version: 66.06
glider: 146
mission: 9
dive: 106
start: 3 28 114 15 23 45
data:
$ID,146
$MISSION,9
$DIVE,106
$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,-325561.31
$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,30
$R_STBD_OVSHOOT,41
$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
$GPS1,151236,2254.712,-15807.011,32,1.0,32,10.1
$_CALLS,1
$_XMS_NAKs,40
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-70.0
$GPS2,152249,2254.733,-15807.003,14,1.3,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.123,0.229
$KALMAN_X,-76981.6,-37.9,-116.7,57638.8,-694.6
$KALMAN_Y,55352.4,11.8,-93.5,-45177.3,566.9
$MHEAD_RNG_PITCHd_Wd,18.1,18484,-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,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-89.00,0.000,6,0.000,0.000,465,2230,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.1,-10.5,12,132,12.38,2.53,0.00,0.000,4,0.163,0.030,2719,3794,3657,0,0,0,0,0,0
$GC,228,-1.18,-146.0,31.8,-14.0,27,233,0.12,2.55,0.00,0.000,6,0.123,0.023,2743,2200,3657,0,0,0,0,0,0
$GC,497,-1.11,-146.0,64.3,-12.2,51,501,0.00,2.58,0.00,0.000,4,0.000,0.046,2743,629,3658,0,0,0,0,0,0
$GC,531,-1.03,-146.0,69.3,-13.3,53,536,0.17,2.47,0.00,0.000,6,0.104,0.018,2779,2225,3658,0,0,0,0,0,0
$GC,798,-1.03,-146.0,98.5,-11.3,77,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2225,3659,0,0,0,0,0,0
$GC,1059,-1.03,-146.0,126.1,-9.4,102,1064,0.00,2.60,0.00,0.000,4,0.000,0.044,2779,636,3659,0,0,0,0,0,0
$GC,1082,-1.03,-146.0,128.7,-10.9,103,1087,0.00,2.42,0.00,0.000,6,0.000,0.017,2779,2216,3659,0,0,0,0,0,0
$GC,1346,-1.03,-146.0,150.7,-7.9,128,1351,0.00,2.58,0.00,0.000,4,0.000,0.044,2779,636,3659,0,0,0,0,0,0
$GC,1380,-1.03,-146.0,153.2,-8.1,130,1384,0.00,2.40,0.00,0.000,6,0.000,0.018,2779,2200,3659,0,0,0,0,0,0
$GC,1648,-1.07,-146.0,173.5,-7.5,154,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2200,3660,0,0,0,0,0,0
$GC,1910,-1.14,-146.0,195.8,-8.6,179,1915,0.10,2.58,0.00,0.000,4,0.081,0.047,2734,638,3660,0,0,0,0,0,0
$GC,1944,-1.14,-146.0,198.7,-10.3,181,1949,0.00,2.42,0.00,0.000,6,0.000,0.026,2734,2197,3660,0,0,0,0,0,0
$GC,2194,-1.14,-146.0,224.5,-9.6,187,2199,0.00,2.55,0.00,0.000,4,0.000,0.038,2734,3778,3660,0,0,0,0,0,0
$GC,2255,-1.14,-146.0,230.3,-9.8,188,2260,0.00,2.47,0.00,0.000,6,0.000,0.021,2734,2191,3660,0,0,0,0,0,0
$GC,2518,-1.14,-146.0,252.8,-8.4,195,2522,0.00,2.55,0.00,0.000,4,0.000,0.050,2734,638,3660,0,0,0,0,0,0
$GC,2607,-1.14,-146.0,261.6,-10.1,197,2611,0.00,2.42,0.00,0.000,6,0.000,0.025,2735,2184,3660,0,0,0,0,0,0
$GC,2884,-1.14,-146.0,286.8,-8.5,204,2889,0.00,2.62,0.00,0.000,4,0.000,0.045,2734,3778,3660,0,0,0,0,0,0
$GC,2975,-1.14,-146.0,294.6,-8.8,206,2979,0.00,2.47,0.00,0.000,6,0.000,0.022,2734,2207,3660,0,0,0,0,0,0
$GC,3253,-1.14,-146.0,316.0,-7.7,213,3257,0.00,2.65,0.00,0.000,4,0.000,0.064,2734,638,3659,0,0,0,0,0,0
$GC,3286,-1.14,-146.0,319.0,-9.2,213,3292,0.00,2.45,0.00,0.000,6,0.000,0.036,2734,2183,3659,0,0,0,0,0,0
$GC,3536,-1.14,-146.0,339.5,-8.2,220,3541,0.00,2.65,0.00,0.000,4,0.000,0.062,2734,634,3658,0,0,0,0,0,0
$GC,3558,-1.14,-146.0,341.3,-7.8,220,3563,0.00,2.47,0.00,0.000,6,0.000,0.038,2734,2183,3658,0,0,0,0,0,0
$GC,3815,-1.14,-146.0,359.3,-6.8,227,3820,0.00,2.70,0.00,0.000,4,0.000,0.058,2734,3796,3657,0,0,0,0,0,0
$GC,3877,-1.19,-146.0,363.9,-8.0,228,3882,0.00,2.58,0.00,0.000,6,0.000,0.030,2734,2196,3656,0,0,0,0,0,0
$GC,4138,-1.23,-146.0,382.8,-7.4,235,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2196,3655,0,0,0,0,0,0
$GC,4383,-1.28,-146.0,399.3,-6.6,241,4388,0.00,2.70,0.00,0.000,4,0.000,0.055,2734,3787,3654,0,0,0,0,0,0
$GC,4399,-1.33,-146.0,400.5,-6.5,241,4404,0.00,2.60,0.00,0.000,6,0.000,0.038,2734,2201,3654,0,0,0,0,0,0
$GC,4660,-1.38,-146.0,417.3,-6.3,248,4662,0.15,0.00,0.00,0.000,6,0.061,0.000,2680,2202,3651,0,0,0,0,0,0
$GC,4905,-1.34,-146.0,438.3,-8.7,254,4910,0.15,2.72,0.00,0.000,4,0.096,0.060,2713,3785,3650,0,0,0,0,0,0
$GC,4950,-1.34,-146.0,442.1,-7.8,255,4954,0.00,2.60,0.00,0.000,6,0.000,0.041,2713,2207,3650,0,0,0,0,0,0
$GC,5227,-1.34,-146.0,460.9,-6.6,262,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2207,3648,0,0,0,0,0,0
$GC,5472,-1.34,-146.0,477.2,-6.8,268,5477,0.00,2.92,0.00,0.000,4,0.000,0.104,2713,624,3646,0,0,0,0,0,0
$GC,5516,-1.34,-146.0,480.3,-6.3,269,5521,0.00,2.62,0.00,0.000,6,0.000,0.046,2713,2195,3646,0,0,0,0,0,0
$GC,5793,-1.34,-146.0,498.7,-6.6,276,5798,0.00,2.78,0.00,0.000,4,0.000,0.068,2713,3804,3644,0,0,0,0,0,0
$GC,5816,-1.34,-146.0,500.3,-7.2,276,5821,0.00,2.70,0.00,0.000,6,0.000,0.048,2713,2201,3645,0,0,0,0,0,0
$GC,6071,-1.34,-146.0,517.2,-6.6,283,6076,0.00,2.75,0.00,0.000,4,0.000,0.066,2713,3793,3643,0,0,0,0,0,0
$GC,6122,-1.34,-146.0,520.8,-7.4,284,6126,0.00,2.67,0.00,0.000,6,0.000,0.051,2713,2207,3643,0,0,0,0,0,0
$GC,6396,-1.37,-146.0,540.4,-7.3,291,6400,0.00,2.80,0.00,0.000,4,0.000,0.075,2714,3799,3641,0,0,0,0,0,0
$GC,6435,-1.37,-146.0,543.7,-8.0,292,6440,0.00,2.70,0.00,0.000,6,0.000,0.054,2713,2218,3641,0,0,0,0,0,0
$GC,6720,-1.41,-146.0,565.5,-7.8,299,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2218,3638,0,0,0,0,0,0
$GC,6962,-1.46,-146.0,584.6,-7.9,305,6968,0.12,2.85,0.00,0.000,4,0.068,0.085,2670,3790,3637,0,0,0,0,0,0
$GC,7031,-1.40,-146.0,591.2,-9.5,306,7037,0.12,2.72,0.00,0.000,6,0.107,0.067,2696,2236,3637,0,0,0,0,0,0
$STATE,7162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7162,begin apogee
$GC,7170,-0.31,0.0,602.0,7.9,310,7292,1.05,0.00,118.40,1.020,6,0.074,0.000,2934,2373,3060,0,0,0,0,0,0
$STATE,7294,end apogee,CONTROL_FINISHED_OK
$STATE,7294,begin climb
$GC,7296,1.27,146.0,604.3,0.0,313,7435,1.42,2.95,124.90,0.992,4,0.035,0.083,3288,3934,2462,0,0,0,0,0,0
$GC,7519,1.12,146.0,584.0,13.8,318,7525,0.20,2.78,0.00,0.000,6,0.110,0.059,3247,2361,2457,0,0,0,0,0,0
$GC,7793,1.07,146.0,555.5,10.2,325,7798,0.00,2.78,0.00,0.000,4,0.000,0.071,3248,3930,2453,0,0,0,0,0,0
$GC,7815,1.01,146.0,553.1,10.2,325,7820,0.12,2.70,0.00,0.000,6,0.121,0.051,3223,2371,2452,0,0,0,0,0,0
$GC,8070,1.04,172.1,530.4,8.8,332,8095,0.00,0.00,22.45,0.931,6,0.000,0.000,3223,2372,2358,0,0,0,0,0,0
$GC,8315,1.06,185.5,507.7,9.4,338,8334,0.00,2.80,13.05,0.883,4,0.000,0.061,3223,3931,2303,0,0,0,0,0,0
$GC,8346,1.08,201.4,504.5,9.3,338,8367,0.00,2.65,15.68,0.888,6,0.000,0.046,3223,2380,2239,0,0,0,0,0,0
$GC,8640,1.10,222.9,477.1,9.0,346,8662,0.00,0.00,20.20,0.902,6,0.000,0.000,3223,2380,2151,0,0,0,0,0,0
$GC,8885,1.13,244.4,455.1,9.0,352,8912,0.12,3.08,20.27,0.891,4,0.081,0.104,3258,777,2062,0,0,0,0,0,0
$GC,8962,1.13,244.4,446.2,11.6,353,8968,0.00,2.70,0.00,0.000,6,0.000,0.041,3259,2380,2060,0,0,0,0,0,0
$GC,9212,1.13,244.4,418.7,11.0,360,9216,0.00,2.65,0.00,0.000,4,0.000,0.058,3259,3939,2058,0,0,0,0,0,0
$GC,9234,1.09,244.4,416.1,12.4,360,9239,0.00,2.62,0.00,0.000,6,0.000,0.038,3259,2369,2056,0,0,0,0,0,0
$GC,9489,1.09,244.4,387.8,11.1,367,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2369,2056,0,0,0,0,0,0
$GC,9733,1.09,244.4,361.1,10.8,373,9734,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2369,2056,0,0,0,0,0,0
$GC,9978,1.09,244.4,334.9,10.7,379,9982,0.00,2.65,0.00,0.000,4,0.000,0.054,3259,3940,2055,0,0,0,0,0,0
$GC,10027,1.09,244.4,328.9,12.0,380,10031,0.00,2.58,0.00,0.000,6,0.000,0.028,3259,2363,2054,0,0,0,0,0,0
$GC,10299,1.09,244.4,298.1,11.5,387,10304,0.00,2.70,0.00,0.000,4,0.000,0.061,3259,781,2054,0,0,0,0,0,0
$GC,10340,1.09,244.4,293.3,12.5,388,10344,0.00,2.58,0.00,0.000,6,0.000,0.028,3259,2378,2054,0,0,0,0,0,0
$GC,10622,1.09,244.4,259.8,11.9,395,10627,0.00,2.62,0.00,0.000,4,0.000,0.053,3259,3935,2053,0,0,0,0,0,0
$GC,10696,1.09,244.4,250.4,11.9,396,10701,0.00,2.53,0.00,0.000,6,0.000,0.025,3259,2374,2053,0,0,0,0,0,0
$GC,10947,1.09,244.4,222.1,11.2,402,10952,0.00,2.62,0.00,0.000,4,0.000,0.051,3259,784,2053,0,0,0,0,0,0
$GC,11014,1.09,244.4,214.5,10.9,403,11018,0.00,2.55,0.00,0.000,6,0.000,0.030,3259,2386,2052,0,0,0,0,0,0
$GC,11276,1.13,251.5,188.7,9.7,418,11288,0.00,2.58,6.12,0.588,4,0.000,0.047,3259,3923,2033,0,0,0,0,0,0
$GC,11339,1.18,251.5,181.6,10.3,423,11348,0.00,2.50,0.00,0.000,6,0.000,0.025,3259,2383,2032,0,0,0,0,0,0
$GC,11608,1.28,281.0,158.6,8.6,448,11643,0.10,2.72,26.85,0.667,4,0.088,0.048,3290,789,1914,0,0,0,0,0,0
$GC,11671,1.28,281.0,150.8,11.3,453,11680,0.00,2.58,0.00,0.000,6,0.000,0.024,3290,2384,1912,0,0,0,0,0,0
$GC,11935,1.28,281.0,122.0,11.0,478,11939,0.00,2.53,0.00,0.000,4,0.000,0.042,3290,3934,1912,0,0,0,0,0,0
$GC,11970,1.28,281.0,117.7,11.5,480,11979,0.00,2.50,0.00,0.000,6,0.000,0.023,3290,2385,1911,0,0,0,0,0,0
$GC,12235,1.28,281.0,87.6,11.8,505,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2385,1911,0,0,0,0,0,0
$GC,12503,1.28,281.0,56.1,11.6,530,12511,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2385,1911,0,0,0,0,0,0
$GC,12776,1.28,281.0,24.9,10.9,558,12785,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2385,1911,0,0,0,0,0,0
$STATE,12963,end climb,SURFACE_DEPTH_REACHED
$STATE,12963,begin surface coast
$FINISH,-0.2,1.023913
$STATE,13008,end surface coast,CONTROL_FINISHED_OK
$STATE,13008,begin surface
$SM_CCo,13029,80.40,0.522,0,0,1509,380.21
$SM_GC,0.60,0.00,0.00,80.40,0.000,0.000,0.522,459,2143,1509,-11.71,-1.87,380.21
$IRIDIUM_FIX,2246.36,-15805.83,220603,111123
$TT8_MAMPS,0.026078
$HUMID,59.76
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,18
$24V_AH,23.4,14.825
$10V_AH,10.4,12.960
$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,27.575,158.325,367.925,80.400,0.000,30.125,33.092,419.408,4.500,0.000,15.861,1231.637,8986.514,561.391,2147.848,798.304,33.354,1409.235,0.000,2151.928,0.000,0.535,0.000
$DEVICE_MAMPS,162.604,104.312,1020.110,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,401.878,333.121,422.073,600.799,1144.280,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,44752,592
$CAP_FILE_SIZE,134982,0
$CFSIZE,260165632,173449216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280314,190336,2256.819,-15806.650,39,1.1,39,10.1