version: 66.06
glider: 146
mission: 9
dive: 29
start: 3 16 114 13 22 0
data:
$ID,146
$MISSION,9
$DIVE,29
$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,-323721.66
$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,46
$R_STBD_OVSHOOT,31
$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
$GPS1,131225,2303.550,-15804.451,134,1.0,135,10.1
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,3
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-69.4
$GPS2,132107,2303.508,-15804.528,34,1.6,34,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.110,0.091
$KALMAN_X,-27894.4,-77.6,-33.5,12729.1,-1083.0
$KALMAN_Y,9975.8,-399.5,-487.6,17262.2,839.2
$MHEAD_RNG_PITCHd_Wd,40.4,1745,-32.6,-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,-2.09,-44.5,0.0,0.0,0,96,0.00,0.00,-73.05,0.000,6,0.000,0.000,469,2184,3239,0,0,0,0,0,0
$GC,99,-2.12,-71.1,2.6,-6.0,10,118,10.50,2.58,-2.35,0.000,4,0.133,0.054,2529,639,3350,0,0,0,0,0,0
$GC,131,-1.40,-71.1,11.1,-24.8,13,141,0.77,2.53,0.00,0.000,6,0.104,0.019,2688,2229,3350,0,0,0,0,0,0
$GC,419,-1.64,-71.1,57.4,-13.5,44,428,0.20,0.00,0.00,0.000,6,0.055,0.000,2625,2231,3351,0,0,0,0,0,0
$GC,687,-1.81,-71.1,98.5,-16.2,69,691,0.00,2.50,0.00,0.000,4,0.000,0.033,2625,3779,3352,0,0,0,0,0,0
$GC,704,-1.96,-71.1,102.3,-16.3,70,709,0.22,2.45,0.00,0.000,6,0.051,0.019,2555,2208,3351,0,0,0,0,0,0
$GC,968,-2.04,-71.1,147.4,-17.2,94,972,0.00,2.53,0.00,0.000,4,0.000,0.035,2555,3779,3352,0,0,0,0,0,0
$GC,1020,-2.10,-71.1,156.0,-15.2,98,1024,0.00,2.45,0.00,0.000,6,0.000,0.019,2556,2201,3352,0,0,0,0,0,0
$GC,1283,-2.20,-71.1,197.2,-14.4,122,1288,0.15,2.58,0.00,0.000,4,0.063,0.036,2505,3780,3353,0,0,0,0,0,0
$GC,1306,-2.20,-71.1,200.9,-15.5,123,1310,0.00,2.45,0.00,0.000,6,0.000,0.018,2505,2202,3353,0,0,0,0,0,0
$GC,1560,-2.20,-71.1,240.7,-15.1,130,1565,0.00,2.58,0.00,0.000,4,0.000,0.038,2505,3780,3354,0,0,0,0,0,0
$GC,1632,-2.20,-71.1,251.2,-13.9,131,1637,0.00,2.42,0.00,0.000,6,0.000,0.019,2505,2224,3353,0,0,0,0,0,0
$GC,1884,-2.24,-71.1,284.0,-13.4,137,1888,0.00,2.55,0.00,0.000,4,0.000,0.044,2505,3779,3353,0,0,0,0,0,0
$GC,1957,-2.24,-71.1,295.1,-14.8,138,1961,0.00,2.42,0.00,0.000,6,0.000,0.022,2505,2241,3353,0,0,0,0,0,0
$GC,2208,-2.30,-71.1,327.8,-12.9,144,2212,0.00,2.55,0.00,0.000,4,0.000,0.054,2505,3778,3353,0,0,0,0,0,0
$GC,2257,-2.30,-71.1,334.6,-13.3,145,2261,0.00,2.50,0.00,0.000,6,0.000,0.031,2505,2229,3354,0,0,0,0,0,0
$GC,2530,-2.36,-71.1,367.1,-11.9,152,2534,0.00,2.62,0.00,0.000,4,0.000,0.055,2505,3776,3352,0,0,0,0,0,0
$GC,2610,-2.36,-71.1,376.8,-12.3,153,2617,0.00,2.53,0.00,0.000,6,0.000,0.038,2505,2238,3352,0,0,0,0,0,0
$GC,2860,-2.42,-71.1,404.7,-11.0,160,2862,0.12,0.00,0.00,0.000,6,0.073,0.000,2461,2238,3351,0,0,0,0,0,0
$GC,3103,-2.42,-71.1,437.0,-13.7,166,3107,0.00,2.65,0.00,0.000,4,0.000,0.071,2461,3770,3349,0,0,0,0,0,0
$GC,3154,-2.38,-71.1,444.0,-14.0,167,3159,0.10,2.60,0.00,0.000,6,0.142,0.048,2479,2229,3349,0,0,0,0,0,0
$GC,3426,-2.38,-71.1,479.9,-13.3,174,3430,0.00,2.67,0.00,0.000,4,0.000,0.068,2479,3774,3347,0,0,0,0,0,0
$GC,3448,-2.38,-71.1,482.7,-12.4,174,3453,0.00,2.62,0.00,0.000,6,0.000,0.050,2479,2223,3347,0,0,0,0,0,0
$GC,3704,-2.38,-71.1,514.3,-12.2,181,3708,0.00,2.72,0.00,0.000,4,0.000,0.078,2479,3773,3344,0,0,0,0,0,0
$GC,3743,-2.38,-71.1,519.5,-12.9,182,3747,0.00,2.65,0.00,0.000,6,0.000,0.057,2480,2231,3345,0,0,0,0,0,0
$GC,4026,-2.41,-71.1,552.0,-11.3,189,4030,0.00,2.75,0.00,0.000,4,0.000,0.084,2479,3767,3342,0,0,0,0,0,0
$GC,4127,-2.41,-71.1,564.0,-12.0,191,4131,0.00,2.67,0.00,0.000,6,0.000,0.067,2479,2239,3342,0,0,0,0,0,0
$GC,4393,-2.46,-71.1,593.9,-11.4,198,4398,0.00,2.80,0.00,0.000,4,0.000,0.093,2479,3772,3340,0,0,0,0,0,0
$GC,4420,-2.46,-71.1,597.2,-11.6,198,4424,0.00,2.70,0.00,0.000,6,0.000,0.076,2479,2253,3340,0,0,0,0,0,0
$STATE,4464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4464,begin apogee
$GC,4471,-0.31,0.0,602.1,10.9,199,4534,2.10,0.00,57.65,1.009,6,0.096,0.000,2933,2342,3060,0,0,0,0,0,0
$STATE,4534,end apogee,CONTROL_FINISHED_OK
$STATE,4534,begin climb
$GC,4537,2.12,71.1,603.5,0.0,200,4603,2.25,0.00,61.10,0.986,6,0.036,0.000,3476,2343,2770,0,0,0,0,0,0
$GC,4830,2.12,71.1,570.9,12.9,208,4835,0.00,2.88,0.00,0.000,4,0.000,0.079,3476,3941,2762,0,0,0,0,0,0
$GC,4866,2.02,71.1,566.2,14.4,208,4872,0.17,2.75,0.00,0.000,6,0.133,0.058,3444,2369,2761,0,0,0,0,0,0
$GC,5115,2.02,71.1,535.8,11.6,215,5120,0.00,2.75,0.00,0.000,4,0.000,0.068,3444,3941,2759,0,0,0,0,0,0
$GC,5279,2.02,71.1,516.6,11.4,218,5284,0.00,2.62,0.00,0.000,6,0.000,0.046,3444,2389,2758,0,0,0,0,0,0
$GC,5529,2.02,71.7,491.5,9.9,224,5534,0.00,2.70,0.00,0.000,4,0.000,0.064,3444,3940,2757,0,0,0,0,0,0
$GC,5658,1.99,71.7,477.8,10.1,227,5663,0.00,2.62,0.00,0.000,6,0.000,0.044,3444,2391,2756,0,0,0,0,0,0
$GC,5943,1.99,76.9,451.4,9.2,234,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2391,2754,0,0,0,0,0,0
$GC,6186,2.04,85.5,430.1,8.7,240,6201,0.00,2.70,10.57,0.843,4,0.000,0.057,3444,3941,2710,0,0,0,0,0,0
$GC,6323,2.04,85.5,416.5,10.2,243,6328,0.00,2.60,0.00,0.000,6,0.000,0.037,3444,2389,2708,0,0,0,0,0,0
$GC,6601,2.09,86.0,388.3,9.9,250,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2389,2707,0,0,0,0,0,0
$GC,6845,2.15,96.2,366.9,8.5,256,6861,0.12,2.67,10.12,0.802,4,0.089,0.052,3475,3952,2667,0,0,0,0,0,0
$GC,6953,2.09,96.2,355.4,11.3,258,6958,0.00,2.58,0.00,0.000,6,0.000,0.032,3475,2395,2665,0,0,0,0,0,0
$GC,7215,2.09,96.2,328.3,10.3,265,7219,0.00,2.62,0.00,0.000,4,0.000,0.051,3475,3946,2664,0,0,0,0,0,0
$GC,7472,2.04,99.9,300.2,9.4,270,7483,0.15,2.47,4.15,0.566,6,0.139,0.035,3449,2419,2652,0,0,0,0,0,0
$GC,7769,2.13,115.2,277.3,7.7,278,7787,0.00,0.00,14.90,0.772,6,0.000,0.000,3448,2419,2589,0,0,0,0,0,0
$GC,8056,2.22,115.2,248.1,10.3,285,8061,0.15,2.60,0.00,0.000,4,0.095,0.050,3485,3949,2587,0,0,0,0,0,0
$GC,8315,2.22,117.5,220.8,9.7,290,8320,0.00,2.45,0.00,0.000,6,0.000,0.026,3485,2432,2586,0,0,0,0,0,0
$GC,8565,2.27,121.6,198.3,9.4,297,8579,0.00,2.55,6.53,0.615,4,0.000,0.047,3485,3952,2564,0,0,0,0,0,0
$GC,8698,2.27,121.6,184.4,11.5,308,8702,0.00,2.42,0.00,0.000,6,0.000,0.026,3485,2449,2563,0,0,0,0,0,0
$GC,8960,2.32,121.6,157.2,10.1,332,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,2449,2563,0,0,0,0,0,0
$GC,9215,2.39,135.4,134.9,7.9,356,9234,0.15,2.53,13.10,0.627,4,0.084,0.046,3523,3949,2508,0,0,0,0,0,0
$GC,9503,2.35,135.4,100.7,11.2,379,9508,0.00,2.42,0.00,0.000,6,0.000,0.025,3523,2438,2506,0,0,0,0,0,0
$GC,9769,2.36,142.0,73.3,9.0,404,9784,0.00,2.55,7.07,0.513,4,0.000,0.048,3522,3935,2482,0,0,0,0,0,0
$GC,9901,2.31,142.0,58.4,13.1,414,9905,0.00,2.35,0.00,0.000,6,0.000,0.025,3523,2462,2481,0,0,0,0,0,0
$GC,10171,2.31,142.0,27.3,13.5,439,10180,0.00,2.50,0.00,0.000,4,0.000,0.051,3523,3930,2481,0,0,0,0,0,0
$STATE,10332,end climb,SURFACE_DEPTH_REACHED
$STATE,10335,begin surface coast
$FINISH,0.2,1.023891
$STATE,10353,end surface coast,CONTROL_FINISHED_OK
$STATE,10353,begin surface
$SM_CCo,10378,190.60,0.532,0,0,1510,380.21
$SM_GC,0.35,0.00,0.00,190.60,0.000,0.000,0.532,470,2196,1510,-11.64,-0.40,380.21
$IRIDIUM_FIX,2255.72,-15807.13,100603,090902
$TT8_MAMPS,0.026078
$HUMID,57.08
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.90
$XPDR_PINGS,11
$24V_AH,23.3,4.391
$10V_AH,10.4,3.911
$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,29.600,124.450,185.200,190.600,0.000,23.278,33.272,303.327,2.750,0.000,36.202,1030.013,6997.667,492.294,1932.874,635.591,33.344,1221.369,0.000,1905.782,0.000,0.535,0.000
$DEVICE_MAMPS,141.895,106.613,1009.372,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.962,261.562,333.336,498.223,950.766,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,38297,465
$CAP_FILE_SIZE,110517,0
$CFSIZE,260165632,178327552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160314,161950,2304.116,-15804.508,41,99.0,60,10.1