version: 66.06
glider: 146
mission: 9
dive: 104
start: 3 28 114 7 56 30
data:
$ID,146
$MISSION,9
$DIVE,104
$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,-325509.94
$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,33
$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
$GPS1,074651,2251.706,-15807.074,12,2.6,31,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-68.4
$GPS2,075535,2251.684,-15807.142,15,1.1,31,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.118,0.231
$KALMAN_X,-74201.9,-207.5,-16.0,54694.6,-863.4
$KALMAN_Y,55125.7,-154.2,118.9,-50640.0,123.0
$MHEAD_RNG_PITCHd_Wd,16.8,24059,-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,12,begin dive
$GC,16,-1.27,-145.9,0.0,0.0,0,111,0.00,0.00,-89.97,0.000,6,0.000,0.000,471,2137,3654,0,0,0,0,0,0
$GC,114,-1.27,-146.0,3.3,-7.9,12,131,12.25,2.67,0.00,0.000,4,0.161,0.029,2717,3796,3655,0,0,0,0,0,0
$GC,267,-1.18,-146.0,34.3,-13.5,32,272,0.12,2.53,0.00,0.000,6,0.123,0.022,2742,2195,3656,0,0,0,0,0,0
$GC,535,-1.10,-146.0,67.0,-11.8,56,540,0.10,2.60,0.00,0.000,4,0.133,0.048,2762,633,3657,0,0,0,0,0,0
$GC,570,-1.06,-146.0,71.4,-11.6,58,574,0.00,2.47,0.00,0.000,6,0.000,0.018,2762,2226,3657,0,0,0,0,0,0
$GC,833,-1.06,-146.0,99.8,-10.2,82,838,0.00,2.50,0.00,0.000,4,0.000,0.035,2762,3782,3657,0,0,0,0,0,0
$GC,868,-1.06,-146.0,103.7,-10.6,84,878,0.00,2.50,0.00,0.000,6,0.000,0.021,2762,2219,3658,0,0,0,0,0,0
$GC,1136,-1.06,-146.0,129.0,-9.4,109,1140,0.00,2.58,0.00,0.000,4,0.000,0.045,2762,640,3658,0,0,0,0,0,0
$GC,1176,-1.06,-146.0,133.9,-10.7,112,1180,0.00,2.42,0.00,0.000,6,0.000,0.023,2762,2216,3658,0,0,0,0,0,0
$GC,1444,-1.06,-146.0,158.6,-8.7,136,1448,0.00,2.53,0.00,0.000,4,0.000,0.036,2762,3775,3658,0,0,0,0,0,0
$GC,1476,-1.06,-146.0,162.4,-9.6,138,1486,0.00,2.47,0.00,0.000,6,0.000,0.020,2762,2219,3659,0,0,0,0,0,0
$GC,1743,-1.06,-146.0,186.7,-9.3,163,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2219,3659,0,0,0,0,0,0
$GC,2021,-1.10,-146.0,209.9,-7.9,181,2026,0.00,2.53,0.00,0.000,4,0.000,0.038,2762,3777,3659,0,0,0,0,0,0
$GC,2072,-1.16,-146.0,214.2,-8.3,182,2076,0.00,2.42,0.00,0.000,6,0.000,0.020,2762,2221,3659,0,0,0,0,0,0
$GC,2345,-1.21,-146.0,233.8,-7.1,189,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2221,3659,0,0,0,0,0,0
$GC,2588,-1.28,-146.0,250.9,-6.9,195,2593,0.15,2.55,0.00,0.000,4,0.060,0.042,2704,3771,3659,0,0,0,0,0,0
$GC,2609,-1.28,-146.0,252.8,-8.2,195,2614,0.10,2.42,0.00,0.000,6,0.114,0.021,2726,2222,3659,0,0,0,0,0,0
$GC,2866,-1.28,-146.0,273.9,-8.1,202,2871,0.00,2.65,0.00,0.000,4,0.000,0.056,2726,640,3658,0,0,0,0,0,0
$GC,2911,-1.28,-146.0,278.1,-9.0,203,2915,0.00,2.47,0.00,0.000,6,0.000,0.025,2726,2216,3658,0,0,0,0,0,0
$GC,3188,-1.28,-146.0,302.2,-8.7,210,3193,0.00,2.60,0.00,0.000,4,0.000,0.050,2726,3788,3658,0,0,0,0,0,0
$GC,3262,-1.28,-146.0,308.9,-9.3,211,3266,0.00,2.50,0.00,0.000,6,0.000,0.025,2726,2231,3658,0,0,0,0,0,0
$GC,3512,-1.28,-146.0,330.5,-8.7,217,3516,0.00,2.58,0.00,0.000,4,0.000,0.051,2726,3779,3656,0,0,0,0,0,0
$GC,3586,-1.32,-146.0,336.8,-8.7,218,3590,0.00,2.47,0.00,0.000,6,0.000,0.028,2726,2234,3656,0,0,0,0,0,0
$GC,3835,-1.32,-146.0,356.0,-7.4,224,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2234,3655,0,0,0,0,0,0
$GC,4079,-1.32,-146.0,372.9,-7.0,230,4084,0.00,2.78,0.00,0.000,4,0.000,0.076,2726,632,3654,0,0,0,0,0,0
$GC,4095,-1.32,-146.0,374.1,-6.9,230,4099,0.00,2.60,0.00,0.000,6,0.000,0.041,2726,2244,3653,0,0,0,0,0,0
$GC,4357,-1.32,-146.0,394.2,-7.9,237,4361,0.00,2.62,0.00,0.000,4,0.000,0.055,2726,3799,3652,0,0,0,0,0,0
$GC,4384,-1.32,-146.0,396.7,-8.7,237,4388,0.00,2.50,0.00,0.000,6,0.000,0.033,2726,2258,3652,0,0,0,0,0,0
$GC,4634,-1.35,-146.0,417.6,-8.3,243,4639,0.00,2.92,0.00,0.000,4,0.000,0.089,2726,626,3650,0,0,0,0,0,0
$GC,4668,-1.39,-146.0,420.6,-9.0,243,4675,0.12,2.70,0.00,0.000,6,0.071,0.047,2678,2256,3650,0,0,0,0,0,0
$GC,4918,-1.35,-146.0,447.3,-10.7,250,4923,0.15,2.62,0.00,0.000,4,0.098,0.060,2710,3794,3648,0,0,0,0,0,0
$GC,4941,-1.35,-146.0,449.6,-10.1,250,4945,0.00,2.53,0.00,0.000,6,0.000,0.038,2710,2266,3648,0,0,0,0,0,0
$GC,5196,-1.35,-146.0,472.2,-8.7,257,5200,0.00,2.62,0.00,0.000,4,0.000,0.059,2710,3802,3646,0,0,0,0,0,0
$GC,5228,-1.35,-146.0,475.2,-9.3,257,5234,0.00,2.53,0.00,0.000,6,0.000,0.042,2710,2271,3646,0,0,0,0,0,0
$GC,5479,-1.35,-146.0,493.1,-6.8,264,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2272,3645,0,0,0,0,0,0
$GC,5723,-1.35,-146.0,510.5,-7.2,270,5728,0.00,2.65,0.00,0.000,4,0.000,0.067,2710,3793,3643,0,0,0,0,0,0
$GC,5745,-1.35,-146.0,512.4,-7.9,270,5749,0.00,2.55,0.00,0.000,6,0.000,0.048,2709,2271,3643,0,0,0,0,0,0
$GC,6001,-1.35,-146.0,534.4,-9.0,277,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2272,3642,0,0,0,0,0,0
$GC,6245,-1.35,-146.0,557.0,-9.3,283,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2271,3640,0,0,0,0,0,0
$GC,6487,-1.35,-146.0,579.3,-9.1,289,6492,0.00,2.78,0.00,0.000,4,0.000,0.095,2710,3790,3639,0,0,0,0,0,0
$GC,6514,-1.35,-146.0,582.1,-9.8,289,6518,0.00,2.60,0.00,0.000,6,0.000,0.069,2710,2284,3639,0,0,0,0,0,0
$STATE,6761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6762,begin apogee
$GC,6769,-0.31,0.0,602.9,8.1,295,6891,1.00,0.00,118.60,1.018,6,0.074,0.000,2936,2374,3060,0,0,0,0,0,0
$STATE,6892,end apogee,CONTROL_FINISHED_OK
$STATE,6892,begin climb
$GC,6894,1.27,146.0,605.7,0.0,298,7031,1.42,2.95,124.70,0.989,4,0.035,0.084,3288,3935,2462,0,0,0,0,0,0
$GC,7103,1.13,146.0,588.1,13.5,302,7109,0.20,2.75,0.00,0.000,6,0.107,0.061,3248,2377,2458,0,0,0,0,0,0
$GC,7353,1.08,146.0,560.3,10.8,309,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2377,2454,0,0,0,0,0,0
$GC,7598,1.04,146.0,535.1,10.3,315,7602,0.00,3.00,0.00,0.000,4,0.000,0.110,3248,782,2452,0,0,0,0,0,0
$GC,7614,0.99,151.6,533.2,9.7,315,7623,0.12,2.70,3.92,0.595,6,0.120,0.053,3223,2374,2442,0,0,0,0,0,0
$GC,7879,1.01,161.3,508.3,9.6,322,7891,0.00,0.00,10.52,0.859,6,0.000,0.000,3223,2374,2402,0,0,0,0,0,0
$GC,8124,1.01,163.8,484.2,9.9,328,8125,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2374,2399,0,0,0,0,0,0
$GC,8367,1.02,171.8,460.4,9.6,334,8383,0.00,2.90,10.62,0.844,4,0.000,0.077,3223,773,2358,0,0,0,0,0,0
$GC,8394,1.04,188.3,457.8,9.2,334,8417,0.00,2.67,16.38,0.872,6,0.000,0.046,3223,2384,2292,0,0,0,0,0,0
$GC,8692,1.05,200.6,429.9,9.4,342,8705,0.00,0.00,11.98,0.838,6,0.000,0.000,3223,2383,2242,0,0,0,0,0,0
$GC,8935,1.10,207.0,406.6,9.7,348,8949,0.10,2.90,6.85,0.746,4,0.089,0.067,3253,775,2216,0,0,0,0,0,0
$GC,8982,1.10,207.0,401.1,11.0,349,8987,0.00,2.60,0.00,0.000,6,0.000,0.033,3253,2376,2215,0,0,0,0,0,0
$GC,9261,1.10,207.0,372.1,10.5,356,9262,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2377,2214,0,0,0,0,0,0
$GC,9504,1.10,207.9,347.3,10.0,362,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2377,2214,0,0,0,0,0,0
$GC,9748,1.12,221.0,324.4,9.4,368,9767,0.00,2.83,13.62,0.797,4,0.000,0.058,3253,771,2158,0,0,0,0,0,0
$GC,9780,1.14,234.2,321.4,9.4,368,9799,0.00,2.60,13.30,0.777,6,0.000,0.027,3253,2370,2104,0,0,0,0,0,0
$GC,10077,1.14,234.2,290.2,10.7,376,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2370,2100,0,0,0,0,0,0
$GC,10321,1.14,234.2,264.8,10.4,382,10326,0.00,2.70,0.00,0.000,4,0.000,0.050,3253,774,2100,0,0,0,0,0,0
$GC,10389,1.18,234.2,257.2,12.0,383,10394,0.00,2.53,0.00,0.000,6,0.000,0.025,3253,2357,2099,0,0,0,0,0,0
$GC,10645,1.20,248.8,232.3,9.3,390,10660,0.00,0.00,13.43,0.719,6,0.000,0.000,3253,2357,2045,0,0,0,0,0,0
$GC,10929,1.27,267.2,206.4,9.2,397,10954,0.12,2.72,17.48,0.703,4,0.074,0.049,3291,779,1969,0,0,0,0,0,0
$GC,10976,1.27,267.2,201.0,11.8,398,10980,0.00,2.50,0.00,0.000,6,0.000,0.024,3291,2344,1968,0,0,0,0,0,0
$GC,11248,1.27,267.2,168.9,12.4,421,11252,0.00,2.62,0.00,0.000,4,0.000,0.043,3291,3932,1967,0,0,0,0,0,0
$GC,11315,1.27,267.2,159.9,12.6,426,11325,0.00,2.60,0.00,0.000,6,0.000,0.025,3291,2335,1966,0,0,0,0,0,0
$GC,11582,1.27,267.2,129.8,11.6,451,11587,0.00,2.62,0.00,0.000,4,0.000,0.043,3291,3928,1966,0,0,0,0,0,0
$GC,11627,1.27,267.2,123.5,12.6,454,11637,0.00,2.53,0.00,0.000,6,0.000,0.024,3291,2367,1966,0,0,0,0,0,0
$GC,11893,1.27,267.2,95.8,10.7,479,11898,0.00,2.60,0.00,0.000,4,0.000,0.047,3291,789,1966,0,0,0,0,0,0
$GC,11916,1.27,267.2,92.7,11.2,480,11925,0.00,2.53,0.00,0.000,6,0.000,0.022,3291,2369,1966,0,0,0,0,0,0
$GC,12183,1.27,267.2,64.8,10.3,505,12187,0.00,2.58,0.00,0.000,4,0.000,0.043,3291,3934,1966,0,0,0,0,0,0
$GC,12203,1.27,267.2,62.3,10.1,506,12208,0.00,2.47,0.00,0.000,6,0.000,0.022,3291,2359,1966,0,0,0,0,0,0
$GC,12472,1.27,267.2,34.9,10.1,530,12476,0.00,2.55,0.00,0.000,4,0.000,0.046,3291,790,1966,0,0,0,0,0,0
$GC,12505,1.27,267.2,31.0,10.7,532,12509,0.00,2.45,0.00,0.000,6,0.000,0.023,3291,2358,1967,0,0,0,0,0,0
$STATE,12768,end climb,SURFACE_DEPTH_REACHED
$STATE,12768,begin surface coast
$FINISH,-0.3,1.009442
$STATE,12817,end surface coast,CONTROL_FINISHED_OK
$STATE,12817,begin surface
$SM_CCo,12838,91.50,0.523,0,0,1510,380.21
$SM_GC,0.33,0.00,0.00,91.50,0.000,0.000,0.523,464,2137,1510,-11.68,-2.06,380.21
$IRIDIUM_FIX,2239.35,-15804.53,220603,040433
$TT8_MAMPS,0.026078
$HUMID,59.76
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.10
$XPDR_PINGS,16
$24V_AH,23.4,14.556
$10V_AH,10.4,12.728
$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,27.275,151.775,361.400,91.500,0.000,23.006,35.495,305.866,4.000,0.000,32.853,1187.249,8968.080,549.995,2067.003,682.268,33.383,1349.814,0.000,2050.477,0.000,0.535,0.000
$DEVICE_MAMPS,161.070,110.448,1017.809,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.074,324.159,409.117,603.364,1146.157,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,44644,577
$CAP_FILE_SIZE,127445,0
$CFSIZE,260165632,173572096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280314,113326,2253.062,-15807.220,23,99.0,42,10.1