version: 66.06
glider: 146
mission: 9
dive: 17
start: 3 14 114 16 17 9
data:
$ID,146
$MISSION,9
$DIVE,17
$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,-323447.38
$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,52
$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
$GPS1,161005,2244.053,-15806.691,35,0.9,35,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-70.5
$GPS2,161613,2244.104,-15806.715,11,1.4,11,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.108,0.236
$KALMAN_X,-12785.8,-298.8,-158.3,-5762.0,-905.9
$KALMAN_Y,5171.0,311.5,-71.0,-15003.5,1053.2
$MHEAD_RNG_PITCHd_Wd,14.5,37864,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-145.9,0.0,0.0,0,111,0.00,0.00,-91.75,0.000,6,0.000,0.000,474,2183,3657,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.5,-8.8,12,132,11.82,2.60,0.00,0.000,4,0.135,0.030,2791,3790,3657,0,0,0,0,0,0
$GC,157,-0.63,-146.0,20.5,-39.3,17,167,0.60,2.53,0.00,0.000,6,0.059,0.025,2935,2229,3658,0,0,0,0,0,0
$GC,471,-0.97,-146.0,32.5,-3.0,59,476,0.28,2.62,0.00,0.000,4,0.043,0.044,2843,628,3658,0,0,0,0,0,0
$GC,506,-1.17,-146.0,34.1,-5.3,61,511,0.10,2.47,0.00,0.000,6,0.082,0.018,2801,2215,3658,0,0,0,0,0,0
$GC,775,-1.22,-146.0,57.3,-9.1,85,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2215,3659,0,0,0,0,0,0
$GC,1037,-1.28,-146.0,82.3,-8.3,110,1041,0.00,2.58,0.00,0.000,4,0.000,0.043,2801,632,3659,0,0,0,0,0,0
$GC,1067,-1.36,-146.0,84.7,-8.5,112,1072,0.00,2.40,0.00,0.000,6,0.000,0.018,2801,2196,3659,0,0,0,0,0,0
$GC,1330,-1.45,-146.0,106.3,-8.8,136,1335,0.17,2.53,0.00,0.000,4,0.055,0.036,2741,3774,3659,0,0,0,0,0,0
$GC,1383,-1.45,-146.0,112.4,-10.9,140,1387,0.00,2.50,0.00,0.000,6,0.000,0.021,2741,2182,3660,0,0,0,0,0,0
$GC,1646,-1.45,-146.0,140.0,-10.1,164,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2183,3660,0,0,0,0,0,0
$GC,1898,-1.45,-146.0,165.4,-9.6,188,1903,0.00,2.55,0.00,0.000,4,0.000,0.036,2740,3773,3661,0,0,0,0,0,0
$GC,1945,-1.45,-146.0,170.0,-9.6,191,1950,0.00,2.45,0.00,0.000,6,0.000,0.021,2741,2194,3661,0,0,0,0,0,0
$GC,2207,-1.45,-146.0,193.7,-8.8,216,2212,0.00,2.55,0.00,0.000,4,0.000,0.048,2741,632,3661,0,0,0,0,0,0
$GC,2232,-1.45,-146.0,196.1,-9.1,217,2237,0.00,2.42,0.00,0.000,6,0.000,0.027,2741,2193,3661,0,0,0,0,0,0
$GC,2483,-1.45,-146.0,219.5,-9.3,227,2488,0.00,2.55,0.00,0.000,4,0.000,0.046,2741,634,3661,0,0,0,0,0,0
$GC,2500,-1.45,-146.0,221.4,-9.7,227,2504,0.00,2.40,0.00,0.000,6,0.000,0.026,2741,2199,3661,0,0,0,0,0,0
$GC,2762,-1.45,-146.0,244.9,-8.7,234,2766,0.00,2.55,0.00,0.000,4,0.000,0.044,2741,3783,3661,0,0,0,0,0,0
$GC,2805,-1.45,-146.0,248.9,-9.2,235,2809,0.00,2.47,0.00,0.000,6,0.000,0.021,2741,2199,3661,0,0,0,0,0,0
$GC,3084,-1.48,-146.0,270.2,-7.7,242,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2199,3661,0,0,0,0,0,0
$GC,3329,-1.53,-146.0,288.9,-7.8,248,3333,0.00,2.58,0.00,0.000,4,0.000,0.054,2741,3771,3660,0,0,0,0,0,0
$GC,3356,-1.59,-146.0,291.5,-8.4,248,3360,0.00,2.45,0.00,0.000,6,0.000,0.033,2741,2218,3660,0,0,0,0,0,0
$GC,3606,-1.64,-146.0,310.5,-7.5,254,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2218,3660,0,0,0,0,0,0
$GC,3851,-1.70,-146.0,328.2,-7.4,260,3857,0.15,2.75,0.00,0.000,4,0.063,0.071,2689,624,3659,0,0,0,0,0,0
$GC,3881,-1.70,-146.0,331.0,-9.7,260,3885,0.00,2.50,0.00,0.000,6,0.000,0.035,2689,2182,3658,0,0,0,0,0,0
$GC,4131,-1.65,-146.0,355.1,-9.5,266,4136,0.12,2.67,0.00,0.000,4,0.108,0.066,2715,627,3657,0,0,0,0,0,0
$GC,4160,-1.65,-146.0,357.8,-9.2,266,4164,0.00,2.55,0.00,0.000,6,0.000,0.041,2715,2193,3657,0,0,0,0,0,0
$GC,4410,-1.65,-146.0,378.3,-8.2,272,4414,0.00,2.65,0.00,0.000,4,0.000,0.060,2715,3790,3655,0,0,0,0,0,0
$GC,4506,-1.70,-146.0,386.4,-8.7,274,4510,0.00,2.58,0.00,0.000,6,0.000,0.043,2715,2218,3655,0,0,0,0,0,0
$GC,4778,-1.70,-146.0,408.2,-8.0,281,4782,0.00,2.83,0.00,0.000,4,0.000,0.089,2715,628,3653,0,0,0,0,0,0
$GC,4810,-1.70,-146.0,411.0,-8.3,281,4816,0.00,2.60,0.00,0.000,6,0.000,0.043,2715,2221,3653,0,0,0,0,0,0
$GC,5061,-1.70,-146.0,430.7,-7.9,288,5066,0.00,2.65,0.00,0.000,4,0.000,0.064,2715,3801,3651,0,0,0,0,0,0
$GC,5083,-1.70,-146.0,432.6,-8.5,288,5087,0.00,2.60,0.00,0.000,6,0.000,0.044,2715,2226,3651,0,0,0,0,0,0
$GC,5338,-1.70,-146.0,451.4,-7.2,295,5342,0.00,2.88,0.00,0.000,4,0.000,0.093,2715,621,3649,0,0,0,0,0,0
$GC,5353,-1.70,-146.0,452.7,-7.4,295,5358,0.00,2.65,0.00,0.000,6,0.000,0.044,2715,2232,3649,0,0,0,0,0,0
$GC,5616,-1.74,-146.0,472.2,-7.8,302,5621,0.00,2.65,0.00,0.000,4,0.000,0.069,2715,3795,3647,0,0,0,0,0,0
$GC,5639,-1.74,-146.0,474.4,-8.7,302,5643,0.00,2.62,0.00,0.000,6,0.000,0.049,2715,2222,3647,0,0,0,0,0,0
$GC,5895,-1.78,-146.0,495.5,-8.2,309,5897,0.12,0.00,0.00,0.000,6,0.077,0.000,2674,2222,3645,0,0,0,0,0,0
$GC,6138,-1.74,-146.0,519.4,-9.9,315,6143,0.10,3.00,0.00,0.000,4,0.123,0.111,2694,627,3643,0,0,0,0,0,0
$GC,6178,-1.74,-146.0,523.2,-9.2,316,6182,0.00,2.70,0.00,0.000,6,0.000,0.056,2695,2228,3643,0,0,0,0,0,0
$GC,6462,-1.74,-146.0,548.0,-8.5,323,6467,0.00,2.75,0.00,0.000,4,0.000,0.084,2694,3793,3641,0,0,0,0,0,0
$GC,6517,-1.74,-146.0,553.1,-9.1,324,6522,0.00,2.65,0.00,0.000,6,0.000,0.064,2694,2244,3641,0,0,0,0,0,0
$GC,6783,-1.74,-146.0,574.3,-7.9,331,6788,0.00,3.05,0.00,0.000,4,0.000,0.114,2694,615,3639,0,0,0,0,0,0
$GC,6812,-1.74,-146.0,576.8,-8.5,331,6817,0.00,2.83,0.00,0.000,6,0.000,0.072,2694,2239,3640,0,0,0,0,0,0
$GC,7062,-1.74,-146.0,596.5,-7.7,337,7066,0.00,2.85,0.00,0.000,4,0.000,0.105,2694,3797,3638,0,0,0,0,0,0
$GC,7077,-1.74,-146.0,597.8,-7.7,337,7082,0.00,2.70,0.00,0.000,6,0.000,0.071,2694,2241,3638,0,0,0,0,0,0
$STATE,7132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7132,begin apogee
$GC,7140,-0.31,0.0,602.3,7.7,339,7261,1.38,0.00,117.32,1.030,6,0.076,0.000,3005,2377,3060,0,0,0,0,0,0
$STATE,7262,end apogee,CONTROL_FINISHED_OK
$STATE,7262,begin climb
$GC,7264,1.27,146.0,605.4,0.0,342,7398,1.45,2.88,123.55,1.001,4,0.032,0.091,3358,3936,2462,0,0,0,0,0,0
$GC,7467,0.96,146.0,587.8,15.6,347,7472,0.35,2.75,0.00,0.000,6,0.111,0.065,3288,2371,2458,0,0,0,0,0,0
$GC,7745,0.82,146.0,556.1,10.9,354,7747,0.15,0.00,0.00,0.000,6,0.134,0.000,3258,2371,2453,0,0,0,0,0,0
$GC,7990,0.75,151.9,531.9,9.7,360,8000,0.00,2.75,4.43,0.657,4,0.000,0.067,3258,3931,2440,0,0,0,0,0,0
$GC,8022,0.65,151.9,528.3,10.5,360,8028,0.20,2.65,0.00,0.000,6,0.119,0.054,3218,2377,2439,0,0,0,0,0,0
$GC,8272,0.71,200.9,508.7,7.7,366,8323,0.00,3.20,44.33,0.952,4,0.000,0.123,3218,778,2240,0,0,0,0,0,0
$GC,8346,0.74,219.6,502.4,9.1,367,8370,0.00,2.78,18.10,0.900,6,0.000,0.061,3218,2375,2162,0,0,0,0,0,0
$GC,8638,0.74,219.6,472.0,10.7,375,8643,0.00,2.90,0.00,0.000,4,0.000,0.088,3218,781,2157,0,0,0,0,0,0
$GC,8655,0.74,219.6,470.2,11.2,375,8660,0.00,2.70,0.00,0.000,6,0.000,0.052,3218,2374,2156,0,0,0,0,0,0
$GC,8915,0.78,219.6,441.4,11.1,382,8917,0.12,0.00,0.00,0.000,6,0.084,0.000,3250,2374,2155,0,0,0,0,0,0
$GC,9159,0.78,219.6,412.7,11.6,388,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2374,2155,0,0,0,0,0,0
$GC,9403,0.78,219.6,385.5,11.1,394,9404,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2374,2154,0,0,0,0,0,0
$GC,9647,0.78,219.6,359.4,10.7,400,9652,0.00,2.62,0.00,0.000,4,0.000,0.055,3250,3944,2153,0,0,0,0,0,0
$GC,9691,0.78,219.6,353.7,12.6,401,9695,0.00,2.62,0.00,0.000,6,0.000,0.031,3250,2340,2152,0,0,0,0,0,0
$GC,9969,0.78,219.6,322.6,10.9,408,9973,0.00,2.70,0.00,0.000,4,0.000,0.068,3250,781,2152,0,0,0,0,0,0
$GC,10002,0.78,219.6,319.0,11.3,408,10008,0.00,2.55,0.00,0.000,6,0.000,0.034,3250,2381,2151,0,0,0,0,0,0
$GC,10252,0.78,219.6,292.5,10.6,415,10256,0.00,2.55,0.00,0.000,4,0.000,0.052,3250,3922,2151,0,0,0,0,0,0
$GC,10303,0.78,219.6,287.1,11.4,416,10307,0.00,2.53,0.00,0.000,6,0.000,0.027,3250,2357,2150,0,0,0,0,0,0
$GC,10575,0.80,235.6,261.1,9.3,423,10595,0.00,2.72,13.07,0.753,4,0.000,0.057,3250,793,2098,0,0,0,0,0,0
$GC,10623,0.80,235.6,256.3,10.7,424,10628,0.00,2.53,0.00,0.000,6,0.000,0.035,3250,2357,2096,0,0,0,0,0,0
$GC,10902,0.83,259.4,231.2,8.9,431,10931,0.00,2.75,21.85,0.750,4,0.000,0.052,3250,3936,2002,0,0,0,0,0,0
$GC,10966,0.83,259.4,224.7,10.3,432,10970,0.00,2.55,0.00,0.000,6,0.000,0.026,3250,2370,1999,0,0,0,0,0,0
$GC,11227,0.89,270.5,199.5,9.5,439,11243,0.00,2.62,10.73,0.673,4,0.000,0.045,3250,3931,1957,0,0,0,0,0,0
$GC,11296,0.94,270.5,192.2,11.3,444,11305,0.08,2.50,0.00,0.000,6,0.053,0.025,3279,2396,1956,0,0,0,0,0,0
$GC,11560,0.94,270.5,163.7,11.2,469,11564,0.00,2.67,0.00,0.000,4,0.000,0.048,3278,786,1955,0,0,0,0,0,0
$GC,11612,0.94,270.5,156.8,13.1,473,11617,0.00,2.55,0.00,0.000,6,0.000,0.027,3279,2389,1954,0,0,0,0,0,0
$GC,11879,0.94,270.5,124.3,12.4,497,11883,0.00,2.50,0.00,0.000,4,0.000,0.043,3278,3930,1954,0,0,0,0,0,0
$GC,11911,0.94,270.5,119.8,13.5,499,11915,0.00,2.47,0.00,0.000,6,0.000,0.024,3279,2375,1954,0,0,0,0,0,0
$GC,12177,0.94,270.5,88.7,10.2,523,12182,0.00,2.62,0.00,0.000,4,0.000,0.047,3278,781,1954,0,0,0,0,0,0
$GC,12199,0.94,270.5,85.8,10.2,524,12208,0.00,2.55,0.00,0.000,6,0.000,0.021,3279,2386,1954,0,0,0,0,0,0
$GC,12468,0.98,270.5,58.6,10.5,549,12477,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2385,1954,0,0,0,0,0,0
$GC,12737,1.05,289.7,31.8,9.1,574,12765,0.10,0.00,17.98,0.543,6,0.090,0.000,3312,2385,1878,0,0,0,0,0,0
$STATE,12979,end climb,SURFACE_DEPTH_REACHED
$STATE,12979,begin surface coast
$FINISH,-0.3,1.023711
$STATE,13022,end surface coast,CONTROL_FINISHED_OK
$STATE,13022,begin surface
$SM_CCo,13043,88.80,0.533,0,0,1428,400.08
$SM_GC,0.24,0.00,0.00,88.80,0.000,0.000,0.533,474,2173,1428,-11.96,-1.05,400.08
$IRIDIUM_FIX,2234.68,-15805.41,080603,121202
$TT8_MAMPS,0.026845
$HUMID,60.19
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.00
$XPDR_PINGS,64
$24V_AH,23.3,2.826
$10V_AH,10.4,2.491
$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,28.700,174.650,371.350,88.800,0.000,24.353,35.974,175.441,16.000,0.000,13.387,1269.421,8813.728,567.308,2282.650,569.754,33.372,1428.693,0.000,2292.608,0.000,0.534,0.000
$DEVICE_MAMPS,134.992,122.720,1030.081,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,417.799,368.271,452.719,712.174,1357.886,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,47849,615
$CAP_FILE_SIZE,136324,0
$CFSIZE,260165632,179048448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140314,195723,2246.413,-15806.772,22,1.0,39,10.0