version: 66.06
glider: 146
mission: 9
dive: 103
start: 3 28 114 4 13 39
data:
$ID,146
$MISSION,9
$DIVE,103
$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,-325476.47
$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,79
$R_STBD_OVSHOOT,34
$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
$GPS1,040630,2249.967,-15807.003,41,1.1,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-69.9
$GPS2,041243,2249.990,-15807.049,15,1.2,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.098,0.240
$KALMAN_X,-72735.7,-235.3,-137.8,53534.2,-621.6
$KALMAN_Y,54984.4,-134.3,-25.7,-53513.4,593.6
$MHEAD_RNG_PITCHd_Wd,12.2,27123,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.27,-145.9,0.0,0.0,0,111,0.00,0.00,-89.22,0.000,6,0.000,0.000,465,2162,3654,0,0,0,0,0,0
$GC,115,-1.27,-145.9,4.2,-10.7,12,132,12.07,2.67,0.00,0.000,4,0.156,0.036,2719,3795,3656,0,0,0,0,0,0
$GC,240,-1.20,-145.9,33.2,-14.3,29,246,0.10,2.45,0.00,0.000,6,0.127,0.023,2739,2245,3656,0,0,0,0,0,0
$GC,510,-1.12,-145.9,67.8,-12.8,53,514,0.00,2.65,0.00,0.000,4,0.000,0.047,2739,639,3657,0,0,0,0,0,0
$GC,571,-1.07,-145.9,76.9,-13.0,57,581,0.10,2.47,0.00,0.000,6,0.092,0.018,2763,2218,3657,0,0,0,0,0,0
$GC,834,-1.07,-145.9,103.6,-10.1,82,838,0.00,2.50,0.00,0.000,4,0.000,0.035,2763,3775,3657,0,0,0,0,0,0
$GC,869,-1.07,-146.0,107.1,-9.6,84,878,0.00,2.50,0.00,0.000,6,0.000,0.021,2763,2212,3657,0,0,0,0,0,0
$GC,1135,-1.07,-146.0,130.9,-9.0,109,1139,0.00,2.58,0.00,0.000,4,0.000,0.045,2763,633,3658,0,0,0,0,0,0
$GC,1176,-1.07,-146.0,134.9,-8.6,112,1181,0.00,2.42,0.00,0.000,6,0.000,0.018,2763,2205,3658,0,0,0,0,0,0
$GC,1443,-1.07,-146.0,156.0,-7.7,136,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2206,3659,0,0,0,0,0,0
$GC,1705,-1.07,-146.0,176.1,-8.3,161,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2205,3658,0,0,0,0,0,0
$GC,1959,-1.11,-146.0,198.3,-9.4,185,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2205,3659,0,0,0,0,0,0
$GC,2226,-1.15,-146.0,219.8,-7.7,193,2230,0.00,2.58,0.00,0.000,4,0.000,0.048,2762,637,3659,0,0,0,0,0,0
$GC,2253,-1.21,-146.0,222.2,-7.8,193,2258,0.10,2.40,0.00,0.000,6,0.083,0.024,2721,2191,3659,0,0,0,0,0,0
$GC,2503,-1.21,-146.0,243.5,-8.6,199,2508,0.00,2.58,0.00,0.000,4,0.000,0.041,2721,3781,3659,0,0,0,0,0,0
$GC,2576,-1.21,-146.0,250.0,-8.7,200,2581,0.00,2.47,0.00,0.000,6,0.000,0.021,2721,2210,3659,0,0,0,0,0,0
$GC,2826,-1.21,-146.0,272.4,-8.6,206,2831,0.00,2.65,0.00,0.000,4,0.000,0.056,2721,639,3659,0,0,0,0,0,0
$GC,2949,-1.21,-146.0,284.6,-9.3,208,2955,0.00,2.45,0.00,0.000,6,0.000,0.027,2721,2182,3658,0,0,0,0,0,0
$GC,3200,-1.21,-146.0,305.8,-8.5,215,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2183,3658,0,0,0,0,0,0
$GC,3443,-1.21,-146.0,326.1,-8.2,221,3447,0.00,2.67,0.00,0.000,4,0.000,0.058,2721,3786,3658,0,0,0,0,0,0
$GC,3555,-1.21,-146.0,335.5,-8.3,223,3560,0.00,2.55,0.00,0.000,6,0.000,0.026,2721,2209,3657,0,0,0,0,0,0
$GC,3810,-1.21,-146.0,355.2,-7.8,230,3815,0.00,2.72,0.00,0.000,4,0.000,0.074,2721,631,3656,0,0,0,0,0,0
$GC,3849,-1.21,-146.0,358.3,-7.9,231,3854,0.00,2.53,0.00,0.000,6,0.000,0.037,2721,2190,3655,0,0,0,0,0,0
$GC,4134,-1.21,-146.0,380.2,-7.7,238,4139,0.00,2.67,0.00,0.000,4,0.000,0.054,2721,3797,3654,0,0,0,0,0,0
$GC,4174,-1.21,-146.0,383.3,-7.8,239,4178,0.00,2.58,0.00,0.000,6,0.000,0.032,2721,2201,3654,0,0,0,0,0,0
$GC,4457,-1.21,-146.0,404.0,-7.5,246,4461,0.00,2.80,0.00,0.000,4,0.000,0.087,2721,621,3652,0,0,0,0,0,0
$GC,4485,-1.21,-146.0,406.3,-8.5,246,4490,0.00,2.58,0.00,0.000,6,0.000,0.039,2721,2197,3652,0,0,0,0,0,0
$GC,4735,-1.21,-146.0,425.7,-7.8,252,4739,0.00,2.70,0.00,0.000,4,0.000,0.056,2721,3797,3650,0,0,0,0,0,0
$GC,4785,-1.25,-146.0,429.6,-7.9,253,4789,0.00,2.60,0.00,0.000,6,0.000,0.039,2721,2213,3650,0,0,0,0,0,0
$GC,5058,-1.29,-146.0,448.3,-6.9,260,5063,0.00,2.70,0.00,0.000,4,0.000,0.058,2721,3802,3648,0,0,0,0,0,0
$GC,5091,-1.33,-146.0,450.9,-7.6,260,5097,0.00,2.62,0.00,0.000,6,0.000,0.048,2721,2220,3648,0,0,0,0,0,0
$GC,5342,-1.37,-146.0,467.7,-6.6,267,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2220,3646,0,0,0,0,0,0
$GC,5587,-1.41,-146.0,483.9,-6.7,273,5592,0.10,2.70,0.00,0.000,4,0.081,0.063,2680,3790,3645,0,0,0,0,0,0
$GC,5605,-1.41,-146.0,485.4,-6.9,273,5609,0.00,2.62,0.00,0.000,6,0.000,0.051,2680,2229,3645,0,0,0,0,0,0
$GC,5865,-1.41,-146.0,507.6,-8.4,280,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2228,3643,0,0,0,0,0,0
$GC,6110,-1.41,-146.0,528.3,-8.4,286,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2229,3642,0,0,0,0,0,0
$GC,6353,-1.41,-146.0,549.4,-8.8,292,6357,0.00,2.78,0.00,0.000,4,0.000,0.085,2680,3794,3640,0,0,0,0,0,0
$GC,6402,-1.41,-146.0,554.1,-9.3,293,6407,0.00,2.67,0.00,0.000,6,0.000,0.056,2680,2234,3639,0,0,0,0,0,0
$GC,6676,-1.41,-146.0,578.3,-8.8,300,6681,0.00,2.80,0.00,0.000,4,0.000,0.084,2680,3793,3638,0,0,0,0,0,0
$GC,6709,-1.37,-146.0,581.5,-9.9,300,6715,0.12,2.70,0.00,0.000,6,0.108,0.069,2706,2240,3638,0,0,0,0,0,0
$GC,6959,-1.37,-146.0,599.8,-7.1,307,6963,0.00,2.05,0.00,0.000,3,0.000,0.112,2706,1127,3637,0,0,0,0,0,0
$STATE,6964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6964,begin apogee
$GC,6973,-0.31,0.0,600.3,7.0,307,7095,1.00,0.00,117.88,1.018,6,0.077,0.000,2934,2363,3060,0,0,0,0,0,0
$STATE,7095,end apogee,CONTROL_FINISHED_OK
$STATE,7095,begin climb
$GC,7098,1.27,146.0,602.0,0.0,310,7236,1.42,2.95,124.68,0.988,4,0.035,0.088,3288,3938,2462,0,0,0,0,0,0
$GC,7288,1.13,146.0,585.7,13.4,314,7293,0.17,2.72,0.00,0.000,6,0.111,0.056,3252,2369,2458,0,0,0,0,0,0
$GC,7549,1.09,150.9,559.3,9.8,321,7555,0.00,0.00,4.00,0.601,6,0.000,0.000,3252,2369,2444,0,0,0,0,0,0
$GC,7793,1.06,171.7,536.9,9.0,327,7818,0.00,2.80,19.73,0.922,4,0.000,0.062,3252,3938,2360,0,0,0,0,0,0
$GC,7852,1.00,171.7,531.1,10.1,328,7857,0.15,2.67,0.00,0.000,6,0.114,0.045,3222,2375,2357,0,0,0,0,0,0
$GC,8114,1.02,189.0,507.1,9.2,335,8133,0.00,0.00,16.75,0.904,6,0.000,0.000,3221,2375,2289,0,0,0,0,0,0
$GC,8357,1.03,199.3,483.9,9.5,341,8373,0.00,3.05,10.45,0.849,4,0.000,0.109,3221,779,2246,0,0,0,0,0,0
$GC,8400,1.03,202.1,479.5,9.9,342,8410,0.00,2.72,4.15,0.608,6,0.000,0.046,3221,2384,2235,0,0,0,0,0,0
$GC,8684,1.08,240.6,455.3,8.2,349,8722,0.00,0.00,35.28,0.915,6,0.000,0.000,3222,2385,2079,0,0,0,0,0,0
$GC,8967,1.17,272.6,431.2,8.5,356,9003,0.17,2.95,29.65,0.890,4,0.065,0.076,3269,773,1946,0,0,0,0,0,0
$GC,9016,1.13,272.6,425.8,11.6,356,9020,0.00,2.67,0.00,0.000,6,0.000,0.041,3269,2371,1945,0,0,0,0,0,0
$GC,9287,1.13,272.6,392.1,12.7,363,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2371,1942,0,0,0,0,0,0
$GC,9531,1.13,272.6,358.7,13.8,369,9535,0.00,2.78,0.00,0.000,4,0.000,0.064,3269,775,1941,0,0,0,0,0,0
$GC,9559,1.13,272.6,354.7,14.6,369,9563,0.00,2.58,0.00,0.000,6,0.000,0.036,3269,2367,1939,0,0,0,0,0,0
$GC,9809,1.13,272.6,323.9,11.9,375,9813,0.00,2.62,0.00,0.000,4,0.000,0.051,3269,3938,1939,0,0,0,0,0,0
$GC,9829,1.13,272.6,321.2,11.5,375,9834,0.00,2.60,0.00,0.000,6,0.000,0.028,3269,2345,1938,0,0,0,0,0,0
$GC,10085,1.13,272.6,292.7,11.1,382,10089,0.00,2.70,0.00,0.000,4,0.000,0.050,3269,3938,1938,0,0,0,0,0,0
$GC,10107,1.13,272.6,290.2,11.1,382,10111,0.00,2.55,0.00,0.000,6,0.000,0.028,3269,2373,1937,0,0,0,0,0,0
$GC,10361,1.13,272.6,260.9,11.4,389,10366,0.00,2.65,0.00,0.000,4,0.000,0.054,3269,784,1937,0,0,0,0,0,0
$GC,10439,1.13,272.6,251.3,12.5,390,10445,0.00,2.53,0.00,0.000,6,0.000,0.027,3269,2355,1936,0,0,0,0,0,0
$GC,10690,1.13,272.6,223.6,11.1,397,10691,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2355,1936,0,0,0,0,0,0
$GC,10939,1.17,272.6,194.8,12.3,406,10943,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2356,1937,0,0,0,0,0,0
$GC,11201,1.21,272.6,164.5,11.7,431,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2356,1936,0,0,0,0,0,0
$GC,11459,1.26,272.6,135.4,11.1,455,11463,0.00,2.60,0.00,0.000,4,0.000,0.045,3269,3931,1936,0,0,0,0,0,0
$GC,11492,1.31,272.6,130.8,12.0,457,11498,0.00,2.55,0.00,0.000,6,0.000,0.024,3269,2332,1936,0,0,0,0,0,0
$GC,11756,1.37,272.6,103.0,10.4,482,11761,0.12,2.53,0.00,0.000,4,0.212,0.047,3311,790,1936,0,0,0,0,0,0
$GC,11813,1.37,272.6,95.3,13.6,486,11823,0.00,2.47,0.00,0.000,6,0.000,0.024,3311,2341,1936,0,0,0,0,0,0
$GC,12082,1.37,272.6,63.5,12.0,511,12086,0.00,2.60,0.00,0.000,4,0.000,0.044,3311,3926,1936,0,0,0,0,0,0
$GC,12102,1.37,272.6,60.6,11.7,512,12107,0.00,2.53,0.00,0.000,6,0.000,0.024,3311,2325,1937,0,0,0,0,0,0
$GC,12376,1.37,272.6,26.4,12.5,538,12385,0.00,2.53,0.00,0.000,4,0.000,0.046,3311,793,1937,0,0,0,0,0,0
$GC,12410,1.37,272.6,21.8,12.4,542,12419,0.00,2.45,0.00,0.000,6,0.000,0.023,3311,2334,1937,0,0,0,0,0,0
$STATE,12565,end climb,SURFACE_DEPTH_REACHED
$STATE,12565,begin surface coast
$FINISH,-0.2,1.011267
$STATE,12609,end surface coast,CONTROL_FINISHED_OK
$STATE,12609,begin surface
$SM_CCo,12632,85.82,0.524,0,0,1509,380.21
$SM_GC,0.43,0.00,0.00,85.82,0.000,0.000,0.524,472,2137,1509,-11.65,-2.06,380.21
$IRIDIUM_FIX,2239.35,-15804.53,220603,000026
$TT8_MAMPS,0.026078
$HUMID,60.39
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.90
$XPDR_PINGS,19
$24V_AH,23.4,14.425
$10V_AH,10.4,12.611
$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,27.000,151.600,362.550,85.825,0.000,28.567,34.344,163.139,4.750,0.000,16.517,1180.530,8776.791,551.239,2041.005,541.266,33.358,1355.602,0.000,2041.480,0.000,0.534,0.000
$DEVICE_MAMPS,212.459,111.982,1017.809,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.806,319.124,408.432,580.539,1105.757,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,44651,571
$CAP_FILE_SIZE,125069,0
$CFSIZE,260165632,173637632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280314,074651,2251.706,-15807.074,12,2.6,31,10.1