version: 66.06
glider: 146
mission: 9
dive: 215
start: 4 16 114 8 4 24
data:
$ID,146
$MISSION,9
$DIVE,215
$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,-328283.09
$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,81
$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
$GPS1,073100,2258.166,-15805.228,37,1.8,37,10.1
$_CALLS,3
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-70.5
$GPS2,080330,2257.884,-15805.180,15,1.9,32,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.060,0.253
$KALMAN_X,-184156.2,139.2,224.0,167405.1,-724.2
$KALMAN_Y,8945.7,-325.6,285.1,7037.0,-1531.2
$MHEAD_RNG_PITCHd_Wd,3.2,12211,-17.6,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,115,0.00,0.00,-88.07,0.000,6,0.000,0.000,463,2156,3654,0,0,0,0,0,0
$GC,117,-1.28,-146.0,4.2,-10.7,12,135,12.52,2.62,0.00,0.000,4,0.163,0.027,2717,3797,3655,0,0,0,0,0,0
$GC,193,-1.19,-146.0,24.0,-14.6,22,203,0.08,2.47,0.00,0.000,6,0.107,0.022,2736,2256,3655,0,0,0,0,0,0
$GC,471,-1.09,-146.0,61.6,-12.5,49,476,0.12,2.67,0.00,0.000,4,0.120,0.047,2762,636,3655,0,0,0,0,0,0
$GC,519,-1.09,-146.0,67.1,-11.1,52,523,0.00,2.42,0.00,0.000,6,0.000,0.018,2762,2215,3655,0,0,0,0,0,0
$GC,782,-1.09,-146.0,95.9,-9.7,76,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2215,3656,0,0,0,0,0,0
$GC,1036,-1.09,-146.0,121.2,-9.9,100,1041,0.00,2.50,0.00,0.000,4,0.000,0.035,2762,3778,3655,0,0,0,0,0,0
$GC,1065,-1.09,-146.0,124.5,-10.7,102,1069,0.00,2.45,0.00,0.000,6,0.000,0.021,2762,2209,3656,0,0,0,0,0,0
$GC,1328,-1.09,-146.0,149.7,-9.5,126,1332,0.00,2.55,0.00,0.000,4,0.000,0.045,2762,640,3656,0,0,0,0,0,0
$GC,1398,-1.09,-146.0,156.8,-9.1,131,1404,0.00,2.40,0.00,0.000,6,0.000,0.025,2762,2204,3656,0,0,0,0,0,0
$GC,1661,-1.09,-146.0,181.1,-9.4,156,1666,0.00,2.50,0.00,0.000,4,0.000,0.035,2762,3773,3656,0,0,0,0,0,0
$GC,1709,-1.14,-146.0,185.3,-9.5,159,1713,0.00,2.45,0.00,0.000,6,0.000,0.020,2763,2193,3656,0,0,0,0,0,0
$GC,1972,-1.14,-146.0,208.9,-8.5,183,1976,0.00,2.53,0.00,0.000,4,0.000,0.046,2762,640,3656,0,0,0,0,0,0
$GC,2003,-1.18,-146.0,211.6,-9.0,185,2007,0.00,2.40,0.00,0.000,6,0.000,0.020,2762,2203,3656,0,0,0,0,0,0
$GC,2265,-1.18,-146.0,233.4,-8.6,209,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2203,3656,0,0,0,0,0,0
$GC,2521,-1.22,-146.0,254.6,-8.3,233,2526,0.10,2.55,0.00,0.000,4,0.081,0.040,2716,3773,3656,0,0,0,0,0,0
$GC,2622,-1.22,-146.0,264.1,-9.4,241,2627,0.10,2.47,0.00,0.000,6,0.109,0.020,2738,2186,3656,0,0,0,0,0,0
$GC,2889,-1.22,-146.0,287.0,-8.0,265,2893,0.00,2.58,0.00,0.000,4,0.000,0.053,2738,637,3655,0,0,0,0,0,0
$GC,2956,-1.22,-146.0,292.8,-7.2,270,2965,0.00,2.47,0.00,0.000,6,0.000,0.032,2738,2186,3655,0,0,0,0,0,0
$GC,3224,-1.22,-146.0,312.2,-7.1,295,3229,0.00,2.60,0.00,0.000,4,0.000,0.044,2738,3783,3655,0,0,0,0,0,0
$GC,3257,-1.25,-146.0,315.1,-7.6,297,3267,0.00,2.55,0.00,0.000,6,0.000,0.026,2738,2206,3654,0,0,0,0,0,0
$GC,3525,-1.29,-146.0,334.0,-6.8,322,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2207,3653,0,0,0,0,0,0
$GC,3789,-1.34,-146.0,352.8,-6.8,347,3794,0.12,2.75,0.00,0.000,4,0.066,0.071,2688,629,3652,0,0,0,0,0,0
$GC,3823,-1.29,-146.0,355.5,-9.1,349,3828,0.15,2.50,0.00,0.000,6,0.098,0.030,2720,2186,3652,0,0,0,0,0,0
$GC,4088,-1.29,-146.0,376.9,-7.9,373,4093,0.00,2.67,0.00,0.000,4,0.000,0.065,2720,631,3650,0,0,0,0,0,0
$GC,4105,-1.29,-146.0,378.6,-7.7,374,4109,0.00,2.50,0.00,0.000,6,0.000,0.040,2720,2189,3650,0,0,0,0,0,0
$GC,4369,-1.29,-146.0,399.8,-8.3,398,4374,0.00,2.67,0.00,0.000,4,0.000,0.053,2720,3801,3648,0,0,0,0,0,0
$GC,4450,-1.29,-146.0,407.4,-9.0,404,4456,0.00,2.62,0.00,0.000,6,0.000,0.034,2720,2198,3647,0,0,0,0,0,0
$GC,4714,-1.29,-146.0,429.2,-8.0,429,4719,0.00,2.80,0.00,0.000,4,0.000,0.089,2720,625,3646,0,0,0,0,0,0
$GC,4755,-1.29,-146.0,433.0,-8.9,432,4759,0.00,2.55,0.00,0.000,6,0.000,0.046,2720,2193,3645,0,0,0,0,0,0
$GC,5019,-1.29,-146.0,454.3,-7.6,456,5023,0.00,2.70,0.00,0.000,4,0.000,0.058,2720,3802,3644,0,0,0,0,0,0
$GC,5113,-1.34,-146.0,463.1,-9.1,463,5118,0.00,2.62,0.00,0.000,6,0.000,0.040,2720,2209,3643,0,0,0,0,0,0
$GC,5377,-1.38,-146.0,484.5,-8.4,488,5382,0.00,2.90,0.00,0.000,4,0.000,0.099,2720,624,3642,0,0,0,0,0,0
$GC,5399,-1.38,-146.0,486.6,-8.2,489,5408,0.00,2.65,0.00,0.000,6,0.000,0.052,2720,2195,3641,0,0,0,0,0,0
$GC,5667,-1.42,-146.0,507.3,-7.8,514,5672,0.12,0.00,0.00,0.000,6,0.068,0.000,2672,2194,3638,0,0,0,0,0,0
$GC,5930,-1.37,-146.0,530.9,-8.8,539,5932,0.15,0.00,0.00,0.000,6,0.096,0.000,2705,2195,3637,0,0,0,0,0,0
$GC,6186,-1.37,-146.0,550.4,-7.4,563,6190,0.00,2.88,0.00,0.000,4,0.000,0.096,2705,627,3636,0,0,0,0,0,0
$GC,6218,-1.37,-146.0,552.8,-7.9,565,6222,0.00,2.65,0.00,0.000,6,0.000,0.052,2704,2204,3635,0,0,0,0,0,0
$GC,6486,-1.37,-146.0,571.2,-6.6,589,6490,0.00,2.83,0.00,0.000,4,0.000,0.091,2705,3800,3634,0,0,0,0,0,0
$GC,6518,-1.37,-146.0,574.2,-7.3,591,6528,0.00,2.75,0.00,0.000,6,0.000,0.057,2705,2210,3633,0,0,0,0,0,0
$GC,6785,-1.37,-146.0,591.6,-6.9,616,6790,0.00,2.83,0.00,0.000,4,0.000,0.078,2705,3803,3632,0,0,0,0,0,0
$GC,6843,-1.37,-146.0,596.5,-7.6,620,6848,0.00,2.78,0.00,0.000,6,0.000,0.064,2705,2212,3631,0,0,0,0,0,0
$GC,7105,-1.37,-146.0,614.9,-7.0,631,7110,0.00,2.85,0.00,0.000,4,0.000,0.084,2705,3796,3630,0,0,0,0,0,0
$GC,7127,-1.37,-146.0,616.5,-7.1,631,7132,0.00,2.78,0.00,0.000,6,0.000,0.071,2705,2216,3630,0,0,0,0,0,0
$GC,7385,-1.37,-146.0,633.6,-6.6,638,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2216,3628,0,0,0,0,0,0
$GC,7627,-1.37,-146.0,650.7,-7.1,644,7632,0.00,3.15,0.00,0.000,4,0.000,0.138,2705,623,3627,0,0,0,0,0,0
$GC,7672,-1.41,-146.0,654.4,-8.3,645,7676,0.00,2.85,0.00,0.000,6,0.000,0.082,2705,2209,3626,0,0,0,0,0,0
$GC,7949,-1.41,-146.0,675.4,-7.5,652,7954,0.00,3.05,0.00,0.000,4,0.000,0.121,2705,3797,3625,0,0,0,0,0,0
$GC,7982,-1.41,-146.0,678.2,-8.3,652,7988,0.00,2.92,0.00,0.000,6,0.000,0.100,2705,2218,3625,0,0,0,0,0,0
$GC,8234,-1.44,-146.0,696.1,-7.1,659,8239,0.00,3.20,0.00,0.000,4,0.000,0.147,2705,620,3624,0,0,0,0,0,0
$GC,8290,-1.49,-146.0,700.9,-8.5,660,8295,0.10,2.97,0.00,0.000,6,0.079,0.101,2662,2212,3623,0,0,0,0,0,0
$GC,8557,-1.45,-146.0,724.9,-9.0,667,8559,0.12,0.00,0.00,0.000,6,0.102,0.000,2689,2212,3622,0,0,0,0,0,0
$GC,8802,-1.45,-146.0,744.6,-8.0,673,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2212,3620,0,0,0,0,0,0
$GC,9044,-1.45,-146.0,763.6,-7.8,679,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2212,3620,0,0,0,0,0,0
$GC,9288,-1.45,-146.0,781.9,-7.5,685,9294,0.00,3.45,0.00,0.000,4,0.000,0.187,2690,3799,3619,0,0,0,0,0,0
$GC,9330,-1.45,-146.0,785.0,-7.8,686,9335,0.00,3.30,0.00,0.000,6,0.000,0.160,2690,2223,3619,0,0,1,0,0,0
$STATE,9570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9570,begin apogee
$GC,9576,-0.31,0.0,802.6,7.1,692,9699,1.08,0.00,118.78,1.180,6,0.069,0.000,2935,2372,3059,0,0,0,0,0,0
$STATE,9699,end apogee,CONTROL_FINISHED_OK
$STATE,9700,begin climb
$GC,9702,1.28,146.0,804.7,0.0,695,9841,1.45,3.42,129.43,1.152,4,0.041,0.179,3293,3935,2463,0,0,0,0,0,0
$GC,9955,1.10,146.0,780.3,12.6,700,9961,0.25,3.33,0.00,0.000,6,0.099,0.152,3242,2369,2455,0,0,0,0,0,0
$GC,10206,1.05,156.3,755.9,9.5,707,10221,0.00,3.35,8.77,0.962,4,0.000,0.149,3242,3944,2422,0,0,0,0,0,0
$GC,10283,0.99,156.3,747.7,10.7,708,10289,0.12,3.17,0.00,0.000,6,0.123,0.132,3218,2379,2420,0,0,0,0,0,0
$GC,10534,1.02,182.8,725.5,8.8,715,10562,0.00,0.00,25.85,1.081,6,0.000,0.000,3218,2379,2314,0,0,0,0,0,0
$GC,10776,1.03,189.1,701.9,9.7,721,10790,0.00,3.08,6.43,0.878,4,0.000,0.116,3218,3946,2289,0,0,0,0,0,0
$GC,10801,1.03,189.1,699.2,10.8,721,10806,0.00,3.00,0.00,0.000,6,0.000,0.103,3218,2380,2289,0,0,0,0,0,0
$GC,11058,1.03,189.1,673.4,10.1,728,11063,0.00,2.97,0.00,0.000,4,0.000,0.104,3218,3949,2287,0,0,0,0,0,0
$GC,11079,1.03,189.1,670.9,10.3,728,11084,0.00,2.85,0.00,0.000,6,0.000,0.088,3218,2393,2287,0,0,0,0,0,0
$GC,11335,1.03,194.5,645.6,9.8,735,11349,0.00,2.97,6.53,0.878,4,0.000,0.094,3218,3948,2266,0,0,0,0,0,0
$GC,11395,1.03,194.5,639.3,10.6,736,11400,0.00,2.78,0.00,0.000,6,0.000,0.076,3218,2400,2265,0,0,0,0,0,0
$GC,11661,1.03,194.5,612.5,10.1,743,11666,0.00,3.08,0.00,0.000,4,0.000,0.110,3218,774,2264,0,0,0,0,0,0
$GC,11677,1.03,194.5,610.7,10.5,743,11682,0.00,2.88,0.00,0.000,6,0.000,0.069,3218,2414,2263,0,0,0,0,0,0
$GC,11934,1.03,194.5,583.7,11.2,758,11938,0.00,2.75,0.00,0.000,4,0.000,0.084,3218,3940,2263,0,0,0,0,0,0
$GC,11985,1.03,194.5,577.4,11.7,762,11990,0.00,2.60,0.00,0.000,6,0.000,0.050,3218,2409,2262,0,0,0,0,0,0
$GC,12249,1.03,194.5,549.6,10.3,786,12254,0.00,2.67,0.00,0.000,4,0.000,0.069,3217,3945,2262,0,0,0,0,0,0
$GC,12304,1.03,194.5,543.7,11.4,790,12308,0.00,2.55,0.00,0.000,6,0.000,0.044,3218,2427,2261,0,0,0,0,0,0
$GC,12572,1.11,225.6,519.1,8.6,814,12608,0.12,3.25,29.15,0.986,4,0.077,0.120,3252,780,2139,0,0,0,0,0,0
$GC,12631,1.11,225.6,512.2,10.8,819,12636,0.00,2.80,0.00,0.000,6,0.000,0.048,3253,2431,2136,0,0,0,0,0,0
$GC,12895,1.11,225.6,483.9,10.6,843,12900,0.00,2.60,0.00,0.000,4,0.000,0.058,3253,3947,2135,0,0,0,0,0,0
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$GC,16745,1.31,268.7,70.6,9.1,1190,16773,0.00,2.72,17.90,0.565,4,0.000,0.045,3288,798,1963,0,0,0,0,0,0
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$STATE,17334,end climb,SURFACE_DEPTH_REACHED
$STATE,17334,begin surface coast
$FINISH,-0.0,1.024069
$STATE,17370,end surface coast,CONTROL_FINISHED_OK
$STATE,17370,begin surface
$SM_CCo,17393,75.68,0.521,0,0,1509,380.21
$SM_GC,0.51,0.00,0.00,75.68,0.000,0.000,0.521,465,2176,1509,-11.68,-0.96,380.21
$IRIDIUM_FIX,2251.04,-15805.83,110703,070741
$TT8_MAMPS,0.026078
$HUMID,60.75
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,22.00
$XPDR_PINGS,23
$24V_AH,23.2,31.775
$10V_AH,10.1,35.972
$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,28.075,242.075,382.025,75.675,0.000,86.008,132.103,1397.837,5.750,0.000,34.281,2283.243,10216.582,614.732,4118.730,2164.709,33.373,1958.435,0.000,4121.807,0.000,0.536,0.000
$DEVICE_MAMPS,162.604,187.148,1180.413,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,866.955,909.272,1190.887,1290.189,2456.679,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,105012,1260
$CAP_FILE_SIZE,212144,0
$CFSIZE,260165632,164175872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160414,125653,2258.890,-15804.984,39,1.3,39,10.1