version: 66.06
glider: 146
mission: 9
dive: 32
start: 3 17 114 0 29 49
data:
$ID,146
$MISSION,9
$DIVE,32
$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,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,-323869.06
$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,3001
$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,63
$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
$GPS1,002054,2302.583,-15802.261,39,1.6,39,10.1
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-63.0
$GPS2,002854,2302.558,-15802.240,13,1.3,30,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,-0.107
$KALMAN_X,-29483.1,-30.0,315.9,17828.9,-685.8
$KALMAN_Y,10413.7,485.9,258.5,13426.5,-1013.3
$MHEAD_RNG_PITCHd_Wd,104.2,60947,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,145,0.00,0.00,-125.75,0.000,2,0.000,0.000,468,2163,3609,0,0,0,0,0,0
$GC,148,-1.27,-146.0,3.3,-9.2,16,166,11.27,2.45,-0.85,0.000,4,0.130,0.048,2709,660,3657,0,0,0,0,0,0
$GC,251,-1.16,-146.0,28.4,-16.2,30,261,0.15,2.45,0.00,0.000,6,0.087,0.018,2745,2218,3657,0,0,0,0,0,0
$GC,518,-1.07,-146.0,62.6,-13.3,55,527,0.10,0.00,0.00,0.000,6,0.124,0.000,2765,2218,3657,0,0,0,0,0,0
$GC,779,-1.07,-146.0,92.9,-10.9,80,784,0.00,2.58,0.00,0.000,4,0.000,0.044,2765,658,3657,0,0,0,0,0,0
$GC,836,-1.07,-146.0,99.2,-10.4,84,846,0.00,2.42,0.00,0.000,6,0.000,0.018,2765,2197,3657,0,0,0,0,0,0
$GC,1104,-1.07,-146.0,124.4,-9.0,109,1108,0.00,2.53,0.00,0.000,4,0.000,0.035,2765,3776,3656,0,0,0,0,0,0
$GC,1121,-1.07,-146.0,126.6,-9.0,110,1125,0.00,2.47,0.00,0.000,6,0.000,0.020,2765,2203,3656,0,0,0,0,0,0
$GC,1383,-1.07,-146.0,150.1,-8.5,134,1388,0.00,2.55,0.00,0.000,4,0.000,0.037,2765,3781,3656,0,0,0,0,0,0
$GC,1407,-1.07,-146.0,152.2,-8.6,135,1416,0.00,2.53,0.00,0.000,6,0.000,0.021,2765,2190,3657,0,0,0,0,0,0
$GC,1673,-1.11,-146.0,173.2,-8.4,160,1678,0.00,2.55,0.00,0.000,4,0.000,0.037,2765,3775,3656,0,0,0,0,0,0
$GC,1696,-1.15,-146.0,175.6,-8.3,161,1702,0.00,2.47,0.00,0.000,6,0.000,0.020,2765,2184,3657,0,0,0,0,0,0
$GC,1959,-1.20,-146.0,197.7,-9.1,186,1964,0.12,2.55,0.00,0.000,4,0.071,0.050,2721,642,3657,0,0,0,0,0,0
$GC,1994,-1.15,-146.0,201.7,-11.8,188,2001,0.12,2.42,0.00,0.000,6,0.105,0.027,2749,2201,3657,0,0,0,0,0,0
$GC,2244,-1.15,-146.0,224.8,-8.9,195,2249,0.00,2.58,0.00,0.000,4,0.000,0.047,2749,642,3657,0,0,0,0,0,0
$GC,2266,-1.15,-146.0,226.8,-8.6,195,2271,0.00,2.40,0.00,0.000,6,0.000,0.025,2749,2184,3657,0,0,0,0,0,0
$GC,2523,-1.15,-146.0,247.9,-8.2,202,2528,0.00,2.60,0.00,0.000,4,0.000,0.041,2749,3778,3657,0,0,0,0,0,0
$GC,2557,-1.19,-146.0,251.0,-9.2,202,2562,0.00,2.50,0.00,0.000,6,0.000,0.022,2749,2197,3657,0,0,0,0,0,0
$GC,2807,-1.19,-146.0,273.3,-9.1,209,2811,0.00,2.60,0.00,0.000,4,0.000,0.043,2749,3777,3656,0,0,0,0,0,0
$GC,2830,-1.23,-146.0,275.4,-9.1,209,2834,0.00,2.50,0.00,0.000,6,0.000,0.023,2749,2189,3656,0,0,0,0,0,0
$GC,3085,-1.28,-146.0,295.4,-7.4,216,3087,0.12,0.00,0.00,0.000,6,0.071,0.000,2705,2190,3655,0,0,0,0,0,0
$GC,3328,-1.28,-146.0,317.2,-8.9,222,3333,0.00,2.65,0.00,0.000,4,0.000,0.065,2705,642,3654,0,0,0,0,0,0
$GC,3373,-1.28,-146.0,321.4,-9.5,223,3378,0.00,2.47,0.00,0.000,6,0.000,0.032,2705,2183,3654,0,0,0,0,0,0
$GC,3651,-1.28,-146.0,345.5,-8.6,230,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2183,3653,0,0,0,0,0,0
$GC,3895,-1.28,-146.0,367.3,-9.2,236,3899,0.00,2.67,0.00,0.000,4,0.000,0.054,2705,3790,3651,0,0,0,0,0,0
$GC,3927,-1.28,-146.0,370.7,-10.1,236,3933,0.00,2.60,0.00,0.000,6,0.000,0.041,2705,2208,3651,0,0,0,0,0,0
$GC,4178,-1.28,-146.0,393.7,-9.2,243,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2208,3649,0,0,0,0,0,0
$GC,4421,-1.28,-146.0,414.7,-8.5,249,4425,0.00,2.70,0.00,0.000,4,0.000,0.061,2705,3797,3648,0,0,0,0,0,0
$GC,4476,-1.28,-146.0,419.8,-9.2,250,4480,0.00,2.65,0.00,0.000,6,0.000,0.048,2705,2206,3648,0,0,0,0,0,0
$GC,4743,-1.28,-146.0,442.1,-8.6,257,4748,0.00,2.72,0.00,0.000,4,0.000,0.064,2705,3796,3646,0,0,0,0,0,0
$GC,4766,-1.28,-146.0,444.2,-9.1,257,4771,0.00,2.65,0.00,0.000,6,0.000,0.048,2705,2210,3645,0,0,0,0,0,0
$GC,5021,-1.28,-146.0,466.3,-8.5,264,5026,0.00,2.72,0.00,0.000,4,0.000,0.064,2705,3786,3644,0,0,0,0,0,0
$GC,5062,-1.28,-146.0,470.0,-9.4,265,5067,0.00,2.62,0.00,0.000,6,0.000,0.052,2705,2217,3644,0,0,0,0,0,0
$GC,5345,-1.28,-146.0,493.4,-8.2,272,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2218,3641,0,0,0,0,0,0
$GC,5589,-1.28,-146.0,513.4,-8.2,278,5594,0.00,2.75,0.00,0.000,4,0.000,0.081,2705,3783,3640,0,0,0,0,0,0
$GC,5617,-1.28,-146.0,515.8,-8.6,278,5622,0.00,2.67,0.00,0.000,6,0.000,0.056,2705,2222,3640,0,0,0,0,0,0
$GC,5867,-1.28,-146.0,536.6,-8.4,284,5872,0.00,2.78,0.00,0.000,4,0.000,0.077,2705,3790,3638,0,0,0,0,0,0
$GC,5907,-1.28,-146.0,540.0,-8.8,285,5911,0.00,2.70,0.00,0.000,6,0.000,0.058,2705,2220,3637,0,0,0,0,0,0
$GC,6191,-1.28,-146.0,564.0,-8.6,292,6195,0.00,2.80,0.00,0.000,4,0.000,0.083,2705,3783,3636,0,0,0,0,0,0
$GC,6212,-1.28,-146.0,566.2,-8.9,292,6217,0.00,2.67,0.00,0.000,6,0.000,0.063,2705,2230,3636,0,0,0,0,0,0
$GC,6467,-1.28,-146.0,588.7,-8.8,299,6472,0.00,2.83,0.00,0.000,4,0.000,0.089,2705,3789,3634,0,0,0,0,0,0
$GC,6490,-1.28,-146.0,590.7,-9.2,299,6494,0.00,2.75,0.00,0.000,6,0.000,0.073,2705,2231,3634,0,0,0,0,0,0
$STATE,6620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6620,begin apogee
$GC,6626,-0.31,0.0,601.9,8.5,303,6747,1.00,0.00,117.10,1.024,6,0.074,0.000,2931,2365,3060,0,0,0,0,0,0
$STATE,6749,end apogee,CONTROL_FINISHED_OK
$STATE,6749,begin climb
$GC,6751,1.27,146.0,604.8,0.0,306,6889,1.45,2.92,124.07,0.994,4,0.041,0.094,3281,3931,2462,0,0,0,0,0,0
$GC,6928,1.12,146.0,592.6,12.1,310,6933,0.17,2.78,0.00,0.000,6,0.115,0.067,3246,2370,2459,0,0,0,0,0,0
$GC,7203,1.07,150.9,565.6,9.8,317,7208,0.00,0.00,3.88,0.590,6,0.000,0.000,3246,2370,2446,0,0,0,0,0,0
$GC,7445,1.05,181.5,544.0,8.6,323,7479,0.00,2.85,28.75,0.949,4,0.000,0.074,3246,3930,2319,0,0,0,0,0,0
$GC,7514,0.99,181.5,537.4,10.3,324,7520,0.15,2.70,0.00,0.000,6,0.120,0.060,3216,2373,2317,0,0,0,0,0,0
$GC,7770,1.03,215.0,515.9,8.5,331,7802,0.00,0.00,30.50,0.937,6,0.000,0.000,3216,2373,2183,0,0,0,0,0,0
$GC,8013,1.03,215.0,491.3,10.4,337,8014,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2373,2177,0,0,0,0,0,0
$GC,8258,1.03,215.0,465.9,10.3,343,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2373,2175,0,0,0,0,0,0
$GC,8501,1.04,225.7,442.3,9.5,349,8512,0.00,0.00,9.77,0.831,6,0.000,0.000,3217,2373,2139,0,0,0,0,0,0
$GC,8745,1.12,254.4,420.9,8.7,355,8774,0.12,0.00,26.20,0.892,6,0.207,0.000,3247,2373,2023,0,0,0,0,0,0
$GC,9032,1.12,254.4,389.2,11.6,362,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2373,2018,0,0,0,0,0,0
$GC,9275,1.12,254.4,360.7,11.7,368,9279,0.00,2.70,0.00,0.000,4,0.000,0.056,3247,3946,2017,0,0,0,0,0,0
$GC,9301,1.12,254.4,357.2,12.6,368,9306,0.00,2.62,0.00,0.000,6,0.000,0.038,3247,2365,2016,0,0,0,0,0,0
$GC,9551,1.12,254.4,327.2,12.0,374,9556,0.00,2.75,0.00,0.000,4,0.000,0.070,3247,775,2015,0,0,0,0,0,0
$GC,9591,1.12,254.4,322.6,12.5,375,9596,0.00,2.60,0.00,0.000,6,0.000,0.034,3248,2389,2015,0,0,0,0,0,0
$GC,9874,1.12,254.4,292.7,10.2,382,9879,0.00,2.72,0.00,0.000,4,0.000,0.054,3248,777,2014,0,0,0,0,0,0
$GC,9924,1.12,254.4,287.0,11.6,383,9928,0.00,2.55,0.00,0.000,6,0.000,0.031,3247,2356,2014,0,0,0,0,0,0
$GC,10204,1.12,256.4,259.2,9.9,390,10208,0.00,2.62,0.00,0.000,4,0.000,0.053,3247,3931,2014,0,0,0,0,0,0
$GC,10225,1.12,256.4,256.8,10.3,390,10229,0.00,2.58,0.00,0.000,6,0.000,0.028,3247,2346,2013,0,0,0,0,0,0
$GC,10480,1.12,256.4,230.5,10.3,397,10484,0.00,2.65,0.00,0.000,4,0.000,0.049,3247,3931,2013,0,0,0,0,0,0
$GC,10547,1.12,256.4,223.2,11.3,398,10551,0.00,2.53,0.00,0.000,6,0.000,0.034,3248,2376,2013,0,0,0,0,0,0
$GC,10802,1.13,265.2,198.1,9.6,405,10817,0.00,2.67,9.88,0.670,4,0.000,0.050,3248,783,1977,0,0,0,0,0,0
$GC,10866,1.18,265.2,191.5,11.6,410,10870,0.00,2.58,0.00,0.000,6,0.000,0.030,3247,2377,1975,0,0,0,0,0,0
$GC,11129,1.25,282.9,167.1,9.2,434,11155,0.10,2.72,16.62,0.672,4,0.096,0.048,3277,792,1904,0,0,0,0,0,0
$GC,11194,1.25,282.9,160.6,11.1,439,11199,0.00,2.53,0.00,0.000,6,0.000,0.027,3277,2370,1903,0,0,0,0,0,0
$GC,11461,1.25,282.9,132.7,10.9,463,11465,0.00,2.62,0.00,0.000,4,0.000,0.045,3277,3938,1902,0,0,0,0,0,0
$GC,11500,1.25,282.9,128.0,10.5,466,11505,0.00,2.50,0.00,0.000,6,0.000,0.024,3277,2367,1902,0,0,0,0,0,0
$GC,11764,1.25,282.9,100.7,10.7,490,11769,0.00,2.60,0.00,0.000,4,0.000,0.048,3277,781,1901,0,0,0,0,0,0
$GC,11784,1.25,282.9,98.7,10.3,491,11789,0.00,2.53,0.00,0.000,6,0.000,0.023,3277,2378,1902,0,0,0,0,0,0
$GC,12053,1.31,282.9,71.4,10.3,515,12058,0.00,2.62,0.00,0.000,4,0.000,0.043,3277,786,1902,0,0,0,0,0,0
$GC,12074,1.36,283.1,68.8,10.0,516,12079,0.00,2.50,0.00,0.000,6,0.000,0.023,3277,2368,1901,0,0,0,0,0,0
$GC,12343,1.50,395.1,48.9,4.8,540,12444,0.20,0.00,92.90,0.565,6,0.061,0.000,3333,2368,1448,0,0,0,0,0,0
$STATE,12616,end climb,SURFACE_DEPTH_REACHED
$STATE,12616,begin surface coast
$FINISH,-0.3,1.023878
$STATE,12639,end surface coast,CONTROL_FINISHED_OK
$STATE,12639,begin surface
$SM_CCo,12722,0.00,0.000,0,0,1440,397.63
$SM_GC,0.39,11.62,0.00,0.00,0.025,0.000,0.000,470,2190,1440,-11.53,-0.57,397.63
$IRIDIUM_FIX,2255.72,-15804.96,100603,202008
$TT8_MAMPS,0.025311
$HUMID,60.82
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,22.00
$XPDR_PINGS,19
$24V_AH,23.3,4.884
$10V_AH,10.4,4.278
$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,26.725,157.525,459.675,0.000,0.000,25.442,34.623,263.917,4.750,0.000,32.372,1165.879,8836.615,520.829,2033.779,641.695,33.384,1384.983,0.000,2023.593,0.000,0.535,0.000
$DEVICE_MAMPS,207.090,156.468,1023.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.599,321.930,413.329,590.813,1126.168,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,44680,577
$CAP_FILE_SIZE,128544,0
$CFSIZE,260165632,178118656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170314,040400,2301.724,-15800.811,90,1.0,90,10.1