version: 66.06
glider: 146
mission: 9
dive: 27
start: 3 16 114 5 55 57
data:
$ID,146
$MISSION,9
$DIVE,27
$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,-323671.34
$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,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,26
$R_STBD_OVSHOOT,38
$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
$GPS1,054831,2301.171,-15805.820,146,1.1,146,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-66.8
$GPS2,055503,2301.141,-15805.858,17,1.9,17,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.167,0.199
$KALMAN_X,-26861.5,501.7,51.6,8762.2,-1091.2
$KALMAN_Y,9489.8,-243.0,253.5,12451.4,54.2
$MHEAD_RNG_PITCHd_Wd,29.8,6536,-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,-87.60,0.000,6,0.000,0.000,475,2206,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,5.4,-14.4,12,132,11.48,2.58,0.00,0.000,4,0.135,0.035,2716,622,3656,0,0,0,0,0,0
$GC,176,-1.05,-146.0,28.2,-24.1,20,186,0.22,2.53,0.00,0.000,6,0.087,0.021,2768,2210,3657,0,0,0,0,0,0
$GC,444,-1.05,-146.0,63.3,-11.9,45,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2210,3658,0,0,0,0,0,0
$GC,704,-1.05,-146.0,93.9,-11.7,70,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2210,3658,0,0,0,0,0,0
$GC,959,-1.05,-146.0,122.1,-10.8,94,963,0.00,2.62,0.00,0.000,4,0.000,0.047,2768,628,3658,0,0,0,0,0,0
$GC,1006,-1.05,-146.0,127.2,-10.5,97,1011,0.00,2.45,0.00,0.000,6,0.000,0.020,2768,2208,3658,0,0,0,0,0,0
$GC,1268,-1.05,-146.0,151.8,-9.0,122,1273,0.00,2.62,0.00,0.000,4,0.000,0.044,2768,618,3659,0,0,0,0,0,0
$GC,1303,-1.10,-146.0,154.5,-9.6,124,1307,0.00,2.50,0.00,0.000,6,0.000,0.022,2768,2212,3658,0,0,0,0,0,0
$GC,1570,-1.14,-146.0,178.9,-8.4,148,1574,0.00,2.53,0.00,0.000,4,0.000,0.040,2768,3782,3659,0,0,0,0,0,0
$GC,1587,-1.18,-146.0,180.8,-8.7,149,1592,0.10,2.47,0.00,0.000,6,0.083,0.020,2727,2186,3659,0,0,0,0,0,0
$GC,1847,-1.14,-146.0,208.4,-10.4,167,1849,0.12,0.00,0.00,0.000,6,0.106,0.000,2754,2187,3659,0,0,0,0,0,0
$GC,2088,-1.14,-146.0,228.7,-8.0,173,2092,0.00,2.60,0.00,0.000,4,0.000,0.041,2753,3783,3659,0,0,0,0,0,0
$GC,2150,-1.20,-146.0,233.8,-7.8,174,2154,0.00,2.45,0.00,0.000,6,0.000,0.021,2754,2210,3659,0,0,0,0,0,0
$GC,2411,-1.24,-146.0,255.4,-8.1,181,2416,0.00,2.62,0.00,0.000,4,0.000,0.054,2754,641,3659,0,0,0,0,0,0
$GC,2502,-1.30,-146.0,262.7,-8.2,183,2507,0.15,2.45,0.00,0.000,6,0.064,0.023,2702,2194,3659,0,0,0,0,0,0
$GC,2781,-1.26,-146.0,288.7,-9.3,190,2783,0.12,0.00,0.00,0.000,6,0.107,0.000,2728,2194,3659,0,0,0,0,0,0
$GC,3024,-1.26,-146.0,309.5,-8.6,196,3028,0.00,2.65,0.00,0.000,4,0.000,0.051,2728,3788,3658,0,0,0,0,0,0
$GC,3052,-1.26,-146.0,312.1,-9.4,196,3056,0.00,2.55,0.00,0.000,6,0.000,0.027,2728,2195,3658,0,0,0,0,0,0
$GC,3302,-1.26,-146.0,333.8,-8.7,202,3306,0.00,2.65,0.00,0.000,4,0.000,0.056,2728,3780,3657,0,0,0,0,0,0
$GC,3334,-1.26,-146.0,336.9,-9.3,202,3340,0.00,2.55,0.00,0.000,6,0.000,0.030,2728,2189,3657,0,0,0,0,0,0
$GC,3585,-1.26,-146.0,358.5,-8.7,209,3590,0.00,2.70,0.00,0.000,4,0.000,0.074,2728,628,3656,0,0,0,0,0,0
$GC,3618,-1.26,-146.0,361.7,-9.1,209,3624,0.00,2.53,0.00,0.000,6,0.000,0.039,2728,2182,3656,0,0,0,0,0,0
$GC,3868,-1.26,-146.0,382.4,-8.2,216,3872,0.00,2.70,0.00,0.000,4,0.000,0.060,2728,3793,3654,0,0,0,0,0,0
$GC,3936,-1.31,-146.0,388.2,-8.6,217,3940,0.00,2.58,0.00,0.000,6,0.000,0.042,2728,2215,3654,0,0,0,0,0,0
$GC,4191,-1.36,-146.0,407.7,-7.5,224,4196,0.00,2.85,0.00,0.000,4,0.000,0.091,2728,628,3652,0,0,0,0,0,0
$GC,4218,-1.41,-146.0,410.0,-7.7,224,4224,0.15,2.62,0.00,0.000,6,0.065,0.045,2679,2215,3652,0,0,0,0,0,0
$GC,4470,-1.36,-146.0,433.1,-9.2,230,4475,0.10,2.70,0.00,0.000,4,0.119,0.067,2701,3796,3651,0,0,0,0,0,0
$GC,4497,-1.36,-146.0,435.8,-8.9,230,4502,0.00,2.60,0.00,0.000,6,0.000,0.048,2701,2214,3651,0,0,0,0,0,0
$GC,4748,-1.36,-146.0,456.8,-8.4,236,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2214,3649,0,0,0,0,0,0
$GC,4992,-1.36,-146.0,478.0,-8.7,242,4997,0.00,2.72,0.00,0.000,4,0.000,0.062,2700,3800,3647,0,0,0,0,0,0
$GC,5032,-1.36,-146.0,481.6,-8.8,243,5036,0.00,2.65,0.00,0.000,6,0.000,0.048,2701,2232,3647,0,0,0,0,0,0
$GC,5315,-1.36,-146.0,505.5,-8.2,250,5319,0.00,2.72,0.00,0.000,4,0.000,0.069,2701,3797,3646,0,0,0,0,0,0
$GC,5348,-1.36,-146.0,508.3,-9.0,250,5354,0.00,2.67,0.00,0.000,6,0.000,0.060,2701,2228,3645,0,0,0,0,0,0
$GC,5598,-1.36,-146.0,528.6,-8.1,257,5603,0.00,3.05,0.00,0.000,4,0.000,0.120,2701,618,3644,0,0,0,0,0,0
$GC,5626,-1.36,-146.0,531.1,-8.8,257,5630,0.00,2.75,0.00,0.000,6,0.000,0.058,2701,2221,3643,0,0,0,0,0,0
$GC,5877,-1.36,-146.0,551.9,-8.2,263,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2222,3641,0,0,0,0,0,0
$GC,6119,-1.36,-146.0,571.5,-8.1,269,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2222,3641,0,0,0,0,0,0
$GC,6363,-1.36,-146.0,591.0,-7.9,275,6368,0.00,3.03,0.00,0.000,4,0.000,0.110,2701,620,3639,0,0,0,0,0,0
$GC,6392,-1.36,-146.0,593.3,-8.5,275,6396,0.00,2.78,0.00,0.000,6,0.000,0.074,2701,2216,3639,0,0,0,0,0,0
$STATE,6518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6518,begin apogee
$GC,6525,-0.31,0.0,602.7,7.4,278,6646,1.02,0.00,117.75,1.034,6,0.078,0.000,2931,2377,3060,0,0,0,0,0,0
$STATE,6647,end apogee,CONTROL_FINISHED_OK
$STATE,6647,begin climb
$GC,6649,1.27,146.0,604.8,0.0,281,6784,1.45,2.97,123.28,1.000,4,0.041,0.099,3279,3938,2462,0,0,0,0,0,0
$GC,6840,1.12,146.0,589.1,13.5,285,6845,0.15,2.75,0.00,0.000,6,0.120,0.061,3248,2370,2458,0,0,0,0,0,0
$GC,7098,1.06,146.0,561.3,10.5,292,7103,0.00,3.03,0.00,0.000,4,0.000,0.109,3248,780,2454,0,0,0,0,0,0
$GC,7153,0.99,146.0,555.1,11.3,293,7159,0.15,2.78,0.00,0.000,6,0.131,0.059,3220,2370,2453,0,0,0,0,0,0
$GC,7420,1.04,181.4,532.3,8.4,300,7457,0.00,2.97,30.50,0.951,4,0.000,0.091,3219,782,2319,0,0,0,0,0,0
$GC,7480,1.06,204.4,527.2,8.9,300,7509,0.00,2.72,21.65,0.922,6,0.000,0.060,3219,2348,2225,0,0,0,0,0,0
$GC,7789,1.07,207.9,497.0,9.8,308,7794,0.00,2.88,0.00,0.000,4,0.000,0.086,3219,775,2220,0,0,0,0,0,0
$GC,7806,1.07,207.9,495.2,10.0,308,7810,0.00,2.67,0.00,0.000,6,0.000,0.050,3219,2350,2219,0,0,0,0,0,0
$GC,8066,1.08,216.1,469.8,9.6,315,8082,0.00,2.78,10.75,0.848,4,0.000,0.065,3219,3935,2178,0,0,0,0,0,0
$GC,8093,1.08,216.1,467.0,10.3,315,8098,0.00,2.72,0.00,0.000,6,0.000,0.041,3219,2328,2177,0,0,0,0,0,0
$GC,8344,1.08,220.4,442.3,9.8,321,8350,0.00,0.00,5.00,0.683,6,0.000,0.000,3219,2329,2161,0,0,0,0,0,0
$GC,8587,1.08,220.4,418.1,10.0,327,8591,0.00,2.78,0.00,0.000,4,0.000,0.054,3219,3946,2159,0,0,0,0,0,0
$GC,8613,1.08,220.4,415.0,11.1,327,8618,0.00,2.65,0.00,0.000,6,0.000,0.041,3219,2339,2158,0,0,0,0,0,0
$GC,8871,1.13,221.0,389.4,10.0,334,8876,0.10,2.78,0.00,0.000,4,0.096,0.084,3247,785,2158,0,0,0,0,0,0
$GC,8915,1.13,221.0,384.3,11.3,335,8919,0.00,2.55,0.00,0.000,6,0.000,0.035,3247,2332,2157,0,0,0,0,0,0
$GC,9193,1.13,221.6,356.2,10.0,342,9198,0.00,2.70,0.00,0.000,4,0.000,0.054,3247,3942,2156,0,0,0,0,0,0
$GC,9227,1.13,221.6,352.6,11.2,342,9233,0.00,2.67,0.00,0.000,6,0.000,0.034,3247,2316,2156,0,0,0,0,0,0
$GC,9477,1.14,233.6,328.7,9.4,349,9496,0.00,2.75,12.75,0.799,4,0.000,0.068,3247,778,2107,0,0,0,0,0,0
$GC,9521,1.17,253.2,324.8,9.1,350,9545,0.00,2.53,18.85,0.814,6,0.000,0.032,3247,2328,2026,0,0,0,0,0,0
$GC,9808,1.17,253.2,296.2,10.3,357,9813,0.00,2.72,0.00,0.000,4,0.000,0.052,3246,3941,2022,0,0,0,0,0,0
$GC,9885,1.17,253.2,286.9,12.0,358,9893,0.00,2.62,0.00,0.000,6,0.000,0.028,3247,2321,2021,0,0,0,0,0,0
$GC,10136,1.18,262.2,262.3,9.6,365,10150,0.00,2.67,8.75,0.706,4,0.000,0.058,3247,789,1989,0,0,0,0,0,0
$GC,10168,1.19,269.4,259.2,9.7,365,10182,0.00,2.50,8.20,0.686,6,0.000,0.029,3247,2336,1961,0,0,0,0,0,0
$GC,10467,1.23,269.4,228.6,10.3,373,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2336,1958,0,0,0,0,0,0
$GC,10712,1.27,269.4,204.0,10.0,379,10717,0.12,2.67,0.00,0.000,4,0.085,0.054,3280,3931,1958,0,0,0,0,0,0
$GC,10744,1.27,269.4,199.9,12.4,379,10750,0.00,2.55,0.00,0.000,6,0.000,0.026,3280,2337,1957,0,0,0,0,0,0
$GC,11007,1.27,269.4,170.3,11.7,404,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2337,1957,0,0,0,0,0,0
$GC,11262,1.27,269.4,142.5,10.4,428,11266,0.00,2.67,0.00,0.000,4,0.000,0.046,3280,3941,1956,0,0,0,0,0,0
$GC,11339,1.27,269.4,133.6,11.6,434,11343,0.00,2.53,0.00,0.000,6,0.000,0.025,3280,2352,1957,0,0,0,0,0,0
$GC,11602,1.27,269.4,106.1,10.8,458,11607,0.00,2.58,0.00,0.000,4,0.000,0.047,3280,782,1957,0,0,0,0,0,0
$GC,11631,1.27,269.4,102.5,11.4,460,11636,0.00,2.47,0.00,0.000,6,0.000,0.024,3280,2359,1956,0,0,0,0,0,0
$GC,11900,1.27,269.4,74.8,14.0,484,11904,0.00,2.58,0.00,0.000,4,0.000,0.051,3280,3923,1957,0,0,0,0,0,0
$GC,11935,1.34,269.4,68.6,15.6,486,11944,0.00,2.53,0.00,0.000,6,0.000,0.026,3280,2358,1957,0,0,0,0,0,0
$GC,12204,1.49,351.9,46.6,6.2,511,12284,0.17,0.00,69.78,0.567,6,0.064,0.000,3332,2357,1624,0,0,0,0,0,0
$STATE,12543,end climb,SURFACE_DEPTH_REACHED
$STATE,12543,begin surface coast
$FINISH,-0.0,1.023830
$STATE,12579,end surface coast,CONTROL_FINISHED_OK
$STATE,12579,begin surface
$SM_CCo,12602,21.98,0.512,0,0,1510,380.21
$SM_GC,0.37,0.00,0.00,21.98,0.000,0.000,0.512,469,2178,1510,-11.65,-0.90,380.21
$IRIDIUM_FIX,2251.04,-15808.00,100603,020231
$TT8_MAMPS,0.025311
$HUMID,60.43
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,20
$24V_AH,23.3,4.161
$10V_AH,10.4,3.692
$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,27.200,165.775,427.250,21.975,0.000,23.609,35.158,189.919,5.000,0.000,20.287,1161.812,8740.594,516.804,2035.323,560.065,33.353,1364.490,0.000,2028.960,0.000,0.534,0.000
$DEVICE_MAMPS,134.992,119.652,1033.916,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.355,311.540,397.243,575.496,1095.626,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,44778,560
$CAP_FILE_SIZE,128967,0
$CFSIZE,260165632,178421760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160314,092807,2302.698,-15804.891,63,1.4,64,10.1