version: 66.06
glider: 146
mission: 9
dive: 204
start: 4 13 114 22 3 24
data:
$ID,146
$MISSION,9
$DIVE,204
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$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,266
$T_MISSION,540
$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,-328022.78
$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,72
$R_STBD_OVSHOOT,41
$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
$GPS1,212900,2244.604,-15805.354,93,1.0,93,10.0
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-68.4
$GPS2,220230,2244.189,-15805.598,15,1.0,18,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.075,0.249
$KALMAN_X,-173551.5,-123.8,26.8,156548.6,-998.5
$KALMAN_Y,28059.8,-799.2,-117.8,-36563.8,215.6
$MHEAD_RNG_PITCHd_Wd,6.9,37568,-17.5,-10.025
$D_GRID,800
$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,-1.28,-146.0,0.0,0.0,0,111,0.00,0.00,-87.88,0.000,6,0.000,0.000,461,2169,3655,0,0,0,0,0,0
$GC,115,-1.28,-146.0,4.1,-10.4,12,133,12.52,2.62,0.00,0.000,4,0.164,0.033,2716,3790,3656,0,0,0,0,0,0
$GC,216,-1.17,-146.0,30.8,-14.7,26,221,0.15,2.42,0.00,0.000,6,0.117,0.022,2745,2239,3657,0,0,0,0,0,0
$GC,485,-1.11,-146.0,61.7,-12.4,50,490,0.00,2.62,0.00,0.000,4,0.000,0.048,2745,636,3657,0,0,0,0,0,0
$GC,543,-1.07,-146.0,69.1,-11.2,54,548,0.12,2.42,0.00,0.000,6,0.117,0.018,2770,2224,3657,0,0,0,0,0,0
$GC,806,-1.07,-146.0,93.9,-9.2,78,810,0.00,2.47,0.00,0.000,4,0.000,0.034,2769,3776,3657,0,0,0,0,0,0
$GC,836,-1.07,-146.0,97.0,-10.0,80,841,0.00,2.45,0.00,0.000,6,0.000,0.020,2770,2203,3657,0,0,0,0,0,0
$GC,1099,-1.07,-146.0,121.5,-9.0,104,1103,0.00,2.55,0.00,0.000,4,0.000,0.046,2770,631,3657,0,0,0,0,0,0
$GC,1146,-1.07,-146.0,125.2,-9.3,107,1150,0.00,2.40,0.00,0.000,6,0.000,0.025,2770,2203,3657,0,0,0,0,0,0
$GC,1412,-1.07,-146.0,147.6,-8.5,131,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2203,3657,0,0,0,0,0,0
$GC,1677,-1.10,-146.0,169.7,-8.5,156,1681,0.00,2.55,0.00,0.000,4,0.000,0.046,2769,640,3657,0,0,0,0,0,0
$GC,1713,-1.14,-146.0,173.3,-9.7,158,1722,0.00,2.42,0.00,0.000,6,0.000,0.020,2769,2192,3657,0,0,0,0,0,0
$GC,1980,-1.14,-146.0,197.0,-8.9,183,1984,0.00,2.53,0.00,0.000,4,0.000,0.037,2769,3775,3657,0,0,0,0,0,0
$GC,2070,-1.21,-146.0,204.8,-7.5,190,2076,0.12,2.45,0.00,0.000,6,0.067,0.020,2716,2187,3657,0,0,0,0,0,0
$GC,2336,-1.16,-146.0,230.6,-9.9,214,2341,0.15,2.53,0.00,0.000,4,0.094,0.048,2749,644,3657,0,0,0,0,0,0
$GC,2381,-1.16,-146.0,234.4,-8.7,217,2385,0.00,2.38,0.00,0.000,6,0.000,0.019,2749,2196,3657,0,0,0,0,0,0
$GC,2649,-1.16,-146.0,255.1,-8.4,241,2653,0.00,2.55,0.00,0.000,4,0.000,0.048,2749,636,3657,0,0,0,0,0,0
$GC,2670,-1.16,-146.0,257.7,-9.0,242,2676,0.00,2.40,0.00,0.000,6,0.000,0.028,2749,2193,3656,0,0,0,0,0,0
$GC,2934,-1.20,-146.0,282.0,-9.7,267,2938,0.00,2.60,0.00,0.000,4,0.000,0.046,2749,3779,3656,0,0,0,0,0,0
$GC,2976,-1.26,-146.0,286.3,-10.0,270,2980,0.00,2.47,0.00,0.000,6,0.000,0.022,2749,2199,3656,0,0,0,0,0,0
$GC,3239,-1.31,-146.0,310.1,-8.3,294,3241,0.15,0.00,0.00,0.000,6,0.058,0.000,2690,2199,3656,0,0,0,0,0,0
$GC,3495,-1.26,-146.0,336.4,-10.5,318,3500,0.17,2.67,0.00,0.000,4,0.089,0.069,2728,638,3654,0,0,0,0,0,0
$GC,3524,-1.26,-146.0,339.7,-9.8,320,3529,0.00,2.45,0.00,0.000,6,0.000,0.028,2728,2184,3654,0,0,0,0,0,0
$GC,3789,-1.26,-146.0,361.6,-8.4,344,3793,0.00,2.65,0.00,0.000,4,0.000,0.054,2727,3786,3653,0,0,0,0,0,0
$GC,3840,-1.26,-146.0,366.3,-8.7,348,3845,0.00,2.55,0.00,0.000,6,0.000,0.031,2728,2194,3652,0,0,0,0,0,0
$GC,4105,-1.26,-146.0,387.2,-8.1,372,4109,0.00,2.65,0.00,0.000,4,0.000,0.051,2728,3787,3651,0,0,0,0,0,0
$GC,4127,-1.26,-146.0,389.0,-8.1,373,4131,0.00,2.60,0.00,0.000,6,0.000,0.041,2728,2189,3651,0,0,0,0,0,0
$GC,4395,-1.30,-146.0,410.4,-7.7,397,4400,0.00,2.75,0.00,0.000,4,0.000,0.092,2728,625,3649,0,0,0,0,0,0
$GC,4439,-1.34,-146.0,414.2,-8.4,400,4443,0.00,2.55,0.00,0.000,6,0.000,0.038,2728,2201,3649,0,0,0,0,0,0
$GC,4707,-1.38,-146.0,434.8,-7.4,424,4713,0.10,0.00,0.00,0.000,6,0.080,0.000,2683,2201,3647,0,0,0,0,0,0
$GC,4970,-1.38,-146.0,458.5,-8.7,449,4975,0.00,2.78,0.00,0.000,4,0.000,0.080,2683,632,3645,0,0,0,0,0,0
$GC,5039,-1.34,-146.0,464.5,-9.3,454,5044,0.12,2.55,0.00,0.000,6,0.103,0.044,2709,2187,3644,0,0,0,0,0,0
$GC,5304,-1.34,-146.0,484.5,-7.2,478,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2187,3643,0,0,0,0,0,0
$GC,5566,-1.34,-146.0,503.4,-7.5,503,5571,0.00,2.75,0.00,0.000,4,0.000,0.074,2709,3798,3641,0,0,0,0,0,0
$GC,5622,-1.34,-146.0,508.0,-7.6,507,5632,0.00,2.70,0.00,0.000,6,0.000,0.046,2709,2202,3641,0,0,0,0,0,0
$GC,5890,-1.34,-146.0,527.9,-7.9,532,5894,0.00,2.75,0.00,0.000,4,0.000,0.064,2709,3797,3639,0,0,0,0,0,0
$GC,5919,-1.34,-146.0,530.6,-8.5,534,5924,0.00,2.67,0.00,0.000,6,0.000,0.050,2709,2197,3639,0,0,0,0,0,0
$GC,6182,-1.34,-146.0,551.3,-7.5,558,6186,0.00,2.78,0.00,0.000,4,0.000,0.070,2709,3792,3637,0,0,0,0,0,0
$GC,6223,-1.34,-146.0,554.6,-8.0,561,6228,0.00,2.65,0.00,0.000,6,0.000,0.054,2709,2216,3637,0,0,0,0,0,0
$GC,6486,-1.34,-146.0,573.8,-7.1,585,6491,0.00,2.78,0.00,0.000,4,0.000,0.076,2709,3789,3635,0,0,0,0,0,0
$GC,6557,-1.38,-146.0,579.4,-8.2,590,6562,0.00,2.67,0.00,0.000,6,0.000,0.060,2709,2225,3635,0,0,0,0,0,0
$GC,6820,-1.42,-146.0,597.3,-7.0,615,6824,0.00,2.78,0.00,0.000,4,0.000,0.081,2709,3792,3633,0,0,0,0,0,0
$GC,6862,-1.46,-146.0,600.5,-7.6,618,6867,0.10,2.70,0.00,0.000,6,0.082,0.067,2671,2237,3633,0,0,0,0,0,0
$GC,7146,-1.42,-146.0,624.3,-8.6,625,7152,0.10,3.15,0.00,0.000,4,0.111,0.130,2693,622,3632,0,0,0,0,0,0
$GC,7170,-1.42,-146.0,626.4,-8.2,625,7175,0.00,2.80,0.00,0.000,6,0.000,0.071,2692,2221,3631,0,0,0,0,0,0
$GC,7427,-1.42,-146.0,645.5,-7.4,632,7431,0.00,2.95,0.00,0.000,4,0.000,0.109,2693,3801,3630,0,0,0,0,0,0
$GC,7482,-1.42,-146.0,650.1,-7.9,633,7486,0.00,2.83,0.00,0.000,6,0.000,0.085,2693,2232,3630,0,0,0,0,0,0
$GC,7748,-1.42,-146.0,669.9,-7.4,640,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2232,3628,0,0,0,0,0,0
$GC,7993,-1.42,-146.0,686.6,-6.8,646,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2232,3627,0,0,0,0,0,0
$GC,8236,-1.42,-146.0,702.7,-6.6,652,8240,0.00,3.03,0.00,0.000,4,0.000,0.127,2692,3797,3626,0,0,0,0,0,0
$GC,8275,-1.42,-146.0,705.6,-7.5,653,8280,0.00,2.95,0.00,0.000,6,0.000,0.115,2692,2246,3626,0,0,0,0,0,0
$GC,8560,-1.42,-146.0,725.7,-7.1,660,8565,0.00,3.10,0.00,0.000,4,0.000,0.136,2693,3803,3624,0,0,0,0,0,0
$GC,8609,-1.42,-146.0,730.0,-8.1,661,8614,0.00,3.08,0.00,0.000,6,0.000,0.130,2692,2243,3624,0,0,0,0,0,0
$GC,8882,-1.42,-146.0,749.9,-7.3,668,8887,0.00,3.20,0.00,0.000,4,0.000,0.154,2692,3797,3623,0,0,0,0,0,0
$GC,8938,-1.42,-146.0,754.1,-7.6,669,8943,0.00,3.12,0.00,0.000,6,0.000,0.144,2693,2259,3622,0,0,0,0,0,0
$GC,9205,-1.42,-146.0,773.7,-7.4,676,9211,0.00,3.67,0.00,0.000,4,0.000,0.198,2692,617,3621,0,0,0,0,0,0
$GC,9245,-1.42,-146.0,776.6,-7.3,677,9250,0.00,3.28,0.00,0.000,6,0.000,0.143,2693,2246,3621,0,0,0,0,0,0
$GC,9530,-1.42,-146.0,797.2,-7.2,684,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2246,3620,0,0,0,0,0,0
$STATE,9567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9567,begin apogee
$GC,9573,-0.31,0.0,800.1,7.1,685,9695,1.08,0.00,118.68,1.177,6,0.067,0.000,2937,2370,3060,0,0,0,0,0,0
$STATE,9696,end apogee,CONTROL_FINISHED_OK
$STATE,9696,begin climb
$GC,9698,1.28,146.0,802.3,0.0,688,9837,1.42,3.53,128.32,1.149,4,0.034,0.186,3289,3935,2463,0,0,0,0,0,0
$GC,9867,1.10,146.0,789.6,13.9,692,9873,0.22,3.40,0.00,0.000,6,0.163,0.163,3243,2367,2460,0,0,1,0,0,0
$GC,10153,1.05,146.2,760.5,10.0,699,10158,0.00,3.50,0.00,0.000,4,0.000,0.180,3243,777,2454,0,0,0,0,0,0
$GC,10181,0.97,146.2,757.3,11.2,699,10186,0.12,3.20,0.00,0.000,6,0.121,0.132,3218,2370,2453,0,0,0,0,0,0
$GC,10432,1.00,173.2,735.3,8.8,705,10460,0.00,0.00,23.98,1.080,6,0.000,0.000,3218,2370,2353,0,0,0,0,0,0
$GC,10717,1.03,192.6,709.3,9.1,712,10742,0.00,3.20,18.95,1.055,4,0.000,0.130,3218,3944,2273,0,0,0,0,0,0
$GC,10764,1.03,192.6,704.4,10.7,713,10769,0.00,3.05,0.00,0.000,6,0.000,0.107,3218,2369,2271,0,0,0,0,0,0
$GC,11037,1.03,192.6,676.9,10.3,720,11039,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2370,2270,0,0,0,0,0,0
$GC,11280,1.03,192.6,650.3,10.9,726,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2370,2269,0,0,0,0,0,0
$GC,11524,1.03,192.6,623.8,10.8,732,11528,0.00,2.95,0.00,0.000,4,0.000,0.105,3218,774,2268,0,0,0,0,0,0
$GC,11539,1.03,192.6,621.9,11.1,732,11544,0.00,2.80,0.00,0.000,6,0.000,0.061,3218,2388,2267,0,0,0,0,0,0
$GC,11793,1.03,194.8,595.6,9.9,741,11798,0.00,2.95,0.00,0.000,4,0.000,0.092,3218,773,2267,0,0,0,0,0,0
$GC,11815,1.03,194.8,593.6,10.6,742,11819,0.00,2.72,0.00,0.000,6,0.000,0.055,3218,2369,2265,0,0,0,0,0,0
$GC,12083,1.09,243.0,570.3,7.8,766,12132,0.10,0.00,45.75,1.023,6,0.088,0.000,3247,2370,2069,0,0,0,0,0,0
$GC,12384,1.09,243.0,539.0,10.7,795,12388,0.00,2.78,0.00,0.000,4,0.000,0.075,3247,3939,2064,0,0,0,0,0,0
$GC,12429,1.09,243.0,533.7,11.7,798,12438,0.00,2.72,0.00,0.000,6,0.000,0.048,3247,2356,2062,0,0,0,0,0,0
$GC,12696,1.09,243.0,503.7,11.7,823,12700,0.00,2.72,0.00,0.000,4,0.000,0.058,3247,3941,2062,0,0,0,0,0,0
$GC,12729,1.09,243.0,498.9,12.9,825,12739,0.00,2.67,0.00,0.000,6,0.000,0.046,3247,2374,2061,0,0,0,0,0,0
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$GC,14145,1.09,243.0,340.9,10.4,954,14150,0.00,2.62,0.00,0.000,4,0.000,0.063,3247,782,2058,0,0,0,0,0,0
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$STATE,17163,end climb,SURFACE_DEPTH_REACHED
$STATE,17163,begin surface coast
$FINISH,0.1,1.024053
$STATE,17207,end surface coast,CONTROL_FINISHED_OK
$STATE,17207,begin surface
$SM_CCo,17233,90.70,0.521,0,0,1510,380.21
$SM_GC,0.49,0.00,0.00,90.70,0.000,0.000,0.521,459,2206,1510,-11.71,-0.11,380.21
$IRIDIUM_FIX,2237.01,-15807.58,080703,212125
$TT8_MAMPS,0.026078
$HUMID,59.72
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.90
$XPDR_PINGS,17
$24V_AH,23.2,29.646
$10V_AH,10.2,33.368
$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
$DEVICE_SECS,28.400,235.125,360.350,90.700,0.000,150.054,185.405,1210.005,4.250,0.000,19.596,2263.887,10263.243,608.603,4070.996,2106.152,33.374,1923.932,0.000,4078.318,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,856.960,900.739,1175.645,1287.644,2452.299,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,104601,1245
$CAP_FILE_SIZE,214479,0
$CFSIZE,260165632,165240832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140414,025329,2245.817,-15805.072,41,1.2,41,10.1