version: 66.06
glider: 146
mission: 9
dive: 100
start: 3 27 114 16 53 50
data:
$ID,146
$MISSION,9
$DIVE,100
$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,-325413.97
$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,33
$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
$GPS1,163755,2244.778,-15806.375,24,2.7,43,10.0
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-68.1
$GPS2,165254,2244.814,-15806.525,14,1.1,19,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.052,0.254
$KALMAN_X,-68477.9,-82.8,-221.0,50102.4,-330.3
$KALMAN_Y,53413.1,195.8,224.6,-62112.5,102.6
$MHEAD_RNG_PITCHd_Wd,1.6,36524,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-88.22,0.000,6,0.000,0.000,465,2155,3656,0,0,0,0,0,0
$GC,113,-1.27,-146.0,4.6,-12.0,12,130,11.73,2.65,0.00,0.000,4,0.144,0.031,2717,3789,3657,0,0,0,0,0,0
$GC,227,-1.19,-146.0,31.5,-13.6,28,233,0.12,2.53,0.00,0.000,6,0.126,0.022,2741,2206,3658,0,0,0,0,0,0
$GC,497,-1.12,-146.0,65.9,-13.1,52,501,0.00,2.58,0.00,0.000,4,0.000,0.048,2740,639,3659,0,0,0,0,0,0
$GC,518,-1.03,-146.0,69.3,-12.9,53,524,0.17,2.45,0.00,0.000,6,0.110,0.017,2776,2233,3658,0,0,0,0,0,0
$GC,785,-1.03,-146.0,97.4,-9.5,77,789,0.00,2.65,0.00,0.000,4,0.000,0.044,2776,630,3659,0,0,0,0,0,0
$GC,807,-1.03,-146.0,99.9,-9.1,78,818,0.00,2.47,0.00,0.000,6,0.000,0.018,2776,2211,3659,0,0,0,0,0,0
$GC,1074,-1.03,-146.0,122.7,-8.2,103,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2211,3659,0,0,0,0,0,0
$GC,1338,-1.08,-146.0,141.8,-6.9,128,1343,0.00,2.50,0.00,0.000,4,0.000,0.035,2776,3774,3659,0,0,0,0,0,0
$GC,1374,-1.16,-146.0,144.5,-7.2,130,1384,0.08,2.50,0.00,0.000,6,0.041,0.021,2734,2205,3659,0,0,0,0,0,0
$GC,1638,-1.16,-146.0,167.8,-9.2,155,1642,0.00,2.55,0.00,0.000,4,0.000,0.047,2734,638,3660,0,0,0,0,0,0
$GC,1706,-1.16,-146.0,174.5,-9.5,160,1711,0.00,2.42,0.00,0.000,6,0.000,0.028,2734,2201,3659,0,0,0,0,0,0
$GC,1970,-1.16,-146.0,200.5,-10.2,185,1974,0.00,2.53,0.00,0.000,4,0.000,0.036,2734,3774,3660,0,0,0,0,0,0
$GC,2013,-1.16,-146.0,205.7,-10.6,186,2018,0.00,2.45,0.00,0.000,6,0.000,0.019,2734,2195,3660,0,0,0,0,0,0
$GC,2292,-1.16,-146.0,231.7,-8.9,193,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2195,3660,0,0,0,0,0,0
$GC,2535,-1.16,-146.0,252.4,-8.5,199,2540,0.00,2.60,0.00,0.000,4,0.000,0.042,2734,3771,3660,0,0,0,0,0,0
$GC,2586,-1.16,-146.0,256.9,-9.1,200,2590,0.00,2.45,0.00,0.000,6,0.000,0.020,2734,2218,3660,0,0,0,0,0,0
$GC,2858,-1.16,-146.0,280.3,-8.3,207,2862,0.00,2.58,0.00,0.000,4,0.000,0.044,2734,3772,3659,0,0,0,0,0,0
$GC,2920,-1.16,-146.0,285.4,-8.3,208,2924,0.00,2.45,0.00,0.000,6,0.000,0.021,2734,2230,3659,0,0,0,0,0,0
$GC,3181,-1.16,-146.0,305.1,-7.5,215,3185,0.00,2.72,0.00,0.000,4,0.000,0.066,2733,637,3658,0,0,0,0,0,0
$GC,3208,-1.16,-146.0,307.1,-7.5,215,3212,0.00,2.47,0.00,0.000,6,0.000,0.035,2733,2205,3658,0,0,0,0,0,0
$GC,3459,-1.19,-146.0,324.1,-6.9,221,3464,0.00,2.67,0.00,0.000,4,0.000,0.061,2734,637,3657,0,0,0,0,0,0
$GC,3481,-1.19,-146.0,325.8,-7.5,221,3485,0.00,2.53,0.00,0.000,6,0.000,0.031,2733,2219,3657,0,0,0,0,0,0
$GC,3736,-1.23,-146.0,345.4,-7.8,228,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2219,3655,0,0,0,0,0,0
$GC,3981,-1.27,-146.0,364.7,-7.8,234,3986,0.00,2.60,0.00,0.000,4,0.000,0.051,2733,3791,3654,0,0,0,0,0,0
$GC,4026,-1.34,-146.0,368.5,-8.0,235,4030,0.00,2.50,0.00,0.000,6,0.000,0.029,2734,2235,3653,0,0,0,0,0,0
$GC,4304,-1.39,-146.0,386.7,-6.4,242,4309,0.15,2.60,0.00,0.000,4,0.061,0.049,2679,3789,3651,0,0,0,0,0,0
$GC,4327,-1.39,-146.0,388.5,-7.7,242,4332,0.10,2.53,0.00,0.000,6,0.115,0.032,2700,2227,3651,0,0,0,0,0,0
$GC,4582,-1.39,-146.0,409.3,-8.3,249,4587,0.00,2.83,0.00,0.000,4,0.000,0.087,2700,629,3649,0,0,0,0,0,0
$GC,4643,-1.39,-146.0,415.0,-8.8,250,4647,0.00,2.60,0.00,0.000,6,0.000,0.038,2700,2226,3649,0,0,0,0,0,0
$GC,4905,-1.39,-146.0,437.0,-8.6,257,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2226,3648,0,0,0,0,0,0
$GC,5147,-1.39,-146.0,459.0,-9.0,263,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2226,3646,0,0,0,0,0,0
$GC,5391,-1.39,-146.0,480.8,-9.0,269,5395,0.00,2.67,0.00,0.000,4,0.000,0.063,2700,3794,3645,0,0,0,0,0,0
$GC,5476,-1.39,-146.0,488.9,-8.9,271,5481,0.00,2.62,0.00,0.000,6,0.000,0.044,2700,2216,3644,0,0,0,0,0,0
$GC,5759,-1.39,-146.0,512.7,-8.2,278,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2217,3642,0,0,0,0,0,0
$GC,6003,-1.39,-146.0,532.0,-7.8,284,6008,0.00,3.00,0.00,0.000,4,0.000,0.114,2700,625,3641,0,0,0,0,0,0
$GC,6037,-1.39,-146.0,534.8,-8.5,284,6043,0.00,2.67,0.00,0.000,6,0.000,0.052,2700,2209,3641,0,0,0,0,0,0
$GC,6287,-1.39,-146.0,554.5,-7.8,291,6292,0.00,2.80,0.00,0.000,4,0.000,0.086,2700,3795,3639,0,0,0,0,0,0
$GC,6353,-1.39,-146.0,560.1,-8.8,292,6358,0.00,2.65,0.00,0.000,6,0.000,0.054,2700,2230,3639,0,0,0,0,0,0
$GC,6610,-1.39,-146.0,578.7,-7.2,299,6614,0.00,2.78,0.00,0.000,4,0.000,0.083,2700,3793,3637,0,0,0,0,0,0
$GC,6631,-1.39,-146.0,580.5,-7.9,299,6636,0.00,2.70,0.00,0.000,6,0.000,0.061,2700,2231,3637,0,0,0,0,0,0
$GC,6887,-1.39,-146.0,599.7,-7.5,306,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2231,3635,0,0,0,0,0,0
$STATE,6925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6925,begin apogee
$GC,6932,-0.31,0.0,602.7,7.5,307,7054,1.05,0.00,117.97,1.019,6,0.071,0.000,2937,2383,3060,0,0,0,0,0,0
$STATE,7056,end apogee,CONTROL_FINISHED_OK
$STATE,7056,begin climb
$GC,7058,1.27,146.0,605.4,0.0,310,7196,1.42,2.85,124.72,0.992,4,0.036,0.080,3288,3930,2462,0,0,0,0,0,0
$GC,7225,1.11,146.0,594.4,12.5,314,7231,0.20,2.78,0.00,0.000,6,0.108,0.061,3248,2362,2459,0,0,0,0,0,0
$GC,7510,1.08,155.8,567.5,9.5,321,7520,0.00,0.00,8.52,0.833,6,0.000,0.000,3248,2362,2424,0,0,0,0,0,0
$GC,7755,1.05,164.9,544.2,9.6,327,7766,0.00,0.00,9.55,0.854,6,0.000,0.000,3248,2362,2387,0,0,0,0,0,0
$GC,7997,1.06,175.6,521.1,9.5,333,8009,0.00,0.00,10.75,0.867,6,0.000,0.000,3248,2362,2344,0,0,0,0,0,0
$GC,8240,1.06,175.6,496.8,10.0,339,8245,0.00,2.92,0.00,0.000,4,0.000,0.097,3248,776,2340,0,0,0,0,0,0
$GC,8263,1.02,175.6,494.5,10.7,339,8268,0.10,2.70,0.00,0.000,6,0.130,0.045,3227,2378,2340,0,0,0,0,0,0
$GC,8518,1.02,175.9,468.9,10.0,346,8523,0.00,2.67,0.00,0.000,4,0.000,0.061,3227,3934,2339,0,0,0,0,0,0
$GC,8539,1.02,175.9,466.5,10.8,346,8544,0.00,2.60,0.00,0.000,6,0.000,0.035,3228,2373,2338,0,0,0,0,0,0
$GC,8796,1.02,178.9,441.8,9.9,353,8801,0.00,2.65,0.00,0.000,4,0.000,0.051,3228,3935,2337,0,0,0,0,0,0
$GC,8840,1.02,178.9,436.8,11.3,354,8844,0.00,2.58,0.00,0.000,6,0.000,0.035,3228,2379,2337,0,0,0,0,0,0
$GC,9124,1.02,178.9,407.7,10.4,361,9128,0.00,2.85,0.00,0.000,4,0.000,0.084,3228,783,2336,0,0,0,0,0,0
$GC,9180,1.03,180.3,402.1,9.9,362,9189,0.00,2.60,4.18,0.607,6,0.000,0.037,3227,2392,2325,0,0,0,0,0,0
$GC,9451,1.06,206.6,377.8,8.8,369,9482,0.00,2.65,25.40,0.864,4,0.000,0.051,3227,3938,2216,0,0,0,0,0,0
$GC,9511,1.07,214.9,372.3,9.6,370,9526,0.00,2.58,8.95,0.766,6,0.000,0.027,3227,2377,2182,0,0,0,0,0,0
$GC,9776,1.13,231.8,348.4,9.2,377,9795,0.10,0.00,15.95,0.818,6,0.091,0.000,3258,2377,2115,0,0,0,0,0,0
$GC,10019,1.13,231.8,322.8,10.5,383,10024,0.00,2.62,0.00,0.000,4,0.000,0.046,3258,3937,2111,0,0,0,0,0,0
$GC,10062,1.13,231.8,318.4,11.4,384,10066,0.00,2.50,0.00,0.000,6,0.000,0.028,3258,2392,2110,0,0,0,0,0,0
$GC,10345,1.13,232.2,289.8,10.0,391,10349,0.00,2.72,0.00,0.000,4,0.000,0.058,3258,775,2110,0,0,0,0,0,0
$GC,10384,1.13,232.2,285.8,10.5,392,10388,0.00,2.60,0.00,0.000,6,0.000,0.032,3258,2391,2109,0,0,0,0,0,0
$GC,10668,1.13,232.2,257.3,10.1,399,10672,0.00,2.58,0.00,0.000,4,0.000,0.050,3258,3929,2109,0,0,0,0,0,0
$GC,10683,1.13,232.2,255.5,10.2,399,10688,0.00,2.53,0.00,0.000,6,0.000,0.029,3258,2359,2109,0,0,0,0,0,0
$GC,10944,1.15,244.0,230.3,9.5,406,10963,0.00,2.65,11.43,0.708,4,0.000,0.047,3258,3925,2064,0,0,0,0,0,0
$GC,11067,1.16,252.0,219.0,9.6,408,11081,0.00,2.50,8.55,0.663,6,0.000,0.026,3258,2384,2031,0,0,0,0,0,0
$GC,11340,1.22,268.2,195.0,9.3,419,11365,0.00,2.72,15.62,0.690,4,0.000,0.049,3258,790,1964,0,0,0,0,0,0
$GC,11405,1.25,268.2,189.0,10.2,424,11409,0.00,2.55,0.00,0.000,6,0.000,0.028,3258,2393,1963,0,0,0,0,0,0
$GC,11673,1.30,269.3,161.5,10.0,448,11678,0.12,2.55,0.00,0.000,4,0.077,0.044,3296,3926,1963,0,0,0,0,0,0
$GC,11696,1.30,269.3,158.3,10.5,449,11702,0.00,2.47,0.00,0.000,6,0.000,0.024,3296,2373,1962,0,0,0,0,0,0
$GC,11959,1.30,269.3,128.4,10.4,474,11963,0.00,2.55,0.00,0.000,4,0.000,0.043,3296,3924,1962,0,0,0,0,0,0
$GC,11995,1.30,269.3,124.4,11.4,476,12004,0.00,2.47,0.00,0.000,6,0.000,0.024,3296,2393,1962,0,0,0,0,0,0
$GC,12261,1.31,278.2,97.8,9.6,501,12280,0.00,0.00,9.93,0.561,6,0.000,0.000,3296,2393,1924,0,0,0,0,0,0
$GC,12539,1.31,278.2,70.1,10.4,527,12544,0.00,2.53,0.00,0.000,4,0.000,0.043,3296,3931,1923,0,0,0,0,0,0
$GC,12560,1.31,278.2,67.4,10.8,528,12564,0.00,2.42,0.00,0.000,6,0.000,0.023,3296,2394,1923,0,0,0,0,0,0
$GC,12828,1.31,278.2,38.6,10.6,552,12833,0.00,2.60,0.00,0.000,4,0.000,0.044,3296,788,1923,0,0,0,0,0,0
$GC,12849,1.31,278.2,35.6,11.8,553,12853,0.00,2.53,0.00,0.000,6,0.000,0.029,3296,2407,1923,0,0,0,0,0,0
$STATE,13124,end climb,SURFACE_DEPTH_REACHED
$STATE,13124,begin surface coast
$FINISH,-0.2,1.023944
$STATE,13167,end surface coast,CONTROL_FINISHED_OK
$STATE,13167,begin surface
$SM_CCo,13189,82.57,0.523,0,0,1509,380.21
$SM_GC,0.46,0.00,0.00,82.57,0.000,0.000,0.523,465,2136,1509,-11.68,-2.09,380.21
$IRIDIUM_FIX,2234.68,-15803.24,210603,161651
$TT8_MAMPS,0.026078
$HUMID,60.15
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.30
$XPDR_PINGS,15
$24V_AH,23.4,14.038
$10V_AH,10.4,12.263
$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,26.650,167.400,371.525,82.575,0.000,56.001,69.241,557.995,3.750,0.000,21.085,1249.600,9168.312,564.795,2155.302,1031.662,33.370,1414.282,0.000,2154.762,0.000,0.536,0.000
$DEVICE_MAMPS,144.196,114.283,1019.343,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,405.847,334.425,425.153,605.882,1152.915,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355844
$DATA_FILE_SIZE,47863,597
$CAP_FILE_SIZE,141965,0
$CFSIZE,260165632,173809664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270314,203624,2246.686,-15806.935,40,1.7,40,10.1