version: 66.06
glider: 146
mission: 9
dive: 37
start: 3 17 114 20 8 31
data:
$ID,146
$MISSION,9
$DIVE,37
$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,-324022.25
$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,46
$R_STBD_OVSHOOT,32
$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
$GPS1,195745,2257.807,-15757.076,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-68.8
$GPS2,200736,2257.802,-15757.115,48,0.9,48,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.077,-0.248
$KALMAN_X,-30800.2,-733.2,-229.1,29142.6,788.2
$KALMAN_Y,11509.9,191.1,177.5,3894.7,1134.8
$MHEAD_RNG_PITCHd_Wd,152.8,48531,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-86.00,0.000,2,0.000,0.000,470,2188,3627,0,0,0,0,0,0
$GC,108,-1.27,-146.0,3.4,-8.7,11,125,11.38,2.53,-0.47,0.000,4,0.132,0.049,2716,641,3655,0,0,0,0,0,0
$GC,285,-1.16,-146.0,40.5,-15.9,32,290,0.15,2.47,0.00,0.000,6,0.110,0.019,2746,2237,3656,0,0,0,0,0,0
$GC,553,-1.10,-146.0,78.1,-12.6,56,557,0.00,2.60,0.00,0.000,4,0.000,0.043,2746,648,3656,0,0,0,0,0,0
$GC,575,-1.03,-146.0,81.2,-12.2,57,581,0.15,2.42,0.00,0.000,6,0.109,0.018,2778,2203,3656,0,0,0,0,0,0
$GC,843,-1.03,-146.0,108.4,-9.9,81,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2204,3656,0,0,0,0,0,0
$GC,1105,-1.03,-146.0,134.5,-9.2,106,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2203,3657,0,0,0,0,0,0
$GC,1365,-1.08,-146.0,155.7,-7.6,130,1369,0.00,2.55,0.00,0.000,4,0.000,0.044,2778,645,3657,0,0,0,0,0,0
$GC,1410,-1.12,-146.0,159.2,-8.1,133,1414,0.00,2.42,0.00,0.000,6,0.000,0.026,2778,2209,3657,0,0,0,0,0,0
$GC,1677,-1.18,-146.0,179.2,-8.0,157,1682,0.15,2.60,0.00,0.000,4,0.064,0.047,2723,647,3657,0,0,0,0,0,0
$GC,1706,-1.18,-146.0,182.5,-10.4,159,1711,0.00,2.45,0.00,0.000,6,0.000,0.028,2723,2215,3658,0,0,0,0,0,0
$GC,1994,-1.14,-146.0,213.2,-10.7,177,1999,0.12,2.55,0.00,0.000,4,0.104,0.045,2751,3778,3658,0,0,0,0,0,0
$GC,2080,-1.18,-146.0,221.9,-9.7,179,2085,0.00,2.42,0.00,0.000,6,0.000,0.020,2751,2225,3658,0,0,0,0,0,0
$GC,2364,-1.18,-146.0,246.7,-8.4,186,2368,0.00,2.62,0.00,0.000,4,0.000,0.051,2751,635,3658,0,0,0,0,0,0
$GC,2425,-1.24,-146.0,251.4,-7.1,187,2429,0.00,2.45,0.00,0.000,6,0.000,0.030,2751,2205,3658,0,0,0,0,0,0
$GC,2687,-1.29,-146.0,270.4,-7.2,194,2689,0.15,0.00,0.00,0.000,6,0.064,0.000,2697,2205,3658,0,0,0,0,0,0
$GC,2929,-1.24,-146.0,295.2,-10.3,200,2934,0.15,2.62,0.00,0.000,4,0.097,0.046,2729,3788,3657,0,0,0,0,0,0
$GC,2956,-1.24,-146.0,298.2,-10.2,200,2961,0.00,2.53,0.00,0.000,6,0.000,0.024,2729,2203,3657,0,0,0,0,0,0
$GC,3214,-1.24,-146.0,319.1,-8.1,207,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2203,3657,0,0,0,0,0,0
$GC,3456,-1.24,-146.0,338.1,-7.6,213,3460,0.00,2.62,0.00,0.000,4,0.000,0.047,2729,3779,3656,0,0,0,0,0,0
$GC,3500,-1.28,-146.0,341.8,-8.2,214,3505,0.00,2.55,0.00,0.000,6,0.000,0.036,2729,2196,3656,0,0,0,0,0,0
$GC,3779,-1.32,-146.0,363.8,-7.9,221,3784,0.00,2.65,0.00,0.000,4,0.000,0.054,2729,3779,3654,0,0,0,0,0,0
$GC,3857,-1.37,-146.0,370.2,-7.6,222,3864,0.12,2.58,0.00,0.000,6,0.071,0.040,2687,2197,3654,0,0,0,0,0,0
$GC,4109,-1.33,-146.0,390.5,-8.1,229,4114,0.10,2.67,0.00,0.000,4,0.120,0.054,2709,3775,3652,0,0,0,0,0,0
$GC,4125,-1.33,-146.0,392.0,-8.1,229,4130,0.00,2.58,0.00,0.000,6,0.000,0.044,2709,2198,3652,0,0,0,0,0,0
$GC,4387,-1.33,-146.0,413.0,-8.3,236,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2198,3650,0,0,0,0,0,0
$GC,4631,-1.33,-146.0,432.4,-8.1,242,4636,0.00,2.83,0.00,0.000,4,0.000,0.091,2709,628,3649,0,0,0,0,0,0
$GC,4647,-1.33,-146.0,433.8,-7.6,242,4652,0.00,2.58,0.00,0.000,6,0.000,0.042,2709,2179,3649,0,0,0,0,0,0
$GC,4909,-1.33,-146.0,454.1,-7.5,249,4913,0.00,2.78,0.00,0.000,4,0.000,0.081,2709,621,3647,0,0,0,0,0,0
$GC,4925,-1.33,-146.0,455.4,-7.8,249,4930,0.00,2.62,0.00,0.000,6,0.000,0.047,2709,2191,3646,0,0,0,0,0,0
$GC,5186,-1.33,-146.0,473.8,-6.9,256,5191,0.00,2.75,0.00,0.000,4,0.000,0.068,2709,3795,3645,0,0,0,0,0,0
$GC,5202,-1.33,-146.0,475.1,-7.0,256,5206,0.00,2.70,0.00,0.000,6,0.000,0.048,2709,2189,3645,0,0,0,0,0,0
$GC,5463,-1.33,-146.0,493.2,-7.0,263,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2189,3644,0,0,0,0,0,0
$GC,5706,-1.33,-146.0,511.6,-7.6,269,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2188,3641,0,0,0,0,0,0
$GC,5950,-1.33,-146.0,531.1,-8.0,275,5954,0.00,2.83,0.00,0.000,4,0.000,0.077,2709,3793,3640,0,0,0,0,0,0
$GC,6038,-1.33,-146.0,538.7,-9.0,277,6043,0.00,2.72,0.00,0.000,6,0.000,0.058,2709,2209,3640,0,0,0,0,0,0
$GC,6317,-1.33,-146.0,558.6,-7.0,284,6321,0.00,2.80,0.00,0.000,4,0.000,0.079,2709,3797,3638,0,0,0,0,0,0
$GC,6356,-1.33,-146.0,561.4,-7.5,285,6361,0.00,2.72,0.00,0.000,6,0.000,0.061,2710,2211,3638,0,0,0,0,0,0
$GC,6641,-1.37,-146.0,578.4,-5.8,292,6645,0.00,2.83,0.00,0.000,4,0.000,0.084,2709,3792,3636,0,0,0,0,0,0
$GC,6668,-1.37,-146.0,580.2,-6.6,292,6672,0.00,2.78,0.00,0.000,6,0.000,0.072,2710,2209,3636,0,0,0,0,0,0
$GC,6918,-1.41,-146.0,594.7,-5.9,298,6923,0.00,2.88,0.00,0.000,4,0.000,0.089,2709,3794,3635,0,0,0,0,0,0
$GC,6946,-1.41,-146.0,596.6,-6.8,298,6951,0.00,2.80,0.00,0.000,6,0.000,0.073,2710,2215,3635,0,0,0,0,0,0
$STATE,7031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7031,begin apogee
$GC,7037,-0.31,0.0,601.9,6.1,300,7158,0.98,0.00,117.35,1.032,6,0.074,0.000,2931,2378,3060,0,0,0,0,0,0
$STATE,7160,end apogee,CONTROL_FINISHED_OK
$STATE,7160,begin climb
$GC,7162,1.27,146.0,603.5,0.0,303,7300,1.45,2.90,124.20,0.999,4,0.041,0.088,3281,3935,2461,0,0,0,0,0,0
$GC,7317,1.11,146.0,593.3,11.4,306,7322,0.20,2.80,0.00,0.000,6,0.110,0.066,3241,2364,2459,0,0,0,0,0,0
$GC,7569,1.07,153.9,568.8,9.6,312,7582,0.00,2.92,6.70,0.779,4,0.000,0.077,3241,3935,2432,0,0,0,0,0,0
$GC,7613,0.99,153.9,564.0,10.6,313,7618,0.12,2.72,0.00,0.000,6,0.128,0.059,3217,2377,2431,0,0,0,0,0,0
$GC,7896,1.04,191.9,540.3,8.2,320,7935,0.00,0.00,35.22,0.960,6,0.000,0.000,3217,2377,2276,0,0,0,0,0,0
$GC,8181,1.05,204.4,513.9,9.4,327,8200,0.00,2.85,11.80,0.879,4,0.000,0.069,3217,3930,2225,0,0,0,0,0,0
$GC,8217,1.05,204.4,509.8,10.7,327,8223,0.00,2.67,0.00,0.000,6,0.000,0.054,3217,2379,2224,0,0,0,0,0,0
$GC,8467,1.06,206.3,484.7,9.9,334,8472,0.00,3.10,0.00,0.000,4,0.000,0.122,3217,780,2222,0,0,0,0,0,0
$GC,8495,1.06,206.3,481.8,10.2,334,8500,0.00,2.72,0.00,0.000,6,0.000,0.047,3217,2390,2221,0,0,0,0,0,0
$GC,8745,1.07,215.1,458.0,9.6,340,8757,0.00,0.00,10.35,0.852,6,0.000,0.000,3217,2390,2183,0,0,0,0,0,0
$GC,8989,1.11,215.1,433.9,10.1,346,8994,0.10,2.90,0.00,0.000,4,0.094,0.075,3242,773,2180,0,0,0,0,0,0
$GC,9034,1.11,215.1,428.5,11.9,347,9039,0.00,2.70,0.00,0.000,6,0.000,0.046,3243,2385,2179,0,0,0,0,0,0
$GC,9312,1.11,215.1,397.0,11.4,354,9317,0.00,2.80,0.00,0.000,4,0.000,0.068,3243,776,2179,0,0,0,0,0,0
$GC,9335,1.11,215.1,394.5,10.7,354,9339,0.00,2.67,0.00,0.000,6,0.000,0.044,3243,2383,2178,0,0,0,0,0,0
$GC,9590,1.12,226.7,369.5,9.5,361,9608,0.00,2.70,11.48,0.828,4,0.000,0.058,3243,3938,2134,0,0,0,0,0,0
$GC,9636,1.12,228.6,365.1,9.9,362,9641,0.00,2.60,0.00,0.000,6,0.000,0.038,3243,2374,2133,0,0,0,0,0,0
$GC,9914,1.12,230.4,338.5,9.9,369,9920,0.00,0.00,4.38,0.608,6,0.000,0.000,3243,2374,2120,0,0,0,0,0,0
$GC,10159,1.13,234.0,314.3,9.8,375,10169,0.00,2.67,4.82,0.630,4,0.000,0.051,3243,3934,2106,0,0,0,0,0,0
$GC,10208,1.13,234.0,308.6,11.5,376,10212,0.00,2.55,0.00,0.000,6,0.000,0.035,3243,2382,2105,0,0,0,0,0,0
$GC,10481,1.14,243.4,281.7,9.6,383,10497,0.00,2.75,10.05,0.750,4,0.000,0.060,3243,786,2066,0,0,0,0,0,0
$GC,10530,1.14,243.4,276.2,10.9,384,10534,0.00,2.62,0.00,0.000,6,0.000,0.029,3243,2397,2065,0,0,0,0,0,0
$GC,10802,1.19,243.4,248.3,10.0,391,10807,0.00,2.58,0.00,0.000,4,0.000,0.051,3243,3930,2065,0,0,0,0,0,0
$GC,10865,1.23,245.1,242.1,9.9,392,10870,0.10,2.50,0.00,0.000,6,0.090,0.027,3272,2378,2063,0,0,0,0,0,0
$GC,11126,1.23,245.1,213.6,11.0,399,11130,0.00,2.65,0.00,0.000,4,0.000,0.051,3273,780,2063,0,0,0,0,0,0
$GC,11165,1.23,245.1,209.3,11.3,400,11170,0.00,2.58,0.00,0.000,6,0.000,0.026,3273,2385,2063,0,0,0,0,0,0
$GC,11426,1.23,245.1,182.6,10.8,416,11431,0.00,2.55,0.00,0.000,4,0.000,0.048,3273,3926,2063,0,0,0,0,0,0
$GC,11471,1.23,245.1,176.6,12.0,419,11477,0.00,2.47,0.00,0.000,6,0.000,0.025,3273,2369,2063,0,0,0,0,0,0
$GC,11735,1.23,245.1,146.5,10.9,444,11736,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2369,2063,0,0,0,0,0,0
$GC,11987,1.23,245.1,117.8,10.8,468,11991,0.00,2.60,0.00,0.000,4,0.000,0.047,3273,790,2063,0,0,0,0,0,0
$GC,12033,1.23,245.1,113.3,10.6,471,12037,0.00,2.53,0.00,0.000,6,0.000,0.024,3273,2387,2063,0,0,0,0,0,0
$GC,12299,1.34,296.9,90.0,7.6,495,12352,0.00,2.60,46.60,0.614,4,0.000,0.044,3273,3921,1848,0,0,0,0,0,0
$GC,12427,1.40,296.9,77.2,10.7,505,12432,0.15,2.45,0.00,0.000,6,0.067,0.024,3317,2390,1844,0,0,0,0,0,0
$GC,12694,1.36,296.9,41.4,14.2,529,12698,0.00,2.65,0.00,0.000,4,0.000,0.049,3317,782,1843,0,0,0,0,0,0
$GC,12716,1.32,296.9,38.3,13.9,530,12721,0.15,2.58,0.00,0.000,6,0.114,0.023,3287,2402,1843,0,0,0,0,0,0
$STATE,13000,end climb,SURFACE_DEPTH_REACHED
$STATE,13000,begin surface coast
$FINISH,-0.4,1.009863
$STATE,13049,end surface coast,CONTROL_FINISHED_OK
$STATE,13049,begin surface
$SM_CCo,13072,65.95,0.529,0,0,1510,380.21
$SM_GC,0.40,0.00,0.00,65.95,0.000,0.000,0.529,470,2189,1510,-11.64,-0.59,380.21
$IRIDIUM_FIX,2248.70,-15758.45,110603,161653
$TT8_MAMPS,0.026078
$HUMID,60.23
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.90
$XPDR_PINGS,19
$24V_AH,23.3,5.687
$10V_AH,10.5,4.896
$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,27.125,170.525,382.950,65.950,0.000,30.858,37.390,344.426,4.750,0.000,52.674,1226.775,9108.890,546.887,2107.728,737.254,33.354,1371.739,0.000,2069.085,0.000,0.535,0.000
$DEVICE_MAMPS,131.924,121.953,1031.615,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,391.895,316.476,403.143,567.864,1081.448,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,44627,576
$CAP_FILE_SIZE,137792,0
$CFSIZE,260165632,177786880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170314,234839,2256.464,-15756.736,8,99.0,27,10.1