version: 66.06
glider: 146
mission: 9
dive: 108
start: 3 28 114 22 59 37
data:
$ID,146
$MISSION,9
$DIVE,108
$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,-325591.91
$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,34
$R_STBD_OVSHOOT,38
$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
$GPS1,225200,2258.183,-15806.034,43,1.1,43,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-70.6
$GPS2,225843,2258.139,-15806.047,12,1.2,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,0.228
$KALMAN_X,-78866.9,121.0,82.8,60792.3,-956.1
$KALMAN_Y,55990.6,208.2,-3.6,-39792.0,-294.6
$MHEAD_RNG_PITCHd_Wd,18.7,11972,-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,-88.65,0.000,6,0.000,0.000,466,2136,3655,0,0,0,0,0,0
$GC,116,-1.27,-146.0,4.7,-12.2,12,134,12.52,2.67,0.00,0.000,4,0.167,0.027,2717,3801,3656,0,0,0,0,0,0
$GC,229,-1.18,-146.0,32.4,-14.3,27,234,0.15,2.53,0.00,0.000,6,0.118,0.022,2746,2202,3657,0,0,0,0,0,0
$GC,498,-1.10,-146.0,64.5,-11.7,51,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2202,3658,0,0,0,0,0,0
$GC,759,-1.03,-146.0,95.3,-11.3,76,764,0.15,2.60,0.00,0.000,4,0.116,0.049,2777,629,3659,0,0,0,0,0,0
$GC,816,-1.03,-146.0,100.7,-8.2,80,825,0.00,2.47,0.00,0.000,6,0.000,0.018,2777,2213,3658,0,0,0,0,0,0
$GC,1082,-1.03,-146.0,123.0,-8.7,105,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2214,3659,0,0,0,0,0,0
$GC,1344,-1.03,-146.0,144.8,-8.3,130,1349,0.00,2.53,0.00,0.000,4,0.000,0.035,2777,3777,3659,0,0,0,0,0,0
$GC,1366,-1.07,-146.0,146.4,-8.2,131,1370,0.00,2.47,0.00,0.000,6,0.000,0.021,2777,2192,3659,0,0,0,0,0,0
$GC,1629,-1.13,-146.0,168.1,-8.1,155,1633,0.00,2.58,0.00,0.000,4,0.000,0.050,2776,636,3660,0,0,0,0,0,0
$GC,1697,-1.23,-146.0,173.3,-7.9,160,1702,0.17,2.38,0.00,0.000,6,0.052,0.027,2713,2182,3660,0,0,0,0,0,0
$GC,1981,-1.16,-146.0,205.0,-12.0,183,1986,0.17,2.60,0.00,0.000,4,0.091,0.038,2750,3776,3660,0,0,0,0,0,0
$GC,2008,-1.16,-146.0,208.4,-10.2,183,2012,0.00,2.50,0.00,0.000,6,0.000,0.019,2751,2170,3660,0,0,0,0,0,0
$GC,2258,-1.16,-146.0,233.0,-9.8,189,2262,0.00,2.50,0.00,0.000,4,0.000,0.050,2750,642,3660,0,0,0,0,0,0
$GC,2280,-1.20,-146.0,235.0,-8.4,189,2284,0.00,2.40,0.00,0.000,6,0.000,0.018,2750,2199,3661,0,0,0,0,0,0
$GC,2537,-1.24,-146.0,255.1,-7.8,196,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2199,3660,0,0,0,0,0,0
$GC,2779,-1.29,-146.0,275.3,-8.4,202,2784,0.12,2.62,0.00,0.000,4,0.067,0.046,2698,3779,3660,0,0,0,0,0,0
$GC,2801,-1.29,-146.0,277.5,-9.2,202,2806,0.12,2.50,0.00,0.000,6,0.100,0.021,2726,2201,3660,0,0,0,0,0,0
$GC,3057,-1.29,-146.0,300.7,-8.9,209,3062,0.00,2.60,0.00,0.000,4,0.000,0.044,2725,3779,3660,0,0,0,0,0,0
$GC,3080,-1.29,-146.0,302.7,-8.5,209,3085,0.00,2.53,0.00,0.000,6,0.000,0.023,2726,2196,3660,0,0,0,0,0,0
$GC,3337,-1.29,-146.0,324.0,-8.3,216,3342,0.00,2.67,0.00,0.000,4,0.000,0.067,2726,635,3659,0,0,0,0,0,0
$GC,3365,-1.29,-146.0,326.4,-8.1,216,3369,0.00,2.45,0.00,0.000,6,0.000,0.033,2726,2176,3658,0,0,0,0,0,0
$GC,3615,-1.29,-146.0,345.9,-7.7,222,3619,0.00,2.67,0.00,0.000,4,0.000,0.051,2726,3794,3658,0,0,0,0,0,0
$GC,3716,-1.29,-146.0,353.7,-8.3,224,3721,0.00,2.53,0.00,0.000,6,0.000,0.028,2726,2217,3657,0,0,0,0,0,0
$GC,3983,-1.29,-146.0,374.0,-7.9,231,3988,0.00,2.78,0.00,0.000,4,0.000,0.080,2726,627,3655,0,0,0,0,0,0
$GC,4016,-1.33,-146.0,376.9,-8.9,231,4022,0.00,2.55,0.00,0.000,6,0.000,0.035,2726,2203,3655,0,0,0,0,0,0
$GC,4266,-1.33,-146.0,397.3,-8.2,238,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2204,3654,0,0,0,0,0,0
$GC,4510,-1.37,-146.0,417.3,-8.4,244,4515,0.00,2.70,0.00,0.000,4,0.000,0.058,2726,3795,3652,0,0,0,0,0,0
$GC,4560,-1.43,-146.0,421.9,-9.2,245,4565,0.15,2.65,0.00,0.000,6,0.062,0.037,2673,2191,3652,0,0,0,0,0,0
$GC,4834,-1.37,-146.0,448.9,-9.8,252,4836,0.15,0.00,0.00,0.000,6,0.097,0.000,2706,2191,3650,0,0,0,0,0,0
$GC,5076,-1.37,-146.0,468.2,-7.7,258,5081,0.00,2.72,0.00,0.000,4,0.000,0.062,2706,3789,3649,0,0,0,0,0,0
$GC,5109,-1.37,-146.0,471.0,-8.4,258,5114,0.00,2.62,0.00,0.000,6,0.000,0.045,2706,2208,3648,0,0,0,0,0,0
$GC,5360,-1.37,-146.0,490.2,-7.5,265,5365,0.00,2.72,0.00,0.000,4,0.000,0.071,2706,3793,3647,0,0,0,0,0,0
$GC,5388,-1.37,-146.0,492.5,-8.1,265,5392,0.00,2.65,0.00,0.000,6,0.000,0.047,2706,2203,3647,0,0,0,0,0,0
$GC,5638,-1.37,-146.0,512.4,-8.1,271,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2203,3645,0,0,0,0,0,0
$GC,5883,-1.37,-146.0,533.8,-8.8,277,5887,0.00,2.78,0.00,0.000,4,0.000,0.074,2706,3792,3644,0,0,0,0,0,0
$GC,5943,-1.37,-146.0,540.0,-9.8,278,5948,0.00,2.67,0.00,0.000,6,0.000,0.063,2706,2217,3643,0,0,0,0,0,0
$GC,6204,-1.37,-146.0,561.7,-8.2,285,6209,0.00,2.80,0.00,0.000,4,0.000,0.081,2706,3792,3642,0,0,0,0,0,0
$GC,6250,-1.37,-146.0,565.6,-8.2,286,6255,0.00,2.72,0.00,0.000,6,0.000,0.066,2706,2214,3641,0,0,0,0,0,0
$GC,6528,-1.37,-146.0,587.4,-7.6,293,6532,0.00,2.83,0.00,0.000,4,0.000,0.082,2706,3792,3640,0,0,0,0,0,0
$GC,6554,-1.37,-146.0,589.8,-8.0,293,6559,0.00,2.70,0.00,0.000,6,0.000,0.066,2706,2230,3640,0,0,0,0,0,0
$STATE,6720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6721,begin apogee
$GC,6728,-0.31,0.0,601.9,7.2,297,6850,1.00,0.00,118.65,1.016,6,0.072,0.000,2934,2366,3060,0,0,0,0,0,0
$STATE,6851,end apogee,CONTROL_FINISHED_OK
$STATE,6851,begin climb
$GC,6853,1.27,146.0,603.6,0.0,300,6987,1.45,2.92,124.75,0.988,4,0.043,0.081,3291,3931,2463,0,0,0,0,0,0
$GC,7024,1.12,146.0,589.7,13.6,304,7029,0.20,2.78,0.00,0.000,6,0.107,0.061,3249,2364,2460,0,0,0,0,0,0
$GC,7291,1.07,146.0,560.3,10.8,311,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2364,2454,0,0,0,0,0,0
$GC,7535,1.03,146.0,535.2,10.1,317,7539,0.00,2.75,0.00,0.000,4,0.000,0.065,3249,3931,2452,0,0,0,0,0,0
$GC,7551,0.97,146.0,533.5,10.1,317,7557,0.15,2.67,0.00,0.000,6,0.117,0.044,3217,2365,2451,0,0,0,0,0,0
$GC,7812,1.01,179.3,511.2,8.5,324,7843,0.00,0.00,28.67,0.932,6,0.000,0.000,3217,2366,2329,0,0,0,0,0,0
$GC,8056,1.02,180.4,487.4,9.9,330,8061,0.00,2.97,0.00,0.000,4,0.000,0.111,3217,782,2324,0,0,0,0,0,0
$GC,8086,1.02,181.5,484.7,9.9,330,8091,0.00,2.65,0.00,0.000,6,0.000,0.052,3217,2360,2324,0,0,0,0,0,0
$GC,8337,1.09,208.0,461.8,8.8,336,8371,0.10,2.83,26.42,0.907,4,0.087,0.058,3248,3941,2210,0,0,0,0,0,0
$GC,8411,1.09,208.0,454.1,10.8,337,8416,0.00,2.67,0.00,0.000,6,0.000,0.040,3248,2361,2208,0,0,0,0,0,0
$GC,8661,1.09,208.0,428.7,10.1,343,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2362,2205,0,0,0,0,0,0
$GC,8904,1.09,208.0,404.1,10.0,349,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2362,2204,0,0,0,0,0,0
$GC,9148,1.09,211.5,380.1,9.8,355,9153,0.00,2.78,0.00,0.000,4,0.000,0.077,3248,777,2204,0,0,0,0,0,0
$GC,9182,1.09,211.5,376.8,10.0,355,9187,0.00,2.60,0.00,0.000,6,0.000,0.031,3249,2383,2202,0,0,0,0,0,0
$GC,9432,1.13,242.9,354.6,8.6,362,9468,0.00,2.65,30.75,0.848,4,0.000,0.054,3248,3928,2067,0,0,0,0,0,0
$GC,9479,1.16,265.2,350.3,9.0,362,9505,0.00,2.58,21.05,0.815,6,0.000,0.029,3248,2360,1978,0,0,0,0,0,0
$GC,9750,1.16,265.2,321.6,10.7,368,9754,0.00,2.70,0.00,0.000,4,0.000,0.064,3249,784,1972,0,0,0,0,0,0
$GC,9765,1.16,265.2,319.5,11.1,368,9769,0.00,2.55,0.00,0.000,6,0.000,0.031,3248,2380,1972,0,0,0,0,0,0
$GC,10028,1.19,265.2,289.6,11.6,375,10029,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2380,1971,0,0,0,0,0,0
$GC,10271,1.24,265.2,260.4,12.0,381,10272,0.10,0.00,0.00,0.000,6,0.090,0.000,3279,2380,1971,0,0,0,0,0,0
$GC,10514,1.24,265.2,231.0,12.0,387,10518,0.00,2.65,0.00,0.000,4,0.000,0.049,3279,782,1971,0,0,0,0,0,0
$GC,10540,1.24,265.2,227.6,12.8,387,10545,0.00,2.55,0.00,0.000,6,0.000,0.026,3279,2387,1969,0,0,0,0,0,0
$GC,10792,1.24,265.2,198.6,11.5,393,10796,0.00,2.67,0.00,0.000,4,0.000,0.048,3279,781,1969,0,0,0,0,0,0
$GC,10847,1.24,265.2,192.7,11.0,397,10851,0.00,2.53,0.00,0.000,6,0.000,0.025,3279,2365,1970,0,0,0,0,0,0
$GC,11114,1.24,265.2,165.0,10.1,421,11119,0.00,2.55,0.00,0.000,4,0.000,0.043,3279,3930,1969,0,0,0,0,0,0
$GC,11143,1.24,265.2,161.3,10.9,423,11147,0.00,2.53,0.00,0.000,6,0.000,0.023,3279,2351,1969,0,0,0,0,0,0
$GC,11409,1.24,265.2,134.4,10.6,447,11413,0.00,2.58,0.00,0.000,4,0.000,0.048,3279,786,1969,0,0,0,0,0,0
$GC,11467,1.24,265.2,127.7,10.3,451,11473,0.00,2.47,0.00,0.000,6,0.000,0.021,3279,2362,1969,0,0,0,0,0,0
$GC,11730,1.29,271.0,102.0,9.7,476,11741,0.00,0.00,5.25,0.470,6,0.000,0.000,3279,2363,1954,0,0,0,0,0,0
$GC,12000,1.34,271.0,75.2,10.1,501,12005,0.00,2.60,0.00,0.000,4,0.000,0.044,3279,781,1955,0,0,0,0,0,0
$GC,12034,1.38,271.0,71.4,10.0,503,12039,0.10,2.45,0.00,0.000,6,0.084,0.020,3314,2349,1954,0,0,0,0,0,0
$GC,12300,1.38,271.0,41.0,11.7,527,12304,0.00,2.58,0.00,0.000,4,0.000,0.041,3314,3920,1954,0,0,0,0,0,0
$GC,12345,1.38,271.0,35.3,12.9,530,12350,0.00,2.50,0.00,0.000,6,0.000,0.024,3314,2349,1954,0,0,0,0,0,0
$STATE,12614,end climb,SURFACE_DEPTH_REACHED
$STATE,12614,begin surface coast
$FINISH,-0.2,1.010934
$STATE,12663,end surface coast,CONTROL_FINISHED_OK
$STATE,12663,begin surface
$SM_CCo,12684,88.82,0.522,0,0,1510,380.21
$SM_GC,0.38,0.00,0.00,88.82,0.000,0.000,0.522,462,2175,1510,-11.70,-0.96,380.21
$IRIDIUM_FIX,2248.70,-15805.83,220603,191944
$TT8_MAMPS,0.026078
$HUMID,60.23
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.10
$XPDR_PINGS,17
$24V_AH,23.4,15.087
$10V_AH,10.4,13.197
$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,28.200,157.900,355.550,88.825,0.000,23.878,35.681,202.991,4.250,0.000,13.524,1189.505,8825.625,568.972,2014.910,576.156,33.364,1330.616,0.000,2024.569,0.000,0.533,0.000
$DEVICE_MAMPS,167.206,111.215,1016.275,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.256,325.888,414.102,605.896,1153.974,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,44719,574
$CAP_FILE_SIZE,126616,0
$CFSIZE,260165632,173326336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290314,023336,2259.602,-15805.367,24,2.0,24,10.1