version: 66.06
glider: 146
mission: 9
dive: 276
start: 4 29 114 11 31 8
data:
$ID,146
$MISSION,9
$DIVE,276
$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,-329673.12
$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,62
$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
$GPS1,112106,2253.898,-15805.795,27,1.0,27,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-70.0
$GPS2,113013,2253.820,-15805.759,12,1.0,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.064,0.252
$KALMAN_X,-228515.6,250.4,31.9,210850.4,-594.6
$KALMAN_Y,3897.6,142.6,-47.1,4412.0,-44.4
$MHEAD_RNG_PITCHd_Wd,4.2,19798,-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,-146.0,0.0,0.0,0,111,0.00,0.00,-88.60,0.000,6,0.000,0.000,458,2172,3656,0,0,0,0,0,0
$GC,114,-1.28,-146.0,4.9,-12.2,12,132,12.50,2.62,0.00,0.000,4,0.167,0.031,2715,3793,3657,0,0,0,0,0,0
$GC,171,-1.09,-146.0,22.9,-19.7,19,181,0.20,2.53,0.00,0.000,6,0.089,0.025,2761,2236,3658,0,0,0,0,0,0
$GC,456,-1.09,-146.0,53.5,-9.6,48,460,0.00,2.62,0.00,0.000,4,0.000,0.045,2762,632,3659,0,0,0,0,0,0
$GC,489,-1.09,-146.0,57.6,-11.7,50,494,0.00,2.45,0.00,0.000,6,0.000,0.018,2762,2223,3659,0,0,0,0,0,0
$GC,753,-1.09,-146.0,85.7,-10.3,74,758,0.00,2.62,0.00,0.000,4,0.000,0.044,2762,634,3659,0,0,0,0,0,0
$GC,799,-1.09,-146.0,91.2,-11.0,77,805,0.00,2.40,0.00,0.000,6,0.000,0.018,2761,2199,3659,0,0,0,0,0,0
$GC,1064,-1.09,-146.0,117.2,-10.0,102,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2199,3660,0,0,0,0,0,0
$GC,1329,-1.09,-146.0,143.3,-9.4,127,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2199,3660,0,0,0,0,0,0
$GC,1592,-1.09,-146.0,163.9,-7.1,152,1596,0.00,2.58,0.00,0.000,4,0.000,0.046,2762,630,3661,0,0,0,0,0,0
$GC,1614,-1.09,-146.0,165.3,-7.5,153,1618,0.00,2.40,0.00,0.000,6,0.000,0.022,2761,2195,3661,0,0,0,0,0,0
$GC,1882,-1.09,-146.0,185.2,-7.7,177,1886,0.00,2.53,0.00,0.000,4,0.000,0.035,2762,3775,3661,0,0,0,0,0,0
$GC,1899,-1.09,-146.0,187.0,-7.5,178,1903,0.00,2.50,0.00,0.000,6,0.000,0.019,2762,2166,3661,0,0,0,0,0,0
$GC,2165,-1.09,-146.0,208.0,-8.5,202,2170,0.00,2.47,0.00,0.000,4,0.000,0.046,2762,645,3661,0,0,0,0,0,0
$GC,2211,-1.15,-146.0,212.0,-8.6,205,2215,0.00,2.38,0.00,0.000,6,0.000,0.019,2762,2188,3661,0,0,0,0,0,0
$GC,2478,-1.20,-146.0,235.1,-8.5,229,2483,0.00,2.55,0.00,0.000,4,0.000,0.039,2762,3778,3661,0,0,0,0,0,0
$GC,2548,-1.27,-146.0,241.6,-8.2,234,2558,0.12,2.53,0.00,0.000,6,0.031,0.020,2703,2189,3661,0,0,0,0,0,0
$GC,2813,-1.21,-146.0,265.6,-8.3,259,2818,0.17,2.60,0.00,0.000,4,0.092,0.052,2740,637,3661,0,0,0,0,0,0
$GC,2860,-1.21,-146.0,269.8,-8.3,262,2866,0.00,2.40,0.00,0.000,6,0.000,0.021,2740,2180,3661,0,0,0,0,0,0
$GC,3123,-1.21,-146.0,290.1,-7.9,287,3127,0.00,2.62,0.00,0.000,4,0.000,0.041,2740,3788,3660,0,0,0,0,0,0
$GC,3165,-1.25,-146.0,293.6,-8.5,290,3169,0.00,2.53,0.00,0.000,6,0.000,0.022,2740,2185,3660,0,0,0,0,0,0
$GC,3428,-1.29,-146.0,314.2,-7.5,314,3432,0.00,2.60,0.00,0.000,4,0.000,0.061,2740,637,3660,0,0,0,0,0,0
$GC,3463,-1.29,-146.0,316.6,-7.9,316,3467,0.00,2.42,0.00,0.000,6,0.000,0.032,2740,2168,3660,0,0,0,0,0,0
$GC,3730,-1.33,-146.0,336.9,-7.5,340,3735,0.12,2.67,0.00,0.000,4,0.066,0.046,2689,3793,3659,0,0,0,0,0,0
$GC,3819,-1.28,-146.0,345.5,-9.6,347,3824,0.17,2.58,0.00,0.000,6,0.088,0.031,2727,2192,3658,0,0,0,0,0,0
$GC,4080,-1.28,-146.0,366.8,-7.8,371,4085,0.00,2.70,0.00,0.000,4,0.000,0.073,2727,626,3657,0,0,0,0,0,0
$GC,4103,-1.28,-146.0,368.4,-7.3,372,4113,0.00,2.55,0.00,0.000,6,0.000,0.035,2726,2194,3657,0,0,0,0,0,0
$GC,4370,-1.28,-146.0,387.9,-7.1,397,4375,0.00,2.62,0.00,0.000,4,0.000,0.053,2727,3787,3655,0,0,0,0,0,0
$GC,4416,-1.31,-146.0,391.7,-7.3,400,4421,0.00,2.58,0.00,0.000,6,0.000,0.031,2727,2204,3655,0,0,0,0,0,0
$GC,4680,-1.31,-146.0,410.2,-7.0,425,4684,0.00,2.78,0.00,0.000,4,0.000,0.083,2727,627,3653,0,0,0,0,0,0
$GC,4701,-1.31,-146.0,412.0,-7.1,426,4711,0.00,2.58,0.00,0.000,6,0.000,0.035,2727,2194,3653,0,0,0,0,0,0
$GC,4970,-1.35,-146.0,429.6,-6.0,451,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2194,3652,0,0,0,0,0,0
$GC,5233,-1.40,-146.0,447.5,-6.6,476,5238,0.12,2.72,0.00,0.000,4,0.067,0.058,2678,3794,3650,0,0,0,0,0,0
$GC,5281,-1.35,-146.0,451.8,-9.4,479,5287,0.15,2.62,0.00,0.000,6,0.095,0.044,2710,2203,3650,0,0,0,0,0,0
$GC,5544,-1.35,-146.0,474.1,-8.9,504,5548,0.00,2.90,0.00,0.000,4,0.000,0.100,2710,621,3648,0,0,0,0,0,0
$GC,5585,-1.35,-146.0,477.9,-9.4,507,5590,0.00,2.60,0.00,0.000,6,0.000,0.043,2710,2199,3648,0,0,0,0,0,0
$GC,5848,-1.35,-146.0,501.7,-8.9,531,5853,0.00,2.70,0.00,0.000,4,0.000,0.062,2710,3793,3646,0,0,0,0,0,0
$GC,5884,-1.35,-146.0,505.2,-9.5,533,5890,0.00,2.65,0.00,0.000,6,0.000,0.041,2710,2204,3646,0,0,0,0,0,0
$GC,6147,-1.35,-146.0,526.9,-7.9,558,6152,0.00,2.70,0.00,0.000,4,0.000,0.065,2710,3791,3645,0,0,0,0,0,0
$GC,6211,-1.35,-146.0,532.5,-8.3,563,6216,0.00,2.62,0.00,0.000,6,0.000,0.047,2710,2218,3645,0,0,0,0,0,0
$GC,6475,-1.35,-146.0,551.5,-7.1,587,6480,0.00,2.75,0.00,0.000,4,0.000,0.067,2711,3796,3643,0,0,0,0,0,0
$GC,6516,-1.35,-146.0,554.8,-7.6,590,6520,0.00,2.67,0.00,0.000,6,0.000,0.051,2710,2223,3644,0,0,0,0,0,0
$GC,6780,-1.35,-146.0,572.3,-6.6,614,6785,0.00,3.05,0.00,0.000,4,0.000,0.122,2710,620,3642,0,0,0,0,0,0
$GC,6797,-1.35,-146.0,573.6,-6.7,615,6802,0.00,2.72,0.00,0.000,6,0.000,0.056,2710,2220,3641,0,0,0,0,0,0
$GC,7061,-1.35,-146.0,591.3,-7.1,639,7066,0.00,2.83,0.00,0.000,4,0.000,0.089,2710,3800,3640,0,0,0,0,0,0
$GC,7119,-1.39,-146.0,596.1,-8.2,643,7125,0.00,2.72,0.00,0.000,6,0.000,0.061,2710,2231,3640,0,0,0,0,0,0
$GC,7382,-1.39,-146.0,615.5,-7.5,654,7386,0.00,2.80,0.00,0.000,4,0.000,0.089,2710,3793,3638,0,0,0,0,0,0
$GC,7416,-1.39,-146.0,618.1,-8.4,654,7422,0.00,2.72,0.00,0.000,6,0.000,0.069,2710,2246,3638,0,0,0,0,0,0
$GC,7666,-1.39,-146.0,637.3,-7.6,661,7671,0.00,2.80,0.00,0.000,4,0.000,0.091,2710,3794,3637,0,0,0,0,0,0
$GC,7706,-1.42,-146.0,640.5,-8.4,662,7710,0.00,2.75,0.00,0.000,6,0.000,0.077,2710,2258,3636,0,0,0,0,0,0
$GC,7991,-1.46,-146.0,661.4,-7.4,669,7993,0.12,0.00,0.00,0.000,6,0.070,0.000,2666,2258,3635,0,0,0,0,0,0
$GC,8233,-1.42,-146.0,682.8,-8.8,675,8239,0.12,3.30,0.00,0.000,4,0.103,0.145,2693,615,3634,0,0,0,0,0,0
$GC,8257,-1.42,-146.0,685.1,-9.3,675,8262,0.00,3.03,0.00,0.000,6,0.000,0.096,2692,2253,3633,0,0,0,0,0,0
$GC,8512,-1.42,-146.0,706.0,-8.1,682,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2253,3633,0,0,0,0,0,0
$GC,8756,-1.42,-146.0,724.9,-7.7,688,8761,0.00,3.10,0.00,0.000,4,0.000,0.146,2692,3797,3631,0,0,0,0,0,0
$GC,8790,-1.42,-146.0,727.7,-8.5,688,8798,0.00,3.00,0.00,0.000,6,0.000,0.123,2692,2262,3631,0,0,0,0,0,0
$GC,9040,-1.42,-146.0,746.8,-7.5,695,9046,0.00,3.50,0.00,0.000,4,0.000,0.173,2692,615,3631,0,0,0,0,0,0
$GC,9085,-1.42,-146.0,750.4,-7.9,696,9090,0.00,3.20,0.00,0.000,6,0.000,0.128,2692,2256,3631,0,0,0,0,0,0
$GC,9364,-1.42,-146.0,769.6,-6.6,703,9369,0.00,3.25,0.00,0.000,4,0.000,0.168,2692,3799,3629,0,0,0,0,0,0
$GC,9397,-1.42,-146.0,772.2,-7.5,703,9403,0.00,3.15,0.00,0.000,6,0.000,0.148,2692,2258,3630,0,0,1,0,0,0
$GC,9647,-1.42,-146.0,788.8,-6.7,710,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2259,3629,0,0,0,0,0,0
$STATE,9848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9848,begin apogee
$GC,9855,-0.31,0.0,802.2,6.5,715,9981,1.08,0.00,121.75,1.173,6,0.069,0.000,2934,2370,3060,0,0,0,0,0,0
$STATE,9981,end apogee,CONTROL_FINISHED_OK
$STATE,9981,begin climb
$GC,9984,1.28,146.0,803.9,0.0,718,10124,1.45,3.55,129.62,1.144,4,0.034,0.174,3291,3931,2463,0,0,0,0,0,0
$GC,10212,1.12,146.0,782.7,14.0,723,10218,0.22,3.30,0.00,0.000,6,0.100,0.151,3246,2369,2457,0,0,0,0,0,0
$GC,10479,1.07,146.0,754.3,10.3,730,10480,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2370,2453,0,0,0,0,0,0
$GC,10725,1.06,172.3,732.1,8.8,736,10754,0.00,3.22,23.52,1.067,4,0.000,0.132,3246,3942,2356,0,0,0,0,0,0
$GC,10767,1.04,200.4,728.4,8.7,737,10801,0.00,3.12,27.50,1.062,6,0.000,0.117,3246,2368,2242,0,0,0,0,0,0
$GC,11054,1.04,206.4,701.0,9.7,744,11062,0.00,0.00,6.20,0.857,6,0.000,0.000,3246,2368,2218,0,0,0,0,0,0
$GC,11295,1.04,206.4,676.2,10.4,750,11297,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2368,2215,0,0,0,0,0,0
$GC,11539,1.04,206.4,650.6,10.5,756,11540,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2369,2213,0,0,0,0,0,0
$GC,11783,1.04,206.4,623.3,11.4,762,11787,0.00,2.88,0.00,0.000,4,0.000,0.087,3246,3951,2213,0,0,0,0,0,0
$GC,11845,1.04,206.4,615.7,12.3,763,11849,0.00,2.78,0.00,0.000,6,0.000,0.064,3246,2370,2213,0,0,0,0,0,0
$GC,12104,1.04,206.4,585.6,12.2,778,12108,0.00,2.78,0.00,0.000,4,0.000,0.075,3246,3944,2213,0,0,0,0,0,0
$GC,12125,1.04,206.4,582.3,11.7,779,12131,0.00,2.67,0.00,0.000,6,0.000,0.050,3246,2385,2212,0,0,0,0,0,0
$GC,12389,1.04,206.4,551.3,11.3,804,12390,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2385,2212,0,0,0,0,0,0
$GC,12641,1.04,206.4,521.2,11.3,828,12645,0.00,2.67,0.00,0.000,4,0.000,0.060,3246,3951,2211,0,0,0,0,0,0
$GC,12675,1.04,206.4,517.1,12.4,830,12681,0.00,2.67,0.00,0.000,6,0.000,0.045,3246,2381,2211,0,0,0,0,0,0
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$STATE,17489,end climb,SURFACE_DEPTH_REACHED
$STATE,17489,begin surface coast
$FINISH,-0.2,1.023779
$STATE,17538,end surface coast,CONTROL_FINISHED_OK
$STATE,17538,begin surface
$SM_CCo,17561,79.40,0.524,0,0,1509,380.21
$SM_GC,0.53,0.00,0.00,79.40,0.000,0.000,0.524,457,2173,1509,-11.72,-1.05,380.21
$IRIDIUM_FIX,2241.69,-15806.70,240703,060653
$TT8_MAMPS,0.026078
$HUMID,62.28
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.40
$XPDR_PINGS,56
$24V_AH,23.2,42.826
$10V_AH,10.0,50.297
$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
$DEVICE_SECS,28.175,244.225,387.650,79.400,0.000,29.840,34.955,301.912,14.000,0.000,13.762,2313.489,10150.700,631.300,4151.818,923.553,33.367,1975.526,0.000,4173.347,0.000,0.533,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,882.232,928.782,1218.771,1322.218,2515.830,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,104872,1283
$CAP_FILE_SIZE,198469,0
$CFSIZE,260165632,158302208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,290414,162630,2255.771,-15805.422,41,1.5,41,10.1