version: 66.06
glider: 146
mission: 9
dive: 180
start: 4 9 114 15 15 8
data:
$ID,146
$MISSION,9
$DIVE,180
$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,-327489.53
$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,66
$R_STBD_OVSHOOT,43
$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
$GPS1,145836,2302.924,-15735.462,39,1.3,39,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-67.6
$GPS2,151412,2302.810,-15735.500,17,1.5,25,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.041,0.257
$KALMAN_X,-165259.8,136.7,-364.8,199762.3,563.0
$KALMAN_Y,56507.0,124.1,20.2,-31595.7,-466.8
$MHEAD_RNG_PITCHd_Wd,340.9,4854,-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,16,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-89.75,0.000,6,0.000,0.000,456,2161,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.8,-8.9,12,133,12.48,2.60,0.00,0.000,4,0.165,0.026,2718,3790,3656,0,0,0,0,0,0
$GC,230,-1.19,-146.0,32.2,-16.5,28,239,0.08,2.47,0.00,0.000,6,0.102,0.023,2737,2245,3657,0,0,0,0,0,0
$GC,498,-1.09,-146.0,64.5,-12.1,53,503,0.12,2.67,0.00,0.000,4,0.124,0.047,2761,636,3658,0,0,0,0,0,0
$GC,524,-1.02,-146.0,68.5,-12.4,54,534,0.05,2.47,0.00,0.000,6,0.109,0.018,2775,2225,3658,0,0,0,0,0,0
$GC,790,-1.02,-146.0,93.3,-9.6,79,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2225,3658,0,0,0,0,0,0
$GC,1053,-1.02,-146.0,119.1,-8.2,104,1057,0.00,2.47,0.00,0.000,4,0.000,0.032,2775,3776,3658,0,0,0,0,0,0
$GC,1088,-1.07,-146.0,122.2,-8.7,106,1098,0.00,2.50,0.00,0.000,6,0.000,0.021,2775,2204,3658,0,0,0,0,0,0
$GC,1355,-1.07,-146.0,144.4,-8.3,131,1359,0.00,2.53,0.00,0.000,4,0.000,0.043,2775,640,3658,0,0,0,0,0,0
$GC,1397,-1.12,-146.0,148.2,-8.1,134,1401,0.00,2.40,0.00,0.000,6,0.000,0.024,2775,2200,3659,0,0,0,0,0,0
$GC,1660,-1.16,-146.0,169.0,-9.0,158,1665,0.10,2.53,0.00,0.000,4,0.077,0.033,2728,3775,3659,0,0,0,0,0,0
$GC,1690,-1.16,-146.0,172.2,-11.0,160,1696,0.10,2.50,0.00,0.000,6,0.110,0.028,2750,2180,3659,0,0,0,0,0,0
$GC,1952,-1.16,-146.0,197.2,-9.0,184,1956,0.00,2.53,0.00,0.000,4,0.000,0.045,2750,638,3658,0,0,0,0,0,0
$GC,2021,-1.16,-146.0,203.4,-9.0,189,2030,0.00,2.42,0.00,0.000,6,0.000,0.018,2750,2188,3658,0,0,0,0,0,0
$GC,2287,-1.16,-146.0,223.8,-7.2,214,2291,0.00,2.58,0.00,0.000,4,0.000,0.036,2750,3778,3659,0,0,0,0,0,0
$GC,2310,-1.16,-146.0,225.9,-7.7,215,2315,0.00,2.50,0.00,0.000,6,0.000,0.027,2750,2191,3659,0,0,0,0,0,0
$GC,2573,-1.16,-146.0,244.7,-7.5,240,2577,0.00,2.55,0.00,0.000,4,0.000,0.048,2750,642,3658,0,0,0,0,0,0
$GC,2638,-1.20,-146.0,249.7,-7.4,245,2643,0.00,2.38,0.00,0.000,6,0.000,0.021,2750,2179,3658,0,0,0,0,0,0
$GC,2901,-1.24,-146.0,269.1,-7.8,269,2906,0.00,2.60,0.00,0.000,4,0.000,0.040,2750,3785,3658,0,0,0,0,0,0
$GC,2970,-1.31,-146.0,274.8,-9.0,274,2975,0.15,2.53,0.00,0.000,6,0.058,0.021,2691,2192,3658,0,0,0,0,0,0
$GC,3235,-1.24,-146.0,301.5,-9.9,298,3240,0.20,2.60,0.00,0.000,4,0.089,0.041,2733,3775,3658,0,0,0,0,0,0
$GC,3289,-1.24,-146.0,306.6,-8.4,302,3293,0.00,2.50,0.00,0.000,6,0.000,0.023,2733,2203,3657,0,0,0,0,0,0
$GC,3551,-1.24,-146.0,329.2,-8.5,326,3556,0.00,2.65,0.00,0.000,4,0.000,0.064,2733,636,3656,0,0,0,0,0,0
$GC,3620,-1.30,-146.0,334.8,-8.8,331,3624,0.00,2.42,0.00,0.000,6,0.000,0.032,2733,2165,3657,0,0,0,0,0,0
$GC,3887,-1.30,-146.0,356.0,-8.1,355,3891,0.00,2.70,0.00,0.000,4,0.000,0.051,2733,3793,3655,0,0,0,0,0,0
$GC,3908,-1.30,-146.0,358.5,-9.0,356,3914,0.00,2.60,0.00,0.000,6,0.000,0.032,2733,2187,3655,0,0,0,0,0,0
$GC,4173,-1.33,-146.0,380.1,-8.5,381,4177,0.00,2.75,0.00,0.000,4,0.000,0.081,2733,624,3653,0,0,0,0,0,0
$GC,4213,-1.39,-146.0,384.1,-9.2,384,4219,0.15,2.53,0.00,0.000,6,0.060,0.039,2674,2189,3654,0,0,0,0,0,0
$GC,4474,-1.32,-146.0,409.9,-9.2,408,4476,0.20,0.00,0.00,0.000,6,0.088,0.000,2718,2190,3652,0,0,0,0,0,0
$GC,4732,-1.32,-146.0,427.2,-6.5,432,4736,0.00,2.72,0.00,0.000,4,0.000,0.058,2718,3790,3650,0,0,0,0,0,0
$GC,4761,-1.32,-146.0,429.5,-7.2,434,4765,0.00,2.67,0.00,0.000,6,0.000,0.039,2718,2180,3650,0,0,0,0,0,0
$GC,5025,-1.32,-146.0,449.4,-8.2,458,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2180,3649,0,0,0,0,0,0
$GC,5288,-1.32,-146.0,471.2,-8.1,483,5292,0.00,2.75,0.00,0.000,4,0.000,0.061,2718,3793,3646,0,0,0,0,0,0
$GC,5363,-1.32,-146.0,477.7,-8.8,489,5368,0.00,2.70,0.00,0.000,6,0.000,0.052,2718,2189,3646,0,0,0,0,0,0
$GC,5627,-1.32,-146.0,496.7,-6.8,513,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2189,3644,0,0,0,0,0,0
$GC,5894,-1.36,-146.0,514.1,-6.6,538,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2189,3643,0,0,0,0,0,0
$GC,6159,-1.39,-146.0,532.3,-6.8,563,6163,0.00,2.80,0.00,0.000,4,0.000,0.074,2718,3790,3641,0,0,0,0,0,0
$GC,6226,-1.44,-146.0,537.3,-8.0,568,6231,0.12,2.72,0.00,0.000,6,0.070,0.060,2672,2195,3641,0,0,0,0,0,0
$GC,6494,-1.39,-146.0,560.8,-9.1,592,6499,0.12,2.85,0.00,0.000,4,0.103,0.078,2699,3792,3638,0,0,0,0,0,0
$GC,6573,-1.39,-146.0,568.0,-8.4,598,6577,0.00,2.72,0.00,0.000,6,0.000,0.060,2699,2205,3638,0,0,0,0,0,0
$GC,6841,-1.39,-146.0,588.5,-7.9,622,6845,0.00,2.80,0.00,0.000,4,0.000,0.081,2699,3789,3637,0,0,0,0,0,0
$GC,6892,-1.39,-146.0,593.1,-8.6,626,6897,0.00,2.70,0.00,0.000,6,0.000,0.066,2699,2227,3636,0,0,0,0,0,0
$STATE,6992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6992,begin apogee
$GC,6999,-0.31,0.0,600.5,7.0,635,7121,1.05,0.00,117.88,1.009,6,0.071,0.000,2938,2367,3060,0,0,0,0,0,0
$STATE,7123,end apogee,CONTROL_FINISHED_OK
$STATE,7123,begin climb
$GC,7125,1.27,146.0,602.1,0.0,638,7264,1.40,2.90,124.18,0.986,4,0.034,0.080,3287,3928,2462,0,0,0,0,0,0
$GC,7304,1.12,146.0,587.7,12.8,648,7315,0.15,2.75,0.00,0.000,6,0.087,0.058,3251,2375,2458,0,0,0,0,0,0
$GC,7573,1.08,149.6,560.9,9.8,673,7578,0.00,2.75,0.00,0.000,4,0.000,0.068,3251,3930,2454,0,0,0,0,0,0
$GC,7641,1.00,149.6,553.5,10.2,678,7650,0.10,2.70,0.00,0.000,6,0.096,0.048,3226,2372,2453,0,0,0,0,0,0
$GC,7908,1.07,204.8,533.5,7.5,703,7967,0.00,0.00,51.38,0.946,6,0.000,0.000,3226,2372,2224,0,0,0,0,0,0
$GC,8223,1.09,216.8,505.2,9.4,733,8244,0.00,2.80,11.57,0.856,4,0.000,0.063,3226,3935,2175,0,0,0,0,0,0
$GC,8262,1.10,230.4,501.9,9.4,736,8283,0.00,2.62,13.38,0.864,6,0.000,0.042,3226,2380,2120,0,0,0,0,0,0
$GC,8539,1.14,230.4,474.0,10.3,762,8544,0.10,3.00,0.00,0.000,4,0.087,0.103,3258,779,2116,0,0,0,0,0,0
$GC,8579,1.14,230.4,469.2,12.3,765,8584,0.00,2.67,0.00,0.000,6,0.000,0.047,3258,2375,2115,0,0,0,0,0,0
$GC,8843,1.14,230.4,439.2,11.1,789,8847,0.00,2.65,0.00,0.000,4,0.000,0.059,3258,3940,2114,0,0,0,0,0,0
$GC,8934,1.14,230.4,428.1,12.3,796,8939,0.00,2.58,0.00,0.000,6,0.000,0.038,3258,2386,2113,0,0,0,0,0,0
$GC,9202,1.14,230.4,399.3,10.7,820,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2386,2113,0,0,0,0,0,0
$GC,9462,1.14,230.4,370.4,11.1,845,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2386,2112,0,0,0,0,0,0
$GC,9719,1.14,230.4,342.0,10.8,869,9723,0.00,2.72,0.00,0.000,4,0.000,0.064,3258,779,2112,0,0,0,0,0,0
$GC,9763,1.14,230.4,336.7,11.4,872,9769,0.00,2.62,0.00,0.000,6,0.000,0.027,3259,2411,2110,0,0,0,0,0,0
$GC,10027,1.14,230.4,308.7,10.3,897,10028,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2411,2110,0,0,0,0,0,0
$GC,10279,1.14,230.4,282.3,10.7,921,10280,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2411,2110,0,0,0,0,0,0
$GC,10535,1.14,230.4,255.8,10.4,945,10536,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2411,2110,0,0,0,0,0,0
$GC,10789,1.15,236.0,230.2,9.7,969,10803,0.00,2.55,4.72,0.558,4,0.000,0.044,3258,3926,2097,0,0,0,0,0,0
$GC,10841,1.15,236.0,224.8,11.3,973,10846,0.00,2.50,0.00,0.000,6,0.000,0.025,3258,2374,2096,0,0,0,0,0,0
$GC,11110,1.22,260.7,200.3,8.9,997,11138,0.00,2.67,23.05,0.706,4,0.000,0.047,3258,789,1996,0,0,0,0,0,0
$GC,11175,1.28,260.7,193.0,11.0,1002,11181,0.10,2.60,0.00,0.000,6,0.085,0.022,3290,2411,1994,0,0,0,0,0,0
$GC,11436,1.28,260.7,163.4,11.0,1026,11441,0.00,2.70,0.00,0.000,4,0.000,0.044,3289,784,1994,0,0,0,0,0,0
$GC,11482,1.28,260.7,158.7,11.1,1029,11486,0.00,2.55,0.00,0.000,6,0.000,0.028,3290,2394,1993,0,0,0,0,0,0
$GC,11749,1.28,260.7,130.3,10.3,1053,11754,0.00,2.53,0.00,0.000,4,0.000,0.042,3290,3930,1992,0,0,0,0,0,0
$GC,11806,1.28,260.7,123.4,10.9,1057,11812,0.00,2.47,0.00,0.000,6,0.000,0.022,3290,2378,1992,0,0,0,0,0,0
$GC,12070,1.28,260.7,97.0,10.9,1082,12075,0.00,2.53,0.00,0.000,4,0.000,0.040,3290,3924,1992,0,0,0,0,0,0
$GC,12118,1.28,260.7,91.9,11.6,1085,12122,0.00,2.42,0.00,0.000,6,0.000,0.021,3289,2396,1992,0,0,0,0,0,0
$GC,12387,1.28,260.7,65.1,10.0,1109,12391,0.00,2.50,0.00,0.000,4,0.000,0.038,3290,3921,1992,0,0,0,0,0,0
$GC,12419,1.28,260.7,60.5,12.4,1111,12424,0.00,2.38,0.00,0.000,6,0.000,0.022,3289,2410,1992,0,0,0,0,0,0
$GC,12688,1.28,260.9,30.1,10.0,1135,12693,0.00,2.60,0.00,0.000,4,0.000,0.041,3290,792,1993,0,0,0,0,0,0
$GC,12711,1.28,260.9,26.8,11.9,1137,12721,0.00,2.58,0.00,0.000,6,0.000,0.022,3290,2411,1993,0,0,0,0,0,0
$STATE,12908,end climb,SURFACE_DEPTH_REACHED
$STATE,12909,begin surface coast
$FINISH,-0.1,1.006218
$STATE,12958,end surface coast,CONTROL_FINISHED_OK
$STATE,12958,begin surface
$SM_CCo,12980,96.55,0.519,0,0,1509,380.21
$SM_GC,0.52,0.00,0.00,96.55,0.000,0.000,0.519,460,2168,1509,-11.70,-1.19,380.21
$IRIDIUM_FIX,2253.38,-15732.35,040703,151518
$TT8_MAMPS,0.026078
$HUMID,60.86
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.90
$XPDR_PINGS,19
$24V_AH,23.4,25.966
$10V_AH,10.3,28.031
$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,28.000,162.350,346.150,96.550,0.000,80.590,167.268,375.185,4.750,0.000,29.404,2039.281,6456.766,563.545,3859.510,1083.078,33.364,1716.916,0.000,3869.415,0.000,0.535,0.000
$DEVICE_MAMPS,164.905,102.778,1008.605,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,806.128,909.066,1196.055,1317.882,2509.276,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355288
$DATA_FILE_SIZE,98779,1173
$CAP_FILE_SIZE,162279,0
$CFSIZE,260165632,167428096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090414,185423,2304.001,-15735.352,35,1.4,35,10.1