version: 66.06
glider: 146
mission: 9
dive: 105
start: 3 28 114 11 42 39
data:
$ID,146
$MISSION,9
$DIVE,105
$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,-325544.81
$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,36
$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
$GPS1,113326,2253.062,-15807.220,23,99.0,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-69.6
$GPS2,114145,2253.063,-15807.263,12,99.0,31,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.131,0.224
$KALMAN_X,-75739.0,-137.1,-141.9,56081.0,-902.5
$KALMAN_Y,55151.4,-112.9,-161.3,-47873.8,306.2
$MHEAD_RNG_PITCHd_Wd,20.1,21599,-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,-89.43,0.000,6,0.000,0.000,463,2138,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.8,-9.4,12,133,12.00,2.67,0.00,0.000,4,0.154,0.031,2719,3792,3657,0,0,0,0,0,0
$GC,292,-1.20,-146.0,38.7,-12.8,34,302,0.10,2.55,0.00,0.000,6,0.097,0.024,2742,2204,3658,0,0,0,0,0,0
$GC,561,-1.11,-146.0,70.9,-13.0,59,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2204,3659,0,0,0,0,0,0
$GC,821,-1.06,-146.0,103.7,-11.7,84,827,0.15,2.60,0.00,0.000,4,0.114,0.048,2773,633,3659,0,0,0,0,0,0
$GC,868,-1.06,-146.0,108.0,-11.0,87,872,0.00,2.45,0.00,0.000,6,0.000,0.017,2773,2230,3659,0,0,0,0,0,0
$GC,1135,-1.09,-146.0,133.5,-10.1,111,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2231,3660,0,0,0,0,0,0
$GC,1403,-1.14,-146.0,157.4,-8.4,136,1407,0.00,2.47,0.00,0.000,4,0.000,0.037,2773,3772,3660,0,0,0,0,0,0
$GC,1425,-1.19,-146.0,159.9,-8.6,137,1431,0.12,2.45,0.00,0.000,6,0.067,0.028,2724,2202,3660,0,0,0,0,0,0
$GC,1689,-1.14,-146.0,186.2,-10.6,162,1698,0.15,0.00,0.00,0.000,6,0.096,0.000,2757,2202,3660,0,0,0,0,0,0
$GC,1967,-1.14,-146.0,211.8,-9.3,180,1971,0.00,2.58,0.00,0.000,4,0.000,0.038,2757,3774,3660,0,0,0,0,0,0
$GC,2001,-1.19,-146.0,215.1,-9.8,180,2007,0.00,2.45,0.00,0.000,6,0.000,0.021,2757,2209,3660,0,0,0,0,0,0
$GC,2252,-1.23,-146.0,236.6,-8.4,187,2256,0.00,2.62,0.00,0.000,4,0.000,0.052,2757,632,3660,0,0,0,0,0,0
$GC,2341,-1.29,-146.0,244.2,-8.1,189,2346,0.15,2.45,0.00,0.000,6,0.060,0.028,2700,2195,3660,0,0,0,0,0,0
$GC,2620,-1.23,-146.0,273.8,-10.8,196,2625,0.17,2.60,0.00,0.000,4,0.091,0.043,2738,3780,3660,0,0,0,0,0,0
$GC,2642,-1.23,-146.0,276.3,-10.4,196,2646,0.00,2.47,0.00,0.000,6,0.000,0.028,2738,2203,3660,0,0,0,0,0,0
$GC,2905,-1.23,-146.0,301.0,-9.4,203,2909,0.00,2.60,0.00,0.000,4,0.000,0.045,2738,3781,3660,0,0,0,0,0,0
$GC,2931,-1.23,-146.0,303.8,-10.1,203,2935,0.00,2.50,0.00,0.000,6,0.000,0.023,2738,2207,3659,0,0,0,0,0,0
$GC,3181,-1.23,-146.0,326.4,-9.0,209,3186,0.00,2.60,0.00,0.000,4,0.000,0.048,2737,3776,3659,0,0,0,0,0,0
$GC,3209,-1.27,-146.0,329.1,-9.6,209,3213,0.00,2.50,0.00,0.000,6,0.000,0.026,2738,2209,3659,0,0,0,0,0,0
$GC,3461,-1.31,-146.0,351.6,-8.9,215,3465,0.00,2.72,0.00,0.000,4,0.000,0.073,2737,628,3658,0,0,0,0,0,0
$GC,3527,-1.36,-146.0,357.5,-8.5,216,3532,0.12,2.50,0.00,0.000,6,0.068,0.038,2689,2192,3657,0,0,0,0,0,0
$GC,3784,-1.31,-146.0,379.7,-8.4,223,3786,0.12,0.00,0.00,0.000,6,0.102,0.000,2717,2192,3657,0,0,0,0,0,0
$GC,4026,-1.31,-146.0,396.4,-6.8,229,4031,0.00,2.70,0.00,0.000,4,0.000,0.057,2718,3788,3655,0,0,0,0,0,0
$GC,4059,-1.31,-146.0,398.7,-6.7,229,4065,0.00,2.58,0.00,0.000,6,0.000,0.034,2717,2200,3655,0,0,0,0,0,0
$GC,4311,-1.31,-146.0,418.1,-8.1,236,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2200,3654,0,0,0,0,0,0
$GC,4553,-1.31,-146.0,438.0,-8.2,242,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2201,3651,0,0,0,0,0,0
$GC,4797,-1.31,-146.0,455.6,-7.1,248,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2201,3650,0,0,0,0,0,0
$GC,5041,-1.31,-146.0,472.7,-7.0,254,5045,0.00,2.72,0.00,0.000,4,0.000,0.065,2717,3784,3648,0,0,0,0,0,0
$GC,5081,-1.31,-146.0,475.8,-8.1,255,5086,0.00,2.65,0.00,0.000,6,0.000,0.045,2717,2191,3648,0,0,0,0,0,0
$GC,5364,-1.31,-146.0,498.2,-7.8,262,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2191,3647,0,0,0,0,0,0
$GC,5608,-1.34,-146.0,517.6,-8.0,268,5613,0.00,2.80,0.00,0.000,4,0.000,0.074,2718,3785,3646,0,0,0,0,0,0
$GC,5649,-1.34,-146.0,521.0,-9.3,269,5653,0.00,2.70,0.00,0.000,6,0.000,0.055,2717,2199,3645,0,0,0,0,0,0
$GC,5932,-1.38,-146.0,544.5,-8.2,276,5937,0.00,2.80,0.00,0.000,4,0.000,0.075,2717,3780,3643,0,0,0,0,0,0
$GC,5973,-1.43,-146.0,548.1,-9.3,277,5978,0.12,2.72,0.00,0.000,6,0.071,0.058,2673,2198,3643,0,0,0,0,0,0
$GC,6257,-1.39,-146.0,575.6,-9.5,284,6259,0.12,0.00,0.00,0.000,6,0.104,0.000,2700,2198,3642,0,0,0,0,0,0
$GC,6501,-1.39,-146.0,596.4,-8.4,290,6505,0.00,2.88,0.00,0.000,4,0.000,0.090,2700,3779,3640,0,0,0,0,0,0
$STATE,6542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6542,begin apogee
$GC,6552,-0.31,0.0,600.4,8.7,291,6674,1.02,0.00,118.70,1.009,6,0.074,0.000,2933,2372,3060,0,0,0,0,0,0
$STATE,6675,end apogee,CONTROL_FINISHED_OK
$STATE,6675,begin climb
$GC,6677,1.27,146.0,603.6,0.0,294,6815,1.42,2.85,124.38,0.983,4,0.035,0.079,3286,3922,2461,0,0,0,0,0,0
$GC,6871,1.13,146.0,588.1,13.2,298,6877,0.17,2.75,0.00,0.000,6,0.110,0.061,3251,2366,2457,0,0,0,0,0,0
$GC,7128,1.08,146.0,560.1,10.9,305,7133,0.00,3.03,0.00,0.000,4,0.000,0.111,3251,777,2453,0,0,0,0,0,0
$GC,7144,1.01,146.0,558.0,11.0,305,7150,0.12,2.72,0.00,0.000,6,0.117,0.054,3226,2358,2452,0,0,0,0,0,0
$GC,7407,1.04,168.9,533.8,8.9,312,7428,0.00,0.00,19.55,0.917,6,0.000,0.000,3226,2358,2371,0,0,0,0,0,0
$GC,7652,1.07,188.8,511.7,9.1,318,7672,0.00,0.00,18.95,0.907,6,0.000,0.000,3226,2357,2290,0,0,0,0,0,0
$GC,7894,1.08,203.5,489.1,9.3,324,7910,0.00,0.00,14.20,0.876,6,0.000,0.000,3226,2358,2230,0,0,0,0,0,0
$GC,8138,1.09,207.5,465.3,9.8,330,8148,0.00,2.85,4.72,0.658,4,0.000,0.078,3226,778,2214,0,0,0,0,0,0
$GC,8159,1.09,207.5,462.9,11.1,330,8163,0.00,2.65,0.00,0.000,6,0.000,0.044,3226,2373,2213,0,0,0,0,0,0
$GC,8415,1.09,209.5,437.6,9.9,337,8420,0.00,2.65,0.00,0.000,4,0.000,0.055,3226,3941,2213,0,0,0,0,0,0
$GC,8442,1.09,209.5,434.4,11.0,337,8446,0.00,2.65,0.00,0.000,6,0.000,0.034,3226,2346,2212,0,0,0,0,0,0
$GC,8692,1.13,209.5,408.7,10.2,343,8694,0.10,0.00,0.00,0.000,6,0.087,0.000,3257,2346,2211,0,0,0,0,0,0
$GC,8937,1.13,209.5,381.6,11.1,349,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2346,2210,0,0,0,0,0,0
$GC,9179,1.13,209.5,356.5,10.2,355,9184,0.00,2.67,0.00,0.000,4,0.000,0.047,3257,3941,2210,0,0,0,0,0,0
$GC,9240,1.13,209.5,349.8,10.7,356,9245,0.00,2.58,0.00,0.000,6,0.000,0.029,3257,2360,2208,0,0,0,0,0,0
$GC,9502,1.13,213.1,324.2,9.8,363,9513,0.00,2.70,5.72,0.664,4,0.000,0.063,3257,785,2191,0,0,0,0,0,0
$GC,9541,1.13,213.1,320.0,11.1,364,9546,0.00,2.55,0.00,0.000,6,0.000,0.035,3257,2373,2190,0,0,0,0,0,0
$GC,9824,1.13,213.1,291.6,10.1,371,9829,0.00,2.62,0.00,0.000,4,0.000,0.051,3257,3935,2190,0,0,0,0,0,0
$GC,9931,1.13,213.1,280.4,10.0,373,9936,0.00,2.55,0.00,0.000,6,0.000,0.025,3257,2357,2189,0,0,0,0,0,0
$GC,10192,1.19,260.7,259.2,7.8,380,10241,0.00,2.72,42.78,0.768,4,0.000,0.052,3257,792,1996,0,0,0,0,0,0
$GC,10266,1.22,284.0,253.3,8.9,381,10294,0.00,2.53,21.42,0.732,6,0.000,0.025,3257,2363,1902,0,0,0,0,0,0
$GC,10564,1.26,284.0,223.8,10.2,389,10569,0.00,2.65,0.00,0.000,4,0.000,0.047,3257,780,1898,0,0,0,0,0,0
$GC,10615,1.33,284.0,218.3,11.1,390,10620,0.15,2.53,0.00,0.000,6,0.066,0.026,3300,2352,1896,0,0,0,0,0,0
$GC,10873,1.29,284.0,183.8,14.3,404,10878,0.00,2.62,0.00,0.000,4,0.000,0.044,3300,3935,1896,0,0,0,0,0,0
$GC,10929,1.29,284.0,175.3,14.1,408,10939,0.00,2.58,0.00,0.000,6,0.000,0.025,3300,2351,1895,0,0,0,0,0,0
$GC,11197,1.29,284.0,143.8,11.5,433,11202,0.00,2.60,0.00,0.000,4,0.000,0.044,3301,3927,1895,0,0,0,0,0,0
$GC,11219,1.29,284.0,140.3,12.1,434,11228,0.00,2.55,0.00,0.000,6,0.000,0.024,3300,2351,1895,0,0,0,0,0,0
$GC,11487,1.29,284.0,110.9,10.9,459,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2351,1895,0,0,0,0,0,0
$GC,11748,1.29,284.0,81.5,11.5,484,11752,0.00,2.60,0.00,0.000,4,0.000,0.043,3300,3925,1895,0,0,0,0,0,0
$GC,11781,1.29,284.0,78.0,12.7,486,11785,0.00,2.50,0.00,0.000,6,0.000,0.024,3300,2360,1894,0,0,0,0,0,0
$GC,12048,1.29,284.0,47.2,11.6,510,12053,0.00,2.60,0.00,0.000,4,0.000,0.045,3300,3932,1895,0,0,0,0,0,0
$GC,12072,1.29,284.0,43.3,12.3,511,12082,0.00,2.53,0.00,0.000,6,0.000,0.025,3300,2368,1895,0,0,0,0,0,0
$GC,12372,1.29,284.0,9.1,11.6,549,12381,0.00,2.62,0.00,0.000,4,0.000,0.048,3300,790,1896,0,0,0,0,0,0
$STATE,12410,end climb,SURFACE_DEPTH_REACHED
$STATE,12410,begin surface coast
$FINISH,2.8,1.023843
$STATE,12420,end surface coast,CONTROL_FINISHED_OK
$STATE,12420,begin surface
$SM_CCo,12445,77.80,0.520,0,0,1510,380.21
$SM_GC,0.39,0.00,0.00,77.80,0.000,0.000,0.520,465,2229,1510,-11.68,0.54,380.21
$IRIDIUM_FIX,2241.69,-15806.70,220603,070743
$TT8_MAMPS,0.026078
$HUMID,59.96
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.10
$XPDR_PINGS,13
$24V_AH,23.4,14.685
$10V_AH,10.4,12.840
$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,27.950,146.575,370.425,77.800,0.000,27.978,36.840,276.516,3.250,0.000,34.237,1146.351,8669.531,549.833,2008.933,645.852,33.358,1350.016,0.000,1987.764,0.000,0.535,0.000
$DEVICE_MAMPS,154.167,111.215,1009.372,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,376.583,307.581,390.429,562.685,1071.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,44662,555
$CAP_FILE_SIZE,124430,0
$CFSIZE,260165632,173514752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280314,151236,2254.712,-15807.011,32,1.0,32,10.1