version: 66.06
glider: 146
mission: 9
dive: 107
start: 3 28 114 19 14 13
data:
$ID,146
$MISSION,9
$DIVE,107
$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,-325577.75
$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,36
$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
$GPS1,190336,2256.819,-15806.650,39,1.1,39,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-69.7
$GPS2,191319,2256.817,-15806.656,14,1.6,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,0.219
$KALMAN_X,-78146.0,30.3,105.0,59105.2,-1000.7
$KALMAN_Y,55851.4,191.3,319.5,-42413.0,-0.2
$MHEAD_RNG_PITCHd_Wd,22.4,14594,-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,-89.65,0.000,6,0.000,0.000,458,2143,3652,0,0,0,0,0,0
$GC,113,-1.27,-146.0,3.9,-9.2,12,131,12.52,2.67,0.00,0.000,4,0.166,0.029,2720,3796,3654,0,0,0,0,0,0
$GC,202,-1.19,-146.0,25.7,-14.8,24,212,0.08,2.58,0.00,0.000,6,0.106,0.023,2738,2201,3655,0,0,0,0,0,0
$GC,483,-1.10,-146.0,61.9,-13.1,51,492,0.12,0.00,0.00,0.000,6,0.122,0.000,2763,2201,3655,0,0,0,0,0,0
$GC,745,-1.10,-146.0,93.2,-11.9,76,750,0.00,2.58,0.00,0.000,4,0.000,0.048,2763,636,3656,0,0,0,0,0,0
$GC,791,-1.10,-146.0,98.2,-12.4,79,795,0.00,2.45,0.00,0.000,6,0.000,0.018,2763,2227,3655,0,0,0,0,0,0
$GC,1058,-1.10,-146.0,127.4,-9.2,103,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2227,3656,0,0,0,0,0,0
$GC,1320,-1.10,-146.0,151.2,-8.2,128,1324,0.00,2.62,0.00,0.000,4,0.000,0.046,2763,632,3656,0,0,0,0,0,0
$GC,1371,-1.10,-146.0,155.8,-8.9,132,1375,0.00,2.42,0.00,0.000,6,0.000,0.018,2763,2210,3656,0,0,0,0,0,0
$GC,1634,-1.10,-146.0,175.1,-7.6,156,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2210,3656,0,0,0,0,0,0
$GC,1887,-1.13,-146.0,194.7,-7.8,180,1891,0.00,2.55,0.00,0.000,4,0.000,0.038,2763,3775,3656,0,0,0,0,0,0
$GC,1933,-1.20,-146.0,198.4,-8.1,183,1942,0.00,2.53,0.00,0.000,6,0.000,0.021,2763,2190,3656,0,0,0,0,0,0
$GC,2205,-1.25,-146.0,219.4,-7.9,192,2210,0.12,2.58,0.00,0.000,4,0.070,0.049,2711,640,3657,0,0,0,0,0,0
$GC,2291,-1.20,-146.0,228.1,-11.0,194,2296,0.12,2.40,0.00,0.000,6,0.104,0.021,2738,2183,3657,0,0,0,0,0,0
$GC,2575,-1.20,-146.0,255.8,-9.6,201,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2183,3657,0,0,0,0,0,0
$GC,2818,-1.20,-146.0,275.7,-7.7,207,2823,0.00,2.65,0.00,0.000,4,0.000,0.045,2739,3783,3657,0,0,0,0,0,0
$GC,2864,-1.25,-146.0,279.3,-8.3,208,2869,0.00,2.55,0.00,0.000,6,0.000,0.023,2738,2183,3657,0,0,0,0,0,0
$GC,3143,-1.25,-146.0,297.6,-6.1,215,3147,0.00,2.60,0.00,0.000,4,0.000,0.062,2738,637,3656,0,0,0,0,0,0
$GC,3194,-1.30,-146.0,300.9,-6.4,216,3198,0.00,2.42,0.00,0.000,6,0.000,0.032,2738,2163,3656,0,0,0,0,0,0
$GC,3466,-1.34,-146.0,319.1,-7.0,223,3471,0.12,2.72,0.00,0.000,4,0.067,0.048,2690,3792,3655,0,0,0,0,0,0
$GC,3488,-1.34,-146.0,321.1,-8.2,223,3493,0.10,2.58,0.00,0.000,6,0.114,0.032,2712,2179,3655,0,0,0,0,0,0
$GC,3745,-1.34,-146.0,340.8,-7.7,230,3749,0.00,2.67,0.00,0.000,4,0.000,0.054,2713,3782,3653,0,0,0,0,0,0
$GC,3856,-1.34,-146.0,350.1,-8.3,232,3860,0.00,2.60,0.00,0.000,6,0.000,0.031,2712,2184,3653,0,0,0,0,0,0
$GC,4112,-1.34,-146.0,370.3,-7.9,239,4117,0.00,2.72,0.00,0.000,4,0.000,0.078,2712,628,3651,0,0,0,0,0,0
$GC,4145,-1.34,-146.0,373.2,-8.3,239,4151,0.00,2.53,0.00,0.000,6,0.000,0.041,2712,2179,3651,0,0,0,0,0,0
$GC,4396,-1.34,-146.0,393.5,-8.1,246,4400,0.00,2.72,0.00,0.000,4,0.000,0.063,2712,3793,3649,0,0,0,0,0,0
$GC,4439,-1.34,-146.0,397.5,-9.0,247,4444,0.00,2.62,0.00,0.000,6,0.000,0.035,2713,2196,3649,0,0,0,0,0,0
$GC,4718,-1.34,-146.0,420.4,-8.3,254,4723,0.00,2.70,0.00,0.000,4,0.000,0.058,2713,3794,3648,0,0,0,0,0,0
$GC,4762,-1.34,-146.0,424.5,-8.7,255,4766,0.00,2.62,0.00,0.000,6,0.000,0.039,2712,2196,3647,0,0,0,0,0,0
$GC,5041,-1.34,-146.0,446.1,-7.6,262,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2196,3645,0,0,0,0,0,0
$GC,5283,-1.34,-146.0,464.2,-7.2,268,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2196,3643,0,0,0,0,0,0
$GC,5527,-1.34,-146.0,481.6,-7.2,274,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2196,3642,0,0,0,0,0,0
$GC,5771,-1.34,-146.0,499.8,-7.7,280,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2196,3640,0,0,0,0,0,0
$GC,6016,-1.34,-146.0,522.0,-9.3,286,6020,0.00,2.83,0.00,0.000,4,0.000,0.077,2713,3787,3640,0,0,0,0,0,0
$GC,6070,-1.34,-146.0,528.0,-11.0,287,6075,0.00,2.70,0.00,0.000,6,0.000,0.054,2712,2210,3639,0,0,0,0,0,0
$GC,6337,-1.34,-146.0,553.1,-9.4,294,6342,0.00,2.83,0.00,0.000,4,0.000,0.084,2712,3784,3637,0,0,0,0,0,0
$GC,6378,-1.34,-146.0,557.0,-9.4,295,6383,0.00,2.67,0.00,0.000,6,0.000,0.058,2712,2214,3637,0,0,0,0,0,0
$GC,6662,-1.38,-146.0,580.5,-7.9,302,6667,0.00,2.83,0.00,0.000,4,0.000,0.083,2712,3790,3635,0,0,0,0,0,0
$GC,6683,-1.38,-146.0,582.0,-7.1,302,6688,0.00,2.72,0.00,0.000,6,0.000,0.062,2713,2217,3635,0,0,0,0,0,0
$GC,6940,-1.42,-146.0,598.9,-6.3,309,6945,0.00,2.80,0.00,0.000,4,0.000,0.084,2712,3784,3634,0,0,0,0,0,0
$STATE,6953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6953,begin apogee
$GC,6962,-0.31,0.0,600.1,6.4,309,7083,0.95,0.00,117.78,1.016,6,0.070,0.000,2932,2371,3060,0,0,0,0,0,0
$STATE,7084,end apogee,CONTROL_FINISHED_OK
$STATE,7084,begin climb
$GC,7087,1.27,146.0,601.1,0.0,312,7226,1.48,2.90,124.75,0.987,4,0.037,0.078,3291,3919,2462,0,0,0,0,0,0
$GC,7265,1.12,146.0,586.2,13.1,316,7271,0.22,2.72,0.00,0.000,6,0.105,0.064,3245,2371,2459,0,0,0,0,0,0
$GC,7516,1.07,146.0,559.8,10.3,323,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2371,2454,0,0,0,0,0,0
$GC,7759,1.06,162.9,536.9,9.2,329,7779,0.00,2.80,14.50,0.896,4,0.000,0.064,3246,3930,2395,0,0,0,0,0,0
$GC,7801,1.00,162.9,532.7,10.1,330,7806,0.12,2.67,0.00,0.000,6,0.123,0.047,3222,2366,2394,0,0,0,0,0,0
$GC,8080,1.05,205.5,510.1,8.0,337,8125,0.00,2.80,38.80,0.940,4,0.000,0.059,3222,3935,2222,0,0,0,0,0,0
$GC,8137,1.08,226.9,505.0,9.0,338,8163,0.00,2.72,20.48,0.897,6,0.000,0.045,3222,2362,2135,0,0,0,0,0,0
$GC,8408,1.08,226.9,478.2,10.0,345,8413,0.00,3.00,0.00,0.000,4,0.000,0.113,3221,775,2129,0,0,0,0,0,0
$GC,8457,1.12,226.9,472.8,10.9,346,8463,0.12,2.62,0.00,0.000,6,0.078,0.042,3257,2348,2128,0,0,0,0,0,0
$GC,8731,1.12,226.9,441.3,11.4,353,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2348,2126,0,0,0,0,0,0
$GC,8973,1.12,226.9,414.3,11.1,359,8977,0.00,2.70,0.00,0.000,4,0.000,0.053,3258,3941,2125,0,0,0,0,0,0
$GC,8994,1.12,226.9,411.7,11.4,359,8998,0.00,2.62,0.00,0.000,6,0.000,0.033,3258,2347,2124,0,0,0,0,0,0
$GC,9250,1.12,226.9,382.5,11.5,366,9254,0.00,2.67,0.00,0.000,4,0.000,0.054,3258,3940,2124,0,0,0,0,0,0
$GC,9272,1.12,226.9,379.8,12.3,366,9276,0.00,2.58,0.00,0.000,6,0.000,0.031,3258,2371,2123,0,0,0,0,0,0
$GC,9526,1.12,226.9,349.7,11.7,373,9531,0.00,2.78,0.00,0.000,4,0.000,0.075,3258,777,2123,0,0,0,0,0,0
$GC,9575,1.12,226.9,343.4,12.7,374,9580,0.00,2.58,0.00,0.000,6,0.000,0.029,3258,2383,2122,0,0,0,0,0,0
$GC,9849,1.12,226.9,312.6,11.2,381,9853,0.00,2.60,0.00,0.000,4,0.000,0.053,3258,3924,2123,0,0,0,0,0,0
$GC,9909,1.12,226.9,305.2,12.0,382,9913,0.00,2.55,0.00,0.000,6,0.000,0.031,3258,2358,2122,0,0,0,0,0,0
$GC,10170,1.12,226.9,278.6,10.1,389,10175,0.00,2.62,0.00,0.000,4,0.000,0.057,3258,785,2122,0,0,0,0,0,0
$GC,10221,1.12,226.9,273.1,11.1,390,10226,0.00,2.53,0.00,0.000,6,0.000,0.033,3258,2363,2121,0,0,0,0,0,0
$GC,10493,1.12,226.9,244.5,10.4,397,10497,0.00,2.65,0.00,0.000,4,0.000,0.053,3258,3934,2121,0,0,0,0,0,0
$GC,10547,1.12,226.9,238.7,10.4,398,10552,0.00,2.55,0.00,0.000,6,0.000,0.031,3258,2351,2121,0,0,0,0,0,0
$GC,10815,1.14,236.8,214.3,9.5,405,10830,0.00,2.65,7.80,0.654,4,0.000,0.051,3258,792,2094,0,0,0,0,0,0
$GC,10894,1.18,236.8,206.5,10.9,406,10898,0.00,2.50,0.00,0.000,6,0.000,0.026,3258,2349,2093,0,0,0,0,0,0
$GC,11158,1.23,246.3,181.2,9.6,424,11173,0.00,2.65,9.70,0.647,4,0.000,0.047,3258,3928,2056,0,0,0,0,0,0
$GC,11201,1.24,254.1,176.8,9.6,427,11215,0.00,2.55,8.90,0.627,6,0.000,0.024,3258,2337,2022,0,0,0,0,0,0
$GC,11477,1.31,272.5,150.2,9.2,453,11505,0.12,2.62,17.23,0.649,4,0.077,0.048,3297,794,1947,0,0,0,0,0,0
$GC,11517,1.31,272.5,145.9,10.5,456,11522,0.00,2.47,0.00,0.000,6,0.000,0.028,3296,2345,1947,0,0,0,0,0,0
$GC,11781,1.31,272.5,116.9,10.3,480,11785,0.00,2.58,0.00,0.000,4,0.000,0.042,3297,3924,1946,0,0,0,0,0,0
$GC,11833,1.31,272.5,111.1,10.5,484,11837,0.00,2.50,0.00,0.000,6,0.000,0.024,3296,2352,1946,0,0,0,0,0,0
$GC,12097,1.32,279.0,85.4,9.7,508,12109,0.00,0.00,7.03,0.511,6,0.000,0.000,3297,2352,1921,0,0,0,0,0,0
$GC,12366,1.32,279.0,57.4,11.1,533,12370,0.00,2.58,0.00,0.000,4,0.000,0.041,3297,3923,1921,0,0,0,0,0,0
$GC,12386,1.32,279.0,54.8,10.9,534,12391,0.00,2.50,0.00,0.000,6,0.000,0.023,3296,2353,1921,0,0,0,0,0,0
$GC,12665,1.32,279.0,23.5,11.3,562,12673,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2354,1921,0,0,0,0,0,0
$STATE,12832,end climb,SURFACE_DEPTH_REACHED
$STATE,12832,begin surface coast
$FINISH,-0.1,1.023674
$STATE,12877,end surface coast,CONTROL_FINISHED_OK
$STATE,12878,begin surface
$SM_CCo,12900,81.97,0.523,0,0,1510,380.21
$SM_GC,0.49,0.00,0.00,81.97,0.000,0.000,0.523,467,2135,1510,-11.67,-2.12,380.21
$IRIDIUM_FIX,2246.36,-15808.88,220603,151526
$TT8_MAMPS,0.026078
$HUMID,60.00
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.20
$XPDR_PINGS,19
$24V_AH,23.4,14.961
$10V_AH,10.4,13.081
$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,27.500,163.450,366.950,81.975,0.000,32.830,41.855,365.324,4.750,0.000,15.827,1225.152,8868.501,542.297,2164.263,762.681,33.354,1401.090,0.000,2164.325,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,112.749,1015.508,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,402.713,336.702,424.440,610.946,1161.923,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,47814,593
$CAP_FILE_SIZE,133441,0
$CFSIZE,260165632,173379584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280314,225200,2258.183,-15806.034,43,1.1,43,10.1