version: 66.06
glider: 146
mission: 9
dive: 39
start: 3 18 114 3 50 37
data:
$ID,146
$MISSION,9
$DIVE,39
$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,-324073.34
$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,48
$R_STBD_OVSHOOT,39
$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
$GPS1,033336,2255.686,-15755.582,34,1.6,34,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-69.2
$GPS2,034943,2255.682,-15755.738,14,1.4,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.181,-0.186
$KALMAN_X,-32628.3,-72.3,-271.7,32706.8,-9.6
$KALMAN_Y,12072.2,675.4,-321.6,-582.6,5.4
$MHEAD_RNG_PITCHd_Wd,125.8,44062,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-88.85,0.000,6,0.000,0.000,467,2174,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.9,-9.2,12,132,11.38,2.50,0.00,0.000,4,0.132,0.037,2717,637,3656,0,0,0,0,0,0
$GC,314,-1.17,-146.0,46.2,-13.9,34,319,0.12,2.47,0.00,0.000,6,0.116,0.018,2741,2221,3657,0,0,0,0,0,0
$GC,583,-1.10,-146.0,80.2,-12.1,58,588,0.00,2.50,0.00,0.000,4,0.000,0.036,2742,3778,3658,0,0,0,0,0,0
$GC,630,-1.10,-146.0,87.6,-14.2,61,636,0.00,2.45,0.00,0.000,6,0.000,0.022,2742,2232,3658,0,0,0,0,0,0
$GC,891,-1.10,-146.0,120.0,-11.2,86,896,0.00,2.60,0.00,0.000,4,0.000,0.044,2742,638,3658,0,0,0,0,0,0
$GC,945,-1.10,-146.0,125.9,-11.2,90,949,0.00,2.42,0.00,0.000,6,0.000,0.018,2742,2214,3658,0,0,0,0,0,0
$GC,1209,-1.10,-146.0,152.4,-10.4,114,1213,0.00,2.50,0.00,0.000,4,0.000,0.037,2742,3771,3658,0,0,0,0,0,0
$GC,1250,-1.10,-146.0,157.1,-11.7,117,1254,0.00,2.45,0.00,0.000,6,0.000,0.021,2741,2213,3658,0,0,0,0,0,0
$GC,1513,-1.10,-146.0,182.2,-9.3,141,1517,0.00,2.60,0.00,0.000,4,0.000,0.048,2742,644,3658,0,0,0,0,0,0
$GC,1546,-1.10,-146.0,185.9,-10.4,143,1552,0.00,2.42,0.00,0.000,6,0.000,0.019,2742,2214,3659,0,0,0,0,0,0
$GC,1813,-1.10,-146.0,212.4,-10.1,160,1814,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2214,3658,0,0,0,0,0,0
$GC,2056,-1.10,-146.0,236.0,-9.7,166,2060,0.00,2.62,0.00,0.000,4,0.000,0.051,2742,645,3659,0,0,0,0,0,0
$GC,2113,-1.14,-146.0,241.2,-9.7,167,2117,0.00,2.42,0.00,0.000,6,0.000,0.027,2742,2197,3659,0,0,0,0,0,0
$GC,2379,-1.14,-146.0,264.1,-8.4,174,2383,0.00,2.58,0.00,0.000,4,0.000,0.043,2742,3780,3658,0,0,0,0,0,0
$GC,2400,-1.14,-146.0,266.0,-8.8,174,2405,0.00,2.50,0.00,0.000,6,0.000,0.021,2742,2200,3658,0,0,0,0,0,0
$GC,2657,-1.14,-146.0,285.6,-7.5,181,2662,0.00,2.60,0.00,0.000,4,0.000,0.043,2742,3778,3657,0,0,0,0,0,0
$GC,2729,-1.20,-146.0,292.4,-9.2,182,2734,0.00,2.50,0.00,0.000,6,0.000,0.023,2742,2210,3658,0,0,0,0,0,0
$GC,2980,-1.25,-146.0,314.4,-8.9,188,2984,0.00,2.62,0.00,0.000,4,0.000,0.047,2741,3783,3656,0,0,0,0,0,0
$GC,3003,-1.30,-146.0,316.7,-9.5,188,3008,0.10,2.53,0.00,0.000,6,0.084,0.025,2703,2212,3656,0,0,0,0,0,0
$GC,3258,-1.30,-146.0,340.6,-9.0,195,3263,0.00,2.75,0.00,0.000,4,0.000,0.071,2703,626,3655,0,0,0,0,0,0
$GC,3345,-1.30,-146.0,348.2,-8.6,197,3350,0.00,2.53,0.00,0.000,6,0.000,0.032,2703,2199,3655,0,0,0,0,0,0
$GC,3628,-1.30,-146.0,372.5,-8.7,204,3633,0.00,2.62,0.00,0.000,4,0.000,0.051,2703,3790,3653,0,0,0,0,0,0
$GC,3644,-1.30,-146.0,374.2,-9.2,204,3649,0.00,2.58,0.00,0.000,6,0.000,0.038,2703,2209,3653,0,0,0,0,0,0
$GC,3906,-1.30,-146.0,397.8,-8.9,211,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2209,3652,0,0,0,0,0,0
$GC,4148,-1.30,-146.0,419.0,-8.5,217,4153,0.00,2.85,0.00,0.000,4,0.000,0.091,2703,626,3650,0,0,0,0,0,0
$GC,4188,-1.30,-146.0,422.5,-9.0,218,4192,0.00,2.62,0.00,0.000,6,0.000,0.041,2702,2211,3650,0,0,0,0,0,0
$GC,4472,-1.30,-146.0,445.8,-8.0,225,4477,0.00,2.67,0.00,0.000,4,0.000,0.061,2703,3796,3648,0,0,0,0,0,0
$GC,4540,-1.30,-146.0,451.3,-8.0,226,4544,0.00,2.62,0.00,0.000,6,0.000,0.044,2702,2225,3648,0,0,0,0,0,0
$GC,4795,-1.30,-146.0,471.5,-8.1,233,4799,0.00,2.67,0.00,0.000,4,0.000,0.061,2703,3794,3645,0,0,0,0,0,0
$GC,4812,-1.30,-146.0,473.1,-8.6,233,4816,0.00,2.62,0.00,0.000,6,0.000,0.045,2703,2229,3646,0,0,0,0,0,0
$GC,5073,-1.30,-146.0,497.2,-9.5,240,5077,0.00,2.72,0.00,0.000,4,0.000,0.070,2702,3797,3644,0,0,0,0,0,0
$GC,5099,-1.30,-146.0,499.9,-9.7,240,5104,0.00,2.62,0.00,0.000,6,0.000,0.048,2703,2240,3644,0,0,0,0,0,0
$GC,5351,-1.30,-146.0,521.4,-8.5,246,5355,0.00,2.72,0.00,0.000,4,0.000,0.077,2703,3793,3643,0,0,0,0,0,0
$GC,5366,-1.30,-146.0,523.0,-8.5,246,5371,0.00,2.62,0.00,0.000,6,0.000,0.050,2703,2242,3643,0,0,0,0,0,0
$GC,5627,-1.30,-146.0,544.8,-8.4,253,5632,0.00,2.75,0.00,0.000,4,0.000,0.077,2703,3792,3641,0,0,0,0,0,0
$GC,5662,-1.30,-146.0,547.8,-9.3,253,5667,0.00,2.65,0.00,0.000,6,0.000,0.055,2703,2243,3641,0,0,0,0,0,0
$GC,5912,-1.30,-146.0,568.0,-8.0,260,5916,0.00,2.75,0.00,0.000,4,0.000,0.081,2703,3792,3639,0,0,0,0,0,0
$GC,5944,-1.30,-146.0,570.7,-8.4,260,5950,0.00,2.65,0.00,0.000,6,0.000,0.061,2703,2261,3639,0,0,0,0,0,0
$GC,6194,-1.30,-146.0,588.4,-7.0,267,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2261,3637,0,0,0,0,0,0
$STATE,6395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6395,begin apogee
$GC,6402,-0.31,0.0,602.7,7.1,272,6523,1.02,0.00,117.35,1.020,6,0.073,0.000,2935,2380,3060,0,0,0,0,0,0
$STATE,6524,end apogee,CONTROL_FINISHED_OK
$STATE,6524,begin climb
$GC,6526,1.27,146.0,605.1,0.0,275,6661,1.45,2.88,123.45,0.992,4,0.040,0.087,3285,3930,2463,0,0,0,0,0,0
$GC,6717,1.12,146.0,590.2,13.1,279,6723,0.20,2.78,0.00,0.000,6,0.108,0.064,3245,2365,2458,0,0,0,0,0,0
$GC,6975,1.07,146.0,563.9,10.1,286,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2365,2454,0,0,0,0,0,0
$GC,7220,1.04,158.9,540.9,9.4,292,7238,0.00,2.80,11.07,0.872,4,0.000,0.076,3245,3931,2411,0,0,0,0,0,0
$GC,7272,0.96,158.9,535.6,10.4,293,7277,0.17,2.70,0.00,0.000,6,0.114,0.049,3211,2371,2410,0,0,0,0,0,0
$GC,7546,1.00,188.3,512.4,8.6,300,7575,0.00,0.00,27.17,0.935,6,0.000,0.000,3210,2371,2292,0,0,0,0,0,0
$GC,7789,1.06,200.8,489.6,9.4,306,7803,0.10,0.00,12.25,0.871,6,0.094,0.000,3236,2372,2241,0,0,0,0,0,0
$GC,8032,1.07,204.9,465.5,9.8,312,8038,0.00,0.00,4.78,0.668,6,0.000,0.000,3236,2371,2224,0,0,0,0,0,0
$GC,8277,1.10,227.7,443.3,8.9,318,8306,0.00,2.78,21.75,0.894,4,0.000,0.058,3236,3944,2130,0,0,0,0,0,0
$GC,8328,1.11,237.0,438.3,9.6,319,8343,0.00,2.65,9.55,0.806,6,0.000,0.039,3236,2370,2093,0,0,0,0,0,0
$GC,8599,1.11,237.0,410.0,10.7,326,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2370,2089,0,0,0,0,0,0
$GC,8844,1.11,237.0,382.7,11.1,332,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2370,2088,0,0,0,0,0,0
$GC,9086,1.11,237.0,356.6,10.6,338,9091,0.00,2.83,0.00,0.000,4,0.000,0.073,3236,774,2088,0,0,0,0,0,0
$GC,9102,1.11,237.0,354.7,10.5,338,9107,0.00,2.62,0.00,0.000,6,0.000,0.030,3236,2397,2086,0,0,0,0,0,0
$GC,9365,1.15,269.8,330.8,8.5,345,9400,0.00,2.88,29.27,0.839,4,0.000,0.060,3236,777,1959,0,0,0,0,0,0
$GC,9441,1.21,285.4,324.1,9.3,345,9462,0.12,2.62,15.00,0.790,6,0.083,0.031,3268,2371,1896,0,0,0,0,0,0
$GC,9732,1.21,285.4,291.6,11.3,353,9736,0.00,2.65,0.00,0.000,4,0.000,0.052,3268,3934,1892,0,0,0,0,0,0
$GC,9753,1.21,285.4,288.8,11.5,353,9757,0.00,2.58,0.00,0.000,6,0.000,0.035,3268,2360,1890,0,0,0,0,0,0
$GC,10010,1.21,285.4,260.6,11.3,360,10014,0.00,2.62,0.00,0.000,4,0.000,0.051,3268,3930,1890,0,0,0,0,0,0
$GC,10049,1.21,285.4,255.5,12.9,361,10053,0.00,2.53,0.00,0.000,6,0.000,0.035,3269,2383,1889,0,0,0,0,0,0
$GC,10333,1.21,285.4,222.8,11.5,368,10338,0.00,2.65,0.00,0.000,4,0.000,0.052,3268,786,1889,0,0,0,0,0,0
$GC,10376,1.21,285.4,217.0,12.7,369,10381,0.00,2.58,0.00,0.000,6,0.000,0.026,3268,2389,1888,0,0,0,0,0,0
$GC,10640,1.21,287.2,188.6,9.9,383,10644,0.00,2.67,0.00,0.000,4,0.000,0.046,3268,783,1888,0,0,0,0,0,0
$GC,10673,1.21,287.2,185.3,11.9,385,10677,0.00,2.55,0.00,0.000,6,0.000,0.025,3268,2382,1888,0,0,0,0,0,0
$GC,10940,1.21,287.2,155.7,10.6,409,10945,0.00,2.53,0.00,0.000,4,0.000,0.045,3268,3924,1888,0,0,0,0,0,0
$GC,11018,1.21,287.2,146.9,10.6,415,11023,0.00,2.47,0.00,0.000,6,0.000,0.025,3268,2379,1888,0,0,0,0,0,0
$GC,11287,1.30,316.5,122.5,8.6,439,11315,0.00,0.00,26.75,0.634,6,0.000,0.000,3268,2379,1769,0,0,0,0,0,0
$GC,11568,1.36,316.5,92.6,11.3,466,11573,0.12,2.60,0.00,0.000,4,0.081,0.046,3306,3923,1766,0,0,0,0,0,0
$GC,11620,1.36,316.5,86.0,13.4,470,11624,0.00,2.45,0.00,0.000,6,0.000,0.025,3307,2394,1766,0,0,0,0,0,0
$GC,11888,1.36,316.5,49.7,13.7,494,11893,0.00,2.65,0.00,0.000,4,0.000,0.048,3306,790,1766,0,0,0,0,0,0
$GC,11909,1.31,316.5,46.3,14.4,495,11914,0.00,2.50,0.00,0.000,6,0.000,0.023,3306,2388,1766,0,0,0,0,0,0
$GC,12210,1.31,316.5,6.8,13.8,532,12220,0.00,2.55,0.00,0.000,4,0.000,0.047,3306,3913,1766,0,0,0,0,0,0
$STATE,12228,end climb,SURFACE_DEPTH_REACHED
$STATE,12228,begin surface coast
$FINISH,2.5,1.023919
$STATE,12237,end surface coast,CONTROL_FINISHED_OK
$STATE,12237,begin surface
$SM_CCo,12263,51.12,0.529,0,0,1509,380.21
$SM_GC,0.35,0.00,0.00,51.12,0.000,0.000,0.529,470,2206,1509,-11.64,-0.11,380.21
$IRIDIUM_FIX,2246.36,-15758.45,120603,030336
$TT8_MAMPS,0.026078
$HUMID,60.31
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.80
$XPDR_PINGS,15
$24V_AH,23.3,5.969
$10V_AH,10.4,5.124
$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,26.325,162.500,398.400,51.125,0.000,104.657,137.469,382.600,3.750,0.000,15.628,1134.698,8737.568,540.195,1911.002,955.576,33.353,1322.006,0.000,1907.638,0.000,0.536,0.000
$DEVICE_MAMPS,131.924,96.642,1020.110,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.609,289.680,370.460,517.153,985.809,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,41482,535
$CAP_FILE_SIZE,132415,0
$CFSIZE,260165632,177664000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180314,071707,2254.975,-15754.430,34,1.9,34,10.1