version: 66.06
glider: 146
mission: 9
dive: 16
start: 3 14 114 12 30 37
data:
$ID,146
$MISSION,9
$DIVE,16
$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,400
$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,-323433.38
$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,3075
$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,33
$R_STBD_OVSHOOT,43
$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
$GPS1,122306,2242.038,-15806.689,35,1.2,35,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-69.1
$GPS2,122943,2242.079,-15806.738,14,1.9,14,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.148,0.214
$KALMAN_X,-11155.3,-287.0,-71.7,-7526.1,-1442.4
$KALMAN_Y,4673.8,-289.0,-158.2,-17570.7,1043.1
$MHEAD_RNG_PITCHd_Wd,24.6,41602,-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,-92.00,0.000,6,0.000,0.000,470,2126,3656,0,0,0,0,0,0
$GC,116,-1.27,-146.0,3.4,-8.0,12,133,11.88,2.70,0.00,0.000,4,0.133,0.036,2789,3785,3657,0,0,0,0,0,0
$GC,210,-1.34,-146.0,25.2,-9.4,25,219,0.00,2.53,0.00,0.000,6,0.000,0.024,2789,2212,3657,0,0,0,0,0,0
$GC,489,-1.34,-146.0,53.9,-10.0,53,493,0.00,2.62,0.00,0.000,4,0.000,0.047,2789,628,3658,0,0,0,0,0,0
$GC,534,-1.34,-146.0,59.3,-11.5,56,538,0.00,2.47,0.00,0.000,6,0.000,0.018,2789,2218,3658,0,0,0,0,0,0
$GC,796,-1.34,-146.0,85.9,-9.8,80,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2217,3658,0,0,0,0,0,0
$GC,1051,-1.40,-146.0,107.6,-8.2,104,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2217,3659,0,0,0,0,0,0
$GC,1304,-1.46,-146.0,131.6,-10.2,128,1306,0.15,0.00,0.00,0.000,6,0.063,0.000,2736,2217,3659,0,0,0,0,0,0
$GC,1560,-1.46,-146.0,159.7,-10.6,152,1565,0.00,2.60,0.00,0.000,4,0.000,0.046,2737,631,3659,0,0,0,0,0,0
$GC,1581,-1.46,-146.0,162.3,-11.2,153,1592,0.00,2.47,0.00,0.000,6,0.000,0.019,2736,2213,3660,0,0,0,0,0,0
$GC,1850,-1.46,-146.0,191.0,-11.1,178,1854,0.00,2.50,0.00,0.000,4,0.000,0.045,2736,3782,3660,0,0,0,0,0,0
$GC,1905,-1.46,-146.0,197.7,-10.6,182,1911,0.00,2.45,0.00,0.000,6,0.000,0.021,2736,2201,3660,0,0,0,0,0,0
$GC,2177,-1.46,-146.0,224.7,-9.7,191,2181,0.00,2.55,0.00,0.000,4,0.000,0.049,2736,640,3660,0,0,0,0,0,0
$GC,2211,-1.46,-146.0,227.8,-9.0,191,2216,0.00,2.42,0.00,0.000,6,0.000,0.028,2736,2212,3660,0,0,0,0,0,0
$GC,2461,-1.46,-146.0,249.1,-8.2,198,2465,0.00,2.60,0.00,0.000,4,0.000,0.048,2736,631,3660,0,0,0,0,0,0
$GC,2493,-1.46,-146.0,251.9,-8.6,198,2499,0.00,2.45,0.00,0.000,6,0.000,0.028,2736,2199,3660,0,0,0,0,0,0
$GC,2745,-1.46,-146.0,269.5,-6.9,205,2749,0.00,2.58,0.00,0.000,4,0.000,0.048,2736,3782,3660,0,0,0,0,0,0
$GC,2800,-1.50,-146.0,273.6,-7.3,206,2804,0.00,2.45,0.00,0.000,6,0.000,0.022,2736,2212,3660,0,0,0,0,0,0
$GC,3066,-1.50,-146.0,291.7,-7.1,213,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2211,3660,0,0,0,0,0,0
$GC,3311,-1.54,-146.0,308.8,-7.0,219,3316,0.00,2.58,0.00,0.000,4,0.000,0.054,2736,3779,3659,0,0,0,0,0,0
$GC,3390,-1.59,-146.0,315.0,-7.2,220,3396,0.00,2.47,0.00,0.000,6,0.000,0.027,2736,2222,3659,0,0,0,0,0,0
$GC,3642,-1.64,-146.0,334.6,-7.9,227,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2222,3658,0,0,0,0,0,0
$GC,3884,-1.69,-146.0,355.5,-8.7,233,3890,0.12,2.78,0.00,0.000,4,0.074,0.077,2693,632,3656,0,0,0,0,0,0
$GC,3946,-1.65,-146.0,361.6,-10.1,234,3951,0.10,2.53,0.00,0.000,6,0.121,0.035,2713,2192,3656,0,0,0,0,0,0
$GC,4208,-1.65,-146.0,382.7,-7.7,241,4213,0.00,2.70,0.00,0.000,4,0.000,0.070,2713,625,3655,0,0,0,0,0,0
$GC,4269,-1.65,-146.0,387.2,-7.0,242,4273,0.00,2.58,0.00,0.000,6,0.000,0.038,2713,2197,3654,0,0,0,0,0,0
$GC,4529,-1.65,-146.0,406.4,-7.7,249,4534,0.00,2.65,0.00,0.000,4,0.000,0.061,2713,3793,3653,0,0,0,0,0,0
$GC,4580,-1.65,-146.0,411.0,-8.8,250,4584,0.00,2.60,0.00,0.000,6,0.000,0.038,2713,2212,3652,0,0,0,0,0,0
$GC,4852,-1.65,-146.0,435.2,-8.9,257,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2212,3650,0,0,0,0,0,0
$GC,5096,-1.65,-146.0,454.8,-8.0,263,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2212,3649,0,0,0,0,0,0
$GC,5340,-1.65,-146.0,473.4,-7.5,269,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2212,3647,0,0,0,0,0,0
$GC,5583,-1.65,-146.0,491.0,-7.3,275,5587,0.00,2.75,0.00,0.000,4,0.000,0.072,2713,3794,3646,0,0,0,0,0,0
$GC,5633,-1.69,-146.0,494.9,-8.3,276,5637,0.00,2.67,0.00,0.000,6,0.000,0.054,2713,2217,3646,0,0,0,0,0,0
$GC,5906,-1.73,-146.0,516.7,-8.3,283,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2216,3644,0,0,0,0,0,0
$GC,6149,-1.77,-146.0,536.3,-8.0,289,6154,0.10,2.78,0.00,0.000,4,0.088,0.081,2679,3790,3642,0,0,0,0,0,0
$GC,6198,-1.77,-146.0,541.3,-10.1,290,6203,0.00,2.70,0.00,0.000,6,0.000,0.066,2679,2208,3642,0,0,0,0,0,0
$GC,6472,-1.77,-146.0,565.8,-8.8,297,6477,0.00,2.80,0.00,0.000,4,0.000,0.091,2679,3788,3640,0,0,0,0,0,0
$GC,6499,-1.77,-146.0,568.5,-9.5,297,6504,0.00,2.72,0.00,0.000,6,0.000,0.073,2679,2221,3640,0,0,0,0,0,0
$GC,6749,-1.77,-146.0,589.9,-8.5,303,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2221,3639,0,0,0,0,0,0
$STATE,6868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6868,begin apogee
$GC,6876,-0.31,0.0,600.1,8.3,306,6997,1.45,0.00,117.25,1.027,6,0.076,0.000,3006,2367,3060,0,0,0,0,0,0
$STATE,6998,end apogee,CONTROL_FINISHED_OK
$STATE,6998,begin climb
$GC,7000,1.27,146.0,603.2,0.0,309,7128,1.45,0.00,123.47,0.999,6,0.033,0.000,3356,2367,2464,0,0,0,0,0,0
$GC,7355,1.01,146.0,566.4,13.4,318,7361,0.28,2.80,0.00,0.000,4,0.120,0.078,3298,3934,2456,0,0,0,0,0,0
$GC,7395,0.82,146.0,561.8,11.5,319,7401,0.22,2.75,0.00,0.000,6,0.115,0.058,3252,2363,2454,0,0,0,0,0,0
$GC,7682,0.79,184.2,537.6,8.2,326,7720,0.00,0.00,33.12,0.955,6,0.000,0.000,3252,2363,2308,0,0,0,0,0,0
$GC,7964,0.74,184.2,509.6,10.3,333,7969,0.00,2.75,0.00,0.000,4,0.000,0.069,3252,3935,2303,0,0,0,0,0,0
$GC,8009,0.67,184.2,504.5,11.6,334,8014,0.15,2.67,0.00,0.000,6,0.126,0.048,3223,2359,2302,0,0,0,0,0,0
$GC,8288,0.70,209.5,479.8,8.8,341,8317,0.00,2.83,22.58,0.920,4,0.000,0.061,3223,3935,2205,0,0,0,0,0,0
$GC,8351,0.70,209.5,473.6,10.4,342,8355,0.00,2.67,0.00,0.000,6,0.000,0.041,3223,2363,2203,0,0,0,0,0,0
$GC,8612,0.72,220.7,448.8,9.5,349,8631,0.00,2.97,10.93,0.848,4,0.000,0.099,3223,773,2158,0,0,0,0,0,0
$GC,8677,0.72,220.7,442.1,10.2,350,8682,0.00,2.67,0.00,0.000,6,0.000,0.049,3223,2376,2157,0,0,0,0,0,0
$GC,8938,0.72,220.7,415.3,10.3,357,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2376,2156,0,0,0,0,0,0
$GC,9181,0.73,229.1,391.7,9.6,363,9196,0.00,2.70,8.32,0.789,4,0.000,0.061,3223,3932,2126,0,0,0,0,0,0
$GC,9219,0.73,229.1,387.8,10.8,363,9225,0.00,2.65,0.00,0.000,6,0.000,0.035,3223,2334,2125,0,0,0,0,0,0
$GC,9469,0.77,229.1,361.6,10.8,370,9474,0.00,2.70,0.00,0.000,4,0.000,0.075,3223,787,2124,0,0,0,0,0,0
$GC,9541,0.77,229.1,353.3,11.4,371,9545,0.00,2.50,0.00,0.000,6,0.000,0.032,3223,2336,2122,0,0,0,0,0,0
$GC,9792,0.82,229.1,327.4,10.1,377,9798,0.12,2.67,0.00,0.000,4,0.087,0.060,3256,783,2122,0,0,0,0,0,0
$GC,9832,0.82,229.1,322.8,11.2,378,9836,0.00,2.50,0.00,0.000,6,0.000,0.028,3256,2332,2122,0,0,0,0,0,0
$GC,10116,0.82,229.1,292.9,10.1,385,10120,0.00,2.67,0.00,0.000,4,0.000,0.051,3256,3928,2121,0,0,0,0,0,0
$GC,10159,0.82,229.1,287.7,11.7,386,10164,0.00,2.62,0.00,0.000,6,0.000,0.029,3257,2310,2121,0,0,0,0,0,0
$GC,10437,0.82,229.1,258.9,10.1,393,10442,0.00,2.70,0.00,0.000,4,0.000,0.049,3256,3934,2121,0,0,0,0,0,0
$GC,10477,0.82,229.1,254.9,10.6,394,10482,0.00,2.65,0.00,0.000,6,0.000,0.029,3256,2295,2121,0,0,0,0,0,0
$GC,10761,0.82,233.8,227.1,9.8,401,10771,0.00,2.72,5.30,0.599,4,0.000,0.047,3256,3928,2105,0,0,0,0,0,0
$GC,10866,0.82,233.8,215.8,10.5,403,10871,0.00,2.60,0.00,0.000,6,0.000,0.029,3256,2301,2105,0,0,0,0,0,0
$GC,11126,0.87,269.9,193.5,8.3,415,11164,0.00,2.60,32.58,0.716,4,0.000,0.051,3256,778,1958,0,0,0,0,0,0
$GC,11180,0.87,274.5,188.1,9.8,419,11191,0.00,2.50,5.45,0.546,6,0.000,0.031,3256,2334,1940,0,0,0,0,0,0
$GC,11446,0.87,274.5,161.4,10.4,444,11450,0.00,2.62,0.00,0.000,4,0.000,0.043,3257,3929,1938,0,0,0,0,0,0
$GC,11468,0.87,274.5,158.9,11.4,445,11474,0.00,2.58,0.00,0.000,6,0.000,0.024,3256,2303,1936,0,0,0,0,0,0
$GC,11732,0.92,274.5,131.3,10.6,470,11737,0.00,2.65,0.00,0.000,4,0.000,0.041,3256,3925,1936,0,0,0,0,0,0
$GC,11761,0.96,274.5,127.8,11.4,472,11766,0.12,2.55,0.00,0.000,6,0.078,0.030,3293,2316,1936,0,0,0,0,0,0
$GC,12022,0.96,274.5,98.5,10.2,496,12026,0.00,2.65,0.00,0.000,4,0.000,0.044,3293,3930,1936,0,0,0,0,0,0
$GC,12067,0.96,274.5,94.0,11.4,499,12071,0.00,2.55,0.00,0.000,6,0.000,0.024,3293,2323,1936,0,0,0,0,0,0
$GC,12334,0.96,274.5,67.3,10.1,523,12339,0.00,2.62,0.00,0.000,4,0.000,0.044,3293,3925,1936,0,0,0,0,0,0
$GC,12358,0.96,274.5,64.2,10.4,524,12368,0.00,2.53,0.00,0.000,6,0.000,0.024,3293,2350,1936,0,0,0,0,0,0
$GC,12626,0.96,274.5,37.2,11.6,549,12630,0.00,2.58,0.00,0.000,4,0.000,0.047,3293,784,1937,0,0,0,0,0,0
$GC,12647,0.96,274.5,34.5,11.8,550,12652,0.00,2.45,0.00,0.000,6,0.000,0.020,3293,2351,1937,0,0,0,0,0,0
$STATE,12923,end climb,SURFACE_DEPTH_REACHED
$STATE,12923,begin surface coast
$FINISH,-0.2,1.023738
$STATE,12967,end surface coast,CONTROL_FINISHED_OK
$STATE,12967,begin surface
$SM_CCo,12989,101.30,0.529,0,0,1429,400.08
$SM_GC,0.27,0.00,0.00,101.30,0.000,0.000,0.529,475,2183,1429,-11.96,-0.76,400.08
$IRIDIUM_FIX,2232.34,-15808.45,080603,080807
$TT8_MAMPS,0.026078
$HUMID,59.49
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.50
$XPDR_PINGS,29
$24V_AH,23.3,2.698
$10V_AH,10.5,2.362
$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,27.550,157.900,359.000,101.300,0.000,31.300,35.389,195.375,7.250,0.000,15.942,1221.936,8946.768,577.080,2173.804,567.574,33.348,1393.113,0.000,2174.983,0.000,0.534,0.000
$DEVICE_MAMPS,132.691,98.943,1027.013,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,404.144,338.162,426.526,638.857,1217.778,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,47954,595
$CAP_FILE_SIZE,128690,0
$CFSIZE,260165632,179118080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140314,161005,2244.053,-15806.691,35,0.9,35,10.0