version: 66.06
glider: 146
mission: 9
dive: 65
start: 3 22 114 5 14 8
data:
$ID,146
$MISSION,9
$DIVE,65
$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,-324628.72
$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,3004
$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,32
$R_STBD_OVSHOOT,38
$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
$GPS1,050653,2243.068,-15738.369,36,1.6,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-68.5
$GPS2,051312,2243.098,-15738.448,9,1.5,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.089,0.244
$KALMAN_X,-51229.5,-643.1,-291.4,81412.1,-500.1
$KALMAN_Y,39684.3,-124.2,-318.9,-50698.4,1667.2
$MHEAD_RNG_PITCHd_Wd,10.1,41680,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.27,-145.9,0.0,0.0,0,111,0.00,0.00,-89.20,0.000,6,0.000,0.000,469,2137,3656,0,0,0,0,0,0
$GC,114,-1.27,-145.9,4.4,-11.8,12,132,11.65,2.67,0.00,0.000,4,0.140,0.028,2718,3799,3656,0,0,0,0,0,0
$GC,265,-1.15,-145.9,38.1,-14.2,30,271,0.57,2.53,0.00,0.000,6,0.027,0.022,2750,2198,3657,2,0,0,0,0,0
$GC,534,-1.09,-145.9,71.1,-11.7,54,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2198,3658,0,0,0,0,0,0
$GC,799,-1.04,-145.9,103.5,-11.9,79,806,0.12,0.00,0.00,0.000,6,0.115,0.000,2777,2198,3658,0,0,0,0,0,0
$GC,1061,-1.04,-146.0,128.2,-8.6,104,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2198,3659,0,0,0,0,0,0
$GC,1317,-1.09,-146.0,150.2,-8.5,128,1321,0.00,2.55,0.00,0.000,4,0.000,0.048,2776,632,3659,0,0,0,0,0,0
$GC,1374,-1.15,-146.0,155.0,-7.9,132,1384,0.08,2.50,0.00,0.000,6,0.043,0.025,2734,2225,3659,0,0,0,0,0,0
$GC,1640,-1.15,-146.0,178.9,-8.8,157,1645,0.00,2.50,0.00,0.000,4,0.000,0.037,2733,3780,3659,0,0,0,0,0,0
$GC,1693,-1.15,-146.0,184.1,-8.7,161,1698,0.00,2.45,0.00,0.000,6,0.000,0.021,2734,2225,3659,0,0,0,0,0,0
$GC,1951,-1.15,-146.0,208.3,-9.6,179,1955,0.00,2.62,0.00,0.000,4,0.000,0.048,2733,636,3660,0,0,0,0,0,0
$GC,2039,-1.15,-146.0,218.2,-11.0,181,2044,0.00,2.47,0.00,0.000,6,0.000,0.019,2733,2225,3660,0,0,0,0,0,0
$GC,2319,-1.15,-146.0,243.6,-8.8,188,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2225,3660,0,0,0,0,0,0
$GC,2561,-1.15,-146.0,263.8,-8.2,194,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2225,3660,0,0,0,0,0,0
$GC,2805,-1.15,-146.0,282.5,-7.6,200,2810,0.00,2.55,0.00,0.000,4,0.000,0.044,2733,3775,3660,0,0,0,0,0,0
$GC,2862,-1.15,-146.0,287.3,-8.6,201,2867,0.00,2.47,0.00,0.000,6,0.000,0.023,2733,2224,3660,0,0,0,0,0,0
$GC,3129,-1.15,-146.0,309.1,-8.1,208,3133,0.00,2.72,0.00,0.000,4,0.000,0.066,2733,634,3659,0,0,0,0,0,0
$GC,3180,-1.20,-146.0,313.5,-8.8,209,3185,0.00,2.50,0.00,0.000,6,0.000,0.029,2733,2204,3659,0,0,0,0,0,0
$GC,3453,-1.20,-146.0,335.1,-7.9,216,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2204,3657,0,0,0,0,0,0
$GC,3696,-1.24,-146.0,353.0,-7.3,222,3701,0.00,2.65,0.00,0.000,4,0.000,0.053,2733,3794,3656,0,0,0,0,0,0
$GC,3729,-1.28,-146.0,355.6,-7.7,222,3735,0.00,2.55,0.00,0.000,6,0.000,0.036,2733,2222,3656,0,0,0,0,0,0
$GC,3981,-1.33,-146.0,373.3,-7.1,229,3985,0.00,2.62,0.00,0.000,4,0.000,0.052,2733,3785,3655,0,0,0,0,0,0
$GC,4020,-1.39,-146.0,376.6,-8.3,230,4025,0.15,2.55,0.00,0.000,6,0.061,0.034,2680,2215,3654,0,0,0,0,0,0
$GC,4304,-1.34,-146.0,402.9,-9.2,237,4310,0.15,2.80,0.00,0.000,4,0.100,0.083,2711,630,3653,0,0,0,0,0,0
$GC,4332,-1.34,-146.0,405.7,-9.4,237,4337,0.00,2.60,0.00,0.000,6,0.000,0.045,2711,2212,3653,0,0,0,0,0,0
$GC,4582,-1.34,-146.0,425.7,-8.1,243,4583,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2212,3651,0,0,0,0,0,0
$GC,4827,-1.34,-146.0,446.2,-8.5,249,4832,0.00,2.70,0.00,0.000,4,0.000,0.063,2711,3800,3649,0,0,0,0,0,0
$GC,4923,-1.34,-146.0,455.5,-10.2,251,4927,0.00,2.62,0.00,0.000,6,0.000,0.042,2711,2231,3649,0,0,0,0,0,0
$GC,5195,-1.34,-146.0,480.5,-9.2,258,5199,0.00,2.70,0.00,0.000,4,0.000,0.068,2712,3797,3647,0,0,0,0,0,0
$GC,5235,-1.38,-146.0,484.2,-9.9,259,5240,0.00,2.60,0.00,0.000,6,0.000,0.044,2712,2240,3647,0,0,0,0,0,0
$GC,5519,-1.38,-146.0,510.3,-9.2,266,5524,0.00,3.00,0.00,0.000,4,0.000,0.108,2712,619,3645,0,0,0,0,0,0
$GC,5574,-1.38,-146.0,515.6,-9.2,267,5579,0.00,2.72,0.00,0.000,6,0.000,0.050,2712,2236,3645,0,0,0,0,0,0
$GC,5842,-1.38,-146.0,538.5,-8.5,274,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2236,3644,0,0,0,0,0,0
$GC,6084,-1.38,-146.0,557.9,-7.8,280,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2236,3642,0,0,0,0,0,0
$GC,6329,-1.42,-146.0,576.0,-7.4,286,6333,0.00,2.80,0.00,0.000,4,0.000,0.094,2711,3792,3640,0,0,0,0,0,0
$GC,6345,-1.42,-146.0,577.4,-7.4,286,6350,0.00,2.65,0.00,0.000,6,0.000,0.058,2711,2244,3640,0,0,0,0,0,0
$GC,6606,-1.46,-146.0,596.1,-7.0,293,6612,0.12,2.78,0.00,0.000,4,0.072,0.081,2670,3796,3639,0,0,0,0,0,0
$GC,6648,-1.41,-146.0,599.5,-9.0,294,6652,0.00,2.08,0.00,0.000,3,0.000,0.058,2670,2589,3639,0,0,0,0,0,0
$STATE,6653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6653,begin apogee
$GC,6659,-0.31,0.0,600.2,9.1,294,6781,1.17,0.00,118.22,1.016,6,0.077,0.000,2934,2372,3060,0,0,0,0,0,0
$STATE,6782,end apogee,CONTROL_FINISHED_OK
$STATE,6782,begin climb
$GC,6784,1.27,146.0,602.6,0.0,297,6920,1.45,2.90,123.50,0.988,4,0.037,0.080,3289,3941,2465,0,0,0,0,0,0
$GC,6964,1.12,146.0,589.3,13.3,301,6970,0.20,2.75,0.00,0.000,6,0.106,0.059,3248,2370,2461,0,0,0,0,0,0
$GC,7233,1.08,155.3,563.2,9.6,308,7243,0.00,0.00,8.48,0.825,6,0.000,0.000,3249,2370,2426,0,0,0,0,0,0
$GC,7475,1.04,155.3,538.9,10.1,314,7480,0.00,2.75,0.00,0.000,4,0.000,0.066,3249,3935,2424,0,0,0,0,0,0
$GC,7503,0.98,155.3,535.6,11.2,314,7508,0.15,2.67,0.00,0.000,6,0.114,0.047,3218,2361,2423,0,0,0,0,0,0
$GC,7755,1.00,175.1,512.7,9.1,320,7779,0.00,3.12,18.40,0.912,4,0.000,0.118,3218,778,2345,0,0,0,0,0,0
$GC,7812,1.00,175.1,506.8,10.2,321,7817,0.00,2.67,0.00,0.000,6,0.000,0.048,3218,2360,2343,0,0,0,0,0,0
$GC,8079,1.03,198.7,482.4,8.9,328,8108,0.00,2.95,21.95,0.909,4,0.000,0.077,3218,775,2249,0,0,0,0,0,0
$GC,8123,1.07,229.1,478.7,8.6,329,8157,0.00,2.65,28.48,0.907,6,0.000,0.039,3218,2346,2125,0,0,0,0,0,0
$GC,8410,1.12,237.7,451.3,9.6,336,8425,0.12,2.80,8.12,0.789,4,0.079,0.056,3252,3940,2091,0,0,0,0,0,0
$GC,8470,1.12,237.7,443.8,12.8,337,8475,0.00,2.67,0.00,0.000,6,0.000,0.036,3253,2346,2089,0,0,0,0,0,0
$GC,8736,1.12,237.7,413.2,11.1,344,8741,0.00,2.80,0.00,0.000,4,0.000,0.081,3253,777,2087,0,0,0,0,0,0
$GC,8751,1.12,237.7,411.3,10.6,344,8756,0.00,2.58,0.00,0.000,6,0.000,0.031,3252,2362,2086,0,0,0,0,0,0
$GC,9014,1.12,237.7,384.6,10.1,351,9018,0.00,2.72,0.00,0.000,4,0.000,0.062,3253,783,2086,0,0,0,0,0,0
$GC,9029,1.13,243.2,382.6,9.7,351,9040,0.00,2.53,5.75,0.693,6,0.000,0.032,3252,2340,2068,0,0,0,0,0,0
$GC,9290,1.13,243.2,356.4,10.0,358,9294,0.00,2.67,0.00,0.000,4,0.000,0.051,3252,3930,2066,0,0,0,0,0,0
$GC,9363,1.13,243.2,348.1,11.7,359,9367,0.00,2.62,0.00,0.000,6,0.000,0.030,3252,2330,2065,0,0,0,0,0,0
$GC,9612,1.13,243.2,320.8,10.9,365,9617,0.00,2.65,0.00,0.000,4,0.000,0.062,3252,780,2065,0,0,0,0,0,0
$GC,9634,1.13,243.2,318.1,11.8,365,9638,0.00,2.50,0.00,0.000,6,0.000,0.026,3252,2347,2065,0,0,0,0,0,0
$GC,9891,1.13,243.2,290.3,10.7,372,9892,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2347,2065,0,0,0,0,0,0
$GC,10133,1.13,243.2,263.5,11.0,378,10138,0.00,2.65,0.00,0.000,4,0.000,0.048,3252,3935,2065,0,0,0,0,0,0
$GC,10206,1.13,243.2,255.9,10.4,379,10211,0.00,2.55,0.00,0.000,6,0.000,0.027,3252,2346,2064,0,0,0,0,0,0
$GC,10458,1.18,248.8,232.2,9.7,385,10466,0.00,0.00,6.15,0.621,6,0.000,0.000,3253,2346,2045,0,0,0,0,0,0
$GC,10700,1.26,271.9,209.7,8.9,391,10730,0.10,2.72,21.73,0.715,4,0.090,0.052,3282,781,1950,0,0,0,0,0,0
$GC,10757,1.26,271.9,203.2,12.5,392,10762,0.00,2.47,0.00,0.000,6,0.000,0.024,3282,2337,1948,0,0,0,0,0,0
$GC,11026,1.26,271.9,171.9,12.5,413,11030,0.00,2.62,0.00,0.000,4,0.000,0.043,3282,3926,1948,0,0,0,0,0,0
$GC,11065,1.26,271.9,166.5,12.9,416,11070,0.00,2.55,0.00,0.000,6,0.000,0.027,3282,2336,1947,0,0,0,0,0,0
$GC,11329,1.26,271.9,134.9,11.6,440,11334,0.00,2.55,0.00,0.000,4,0.000,0.048,3282,779,1947,0,0,0,0,0,0
$GC,11350,1.26,271.9,132.6,10.9,441,11354,0.00,2.45,0.00,0.000,6,0.000,0.022,3282,2344,1947,0,0,0,0,0,0
$GC,11618,1.32,296.3,106.0,8.9,465,11647,0.00,2.70,21.85,0.606,4,0.000,0.042,3282,3924,1851,0,0,0,0,0,0
$GC,11659,1.39,321.6,102.0,8.8,469,11688,0.10,2.58,22.88,0.594,6,0.084,0.024,3315,2330,1748,0,0,0,0,0,0
$GC,11948,1.39,321.6,65.7,13.1,495,11953,0.00,2.65,0.00,0.000,4,0.000,0.041,3316,3931,1744,0,0,0,0,0,0
$GC,11994,1.39,321.6,59.2,13.9,498,11999,0.00,2.55,0.00,0.000,6,0.000,0.026,3316,2337,1744,0,0,0,0,0,0
$GC,12275,1.41,332.7,22.3,9.5,527,12293,0.00,2.65,10.62,0.498,4,0.000,0.044,3315,3921,1703,0,0,0,0,0,0
$GC,12311,1.41,332.7,17.4,13.2,531,12320,0.00,2.55,0.00,0.000,6,0.000,0.025,3315,2354,1703,0,0,0,0,0,0
$STATE,12407,end climb,SURFACE_DEPTH_REACHED
$STATE,12407,begin surface coast
$FINISH,-0.3,1.023970
$STATE,12446,end surface coast,CONTROL_FINISHED_OK
$STATE,12446,begin surface
$SM_CCo,12468,37.90,0.520,0,0,1510,380.21
$SM_GC,0.46,0.00,0.00,37.90,0.000,0.000,0.520,467,2180,1510,-11.67,-0.85,380.21
$IRIDIUM_FIX,2234.68,-15738.08,160603,010148
$TT8_MAMPS,0.025311
$HUMID,60.67
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.10
$XPDR_PINGS,13
$24V_AH,23.3,9.342
$10V_AH,10.4,8.155
$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,27.650,158.875,416.125,37.900,0.000,24.425,40.538,175.667,3.250,0.000,15.916,1166.996,8647.230,518.900,2005.641,545.903,33.355,1357.499,0.000,1999.910,0.000,0.534,0.000
$DEVICE_MAMPS,140.361,118.118,1015.508,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,373.305,299.183,384.651,545.047,1038.954,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,41652,550
$CAP_FILE_SIZE,129099,0
$CFSIZE,260165632,176025600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,220314,084354,2245.765,-15738.520,38,1.4,38,10.1