version: 66.06
glider: 146
mission: 9
dive: 69
start: 3 22 114 20 12 17
data:
$ID,146
$MISSION,9
$DIVE,69
$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,-324707.56
$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,3004
$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,71
$R_STBD_OVSHOOT,34
$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
$GPS1,200406,2252.063,-15737.744,26,1.4,26,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-70.5
$GPS2,201124,2252.058,-15737.799,10,1.4,28,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.103,0.238
$KALMAN_X,-55174.9,608.6,-296.1,85215.5,-605.0
$KALMAN_Y,44349.4,-63.4,-275.3,-38873.3,1021.0
$MHEAD_RNG_PITCHd_Wd,13.4,25094,-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,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-89.62,0.000,6,0.000,0.000,465,2164,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.8,-9.5,12,131,11.65,0.00,0.00,0.000,6,0.142,0.000,2717,2163,3656,0,0,0,0,0,0
$GC,414,-1.15,-146.0,57.3,-13.5,45,423,0.17,0.00,0.00,0.000,6,0.102,0.000,2754,2163,3658,0,0,0,0,0,0
$GC,675,-1.10,-146.0,89.0,-10.4,70,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2163,3658,0,0,0,0,0,0
$GC,928,-1.10,-146.0,118.1,-11.1,94,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2163,3658,0,0,0,0,0,0
$GC,1185,-1.10,-146.0,142.8,-8.4,118,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2163,3659,0,0,0,0,0,0
$GC,1442,-1.10,-146.0,164.2,-8.2,142,1447,0.00,2.62,0.00,0.000,4,0.000,0.036,2754,3793,3659,0,0,0,0,0,0
$GC,1522,-1.14,-146.0,171.0,-8.3,148,1527,0.00,2.42,0.00,0.000,6,0.000,0.020,2754,2238,3659,0,0,0,0,0,0
$GC,1789,-1.14,-146.0,192.4,-7.5,172,1793,0.00,2.62,0.00,0.000,4,0.000,0.048,2753,636,3659,0,0,0,0,0,0
$GC,1810,-1.14,-146.0,194.6,-7.8,173,1816,0.00,2.45,0.00,0.000,6,0.000,0.019,2754,2228,3659,0,0,0,0,0,0
$GC,2095,-1.14,-146.0,217.5,-8.5,186,2099,0.00,2.50,0.00,0.000,4,0.000,0.038,2754,3779,3660,0,0,0,0,0,0
$GC,2122,-1.14,-146.0,220.1,-8.5,186,2126,0.00,2.45,0.00,0.000,6,0.000,0.020,2754,2212,3660,0,0,0,0,0,0
$GC,2374,-1.19,-146.0,241.9,-8.9,192,2378,0.00,2.58,0.00,0.000,4,0.000,0.050,2754,641,3660,0,0,0,0,0,0
$GC,2396,-1.24,-146.0,244.1,-8.4,192,2400,0.00,2.42,0.00,0.000,6,0.000,0.026,2754,2207,3660,0,0,0,0,0,0
$GC,2651,-1.30,-146.0,264.3,-7.7,199,2653,0.15,0.00,0.00,0.000,6,0.062,0.000,2699,2208,3660,0,0,0,0,0,0
$GC,2896,-1.26,-146.0,286.3,-9.0,205,2901,0.15,2.58,0.00,0.000,4,0.097,0.044,2732,3774,3660,0,0,0,0,0,0
$GC,2936,-1.26,-146.0,290.0,-8.6,206,2940,0.00,2.47,0.00,0.000,6,0.000,0.024,2732,2214,3659,0,0,0,0,0,0
$GC,3219,-1.26,-146.0,312.1,-7.7,213,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2214,3658,0,0,0,0,0,0
$GC,3464,-1.26,-146.0,330.6,-7.6,219,3468,0.00,2.70,0.00,0.000,4,0.000,0.069,2732,636,3657,0,0,0,0,0,0
$GC,3491,-1.26,-146.0,333.1,-8.8,219,3495,0.00,2.47,0.00,0.000,6,0.000,0.036,2732,2188,3657,0,0,0,0,0,0
$GC,3741,-1.30,-146.0,352.1,-7.5,225,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2188,3656,0,0,0,0,0,0
$GC,3986,-1.34,-146.0,370.3,-7.6,231,3991,0.00,2.70,0.00,0.000,4,0.000,0.054,2732,3792,3654,0,0,0,0,0,0
$GC,4014,-1.38,-146.0,372.6,-8.2,231,4019,0.12,2.60,0.00,0.000,6,0.070,0.031,2687,2194,3654,0,0,0,0,0,0
$GC,4264,-1.38,-146.0,396.0,-9.3,237,4268,0.00,2.75,0.00,0.000,4,0.000,0.079,2687,629,3653,0,0,0,0,0,0
$GC,4287,-1.33,-146.0,398.1,-9.2,237,4292,0.12,2.55,0.00,0.000,6,0.107,0.045,2713,2193,3653,0,0,0,0,0,0
$GC,4542,-1.33,-146.0,417.2,-7.2,244,4547,0.00,2.72,0.00,0.000,4,0.000,0.065,2713,3802,3651,0,0,0,0,0,0
$GC,4569,-1.33,-146.0,419.2,-7.6,244,4574,0.00,2.65,0.00,0.000,6,0.000,0.042,2713,2197,3651,0,0,0,0,0,0
$GC,4820,-1.33,-146.0,437.3,-7.4,250,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2197,3649,0,0,0,0,0,0
$GC,5063,-1.33,-146.0,455.5,-7.5,256,5067,0.00,2.72,0.00,0.000,4,0.000,0.060,2713,3795,3648,0,0,0,0,0,0
$GC,5123,-1.33,-146.0,460.4,-8.1,257,5128,0.00,2.65,0.00,0.000,6,0.000,0.048,2713,2208,3647,0,0,0,0,0,0
$GC,5385,-1.33,-146.0,480.0,-7.5,264,5390,0.00,2.72,0.00,0.000,4,0.000,0.064,2713,3797,3645,0,0,0,0,0,0
$GC,5407,-1.33,-146.0,481.9,-7.8,264,5411,0.00,2.65,0.00,0.000,6,0.000,0.046,2713,2221,3646,0,0,0,0,0,0
$GC,5662,-1.33,-146.0,500.7,-7.3,271,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2222,3644,0,0,0,0,0,0
$GC,5907,-1.37,-146.0,518.6,-7.3,277,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2221,3643,0,0,0,0,0,0
$GC,6149,-1.37,-146.0,536.1,-7.2,283,6154,0.00,2.78,0.00,0.000,4,0.000,0.077,2713,3795,3642,0,0,0,0,0,0
$GC,6204,-1.41,-146.0,540.7,-8.6,284,6209,0.00,2.67,0.00,0.000,6,0.000,0.056,2714,2220,3641,0,0,0,0,0,0
$GC,6472,-1.45,-146.0,563.1,-8.5,291,6474,0.12,0.00,0.00,0.000,6,0.071,0.000,2671,2220,3640,0,0,0,0,0,0
$GC,6714,-1.45,-146.0,586.9,-9.6,297,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2220,3639,0,0,0,0,0,0
$STATE,6874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6874,begin apogee
$GC,6880,-0.31,0.0,602.0,9.3,301,7002,1.17,0.00,118.25,1.021,6,0.076,0.000,2932,2367,3060,0,0,0,0,0,0
$STATE,7003,end apogee,CONTROL_FINISHED_OK
$STATE,7003,begin climb
$GC,7007,1.27,146.0,604.8,0.0,304,7143,1.45,2.95,124.15,0.992,4,0.036,0.090,3289,3931,2462,0,0,0,0,0,0
$GC,7195,1.12,146.0,589.8,13.4,308,7200,0.20,2.75,0.00,0.000,6,0.106,0.061,3248,2371,2458,0,0,0,0,0,0
$GC,7456,1.07,146.0,562.1,10.4,315,7461,0.00,3.05,0.00,0.000,4,0.000,0.115,3248,783,2454,0,0,0,0,0,0
$GC,7473,1.00,146.0,560.3,10.1,315,7478,0.12,2.75,0.00,0.000,6,0.126,0.055,3225,2372,2452,0,0,0,0,0,0
$GC,7735,1.03,167.6,536.3,9.0,322,7759,0.00,2.85,18.42,0.923,4,0.000,0.081,3224,3927,2375,0,0,0,0,0,0
$GC,7783,1.03,171.1,531.7,9.8,323,7792,0.00,2.65,4.50,0.650,6,0.000,0.044,3224,2368,2362,0,0,0,0,0,0
$GC,8060,1.04,180.2,504.9,9.6,330,8071,0.00,0.00,9.43,0.844,6,0.000,0.000,3224,2368,2325,0,0,0,0,0,0
$GC,8305,1.06,194.0,481.9,9.4,336,8324,0.00,2.75,13.77,0.885,4,0.000,0.063,3224,3936,2269,0,0,0,0,0,0
$GC,8341,1.07,203.7,478.1,9.6,336,8356,0.00,2.65,10.10,0.836,6,0.000,0.038,3225,2375,2229,0,0,0,0,0,0
$GC,8630,1.09,217.8,451.0,9.3,344,8649,0.00,2.97,13.88,0.871,4,0.000,0.095,3224,782,2170,0,0,0,0,0,0
$GC,8677,1.09,217.8,446.1,10.1,345,8682,0.00,2.67,0.00,0.000,6,0.000,0.038,3224,2383,2168,0,0,0,0,0,0
$GC,8956,1.13,217.8,418.5,10.0,352,8961,0.10,2.62,0.00,0.000,4,0.091,0.054,3254,3932,2167,0,0,0,0,0,0
$GC,8997,1.09,217.8,414.0,12.0,353,9001,0.00,2.58,0.00,0.000,6,0.000,0.037,3254,2365,2165,0,0,0,0,0,0
$GC,9280,1.09,217.8,382.3,11.1,360,9284,0.00,2.78,0.00,0.000,4,0.000,0.073,3254,783,2164,0,0,0,0,0,0
$GC,9328,1.09,217.8,376.7,11.6,361,9333,0.00,2.58,0.00,0.000,6,0.000,0.031,3254,2379,2164,0,0,0,0,0,0
$GC,9602,1.09,217.8,347.6,10.8,368,9606,0.00,2.60,0.00,0.000,4,0.000,0.052,3254,3934,2164,0,0,0,0,0,0
$GC,9628,1.09,217.8,344.3,11.5,368,9633,0.00,2.55,0.00,0.000,6,0.000,0.029,3254,2370,2163,0,0,0,0,0,0
$GC,9878,1.09,217.8,318.2,10.5,374,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2371,2163,0,0,0,0,0,0
$GC,10124,1.10,228.4,294.2,9.5,380,10135,0.00,0.00,9.48,0.745,6,0.000,0.000,3254,2370,2129,0,0,0,0,0,0
$GC,10366,1.10,228.4,269.3,10.3,386,10370,0.00,2.62,0.00,0.000,4,0.000,0.048,3254,3929,2127,0,0,0,0,0,0
$GC,10405,1.10,228.4,265.0,11.1,387,10409,0.00,2.50,0.00,0.000,6,0.000,0.025,3254,2374,2126,0,0,0,0,0,0
$GC,10689,1.12,242.7,238.0,9.3,394,10708,0.00,2.70,13.80,0.730,4,0.000,0.054,3254,788,2069,0,0,0,0,0,0
$GC,10720,1.17,284.6,235.2,8.1,394,10764,0.00,2.58,37.95,0.752,6,0.000,0.025,3254,2384,1899,0,0,0,0,0,0
$GC,11018,1.23,284.7,206.6,10.0,402,11019,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2384,1894,0,0,0,0,0,0
$GC,11267,1.30,296.9,182.0,9.4,420,11284,0.15,2.62,11.25,0.649,4,0.071,0.044,3296,3917,1849,0,0,0,0,0,0
$GC,11295,1.30,296.9,178.8,11.3,422,11301,0.00,2.53,0.00,0.000,6,0.000,0.025,3296,2367,1848,0,0,0,0,0,0
$GC,11563,1.30,296.9,148.2,11.8,447,11567,0.00,2.58,0.00,0.000,4,0.000,0.044,3296,3923,1847,0,0,0,0,0,0
$GC,11596,1.30,296.9,143.8,13.2,449,11600,0.00,2.50,0.00,0.000,6,0.000,0.025,3296,2368,1845,0,0,0,0,0,0
$GC,11863,1.30,296.9,114.7,10.2,473,11868,0.00,2.60,0.00,0.000,4,0.000,0.047,3296,781,1845,0,0,0,0,0,0
$GC,11903,1.30,296.9,109.8,10.4,476,11907,0.00,2.47,0.00,0.000,6,0.000,0.023,3296,2363,1845,0,0,0,0,0,0
$GC,12166,1.30,296.9,81.8,11.3,500,12171,0.00,2.55,0.00,0.000,4,0.000,0.042,3296,3920,1845,0,0,0,0,0,0
$GC,12199,1.30,296.9,78.0,12.6,502,12203,0.00,2.50,0.00,0.000,6,0.000,0.024,3296,2354,1844,0,0,0,0,0,0
$GC,12466,1.30,296.9,47.7,11.4,526,12475,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2354,1845,0,0,0,0,0,0
$GC,12761,1.30,296.9,13.0,11.2,562,12770,0.00,2.60,0.00,0.000,4,0.000,0.042,3297,3917,1846,0,0,0,0,0,0
$GC,12808,1.30,296.9,7.0,12.9,568,12817,0.00,2.53,0.00,0.000,6,0.000,0.025,3296,2352,1846,0,0,0,0,0,0
$STATE,12833,end climb,SURFACE_DEPTH_REACHED
$STATE,12833,begin surface coast
$FINISH,-0.3,1.023525
$STATE,12875,end surface coast,CONTROL_FINISHED_OK
$STATE,12876,begin surface
$SM_CCo,12898,67.15,0.522,0,0,1510,380.21
$SM_GC,0.47,0.00,0.00,67.15,0.000,0.000,0.522,466,2172,1510,-11.68,-1.07,380.21
$IRIDIUM_FIX,2239.35,-15739.35,160603,161606
$TT8_MAMPS,0.026078
$HUMID,59.96
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.30
$XPDR_PINGS,17
$24V_AH,23.3,9.859
$10V_AH,10.4,8.624
$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,27.050,142.600,384.975,67.150,0.000,31.543,37.022,206.002,4.250,0.000,30.028,1180.142,9071.096,533.462,2024.272,590.391,33.358,1326.863,0.000,2011.894,0.000,0.534,0.000
$DEVICE_MAMPS,141.895,115.050,1020.877,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,392.329,325.150,408.073,585.613,1116.311,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,44588,577
$CAP_FILE_SIZE,125824,0
$CFSIZE,260165632,175779840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220314,234933,2254.274,-15737.346,9,99.0,28,10.1