version: 66.06
glider: 146
mission: 9
dive: 101
start: 3 27 114 20 44 15
data:
$ID,146
$MISSION,9
$DIVE,101
$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,-325445.88
$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,37
$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
$GPS1,203624,2246.686,-15806.935,40,1.7,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-70.1
$GPS2,204321,2246.701,-15806.997,9,2.1,28,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.116,0.232
$KALMAN_X,-70103.8,-96.1,7.5,50711.1,-1044.5
$KALMAN_Y,54072.6,73.6,124.7,-59055.1,-73.5
$MHEAD_RNG_PITCHd_Wd,16.4,33140,-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,-146.0,0.0,0.0,0,110,0.00,0.00,-89.47,0.000,6,0.000,0.000,465,2136,3654,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.1,-10.4,12,132,12.10,2.67,0.00,0.000,4,0.159,0.030,2718,3790,3656,0,0,0,0,0,0
$GC,266,-1.19,-146.0,34.6,-13.5,32,272,0.12,2.53,0.00,0.000,6,0.123,0.023,2741,2205,3656,0,0,0,0,0,0
$GC,536,-1.11,-146.0,67.7,-12.5,56,541,0.10,2.60,0.00,0.000,4,0.133,0.046,2760,638,3657,0,0,0,0,0,0
$GC,582,-1.11,-146.0,73.6,-11.2,59,587,0.00,2.45,0.00,0.000,6,0.000,0.018,2760,2226,3657,0,0,0,0,0,0
$GC,850,-1.11,-146.0,98.7,-9.0,83,855,0.00,2.60,0.00,0.000,4,0.000,0.042,2760,632,3657,0,0,0,0,0,0
$GC,872,-1.11,-146.0,101.4,-8.9,84,881,0.00,2.45,0.00,0.000,6,0.000,0.017,2761,2199,3658,0,0,0,0,0,0
$GC,1138,-1.11,-146.0,124.9,-9.4,109,1142,0.00,2.55,0.00,0.000,4,0.000,0.035,2760,3778,3658,0,0,0,0,0,0
$GC,1161,-1.11,-146.0,127.6,-9.6,110,1170,0.00,2.50,0.00,0.000,6,0.000,0.020,2760,2203,3658,0,0,0,0,0,0
$GC,1423,-1.11,-146.0,152.0,-8.9,135,1428,0.00,2.55,0.00,0.000,4,0.000,0.045,2760,635,3658,0,0,0,0,0,0
$GC,1453,-1.11,-146.0,154.9,-9.4,137,1457,0.00,2.40,0.00,0.000,6,0.000,0.020,2760,2200,3658,0,0,0,0,0,0
$GC,1717,-1.11,-146.0,178.1,-8.3,161,1721,0.00,2.55,0.00,0.000,4,0.000,0.044,2760,640,3659,0,0,0,0,0,0
$GC,1750,-1.11,-146.0,181.2,-8.6,163,1756,0.00,2.38,0.00,0.000,6,0.000,0.020,2760,2182,3659,0,0,0,0,0,0
$GC,2023,-1.11,-146.0,204.2,-8.6,186,2028,0.00,2.58,0.00,0.000,4,0.000,0.037,2760,3775,3659,0,0,0,0,0,0
$GC,2057,-1.16,-146.0,207.5,-9.4,186,2062,0.00,2.50,0.00,0.000,6,0.000,0.020,2760,2172,3659,0,0,0,0,0,0
$GC,2309,-1.21,-146.0,226.2,-7.2,193,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2172,3659,0,0,0,0,0,0
$GC,2551,-1.26,-146.0,244.6,-7.7,199,2553,0.12,0.00,0.00,0.000,6,0.069,0.000,2707,2172,3659,0,0,0,0,0,0
$GC,2794,-1.22,-146.0,268.4,-10.0,205,2799,0.12,2.65,0.00,0.000,4,0.100,0.043,2736,3779,3659,0,0,0,0,0,0
$GC,2927,-1.22,-146.0,279.7,-8.7,208,2931,0.00,2.53,0.00,0.000,6,0.000,0.022,2737,2186,3659,0,0,0,0,0,0
$GC,3210,-1.22,-146.0,305.4,-9.0,215,3214,0.00,2.62,0.00,0.000,4,0.000,0.064,2736,635,3658,0,0,0,0,0,0
$GC,3243,-1.27,-146.0,308.5,-9.1,215,3248,0.00,2.42,0.00,0.000,6,0.000,0.028,2736,2163,3658,0,0,0,0,0,0
$GC,3495,-1.31,-146.0,330.8,-8.8,222,3499,0.00,2.58,0.00,0.000,4,0.000,0.061,2736,639,3658,0,0,0,0,0,0
$GC,3522,-1.35,-146.0,333.4,-8.2,222,3527,0.12,2.42,0.00,0.000,6,0.069,0.028,2688,2161,3657,0,0,0,0,0,0
$GC,3774,-1.29,-146.0,356.9,-9.4,228,3779,0.15,2.72,0.00,0.000,4,0.096,0.051,2721,3795,3656,0,0,0,0,0,0
$GC,3863,-1.29,-146.0,365.0,-8.8,230,3867,0.00,2.60,0.00,0.000,6,0.000,0.030,2720,2180,3655,0,0,0,0,0,0
$GC,4140,-1.29,-146.0,386.1,-7.6,237,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2180,3654,0,0,0,0,0,0
$GC,4386,-1.29,-146.0,405.7,-8.3,243,4390,0.00,2.72,0.00,0.000,4,0.000,0.054,2721,3789,3652,0,0,0,0,0,0
$GC,4418,-1.29,-146.0,408.8,-8.9,243,4424,0.00,2.65,0.00,0.000,6,0.000,0.039,2721,2167,3652,0,0,0,0,0,0
$GC,4668,-1.29,-146.0,431.2,-9.2,250,4673,0.00,2.78,0.00,0.000,4,0.000,0.094,2721,622,3651,0,0,0,0,0,0
$GC,4709,-1.29,-146.0,434.8,-9.4,251,4713,0.00,2.53,0.00,0.000,6,0.000,0.041,2721,2165,3650,0,0,0,0,0,0
$GC,4992,-1.33,-146.0,460.0,-8.9,258,4997,0.00,2.75,0.00,0.000,4,0.000,0.061,2721,3795,3648,0,0,0,0,0,0
$GC,5125,-1.38,-146.0,472.4,-9.0,261,5129,0.00,2.70,0.00,0.000,6,0.000,0.044,2721,2179,3647,0,0,0,0,0,0
$GC,5408,-1.42,-146.0,495.5,-7.7,268,5413,0.12,2.78,0.00,0.000,4,0.068,0.067,2677,3792,3645,0,0,0,0,0,0
$GC,5436,-1.37,-146.0,498.0,-9.4,268,5442,0.12,2.67,0.00,0.000,6,0.104,0.049,2704,2185,3645,0,0,0,0,0,0
$GC,5687,-1.37,-146.0,517.1,-7.7,274,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2185,3644,0,0,0,0,0,0
$GC,5930,-1.37,-146.0,536.1,-7.9,280,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2185,3643,0,0,0,0,0,0
$GC,6173,-1.37,-146.0,554.5,-7.5,286,6178,0.00,2.85,0.00,0.000,4,0.000,0.081,2704,3789,3641,0,0,0,0,0,0
$GC,6207,-1.37,-146.0,557.2,-8.7,286,6213,0.00,2.75,0.00,0.000,6,0.000,0.062,2704,2184,3641,0,0,0,0,0,0
$GC,6457,-1.37,-146.0,577.2,-8.1,293,6462,0.00,2.88,0.00,0.000,4,0.000,0.086,2704,3794,3640,0,0,0,0,0,0
$GC,6490,-1.37,-146.0,580.3,-9.3,293,6496,0.00,2.80,0.00,0.000,6,0.000,0.062,2704,2181,3639,0,0,0,0,0,0
$STATE,6738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6738,begin apogee
$GC,6745,-0.31,0.0,600.6,8.1,300,6867,1.02,0.00,118.30,1.018,6,0.074,0.000,2935,2376,3060,0,0,0,0,0,0
$STATE,6867,end apogee,CONTROL_FINISHED_OK
$STATE,6868,begin climb
$GC,6870,1.27,146.0,603.5,0.0,303,7004,1.45,2.90,124.78,0.988,4,0.035,0.084,3290,3923,2463,0,0,0,0,0,0
$GC,7018,1.12,146.0,593.8,11.1,306,7025,0.20,2.75,0.00,0.000,6,0.108,0.060,3250,2371,2460,0,0,0,0,0,0
$GC,7269,1.08,150.3,568.6,9.8,313,7274,0.00,3.03,0.00,0.000,4,0.000,0.115,3250,784,2454,0,0,0,0,0,0
$GC,7290,1.01,150.3,566.2,10.7,313,7296,0.12,2.72,0.00,0.000,6,0.120,0.056,3226,2356,2453,0,0,0,0,0,0
$GC,7547,1.04,172.6,543.4,9.0,320,7577,0.00,2.90,22.95,0.932,4,0.000,0.074,3226,3938,2355,0,0,0,0,0,0
$GC,7605,1.04,172.6,537.5,10.4,321,7610,0.00,2.67,0.00,0.000,6,0.000,0.051,3226,2360,2354,0,0,0,0,0,0
$GC,7874,1.05,180.8,511.8,9.6,328,7888,0.00,3.10,8.27,0.820,4,0.000,0.117,3226,783,2322,0,0,0,0,0,0
$GC,7910,1.05,180.8,507.6,10.5,328,7916,0.00,2.67,0.00,0.000,6,0.000,0.047,3225,2355,2321,0,0,0,0,0,0
$GC,8161,1.06,188.7,483.3,9.6,335,8171,0.00,0.00,8.52,0.819,6,0.000,0.000,3225,2355,2290,0,0,0,0,0,0
$GC,8405,1.11,224.4,462.3,8.4,341,8447,0.00,2.83,32.83,0.917,4,0.000,0.065,3225,3938,2144,0,0,0,0,0,0
$GC,8469,1.13,247.5,456.6,8.9,342,8499,0.10,2.67,21.85,0.886,6,0.087,0.037,3255,2354,2050,0,0,0,0,0,0
$GC,8780,1.13,247.5,424.3,10.5,350,8784,0.00,2.67,0.00,0.000,4,0.000,0.049,3255,3938,2045,0,0,0,0,0,0
$GC,8812,1.13,247.5,420.3,11.0,350,8818,0.00,2.62,0.00,0.000,6,0.000,0.033,3255,2362,2043,0,0,0,0,0,0
$GC,9062,1.13,247.5,393.7,10.5,357,9066,0.00,2.83,0.00,0.000,4,0.000,0.082,3255,776,2043,0,0,0,0,0,0
$GC,9077,1.13,247.5,391.9,10.7,357,9082,0.00,2.62,0.00,0.000,6,0.000,0.032,3255,2391,2042,0,0,0,0,0,0
$GC,9340,1.13,247.5,364.6,10.3,364,9344,0.00,2.80,0.00,0.000,4,0.000,0.061,3255,770,2042,0,0,0,0,0,0
$GC,9355,1.13,247.5,362.7,10.5,364,9359,0.00,2.58,0.00,0.000,6,0.000,0.035,3255,2373,2041,0,0,0,0,0,0
$GC,9622,1.13,247.5,334.1,10.9,371,9626,0.00,2.62,0.00,0.000,4,0.000,0.050,3255,3936,2041,0,0,0,0,0,0
$GC,9700,1.13,247.5,324.1,12.8,372,9706,0.00,2.55,0.00,0.000,6,0.000,0.030,3255,2376,2040,0,0,0,0,0,0
$GC,9950,1.13,247.5,295.3,11.3,379,9955,0.00,2.70,0.00,0.000,4,0.000,0.060,3255,785,2040,0,0,0,0,0,0
$GC,10016,1.13,247.5,287.5,11.3,380,10020,0.00,2.55,0.00,0.000,6,0.000,0.028,3254,2377,2039,0,0,0,0,0,0
$GC,10279,1.16,273.1,263.5,8.8,387,10303,0.00,0.00,22.38,0.769,6,0.000,0.000,3255,2377,1946,0,0,0,0,0,0
$GC,10522,1.20,273.1,239.7,10.0,393,10526,0.00,2.60,0.00,0.000,4,0.000,0.048,3255,3927,1942,0,0,0,0,0,0
$GC,10588,1.25,273.1,231.7,12.1,394,10592,0.00,2.55,0.00,0.000,6,0.000,0.026,3255,2356,1941,0,0,0,0,0,0
$GC,10844,1.30,273.1,205.1,10.3,401,10849,0.12,2.62,0.00,0.000,4,0.077,0.051,3292,781,1941,0,0,0,0,0,0
$GC,10871,1.30,273.1,201.7,11.9,401,10876,0.00,2.50,0.00,0.000,6,0.000,0.029,3292,2364,1940,0,0,0,0,0,0
$GC,11139,1.30,273.1,169.4,12.7,423,11143,0.00,2.55,0.00,0.000,4,0.000,0.043,3292,3923,1940,0,0,0,0,0,0
$GC,11194,1.30,273.1,162.3,13.9,427,11198,0.00,2.53,0.00,0.000,6,0.000,0.025,3292,2335,1940,0,0,0,0,0,0
$GC,11460,1.30,273.1,132.0,11.2,451,11464,0.00,2.62,0.00,0.000,4,0.000,0.042,3292,3921,1940,0,0,0,0,0,0
$GC,11492,1.30,273.1,127.9,12.9,453,11497,0.00,2.47,0.00,0.000,6,0.000,0.024,3292,2361,1940,0,0,0,0,0,0
$GC,11759,1.30,273.1,97.8,11.0,477,11763,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2362,1940,0,0,0,0,0,0
$GC,12026,1.30,273.1,67.4,11.1,502,12030,0.00,2.58,0.00,0.000,4,0.000,0.043,3292,3928,1940,0,0,0,0,0,0
$GC,12071,1.30,273.1,61.9,11.1,505,12075,0.00,2.47,0.00,0.000,6,0.000,0.025,3292,2363,1940,0,0,0,0,0,0
$GC,12340,1.30,273.1,32.6,10.8,529,12348,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2363,1941,0,0,0,0,0,0
$STATE,12601,end climb,SURFACE_DEPTH_REACHED
$STATE,12601,begin surface coast
$FINISH,-0.2,1.011276
$STATE,12650,end surface coast,CONTROL_FINISHED_OK
$STATE,12650,begin surface
$SM_CCo,12673,86.50,0.522,0,0,1510,380.21
$SM_GC,0.52,0.00,0.00,86.50,0.000,0.000,0.522,472,2162,1510,-11.65,-1.36,380.21
$IRIDIUM_FIX,2234.68,-15805.41,210603,161608
$TT8_MAMPS,0.026078
$HUMID,60.51
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,18
$24V_AH,23.4,14.164
$10V_AH,10.4,12.380
$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,27.350,169.575,359.875,86.500,0.000,27.533,43.885,182.412,4.500,0.000,31.271,1196.492,8698.593,582.814,2112.921,584.030,33.394,1386.019,0.000,2097.271,0.000,0.535,0.000
$DEVICE_MAMPS,158.769,117.351,1017.809,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.117,326.202,410.277,603.337,1147.323,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,44769,575
$CAP_FILE_SIZE,128665,0
$CFSIZE,260165632,173760512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280314,001806,2248.203,-15807.050,29,1.2,29,10.1