version: 66.06
glider: 146
mission: 9
dive: 71
start: 3 23 114 3 47 24
data:
$ID,146
$MISSION,9
$DIVE,71
$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,-324758.03
$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,35
$R_STBD_OVSHOOT,40
$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
$GPS1,033636,2256.138,-15736.443,31,1.1,31,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-69.6
$GPS2,034630,2256.168,-15736.460,8,1.3,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.128,0.226
$KALMAN_X,-55715.7,-63.2,478.8,87929.5,-1194.6
$KALMAN_Y,46253.5,-440.1,174.8,-33238.7,544.4
$MHEAD_RNG_PITCHd_Wd,19.4,17245,-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,14,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-87.75,0.000,6,0.000,0.000,468,2186,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,5.0,-12.8,12,131,11.55,2.60,0.00,0.000,4,0.137,0.031,2719,3793,3657,0,0,0,0,0,0
$GC,229,-1.19,-146.0,31.6,-14.1,28,239,0.10,2.55,0.00,0.000,6,0.096,0.023,2743,2209,3658,0,0,0,0,0,0
$GC,496,-1.11,-146.0,63.8,-12.2,53,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2209,3658,0,0,0,0,0,0
$GC,758,-1.04,-146.0,95.8,-11.6,78,763,0.15,2.60,0.00,0.000,4,0.102,0.048,2775,635,3658,0,0,0,0,0,0
$GC,793,-1.04,-146.0,99.8,-10.7,80,804,0.00,2.47,0.00,0.000,6,0.000,0.017,2775,2213,3658,0,0,0,0,0,0
$GC,1062,-1.04,-146.0,123.8,-8.8,105,1066,0.00,2.53,0.00,0.000,4,0.000,0.036,2775,3784,3658,0,0,0,0,0,0
$GC,1083,-1.04,-146.0,126.4,-9.0,106,1092,0.00,2.50,0.00,0.000,6,0.000,0.021,2775,2216,3658,0,0,0,0,0,0
$GC,1351,-1.08,-146.0,148.4,-8.3,131,1355,0.00,2.58,0.00,0.000,4,0.000,0.046,2775,637,3658,0,0,0,0,0,0
$GC,1396,-1.14,-146.0,153.1,-8.9,134,1401,0.00,2.45,0.00,0.000,6,0.000,0.018,2775,2217,3658,0,0,0,0,0,0
$GC,1659,-1.20,-146.0,174.1,-7.6,159,1661,0.15,0.00,0.00,0.000,6,0.060,0.000,2719,2217,3659,0,0,0,0,0,0
$GC,1915,-1.15,-146.0,198.2,-9.6,183,1924,0.15,0.00,0.00,0.000,6,0.094,0.000,2752,2217,3659,0,0,0,0,0,0
$GC,2176,-1.15,-146.0,220.1,-8.1,191,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2217,3659,0,0,0,0,0,0
$GC,2421,-1.15,-146.0,238.5,-7.6,197,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2217,3659,0,0,0,0,0,0
$GC,2664,-1.20,-146.0,257.0,-7.6,203,2668,0.00,2.65,0.00,0.000,4,0.000,0.054,2752,633,3659,0,0,0,0,0,0
$GC,2691,-1.24,-146.0,259.2,-7.7,203,2695,0.00,2.42,0.00,0.000,6,0.000,0.030,2752,2190,3659,0,0,0,0,0,0
$GC,2942,-1.29,-146.0,276.7,-6.9,209,2944,0.12,0.00,0.00,0.000,6,0.070,0.000,2701,2190,3660,0,0,0,0,0,0
$GC,3185,-1.25,-146.0,299.3,-9.4,215,3187,0.15,0.00,0.00,0.000,6,0.096,0.000,2733,2190,3659,0,0,0,0,0,0
$GC,3428,-1.25,-146.0,319.7,-8.4,221,3433,0.00,2.65,0.00,0.000,4,0.000,0.061,2734,634,3658,0,0,0,0,0,0
$GC,3474,-1.29,-146.0,324.0,-9.2,222,3479,0.00,2.50,0.00,0.000,6,0.000,0.035,2733,2194,3658,0,0,0,0,0,0
$GC,3753,-1.34,-146.0,348.2,-8.4,229,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2194,3657,0,0,0,0,0,0
$GC,3996,-1.39,-146.0,367.4,-7.8,235,4002,0.15,2.67,0.00,0.000,4,0.064,0.067,2680,641,3655,0,0,0,0,0,0
$GC,4058,-1.33,-146.0,373.7,-10.3,236,4063,0.15,2.50,0.00,0.000,6,0.097,0.040,2712,2191,3655,0,0,0,0,0,0
$GC,4319,-1.33,-146.0,396.0,-8.5,243,4324,0.00,2.70,0.00,0.000,4,0.000,0.058,2712,3798,3654,0,0,0,0,0,0
$GC,4387,-1.33,-146.0,402.3,-9.0,244,4391,0.00,2.58,0.00,0.000,6,0.000,0.035,2712,2216,3653,0,0,0,0,0,0
$GC,4642,-1.33,-146.0,424.3,-8.6,251,4646,0.00,2.65,0.00,0.000,4,0.000,0.055,2712,3788,3652,0,0,0,0,0,0
$GC,4669,-1.33,-146.0,426.8,-8.9,251,4673,0.00,2.60,0.00,0.000,6,0.000,0.044,2712,2206,3652,0,0,0,0,0,0
$GC,4920,-1.33,-146.0,445.2,-7.2,257,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2207,3650,0,0,0,0,0,0
$GC,5162,-1.33,-146.0,461.8,-6.9,263,5167,0.00,2.72,0.00,0.000,4,0.000,0.062,2712,3789,3648,0,0,0,0,0,0
$GC,5218,-1.33,-146.0,466.1,-8.0,264,5222,0.00,2.62,0.00,0.000,6,0.000,0.046,2712,2215,3648,0,0,0,0,0,0
$GC,5485,-1.33,-146.0,486.3,-7.9,271,5490,0.00,2.72,0.00,0.000,4,0.000,0.072,2712,3787,3646,0,0,0,0,0,0
$GC,5502,-1.33,-146.0,488.1,-8.2,271,5506,0.00,2.62,0.00,0.000,6,0.000,0.048,2712,2218,3646,0,0,0,0,0,0
$GC,5762,-1.33,-146.0,509.5,-7.9,278,5767,0.00,2.75,0.00,0.000,4,0.000,0.070,2712,3786,3644,0,0,0,0,0,0
$GC,5804,-1.37,-146.0,512.8,-8.2,279,5808,0.00,2.62,0.00,0.000,6,0.000,0.051,2712,2231,3644,0,0,0,0,0,0
$GC,6087,-1.41,-146.0,533.1,-6.8,286,6092,0.00,3.05,0.00,0.000,4,0.000,0.121,2712,624,3642,0,0,0,0,0,0
$GC,6114,-1.41,-146.0,535.2,-7.6,286,6119,0.00,2.70,0.00,0.000,6,0.000,0.053,2712,2230,3642,0,0,0,0,0,0
$GC,6366,-1.44,-146.0,552.1,-6.7,292,6371,0.10,2.78,0.00,0.000,4,0.084,0.082,2676,3794,3640,0,0,0,0,0,0
$GC,6388,-1.44,-146.0,554.0,-7.7,292,6392,0.00,2.65,0.00,0.000,6,0.000,0.054,2676,2232,3640,0,0,0,0,0,0
$GC,6643,-1.44,-146.0,574.3,-8.0,299,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2232,3639,0,0,0,0,0,0
$GC,6888,-1.44,-146.0,593.9,-8.1,305,6892,0.00,2.80,0.00,0.000,4,0.000,0.087,2675,3793,3638,0,0,0,0,0,0
$GC,6937,-1.44,-146.0,598.4,-9.4,306,6942,0.00,2.75,0.00,0.000,6,0.000,0.072,2676,2228,3637,0,0,0,0,0,0
$STATE,6956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6956,begin apogee
$GC,6962,-0.31,0.0,600.1,8.2,306,7088,1.12,0.00,118.30,1.017,6,0.073,0.000,2932,2379,3060,0,0,0,0,0,0
$STATE,7088,end apogee,CONTROL_FINISHED_OK
$STATE,7089,begin climb
$GC,7092,1.27,146.0,602.0,0.0,310,7229,1.42,2.88,124.20,0.989,4,0.037,0.087,3283,3929,2462,0,0,0,0,0,0
$GC,7282,1.12,146.0,587.0,12.4,314,7287,0.17,2.75,0.00,0.000,6,0.109,0.067,3247,2365,2458,0,0,0,0,0,0
$GC,7545,1.09,154.5,560.8,9.6,321,7559,0.00,3.10,7.15,0.795,4,0.000,0.114,3247,782,2429,0,0,0,0,0,0
$GC,7565,1.03,154.5,558.5,10.2,321,7570,0.00,2.72,0.00,0.000,6,0.000,0.054,3247,2353,2429,0,0,0,0,0,0
$GC,7828,0.99,155.3,532.9,10.0,328,7833,0.12,2.83,0.00,0.000,4,0.126,0.081,3223,3937,2426,0,0,0,0,0,0
$GC,7867,0.99,155.5,528.7,10.0,329,7872,0.00,2.70,0.00,0.000,6,0.000,0.048,3224,2361,2426,0,0,0,0,0,0
$GC,8150,1.03,186.7,503.7,8.6,336,8186,0.00,3.15,29.42,0.934,4,0.000,0.122,3223,778,2297,0,0,0,0,0,0
$GC,8215,1.04,190.6,498.0,9.8,336,8225,0.00,2.72,4.55,0.647,6,0.000,0.051,3223,2372,2283,0,0,0,0,0,0
$GC,8470,1.07,219.5,475.5,8.7,342,8504,0.00,2.83,26.90,0.917,4,0.000,0.060,3222,3942,2164,0,0,0,0,0,0
$GC,8528,1.07,219.5,469.9,10.5,343,8532,0.00,2.67,0.00,0.000,6,0.000,0.039,3223,2366,2162,0,0,0,0,0,0
$GC,8794,1.12,219.5,443.8,10.0,350,8796,0.10,0.00,0.00,0.000,6,0.094,0.000,3251,2366,2160,0,0,0,0,0,0
$GC,9037,1.12,219.5,416.5,11.3,356,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2366,2159,0,0,0,0,0,0
$GC,9283,1.12,219.5,389.5,11.2,362,9287,0.00,2.67,0.00,0.000,4,0.000,0.055,3250,3941,2158,0,0,0,0,0,0
$GC,9343,1.12,219.5,382.4,12.1,363,9347,0.00,2.60,0.00,0.000,6,0.000,0.031,3251,2365,2156,0,0,0,0,0,0
$GC,9605,1.12,220.8,356.4,9.9,370,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2366,2156,0,0,0,0,0,0
$GC,9849,1.12,220.8,330.3,10.7,376,9854,0.00,2.72,0.00,0.000,4,0.000,0.067,3251,778,2155,0,0,0,0,0,0
$GC,9915,1.12,220.8,322.7,11.3,377,9920,0.00,2.58,0.00,0.000,6,0.000,0.036,3251,2385,2154,0,0,0,0,0,0
$GC,10171,1.12,220.8,295.9,10.5,384,10175,0.00,2.72,0.00,0.000,4,0.000,0.054,3251,774,2154,0,0,0,0,0,0
$GC,10193,1.12,220.8,293.5,11.4,384,10197,0.00,2.55,0.00,0.000,6,0.000,0.032,3251,2358,2154,0,0,0,0,0,0
$GC,10448,1.17,229.2,268.4,9.6,391,10459,0.00,0.00,8.45,0.707,6,0.000,0.000,3251,2358,2125,0,0,0,0,0,0
$GC,10692,1.24,254.4,246.8,8.8,397,10722,0.10,2.70,23.25,0.757,4,0.091,0.048,3279,3918,2021,0,0,0,0,0,0
$GC,10756,1.24,254.4,239.8,12.6,398,10761,0.00,2.60,0.00,0.000,6,0.000,0.027,3279,2329,2020,0,0,0,0,0,0
$GC,11017,1.24,254.4,213.4,10.1,405,11022,0.00,2.58,0.00,0.000,4,0.000,0.053,3279,779,2018,0,0,0,0,0,0
$GC,11046,1.24,254.4,210.3,10.8,405,11050,0.00,2.50,0.00,0.000,6,0.000,0.024,3279,2342,2017,0,0,0,0,0,0
$GC,11303,1.24,254.4,183.9,10.7,420,11307,0.00,2.62,0.00,0.000,4,0.000,0.044,3279,3927,2018,0,0,0,0,0,0
$GC,11359,1.24,254.4,177.0,11.7,424,11365,0.00,2.55,0.00,0.000,6,0.000,0.026,3279,2343,2017,0,0,0,0,0,0
$GC,11624,1.25,259.1,151.0,9.8,449,11634,0.00,0.00,4.88,0.499,6,0.000,0.000,3279,2343,2003,0,0,0,0,0,0
$GC,11892,1.30,266.9,125.8,9.6,474,11905,0.00,0.00,9.05,0.573,6,0.000,0.000,3279,2343,1970,0,0,0,0,0,0
$GC,12163,1.38,284.7,100.2,9.2,499,12188,0.10,2.70,16.30,0.587,4,0.087,0.043,3312,3921,1900,0,0,0,0,0,0
$GC,12215,1.38,284.7,93.8,12.8,503,12220,0.00,2.55,0.00,0.000,6,0.000,0.025,3312,2351,1898,0,0,0,0,0,0
$GC,12484,1.38,284.7,61.2,13.0,527,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2351,1898,0,0,0,0,0,0
$GC,12755,1.38,284.7,26.3,13.0,554,12764,0.00,2.62,0.00,0.000,4,0.000,0.042,3312,3920,1898,0,0,0,0,0,0
$GC,12797,1.38,284.7,21.5,11.9,559,12806,0.00,2.53,0.00,0.000,6,0.000,0.027,3311,2365,1898,0,0,0,0,0,0
$STATE,12932,end climb,SURFACE_DEPTH_REACHED
$STATE,12932,begin surface coast
$FINISH,-0.3,1.011996
$STATE,12970,end surface coast,CONTROL_FINISHED_OK
$STATE,12970,begin surface
$SM_CCo,12991,77.10,0.523,0,0,1510,380.21
$SM_GC,0.38,0.00,0.00,77.10,0.000,0.000,0.523,468,2166,1510,-11.67,-1.24,380.21
$IRIDIUM_FIX,2244.02,-15736.30,170603,000022
$TT8_MAMPS,0.026078
$HUMID,58.97
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,14
$24V_AH,23.3,10.124
$10V_AH,10.4,8.855
$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,27.300,149.675,372.450,77.100,0.000,30.201,41.009,382.183,3.500,0.000,15.445,1199.517,9092.219,544.307,2050.689,775.777,33.350,1378.575,0.000,2055.896,0.000,0.536,0.000
$DEVICE_MAMPS,137.293,121.953,1017.042,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.413,330.014,417.144,593.212,1129.459,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,44808,584
$CAP_FILE_SIZE,131749,0
$CFSIZE,260165632,175648768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230314,072635,2257.539,-15736.097,34,1.4,40,10.1