version: 66.06
glider: 146
mission: 9
dive: 309
start: 5 6 114 16 4 32
data:
$ID,146
$MISSION,9
$DIVE,309
$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,-330340.12
$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,2996
$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,27
$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
$GPS1,155406,2257.232,-15736.835,37,1.0,37,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-68.8
$GPS2,160337,2257.291,-15736.796,11,1.0,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.083,0.246
$KALMAN_X,-251124.8,144.3,265.6,282777.5,-901.5
$KALMAN_Y,8399.1,126.4,527.2,5775.7,-1168.0
$MHEAD_RNG_PITCHd_Wd,8.6,15255,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.28,-146.0,0.0,0.0,0,105,0.00,0.00,-86.07,0.000,2,0.000,0.000,463,2114,3612,0,0,0,0,0,0
$GC,109,-1.28,-146.0,3.5,-8.4,11,135,12.43,2.75,-0.77,0.000,4,0.166,0.041,2708,3786,3659,0,0,0,0,0,0
$GC,200,-1.12,-146.0,26.8,-15.8,23,210,0.17,2.55,0.00,0.000,6,0.095,0.024,2748,2194,3659,0,0,0,0,0,0
$GC,478,-1.07,-146.0,60.3,-10.7,49,483,0.00,2.55,0.00,0.000,4,0.000,0.046,2748,636,3660,0,0,0,0,0,0
$GC,551,-1.07,-146.0,68.3,-10.2,54,555,0.00,2.40,0.00,0.000,6,0.000,0.017,2748,2208,3660,0,0,0,0,0,0
$GC,815,-1.07,-146.0,97.5,-11.2,78,820,0.00,2.50,0.00,0.000,4,0.000,0.035,2748,3779,3660,0,0,0,0,0,0
$GC,836,-1.07,-146.0,99.7,-10.7,79,840,0.00,2.45,0.00,0.000,6,0.000,0.020,2748,2198,3661,0,0,0,0,0,0
$GC,1104,-1.07,-146.0,126.6,-9.9,103,1108,0.00,2.53,0.00,0.000,4,0.000,0.047,2748,642,3661,0,0,0,0,0,0
$GC,1137,-1.07,-146.0,130.0,-9.3,105,1142,0.00,2.38,0.00,0.000,6,0.000,0.018,2748,2196,3661,0,0,0,0,0,0
$GC,1405,-1.07,-146.0,153.2,-8.2,129,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2196,3661,0,0,0,0,0,0
$GC,1667,-1.07,-146.0,176.7,-8.3,154,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2197,3662,0,0,0,0,0,0
$GC,1923,-1.07,-146.0,197.5,-8.4,178,1927,0.00,2.55,0.00,0.000,4,0.000,0.045,2748,631,3662,0,0,0,0,0,0
$GC,1943,-1.07,-146.0,199.1,-9.1,179,1948,0.00,2.40,0.00,0.000,6,0.000,0.026,2748,2198,3662,0,0,0,0,0,0
$GC,2208,-1.07,-146.0,223.4,-9.3,203,2212,0.00,2.53,0.00,0.000,4,0.000,0.038,2748,3783,3662,0,0,0,0,0,0
$GC,2253,-1.12,-146.0,227.9,-9.2,206,2258,0.00,2.50,0.00,0.000,6,0.000,0.021,2748,2183,3662,0,0,0,0,0,0
$GC,2515,-1.12,-146.0,249.6,-8.0,231,2520,0.00,2.53,0.00,0.000,4,0.000,0.054,2748,642,3662,0,0,0,0,0,0
$GC,2551,-1.17,-146.0,252.5,-8.5,233,2557,0.00,2.38,0.00,0.000,6,0.000,0.021,2748,2182,3662,0,0,0,0,0,0
$GC,2814,-1.22,-146.0,272.0,-6.6,258,2819,0.00,2.58,0.00,0.000,4,0.000,0.042,2748,3782,3662,0,0,0,0,0,0
$GC,2856,-1.29,-146.0,275.0,-7.3,261,2861,0.15,2.47,0.00,0.000,6,0.058,0.022,2690,2201,3662,0,0,0,0,0,0
$GC,3118,-1.22,-146.0,298.9,-9.1,285,3120,0.17,0.00,0.00,0.000,6,0.093,0.000,2727,2200,3661,0,0,0,0,0,0
$GC,3375,-1.22,-146.0,320.2,-8.5,309,3380,0.00,2.65,0.00,0.000,4,0.000,0.067,2727,635,3660,0,0,0,0,0,0
$GC,3421,-1.26,-146.0,324.7,-9.2,312,3430,0.00,2.50,0.00,0.000,6,0.000,0.033,2727,2180,3660,0,0,0,0,0,0
$GC,3689,-1.26,-146.0,345.1,-7.2,337,3693,0.00,2.65,0.00,0.000,4,0.000,0.047,2727,3792,3659,0,0,0,0,0,0
$GC,3756,-1.26,-146.0,350.8,-7.4,342,3765,0.00,2.58,0.00,0.000,6,0.000,0.035,2727,2203,3659,0,0,0,0,0,0
$GC,4025,-1.26,-146.0,368.8,-6.7,367,4029,0.00,2.72,0.00,0.000,4,0.000,0.078,2727,631,3656,0,0,0,0,0,0
$GC,4068,-1.26,-146.0,372.1,-7.4,370,4072,0.00,2.50,0.00,0.000,6,0.000,0.036,2727,2201,3657,0,0,0,0,0,0
$GC,4336,-1.26,-146.0,390.9,-7.2,394,4341,0.00,2.62,0.00,0.000,4,0.000,0.057,2727,3797,3655,0,0,0,0,0,0
$GC,4381,-1.31,-146.0,394.4,-8.0,397,4385,0.00,2.60,0.00,0.000,6,0.000,0.040,2727,2196,3655,0,0,0,0,0,0
$GC,4649,-1.35,-146.0,413.6,-7.2,421,4654,0.10,2.83,0.00,0.000,4,0.082,0.092,2683,629,3654,0,0,0,0,0,0
$GC,4671,-1.35,-146.0,416.2,-8.5,422,4677,0.00,2.55,0.00,0.000,6,0.000,0.038,2683,2195,3653,0,0,0,0,0,0
$GC,4934,-1.30,-146.0,442.1,-10.3,447,4939,0.12,2.70,0.00,0.000,4,0.102,0.064,2710,3793,3651,0,0,0,0,0,0
$GC,4976,-1.30,-146.0,446.5,-10.5,450,4981,0.00,2.60,0.00,0.000,6,0.000,0.040,2710,2204,3651,0,0,0,0,0,0
$GC,5239,-1.30,-146.0,472.0,-9.7,474,5244,0.00,2.67,0.00,0.000,4,0.000,0.057,2710,3793,3649,0,0,0,0,0,0
$GC,5285,-1.30,-146.0,476.7,-10.0,477,5294,0.00,2.65,0.00,0.000,6,0.000,0.045,2711,2222,3649,0,0,0,0,0,0
$GC,5552,-1.30,-146.0,500.5,-8.4,502,5557,0.00,2.95,0.00,0.000,4,0.000,0.110,2710,627,3648,0,0,0,0,0,0
$GC,5574,-1.30,-146.0,503.0,-9.2,503,5579,0.00,2.62,0.00,0.000,6,0.000,0.054,2710,2211,3647,0,0,0,0,0,0
$GC,5838,-1.30,-146.0,523.3,-7.1,528,5843,0.00,2.85,0.00,0.000,4,0.000,0.091,2710,627,3646,0,0,0,0,0,0
$GC,5860,-1.30,-146.0,524.6,-6.8,529,5865,0.00,2.65,0.00,0.000,6,0.000,0.051,2710,2217,3645,0,0,0,0,0,0
$GC,6129,-1.30,-146.0,542.2,-6.6,553,6133,0.00,2.72,0.00,0.000,4,0.000,0.075,2710,3796,3644,0,0,0,0,0,0
$GC,6172,-1.34,-146.0,545.5,-8.1,556,6177,0.00,2.67,0.00,0.000,6,0.000,0.057,2710,2217,3644,0,0,0,0,0,0
$GC,6441,-1.34,-146.0,563.8,-7.1,580,6446,0.00,3.05,0.00,0.000,4,0.000,0.121,2710,617,3643,0,0,0,0,0,0
$GC,6484,-1.34,-146.0,567.4,-8.3,583,6489,0.00,2.72,0.00,0.000,6,0.000,0.059,2710,2212,3643,0,0,0,0,0,0
$GC,6753,-1.34,-146.0,588.7,-8.5,607,6757,0.00,2.83,0.00,0.000,4,0.000,0.091,2710,3797,3640,0,0,0,0,0,0
$GC,6796,-1.38,-146.0,592.8,-8.7,610,6801,0.00,2.75,0.00,0.000,6,0.000,0.064,2710,2214,3641,0,0,0,0,0,0
$GC,7051,-1.42,-146.0,613.1,-7.8,622,7055,0.00,2.85,0.00,0.000,4,0.000,0.087,2710,3794,3639,0,0,0,0,0,0
$GC,7102,-1.46,-146.0,617.3,-8.1,623,7107,0.15,2.75,0.00,0.000,6,0.061,0.078,2661,2231,3639,0,0,0,0,0,0
$GC,7375,-1.40,-146.0,642.1,-9.2,630,7377,0.12,0.00,0.00,0.000,6,0.103,0.000,2689,2231,3637,0,0,0,0,0,0
$GC,7620,-1.40,-146.0,660.1,-7.3,636,7625,0.00,2.92,0.00,0.000,4,0.000,0.105,2689,3798,3636,0,0,0,0,0,0
$GC,7704,-1.40,-146.0,666.9,-8.0,638,7709,0.00,2.88,0.00,0.000,6,0.000,0.094,2689,2237,3636,0,0,0,0,0,0
$GC,7987,-1.40,-146.0,687.2,-7.2,645,7992,0.00,3.28,0.00,0.000,4,0.000,0.149,2689,617,3634,0,0,0,0,0,0
$GC,8011,-1.40,-146.0,689.0,-7.6,645,8016,0.00,2.97,0.00,0.000,6,0.000,0.102,2689,2238,3634,0,0,0,0,0,0
$GC,8266,-1.40,-146.0,707.0,-7.0,652,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2238,3633,0,0,0,0,0,0
$GC,8509,-1.40,-146.0,723.4,-6.7,658,8514,0.00,3.12,0.00,0.000,4,0.000,0.146,2689,3800,3631,0,0,0,0,0,0
$GC,8538,-1.40,-146.0,725.5,-7.8,658,8543,0.00,3.05,0.00,0.000,6,0.000,0.123,2689,2243,3631,0,0,0,0,0,0
$GC,8788,-1.40,-146.0,741.7,-6.2,664,8794,0.00,3.45,0.00,0.000,4,0.000,0.173,2689,619,3630,0,0,0,0,0,0
$GC,8821,-1.40,-146.0,744.0,-6.9,664,8827,0.00,3.12,0.00,0.000,6,0.000,0.123,2689,2237,3630,0,0,0,0,0,0
$GC,9073,-1.40,-146.0,759.2,-6.1,671,9078,0.00,3.25,0.00,0.000,4,0.000,0.164,2689,3797,3629,0,0,0,0,0,0
$GC,9134,-1.40,-146.0,763.2,-6.2,672,9139,0.00,3.15,0.00,0.000,6,0.000,0.144,2689,2246,3629,0,0,1,0,0,0
$GC,9395,-1.40,-146.0,778.2,-5.8,679,9400,0.00,3.28,0.00,0.000,4,0.000,0.167,2689,3797,3628,0,0,0,0,0,0
$GC,9426,-1.40,-146.0,780.1,-6.7,679,9431,0.00,3.17,0.00,0.000,6,0.000,0.152,2689,2257,3628,0,0,1,0,0,0
$GC,9676,-1.40,-146.0,796.2,-6.6,685,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2258,3627,0,0,0,0,0,0
$STATE,9754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9754,begin apogee
$GC,9760,-0.31,0.0,801.9,6.9,687,9885,1.05,0.00,121.20,1.172,6,0.070,0.000,2925,2370,3060,0,0,0,0,0,0
$STATE,9886,end apogee,CONTROL_FINISHED_OK
$STATE,9886,begin climb
$GC,9890,1.28,146.0,804.3,0.0,690,10030,1.42,3.50,129.30,1.147,4,0.034,0.174,3279,3937,2464,0,0,0,0,0,0
$GC,10066,1.13,146.0,791.9,12.5,694,10072,0.17,3.35,0.00,0.000,6,0.110,0.158,3243,2368,2461,0,0,1,0,0,0
$GC,10339,1.08,148.0,764.3,9.9,701,10345,0.00,3.28,0.00,0.000,4,0.000,0.151,3243,3944,2455,0,0,0,0,0,0
$GC,10367,1.01,148.0,761.2,10.8,701,10373,0.12,3.22,0.00,0.000,6,0.122,0.139,3218,2372,2454,0,0,0,0,0,0
$GC,10618,1.04,175.3,738.7,8.8,707,10647,0.00,0.00,26.70,1.082,6,0.000,0.000,3218,2372,2345,0,0,0,0,0,0
$GC,10860,1.05,180.9,715.2,9.8,713,10874,0.00,3.30,6.25,0.871,4,0.000,0.150,3217,780,2321,0,0,0,0,0,0
$GC,10891,1.05,180.9,711.9,10.1,713,10896,0.00,3.05,0.00,0.000,6,0.000,0.104,3217,2382,2321,0,0,0,0,0,0
$GC,11143,1.05,180.9,686.1,10.5,719,11147,0.00,3.00,0.00,0.000,4,0.000,0.121,3217,3945,2319,0,0,0,0,0,0
$GC,11164,1.05,180.9,683.5,11.2,719,11169,0.00,2.90,0.00,0.000,6,0.000,0.092,3217,2374,2318,0,0,0,0,0,0
$GC,11419,1.05,180.9,657.3,10.2,726,11424,0.00,3.10,0.00,0.000,4,0.000,0.124,3217,775,2318,0,0,0,0,0,0
$GC,11434,1.05,180.9,655.4,10.4,726,11439,0.00,2.88,0.00,0.000,6,0.000,0.079,3217,2389,2317,0,0,0,0,0,0
$GC,11697,1.06,189.4,629.8,9.6,733,11708,0.00,0.00,8.93,0.940,6,0.000,0.000,3217,2389,2287,0,0,0,0,0,0
$GC,11939,1.09,209.7,607.4,9.1,739,11965,0.00,2.88,20.00,1.016,4,0.000,0.093,3217,3941,2205,0,0,0,0,0,0
$GC,11983,1.12,240.5,603.4,8.6,740,12020,0.10,2.75,29.75,1.017,6,0.085,0.057,3244,2369,2079,0,0,0,0,0,0
$GC,12274,1.12,240.5,572.4,10.8,765,12278,0.00,2.80,0.00,0.000,4,0.000,0.067,3245,3948,2073,0,0,0,0,0,0
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$STATE,17461,end climb,SURFACE_DEPTH_REACHED
$STATE,17461,begin surface coast
$FINISH,-0.1,1.017784
$STATE,17497,end surface coast,CONTROL_FINISHED_OK
$STATE,17497,begin surface
$SM_CCo,17518,50.92,0.518,0,0,1510,380.21
$SM_GC,0.59,0.00,0.00,50.92,0.000,0.000,0.518,457,2162,1510,-11.68,-1.36,380.21
$IRIDIUM_FIX,2248.70,-15738.46,310703,111106
$TT8_MAMPS,0.026078
$HUMID,62.48
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.70
$XPDR_PINGS,81
$24V_AH,23.2,48.658
$10V_AH,9.8,58.120
$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,28.125,233.800,414.950,50.925,0.000,31.040,35.854,310.946,20.250,0.000,13.213,2272.491,10257.328,615.436,4036.511,942.059,33.370,1925.210,0.000,4067.844,0.000,0.534,0.000
$DEVICE_MAMPS,165.672,174.109,1171.976,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,864.177,902.717,1187.037,1287.646,2449.970,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355304
$DATA_FILE_SIZE,104800,1255
$CAP_FILE_SIZE,193486,0
$CFSIZE,260165632,155054080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,060514,205906,2259.018,-15736.137,62,0.9,62,10.1