,0,0,0,0,0
$GC,4594,-1.32,-146.0,426.7,-7.4,244,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2189,3648,0,0,0,0,0,0
$GC,4839,-1.32,-146.0,444.4,-7.5,250,4844,0.00,2.72,0.00,0.000,4,0.000,0.062,2710,3776,3646,0,0,0,0,0,0
$GC,4866,-1.32,-146.0,447.1,-9.0,250,4871,0.00,2.65,0.00,0.000,6,0.000,0.052,2710,2190,3646,0,0,0,0,0,0
$GC,5117,-1.32,-146.0,469.9,-9.3,256,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2190,3644,0,0,0,0,0,0
$GC,5360,-1.32,-146.0,491.4,-8.7,262,5365,0.00,2.78,0.00,0.000,4,0.000,0.075,2710,3778,3643,0,0,0,0,0,0
$GC,5433,-1.32,-146.0,497.7,-8.8,263,5438,0.00,2.70,0.00,0.000,6,0.000,0.054,2710,2193,3643,0,0,0,0,0,0
$GC,5683,-1.32,-146.0,515.7,-7.1,269,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2193,3641,0,0,0,0,0,0
$GC,5927,-1.32,-146.0,532.5,-6.7,275,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2193,3639,0,0,0,0,0,0
$GC,6172,-1.36,-146.0,550.3,-7.4,281,6177,0.00,2.83,0.00,0.000,4,0.000,0.091,2710,3775,3638,0,0,0,0,0,0
$GC,6204,-1.36,-146.0,553.0,-8.0,281,6210,0.00,2.70,0.00,0.000,6,0.000,0.061,2710,2196,3638,0,0,0,0,0,0
$GC,6455,-1.39,-146.0,572.1,-7.7,288,6460,0.00,3.03,0.00,0.000,4,0.000,0.123,2710,623,3637,0,0,0,0,0,0
$GC,6479,-1.39,-146.0,573.9,-7.9,288,6484,0.00,2.67,0.00,0.000,6,0.000,0.064,2710,2175,3636,0,0,0,0,0,0
$GC,6735,-1.43,-146.0,592.3,-7.1,295,6739,0.00,2.97,0.00,0.000,4,0.000,0.101,2710,3797,3635,0,0,0,0,0,0
$GC,6808,-1.48,-146.0,597.8,-7.3,296,6813,0.15,2.78,0.00,0.000,6,0.069,0.070,2667,2205,3634,0,0,0,0,0,0
$STATE,6852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6852,begin apogee
$GC,6858,-0.31,0.0,601.6,8.0,297,6979,1.20,0.00,117.03,1.035,6,0.081,0.000,2934,2383,3059,0,0,0,0,0,0
$STATE,6980,end apogee,CONTROL_FINISHED_OK
$STATE,6980,begin climb
$GC,6982,1.27,146.0,603.7,0.0,300,7117,1.45,2.88,123.40,1.003,4,0.041,0.084,3282,3930,2462,0,0,0,0,0,0
$GC,7186,1.12,146.0,587.9,12.2,304,7192,0.17,2.75,0.00,0.000,6,0.117,0.061,3246,2369,2457,0,0,0,0,0,0
$GC,7438,1.07,155.8,563.3,9.5,311,7448,0.00,0.00,8.48,0.841,6,0.000,0.000,3246,2370,2424,0,0,0,0,0,0
$GC,7680,1.03,167.1,540.5,9.5,317,7693,0.00,0.00,11.48,0.890,6,0.000,0.000,3246,2370,2378,0,0,0,0,0,0
$GC,7924,0.99,167.5,516.4,10.0,323,7926,0.15,0.00,0.00,0.000,6,0.126,0.000,3217,2370,2374,0,0,0,0,0,0
$GC,8168,1.03,194.0,495.0,8.8,329,8199,0.00,3.05,24.52,0.936,4,0.000,0.103,3217,777,2268,0,0,0,0,0,0
$GC,8215,1.03,201.9,490.4,9.6,330,8230,0.00,2.70,8.62,0.820,6,0.000,0.053,3217,2361,2236,0,0,0,0,0,0
$GC,8492,1.06,221.0,464.7,9.1,337,8516,0.00,2.83,17.62,0.899,4,0.000,0.067,3217,3934,2159,0,0,0,0,0,0
$GC,8575,1.10,221.0,456.6,10.3,338,8581,0.10,2.62,0.00,0.000,6,0.093,0.038,3243,2377,2157,0,0,0,0,0,0
$GC,8824,1.10,221.0,429.9,10.8,345,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2377,2155,0,0,0,0,0,0
$GC,9068,1.10,221.0,402.1,11.4,351,9072,0.00,2.88,0.00,0.000,4,0.000,0.086,3242,782,2154,0,0,0,0,0,0
$GC,9101,1.10,221.0,398.3,11.6,351,9107,0.00,2.67,0.00,0.000,6,0.000,0.036,3243,2395,2152,0,0,0,0,0,0
$GC,9351,1.10,221.0,372.3,10.3,358,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2395,2152,0,0,0,0,0,0
$GC,9595,1.11,231.8,349.0,9.5,364,9610,0.00,2.62,10.35,0.800,4,0.000,0.054,3242,3934,2114,0,0,0,0,0,0
$GC,9634,1.11,231.8,344.8,11.4,365,9639,0.00,2.60,0.00,0.000,6,0.000,0.032,3242,2367,2113,0,0,0,0,0,0
$GC,9918,1.11,233.1,316.0,9.9,372,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2367,2112,0,0,0,0,0,0
$GC,10162,1.11,235.9,291.8,9.9,378,10168,0.00,0.00,4.60,0.600,6,0.000,0.000,3242,2367,2098,0,0,0,0,0,0
$GC,10406,1.12,243.5,267.9,9.7,384,10417,0.00,0.00,8.52,0.719,6,0.000,0.000,3242,2367,2067,0,0,0,0,0,0
$GC,10649,1.20,273.2,246.1,8.6,390,10684,0.00,2.78,27.25,0.772,4,0.000,0.056,3243,788,1945,0,0,0,0,0,0
$GC,10718,1.26,278.5,239.6,9.8,391,10734,0.12,2.62,6.07,0.621,6,0.081,0.028,3276,2397,1924,0,0,0,0,0,0
$GC,10978,1.26,278.5,209.9,11.9,398,10982,0.00,2.58,0.00,0.000,4,0.000,0.048,3276,3938,1921,0,0,0,0,0,0
$GC,11055,1.26,278.5,199.5,12.9,399,11061,0.00,2.50,0.00,0.000,6,0.000,0.026,3276,2396,1920,0,0,0,0,0,0
$GC,11323,1.26,278.5,169.9,11.9,424,11327,0.00,2.58,0.00,0.000,4,0.000,0.046,3276,3934,1920,0,0,0,0,0,0
$GC,11344,1.26,278.5,166.4,12.4,425,11350,0.00,2.45,0.00,0.000,6,0.000,0.025,3276,2403,1919,0,0,0,0,0,0
$GC,11608,1.26,278.5,135.9,11.5,450,11612,0.00,2.67,0.00,0.000,4,0.000,0.048,3276,789,1920,0,0,0,0,0,0
$GC,11660,1.26,278.5,129.4,11.6,454,11664,0.00,2.58,0.00,0.000,6,0.000,0.031,3276,2405,1919,0,0,0,0,0,0
$GC,11923,1.26,278.5,101.4,10.4,478,11928,0.00,2.67,0.00,0.000,4,0.000,0.043,3276,786,1919,0,0,0,0,0,0
$GC,11952,1.26,278.5,98.1,10.9,480,11956,0.00,2.58,0.00,0.000,6,0.000,0.023,3276,2411,1919,0,0,0,0,0,0
$GC,12219,1.30,278.5,71.1,11.0,504,12224,0.00,2.47,0.00,0.000,4,0.000,0.042,3276,3926,1919,0,0,0,0,0,0
$GC,12293,1.35,278.5,62.7,11.7,509,12298,0.00,2.42,0.00,0.000,6,0.000,0.024,3276,2402,1919,0,0,0,0,0,0
$GC,12559,1.35,278.5,34.8,11.4,533,12563,0.00,2.65,0.00,0.000,4,0.000,0.047,3276,792,1920,0,0,0,0,0,0
$GC,12594,1.35,278.5,30.2,11.5,535,12604,0.00,2.58,0.00,0.000,6,0.000,0.024,3276,2403,1920,0,0,0,0,0,0
$STATE,12829,end climb,SURFACE_DEPTH_REACHED
$STATE,12829,begin surface coast
$FINISH,-0.2,1.023797
$STATE,12865,end surface coast,CONTROL_FINISHED_OK
$STATE,12865,begin surface
$SM_CCo,12887,81.95,0.534,0,0,1510,380.21
$SM_GC,0.31,0.00,0.00,81.95,0.000,0.000,0.534,474,2135,1510,-11.62,-2.12,380.21
$IRIDIUM_FIX,2251.04,-15805.83,090603,222254
$TT8_MAMPS,0.026078
$HUMID,60.04
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.10
$XPDR_PINGS,16
$24V_AH,23.3,3.897
$10V_AH,10.4,3.461
$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,26.600,137.925,367.950,81.950,0.000,54.439,75.511,393.075,4.000,0.000,13.813,1183.414,9102.118,546.951,2032.666,831.394,33.350,1335.934,0.000,2036.639,0.000,0.535,0.000
$DEVICE_MAMPS,132.691,123.487,1034.683,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.892,317.110,405.340,590.558,1122.424,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,44874,575
$CAP_FILE_SIZE,128497,0
$CFSIZE,260165632,178544640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160314,020036,2259.320,-15806.261,43,1.4,43,10.1