version: 66.06
glider: 146
mission: 9
dive: 28
start: 3 16 114 9 36 43
data:
$ID,146
$MISSION,9
$DIVE,28
$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,-323684.84
$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,56
$R_STBD_OVSHOOT,36
$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
$GPS1,092807,2302.698,-15804.891,63,1.4,64,10.1
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-67.2
$GPS2,093549,2302.667,-15804.900,11,1.5,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.162,0.203
$KALMAN_X,-27325.9,319.1,309.3,10780.3,-1477.3
$KALMAN_Y,10091.1,-508.3,348.4,14852.3,-59.4
$MHEAD_RNG_PITCHd_Wd,28.5,3364,-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,17,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-87.43,0.000,6,0.000,0.000,468,2176,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.9,-12.8,12,132,11.40,2.50,0.00,0.000,4,0.133,0.041,2713,653,3657,0,0,0,0,0,0
$GC,176,-1.11,-146.0,27.4,-22.7,20,184,0.17,2.50,0.00,0.000,6,0.087,0.025,2755,2211,3657,0,0,0,0,0,0
$GC,454,-1.05,-146.0,68.1,-10.9,46,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2213,3657,0,0,0,0,0,0
$GC,718,-1.00,-146.0,99.5,-11.6,71,724,0.12,0.00,0.00,0.000,6,0.112,0.000,2781,2213,3658,0,0,0,0,0,0
$GC,980,-1.00,-146.0,125.2,-9.4,96,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2213,3658,0,0,0,0,0,0
$GC,1235,-1.06,-146.0,148.6,-9.2,120,1239,0.00,2.55,0.00,0.000,4,0.000,0.046,2782,657,3659,0,0,0,0,0,0
$GC,1258,-1.12,-146.0,150.5,-8.4,121,1265,0.10,2.45,0.00,0.000,6,0.084,0.027,2742,2231,3658,0,0,0,0,0,0
$GC,1521,-1.12,-146.0,174.8,-9.0,146,1525,0.00,2.53,0.00,0.000,4,0.000,0.039,2742,3789,3659,0,0,0,0,0,0
$GC,1567,-1.12,-146.0,179.7,-10.9,149,1572,0.00,2.42,0.00,0.000,6,0.000,0.021,2742,2232,3659,0,0,0,0,0,0
$GC,1827,-1.12,-146.0,203.8,-9.1,171,1832,0.00,2.62,0.00,0.000,4,0.000,0.048,2742,635,3659,0,0,0,0,0,0
$GC,1901,-1.12,-146.0,211.2,-9.7,172,1905,0.00,2.45,0.00,0.000,6,0.000,0.029,2741,2204,3659,0,0,0,0,0,0
$GC,2152,-1.12,-146.0,234.5,-9.1,178,2156,0.00,2.58,0.00,0.000,4,0.000,0.044,2742,3787,3659,0,0,0,0,0,0
$GC,2191,-1.12,-146.0,238.2,-9.5,179,2196,0.00,2.45,0.00,0.000,6,0.000,0.021,2742,2217,3659,0,0,0,0,0,0
$GC,2476,-1.12,-146.0,262.1,-8.3,186,2480,0.00,2.62,0.00,0.000,4,0.000,0.054,2742,636,3659,0,0,0,0,0,0
$GC,2543,-1.18,-146.0,267.9,-8.2,187,2547,0.00,2.50,0.00,0.000,6,0.000,0.025,2742,2211,3659,0,0,0,0,0,0
$GC,2798,-1.21,-146.0,288.5,-8.0,194,2803,0.00,2.60,0.00,0.000,4,0.000,0.051,2742,3789,3659,0,0,0,0,0,0
$GC,2855,-1.27,-146.0,293.1,-8.1,195,2859,0.00,2.47,0.00,0.000,6,0.000,0.027,2742,2228,3659,0,0,0,0,0,0
$GC,3121,-1.30,-146.0,313.1,-7.6,202,3123,0.12,0.00,0.00,0.000,6,0.073,0.000,2697,2228,3658,0,0,0,0,0,0
$GC,3365,-1.26,-146.0,334.8,-9.0,208,3367,0.12,0.00,0.00,0.000,6,0.107,0.000,2724,2228,3657,0,0,0,0,0,0
$GC,3610,-1.26,-146.0,353.5,-7.8,214,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2228,3656,0,0,0,0,0,0
$GC,3852,-1.26,-146.0,372.7,-8.1,220,3857,0.00,2.83,0.00,0.000,4,0.000,0.081,2724,629,3654,0,0,0,0,0,0
$GC,3891,-1.26,-146.0,376.0,-8.5,221,3896,0.00,2.62,0.00,0.000,6,0.000,0.040,2724,2228,3654,0,0,0,0,0,0
$GC,4176,-1.26,-146.0,398.7,-7.8,228,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2228,3652,0,0,0,0,0,0
$GC,4418,-1.26,-146.0,416.6,-7.1,234,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2228,3651,0,0,0,0,0,0
$GC,4662,-1.30,-146.0,433.9,-7.2,240,4667,0.00,2.65,0.00,0.000,4,0.000,0.069,2724,3794,3649,0,0,0,0,0,0
$GC,4680,-1.30,-146.0,435.2,-7.3,240,4684,0.00,2.58,0.00,0.000,6,0.000,0.041,2724,2244,3649,0,0,0,0,0,0
$GC,4941,-1.34,-146.0,453.9,-7.0,247,4945,0.00,2.62,0.00,0.000,4,0.000,0.058,2724,3797,3647,0,0,0,0,0,0
$GC,4964,-1.38,-146.0,455.6,-7.2,247,4969,0.00,2.62,0.00,0.000,6,0.000,0.044,2723,2231,3647,0,0,0,0,0,0
$GC,5221,-1.43,-146.0,473.3,-6.9,254,5226,0.15,2.97,0.00,0.000,4,0.067,0.105,2676,622,3645,0,0,0,0,0,0
$GC,5237,-1.43,-146.0,474.8,-7.1,254,5242,0.00,2.72,0.00,0.000,6,0.000,0.054,2676,2240,3645,0,0,0,0,0,0
$GC,5499,-1.38,-146.0,497.7,-8.7,261,5504,0.10,2.72,0.00,0.000,4,0.123,0.075,2697,3802,3644,0,0,0,0,0,0
$GC,5522,-1.38,-146.0,499.7,-8.4,261,5526,0.00,2.65,0.00,0.000,6,0.000,0.048,2697,2233,3644,0,0,0,0,0,0
$GC,5777,-1.38,-146.0,520.3,-8.1,268,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2233,3642,0,0,0,0,0,0
$GC,6021,-1.38,-146.0,541.0,-8.5,274,6025,0.00,2.75,0.00,0.000,4,0.000,0.075,2697,3793,3640,0,0,0,0,0,0
$GC,6049,-1.38,-146.0,543.4,-9.6,274,6053,0.00,2.65,0.00,0.000,6,0.000,0.058,2697,2236,3640,0,0,0,0,0,0
$GC,6299,-1.38,-146.0,565.6,-8.8,280,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2236,3639,0,0,0,0,0,0
$GC,6542,-1.38,-146.0,586.9,-8.8,286,6547,0.00,3.10,0.00,0.000,4,0.000,0.124,2697,617,3638,0,0,0,0,0,0
$GC,6559,-1.38,-146.0,588.3,-8.7,286,6564,0.00,2.83,0.00,0.000,6,0.000,0.069,2698,2241,3637,0,0,0,0,0,0
$STATE,6736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6736,begin apogee
$GC,6742,-0.31,0.0,603.1,8.0,291,6863,1.05,0.00,117.60,1.033,6,0.078,0.000,2932,2374,3060,0,0,0,0,0,0
$STATE,6864,end apogee,CONTROL_FINISHED_OK
$STATE,6864,begin climb
$GC,6867,1.27,146.0,605.7,0.0,294,6999,1.48,3.00,124.03,1.005,4,0.039,0.100,3286,3941,2463,0,0,0,0,0,0
$GC,7041,1.10,146.0,592.9,13.4,298,7046,0.22,2.80,0.00,0.000,6,0.108,0.069,3241,2368,2459,0,0,0,0,0,0
$GC,7303,1.05,149.5,566.3,9.8,305,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2369,2455,0,0,0,0,0,0
$GC,7547,1.03,166.7,543.6,9.2,311,7572,0.00,3.08,17.70,0.929,4,0.000,0.106,3241,785,2380,0,0,0,0,0,0
$GC,7595,0.97,166.7,538.7,10.1,312,7600,0.15,2.72,0.00,0.000,6,0.123,0.059,3213,2367,2378,0,0,0,0,0,0
$GC,7875,1.00,191.2,514.2,8.9,319,7900,0.00,0.00,22.85,0.936,6,0.000,0.000,3213,2368,2280,0,0,0,0,0,0
$GC,8155,1.01,206.2,488.2,9.3,326,8175,0.00,2.80,14.32,0.890,4,0.000,0.077,3213,3935,2218,0,0,0,0,0,0
$GC,8186,1.04,225.1,485.2,9.1,326,8211,0.00,2.72,18.42,0.900,6,0.000,0.045,3213,2349,2141,0,0,0,0,0,0
$GC,8488,1.10,244.3,457.3,9.1,334,8512,0.12,3.05,17.77,0.895,4,0.085,0.104,3244,778,2063,0,0,0,0,0,0
$GC,8524,1.07,244.3,453.2,10.3,334,8529,0.00,2.67,0.00,0.000,6,0.000,0.045,3244,2347,2062,0,0,0,0,0,0
$GC,8775,1.07,244.3,425.0,11.3,341,8779,0.00,2.70,0.00,0.000,4,0.000,0.058,3244,3938,2059,0,0,0,0,0,0
$GC,8813,1.07,244.3,420.1,12.0,342,8818,0.00,2.65,0.00,0.000,6,0.000,0.037,3243,2341,2059,0,0,0,0,0,0
$GC,9096,1.07,244.3,388.1,11.2,349,9101,0.00,2.80,0.00,0.000,4,0.000,0.085,3244,785,2057,0,0,0,0,0,0
$GC,9117,1.07,244.3,385.3,12.5,349,9122,0.00,2.60,0.00,0.000,6,0.000,0.035,3244,2363,2057,0,0,0,0,0,0
$GC,9374,1.07,244.3,357.4,10.9,356,9378,0.00,2.65,0.00,0.000,4,0.000,0.054,3244,3934,2057,0,0,0,0,0,0
$GC,9400,1.07,244.3,354.0,12.0,356,9405,0.00,2.62,0.00,0.000,6,0.000,0.039,3244,2344,2055,0,0,0,0,0,0
$GC,9650,1.07,244.3,326.0,11.2,362,9655,0.00,2.70,0.00,0.000,4,0.000,0.068,3244,776,2055,0,0,0,0,0,0
$GC,9684,1.07,244.3,322.1,12.1,362,9689,0.00,2.58,0.00,0.000,6,0.000,0.037,3244,2348,2055,0,0,0,0,0,0
$GC,9933,1.07,244.3,296.1,10.2,369,9938,0.00,2.67,0.00,0.000,4,0.000,0.056,3244,3934,2055,0,0,0,0,0,0
$GC,9972,1.07,244.3,292.1,10.4,370,9977,0.00,2.58,0.00,0.000,6,0.000,0.031,3244,2338,2054,0,0,0,0,0,0
$GC,10256,1.11,277.6,267.6,8.5,377,10291,0.00,2.75,29.17,0.795,4,0.000,0.049,3244,3930,1927,0,0,0,0,0,0
$GC,10307,1.11,277.6,262.3,10.4,377,10312,0.00,2.60,0.00,0.000,6,0.000,0.027,3244,2344,1926,0,0,0,0,0,0
$GC,10575,1.15,277.6,234.7,10.3,384,10579,0.00,2.62,0.00,0.000,4,0.000,0.054,3243,778,1924,0,0,0,0,0,0
$GC,10642,1.21,277.6,227.7,10.4,385,10647,0.00,2.50,0.00,0.000,6,0.000,0.026,3244,2328,1923,0,0,0,0,0,0
$GC,10898,1.27,277.6,201.3,10.5,392,10903,0.15,2.67,0.00,0.000,4,0.075,0.048,3284,3933,1922,0,0,0,0,0,0
$GC,10915,1.27,277.6,199.4,10.5,392,10920,0.00,2.62,0.00,0.000,6,0.000,0.027,3285,2310,1922,0,0,0,0,0,0
$GC,11178,1.27,277.6,167.0,11.8,416,11183,0.00,2.53,0.00,0.000,4,0.000,0.051,3285,785,1922,0,0,0,0,0,0
$GC,11212,1.27,277.6,163.2,12.3,418,11216,0.00,2.45,0.00,0.000,6,0.000,0.025,3285,2318,1922,0,0,0,0,0,0
$GC,11475,1.27,277.6,130.8,11.7,442,11480,0.00,2.67,0.00,0.000,4,0.000,0.044,3285,3937,1922,0,0,0,0,0,0
$GC,11532,1.27,277.6,123.4,12.4,446,11542,0.00,2.62,0.00,0.000,6,0.000,0.026,3285,2316,1921,0,0,0,0,0,0
$GC,11800,1.29,297.1,95.0,9.1,471,11823,0.00,2.72,17.92,0.602,4,0.000,0.044,3284,3935,1847,0,0,0,0,0,0
$GC,11835,1.29,297.1,90.3,11.4,474,11839,0.00,2.62,0.00,0.000,6,0.000,0.025,3285,2311,1846,0,0,0,0,0,0
$GC,12104,1.29,297.1,61.1,11.7,498,12108,0.00,2.70,0.00,0.000,4,0.000,0.044,3285,3930,1845,0,0,0,0,0,0
$GC,12174,1.34,297.1,52.1,11.8,503,12179,0.00,2.55,0.00,0.000,6,0.000,0.027,3285,2330,1845,0,0,0,0,0,0
$GC,12460,1.38,332.8,19.5,8.4,534,12501,0.00,2.75,31.02,0.542,4,0.000,0.048,3284,3920,1702,0,0,0,0,0,0
$GC,12525,1.38,332.8,13.3,12.4,542,12535,0.00,2.58,0.00,0.000,6,0.000,0.028,3285,2355,1701,0,0,0,0,0,0
$STATE,12622,end climb,SURFACE_DEPTH_REACHED
$STATE,12622,begin surface coast
$FINISH,-0.1,1.023838
$STATE,12706,end surface coast,CONTROL_FINISHED_OK
$STATE,12707,begin surface
$SM_CCo,12728,37.67,0.525,0,0,1510,380.21
$SM_GC,0.42,0.00,0.00,37.67,0.000,0.000,0.525,470,2185,1510,-11.64,-0.71,380.21
$IRIDIUM_FIX,2253.38,-15804.96,100603,060626
$TT8_MAMPS,0.026078
$HUMID,60.43
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.10
$XPDR_PINGS,20
$24V_AH,23.3,4.294
$10V_AH,10.4,3.807
$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,26.900,165.425,410.825,37.675,0.000,23.907,42.172,256.861,5.000,0.000,12.883,1178.869,8859.442,538.846,2012.019,637.138,33.348,1353.372,0.000,2013.586,0.000,0.534,0.000
$DEVICE_MAMPS,132.691,124.254,1033.149,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.402,314.029,398.894,582.909,1108.398,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,44691,568
$CAP_FILE_SIZE,129864,0
$CFSIZE,260165632,178360320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160314,131225,2303.550,-15804.451,134,1.0,135,10.1