version: 66.06
glider: 146
mission: 9
dive: 109
start: 3 29 114 2 41 15
data:
$ID,146
$MISSION,9
$DIVE,109
$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,-325625.25
$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,62
$R_STBD_OVSHOOT,40
$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
$GPS1,023336,2259.602,-15805.367,24,2.0,24,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.0
$GPS2,024021,2259.606,-15805.365,11,2.1,30,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.097,0.241
$KALMAN_X,-79240.2,199.9,23.3,62308.2,-617.0
$KALMAN_Y,56354.7,114.6,-299.6,-37053.0,525.3
$MHEAD_RNG_PITCHd_Wd,11.9,9084,-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,-88.72,0.000,6,0.000,0.000,461,2176,3655,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.6,-11.7,12,132,12.35,2.60,0.00,0.000,4,0.163,0.025,2719,3796,3656,0,0,0,0,0,0
$GC,229,-1.18,-146.0,31.6,-13.4,28,237,0.10,2.50,0.00,0.000,6,0.099,0.022,2742,2237,3656,0,0,0,0,0,0
$GC,498,-1.10,-146.0,64.1,-12.6,53,503,0.10,2.65,0.00,0.000,4,0.130,0.047,2762,632,3657,0,0,0,0,0,0
$GC,533,-1.05,-146.0,69.0,-12.7,55,537,0.00,2.45,0.00,0.000,6,0.000,0.018,2762,2221,3657,0,0,0,0,0,0
$GC,801,-1.00,-146.0,100.2,-11.5,79,806,0.10,2.62,0.00,0.000,4,0.126,0.045,2782,632,3657,0,0,0,0,0,0
$GC,834,-1.00,-146.0,104.0,-10.5,81,838,0.00,2.40,0.00,0.000,6,0.000,0.017,2782,2199,3657,0,0,0,0,0,0
$GC,1100,-1.00,-146.0,129.2,-9.6,105,1105,0.00,2.58,0.00,0.000,4,0.000,0.044,2782,634,3658,0,0,0,0,0,0
$GC,1182,-1.06,-146.0,136.6,-8.9,111,1186,0.00,2.38,0.00,0.000,6,0.000,0.025,2782,2185,3659,0,0,0,0,0,0
$GC,1445,-1.12,-146.0,158.8,-8.0,135,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2185,3659,0,0,0,0,0,0
$GC,1699,-1.19,-146.0,180.0,-8.2,159,1704,0.15,2.55,0.00,0.000,4,0.059,0.046,2724,635,3659,0,0,0,0,0,0
$GC,1733,-1.14,-146.0,183.7,-11.3,161,1739,0.15,2.40,0.00,0.000,6,0.097,0.024,2756,2186,3659,0,0,0,0,0,0
$GC,2004,-1.14,-146.0,207.7,-8.7,181,2008,0.00,2.58,0.00,0.000,4,0.000,0.037,2756,3775,3660,0,0,0,0,0,0
$GC,2036,-1.14,-146.0,211.0,-9.4,181,2042,0.00,2.50,0.00,0.000,6,0.000,0.019,2756,2166,3659,0,0,0,0,0,0
$GC,2286,-1.14,-146.0,232.6,-8.6,188,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2166,3660,0,0,0,0,0,0
$GC,2532,-1.19,-146.0,252.4,-8.3,194,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2166,3659,0,0,0,0,0,0
$GC,2774,-1.24,-146.0,272.6,-8.2,200,2778,0.00,2.53,0.00,0.000,4,0.000,0.055,2756,644,3659,0,0,0,0,0,0
$GC,2801,-1.29,-146.0,275.0,-8.8,200,2806,0.15,2.40,0.00,0.000,6,0.060,0.022,2699,2180,3659,0,0,0,0,0,0
$GC,3053,-1.24,-146.0,299.3,-9.9,206,3058,0.15,2.65,0.00,0.000,4,0.095,0.044,2732,3786,3658,0,0,0,0,0,0
$GC,3138,-1.24,-146.0,306.7,-8.2,208,3142,0.00,2.50,0.00,0.000,6,0.000,0.023,2732,2204,3658,0,0,0,0,0,0
$GC,3422,-1.24,-146.0,330.1,-8.3,215,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2204,3658,0,0,0,0,0,0
$GC,3665,-1.24,-146.0,350.7,-8.5,221,3669,0.00,2.72,0.00,0.000,4,0.000,0.074,2732,636,3656,0,0,0,0,0,0
$GC,3731,-1.28,-146.0,356.7,-8.9,222,3736,0.00,2.53,0.00,0.000,6,0.000,0.038,2732,2188,3657,0,0,0,0,0,0
$GC,3988,-1.33,-146.0,377.5,-8.1,229,3993,0.00,2.67,0.00,0.000,4,0.000,0.052,2732,3800,3654,0,0,0,0,0,0
$GC,4044,-1.38,-146.0,382.1,-7.5,230,4050,0.12,2.55,0.00,0.000,6,0.068,0.038,2684,2221,3655,0,0,0,0,0,0
$GC,4312,-1.33,-146.0,405.1,-8.7,237,4317,0.12,2.88,0.00,0.000,4,0.103,0.088,2711,625,3653,0,0,0,0,0,0
$GC,4356,-1.33,-146.0,409.1,-8.7,238,4360,0.00,2.58,0.00,0.000,6,0.000,0.038,2711,2210,3653,0,0,0,0,0,0
$GC,4634,-1.33,-146.0,430.2,-7.7,245,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2210,3651,0,0,0,0,0,0
$GC,4879,-1.33,-146.0,450.6,-8.4,251,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2210,3649,0,0,0,0,0,0
$GC,5122,-1.33,-146.0,471.6,-8.5,257,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2211,3648,0,0,0,0,0,0
$GC,5365,-1.33,-146.0,488.6,-6.8,263,5370,0.00,2.75,0.00,0.000,4,0.000,0.072,2711,3796,3646,0,0,0,0,0,0
$GC,5420,-1.33,-146.0,492.8,-7.2,264,5425,0.00,2.65,0.00,0.000,6,0.000,0.047,2711,2226,3646,0,0,0,0,0,0
$GC,5688,-1.33,-146.0,510.9,-6.9,271,5693,0.00,2.72,0.00,0.000,4,0.000,0.067,2711,3792,3644,0,0,0,0,0,0
$GC,5727,-1.33,-146.0,514.0,-7.7,272,5732,0.00,2.65,0.00,0.000,6,0.000,0.054,2711,2223,3644,0,0,0,0,0,0
$GC,6011,-1.33,-146.0,536.2,-7.9,279,6016,0.00,2.75,0.00,0.000,4,0.000,0.072,2711,3789,3643,0,0,0,0,0,0
$GC,6038,-1.33,-146.0,538.5,-8.6,279,6043,0.00,2.65,0.00,0.000,6,0.000,0.054,2711,2225,3642,0,0,0,0,0,0
$GC,6288,-1.33,-146.0,558.5,-8.0,285,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2225,3641,0,0,0,0,0,0
$GC,6532,-1.33,-146.0,578.1,-8.0,291,6537,0.00,2.80,0.00,0.000,4,0.000,0.084,2711,3793,3639,0,0,0,0,0,0
$GC,6577,-1.37,-146.0,581.8,-8.8,292,6582,0.00,2.67,0.00,0.000,6,0.000,0.063,2711,2242,3638,0,0,0,0,0,0
$STATE,6852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6852,begin apogee
$GC,6858,-0.31,0.0,602.6,7.2,299,6980,1.00,0.00,118.35,1.016,6,0.072,0.000,2938,2379,3060,0,0,0,0,0,0
$STATE,6981,end apogee,CONTROL_FINISHED_OK
$STATE,6981,begin climb
$GC,6985,1.27,146.0,604.3,0.0,302,7122,1.42,2.92,124.70,0.989,4,0.035,0.082,3289,3933,2462,0,0,0,0,0,0
$GC,7186,1.12,146.0,586.8,13.9,306,7192,0.20,2.72,0.00,0.000,6,0.108,0.060,3249,2371,2457,0,0,0,0,0,0
$GC,7436,1.08,146.0,559.0,10.8,312,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2371,2453,0,0,0,0,0,0
$GC,7680,1.05,152.1,534.8,9.7,318,7687,0.00,0.00,4.60,0.663,6,0.000,0.000,3249,2371,2439,0,0,0,0,0,0
$GC,7925,1.08,175.6,512.9,8.9,324,7949,0.00,0.00,22.48,0.923,6,0.000,0.000,3249,2371,2344,0,0,0,0,0,0
$GC,8167,1.08,175.6,488.8,10.0,330,8171,0.00,2.70,0.00,0.000,4,0.000,0.057,3249,3934,2340,0,0,0,0,0,0
$GC,8244,1.08,175.6,479.8,11.4,331,8250,0.00,2.65,0.00,0.000,6,0.000,0.042,3249,2374,2339,0,0,0,0,0,0
$GC,8494,1.08,175.6,454.7,10.0,338,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2374,2338,0,0,0,0,0,0
$GC,8739,1.08,175.6,429.8,10.1,344,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2374,2336,0,0,0,0,0,0
$GC,8982,1.10,195.8,407.1,9.1,350,9006,0.00,2.95,18.45,0.869,4,0.000,0.083,3249,781,2260,0,0,0,0,0,0
$GC,9017,1.14,226.0,403.9,8.6,350,9052,0.00,2.65,28.25,0.871,6,0.000,0.038,3249,2388,2137,0,0,0,0,0,0
$GC,9309,1.14,226.0,374.5,10.4,358,9314,0.00,2.78,0.00,0.000,4,0.000,0.060,3248,777,2132,0,0,0,0,0,0
$GC,9325,1.14,226.0,372.5,10.6,358,9329,0.00,2.58,0.00,0.000,6,0.000,0.028,3249,2383,2131,0,0,0,0,0,0
$GC,9591,1.14,226.0,344.8,10.4,365,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2383,2131,0,0,0,0,0,0
$GC,9836,1.14,229.9,320.6,9.8,371,9841,0.00,2.72,0.00,0.000,4,0.000,0.053,3249,771,2130,0,0,0,0,0,0
$GC,9875,1.14,229.9,316.3,10.8,372,9879,0.00,2.55,0.00,0.000,6,0.000,0.030,3249,2356,2128,0,0,0,0,0,0
$GC,10158,1.14,229.9,287.9,10.0,379,10162,0.00,2.62,0.00,0.000,4,0.000,0.048,3249,3925,2128,0,0,0,0,0,0
$GC,10208,1.14,229.9,282.9,10.1,380,10213,0.00,2.53,0.00,0.000,6,0.000,0.027,3249,2358,2127,0,0,0,0,0,0
$GC,10481,1.22,255.8,258.8,8.8,387,10508,0.00,0.00,25.75,0.764,6,0.000,0.000,3249,2358,2017,0,0,0,0,0,0
$GC,10724,1.28,255.8,234.4,10.3,393,10729,0.15,2.62,0.00,0.000,4,0.069,0.051,3291,786,2014,0,0,0,0,0,0
$GC,10747,1.28,255.8,231.7,12.1,393,10751,0.00,2.55,0.00,0.000,6,0.000,0.027,3291,2371,2013,0,0,0,0,0,0
$GC,11001,1.28,255.8,201.3,11.6,400,11006,0.00,2.60,0.00,0.000,4,0.000,0.047,3291,3932,2013,0,0,0,0,0,0
$GC,11067,1.28,255.8,193.7,12.6,403,11071,0.00,2.50,0.00,0.000,6,0.000,0.025,3291,2380,2012,0,0,0,0,0,0
$GC,11334,1.28,255.8,164.9,10.8,427,11339,0.00,2.62,0.00,0.000,4,0.000,0.047,3291,788,2012,0,0,0,0,0,0
$GC,11355,1.28,255.8,161.8,11.2,428,11361,0.00,2.53,0.00,0.000,6,0.000,0.021,3291,2389,2011,0,0,0,0,0,0
$GC,11624,1.29,268.1,135.7,9.4,453,11642,0.00,0.00,11.93,0.605,6,0.000,0.000,3291,2389,1966,0,0,0,0,0,0
$GC,11900,1.29,268.1,106.1,11.0,479,11904,0.00,2.62,0.00,0.000,4,0.000,0.042,3291,782,1965,0,0,0,0,0,0
$GC,11932,1.29,268.1,102.5,11.5,481,11937,0.00,2.50,0.00,0.000,6,0.000,0.027,3291,2372,1964,0,0,0,0,0,0
$GC,12200,1.29,268.1,74.0,10.8,505,12204,0.00,2.53,0.00,0.000,4,0.000,0.041,3291,3925,1964,0,0,0,0,0,0
$GC,12220,1.29,268.1,71.5,10.6,506,12225,0.00,2.45,0.00,0.000,6,0.000,0.021,3291,2366,1964,0,0,0,0,0,0
$GC,12489,1.29,268.1,42.4,11.0,530,12498,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2366,1965,0,0,0,0,0,0
$GC,12791,1.29,268.1,9.1,10.6,569,12801,0.00,2.58,0.00,0.000,4,0.000,0.040,3291,3915,1965,0,0,0,0,0,0
$STATE,12843,end climb,SURFACE_DEPTH_REACHED
$STATE,12843,begin surface coast
$FINISH,2.5,1.023791
$STATE,12852,end surface coast,CONTROL_FINISHED_OK
$STATE,12852,begin surface
$SM_CCo,12876,91.25,0.519,0,0,1510,380.21
$SM_GC,0.49,0.00,0.00,91.25,0.000,0.000,0.519,473,2203,1510,-11.64,-0.20,380.21
$IRIDIUM_FIX,2248.70,-15805.83,220603,232352
$TT8_MAMPS,0.026078
$HUMID,59.05
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.30
$XPDR_PINGS,14
$24V_AH,23.4,15.210
$10V_AH,10.4,13.311
$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,27.950,141.350,354.500,91.250,0.000,30.301,37.560,181.251,3.500,0.000,32.706,1181.527,9034.961,551.061,2036.386,567.763,33.358,1325.727,0.000,2028.760,0.000,0.534,0.000
$DEVICE_MAMPS,163.371,88.205,1016.275,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.139,325.092,411.258,587.776,1117.785,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,44826,577
$CAP_FILE_SIZE,122861,0
$CFSIZE,260165632,173268992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290314,061836,2301.499,-15804.600,31,1.2,31,10.1