version: 66.06
glider: 146
mission: 9
dive: 13
start: 3 14 114 2 22 21
data:
$ID,146
$MISSION,9
$DIVE,13
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,200
$T_MISSION,440
$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,400
$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,-323369.75
$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,3075
$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,86
$R_STBD_OVSHOOT,40
$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
$GPS1,021506,2242.210,-15803.230,63,1.0,63,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-70.0
$GPS2,022125,2242.262,-15803.283,15,1.3,15,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.157,-0.207
$KALMAN_X,-6759.2,25.8,-104.9,-6307.6,-818.1
$KALMAN_Y,3768.9,-70.9,-350.8,-16346.7,585.0
$MHEAD_RNG_PITCHd_Wd,207.1,5676,-17.5,-10.000
$D_GRID,600
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,108,0.00,0.00,-89.00,0.000,6,0.000,0.000,470,2157,3653,0,0,0,0,0,0
$GC,111,-1.27,-146.0,4.5,-11.9,12,128,11.80,2.38,0.00,0.000,4,0.133,0.034,2791,680,3655,0,0,0,0,0,0
$GC,276,-1.34,-146.0,32.5,-10.0,34,281,0.00,2.40,0.00,0.000,6,0.000,0.028,2790,2216,3656,0,0,0,0,0,0
$GC,545,-1.34,-146.0,58.5,-9.7,58,549,0.00,2.53,0.00,0.000,4,0.000,0.035,2790,3783,3656,0,0,0,0,0,0
$GC,566,-1.34,-146.0,60.8,-9.6,59,570,0.00,2.38,0.00,0.000,6,0.000,0.020,2790,2246,3656,0,0,0,0,0,0
$GC,833,-1.34,-146.0,87.1,-10.1,83,837,0.00,2.60,0.00,0.000,4,0.000,0.044,2790,641,3656,0,0,0,0,0,0
$GC,890,-1.40,-146.0,93.5,-9.8,87,896,0.00,2.42,0.00,0.000,6,0.000,0.018,2790,2211,3656,0,0,0,0,0,0
$GC,1153,-1.45,-146.0,114.0,-7.4,112,1155,0.15,0.00,0.00,0.000,6,0.063,0.000,2739,2211,3656,0,0,0,0,0,0
$GC,1409,-1.45,-146.0,140.6,-9.3,136,1413,0.00,2.55,0.00,0.000,4,0.000,0.043,2738,641,3656,0,0,0,0,0,0
$GC,1454,-1.45,-146.0,145.1,-9.3,139,1460,0.00,2.42,0.00,0.000,6,0.000,0.028,2738,2202,3657,0,0,0,0,0,0
$GC,1718,-1.45,-146.0,169.2,-9.6,164,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2202,3657,0,0,0,0,0,0
$GC,1970,-1.45,-146.0,191.8,-8.5,188,1974,0.00,2.58,0.00,0.000,4,0.000,0.046,2739,638,3657,0,0,0,0,0,0
$GC,2004,-1.45,-146.0,194.2,-8.6,190,2008,0.00,2.40,0.00,0.000,6,0.000,0.025,2738,2185,3657,0,0,0,0,0,0
$GC,2277,-1.45,-146.0,217.9,-8.3,201,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2186,3657,0,0,0,0,0,0
$GC,2520,-1.45,-146.0,238.6,-8.5,207,2525,0.00,2.58,0.00,0.000,4,0.000,0.042,2739,3776,3657,0,0,0,0,0,0
$GC,2543,-1.45,-146.0,240.5,-8.3,207,2547,0.00,2.45,0.00,0.000,6,0.000,0.021,2739,2194,3657,0,0,0,0,0,0
$GC,2798,-1.45,-146.0,263.4,-9.2,214,2802,0.00,2.60,0.00,0.000,4,0.000,0.049,2738,3783,3657,0,0,0,0,0,0
$GC,2875,-1.51,-146.0,270.7,-9.5,215,2881,0.00,2.47,0.00,0.000,6,0.000,0.023,2738,2215,3657,0,0,0,0,0,0
$GC,3127,-1.51,-146.0,292.1,-8.2,222,3131,0.00,2.65,0.00,0.000,4,0.000,0.061,2738,634,3657,0,0,0,0,0,0
$GC,3188,-1.56,-146.0,296.8,-7.7,223,3192,0.00,2.47,0.00,0.000,6,0.000,0.035,2738,2188,3657,0,0,0,0,0,0
$GC,3450,-1.61,-146.0,316.6,-7.8,230,3455,0.00,2.65,0.00,0.000,4,0.000,0.051,2738,3792,3656,0,0,0,0,0,0
$GC,3522,-1.69,-146.0,322.1,-7.0,231,3528,0.15,2.53,0.00,0.000,6,0.064,0.033,2689,2214,3656,0,0,0,0,0,0
$GC,3773,-1.65,-146.0,342.7,-8.4,237,3778,0.12,2.75,0.00,0.000,4,0.108,0.076,2715,630,3654,0,0,0,0,0,0
$GC,3802,-1.65,-146.0,345.0,-8.2,237,3806,0.00,2.58,0.00,0.000,6,0.000,0.041,2715,2226,3654,0,0,0,0,0,0
$GC,4052,-1.65,-146.0,362.1,-6.8,243,4056,0.00,2.75,0.00,0.000,4,0.000,0.069,2715,629,3653,0,0,0,0,0,0
$GC,4091,-1.65,-146.0,365.1,-8.0,244,4095,0.00,2.58,0.00,0.000,6,0.000,0.044,2715,2209,3653,0,0,0,0,0,0
$GC,4375,-1.65,-146.0,389.2,-8.8,251,4380,0.00,2.65,0.00,0.000,4,0.000,0.056,2715,3794,3651,0,0,0,0,0,0
$GC,4430,-1.65,-146.0,394.6,-8.7,252,4435,0.00,2.58,0.00,0.000,6,0.000,0.042,2715,2218,3651,0,0,0,0,0,0
$GC,4698,-1.65,-146.0,416.4,-8.2,259,4703,0.00,2.88,0.00,0.000,4,0.000,0.095,2715,628,3649,0,0,0,0,0,0
$GC,4737,-1.65,-146.0,419.8,-8.1,260,4742,0.00,2.62,0.00,0.000,6,0.000,0.050,2715,2219,3648,0,0,0,0,0,0
$GC,5021,-1.65,-146.0,441.1,-7.5,267,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2219,3646,0,0,0,0,0,0
$GC,5265,-1.65,-146.0,461.2,-8.5,273,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2219,3645,0,0,0,0,0,0
$GC,5508,-1.65,-146.0,484.4,-9.6,279,5512,0.00,2.70,0.00,0.000,4,0.000,0.074,2715,3793,3643,0,0,0,0,0,0
$GC,5542,-1.69,-146.0,487.7,-10.1,279,5548,0.00,2.62,0.00,0.000,6,0.000,0.055,2715,2214,3644,0,0,0,0,0,0
$GC,5792,-1.73,-146.0,507.9,-7.6,286,5797,0.00,2.72,0.00,0.000,4,0.000,0.074,2714,3793,3642,0,0,0,0,0,0
$GC,5821,-1.78,-146.0,509.8,-7.4,286,5826,0.12,2.65,0.00,0.000,6,0.077,0.051,2675,2220,3642,0,0,0,0,0,0
$GC,6071,-1.78,-146.0,530.1,-8.3,292,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2220,3640,0,0,0,0,0,0
$GC,6314,-1.78,-146.0,551.1,-8.7,298,6316,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2220,3639,0,0,0,0,0,0
$GC,6559,-1.78,-146.0,574.4,-9.8,304,6564,0.00,2.83,0.00,0.000,4,0.000,0.089,2675,3788,3637,0,0,0,0,0,0
$GC,6592,-1.78,-146.0,577.9,-10.3,304,6598,0.00,2.75,0.00,0.000,6,0.000,0.071,2675,2216,3637,0,0,0,0,0,0
$STATE,6840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6840,begin apogee
$GC,6846,-0.31,0.0,601.0,9.1,311,6966,1.48,0.00,116.68,1.028,6,0.077,0.000,3006,2377,3060,0,0,0,0,0,0
$STATE,6967,end apogee,CONTROL_FINISHED_OK
$STATE,6967,begin climb
$GC,6971,1.27,146.0,603.6,0.0,314,7104,1.45,2.88,123.53,0.999,4,0.032,0.089,3360,3931,2462,0,0,0,0,0,0
$GC,7132,0.95,146.0,591.2,16.1,318,7138,0.38,2.80,0.00,0.000,6,0.111,0.067,3285,2365,2459,0,0,0,0,0,0
$GC,7407,0.81,146.0,558.8,11.5,325,7412,0.17,2.83,0.00,0.000,4,0.130,0.080,3252,3936,2454,0,0,0,0,0,0
$GC,7475,0.72,146.0,550.7,12.1,326,7480,0.00,2.70,0.00,0.000,6,0.000,0.054,3252,2378,2452,0,0,0,0,0,0
$GC,7732,0.65,146.0,523.2,10.7,333,7737,0.17,3.03,0.00,0.000,4,0.123,0.115,3216,782,2451,0,0,0,0,0,0
$GC,7754,0.62,148.7,520.7,9.9,333,7759,0.00,2.75,0.00,0.000,6,0.000,0.058,3217,2384,2450,0,0,0,0,0,0
$GC,8010,0.65,178.1,498.5,8.6,340,8039,0.00,0.00,27.25,0.939,6,0.000,0.000,3217,2384,2333,0,0,0,0,0,0
$GC,8255,0.68,201.1,476.9,8.9,346,8278,0.00,0.00,21.48,0.913,6,0.000,0.000,3217,2384,2239,0,0,0,0,0,0
$GC,8497,0.71,225.0,454.9,8.9,352,8526,0.00,2.78,21.85,0.906,4,0.000,0.064,3217,3937,2142,0,0,0,0,0,0
$GC,8545,0.73,240.7,450.6,9.3,353,8566,0.00,2.62,15.23,0.869,6,0.000,0.036,3217,2372,2078,0,0,0,0,0,0
$GC,8822,0.80,258.5,425.5,9.2,360,8847,0.15,2.92,16.55,0.872,4,0.079,0.089,3255,784,2005,0,0,0,0,0,0
$GC,8880,0.80,258.5,418.9,11.7,361,8885,0.00,2.62,0.00,0.000,6,0.000,0.042,3255,2383,2003,0,0,0,0,0,0
$GC,9148,0.80,258.5,388.6,11.5,368,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2383,2001,0,0,0,0,0,0
$GC,9390,0.80,258.5,358.0,12.7,374,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2383,2000,0,0,0,0,0,0
$GC,9634,0.80,258.5,327.1,12.7,380,9639,0.00,2.75,0.00,0.000,4,0.000,0.061,3255,773,1999,0,0,0,0,0,0
$GC,9656,0.80,258.5,324.3,13.5,380,9661,0.00,2.58,0.00,0.000,6,0.000,0.028,3255,2376,1999,0,0,0,0,0,0
$GC,9912,0.80,258.5,293.1,11.9,387,9916,0.00,2.72,0.00,0.000,4,0.000,0.058,3255,778,1999,0,0,0,0,0,0
$GC,9938,0.80,258.5,290.0,11.1,387,9943,0.00,2.55,0.00,0.000,6,0.000,0.031,3255,2370,1998,0,0,0,0,0,0
$GC,10189,0.82,270.9,265.8,9.4,393,10207,0.00,2.72,11.65,0.760,4,0.000,0.054,3255,778,1954,0,0,0,0,0,0
$GC,10236,0.82,270.9,261.0,10.4,394,10241,0.00,2.53,0.00,0.000,6,0.000,0.033,3255,2349,1952,0,0,0,0,0,0
$GC,10514,0.82,270.9,233.3,10.3,401,10519,0.00,2.60,0.00,0.000,4,0.000,0.049,3255,3927,1951,0,0,0,0,0,0
$GC,10600,0.87,270.9,223.4,12.3,403,10605,0.00,2.55,0.00,0.000,6,0.000,0.028,3255,2341,1950,0,0,0,0,0,0
$GC,10855,0.90,270.9,193.9,10.8,413,10860,0.00,2.60,0.00,0.000,4,0.000,0.053,3255,779,1950,0,0,0,0,0,0
$GC,10902,0.90,270.9,188.8,10.9,416,10907,0.00,2.50,0.00,0.000,6,0.000,0.026,3254,2362,1950,0,0,0,0,0,0
$GC,11166,0.94,270.9,161.5,10.5,441,11171,0.10,2.62,0.00,0.000,4,0.096,0.048,3282,785,1950,0,0,0,0,0,0
$GC,11188,0.94,270.9,159.1,11.1,442,11192,0.00,2.45,0.00,0.000,6,0.000,0.025,3282,2341,1950,0,0,0,0,0,0
$GC,11451,0.94,270.9,127.3,11.4,466,11456,0.00,2.58,0.00,0.000,4,0.000,0.043,3282,3925,1950,0,0,0,0,0,0
$GC,11518,0.94,270.9,119.4,11.3,471,11523,0.00,2.50,0.00,0.000,6,0.000,0.024,3282,2344,1949,0,0,0,0,0,0
$GC,11786,0.94,270.9,89.8,11.0,495,11790,0.00,2.55,0.00,0.000,4,0.000,0.046,3282,783,1949,0,0,0,0,0,0
$GC,11830,0.94,270.9,84.2,10.6,498,11840,0.00,2.47,0.00,0.000,6,0.000,0.022,3282,2351,1950,0,0,0,0,0,0
$GC,12099,0.94,270.9,56.5,10.2,523,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2351,1950,0,0,0,0,0,0
$GC,12366,0.94,270.9,29.5,10.0,548,12375,0.00,2.55,0.00,0.000,4,0.000,0.041,3282,3920,1951,0,0,0,0,0,0
$GC,12439,1.00,270.9,21.8,10.5,558,12448,0.00,2.50,0.00,0.000,6,0.000,0.024,3282,2347,1952,0,0,0,0,0,0
$STATE,12623,end climb,SURFACE_DEPTH_REACHED
$STATE,12623,begin surface coast
$FINISH,-0.2,1.023677
$STATE,12680,end surface coast,CONTROL_FINISHED_OK
$STATE,12680,begin surface
$SM_CCo,12701,104.25,0.533,0,0,1428,400.08
$SM_GC,0.30,0.00,0.00,104.25,0.000,0.000,0.533,470,2157,1428,-11.98,-1.47,400.08
$IRIDIUM_FIX,2237.01,-15803.24,070603,222221
$TT8_MAMPS,0.026078
$HUMID,60.35
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.20
$XPDR_PINGS,32
$24V_AH,23.3,2.348
$10V_AH,10.4,2.024
$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,27.575,157.450,354.200,104.250,0.000,31.413,35.678,176.992,8.000,0.000,17.051,1227.807,8676.430,580.269,2150.466,551.527,33.351,1374.887,0.000,2154.580,0.000,0.534,0.000
$DEVICE_MAMPS,133.458,115.050,1027.780,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,403.257,346.134,432.983,656.664,1246.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,47839,593
$CAP_FILE_SIZE,127955,0
$CFSIZE,260165632,179290112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140314,055706,2240.986,-15805.095,36,1.4,36,10.0