version: 66.06
glider: 146
mission: 9
dive: 66
start: 3 22 114 8 51 1
data:
$ID,146
$MISSION,9
$DIVE,66
$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,-324646.62
$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,52
$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
$GPS1,084354,2245.765,-15738.520,38,1.4,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-70.3
$GPS2,085007,2245.809,-15738.550,15,1.4,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.043,0.256
$KALMAN_X,-52467.0,-635.0,-282.2,82460.6,163.4
$KALMAN_Y,40905.2,374.2,43.3,-47759.5,1541.1
$MHEAD_RNG_PITCHd_Wd,359.4,36727,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,113,0.00,0.00,-89.85,0.000,6,0.000,0.000,467,2180,3655,0,0,0,0,0,0
$GC,117,-1.27,-146.0,3.8,-8.9,12,133,11.57,2.60,0.00,0.000,4,0.136,0.029,2717,3791,3655,0,0,0,0,0,0
$GC,216,-1.18,-146.0,28.1,-14.0,26,226,0.25,2.53,0.00,0.000,6,0.059,0.023,2742,2227,3657,0,0,0,0,0,0
$GC,496,-1.11,-146.0,59.4,-10.6,52,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2227,3657,0,0,0,0,0,0
$GC,760,-1.04,-146.0,92.2,-12.3,77,765,0.15,2.62,0.00,0.000,4,0.115,0.047,2773,635,3657,0,0,0,0,0,0
$GC,782,-1.00,-146.0,95.5,-12.3,78,791,0.00,2.47,0.00,0.000,6,0.000,0.018,2773,2217,3658,0,0,0,0,0,0
$GC,1049,-1.00,-146.0,122.0,-9.8,103,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2217,3658,0,0,0,0,0,0
$GC,1310,-1.00,-146.0,149.0,-10.0,128,1315,0.00,2.60,0.00,0.000,4,0.000,0.044,2773,629,3658,0,0,0,0,0,0
$GC,1379,-1.04,-146.0,155.4,-10.2,133,1383,0.00,2.42,0.00,0.000,6,0.000,0.025,2773,2204,3658,0,0,0,0,0,0
$GC,1646,-1.10,-146.0,177.4,-8.1,157,1650,0.00,2.55,0.00,0.000,4,0.000,0.037,2773,3778,3659,0,0,0,0,0,0
$GC,1693,-1.17,-146.0,181.9,-8.7,160,1699,0.10,2.47,0.00,0.000,6,0.082,0.021,2732,2203,3659,0,0,0,0,0,0
$GC,1962,-1.17,-146.0,208.3,-9.4,180,1967,0.00,2.58,0.00,0.000,4,0.000,0.047,2731,637,3659,0,0,0,0,0,0
$GC,1980,-1.17,-146.0,210.2,-9.6,180,1984,0.00,2.45,0.00,0.000,6,0.000,0.019,2732,2217,3660,0,0,0,0,0,0
$GC,2240,-1.17,-146.0,236.7,-10.1,187,2245,0.00,2.62,0.00,0.000,4,0.000,0.048,2731,635,3659,0,0,0,0,0,0
$GC,2280,-1.17,-146.0,240.7,-9.7,188,2285,0.00,2.40,0.00,0.000,6,0.000,0.021,2732,2185,3660,0,0,0,0,0,0
$GC,2565,-1.17,-146.0,266.0,-8.9,195,2569,0.00,2.62,0.00,0.000,4,0.000,0.049,2732,3786,3660,0,0,0,0,0,0
$GC,2619,-1.17,-146.0,271.3,-8.5,196,2624,0.00,2.47,0.00,0.000,6,0.000,0.021,2732,2203,3660,0,0,0,0,0,0
$GC,2886,-1.17,-146.0,292.9,-7.9,203,2890,0.00,2.60,0.00,0.000,4,0.000,0.043,2731,3786,3659,0,0,0,0,0,0
$GC,2909,-1.17,-146.0,294.6,-7.9,203,2913,0.00,2.50,0.00,0.000,6,0.000,0.023,2732,2206,3660,0,0,0,0,0,0
$GC,3164,-1.17,-146.0,315.0,-7.8,210,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2206,3659,0,0,0,0,0,0
$GC,3407,-1.17,-146.0,333.1,-7.6,216,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2207,3658,0,0,0,0,0,0
$GC,3651,-1.17,-146.0,351.5,-7.5,222,3655,0.00,2.65,0.00,0.000,4,0.000,0.051,2732,3779,3658,0,0,0,0,0,0
$GC,3694,-1.22,-146.0,354.5,-7.9,223,3698,0.00,2.55,0.00,0.000,6,0.000,0.030,2732,2197,3657,0,0,0,0,0,0
$GC,3977,-1.27,-146.0,376.5,-7.5,230,3982,0.00,2.67,0.00,0.000,4,0.000,0.052,2732,3781,3655,0,0,0,0,0,0
$GC,4034,-1.33,-146.0,381.1,-8.5,231,4038,0.00,2.55,0.00,0.000,6,0.000,0.033,2731,2214,3655,0,0,0,0,0,0
$GC,4300,-1.38,-146.0,400.8,-7.4,238,4306,0.12,2.83,0.00,0.000,4,0.069,0.081,2685,622,3654,0,0,0,0,0,0
$GC,4387,-1.34,-146.0,408.9,-9.3,240,4392,0.12,2.55,0.00,0.000,6,0.106,0.046,2711,2183,3653,0,0,0,0,0,0
$GC,4671,-1.34,-146.0,432.6,-8.1,247,4675,0.00,2.75,0.00,0.000,4,0.000,0.061,2711,3798,3651,0,0,0,0,0,0
$GC,4710,-1.34,-146.0,435.9,-8.9,248,4714,0.00,2.62,0.00,0.000,6,0.000,0.041,2711,2206,3651,0,0,0,0,0,0
$GC,4994,-1.34,-146.0,459.7,-8.5,255,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2206,3649,0,0,0,0,0,0
$GC,5237,-1.34,-146.0,480.0,-8.3,261,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2206,3647,0,0,0,0,0,0
$GC,5480,-1.34,-146.0,499.7,-8.1,267,5485,0.00,2.78,0.00,0.000,4,0.000,0.071,2711,3801,3646,0,0,0,0,0,0
$GC,5508,-1.34,-146.0,502.0,-8.4,267,5513,0.00,2.70,0.00,0.000,6,0.000,0.054,2711,2201,3646,0,0,0,0,0,0
$GC,5758,-1.34,-146.0,520.1,-6.9,273,5763,0.00,2.78,0.00,0.000,4,0.000,0.071,2711,3799,3645,0,0,0,0,0,0
$GC,5798,-1.38,-146.0,522.9,-7.0,274,5803,0.00,2.70,0.00,0.000,6,0.000,0.052,2711,2212,3645,0,0,0,0,0,0
$GC,6083,-1.38,-146.0,540.4,-6.1,281,6087,0.00,2.78,0.00,0.000,4,0.000,0.082,2711,3792,3643,0,0,0,0,0,0
$GC,6109,-1.38,-146.0,542.3,-6.8,281,6114,0.00,2.70,0.00,0.000,6,0.000,0.054,2711,2210,3642,0,0,0,0,0,0
$GC,6360,-1.42,-146.0,559.1,-6.7,287,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2210,3640,0,0,0,0,0,0
$GC,6605,-1.46,-146.0,576.6,-7.2,293,6611,0.12,3.05,0.00,0.000,4,0.072,0.126,2670,625,3640,0,0,0,0,0,0
$GC,6646,-1.42,-146.0,580.2,-9.2,294,6651,0.10,2.75,0.00,0.000,6,0.115,0.064,2692,2213,3639,0,0,0,0,0,0
$STATE,6927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6927,begin apogee
$GC,6934,-0.31,0.0,601.6,7.3,301,7056,1.08,0.00,118.00,1.023,6,0.074,0.000,2934,2381,3060,0,0,0,0,0,0
$STATE,7057,end apogee,CONTROL_FINISHED_OK
$STATE,7057,begin climb
$GC,7059,1.27,146.0,602.7,0.0,304,7191,1.42,0.00,124.03,0.992,6,0.037,0.000,3285,2380,2463,0,0,0,0,0,0
$GC,7470,1.16,146.0,558.3,12.5,314,7476,0.15,2.80,0.00,0.000,4,0.120,0.090,3256,3938,2453,0,0,0,0,0,0
$GC,7488,1.05,146.0,555.7,12.3,314,7493,0.10,2.70,0.00,0.000,6,0.133,0.049,3235,2370,2452,0,0,0,0,0,0
$GC,7751,1.08,171.9,531.9,8.8,321,7780,0.00,3.10,22.00,0.930,4,0.000,0.109,3235,787,2358,0,0,0,0,0,0
$GC,7808,1.08,171.9,526.0,10.5,322,7813,0.00,2.70,0.00,0.000,6,0.000,0.057,3235,2371,2356,0,0,0,0,0,0
$GC,8075,1.09,179.2,500.2,9.7,329,8089,0.00,2.80,7.47,0.802,4,0.000,0.067,3235,3933,2328,0,0,0,0,0,0
$GC,8136,1.09,179.2,493.7,11.2,330,8141,0.00,2.65,0.00,0.000,6,0.000,0.045,3235,2370,2327,0,0,0,0,0,0
$GC,8402,1.10,185.2,467.6,9.7,337,8416,0.00,2.72,6.45,0.764,4,0.000,0.054,3235,3938,2304,0,0,0,0,0,0
$GC,8486,1.10,185.2,459.0,10.3,338,8492,0.00,2.62,0.00,0.000,6,0.000,0.041,3235,2379,2304,0,0,0,0,0,0
$GC,8736,1.11,192.5,434.8,9.7,345,8746,0.00,0.00,8.30,0.805,6,0.000,0.000,3235,2379,2275,0,0,0,0,0,0
$GC,8980,1.11,196.2,410.7,9.8,351,8990,0.00,2.88,4.68,0.650,4,0.000,0.081,3235,782,2260,0,0,0,0,0,0
$GC,9007,1.12,203.6,407.8,9.7,351,9022,0.00,2.65,8.65,0.795,6,0.000,0.040,3235,2389,2229,0,0,0,0,0,0
$GC,9307,1.13,210.7,378.2,9.7,359,9316,0.00,0.00,7.68,0.765,6,0.000,0.000,3235,2388,2200,0,0,0,0,0,0
$GC,9551,1.15,227.3,355.5,9.2,365,9572,0.00,2.80,15.95,0.833,4,0.000,0.057,3235,777,2132,0,0,0,0,0,0
$GC,9591,1.18,253.1,351.9,8.8,366,9621,0.12,2.62,23.95,0.836,6,0.077,0.036,3269,2387,2028,0,0,0,0,0,0
$GC,9878,1.18,253.1,319.8,11.6,373,9882,0.00,2.60,0.00,0.000,4,0.000,0.051,3269,3930,2023,0,0,0,0,0,0
$GC,9963,1.18,253.1,309.2,12.3,375,9968,0.00,2.55,0.00,0.000,6,0.000,0.028,3269,2376,2021,0,0,0,0,0,0
$GC,10246,1.18,253.1,276.4,11.9,382,10250,0.00,2.60,0.00,0.000,4,0.000,0.047,3269,3930,2021,0,0,0,0,0,0
$GC,10295,1.18,253.1,270.1,13.0,383,10299,0.00,2.47,0.00,0.000,6,0.000,0.025,3269,2398,2020,0,0,0,0,0,0
$GC,10574,1.18,253.1,237.9,11.3,390,10575,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2399,2020,0,0,0,0,0,0
$GC,10817,1.18,253.1,207.5,12.5,396,10821,0.00,2.58,0.00,0.000,4,0.000,0.045,3269,3940,2020,0,0,0,0,0,0
$GC,10843,1.18,253.1,204.1,12.3,396,10848,0.00,2.50,0.00,0.000,6,0.000,0.026,3269,2396,2020,0,0,0,0,0,0
$GC,11115,1.20,264.4,177.1,9.5,418,11130,0.00,2.72,9.90,0.646,4,0.000,0.055,3269,778,1982,0,0,0,0,0,0
$GC,11147,1.20,264.4,172.9,10.8,420,11157,0.00,2.65,0.00,0.000,6,0.000,0.031,3269,2415,1981,0,0,0,0,0,0
$GC,11415,1.26,272.4,146.4,9.6,445,11429,0.00,2.55,8.85,0.598,4,0.000,0.043,3269,3922,1948,0,0,0,0,0,0
$GC,11487,1.32,272.4,138.6,10.3,451,11492,0.10,2.42,0.00,0.000,6,0.085,0.023,3304,2410,1947,0,0,0,0,0,0
$GC,11751,1.32,272.4,108.2,11.2,475,11756,0.00,2.65,0.00,0.000,4,0.000,0.046,3304,787,1946,0,0,0,0,0,0
$GC,11773,1.32,272.4,105.1,11.9,476,11782,0.00,2.62,0.00,0.000,6,0.000,0.023,3303,2428,1946,0,0,0,0,0,0
$GC,12042,1.34,290.7,76.0,9.2,501,12070,0.00,2.55,17.20,0.573,4,0.000,0.049,3304,3920,1873,0,0,0,0,0,0
$GC,12076,1.34,290.7,71.6,10.6,503,12085,0.00,2.42,0.00,0.000,6,0.000,0.021,3304,2421,1873,0,0,0,0,0,0
$GC,12343,1.37,311.8,41.8,9.0,528,12372,0.00,0.00,19.08,0.541,6,0.000,0.000,3304,2421,1787,0,0,0,0,0,0
$STATE,12656,end climb,SURFACE_DEPTH_REACHED
$STATE,12656,begin surface coast
$FINISH,-0.3,1.023917
$STATE,12699,end surface coast,CONTROL_FINISHED_OK
$STATE,12699,begin surface
$SM_CCo,12720,54.55,0.522,0,0,1510,380.21
$SM_GC,0.44,0.00,0.00,54.55,0.000,0.000,0.522,466,2183,1510,-11.68,-0.76,380.21
$IRIDIUM_FIX,2234.68,-15735.92,160603,050553
$TT8_MAMPS,0.025311
$HUMID,60.04
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.40
$XPDR_PINGS,17
$24V_AH,23.3,9.467
$10V_AH,10.4,8.271
$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,26.925,153.500,402.175,54.550,0.000,29.366,36.575,174.308,4.250,0.000,17.271,1194.780,8755.409,537.853,2119.074,541.842,33.361,1392.937,0.000,2116.045,0.000,0.534,0.000
$DEVICE_MAMPS,135.759,125.788,1023.178,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.618,324.901,409.262,603.346,1148.825,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,44645,576
$CAP_FILE_SIZE,128045,0
$CFSIZE,260165632,175968256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220314,122506,2248.448,-15738.316,27,1.0,27,10.1