version: 66.06
glider: 146
mission: 9
dive: 24
start: 3 15 114 18 40 29
data:
$ID,146
$MISSION,9
$DIVE,24
$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,-323622.25
$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,3001
$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,48
$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
$GPS1,182114,2256.457,-15806.723,36,99.0,55,10.1
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-68.1
$GPS2,183933,2256.464,-15806.788,34,99.0,53,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.133,0.223
$KALMAN_X,-23168.2,-570.4,81.8,4527.5,-710.0
$KALMAN_Y,8625.1,501.1,33.5,4138.7,739.2
$MHEAD_RNG_PITCHd_Wd,20.8,15284,-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,-146.0,0.0,0.0,0,104,0.00,0.00,-86.40,0.000,3,0.000,0.000,470,2175,3656,0,0,0,0,0,0
$GC,107,-1.27,-146.0,3.4,-7.9,11,124,11.45,2.53,0.00,0.000,4,0.133,0.039,2714,643,3657,0,0,0,0,0,0
$GC,202,-1.14,-146.0,28.2,-13.8,24,210,0.15,2.50,0.00,0.000,6,0.088,0.021,2749,2218,3658,0,0,0,0,0,0
$GC,478,-1.07,-146.0,63.6,-15.5,50,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2220,3658,0,0,0,0,0,0
$GC,744,-1.01,-146.0,95.9,-12.2,75,749,0.15,2.60,0.00,0.000,4,0.107,0.044,2781,639,3659,0,0,0,0,0,0
$GC,784,-1.01,-146.0,101.4,-11.3,78,789,0.00,2.42,0.00,0.000,6,0.000,0.019,2781,2203,3659,0,0,0,0,0,0
$GC,1048,-1.01,-146.0,126.1,-8.7,102,1053,0.00,2.53,0.00,0.000,4,0.000,0.038,2781,3778,3659,0,0,0,0,0,0
$GC,1095,-1.06,-146.0,130.3,-9.6,105,1099,0.00,2.42,0.00,0.000,6,0.000,0.021,2781,2219,3659,0,0,0,0,0,0
$GC,1359,-1.11,-146.0,155.7,-10.2,129,1363,0.00,2.60,0.00,0.000,4,0.000,0.045,2781,636,3659,0,0,0,0,0,0
$GC,1473,-1.18,-146.0,167.5,-9.3,138,1482,0.12,2.45,0.00,0.000,6,0.036,0.020,2729,2191,3659,0,0,0,0,0,0
$GC,1741,-1.18,-146.0,194.8,-10.0,163,1745,0.00,2.55,0.00,0.000,4,0.000,0.045,2728,633,3659,0,0,0,0,0,0
$GC,1792,-1.18,-146.0,200.8,-11.0,167,1796,0.00,2.40,0.00,0.000,6,0.000,0.028,2728,2183,3659,0,0,0,0,0,0
$GC,2064,-1.18,-146.0,229.4,-10.6,174,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2183,3660,0,0,0,0,0,0
$GC,2309,-1.18,-146.0,252.8,-9.4,180,2313,0.00,2.60,0.00,0.000,4,0.000,0.049,2728,3775,3659,0,0,0,0,0,0
$GC,2393,-1.18,-146.0,260.7,-9.3,182,2397,0.00,2.53,0.00,0.000,6,0.000,0.024,2728,2168,3659,0,0,0,0,0,0
$GC,2676,-1.18,-146.0,285.5,-8.6,189,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2168,3658,0,0,0,0,0,0
$GC,2921,-1.18,-146.0,306.3,-8.8,195,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2168,3658,0,0,0,0,0,0
$GC,3163,-1.18,-146.0,328.0,-8.9,201,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2168,3657,0,0,0,0,0,0
$GC,3407,-1.18,-146.0,346.4,-7.4,207,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2168,3655,0,0,0,0,0,0
$GC,3651,-1.18,-146.0,363.8,-7.1,213,3655,0.00,2.70,0.00,0.000,4,0.000,0.054,2728,3772,3654,0,0,0,0,0,0
$GC,3702,-1.23,-146.0,367.8,-8.0,214,3706,0.00,2.58,0.00,0.000,6,0.000,0.040,2728,2186,3654,0,0,0,0,0,0
$GC,3974,-1.27,-146.0,388.4,-7.5,221,3979,0.00,2.65,0.00,0.000,4,0.000,0.056,2728,3771,3652,0,0,0,0,0,0
$GC,4009,-1.31,-146.0,391.1,-8.4,221,4015,0.00,2.62,0.00,0.000,6,0.000,0.045,2728,2180,3652,0,0,0,0,0,0
$GC,4259,-1.36,-146.0,410.5,-7.6,228,4265,0.10,2.80,0.00,0.000,4,0.086,0.087,2691,622,3650,0,0,0,0,0,0
$GC,4287,-1.36,-146.0,413.0,-9.4,228,4291,0.00,2.53,0.00,0.000,6,0.000,0.044,2691,2162,3649,0,0,0,0,0,0
$GC,4538,-1.36,-146.0,437.0,-9.7,234,4543,0.00,2.70,0.00,0.000,4,0.000,0.077,2691,627,3648,0,0,0,0,0,0
$GC,4560,-1.36,-146.0,439.5,-10.2,234,4564,0.00,2.55,0.00,0.000,6,0.000,0.049,2691,2164,3648,0,0,0,0,0,0
$GC,4816,-1.36,-146.0,463.4,-9.3,241,4820,0.00,2.80,0.00,0.000,4,0.000,0.064,2691,3804,3646,0,0,0,0,0,0
$GC,4837,-1.36,-146.0,465.6,-9.3,241,4842,0.00,2.72,0.00,0.000,6,0.000,0.046,2691,2175,3646,0,0,0,0,0,0
$GC,5094,-1.36,-146.0,488.3,-8.9,248,5098,0.00,2.80,0.00,0.000,4,0.000,0.069,2691,3801,3644,0,0,0,0,0,0
$GC,5115,-1.36,-146.0,490.4,-9.0,248,5119,0.00,2.75,0.00,0.000,6,0.000,0.051,2691,2171,3644,0,0,0,0,0,0
$GC,5370,-1.36,-146.0,512.4,-8.6,255,5375,0.00,2.83,0.00,0.000,4,0.000,0.075,2691,3797,3642,0,0,0,0,0,0
$GC,5410,-1.36,-146.0,516.0,-9.4,256,5415,0.00,2.75,0.00,0.000,6,0.000,0.058,2691,2179,3642,0,0,0,0,0,0
$GC,5694,-1.36,-146.0,539.0,-8.1,263,5698,0.00,2.85,0.00,0.000,4,0.000,0.081,2691,3796,3640,0,0,0,0,0,0
$GC,5720,-1.36,-146.0,541.4,-9.1,263,5725,0.00,2.72,0.00,0.000,6,0.000,0.061,2691,2194,3640,0,0,0,0,0,0
$GC,5972,-1.36,-146.0,561.8,-8.2,269,5976,0.00,2.85,0.00,0.000,4,0.000,0.087,2691,3790,3639,0,0,0,0,0,0
$GC,6032,-1.36,-146.0,567.4,-9.3,270,6037,0.00,2.78,0.00,0.000,6,0.000,0.071,2691,2201,3638,0,0,0,0,0,0
$GC,6294,-1.36,-146.0,589.0,-8.3,277,6299,0.00,2.88,0.00,0.000,4,0.000,0.093,2691,3792,3637,0,0,0,0,0,0
$GC,6316,-1.36,-146.0,591.2,-9.3,277,6320,0.00,2.80,0.00,0.000,6,0.000,0.074,2691,2207,3636,0,0,0,0,0,0
$STATE,6446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6446,begin apogee
$GC,6452,-0.31,0.0,602.0,8.3,281,6573,1.08,0.00,117.07,1.027,6,0.078,0.000,2932,2369,3059,0,0,0,0,0,0
$STATE,6573,end apogee,CONTROL_FINISHED_OK
$STATE,6574,begin climb
$GC,6577,1.27,146.0,604.5,0.0,284,6711,1.45,2.92,123.18,0.996,4,0.041,0.091,3282,3930,2463,0,0,0,0,0,0
$GC,6767,1.12,146.0,589.9,13.0,288,6772,0.17,2.80,0.00,0.000,6,0.117,0.069,3247,2364,2459,0,0,0,0,0,0
$GC,7024,1.06,146.0,562.7,10.5,295,7028,0.00,2.83,0.00,0.000,4,0.000,0.079,3247,3937,2454,0,0,0,0,0,0
$GC,7041,0.98,146.0,560.8,10.1,295,7046,0.15,2.75,0.00,0.000,6,0.123,0.058,3217,2365,2454,0,0,0,0,0,0
$GC,7303,1.04,192.5,539.3,7.9,302,7349,0.00,2.83,40.33,0.960,4,0.000,0.071,3217,3931,2274,0,0,0,0,0,0
$GC,7366,1.08,224.9,533.8,8.5,303,7401,0.00,2.70,29.67,0.939,6,0.000,0.052,3217,2381,2142,0,0,0,0,0,0
$GC,7665,1.09,233.7,505.4,9.6,311,7680,0.00,3.20,8.18,0.818,4,0.000,0.123,3217,781,2107,0,0,0,0,0,0
$GC,7702,1.09,233.7,501.3,10.3,311,7708,0.00,2.72,0.00,0.000,6,0.000,0.052,3217,2373,2106,0,0,0,0,0,0
$GC,7952,1.13,235.1,476.3,9.9,318,7954,0.12,0.00,0.00,0.000,6,0.152,0.000,3249,2373,2104,0,0,0,0,0,0
$GC,8197,1.13,235.1,447.8,11.8,324,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2373,2102,0,0,0,0,0,0
$GC,8439,1.13,235.1,419.4,11.7,330,8444,0.00,2.85,0.00,0.000,4,0.000,0.075,3249,773,2102,0,0,0,0,0,0
$GC,8465,1.13,235.1,416.1,12.0,330,8470,0.00,2.65,0.00,0.000,6,0.000,0.039,3249,2380,2101,0,0,0,0,0,0
$GC,8716,1.13,235.1,387.8,11.5,336,8720,0.00,2.80,0.00,0.000,4,0.000,0.068,3249,771,2100,0,0,0,0,0,0
$GC,8749,1.13,235.1,383.8,12.6,336,8754,0.00,2.62,0.00,0.000,6,0.000,0.035,3249,2359,2099,0,0,0,0,0,0
$GC,8999,1.13,235.1,355.3,11.4,343,9003,0.00,2.67,0.00,0.000,4,0.000,0.057,3249,3937,2099,0,0,0,0,0,0
$GC,9087,1.13,235.1,344.5,12.2,345,9091,0.00,2.55,0.00,0.000,6,0.000,0.035,3249,2362,2098,0,0,0,0,0,0
$GC,9372,1.13,235.1,313.2,11.1,352,9376,0.00,2.72,0.00,0.000,4,0.000,0.067,3249,778,2098,0,0,0,0,0,0
$GC,9393,1.13,235.1,310.6,11.3,352,9397,0.00,2.60,0.00,0.000,6,0.000,0.031,3249,2394,2098,0,0,0,0,0,0
$GC,9648,1.13,235.1,284.5,10.1,359,9653,0.00,2.60,0.00,0.000,4,0.000,0.054,3249,3938,2098,0,0,0,0,0,0
$GC,9677,1.13,235.1,281.2,11.9,359,9681,0.00,2.53,0.00,0.000,6,0.000,0.028,3249,2376,2097,0,0,0,0,0,0
$GC,9927,1.13,235.9,255.9,10.0,365,9931,0.00,2.67,0.00,0.000,4,0.000,0.055,3249,787,2097,0,0,0,0,0,0
$GC,9953,1.13,235.9,253.0,10.2,365,9958,0.00,2.58,0.00,0.000,6,0.000,0.034,3249,2386,2097,0,0,0,0,0,0
$GC,10205,1.15,251.7,229.4,9.3,371,10226,0.00,2.62,15.68,0.738,4,0.000,0.051,3249,3928,2032,0,0,0,0,0,0
$GC,10231,1.17,268.4,226.9,9.2,371,10253,0.00,2.55,16.23,0.718,6,0.000,0.025,3249,2360,1965,0,0,0,0,0,0
$GC,10508,1.22,268.4,196.6,11.3,380,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2361,1962,0,0,0,0,0,0
$GC,10764,1.27,268.4,170.0,10.2,404,10769,0.12,2.60,0.00,0.000,4,0.084,0.049,3284,789,1962,0,0,0,0,0,0
$GC,10804,1.27,268.4,164.7,12.9,407,10809,0.00,2.50,0.00,0.000,6,0.000,0.032,3284,2357,1961,0,0,0,0,0,0
$GC,11072,1.27,268.4,134.6,11.2,431,11077,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,2357,1960,0,0,0,0,0,0
$GC,11333,1.30,289.8,108.2,9.0,456,11358,0.00,2.65,19.40,0.617,4,0.000,0.044,3284,789,1877,0,0,0,0,0,0
$GC,11376,1.30,289.8,104.6,10.0,459,11380,0.00,2.47,0.00,0.000,6,0.000,0.023,3284,2351,1876,0,0,0,0,0,0
$GC,11643,1.30,289.8,76.9,10.3,483,11648,0.00,2.58,0.00,0.000,4,0.000,0.043,3284,3926,1876,0,0,0,0,0,0
$GC,11765,1.30,289.8,62.5,11.4,492,11769,0.00,2.50,0.00,0.000,6,0.000,0.025,3284,2352,1875,0,0,0,0,0,0
$GC,12033,1.34,289.8,34.0,10.6,516,12037,0.00,2.58,0.00,0.000,4,0.000,0.048,3284,791,1875,0,0,0,0,0,0
$GC,12053,1.34,289.8,30.9,12.5,517,12057,0.00,2.45,0.00,0.000,6,0.000,0.021,3284,2366,1875,0,0,0,0,0,0
$STATE,12284,end climb,SURFACE_DEPTH_REACHED
$STATE,12284,begin surface coast
$FINISH,0.4,1.023783
$STATE,12340,end surface coast,CONTROL_FINISHED_OK
$STATE,12340,begin surface
$SM_CCo,12362,73.75,0.530,0,0,1510,380.21
$SM_GC,0.40,0.00,0.00,73.75,0.000,0.000,0.530,472,2189,1510,-11.63,-0.59,380.21
$IRIDIUM_FIX,2246.36,-15808.88,090603,181821
$TT8_MAMPS,0.026078
$HUMID,60.43
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,29
$24V_AH,23.3,3.755
$10V_AH,10.5,3.342
$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,26.500,165.425,369.725,73.750,0.000,117.584,145.971,440.945,7.250,0.000,58.753,1161.063,8714.756,530.572,2077.490,1050.942,33.350,1329.671,0.000,2034.932,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,122.720,1027.013,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.916,312.407,399.137,585.188,1113.903,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,44796,559
$CAP_FILE_SIZE,136520,0
$CFSIZE,260165632,178601984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150314,220959,2258.028,-15806.321,92,1.2,92,10.1