version: 66.06
glider: 146
mission: 9
dive: 111
start: 3 29 114 10 14 7
data:
$ID,146
$MISSION,9
$DIVE,111
$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,-325655.25
$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,77
$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
$GPS1,100636,2303.082,-15804.139,29,1.4,29,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-69.7
$GPS2,101313,2303.085,-15804.097,10,1.5,10,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.012,0.241
$KALMAN_X,-79128.1,254.2,187.5,64141.0,-579.8
$KALMAN_Y,56727.5,-213.1,164.9,-31114.2,-373.0
$MHEAD_RNG_PITCHd_Wd,347.1,2630,-19.1,-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,-1.35,-124.7,0.0,0.0,0,112,0.00,0.00,-86.62,0.000,6,0.000,0.000,465,2156,3567,0,0,0,0,0,0
$GC,116,-1.35,-124.7,4.3,-10.8,12,134,12.30,2.65,0.00,0.000,4,0.166,0.032,2704,3789,3568,0,0,0,0,0,0
$GC,339,-1.27,-124.7,46.5,-14.6,37,344,0.10,2.42,0.00,0.000,6,0.132,0.022,2723,2250,3568,0,0,0,0,0,0
$GC,608,-1.20,-124.7,79.8,-12.5,61,612,0.00,2.65,0.00,0.000,4,0.000,0.047,2723,632,3569,0,0,0,0,0,0
$GC,655,-1.13,-124.7,87.0,-13.1,64,665,0.12,2.47,0.00,0.000,6,0.092,0.017,2752,2214,3569,0,0,0,0,0,0
$GC,922,-1.13,-124.7,115.3,-10.7,89,927,0.00,2.60,0.00,0.000,4,0.000,0.044,2753,638,3569,0,0,0,0,0,0
$GC,1010,-1.13,-124.7,125.4,-10.6,96,1014,0.00,2.42,0.00,0.000,6,0.000,0.018,2753,2203,3570,0,0,0,0,0,0
$GC,1274,-1.16,-146.0,149.3,-8.5,120,1279,0.00,2.58,-0.55,0.000,4,0.000,0.054,2753,631,3660,0,0,0,0,0,0
$GC,1310,-1.20,-146.0,152.9,-10.0,122,1316,0.00,2.42,0.00,0.000,6,0.000,0.025,2753,2200,3660,0,0,0,0,0,0
$GC,1575,-1.25,-146.0,177.8,-9.0,147,1579,0.00,2.58,0.00,0.000,4,0.000,0.045,2753,639,3661,0,0,0,0,0,0
$GC,1615,-1.31,-146.0,181.6,-8.6,150,1620,0.15,2.38,0.00,0.000,6,0.060,0.026,2696,2185,3661,0,0,0,0,0,0
$GC,1875,-1.25,-146.0,209.4,-10.7,168,1881,0.15,2.60,0.00,0.000,4,0.097,0.036,2729,3783,3661,0,0,0,0,0,0
$GC,1903,-1.25,-146.0,212.6,-9.7,168,1907,0.00,2.47,0.00,0.000,6,0.000,0.020,2729,2190,3661,0,0,0,0,0,0
$GC,2153,-1.25,-146.0,235.9,-9.1,174,2157,0.00,2.58,0.00,0.000,4,0.000,0.038,2729,3781,3661,0,0,0,0,0,0
$GC,2198,-1.30,-146.0,240.3,-9.6,175,2203,0.00,2.47,0.00,0.000,6,0.000,0.020,2729,2195,3661,0,0,0,0,0,0
$GC,2477,-1.34,-146.0,267.2,-9.9,182,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2196,3661,0,0,0,0,0,0
$GC,2721,-1.40,-146.0,290.8,-9.7,188,2723,0.12,0.00,0.00,0.000,6,0.068,0.000,2680,2195,3661,0,0,0,0,0,0
$GC,2965,-1.40,-146.0,317.9,-11.1,194,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2196,3661,0,0,0,0,0,0
$GC,3207,-1.40,-146.0,343.8,-10.5,200,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2196,3660,0,0,0,0,0,0
$GC,3451,-1.40,-146.0,367.2,-9.4,206,3456,0.00,2.72,0.00,0.000,4,0.000,0.080,2679,646,3659,0,0,0,0,0,0
$GC,3478,-1.40,-146.0,370.0,-10.0,206,3482,0.00,2.47,0.00,0.000,6,0.000,0.035,2679,2166,3659,0,0,0,0,0,0
$GC,3730,-1.40,-146.0,392.4,-8.8,212,3734,0.00,2.75,0.00,0.000,4,0.000,0.057,2679,3801,3657,0,0,0,0,0,0
$GC,3784,-1.40,-146.0,397.8,-9.6,213,3789,0.00,2.60,0.00,0.000,6,0.000,0.037,2679,2211,3657,0,0,0,0,0,0
$GC,4052,-1.40,-146.0,421.4,-8.9,220,4057,0.00,2.70,0.00,0.000,4,0.000,0.056,2679,3800,3656,0,0,0,0,0,0
$GC,4085,-1.40,-146.0,424.7,-9.5,220,4090,0.00,2.65,0.00,0.000,6,0.000,0.040,2679,2202,3656,0,0,0,0,0,0
$GC,4335,-1.40,-146.0,447.4,-9.0,227,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2201,3654,0,0,0,0,0,0
$GC,4578,-1.40,-146.0,468.4,-8.6,233,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2201,3652,0,0,0,0,0,0
$GC,4823,-1.40,-146.0,491.4,-9.4,239,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2201,3650,0,0,0,0,0,0
$GC,5066,-1.40,-146.0,514.6,-9.6,245,5070,0.00,2.83,0.00,0.000,4,0.000,0.077,2679,3797,3648,0,0,0,0,0,0
$GC,5137,-1.40,-146.0,522.5,-10.8,246,5142,0.00,2.70,0.00,0.000,6,0.000,0.054,2679,2200,3648,0,0,0,0,0,0
$GC,5389,-1.40,-146.0,546.1,-9.2,252,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2200,3647,0,0,0,0,0,0
$GC,5631,-1.40,-146.0,567.2,-8.6,258,5636,0.00,2.83,0.00,0.000,4,0.000,0.084,2680,3786,3645,0,0,0,0,0,0
$GC,5671,-1.40,-146.0,570.5,-9.2,259,5675,0.00,2.72,0.00,0.000,6,0.000,0.064,2679,2205,3645,0,0,0,0,0,0
$GC,5955,-1.40,-146.0,594.7,-8.6,266,5960,0.00,2.83,0.00,0.000,4,0.000,0.086,2679,3786,3642,0,0,0,0,0,0
$STATE,6007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6007,begin apogee
$GC,6016,-0.31,0.0,600.1,9.7,267,6139,1.10,0.00,119.07,1.013,6,0.074,0.000,2929,2370,3061,0,0,0,0,0,0
$STATE,6139,end apogee,CONTROL_FINISHED_OK
$STATE,6140,begin climb
$GC,6142,1.37,146.0,603.5,0.0,270,6280,1.58,2.90,124.18,0.989,4,0.035,0.080,3316,3931,2462,0,0,0,0,0,0
$GC,6341,1.21,146.0,587.8,12.9,274,6347,0.22,2.78,0.00,0.000,6,0.107,0.063,3269,2365,2457,0,0,0,0,0,0
$GC,6593,1.17,148.4,562.8,9.9,280,6598,0.00,2.78,0.00,0.000,4,0.000,0.073,3269,3928,2453,0,0,0,0,0,0
$GC,6643,1.10,148.4,557.3,11.1,281,6648,0.12,2.67,0.00,0.000,6,0.125,0.051,3244,2374,2452,0,0,0,0,0,0
$GC,6916,1.14,174.5,533.2,8.6,288,6943,0.00,0.00,24.62,0.938,6,0.000,0.000,3244,2374,2347,0,0,0,0,0,0
$GC,7158,1.14,178.3,510.1,9.8,294,7164,0.00,0.00,4.00,0.604,6,0.000,0.000,3244,2374,2333,0,0,0,0,0,0
$GC,7402,1.15,183.5,486.1,9.7,300,7411,0.00,0.00,6.60,0.771,6,0.000,0.000,3244,2374,2310,0,0,0,0,0,0
$GC,7647,1.16,194.2,462.9,9.4,306,7660,0.00,0.00,11.07,0.854,6,0.000,0.000,3244,2373,2269,0,0,0,0,0,0
$GC,7890,1.22,202.1,439.9,9.6,312,7905,0.10,2.95,8.25,0.803,4,0.088,0.089,3274,782,2235,0,0,0,0,0,0
$GC,7938,1.22,202.1,434.4,12.3,313,7943,0.00,2.65,0.00,0.000,6,0.000,0.038,3274,2377,2234,0,0,0,0,0,0
$GC,8218,1.22,202.1,404.5,10.8,320,8222,0.00,2.62,0.00,0.000,4,0.000,0.051,3274,3936,2233,0,0,0,0,0,0
$GC,8283,1.22,202.1,396.3,12.1,321,8288,0.00,2.58,0.00,0.000,6,0.000,0.031,3274,2373,2232,0,0,0,0,0,0
$GC,8544,1.22,202.1,366.4,11.7,328,8549,0.00,2.62,0.00,0.000,4,0.000,0.048,3274,3933,2232,0,0,0,0,0,0
$GC,8594,1.22,202.1,360.0,14.1,329,8599,0.00,2.55,0.00,0.000,6,0.000,0.029,3274,2378,2231,0,0,0,0,0,0
$GC,8867,1.22,202.1,327.1,12.0,336,8871,0.00,2.72,0.00,0.000,4,0.000,0.064,3274,777,2230,0,0,0,0,0,0
$GC,8916,1.22,202.1,320.9,12.2,337,8920,0.00,2.58,0.00,0.000,6,0.000,0.028,3274,2390,2229,0,0,0,0,0,0
$GC,9189,1.22,202.1,291.3,10.5,344,9193,0.00,2.58,0.00,0.000,4,0.000,0.051,3273,3925,2229,0,0,0,0,0,0
$GC,9221,1.22,202.1,287.5,11.2,344,9227,0.00,2.53,0.00,0.000,6,0.000,0.027,3274,2367,2229,0,0,0,0,0,0
$GC,9471,1.24,219.5,264.8,9.1,351,9492,0.00,2.70,15.93,0.762,4,0.000,0.054,3274,780,2164,0,0,0,0,0,0
$GC,9505,1.26,240.1,261.9,8.9,351,9529,0.00,2.58,19.23,0.755,6,0.000,0.025,3274,2372,2080,0,0,0,0,0,0
$GC,9797,1.31,240.1,233.0,10.1,359,9801,0.00,2.60,0.00,0.000,4,0.000,0.047,3273,3926,2077,0,0,0,0,0,0
$GC,9829,1.31,240.1,229.3,11.4,359,9835,0.00,2.55,0.00,0.000,6,0.000,0.026,3274,2359,2076,0,0,0,0,0,0
$GC,10080,1.36,240.1,203.8,10.1,366,10086,0.12,2.62,0.00,0.000,4,0.077,0.046,3311,3924,2076,0,0,0,0,0,0
$GC,10113,1.36,240.1,199.7,12.4,366,10119,0.00,2.53,0.00,0.000,6,0.000,0.025,3311,2365,2075,0,0,0,0,0,0
$GC,10381,1.36,240.1,169.7,11.3,391,10386,0.00,2.60,0.00,0.000,4,0.000,0.044,3311,3927,2075,0,0,0,0,0,0
$GC,10425,1.36,240.1,164.0,13.0,394,10429,0.00,2.47,0.00,0.000,6,0.000,0.025,3311,2374,2075,0,0,0,0,0,0
$GC,10687,1.36,240.1,134.4,11.2,418,10692,0.00,2.60,0.00,0.000,4,0.000,0.048,3311,783,2075,0,0,0,0,0,0
$GC,10734,1.36,240.1,129.4,12.1,421,10739,0.00,2.53,0.00,0.000,6,0.000,0.023,3311,2380,2075,0,0,0,0,0,0
$GC,11000,1.36,240.1,99.2,10.7,445,11005,0.00,2.55,0.00,0.000,4,0.000,0.044,3311,3927,2075,0,0,0,0,0,0
$GC,11065,1.36,240.1,91.1,12.7,450,11070,0.00,2.50,0.00,0.000,6,0.000,0.024,3311,2361,2074,0,0,0,0,0,0
$GC,11333,1.36,240.1,63.9,10.3,474,11337,0.00,2.58,0.00,0.000,4,0.000,0.045,3311,785,2075,0,0,0,0,0,0
$GC,11394,1.36,240.1,56.7,10.7,478,11403,0.00,2.50,0.00,0.000,6,0.000,0.022,3311,2358,2075,0,0,0,0,0,0
$GC,11661,1.37,243.8,30.6,9.8,503,11677,0.00,2.62,4.28,0.393,4,0.000,0.044,3311,3924,2066,0,0,0,0,0,0
$GC,11702,1.37,243.8,26.2,10.6,507,11711,0.00,2.50,0.00,0.000,6,0.000,0.025,3311,2376,2066,0,0,0,0,0,0
$STATE,11905,end climb,SURFACE_DEPTH_REACHED
$STATE,11905,begin surface coast
$FINISH,-0.2,1.012359
$STATE,11948,end surface coast,CONTROL_FINISHED_OK
$STATE,11948,begin surface
$SM_CCo,11969,110.72,0.525,0,0,1509,380.21
$SM_GC,0.44,0.00,0.00,110.72,0.000,0.000,0.525,466,2152,1509,-11.67,-1.64,380.21
$IRIDIUM_FIX,2253.38,-15820.61,230603,060635
$TT8_MAMPS,0.026078
$HUMID,60.23
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.70
$XPDR_PINGS,10
$24V_AH,23.4,15.458
$10V_AH,10.4,13.539
$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,27.600,146.400,337.225,110.725,0.000,27.417,38.452,193.321,2.500,0.000,13.795,1132.385,8239.679,551.137,1988.119,563.909,33.355,1322.003,0.000,1989.526,0.000,0.534,0.000
$DEVICE_MAMPS,165.672,88.972,1013.207,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.825,308.321,391.616,577.998,1100.941,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,41401,543
$CAP_FILE_SIZE,119688,0
$CFSIZE,260165632,173142016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290314,133659,2304.189,-15804.599,49,1.2,49,10.1