version: 66.06
glider: 146
mission: 9
dive: 75
start: 3 23 114 19 4 24
data:
$ID,146
$MISSION,9
$DIVE,75
$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,-324826.44
$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,65
$R_STBD_OVSHOOT,39
$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
$GPS1,185335,2303.536,-15735.633,42,0.9,47,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-69.7
$GPS2,190330,2303.500,-15735.582,10,1.2,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.084,0.246
$KALMAN_X,-56411.3,301.3,310.6,89935.7,-785.8
$KALMAN_Y,47724.3,187.1,-245.8,-21338.1,-125.9
$MHEAD_RNG_PITCHd_Wd,8.8,3586,-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,-145.9,0.0,0.0,0,112,0.00,0.00,-89.07,0.000,6,0.000,0.000,466,2166,3656,0,0,0,0,0,0
$GC,115,-1.27,-145.9,4.3,-10.6,12,132,11.95,2.62,0.00,0.000,4,0.151,0.032,2716,3785,3656,0,0,0,0,0,0
$GC,164,-0.87,-145.9,20.9,-27.8,18,174,0.40,2.50,0.00,0.000,6,0.067,0.023,2811,2241,3657,0,0,0,0,0,0
$GC,449,-0.93,-146.0,46.9,-8.0,49,453,0.00,2.65,0.00,0.000,4,0.000,0.050,2811,636,3657,0,0,0,0,0,0
$GC,496,-1.01,-146.0,51.8,-10.7,52,502,0.12,2.45,0.00,0.000,6,0.067,0.018,2761,2220,3657,0,0,0,0,0,0
$GC,759,-0.98,-146.0,83.8,-13.2,76,761,0.12,0.00,0.00,0.000,6,0.100,0.000,2790,2221,3658,0,0,0,0,0,0
$GC,1015,-1.02,-146.0,110.6,-9.2,100,1020,0.00,2.60,0.00,0.000,4,0.000,0.045,2790,635,3658,0,0,0,0,0,0
$GC,1061,-1.10,-146.0,114.5,-9.6,103,1066,0.12,2.40,0.00,0.000,6,0.068,0.018,2741,2199,3658,0,0,0,0,0,0
$GC,1326,-1.10,-146.0,144.0,-10.4,127,1331,0.10,2.60,0.00,0.000,4,0.112,0.045,2763,635,3658,0,0,0,0,0,0
$GC,1366,-1.10,-146.0,148.4,-9.7,130,1371,0.00,2.40,0.00,0.000,6,0.000,0.019,2763,2181,3658,0,0,0,0,0,0
$GC,1634,-1.10,-146.0,170.0,-8.0,154,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2181,3659,0,0,0,0,0,0
$GC,1897,-1.14,-146.0,193.2,-9.0,179,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2181,3659,0,0,0,0,0,0
$GC,2145,-1.18,-146.0,213.0,-7.9,191,2149,0.00,2.55,0.00,0.000,4,0.000,0.047,2763,636,3659,0,0,0,0,0,0
$GC,2189,-1.25,-146.0,217.0,-8.8,192,2194,0.15,2.40,0.00,0.000,6,0.061,0.025,2707,2181,3659,0,0,0,0,0,0
$GC,2467,-1.21,-146.0,248.2,-11.2,199,2469,0.15,0.00,0.00,0.000,6,0.096,0.000,2740,2181,3659,0,0,0,0,0,0
$GC,2712,-1.21,-146.0,269.6,-8.5,205,2716,0.00,2.60,0.00,0.000,4,0.000,0.043,2740,3779,3660,0,0,0,0,0,0
$GC,2751,-1.26,-146.0,273.1,-8.3,206,2756,0.00,2.58,0.00,0.000,6,0.000,0.023,2741,2158,3659,0,0,0,0,0,0
$GC,3035,-1.29,-146.0,295.6,-7.8,213,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2158,3659,0,0,0,0,0,0
$GC,3280,-1.34,-146.0,313.2,-7.1,219,3286,0.12,2.70,0.00,0.000,4,0.069,0.048,2693,3775,3658,0,0,0,0,0,0
$GC,3367,-1.34,-146.0,321.0,-9.1,221,3371,0.00,2.58,0.00,0.000,6,0.000,0.028,2693,2179,3658,0,0,0,0,0,0
$GC,3651,-1.34,-146.0,346.0,-8.9,228,3656,0.00,2.67,0.00,0.000,4,0.000,0.049,2693,3773,3656,0,0,0,0,0,0
$GC,3706,-1.34,-146.0,351.9,-10.5,229,3711,0.00,2.55,0.00,0.000,6,0.000,0.031,2693,2191,3656,0,0,0,0,0,0
$GC,3973,-1.34,-146.0,377.5,-9.8,236,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2191,3655,0,0,0,0,0,0
$GC,4218,-1.34,-146.0,403.2,-10.6,242,4222,0.00,2.78,0.00,0.000,4,0.000,0.087,2693,624,3653,0,0,0,0,0,0
$GC,4250,-1.34,-146.0,407.2,-11.6,242,4256,0.00,2.50,0.00,0.000,6,0.000,0.041,2692,2158,3653,0,0,0,0,0,0
$GC,4500,-1.34,-146.0,432.4,-10.0,249,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2158,3651,0,0,0,0,0,0
$GC,4744,-1.34,-146.0,455.0,-9.2,255,4749,0.00,2.75,0.00,0.000,4,0.000,0.065,2693,3772,3649,0,0,0,0,0,0
$GC,4778,-1.34,-146.0,458.1,-9.4,255,4783,0.00,2.65,0.00,0.000,6,0.000,0.043,2693,2173,3649,0,0,0,0,0,0
$GC,5028,-1.34,-146.0,477.8,-7.6,262,5032,0.00,2.72,0.00,0.000,4,0.000,0.060,2693,3772,3647,0,0,0,0,0,0
$GC,5055,-1.34,-146.0,480.1,-8.2,262,5059,0.00,2.67,0.00,0.000,6,0.000,0.054,2693,2172,3647,0,0,0,0,0,0
$GC,5306,-1.34,-146.0,497.5,-7.0,268,5311,0.00,2.75,0.00,0.000,4,0.000,0.065,2692,3766,3646,0,0,0,0,0,0
$GC,5390,-1.34,-146.0,504.4,-8.3,270,5395,0.00,2.67,0.00,0.000,6,0.000,0.054,2693,2192,3645,0,0,0,0,0,0
$GC,5673,-1.34,-146.0,528.3,-8.8,277,5678,0.00,2.75,0.00,0.000,4,0.000,0.072,2693,3768,3643,0,0,0,0,0,0
$GC,5743,-1.34,-146.0,534.7,-10.0,278,5747,0.00,2.67,0.00,0.000,6,0.000,0.058,2693,2204,3643,0,0,0,0,0,0
$GC,5998,-1.34,-146.0,558.8,-9.4,285,6002,0.00,2.78,0.00,0.000,4,0.000,0.084,2692,3765,3640,0,0,0,0,0,0
$GC,6044,-1.34,-146.0,563.2,-10.3,286,6048,0.00,2.65,0.00,0.000,6,0.000,0.060,2692,2219,3640,0,0,0,0,0,0
$GC,6321,-1.34,-146.0,588.3,-8.9,293,6326,0.00,2.75,0.00,0.000,4,0.000,0.084,2692,3763,3639,0,0,0,0,0,0
$GC,6355,-1.34,-146.0,591.3,-9.7,293,6361,0.00,2.70,0.00,0.000,6,0.000,0.068,2693,2225,3639,0,0,0,0,0,0
$STATE,6481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6481,begin apogee
$GC,6488,-0.31,0.0,601.8,8.1,297,6610,1.08,0.00,118.22,1.022,6,0.073,0.000,2934,2343,3060,0,0,0,0,0,0
$STATE,6611,end apogee,CONTROL_FINISHED_OK
$STATE,6611,begin climb
$GC,6613,1.27,146.0,603.4,0.0,300,6748,1.42,2.92,123.88,0.992,4,0.036,0.084,3286,3932,2463,0,0,0,0,0,0
$GC,6799,1.12,146.0,586.8,13.5,304,6805,0.17,2.78,0.00,0.000,6,0.110,0.063,3250,2368,2459,0,0,0,0,0,0
$GC,7061,1.07,146.0,556.8,11.4,311,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2368,2453,0,0,0,0,0,0
$GC,7306,1.02,146.0,529.7,11.0,317,7311,0.12,2.78,0.00,0.000,4,0.125,0.066,3226,3939,2451,0,0,0,0,0,0
$GC,7334,1.02,146.0,526.5,10.4,317,7338,0.00,2.67,0.00,0.000,6,0.000,0.051,3226,2370,2451,0,0,0,0,0,0
$GC,7584,1.07,182.8,505.1,8.3,323,7625,0.00,2.80,31.62,0.939,4,0.000,0.059,3226,3944,2312,0,0,0,0,0,0
$GC,7643,1.10,207.2,500.0,8.9,324,7672,0.00,2.67,22.58,0.908,6,0.000,0.047,3226,2385,2216,0,0,0,0,0,0
$GC,7959,1.13,233.0,471.9,8.8,332,7985,0.10,0.00,23.83,0.909,6,0.090,0.000,3254,2385,2110,0,0,0,0,0,0
$GC,8201,1.13,233.0,445.5,10.9,338,8206,0.00,3.03,0.00,0.000,4,0.000,0.108,3254,782,2105,0,0,0,0,0,0
$GC,8223,1.13,233.0,442.8,12.0,338,8228,0.00,2.70,0.00,0.000,6,0.000,0.040,3255,2393,2104,0,0,0,0,0,0
$GC,8478,1.13,233.0,413.1,11.7,345,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2393,2103,0,0,0,0,0,0
$GC,8721,1.13,233.0,385.1,11.4,351,8726,0.00,2.80,0.00,0.000,4,0.000,0.064,3254,778,2102,0,0,0,0,0,0
$GC,8744,1.13,233.0,382.3,12.4,351,8748,0.00,2.62,0.00,0.000,6,0.000,0.037,3255,2387,2101,0,0,0,0,0,0
$GC,8998,1.13,233.0,352.3,11.6,358,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2387,2100,0,0,0,0,0,0
$GC,9242,1.13,233.0,322.9,12.0,364,9246,0.00,2.60,0.00,0.000,4,0.000,0.050,3254,3933,2100,0,0,0,0,0,0
$GC,9263,1.13,233.0,320.2,12.3,364,9267,0.00,2.55,0.00,0.000,6,0.000,0.035,3254,2358,2099,0,0,0,0,0,0
$GC,9519,1.13,233.0,291.7,11.1,371,9524,0.00,2.65,0.00,0.000,4,0.000,0.048,3254,3932,2099,0,0,0,0,0,0
$GC,9562,1.13,233.0,286.5,12.2,372,9567,0.00,2.50,0.00,0.000,6,0.000,0.027,3254,2382,2099,0,0,0,0,0,0
$GC,9840,1.15,246.0,259.5,9.4,379,9853,0.00,0.00,11.07,0.735,6,0.000,0.000,3254,2382,2057,0,0,0,0,0,0
$GC,10086,1.20,254.3,236.6,9.6,385,10100,0.00,2.72,8.88,0.684,4,0.000,0.054,3254,778,2022,0,0,0,0,0,0
$GC,10111,1.20,254.3,233.7,10.0,385,10115,0.00,2.62,0.00,0.000,6,0.000,0.026,3254,2402,2021,0,0,0,0,0,0
$GC,10367,1.24,254.3,207.9,10.3,392,10372,0.00,2.67,0.00,0.000,4,0.000,0.048,3254,785,2021,0,0,0,0,0,0
$GC,10396,1.24,254.3,204.5,11.3,392,10400,0.00,2.58,0.00,0.000,6,0.000,0.026,3255,2390,2020,0,0,0,0,0,0
$GC,10657,1.29,254.3,177.2,10.6,413,10659,0.12,0.00,0.00,0.000,6,0.078,0.000,3291,2390,2020,0,0,0,0,0,0
$GC,10914,1.29,254.3,146.0,12.7,437,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2390,2020,0,0,0,0,0,0
$GC,11175,1.29,254.3,114.5,11.0,462,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2390,2020,0,0,0,0,0,0
$GC,11432,1.32,278.1,88.7,8.9,486,11459,0.00,2.75,21.88,0.595,4,0.000,0.045,3291,753,1925,0,0,0,0,0,0
$GC,11540,1.32,278.1,78.1,10.8,495,11545,0.00,2.58,0.00,0.000,6,0.000,0.021,3291,2395,1923,0,0,0,0,0,0
$GC,11809,1.32,278.1,50.2,10.5,519,11818,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2395,1923,0,0,0,0,0,0
$GC,12093,1.32,278.1,19.7,11.2,551,12102,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2395,1923,0,0,0,0,0,0
$STATE,12235,end climb,SURFACE_DEPTH_REACHED
$STATE,12235,begin surface coast
$FINISH,-0.3,1.011312
$STATE,12280,end surface coast,CONTROL_FINISHED_OK
$STATE,12280,begin surface
$SM_CCo,12301,83.45,0.525,0,0,1509,380.21
$SM_GC,0.44,0.00,0.00,83.45,0.000,0.000,0.525,467,2182,1509,-11.67,-0.79,380.21
$IRIDIUM_FIX,2253.38,-15734.52,170603,191943
$TT8_MAMPS,0.026078
$HUMID,59.45
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.30
$XPDR_PINGS,16
$24V_AH,23.3,10.674
$10V_AH,10.4,9.336
$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,27.550,133.175,361.950,83.450,0.000,62.607,73.668,243.363,4.000,0.000,16.633,1172.825,8476.540,537.940,2087.547,702.767,33.352,1315.808,0.000,2096.026,0.000,0.534,0.000
$DEVICE_MAMPS,151.099,108.147,1022.411,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.661,338.446,424.168,633.760,1207.087,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,44701,578
$CAP_FILE_SIZE,122389,0
$CFSIZE,260165632,175398912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230314,223206,2304.906,-15735.323,35,1.1,35,10.1