version: 66.06
glider: 146
mission: 9
dive: 98
start: 3 27 114 9 11 20
data:
$ID,146
$MISSION,9
$DIVE,98
$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,-325359.56
$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,36
$R_STBD_OVSHOOT,19
$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
$GPS1,085622,2240.759,-15805.986,12,1.1,30,10.0
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-68.4
$GPS2,091027,2240.806,-15806.060,15,2.5,34,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.089,0.244
$KALMAN_X,-65871.3,-233.7,69.8,48146.3,-870.5
$KALMAN_Y,52231.8,154.2,-61.6,-68028.6,391.7
$MHEAD_RNG_PITCHd_Wd,10.1,43867,-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,17,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-88.93,0.000,6,0.000,0.000,466,2200,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,3.8,-9.9,12,132,12.27,2.60,0.00,0.000,4,0.160,0.033,2717,3806,3657,0,0,0,0,0,0
$GC,279,-1.18,-146.0,37.4,-14.7,32,284,0.12,2.53,0.00,0.000,6,0.122,0.023,2743,2206,3657,0,0,0,0,0,0
$GC,547,-1.10,-146.0,71.6,-12.3,56,552,0.10,2.62,0.00,0.000,4,0.133,0.048,2762,628,3658,0,0,0,0,0,0
$GC,572,-1.04,-146.0,75.6,-12.6,57,581,0.00,2.53,0.00,0.000,6,0.000,0.018,2762,2243,3658,0,0,0,0,0,0
$GC,832,-1.04,-146.0,105.7,-11.3,82,837,0.00,2.62,0.00,0.000,4,0.000,0.044,2762,638,3658,0,0,0,0,0,0
$GC,869,-0.99,-146.0,109.9,-11.8,84,879,0.08,2.45,0.00,0.000,6,0.094,0.017,2782,2215,3658,0,0,0,0,0,0
$GC,1136,-1.04,-146.0,134.0,-9.5,109,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2215,3658,0,0,0,0,0,0
$GC,1400,-1.10,-146.0,157.5,-9.5,134,1405,0.00,2.58,0.00,0.000,4,0.000,0.044,2782,639,3658,0,0,0,0,0,0
$GC,1423,-1.16,-146.0,160.1,-9.6,135,1431,0.10,2.42,0.00,0.000,6,0.037,0.021,2733,2189,3659,0,0,0,0,0,0
$GC,1689,-1.16,-146.0,188.1,-10.4,160,1693,0.00,2.55,0.00,0.000,4,0.000,0.036,2733,3780,3659,0,0,0,0,0,0
$GC,1733,-1.16,-146.0,192.8,-11.1,163,1737,0.00,2.47,0.00,0.000,6,0.000,0.020,2733,2188,3659,0,0,0,0,0,0
$GC,2006,-1.16,-146.0,220.3,-9.8,174,2010,0.00,2.55,0.00,0.000,4,0.000,0.048,2732,636,3659,0,0,0,0,0,0
$GC,2051,-1.16,-146.0,224.6,-9.9,175,2056,0.00,2.42,0.00,0.000,6,0.000,0.027,2733,2192,3659,0,0,0,0,0,0
$GC,2329,-1.16,-146.0,249.1,-8.6,182,2333,0.00,2.58,0.00,0.000,4,0.000,0.041,2733,3782,3659,0,0,0,0,0,0
$GC,2406,-1.16,-146.0,256.5,-9.8,183,2412,0.00,2.47,0.00,0.000,6,0.000,0.021,2732,2202,3659,0,0,0,0,0,0
$GC,2658,-1.16,-146.0,280.0,-9.7,190,2662,0.00,2.60,0.00,0.000,4,0.000,0.055,2732,637,3659,0,0,0,0,0,0
$GC,2708,-1.20,-146.0,285.1,-10.0,191,2713,0.00,2.42,0.00,0.000,6,0.000,0.031,2733,2184,3658,0,0,0,0,0,0
$GC,2980,-1.20,-146.0,309.6,-9.1,198,2985,0.00,2.65,0.00,0.000,4,0.000,0.046,2732,3794,3658,0,0,0,0,0,0
$GC,3021,-1.20,-146.0,313.2,-8.8,199,3025,0.00,2.53,0.00,0.000,6,0.000,0.023,2733,2193,3658,0,0,0,0,0,0
$GC,3304,-1.20,-146.0,336.6,-8.4,206,3309,0.00,2.65,0.00,0.000,4,0.000,0.049,2732,3783,3657,0,0,0,0,0,0
$GC,3366,-1.20,-146.0,342.0,-9.1,207,3370,0.00,2.55,0.00,0.000,6,0.000,0.027,2733,2200,3657,0,0,0,0,0,0
$GC,3627,-1.24,-146.0,362.5,-7.6,214,3632,0.00,2.72,0.00,0.000,4,0.000,0.076,2732,624,3656,0,0,0,0,0,0
$GC,3667,-1.28,-146.0,365.4,-7.4,215,3671,0.00,2.53,0.00,0.000,6,0.000,0.041,2732,2191,3655,0,0,0,0,0,0
$GC,3952,-1.33,-146.0,384.9,-6.9,222,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2191,3654,0,0,0,0,0,0
$GC,4194,-1.38,-146.0,404.1,-8.1,228,4199,0.12,2.72,0.00,0.000,4,0.068,0.065,2684,3795,3652,0,0,0,0,0,0
$GC,4216,-1.38,-146.0,406.4,-9.8,228,4220,0.00,2.62,0.00,0.000,6,0.000,0.035,2683,2192,3652,0,0,0,0,0,0
$GC,4473,-1.34,-146.0,431.3,-9.8,235,4478,0.12,2.72,0.00,0.000,4,0.105,0.059,2710,3794,3651,0,0,0,0,0,0
$GC,4573,-1.34,-146.0,441.3,-9.5,237,4578,0.00,2.62,0.00,0.000,6,0.000,0.048,2710,2213,3650,0,0,0,0,0,0
$GC,4842,-1.34,-146.0,462.8,-8.0,244,4846,0.00,2.90,0.00,0.000,4,0.000,0.101,2710,622,3648,0,0,0,0,0,0
$GC,4903,-1.38,-146.0,468.1,-8.0,245,4907,0.00,2.65,0.00,0.000,6,0.000,0.047,2710,2208,3648,0,0,0,0,0,0
$GC,5163,-1.38,-146.0,486.8,-7.0,252,5168,0.00,2.72,0.00,0.000,4,0.000,0.067,2710,3804,3646,0,0,0,0,0,0
$GC,5242,-1.38,-146.0,492.8,-8.1,253,5248,0.00,2.67,0.00,0.000,6,0.000,0.046,2710,2214,3645,0,0,0,0,0,0
$GC,5492,-1.38,-146.0,511.0,-7.3,260,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2214,3644,0,0,0,0,0,0
$GC,5736,-1.38,-146.0,530.1,-7.9,266,5740,0.00,2.75,0.00,0.000,4,0.000,0.070,2710,3800,3642,0,0,0,0,0,0
$GC,5798,-1.38,-146.0,535.6,-9.1,267,5802,0.00,2.67,0.00,0.000,6,0.000,0.054,2710,2226,3641,0,0,0,0,0,0
$GC,6058,-1.38,-146.0,557.3,-8.5,274,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2226,3641,0,0,0,0,0,0
$GC,6303,-1.42,-146.0,577.7,-8.4,280,6307,0.00,2.80,0.00,0.000,4,0.000,0.084,2710,3792,3638,0,0,0,0,0,0
$GC,6359,-1.46,-146.0,583.0,-9.7,281,6365,0.10,2.70,0.00,0.000,6,0.084,0.064,2675,2243,3638,0,0,0,0,0,0
$STATE,6542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6542,begin apogee
$GC,6548,-0.31,0.0,600.9,9.6,286,6670,1.17,0.00,118.07,1.017,6,0.077,0.000,2937,2377,3060,0,0,0,0,0,0
$STATE,6671,end apogee,CONTROL_FINISHED_OK
$STATE,6671,begin climb
$GC,6674,1.27,146.0,604.5,0.0,289,6811,1.45,2.92,124.45,0.988,4,0.035,0.083,3293,3931,2463,0,0,0,0,0,0
$GC,6822,1.12,147.1,596.4,9.9,292,6828,0.22,2.80,0.00,0.000,6,0.104,0.069,3246,2363,2460,0,0,0,0,0,0
$GC,7074,1.11,179.8,574.5,8.5,299,7109,0.00,2.88,29.88,0.947,4,0.000,0.074,3246,3936,2325,0,0,0,0,0,0
$GC,7163,1.07,179.8,566.0,10.4,300,7167,0.00,2.72,0.00,0.000,6,0.000,0.053,3246,2370,2322,0,0,0,0,0,0
$GC,7441,1.07,179.9,538.9,10.0,307,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2370,2320,0,0,0,0,0,0
$GC,7683,1.07,179.9,513.0,10.8,313,7688,0.00,2.72,0.00,0.000,4,0.000,0.060,3246,3941,2317,0,0,0,0,0,0
$GC,7710,1.02,179.9,509.8,11.7,313,7715,0.00,2.67,0.00,0.000,6,0.000,0.048,3246,2377,2317,0,0,0,0,0,0
$GC,7961,1.02,179.9,483.1,10.5,319,7966,0.00,3.03,0.00,0.000,4,0.000,0.112,3246,780,2316,0,0,0,0,0,0
$GC,7977,1.02,179.9,481.2,10.7,319,7981,0.00,2.67,0.00,0.000,6,0.000,0.044,3246,2388,2315,0,0,0,0,0,0
$GC,8243,1.03,183.5,454.5,9.8,326,8248,0.00,2.62,0.00,0.000,4,0.000,0.064,3246,3939,2314,0,0,0,0,0,0
$GC,8276,0.98,183.5,451.0,10.5,326,8282,0.15,2.58,0.00,0.000,6,0.115,0.036,3215,2378,2314,0,0,0,0,0,0
$GC,8527,1.07,219.9,429.4,8.3,333,8569,0.00,2.97,34.67,0.904,4,0.000,0.091,3216,785,2162,0,0,0,0,0,0
$GC,8586,1.16,255.3,424.3,8.4,334,8626,0.17,2.65,32.50,0.884,6,0.062,0.036,3263,2390,2018,0,0,0,0,0,0
$GC,8898,1.16,255.3,387.1,12.3,342,8903,0.00,2.62,0.00,0.000,4,0.000,0.051,3263,3938,2013,0,0,0,0,0,0
$GC,8942,1.16,255.3,381.4,13.5,343,8946,0.00,2.58,0.00,0.000,6,0.000,0.031,3263,2380,2011,0,0,0,0,0,0
$GC,9221,1.16,255.3,349.5,11.4,350,9226,0.00,2.78,0.00,0.000,4,0.000,0.070,3263,785,2010,0,0,0,0,0,0
$GC,9265,1.16,255.3,344.1,12.4,351,9269,0.00,2.55,0.00,0.000,6,0.000,0.028,3263,2376,2010,0,0,0,0,0,0
$GC,9542,1.16,255.3,313.4,11.3,358,9547,0.00,2.62,0.00,0.000,4,0.000,0.051,3263,3935,2009,0,0,0,0,0,0
$GC,9598,1.16,255.3,306.4,13.0,359,9603,0.00,2.55,0.00,0.000,6,0.000,0.027,3263,2359,2008,0,0,0,0,0,0
$GC,9864,1.16,255.3,277.9,10.4,366,9868,0.00,2.65,0.00,0.000,4,0.000,0.048,3263,3933,2008,0,0,0,0,0,0
$GC,9924,1.16,255.3,271.1,10.6,367,9929,0.00,2.50,0.00,0.000,6,0.000,0.032,3263,2393,2007,0,0,0,0,0,0
$GC,10187,1.16,255.3,241.0,11.7,374,10191,0.00,2.70,0.00,0.000,4,0.000,0.053,3263,785,2007,0,0,0,0,0,0
$GC,10258,1.16,255.3,231.9,12.1,375,10263,0.00,2.58,0.00,0.000,6,0.000,0.027,3263,2391,2007,0,0,0,0,0,0
$GC,10509,1.16,255.3,203.2,11.5,381,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2391,2007,0,0,0,0,0,0
$GC,10763,1.16,255.3,175.5,10.5,402,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2391,2007,0,0,0,0,0,0
$GC,11017,1.21,255.3,150.0,10.5,426,11021,0.00,2.65,0.00,0.000,4,0.000,0.044,3263,773,2007,0,0,0,0,0,0
$GC,11062,1.27,255.3,145.4,11.3,429,11067,0.00,2.53,0.00,0.000,6,0.000,0.022,3263,2393,2007,0,0,0,0,0,0
$GC,11329,1.35,269.4,120.2,9.3,453,11355,0.15,2.62,12.12,0.591,4,0.066,0.044,3309,3931,1960,0,0,0,0,0,0
$GC,11383,1.35,269.4,114.0,12.4,457,11387,0.00,2.47,0.00,0.000,6,0.000,0.023,3309,2377,1959,0,0,0,0,0,0
$GC,11649,1.35,269.4,84.0,10.7,481,11654,0.00,2.62,0.00,0.000,4,0.000,0.046,3309,782,1959,0,0,0,0,0,0
$GC,11666,1.35,269.4,81.6,11.3,482,11670,0.00,2.50,0.00,0.000,6,0.000,0.021,3309,2391,1959,0,0,0,0,0,0
$GC,11934,1.35,269.4,52.3,11.5,506,11939,0.00,2.47,0.00,0.000,4,0.000,0.041,3309,3918,1959,0,0,0,0,0,0
$GC,11955,1.35,269.4,49.3,12.0,507,11960,0.00,2.45,0.00,0.000,6,0.000,0.022,3309,2374,1959,0,0,0,0,0,0
$GC,12246,1.35,269.4,15.5,11.6,540,12254,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2375,1959,0,0,0,0,0,0
$STATE,12341,end climb,SURFACE_DEPTH_REACHED
$STATE,12342,begin surface coast
$FINISH,-0.2,1.023904
$STATE,12384,end surface coast,CONTROL_FINISHED_OK
$STATE,12384,begin surface
$SM_CCo,12405,90.88,0.521,0,0,1509,380.21
$SM_GC,0.38,0.00,0.00,90.88,0.000,0.000,0.521,471,2135,1509,-11.66,-2.12,380.21
$IRIDIUM_FIX,2230.01,-15808.45,210603,090903
$TT8_MAMPS,0.026078
$HUMID,59.49
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.50
$XPDR_PINGS,16
$24V_AH,23.4,13.739
$10V_AH,10.4,12.013
$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,27.700,168.825,351.700,90.875,0.000,55.373,70.114,507.974,4.000,0.000,36.743,1187.142,8536.229,552.988,2117.602,950.374,33.354,1388.325,0.000,2094.486,0.000,0.536,0.000
$DEVICE_MAMPS,159.536,111.982,1017.042,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.249,316.170,400.892,577.733,1099.219,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,44828,560
$CAP_FILE_SIZE,136508,0
$CFSIZE,260165632,173948928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270314,124105,2242.634,-15806.302,40,1.5,46,10.0