version: 66.06
glider: 146
mission: 9
dive: 26
start: 3 16 114 2 10 37
data:
$ID,146
$MISSION,9
$DIVE,26
$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,-323650.44
$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,34
$R_STBD_OVSHOOT,35
$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
$GPS1,020036,2259.320,-15806.261,43,1.4,43,10.1
$_CALLS,1
$_XMS_NAKs,34
$_XMS_TOUTs,2
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-68.2
$GPS2,020943,2259.216,-15806.316,11,1.6,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.116,0.232
$KALMAN_X,-25827.6,348.0,-211.1,7367.8,-633.2
$KALMAN_Y,8644.4,307.0,-187.7,9633.8,-372.1
$MHEAD_RNG_PITCHd_Wd,16.5,10162,-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,-146.0,0.0,0.0,0,104,0.00,0.00,-85.55,0.000,6,0.000,0.000,474,2135,3657,0,0,0,0,0,0
$GC,107,-1.27,-146.0,4.1,-10.8,11,124,11.30,0.00,0.00,0.000,6,0.130,0.000,2717,2135,3658,0,0,0,0,0,0
$GC,400,-1.13,-146.0,56.8,-14.6,44,410,0.17,0.00,0.00,0.000,6,0.107,0.000,2754,2135,3659,0,0,0,0,0,0
$GC,665,-1.08,-146.0,90.1,-12.3,69,670,0.00,2.67,0.00,0.000,4,0.000,0.035,2754,3794,3659,0,0,0,0,0,0
$GC,724,-1.08,-146.0,96.9,-12.8,73,728,0.00,2.50,0.00,0.000,6,0.000,0.028,2754,2205,3659,0,0,0,0,0,0
$GC,990,-1.08,-146.0,127.1,-10.2,97,994,0.00,2.58,0.00,0.000,4,0.000,0.048,2754,635,3659,0,0,0,0,0,0
$GC,1047,-1.08,-146.0,133.0,-9.9,101,1052,0.00,2.45,0.00,0.000,6,0.000,0.025,2754,2221,3660,0,0,0,0,0,0
$GC,1310,-1.08,-146.0,157.8,-8.4,125,1314,0.00,2.60,0.00,0.000,4,0.000,0.044,2754,635,3660,0,0,0,0,0,0
$GC,1332,-1.08,-146.0,159.9,-8.6,126,1341,0.00,2.47,0.00,0.000,6,0.000,0.020,2754,2204,3660,0,0,0,0,0,0
$GC,1599,-1.08,-146.0,182.2,-8.7,151,1603,0.00,2.53,0.00,0.000,4,0.000,0.038,2754,3778,3660,0,0,0,0,0,0
$GC,1631,-1.08,-146.0,185.8,-8.9,153,1641,0.00,2.50,0.00,0.000,6,0.000,0.021,2754,2200,3661,0,0,0,0,0,0
$GC,1890,-1.08,-146.0,207.2,-8.2,172,1894,0.00,2.55,0.00,0.000,4,0.000,0.040,2754,3778,3661,0,0,0,0,0,0
$GC,1940,-1.13,-146.0,211.8,-8.9,173,1944,0.00,2.47,0.00,0.000,6,0.000,0.021,2754,2200,3661,0,0,0,0,0,0
$GC,2213,-1.17,-146.0,233.8,-8.3,180,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2200,3661,0,0,0,0,0,0
$GC,2456,-1.22,-146.0,255.1,-8.6,186,2460,0.00,2.60,0.00,0.000,4,0.000,0.055,2754,642,3661,0,0,0,0,0,0
$GC,2489,-1.27,-146.0,258.0,-8.9,186,2495,0.12,2.47,0.00,0.000,6,0.074,0.023,2708,2211,3660,0,0,0,0,0,0
$GC,2740,-1.27,-146.0,281.8,-9.7,193,2744,0.00,2.62,0.00,0.000,4,0.000,0.056,2707,642,3660,0,0,0,0,0,0
$GC,2761,-1.27,-146.0,283.9,-9.1,193,2766,0.00,2.45,0.00,0.000,6,0.000,0.027,2707,2198,3660,0,0,0,0,0,0
$GC,3017,-1.27,-146.0,304.4,-7.8,200,3021,0.00,2.62,0.00,0.000,4,0.000,0.048,2707,3792,3659,0,0,0,0,0,0
$GC,3061,-1.27,-146.0,308.2,-8.2,201,3065,0.00,2.47,0.00,0.000,6,0.000,0.027,2707,2232,3659,0,0,0,0,0,0
$GC,3339,-1.27,-146.0,331.9,-8.9,208,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2232,3658,0,0,0,0,0,0
$GC,3582,-1.27,-146.0,353.3,-8.7,214,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2232,3657,0,0,0,0,0,0
$GC,3826,-1.27,-146.0,373.9,-8.3,220,3830,0.00,2.62,0.00,0.000,4,0.000,0.061,2707,3786,3655,0,0,0,0,0,0
$GC,3848,-1.27,-146.0,375.9,-8.7,220,3853,0.00,2.53,0.00,0.000,6,0.000,0.039,2707,2233,3655,0,0,0,0,0,0
$GC,4103,-1.27,-146.0,395.9,-7.8,227,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2233,3653,0,0,0,0,0,0
$GC,4347,-1.27,-146.0,414.6,-7.6,233,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2233,3652,0,0,0,0,0,0
$GC,4591,-1.27,-146.0,433.9,-8.1,239,4595,0.00,2.62,0.00,0.000,4,0.000,0.066,2707,3783,3650,0,0,0,0,0,0
$GC,4630,-1.27,-146.0,437.4,-8.7,240,4634,0.00,2.60,0.00,0.000,6,0.000,0.048,2708,2230,3650,0,0,0,0,0,0
$GC,4913,-1.27,-146.0,458.8,-7.4,247,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2230,3648,0,0,0,0,0,0
$GC,5158,-1.27,-146.0,477.6,-7.9,253,5162,0.00,2.67,0.00,0.000,4,0.000,0.069,2708,3778,3646,0,0,0,0,0,0
$GC,5207,-1.27,-146.0,482.2,-9.0,254,5212,0.00,2.60,0.00,0.000,6,0.000,0.051,2707,2230,3646,0,0,0,0,0,0
$GC,5479,-1.27,-146.0,505.0,-8.2,261,5484,0.00,3.00,0.00,0.000,4,0.000,0.110,2707,624,3644,0,0,0,0,0,0
$GC,5524,-1.27,-146.0,508.9,-9.0,262,5529,0.00,2.67,0.00,0.000,6,0.000,0.052,2708,2213,3644,0,0,0,0,0,0
$GC,5802,-1.27,-146.0,531.4,-7.9,269,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2214,3642,0,0,0,0,0,0
$GC,6045,-1.27,-146.0,549.9,-7.7,275,6050,0.00,2.83,0.00,0.000,4,0.000,0.090,2707,3802,3641,0,0,0,0,0,0
$GC,6087,-1.31,-146.0,553.3,-8.7,276,6091,0.00,2.70,0.00,0.000,6,0.000,0.057,2707,2228,3640,0,0,0,0,0,0
$GC,6370,-1.31,-146.0,573.5,-6.8,283,6375,0.00,3.05,0.00,0.000,4,0.000,0.117,2708,618,3639,0,0,0,0,0,0
$GC,6403,-1.31,-146.0,575.9,-7.3,283,6408,0.00,2.78,0.00,0.000,6,0.000,0.065,2708,2219,3639,0,0,0,0,0,0
$GC,6654,-1.31,-146.0,592.8,-6.8,290,6659,0.00,2.90,0.00,0.000,4,0.000,0.100,2707,3803,3638,0,0,0,0,0,0
$GC,6686,-1.31,-146.0,595.4,-7.8,290,6692,0.00,2.72,0.00,0.000,6,0.000,0.067,2707,2230,3638,0,0,0,0,0,0
$STATE,6773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6773,begin apogee
$GC,6779,-0.31,0.0,601.6,7.2,293,6900,1.00,0.00,117.53,1.031,6,0.077,0.000,2931,2380,3060,0,0,0,0,0,0
$STATE,6901,end apogee,CONTROL_FINISHED_OK
$STATE,6901,begin climb
$GC,6904,1.27,146.0,603.9,0.0,296,7038,1.45,2.85,123.22,1.000,4,0.042,0.087,3280,3928,2463,0,0,0,0,0,0
$GC,7068,1.11,146.0,593.3,11.6,300,7074,0.17,2.78,0.00,0.000,6,0.114,0.065,3246,2366,2460,0,0,0,0,0,0
$GC,7354,1.07,156.6,565.2,9.5,307,7365,0.00,0.00,9.43,0.856,6,0.000,0.000,3246,2366,2421,0,0,0,0,0,0
$GC,7597,1.04,173.9,542.8,9.2,313,7621,0.00,3.05,16.48,0.918,4,0.000,0.105,3245,779,2350,0,0,0,0,0,0
$GC,7634,0.99,185.0,539.3,9.5,313,7654,0.15,2.78,11.45,0.871,6,0.127,0.062,3217,2364,2305,0,0,0,0,0,0
$GC,7928,1.03,213.3,513.5,8.7,321,7956,0.00,0.00,26.00,0.943,6,0.000,0.000,3217,2364,2189,0,0,0,0,0,0
$GC,8215,1.04,225.3,486.6,9.4,328,8234,0.00,2.95,11.45,0.870,4,0.000,0.086,3217,778,2141,0,0,0,0,0,0
$GC,8258,1.04,225.3,482.0,10.5,329,8262,0.00,2.70,0.00,0.000,6,0.000,0.050,3217,2361,2139,0,0,0,0,0,0
$GC,8542,1.08,227.7,454.0,9.9,336,8547,0.00,2.70,0.00,0.000,4,0.000,0.064,3217,3940,2138,0,0,0,0,0,0
$GC,8586,1.12,227.7,448.8,11.4,337,8591,0.12,2.65,0.00,0.000,6,0.083,0.045,3250,2361,2137,0,0,0,0,0,0
$GC,8864,1.12,227.7,417.0,11.6,344,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2361,2136,0,0,0,0,0,0
$GC,9109,1.12,227.7,389.3,11.3,350,9113,0.00,2.70,0.00,0.000,4,0.000,0.055,3250,3940,2136,0,0,0,0,0,0
$GC,9158,1.12,227.7,383.1,11.9,351,9162,0.00,2.60,0.00,0.000,6,0.000,0.032,3250,2366,2135,0,0,0,0,0,0
$GC,9430,1.12,227.7,354.0,10.5,358,9431,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2366,2134,0,0,0,0,0,0
$GC,9673,1.12,227.7,328.5,10.5,364,9678,0.00,2.67,0.00,0.000,4,0.000,0.053,3250,3941,2135,0,0,0,0,0,0
$GC,9713,1.12,227.7,324.3,11.3,365,9718,0.00,2.58,0.00,0.000,6,0.000,0.030,3250,2368,2133,0,0,0,0,0,0
$GC,9996,1.14,244.1,296.9,9.2,372,10020,0.00,2.78,16.88,0.807,4,0.000,0.052,3250,3941,2063,0,0,0,0,0,0
$GC,10031,1.14,244.1,293.3,10.4,372,10037,0.00,2.58,0.00,0.000,6,0.000,0.028,3250,2377,2062,0,0,0,0,0,0
$GC,10283,1.16,261.5,270.0,9.2,379,10307,0.00,2.75,16.50,0.776,4,0.000,0.054,3250,786,1992,0,0,0,0,0,0
$GC,10336,1.16,261.7,264.9,10.0,380,10340,0.00,2.60,0.00,0.000,6,0.000,0.035,3250,2380,1991,0,0,0,0,0,0
$GC,10609,1.17,263.2,237.9,9.9,387,10613,0.00,2.70,0.00,0.000,4,0.000,0.050,3250,779,1989,0,0,0,0,0,0
$GC,10641,1.17,263.2,234.3,10.0,387,10647,0.00,2.53,0.00,0.000,6,0.000,0.025,3250,2347,1989,0,0,0,0,0,0
$GC,10892,1.22,276.1,210.6,9.4,394,10911,0.00,2.72,13.68,0.708,4,0.000,0.049,3250,3930,1934,0,0,0,0,0,0
$GC,10963,1.27,276.1,203.5,10.8,395,10968,0.12,2.58,0.00,0.000,6,0.081,0.026,3286,2350,1932,0,0,0,0,0,0
$GC,11229,1.27,276.1,173.9,11.4,417,11230,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2350,1932,0,0,0,0,0,0
$GC,11488,1.27,276.1,142.2,11.9,441,11492,0.00,2.62,0.00,0.000,4,0.000,0.044,3286,3928,1932,0,0,0,0,0,0
$GC,11544,1.27,276.1,134.5,12.0,445,11550,0.00,2.50,0.00,0.000,6,0.000,0.025,3286,2366,1931,0,0,0,0,0,0
$GC,11808,1.27,276.1,105.5,10.5,470,11812,0.00,2.58,0.00,0.000,4,0.000,0.046,3286,789,1931,0,0,0,0,0,0
$GC,11853,1.27,276.1,100.9,11.1,473,11857,0.00,2.50,0.00,0.000,6,0.000,0.025,3286,2378,1931,0,0,0,0,0,0
$GC,12121,1.27,276.1,72.4,11.1,497,12126,0.00,2.55,0.00,0.000,4,0.000,0.045,3286,3927,1931,0,0,0,0,0,0
$GC,12155,1.27,276.1,68.3,11.5,499,12159,0.00,2.45,0.00,0.000,6,0.000,0.024,3286,2370,1931,0,0,0,0,0,0
$GC,12422,1.27,276.1,38.7,11.6,523,12426,0.00,2.60,0.00,0.000,4,0.000,0.044,3286,789,1931,0,0,0,0,0,0
$GC,12444,1.27,276.1,35.9,12.1,524,12448,0.00,2.50,0.00,0.000,6,0.000,0.023,3287,2388,1931,0,0,0,0,0,0
$STATE,12717,end climb,SURFACE_DEPTH_REACHED
$STATE,12717,begin surface coast
$FINISH,0.9,1.023822
$STATE,12779,end surface coast,CONTROL_FINISHED_OK
$STATE,12779,begin surface
$SM_CCo,12802,84.32,0.536,0,0,1510,380.21
$SM_GC,0.45,0.00,0.00,84.32,0.000,0.000,0.536,475,2206,1510,-11.62,-0.11,380.21
$IRIDIUM_FIX,2251.04,-15808.00,090603,222202
$TT8_MAMPS,0.026078
$HUMID,59.52
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.10
$XPDR_PINGS,19
$24V_AH,23.3,4.033
$10V_AH,10.5,3.577
$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,25.925,153.975,362.600,84.325,0.000,25.552,36.115,353.200,4.750,0.000,13.111,1185.821,8937.043,543.663,2052.539,713.134,33.353,1349.687,0.000,2049.061,0.000,0.535,0.000
$DEVICE_MAMPS,129.623,116.584,1030.848,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.444,316.882,398.901,577.984,1101.786,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,44751,571
$CAP_FILE_SIZE,128882,0
$CFSIZE,260165632,178487296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160314,054831,2301.171,-15805.820,146,1.1,146,10.1