version: 66.06
glider: 146
mission: 9
dive: 341
start: 5 13 114 12 0 0
data:
$ID,146
$MISSION,9
$DIVE,341
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$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,266
$T_MISSION,540
$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,-330919.34
$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,2996
$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,32
$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
$GPS1,114954,2303.112,-15804.267,61,1.4,61,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-70.4
$GPS2,115906,2303.079,-15804.174,9,1.5,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.010,0.152
$KALMAN_X,-248074.8,220.4,144.1,233035.1,-430.2
$KALMAN_Y,11387.5,36.3,-371.3,14502.8,110.3
$MHEAD_RNG_PITCHd_Wd,346.0,2609,-30.9,-10.025
$D_GRID,800
$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,-1.99,-49.6,0.0,0.0,0,95,0.00,0.00,-76.82,0.000,6,0.000,0.000,463,2143,3264,0,0,0,0,0,0
$GC,98,-2.06,-104.8,1.5,-2.6,10,124,11.35,2.67,-5.28,0.000,4,0.161,0.041,2537,3779,3488,0,0,0,0,0,0
$GC,189,-1.97,-104.8,21.3,-22.3,22,199,0.10,2.53,0.00,0.000,6,0.119,0.021,2559,2200,3489,0,0,0,0,0,0
$GC,466,-1.97,-104.8,74.4,-19.0,49,470,0.00,2.58,0.00,0.000,4,0.000,0.044,2559,631,3489,0,0,0,0,0,0
$GC,532,-1.97,-104.8,88.3,-18.7,54,536,0.00,2.47,0.00,0.000,6,0.000,0.018,2559,2232,3489,0,0,0,0,0,0
$GC,796,-1.97,-104.8,133.0,-17.3,78,800,0.00,2.45,0.00,0.000,4,0.000,0.033,2558,3777,3491,0,0,0,0,0,0
$GC,848,-1.97,-104.8,142.6,-17.6,82,852,0.00,2.42,0.00,0.000,6,0.000,0.020,2558,2217,3491,0,0,0,0,0,0
$GC,1112,-2.01,-104.8,183.4,-15.3,106,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2216,3491,0,0,0,0,0,0
$GC,1374,-2.06,-104.8,223.4,-15.0,131,1378,0.00,2.60,0.00,0.000,4,0.000,0.051,2558,637,3491,0,0,0,0,0,0
$GC,1409,-2.06,-104.8,228.8,-15.8,133,1414,0.00,2.42,0.00,0.000,6,0.000,0.021,2559,2213,3491,0,0,0,0,0,0
$GC,1672,-2.14,-104.8,267.1,-14.0,158,1677,0.12,2.65,0.00,0.000,4,0.065,0.054,2505,634,3491,0,0,0,0,0,0
$GC,1695,-2.14,-104.8,270.7,-14.6,159,1703,0.08,2.47,0.00,0.000,6,0.098,0.030,2524,2200,3491,0,0,0,0,0,0
$GC,1960,-2.14,-104.8,310.2,-14.0,184,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2200,3491,0,0,0,0,0,0
$GC,2222,-2.14,-104.8,349.0,-14.2,209,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2200,3490,0,0,0,0,0,0
$GC,2476,-2.18,-104.8,386.3,-14.5,233,2480,0.00,2.62,0.00,0.000,4,0.000,0.059,2524,3771,3490,0,0,0,0,0,0
$GC,2639,-2.18,-104.8,409.8,-13.3,246,2648,0.00,2.60,0.00,0.000,6,0.000,0.041,2524,2220,3489,0,0,0,0,0,0
$GC,2905,-2.24,-104.8,445.0,-13.5,271,2910,0.00,2.65,0.00,0.000,4,0.000,0.066,2524,3771,3488,0,0,0,0,0,0
$GC,2938,-2.28,-104.8,450.3,-13.8,273,2948,0.08,2.62,0.00,0.000,6,0.041,0.052,2481,2215,3487,0,0,0,0,0,0
$GC,3208,-2.28,-104.8,487.7,-14.2,298,3212,0.00,2.67,0.00,0.000,4,0.000,0.066,2481,3771,3485,0,0,0,0,0,0
$GC,3270,-2.28,-104.8,498.7,-15.5,303,3275,0.00,2.62,0.00,0.000,6,0.000,0.058,2481,2223,3485,0,0,0,0,0,0
$GC,3534,-2.28,-104.8,534.9,-13.8,327,3539,0.00,2.72,0.00,0.000,4,0.000,0.074,2482,3771,3484,0,0,0,0,0,0
$GC,3579,-2.28,-104.8,541.8,-14.4,330,3588,0.00,2.67,0.00,0.000,6,0.000,0.057,2481,2223,3483,0,0,0,0,0,0
$GC,3847,-2.28,-104.8,578.8,-14.6,355,3851,0.00,2.78,0.00,0.000,4,0.000,0.089,2482,3771,3481,0,0,0,0,0,0
$GC,3865,-2.28,-104.8,582.3,-14.4,356,3869,0.00,2.72,0.00,0.000,6,0.000,0.073,2481,2219,3481,0,0,0,0,0,0
$GC,4120,-2.28,-104.8,618.1,-13.8,371,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2219,3479,0,0,0,0,0,0
$GC,4365,-2.28,-104.8,651.2,-13.4,377,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2219,3477,0,0,0,0,0,0
$GC,4607,-2.28,-104.8,683.7,-13.2,383,4612,0.00,3.00,0.00,0.000,4,0.000,0.120,2481,3771,3475,0,0,0,0,0,0
$GC,4713,-2.28,-104.8,698.9,-13.4,385,4717,0.00,2.97,0.00,0.000,6,0.000,0.116,2481,2217,3475,0,0,0,0,0,0
$GC,4975,-2.28,-104.8,732.8,-13.2,392,4980,0.00,3.12,0.00,0.000,4,0.000,0.141,2482,3764,3473,0,0,0,0,0,0
$GC,5014,-2.28,-104.8,738.3,-13.8,393,5019,0.00,3.12,0.00,0.000,6,0.000,0.137,2481,2216,3472,0,0,0,0,0,0
$GC,5297,-2.28,-104.8,774.9,-12.6,400,5302,0.00,3.28,0.00,0.000,4,0.000,0.166,2481,3762,3470,0,0,0,0,0,0
$GC,5387,-2.28,-104.8,786.9,-13.1,402,5393,0.00,3.28,0.00,0.000,6,0.000,0.166,2481,2220,3470,0,0,1,0,0,0
$STATE,5500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5500,begin apogee
$GC,5506,-0.31,0.0,801.3,12.4,405,5599,2.12,0.00,87.68,1.150,6,0.104,0.000,2926,2332,3060,0,0,0,0,0,0
$STATE,5599,end apogee,CONTROL_FINISHED_OK
$STATE,5600,begin climb
$GC,5602,2.06,104.8,803.1,0.0,407,5700,2.12,0.00,93.20,1.122,6,0.032,0.000,3456,2333,2632,0,0,0,0,0,0
$GC,5931,2.06,104.8,758.9,15.9,415,5936,0.00,3.33,0.00,0.000,4,0.000,0.149,3456,3941,2622,0,0,0,0,0,0
$GC,6128,1.98,104.8,724.7,17.2,419,6134,0.15,3.05,0.00,0.000,6,0.130,0.120,3429,2392,2620,0,0,0,0,0,0
$GC,6390,1.98,104.8,686.6,14.0,426,6395,0.00,2.95,0.00,0.000,4,0.000,0.111,3429,3944,2618,0,0,0,0,0,0
$GC,6624,1.98,104.8,651.7,15.1,431,6629,0.00,2.80,0.00,0.000,6,0.000,0.081,3429,2392,2616,0,0,0,0,0,0
$GC,6891,1.98,104.8,616.2,13.1,438,6896,0.00,2.80,0.00,0.000,4,0.000,0.084,3429,3952,2614,0,0,0,0,0,0
$GC,6951,1.98,104.8,607.1,15.3,439,6956,0.00,2.67,0.00,0.000,6,0.000,0.060,3429,2407,2615,0,0,0,0,0,0
$GC,7224,1.98,104.8,571.3,13.3,460,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2407,2613,0,0,0,0,0,0
$GC,7485,1.98,104.8,535.9,13.2,485,7489,0.00,2.67,0.00,0.000,4,0.000,0.069,3429,3948,2612,0,0,0,0,0,0
$GC,7747,1.98,104.8,498.3,14.4,507,7752,0.00,2.58,0.00,0.000,6,0.000,0.041,3429,2402,2612,0,0,0,0,0,0
$GC,8012,2.02,104.8,463.6,13.3,531,8016,0.00,2.65,0.00,0.000,4,0.000,0.054,3428,3958,2611,0,0,0,0,0,0
$GC,8261,2.02,104.8,429.3,11.9,552,8265,0.00,2.53,0.00,0.000,6,0.000,0.035,3429,2419,2611,0,0,0,0,0,0
$GC,8525,2.07,104.8,400.7,11.3,576,8530,0.00,2.60,0.00,0.000,4,0.000,0.052,3429,3956,2610,0,0,0,0,0,0
$GC,8547,2.07,104.8,398.4,11.2,577,8551,0.00,2.53,0.00,0.000,6,0.000,0.039,3429,2421,2610,0,0,0,0,0,0
$GC,8815,2.13,104.8,369.5,10.8,601,8820,0.12,2.60,0.00,0.000,4,0.081,0.055,3462,3959,2609,0,0,0,0,0,0
$GC,9071,2.07,104.8,333.3,15.2,622,9077,0.00,2.53,0.00,0.000,6,0.000,0.030,3462,2412,2609,0,0,0,0,0,0
$GC,9334,2.07,104.8,303.8,10.6,647,9338,0.00,2.75,0.00,0.000,4,0.000,0.063,3462,783,2609,0,0,0,0,0,0
$GC,9352,2.07,104.8,301.8,11.3,648,9356,0.00,2.67,0.00,0.000,6,0.000,0.030,3462,2439,2609,0,0,0,0,0,0
$GC,9616,2.07,104.8,274.3,10.3,672,9621,0.00,2.53,0.00,0.000,4,0.000,0.051,3462,3952,2609,0,0,0,0,0,0
$GC,9672,2.07,104.8,268.3,11.0,676,9676,0.00,2.47,0.00,0.000,6,0.000,0.029,3462,2420,2609,0,0,0,0,0,0
$GC,9940,2.07,104.8,242.0,10.6,700,9944,0.00,2.58,0.00,0.000,4,0.000,0.047,3462,3961,2609,0,0,0,0,0,0
$GC,9956,2.07,104.8,239.5,10.5,701,9961,0.00,2.47,0.00,0.000,6,0.000,0.029,3462,2417,2609,0,0,0,0,0,0
$GC,10221,2.12,113.7,212.7,8.8,725,10231,0.00,0.00,4.70,0.551,6,0.000,0.000,3462,2416,2596,0,0,0,0,0,0
$GC,10489,2.17,113.7,185.0,10.6,750,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2416,2596,0,0,0,0,0,0
$GC,10745,2.22,115.5,160.5,9.8,774,10750,0.00,2.55,0.00,0.000,4,0.000,0.044,3462,3955,2596,0,0,0,0,0,0
$GC,11018,2.22,115.5,131.2,10.1,796,11028,0.00,2.50,0.00,0.000,6,0.000,0.025,3462,2404,2596,0,0,0,0,0,0
$GC,11285,2.29,125.4,109.3,8.7,821,11305,0.12,0.00,12.45,0.597,6,0.075,0.000,3499,2404,2547,0,0,0,0,0,0
$GC,11559,2.29,125.4,80.8,10.1,847,11563,0.00,2.58,0.00,0.000,4,0.000,0.043,3498,3958,2545,0,0,0,0,0,0
$GC,11642,2.25,125.4,71.2,11.6,853,11647,0.00,2.47,0.00,0.000,6,0.000,0.024,3498,2391,2545,0,0,0,0,0,0
$GC,11912,2.25,125.4,43.6,10.9,877,11916,0.00,2.58,0.00,0.000,4,0.000,0.044,3498,3958,2546,0,0,0,0,0,0
$GC,12154,2.25,125.4,14.6,12.4,904,12163,0.00,2.47,0.00,0.000,6,0.000,0.025,3498,2411,2547,0,0,0,0,0,0
$STATE,12276,end climb,SURFACE_DEPTH_REACHED
$STATE,12276,begin surface coast
$FINISH,0.0,1.023797
$STATE,12343,end surface coast,CONTROL_FINISHED_OK
$STATE,12343,begin surface
$SM_CCo,12366,204.32,0.523,0,0,1510,380.21
$SM_GC,0.65,0.00,0.00,204.32,0.000,0.000,0.523,458,2196,1510,-11.67,-0.40,380.21
$IRIDIUM_FIX,2253.38,-15802.79,070803,060615
$TT8_MAMPS,0.026078
$HUMID,60.27
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.30
$XPDR_PINGS,101
$24V_AH,23.2,53.818
$10V_AH,9.9,65.534
$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,28.700,140.225,198.025,204.325,0.000,27.204,35.520,292.216,25.250,0.000,18.826,1709.595,6771.511,548.546,3287.035,787.699,33.365,1565.143,0.000,3306.902,0.000,0.534,0.000
$DEVICE_MAMPS,161.070,167.973,1149.733,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,640.860,685.129,895.236,1028.788,1957.826,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355336
$DATA_FILE_SIZE,79575,931
$CAP_FILE_SIZE,135722,0
$CFSIZE,260165632,152039424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130514,153053,2303.996,-15804.597,40,1.1,40,10.1