version: 66.06
glider: 146
mission: 9
dive: 102
start: 3 28 114 0 30 25
data:
$ID,146
$MISSION,9
$DIVE,102
$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,-325459.31
$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,74
$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
$GPS1,001806,2248.203,-15807.050,29,1.2,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-71.6
$GPS2,002931,2248.279,-15807.149,11,1.4,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.121,0.229
$KALMAN_X,-71499.1,-203.6,-128.4,52087.1,-957.8
$KALMAN_Y,54652.7,-54.1,-198.2,-56261.9,590.6
$MHEAD_RNG_PITCHd_Wd,17.8,30281,-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,-146.0,0.0,0.0,0,112,0.00,0.00,-89.10,0.000,6,0.000,0.000,471,2162,3655,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.1,-10.5,12,132,12.07,2.65,0.00,0.000,4,0.156,0.031,2719,3792,3657,0,0,0,0,0,0
$GC,313,-1.18,-146.0,42.4,-14.6,35,318,0.30,2.45,0.00,0.000,6,0.035,0.022,2749,2239,3657,1,0,0,0,0,0
$GC,582,-1.13,-146.0,76.7,-13.0,59,587,0.00,2.62,0.00,0.000,4,0.000,0.047,2748,640,3658,0,0,0,0,0,0
$GC,625,-1.08,-146.0,83.6,-13.5,62,630,0.10,2.42,0.00,0.000,6,0.127,0.018,2769,2214,3658,0,0,0,0,0,0
$GC,887,-1.08,-146.0,112.5,-10.2,86,891,0.00,2.50,0.00,0.000,4,0.000,0.035,2769,3775,3658,0,0,0,0,0,0
$GC,908,-1.08,-146.0,114.5,-10.2,87,913,0.00,2.47,0.00,0.000,6,0.000,0.019,2769,2191,3658,0,0,0,0,0,0
$GC,1175,-1.08,-146.0,141.4,-9.3,111,1179,0.00,2.53,0.00,0.000,4,0.000,0.045,2768,640,3659,0,0,0,0,0,0
$GC,1207,-1.08,-146.0,144.6,-9.4,113,1212,0.00,2.40,0.00,0.000,6,0.000,0.025,2769,2206,3659,0,0,0,0,0,0
$GC,1470,-1.08,-146.0,168.7,-9.0,137,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2206,3659,0,0,0,0,0,0
$GC,1725,-1.12,-146.0,191.3,-8.9,161,1730,0.00,2.58,0.00,0.000,4,0.000,0.045,2768,632,3659,0,0,0,0,0,0
$GC,1747,-1.12,-146.0,193.6,-8.9,162,1757,0.00,2.45,0.00,0.000,6,0.000,0.024,2768,2192,3659,0,0,0,0,0,0
$GC,2021,-1.17,-146.0,219.0,-9.3,174,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2192,3659,0,0,0,0,0,0
$GC,2266,-1.23,-146.0,239.9,-8.6,180,2271,0.15,2.60,0.00,0.000,4,0.061,0.043,2711,3781,3660,0,0,0,0,0,0
$GC,2288,-1.23,-146.0,242.3,-9.7,180,2292,0.10,2.47,0.00,0.000,6,0.112,0.020,2734,2191,3660,0,0,0,0,0,0
$GC,2543,-1.23,-146.0,266.6,-9.4,187,2547,0.00,2.60,0.00,0.000,4,0.000,0.042,2734,3778,3659,0,0,0,0,0,0
$GC,2587,-1.23,-146.0,271.0,-10.2,188,2592,0.00,2.47,0.00,0.000,6,0.000,0.021,2734,2199,3659,0,0,0,0,0,0
$GC,2865,-1.23,-146.0,296.7,-9.1,195,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2199,3659,0,0,0,0,0,0
$GC,3109,-1.23,-146.0,317.3,-8.3,201,3113,0.00,2.65,0.00,0.000,4,0.000,0.064,2734,635,3659,0,0,0,0,0,0
$GC,3142,-1.23,-146.0,319.9,-7.8,201,3148,0.00,2.47,0.00,0.000,6,0.000,0.037,2734,2179,3659,0,0,0,0,0,0
$GC,3392,-1.23,-146.0,339.3,-7.7,208,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2179,3658,0,0,0,0,0,0
$GC,3636,-1.23,-146.0,357.2,-7.4,214,3640,0.00,2.70,0.00,0.000,4,0.000,0.052,2734,3790,3657,0,0,0,0,0,0
$GC,3687,-1.29,-146.0,361.2,-8.0,215,3692,0.00,2.55,0.00,0.000,6,0.000,0.027,2734,2196,3656,0,0,0,0,0,0
$GC,3959,-1.34,-146.0,382.5,-7.8,222,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2196,3655,0,0,0,0,0,0
$GC,4203,-1.39,-146.0,401.8,-7.9,228,4205,0.15,0.00,0.00,0.000,6,0.061,0.000,2680,2196,3653,0,0,0,0,0,0
$GC,4448,-1.34,-146.0,424.8,-9.5,234,4453,0.15,2.80,0.00,0.000,4,0.094,0.087,2713,632,3652,0,0,0,0,0,0
$GC,4464,-1.34,-146.0,426.7,-9.4,234,4469,0.00,2.55,0.00,0.000,6,0.000,0.048,2713,2178,3652,0,0,0,0,0,0
$GC,4725,-1.34,-146.0,446.3,-7.5,241,4730,0.00,2.75,0.00,0.000,4,0.000,0.061,2713,3796,3650,0,0,0,0,0,0
$GC,4799,-1.34,-146.0,452.3,-8.0,242,4804,0.00,2.65,0.00,0.000,6,0.000,0.047,2713,2188,3650,0,0,0,0,0,0
$GC,5049,-1.34,-146.0,471.3,-7.4,248,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2188,3648,0,0,0,0,0,0
$GC,5293,-1.34,-146.0,489.4,-7.3,254,5297,0.00,2.78,0.00,0.000,4,0.000,0.067,2713,3797,3646,0,0,0,0,0,0
$GC,5349,-1.34,-146.0,493.8,-8.0,255,5354,0.00,2.70,0.00,0.000,6,0.000,0.052,2713,2191,3646,0,0,0,0,0,0
$GC,5615,-1.34,-146.0,514.1,-7.6,262,5620,0.00,2.95,0.00,0.000,4,0.000,0.114,2713,624,3644,0,0,0,0,0,0
$GC,5642,-1.34,-146.0,516.3,-8.0,262,5647,0.00,2.62,0.00,0.000,6,0.000,0.050,2713,2188,3644,0,0,0,0,0,0
$GC,5893,-1.34,-146.0,535.4,-7.8,268,5898,0.00,2.83,0.00,0.000,4,0.000,0.076,2713,3803,3643,0,0,0,0,0,0
$GC,5944,-1.38,-146.0,540.0,-9.5,269,5948,0.00,2.72,0.00,0.000,6,0.000,0.059,2713,2201,3642,0,0,0,0,0,0
$GC,6215,-1.38,-146.0,561.8,-7.8,276,6220,0.00,2.80,0.00,0.000,4,0.000,0.074,2713,3793,3641,0,0,0,0,0,0
$GC,6267,-1.42,-146.0,566.2,-9.4,277,6271,0.00,2.72,0.00,0.000,6,0.000,0.059,2713,2210,3640,0,0,0,0,0,0
$GC,6539,-1.47,-146.0,588.4,-8.1,284,6544,0.12,2.83,0.00,0.000,4,0.070,0.084,2670,3792,3638,0,0,0,0,0,0
$GC,6568,-1.43,-146.0,591.3,-10.6,284,6573,0.10,2.78,0.00,0.000,6,0.118,0.067,2691,2210,3638,0,0,0,0,0,0
$STATE,6693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6693,begin apogee
$GC,6699,-0.31,0.0,602.7,8.9,287,6821,1.08,0.00,118.38,1.017,6,0.074,0.000,2934,2375,3060,0,0,0,0,0,0
$STATE,6822,end apogee,CONTROL_FINISHED_OK
$STATE,6822,begin climb
$GC,6825,1.27,146.0,606.1,0.0,290,6962,1.42,2.85,124.30,0.989,4,0.035,0.081,3287,3928,2462,0,0,0,0,0,0
$GC,6996,1.12,146.0,595.2,12.0,294,7001,0.17,2.75,0.00,0.000,6,0.110,0.062,3251,2369,2459,0,0,0,0,0,0
$GC,7277,1.09,160.8,569.1,9.3,301,7292,0.00,0.00,13.07,0.889,6,0.000,0.000,3251,2369,2404,0,0,0,0,0,0
$GC,7519,1.06,168.5,545.5,9.6,307,7529,0.00,0.00,7.90,0.815,6,0.000,0.000,3251,2369,2373,0,0,0,0,0,0
$GC,7763,1.07,176.3,521.7,9.6,313,7777,0.00,2.78,8.30,0.824,4,0.000,0.060,3251,3926,2341,0,0,0,0,0,0
$GC,7829,1.02,176.3,515.2,10.1,314,7835,0.12,2.62,0.00,0.000,6,0.122,0.044,3226,2378,2340,0,0,0,0,0,0
$GC,8091,1.06,207.1,492.7,8.6,321,8125,0.00,3.15,28.60,0.925,4,0.000,0.116,3226,777,2214,0,0,0,0,0,0
$GC,8171,1.06,207.1,484.9,10.3,322,8177,0.00,2.67,0.00,0.000,6,0.000,0.045,3226,2366,2211,0,0,0,0,0,0
$GC,8421,1.08,222.0,461.7,9.3,329,8440,0.00,2.75,14.20,0.871,4,0.000,0.059,3226,3941,2153,0,0,0,0,0,0
$GC,8463,1.08,227.5,457.4,9.7,330,8476,0.00,2.65,6.50,0.741,6,0.000,0.035,3226,2362,2131,0,0,0,0,0,0
$GC,8745,1.12,227.5,428.4,10.4,337,8747,0.10,0.00,0.00,0.000,6,0.087,0.000,3257,2362,2128,0,0,0,0,0,0
$GC,8987,1.12,227.5,400.7,11.3,343,8992,0.00,2.80,0.00,0.000,4,0.000,0.081,3257,781,2127,0,0,0,0,0,0
$GC,9002,1.12,227.5,398.9,11.5,343,9007,0.00,2.60,0.00,0.000,6,0.000,0.030,3257,2387,2126,0,0,0,0,0,0
$GC,9264,1.12,227.5,369.7,11.0,350,9266,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2387,2126,0,0,0,0,0,0
$GC,9507,1.12,227.5,344.6,10.3,356,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2387,2125,0,0,0,0,0,0
$GC,9750,1.12,227.5,318.7,11.0,362,9755,0.00,2.58,0.00,0.000,4,0.000,0.048,3257,3928,2125,0,0,0,0,0,0
$GC,9851,1.12,227.5,306.9,11.4,364,9856,0.00,2.55,0.00,0.000,6,0.000,0.027,3257,2363,2125,0,0,0,0,0,0
$GC,10117,1.13,230.9,280.1,9.8,371,10122,0.00,2.67,0.00,0.000,4,0.000,0.058,3256,779,2125,0,0,0,0,0,0
$GC,10161,1.13,230.9,275.3,11.3,372,10165,0.00,2.55,0.00,0.000,6,0.000,0.025,3257,2391,2124,0,0,0,0,0,0
$GC,10441,1.15,249.5,249.3,9.1,379,10465,0.00,2.62,19.12,0.749,4,0.000,0.049,3256,3930,2042,0,0,0,0,0,0
$GC,10498,1.15,249.5,243.1,11.1,380,10503,0.00,2.53,0.00,0.000,6,0.000,0.025,3256,2381,2040,0,0,0,0,0,0
$GC,10766,1.20,251.0,216.0,9.9,387,10770,0.00,2.58,0.00,0.000,4,0.000,0.046,3257,3930,2040,0,0,0,0,0,0
$GC,10799,1.24,251.0,212.3,11.0,387,10805,0.00,2.47,0.00,0.000,6,0.000,0.025,3257,2396,2039,0,0,0,0,0,0
$GC,11059,1.29,251.2,186.5,10.0,403,11064,0.12,2.70,0.00,0.000,4,0.076,0.049,3295,778,2039,0,0,0,0,0,0
$GC,11082,1.29,251.2,183.3,11.8,404,11088,0.00,2.55,0.00,0.000,6,0.000,0.025,3295,2400,2038,0,0,0,0,0,0
$GC,11344,1.29,251.2,150.0,12.6,429,11349,0.00,2.53,0.00,0.000,4,0.000,0.046,3295,3924,2038,0,0,0,0,0,0
$GC,11390,1.29,251.2,143.8,13.0,432,11399,0.00,2.47,0.00,0.000,6,0.000,0.025,3295,2395,2038,0,0,0,0,0,0
$GC,11657,1.29,251.2,115.0,10.6,457,11661,0.00,2.55,0.00,0.000,4,0.000,0.044,3295,3931,2038,0,0,0,0,0,0
$GC,11690,1.29,251.2,111.5,11.0,459,11694,0.00,2.42,0.00,0.000,6,0.000,0.022,3295,2407,2038,0,0,0,0,0,0
$GC,11957,1.29,251.2,83.9,11.1,483,11962,0.00,2.50,0.00,0.000,4,0.000,0.044,3295,3924,2038,0,0,0,0,0,0
$GC,11974,1.29,251.2,81.1,10.9,484,11978,0.00,2.38,0.00,0.000,6,0.000,0.023,3295,2421,2038,0,0,0,0,0,0
$GC,12249,1.29,252.3,52.4,9.9,509,12253,0.00,2.47,0.00,0.000,4,0.000,0.043,3296,3924,2039,0,0,0,0,0,0
$GC,12284,1.29,252.3,47.6,11.1,511,12294,0.00,2.40,4.03,0.382,6,0.000,0.024,3295,2429,2031,0,0,0,0,0,0
$GC,12569,1.33,283.2,20.8,8.6,543,12603,0.00,2.75,28.23,0.530,4,0.000,0.045,3295,784,1904,0,0,0,0,0,0
$GC,12641,1.33,283.2,13.4,11.4,552,12650,0.00,2.60,0.00,0.000,6,0.000,0.025,3295,2405,1902,0,0,0,0,0,0
$STATE,12731,end climb,SURFACE_DEPTH_REACHED
$STATE,12731,begin surface coast
$FINISH,-0.2,1.013976
$STATE,12781,end surface coast,CONTROL_FINISHED_OK
$STATE,12782,begin surface
$SM_CCo,12804,77.50,0.518,0,0,1509,380.21
$SM_GC,0.49,0.00,0.00,77.50,0.000,0.000,0.518,466,2163,1509,-11.68,-1.33,380.21
$IRIDIUM_FIX,2237.01,-15812.78,220603,000008
$TT8_MAMPS,0.026078
$HUMID,59.76
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.20
$XPDR_PINGS,17
$24V_AH,23.4,14.299
$10V_AH,10.4,12.497
$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,27.650,163.175,372.625,77.500,0.000,53.535,76.582,336.377,4.250,0.000,12.813,1197.158,8971.011,535.710,2058.749,802.308,33.360,1362.662,0.000,2058.382,0.000,0.535,0.000
$DEVICE_MAMPS,155.701,125.788,1017.042,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.527,318.197,404.172,590.665,1124.424,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,44585,572
$CAP_FILE_SIZE,133139,0
$CFSIZE,260165632,173699072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,280314,040630,2249.967,-15807.003,41,1.1,41,10.1