version: 66.06
glider: 146
mission: 9
dive: 97
start: 3 27 114 6 14 49
data:
$ID,146
$MISSION,9
$DIVE,97
$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,-325322.19
$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,49
$R_STBD_OVSHOOT,44
$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
$GPS1,060505,2241.438,-15805.613,34,1.3,39,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-68.8
$GPS2,061355,2241.468,-15805.657,12,1.2,12,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.006,-0.144
$KALMAN_X,-65117.0,-220.1,59.6,48079.9,-660.0
$KALMAN_Y,51641.5,-24.0,227.1,-66317.2,-65.0
$MHEAD_RNG_PITCHd_Wd,167.7,1886,-32.3,-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,-2.07,-45.2,0.0,0.0,0,96,0.00,0.00,-76.00,0.000,6,0.000,0.000,467,2177,3246,0,0,0,0,0,0
$GC,99,-2.13,-94.0,1.4,-2.8,10,125,10.77,2.55,-5.03,0.000,4,0.146,0.053,2530,646,3445,0,0,0,0,0,0
$GC,268,-2.09,-94.0,35.7,-21.4,33,273,0.00,2.40,0.00,0.000,6,0.000,0.017,2530,2221,3445,0,0,0,0,0,0
$GC,535,-2.09,-94.0,90.8,-19.9,57,539,0.00,2.50,0.00,0.000,4,0.000,0.034,2530,3770,3446,0,0,0,0,0,0
$GC,600,-2.09,-94.0,105.2,-21.3,62,605,0.00,2.42,0.00,0.000,6,0.000,0.022,2530,2226,3446,0,0,0,0,0,0
$GC,863,-2.09,-94.0,150.6,-14.4,86,867,0.00,2.62,0.00,0.000,4,0.000,0.044,2530,635,3446,0,0,0,0,0,0
$GC,879,-2.09,-94.0,153.7,-15.8,87,883,0.00,2.40,0.00,0.000,6,0.000,0.018,2530,2205,3446,0,0,0,0,0,0
$GC,1143,-2.15,-94.0,195.8,-16.0,111,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2206,3447,0,0,0,0,0,0
$GC,1414,-2.21,-94.0,235.2,-13.9,120,1419,0.00,2.53,0.00,0.000,4,0.000,0.038,2530,3761,3447,0,0,0,0,0,0
$GC,1522,-2.25,-94.0,252.4,-16.4,122,1526,0.00,2.47,0.00,0.000,6,0.000,0.019,2530,2194,3448,0,0,0,0,0,0
$GC,1783,-2.34,-94.0,291.0,-14.5,129,1788,0.15,2.60,0.00,0.000,4,0.061,0.044,2478,3761,3448,0,0,0,0,0,0
$GC,1849,-2.34,-94.0,301.3,-15.2,130,1853,0.00,2.47,0.00,0.000,6,0.000,0.024,2478,2216,3448,0,0,0,0,0,0
$GC,2106,-2.34,-94.0,336.9,-13.6,137,2110,0.00,2.58,0.00,0.000,4,0.000,0.048,2478,3758,3448,0,0,0,0,0,0
$GC,2239,-2.34,-94.0,357.4,-14.5,140,2244,0.00,2.50,0.00,0.000,6,0.000,0.034,2478,2220,3447,0,0,0,0,0,0
$GC,2519,-2.34,-94.0,398.1,-14.8,147,2523,0.00,2.88,0.00,0.000,4,0.000,0.092,2478,628,3446,0,0,0,0,0,0
$GC,2547,-2.34,-94.0,402.2,-14.8,147,2551,0.00,2.55,0.00,0.000,6,0.000,0.046,2478,2185,3446,0,0,0,0,0,0
$GC,2796,-2.34,-94.0,437.3,-14.1,153,2801,0.00,2.75,0.00,0.000,4,0.000,0.065,2478,3801,3445,0,0,0,0,0,0
$GC,2897,-2.34,-94.0,451.9,-14.7,155,2902,0.00,2.60,0.00,0.000,6,0.000,0.043,2478,2233,3444,0,0,0,0,0,0
$GC,3164,-2.34,-94.0,489.4,-13.9,162,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2233,3442,0,0,0,0,0,0
$GC,3408,-2.34,-94.0,523.1,-14.1,168,3412,0.00,2.75,0.00,0.000,4,0.000,0.079,2478,3797,3440,0,0,0,0,0,0
$GC,3458,-2.34,-94.0,530.6,-15.3,169,3463,0.00,2.67,0.00,0.000,6,0.000,0.055,2478,2237,3440,0,0,0,0,0,0
$GC,3729,-2.34,-94.0,566.7,-13.2,176,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2237,3438,0,0,0,0,0,0
$GC,3973,-2.34,-94.0,597.4,-12.6,182,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2237,3436,0,0,0,0,0,0
$STATE,4013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4013,begin apogee
$GC,4020,-0.31,0.0,602.3,12.5,183,4102,2.12,0.00,77.45,0.999,6,0.096,0.000,2935,2367,3060,0,0,0,0,0,0
$STATE,4103,end apogee,CONTROL_FINISHED_OK
$STATE,4103,begin climb
$GC,4106,2.13,94.0,604.5,0.0,185,4191,2.20,0.00,79.85,0.975,6,0.030,0.000,3488,2368,2676,0,0,0,0,0,0
$GC,4431,2.09,94.0,560.3,15.9,193,4436,0.15,2.75,0.00,0.000,4,0.132,0.070,3460,3933,2668,0,0,0,0,0,0
$GC,4568,2.03,94.0,538.3,16.0,196,4573,0.00,2.62,0.00,0.000,6,0.000,0.048,3460,2390,2666,0,0,0,0,0,0
$GC,4846,2.03,94.0,500.1,13.1,203,4851,0.00,2.67,0.00,0.000,4,0.000,0.061,3460,3939,2663,0,0,0,0,0,0
$GC,4925,1.99,94.0,488.8,14.3,204,4931,0.12,2.58,0.00,0.000,6,0.140,0.044,3437,2394,2662,0,0,0,0,0,0
$GC,5175,2.04,94.0,458.0,12.2,211,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2394,2661,0,0,0,0,0,0
$GC,5419,2.10,94.0,427.9,11.8,217,5424,0.10,2.62,0.00,0.000,4,0.091,0.053,3464,3941,2660,0,0,0,0,0,0
$GC,5564,2.06,94.0,408.2,14.6,220,5568,0.00,2.58,0.00,0.000,6,0.000,0.036,3465,2381,2658,0,0,0,0,0,0
$GC,5830,2.06,94.0,378.6,10.5,227,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2381,2657,0,0,0,0,0,0
$GC,6075,2.06,94.0,353.2,10.5,233,6079,0.00,2.65,0.00,0.000,4,0.000,0.050,3465,3947,2656,0,0,0,0,0,0
$GC,6180,2.06,94.0,341.1,11.6,235,6184,0.00,2.53,0.00,0.000,6,0.000,0.028,3464,2385,2655,0,0,0,0,0,0
$GC,6440,2.06,94.0,311.5,11.4,242,6445,0.00,2.62,0.00,0.000,4,0.000,0.054,3464,3944,2655,0,0,0,0,0,0
$GC,6697,2.06,94.0,281.5,11.2,247,6703,0.00,2.45,0.00,0.000,6,0.000,0.026,3464,2422,2654,0,0,0,0,0,0
$GC,6949,2.12,104.7,260.0,8.4,254,6962,0.00,2.55,6.40,0.654,4,0.000,0.044,3465,3949,2632,0,0,0,0,0,0
$GC,7216,2.12,104.7,234.6,10.4,260,7221,0.00,2.47,0.00,0.000,6,0.000,0.025,3465,2406,2632,0,0,0,0,0,0
$GC,7502,2.20,114.6,209.7,8.5,267,7517,0.00,2.58,10.32,0.677,4,0.000,0.046,3464,3938,2591,0,0,0,0,0,0
$GC,7775,2.20,121.0,181.5,9.0,282,7787,0.00,2.42,6.97,0.599,6,0.000,0.025,3465,2444,2566,0,0,0,0,0,0
$GC,8049,2.28,121.0,154.8,10.2,308,8054,0.15,2.53,0.00,0.000,4,0.072,0.044,3505,3947,2564,0,0,0,0,0,0
$GC,8321,2.26,131.7,126.1,8.4,330,8340,0.00,2.40,10.35,0.592,6,0.000,0.023,3505,2454,2522,0,0,0,0,0,0
$GC,8595,2.33,142.7,100.2,8.4,356,8613,0.00,2.55,10.70,0.568,4,0.000,0.044,3505,3941,2477,0,0,0,0,0,0
$GC,8890,2.33,142.7,65.8,13.0,380,8895,0.00,2.40,0.00,0.000,6,0.000,0.025,3505,2440,2476,0,0,0,0,0,0
$GC,9158,2.38,142.7,35.5,11.9,404,9163,0.00,2.50,0.00,0.000,4,0.000,0.045,3505,3938,2476,0,0,0,0,0,0
$STATE,9377,end climb,SURFACE_DEPTH_REACHED
$STATE,9377,begin surface coast
$FINISH,-0.3,1.011091
$STATE,9406,end surface coast,CONTROL_FINISHED_OK
$STATE,9406,begin surface
$SM_CCo,9431,190.35,0.521,0,0,1509,380.21
$SM_GC,0.33,0.00,0.00,190.35,0.000,0.000,0.521,467,2201,1509,-11.67,-0.25,380.21
$IRIDIUM_FIX,2237.01,-15805.41,210603,020246
$TT8_MAMPS,0.026078
$HUMID,57.32
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.00
$XPDR_PINGS,7
$24V_AH,23.4,13.593
$10V_AH,10.4,11.894
$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,28.100,97.775,202.050,190.350,0.000,23.886,33.540,336.199,1.750,0.000,13.812,950.802,6220.510,471.052,1862.368,645.384,33.356,1178.918,0.000,1861.375,0.000,0.534,0.000
$DEVICE_MAMPS,146.497,98.176,998.634,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,296.872,254.411,320.269,476.572,907.904,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,35247,437
$CAP_FILE_SIZE,98087,0
$CFSIZE,260165632,174051328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270314,085622,2240.759,-15805.986,12,1.1,30,10.0