version: 66.06
glider: 146
mission: 9
dive: 209
start: 4 14 114 23 54 50
data:
$ID,146
$MISSION,9
$DIVE,209
$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,-328122.81
$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,43
$R_STBD_OVSHOOT,42
$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
$GPS1,234330,2251.267,-15806.563,40,1.7,40,10.1
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-70.7
$GPS2,235355,2251.138,-15806.669,18,1.0,18,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.061,0.253
$KALMAN_X,-179197.7,-389.1,-71.9,160734.7,-428.0
$KALMAN_Y,20500.4,-487.0,-72.2,-16501.4,-325.3
$MHEAD_RNG_PITCHd_Wd,3.5,24923,-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,16,-1.28,-146.0,0.0,0.0,0,112,0.00,0.00,-88.85,0.000,6,0.000,0.000,464,2186,3657,0,0,0,0,0,0
$GC,116,-1.28,-146.0,4.3,-10.8,12,134,12.52,2.58,0.00,0.000,4,0.165,0.029,2718,3787,3657,0,0,0,0,0,0
$GC,217,-1.19,-146.0,28.9,-13.6,26,227,0.10,2.53,0.00,0.000,6,0.096,0.024,2742,2222,3658,0,0,0,0,0,0
$GC,486,-1.10,-146.0,62.3,-12.2,51,491,0.10,2.65,0.00,0.000,4,0.128,0.047,2761,632,3659,0,0,0,0,0,0
$GC,533,-1.07,-146.0,68.7,-12.1,54,538,0.00,2.45,0.00,0.000,6,0.000,0.018,2761,2224,3659,0,0,0,0,0,0
$GC,798,-1.02,-146.0,99.2,-11.2,78,802,0.00,2.62,0.00,0.000,4,0.000,0.043,2761,632,3659,0,0,0,0,0,0
$GC,821,-0.98,-146.0,102.4,-11.1,79,828,0.12,2.42,0.00,0.000,6,0.110,0.021,2788,2206,3659,0,0,0,0,0,0
$GC,1084,-0.98,-146.0,125.0,-8.6,104,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2207,3659,0,0,0,0,0,0
$GC,1339,-1.04,-146.0,144.3,-7.4,128,1344,0.00,2.58,0.00,0.000,4,0.000,0.043,2787,627,3660,0,0,0,0,0,0
$GC,1369,-1.09,-146.0,146.8,-7.8,130,1373,0.00,2.40,0.00,0.000,6,0.000,0.025,2788,2193,3660,0,0,0,0,0,0
$GC,1632,-1.17,-146.0,168.0,-8.0,154,1637,0.17,2.55,0.00,0.000,4,0.052,0.035,2720,3778,3660,0,0,0,0,0,0
$GC,1668,-1.12,-146.0,171.9,-11.0,156,1678,0.15,2.53,0.00,0.000,6,0.065,0.020,2758,2184,3660,0,0,0,0,0,0
$GC,1936,-1.12,-146.0,196.2,-8.6,181,1940,0.00,2.53,0.00,0.000,4,0.000,0.045,2758,643,3661,0,0,0,0,0,0
$GC,1992,-1.17,-146.0,201.7,-8.3,185,1998,0.00,2.35,0.00,0.000,6,0.000,0.018,2758,2179,3661,0,0,0,0,0,0
$GC,2256,-1.17,-146.0,222.5,-7.7,210,2261,0.00,2.55,0.00,0.000,4,0.000,0.037,2759,3769,3661,0,0,0,0,0,0
$GC,2366,-1.23,-146.0,231.6,-8.4,219,2370,0.00,2.47,0.00,0.000,6,0.000,0.020,2758,2193,3661,0,0,0,0,0,0
$GC,2631,-1.29,-146.0,252.4,-8.2,243,2636,0.15,2.60,0.00,0.000,4,0.057,0.051,2698,636,3661,0,0,0,0,0,0
$GC,2711,-1.24,-146.0,261.6,-11.8,249,2721,0.12,2.42,0.00,0.000,6,0.072,0.026,2730,2172,3661,0,0,0,0,0,0
$GC,2978,-1.24,-146.0,285.8,-8.8,274,2983,0.00,2.60,0.00,0.000,4,0.000,0.041,2730,3772,3661,0,0,0,0,0,0
$GC,2995,-1.24,-146.0,288.0,-9.1,275,3000,0.00,2.50,0.00,0.000,6,0.000,0.022,2730,2190,3660,0,0,0,0,0,0
$GC,3259,-1.24,-146.0,309.9,-8.4,299,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2190,3660,0,0,0,0,0,0
$GC,3521,-1.24,-146.0,333.2,-8.8,324,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2190,3659,0,0,0,0,0,0
$GC,3777,-1.24,-146.0,356.3,-8.9,348,3781,0.00,2.65,0.00,0.000,4,0.000,0.049,2730,3770,3658,0,0,0,0,0,0
$GC,3799,-1.24,-146.0,358.6,-9.4,349,3805,0.00,2.55,0.00,0.000,6,0.000,0.028,2730,2198,3658,0,0,0,0,0,0
$GC,4064,-1.28,-146.0,380.9,-8.2,374,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2199,3656,0,0,0,0,0,0
$GC,4327,-1.32,-146.0,402.7,-8.1,399,4332,0.00,2.65,0.00,0.000,4,0.000,0.053,2730,3768,3654,0,0,0,0,0,0
$GC,4361,-1.37,-146.0,406.0,-8.9,401,4367,0.10,2.58,0.00,0.000,6,0.079,0.038,2687,2190,3654,0,0,0,0,0,0
$GC,4622,-1.37,-146.0,431.4,-9.8,426,4627,0.00,2.78,0.00,0.000,4,0.000,0.086,2687,628,3653,0,0,0,0,0,0
$GC,4645,-1.33,-146.0,433.0,-9.7,427,4650,0.12,2.53,0.00,0.000,6,0.103,0.040,2713,2171,3652,0,0,0,0,0,0
$GC,4910,-1.33,-146.0,455.3,-7.9,451,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2171,3651,0,0,0,0,0,0
$GC,5171,-1.33,-146.0,477.3,-8.8,476,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2172,3649,0,0,0,0,0,0
$GC,5427,-1.33,-146.0,500.0,-8.7,500,5432,0.00,2.75,0.00,0.000,4,0.000,0.086,2713,629,3647,0,0,0,0,0,0
$GC,5459,-1.33,-146.0,502.7,-9.6,502,5464,0.00,2.60,0.00,0.000,6,0.000,0.050,2713,2189,3647,0,0,0,0,0,0
$GC,5727,-1.33,-146.0,524.4,-7.7,526,5732,0.00,2.78,0.00,0.000,4,0.000,0.074,2713,3796,3645,0,0,0,0,0,0
$GC,5772,-1.37,-146.0,528.7,-9.0,529,5778,0.00,2.67,0.00,0.000,6,0.000,0.051,2713,2194,3645,0,0,0,0,0,0
$GC,6037,-1.37,-146.0,549.1,-7.8,554,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2194,3644,0,0,0,0,0,0
$GC,6298,-1.37,-146.0,569.6,-8.0,579,6302,0.00,2.80,0.00,0.000,4,0.000,0.075,2713,3793,3642,0,0,0,0,0,0
$GC,6327,-1.37,-146.0,572.1,-8.9,581,6331,0.00,2.72,0.00,0.000,6,0.000,0.063,2713,2205,3642,0,0,0,0,0,0
$GC,6591,-1.41,-146.0,593.0,-8.0,605,6596,0.00,2.83,0.00,0.000,4,0.000,0.080,2713,3792,3641,0,0,0,0,0,0
$GC,6625,-1.41,-146.0,596.1,-8.5,607,6631,0.00,2.78,0.00,0.000,6,0.000,0.064,2713,2200,3641,0,0,0,0,0,0
$GC,6889,-1.45,-146.0,615.9,-7.4,618,6891,0.10,0.00,0.00,0.000,6,0.079,0.000,2672,2201,3639,0,0,0,0,0,0
$GC,7132,-1.41,-146.0,637.5,-8.9,624,7133,0.12,0.00,0.00,0.000,6,0.100,0.000,2699,2200,3638,0,0,0,0,0,0
$GC,7375,-1.41,-146.0,656.2,-7.5,630,7380,0.00,2.95,0.00,0.000,4,0.000,0.101,2699,3795,3636,0,0,0,0,0,0
$GC,7403,-1.41,-146.0,658.3,-7.6,630,7408,0.00,2.90,0.00,0.000,6,0.000,0.090,2700,2210,3636,0,0,0,0,0,0
$GC,7653,-1.41,-146.0,676.2,-7.0,636,7658,0.00,3.00,0.00,0.000,4,0.000,0.109,2699,3796,3635,0,0,0,0,0,0
$GC,7680,-1.41,-146.0,678.3,-7.3,636,7685,0.00,2.92,0.00,0.000,6,0.000,0.099,2699,2217,3635,0,0,0,0,0,0
$GC,7932,-1.41,-146.0,694.8,-6.7,642,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2217,3633,0,0,0,0,0,0
$GC,8174,-1.41,-146.0,711.3,-6.7,648,8179,0.00,3.08,0.00,0.000,4,0.000,0.130,2699,3790,3632,0,0,0,0,0,0
$GC,8197,-1.41,-146.0,712.8,-6.8,648,8202,0.00,3.05,0.00,0.000,6,0.000,0.119,2699,2221,3632,0,0,0,0,0,0
$GC,8454,-1.41,-146.0,730.4,-7.0,655,8459,0.00,3.12,0.00,0.000,4,0.000,0.139,2699,3789,3632,0,0,0,0,0,0
$GC,8487,-1.41,-146.0,733.2,-8.0,655,8493,0.00,3.10,0.00,0.000,6,0.000,0.130,2699,2232,3631,0,0,0,0,0,0
$GC,8737,-1.41,-146.0,751.8,-7.4,662,8742,0.00,3.22,0.00,0.000,4,0.000,0.154,2699,3789,3630,0,0,0,0,0,0
$GC,8799,-1.41,-146.0,756.9,-8.6,663,8804,0.00,3.17,0.00,0.000,6,0.000,0.145,2699,2236,3630,0,0,0,0,0,0
$GC,9060,-1.41,-146.0,776.2,-7.4,670,9066,0.00,3.33,0.00,0.000,4,0.000,0.170,2699,3790,3629,0,0,0,0,0,0
$GC,9110,-1.41,-146.0,780.5,-8.5,671,9115,0.00,3.25,0.00,0.000,6,0.000,0.160,2699,2250,3629,0,0,1,0,0,0
$STATE,9380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9380,begin apogee
$GC,9388,-0.31,0.0,800.3,7.2,678,9511,1.05,0.00,120.30,1.177,6,0.067,0.000,2939,2360,3060,0,0,0,0,0,0
$STATE,9512,end apogee,CONTROL_FINISHED_OK
$STATE,9512,begin climb
$GC,9515,1.28,146.0,802.8,0.0,681,9654,1.42,3.50,128.88,1.145,4,0.033,0.176,3292,3939,2462,0,0,0,0,0,0
$GC,9683,1.10,146.0,790.0,12.5,685,9689,0.22,3.42,0.00,0.000,6,0.100,0.164,3245,2365,2459,0,0,1,0,0,0
$GC,9967,1.04,146.0,760.6,10.1,692,9973,0.00,3.35,0.00,0.000,4,0.000,0.156,3245,3939,2453,0,0,0,0,0,0
$GC,9991,0.96,146.0,758.1,10.9,692,9996,0.15,3.22,0.00,0.000,6,0.114,0.142,3214,2372,2452,0,0,0,0,0,0
$GC,10247,1.00,178.1,735.7,8.5,699,10277,0.00,0.00,28.70,1.082,6,0.000,0.000,3215,2372,2333,0,0,0,0,0,0
$GC,10490,1.01,185.7,712.7,9.7,705,10505,0.00,3.17,7.93,0.930,4,0.000,0.123,3215,3935,2302,0,0,0,0,0,0
$GC,10524,1.01,187.2,709.3,10.0,705,10529,0.00,3.05,0.00,0.000,6,0.000,0.111,3215,2375,2301,0,0,0,0,0,0
$GC,10774,1.03,204.4,685.6,9.2,711,10798,0.00,3.30,18.58,1.042,4,0.000,0.139,3215,775,2225,0,0,0,0,0,0
$GC,10809,1.06,230.6,682.2,8.8,711,10840,0.00,2.97,25.30,1.048,6,0.000,0.091,3215,2379,2120,0,0,0,0,0,0
$GC,11099,1.10,230.6,652.2,10.8,719,11101,0.12,0.00,0.00,0.000,6,0.077,0.000,3250,2379,2114,0,0,0,0,0,0
$GC,11340,1.10,230.6,620.8,13.2,725,11341,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2379,2112,0,0,0,0,0,0
$GC,11587,1.10,230.6,589.8,12.6,734,11588,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2379,2112,0,0,0,0,0,0
$GC,11840,1.10,230.6,559.0,11.2,758,11841,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2379,2111,0,0,0,0,0,0
$GC,12095,1.10,230.6,529.6,11.2,782,12100,0.00,2.95,0.00,0.000,4,0.000,0.094,3250,777,2111,0,0,0,0,0,0
$GC,12113,1.10,230.6,527.6,11.6,783,12118,0.00,2.70,0.00,0.000,6,0.000,0.044,3250,2386,2109,0,0,0,0,0,0
$GC,12375,1.10,230.6,497.9,11.5,807,12380,0.00,2.70,0.00,0.000,4,0.000,0.064,3250,3942,2110,0,0,0,0,0,0
$GC,12419,1.10,230.6,492.3,12.1,810,12428,0.00,2.67,0.00,0.000,6,0.000,0.040,3250,2368,2108,0,0,0,0,0,0
$GC,12686,1.10,230.6,463.1,10.6,835,12690,0.00,2.95,0.00,0.000,4,0.000,0.102,3250,778,2108,0,0,0,0,0,0
$GC,12713,1.10,230.6,459.4,11.9,837,12718,0.00,2.62,0.00,0.000,6,0.000,0.044,3250,2381,2108,0,0,0,0,0,0
$GC,12977,1.10,230.6,430.9,10.7,861,12986,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2381,2108,0,0,0,0,0,0
$GC,13242,1.11,236.8,404.7,9.7,886,13253,0.00,2.60,5.07,0.687,4,0.000,0.048,3250,3935,2094,0,0,0,0,0,0
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$GC,14064,1.11,236.8,316.9,11.6,962,14068,0.00,2.65,0.00,0.000,4,0.000,0.044,3250,3937,2093,0,0,0,0,0,0
$GC,14109,1.11,236.8,311.5,12.8,965,14115,0.00,2.55,0.00,0.000,6,0.000,0.027,3250,2368,2093,0,0,0,0,0,0
$GC,14372,1.16,249.2,285.3,9.5,990,14390,0.00,2.70,12.75,0.755,4,0.000,0.056,3250,785,2043,0,0,0,0,0,0
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$GC,16716,1.34,288.1,31.0,10.7,1201,16721,0.00,2.55,0.00,0.000,4,0.000,0.040,3287,3924,1890,0,0,0,0,0,0
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$STATE,16962,end climb,SURFACE_DEPTH_REACHED
$STATE,16962,begin surface coast
$FINISH,0.0,1.024034
$STATE,17011,end surface coast,CONTROL_FINISHED_OK
$STATE,17011,begin surface
$SM_CCo,17033,76.15,0.515,0,0,1510,380.21
$SM_GC,0.42,0.00,0.00,76.15,0.000,0.000,0.515,458,2176,1510,-11.71,-0.96,380.21
$IRIDIUM_FIX,2239.35,-15802.37,090703,181809
$TT8_MAMPS,0.026078
$HUMID,60.04
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.20
$XPDR_PINGS,18
$24V_AH,23.2,30.531
$10V_AH,10.2,34.532
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.250,209.800,383.225,76.150,0.000,27.183,40.805,375.444,4.500,0.000,21.691,2218.805,9988.369,611.796,3973.009,926.223,33.373,1871.374,0.000,3979.813,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,854.377,893.650,1175.066,1285.168,2447.428,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,101755,1243
$CAP_FILE_SIZE,186684,0
$CFSIZE,260165632,164786176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,150414,044136,2252.699,-15806.521,55,1.3,55,10.1