version: 66.06
glider: 146
mission: 9
dive: 42
start: 3 18 114 14 55 6
data:
$ID,146
$MISSION,9
$DIVE,42
$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,-324195.69
$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,51
$R_STBD_OVSHOOT,33
$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
$GPS1,144737,2252.936,-15752.743,35,1.5,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-68.3
$GPS2,145412,2252.919,-15752.775,26,1.3,33,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.146
$KALMAN_X,-34794.0,107.4,-53.6,39531.4,-1511.1
$KALMAN_Y,13969.8,-510.3,-286.2,-6442.3,641.5
$MHEAD_RNG_PITCHd_Wd,114.1,36863,-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,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-89.75,0.000,6,0.000,0.000,471,2183,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.1,-10.6,12,133,11.38,2.50,0.00,0.000,4,0.132,0.035,2716,641,3656,0,0,0,0,0,0
$GC,229,-1.15,-146.0,33.6,-14.7,27,239,0.12,2.50,0.00,0.000,6,0.090,0.020,2745,2225,3657,0,0,0,0,0,0
$GC,497,-1.09,-146.0,65.4,-10.6,52,502,0.00,2.58,0.00,0.000,4,0.000,0.039,2745,642,3657,0,0,0,0,0,0
$GC,519,-1.03,-146.0,68.8,-13.2,53,524,0.15,2.45,0.00,0.000,6,0.110,0.018,2776,2215,3657,0,0,0,0,0,0
$GC,785,-1.03,-146.0,97.4,-9.9,77,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2215,3658,0,0,0,0,0,0
$GC,1047,-1.03,-146.0,124.4,-10.2,102,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2215,3658,0,0,0,0,0,0
$GC,1302,-1.08,-146.0,149.8,-9.7,126,1306,0.00,2.58,0.00,0.000,4,0.000,0.043,2776,651,3659,0,0,0,0,0,0
$GC,1324,-1.13,-146.0,151.3,-8.9,127,1328,0.00,2.42,0.00,0.000,6,0.000,0.024,2776,2201,3659,0,0,0,0,0,0
$GC,1591,-1.19,-146.0,172.9,-8.4,151,1596,0.15,0.00,0.00,0.000,6,0.062,0.000,2723,2201,3659,0,0,0,0,0,0
$GC,1855,-1.19,-146.0,200.0,-9.4,176,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2201,3660,0,0,0,0,0,0
$GC,2095,-1.19,-146.0,222.2,-9.2,182,2100,0.00,2.58,0.00,0.000,4,0.000,0.049,2723,3778,3660,0,0,0,0,0,0
$GC,2134,-1.19,-146.0,226.4,-10.5,183,2139,0.00,2.45,0.00,0.000,6,0.000,0.021,2723,2208,3660,0,0,0,0,0,0
$GC,2419,-1.19,-146.0,251.8,-8.8,190,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2209,3660,0,0,0,0,0,0
$GC,2662,-1.19,-146.0,273.8,-8.8,196,2666,0.00,2.62,0.00,0.000,4,0.000,0.058,2723,642,3660,0,0,0,0,0,0
$GC,2701,-1.19,-146.0,276.8,-8.1,197,2705,0.00,2.45,0.00,0.000,6,0.000,0.027,2723,2174,3660,0,0,0,0,0,0
$GC,2985,-1.19,-146.0,299.1,-7.9,204,2990,0.00,2.58,0.00,0.000,4,0.000,0.058,2723,643,3659,0,0,0,0,0,0
$GC,3007,-1.19,-146.0,301.1,-8.6,204,3012,0.00,2.47,0.00,0.000,6,0.000,0.029,2723,2179,3659,0,0,0,0,0,0
$GC,3263,-1.19,-146.0,323.0,-8.5,211,3267,0.00,2.67,0.00,0.000,4,0.000,0.057,2723,3792,3659,0,0,0,0,0,0
$GC,3314,-1.19,-146.0,327.6,-9.1,212,3318,0.00,2.55,0.00,0.000,6,0.000,0.031,2723,2205,3659,0,0,0,0,0,0
$GC,3585,-1.19,-146.0,350.1,-8.2,219,3590,0.00,2.62,0.00,0.000,4,0.000,0.054,2723,3789,3657,0,0,0,0,0,0
$GC,3601,-1.19,-146.0,351.4,-8.2,219,3605,0.00,2.58,0.00,0.000,6,0.000,0.038,2723,2199,3657,0,0,0,0,0,0
$GC,3863,-1.19,-146.0,373.7,-8.7,226,3868,0.00,2.75,0.00,0.000,4,0.000,0.078,2723,628,3656,0,0,0,0,0,0
$GC,3879,-1.19,-146.0,375.3,-8.6,226,3883,0.00,2.55,0.00,0.000,6,0.000,0.041,2723,2191,3655,0,0,0,0,0,0
$GC,4139,-1.19,-146.0,398.0,-8.7,233,4144,0.00,2.70,0.00,0.000,4,0.000,0.064,2723,3792,3654,0,0,0,0,0,0
$GC,4202,-1.23,-146.0,403.7,-9.7,234,4206,0.00,2.60,0.00,0.000,6,0.000,0.038,2723,2214,3653,0,0,0,0,0,0
$GC,4463,-1.27,-146.0,426.6,-8.9,241,4467,0.00,2.67,0.00,0.000,4,0.000,0.064,2723,3793,3652,0,0,0,0,0,0
$GC,4486,-1.32,-146.0,428.9,-9.9,241,4491,0.00,2.62,0.00,0.000,6,0.000,0.042,2723,2205,3651,0,0,0,0,0,0
$GC,4742,-1.36,-146.0,452.2,-9.0,248,4746,0.00,2.72,0.00,0.000,4,0.000,0.063,2723,3789,3650,0,0,0,0,0,0
$GC,4763,-1.36,-146.0,454.3,-9.0,248,4767,0.00,2.60,0.00,0.000,6,0.000,0.045,2723,2224,3649,0,0,0,0,0,0
$GC,5020,-1.41,-146.0,474.4,-7.7,255,5025,0.12,2.95,0.00,0.000,4,0.071,0.103,2680,623,3648,0,0,0,0,0,0
$GC,5061,-1.41,-146.0,478.1,-9.7,256,5066,0.00,2.65,0.00,0.000,6,0.000,0.050,2680,2198,3648,0,0,0,0,0,0
$GC,5344,-1.41,-146.0,502.3,-8.1,263,5349,0.00,2.75,0.00,0.000,4,0.000,0.074,2680,3797,3646,0,0,0,0,0,0
$GC,5385,-1.41,-146.0,505.8,-8.5,264,5389,0.00,2.67,0.00,0.000,6,0.000,0.049,2680,2202,3646,0,0,0,0,0,0
$GC,5668,-1.41,-146.0,529.4,-8.3,271,5673,0.00,2.97,0.00,0.000,4,0.000,0.113,2680,622,3644,0,0,0,0,0,0
$GC,5691,-1.37,-146.0,531.5,-9.1,271,5696,0.10,2.70,0.00,0.000,6,0.119,0.053,2701,2211,3644,0,0,0,0,0,0
$GC,5948,-1.37,-146.0,551.2,-7.5,278,5953,0.00,2.83,0.00,0.000,4,0.000,0.087,2701,3794,3642,0,0,0,0,0,0
$GC,6003,-1.37,-146.0,555.9,-8.7,279,6008,0.00,2.70,0.00,0.000,6,0.000,0.058,2701,2220,3642,0,0,0,0,0,0
$GC,6272,-1.37,-146.0,576.7,-7.8,286,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2220,3641,0,0,0,0,0,0
$GC,6514,-1.37,-146.0,594.4,-7.0,292,6518,0.00,2.85,0.00,0.000,4,0.000,0.088,2701,3793,3639,0,0,0,0,0,0
$GC,6531,-1.37,-146.0,595.5,-6.8,292,6536,0.00,2.78,0.00,0.000,6,0.000,0.070,2701,2215,3639,0,0,0,0,0,0
$STATE,6626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6626,begin apogee
$GC,6634,-0.31,0.0,602.3,6.8,295,6756,1.02,0.00,118.30,1.028,6,0.075,0.000,2932,2378,3060,0,0,0,0,0,0
$STATE,6756,end apogee,CONTROL_FINISHED_OK
$STATE,6757,begin climb
$GC,6759,1.27,146.0,603.7,0.0,298,6893,1.45,2.88,123.53,0.999,4,0.041,0.085,3284,3931,2464,0,0,0,0,0,0
$GC,6985,1.12,146.0,583.7,13.0,303,6991,0.20,2.78,0.00,0.000,6,0.110,0.062,3244,2366,2458,0,0,0,0,0,0
$GC,7253,1.09,157.0,557.6,9.5,310,7268,0.00,3.10,9.80,0.858,4,0.000,0.114,3243,776,2419,0,0,0,0,0,0
$GC,7286,1.04,168.6,554.3,9.5,310,7306,0.00,2.75,11.93,0.880,6,0.000,0.055,3243,2356,2372,0,0,0,0,0,0
$GC,7578,1.04,168.6,524.8,10.1,318,7583,0.00,2.80,0.00,0.000,4,0.000,0.081,3243,3941,2367,0,0,0,0,0,0
$GC,7628,0.99,168.6,519.4,10.9,319,7633,0.12,2.72,0.00,0.000,6,0.127,0.049,3219,2357,2366,0,0,0,0,0,0
$GC,7900,1.03,200.1,495.6,8.5,326,7930,0.00,0.00,28.60,0.934,6,0.000,0.000,3220,2357,2244,0,0,0,0,0,0
$GC,8144,1.05,211.9,472.8,9.5,332,8157,0.00,0.00,11.65,0.862,6,0.000,0.000,3220,2357,2196,0,0,0,0,0,0
$GC,8389,1.09,216.6,448.9,9.8,338,8400,0.00,2.97,5.80,0.727,4,0.000,0.104,3219,773,2175,0,0,0,0,0,0
$GC,8434,1.14,219.2,444.2,9.9,339,8440,0.12,2.67,0.00,0.000,6,0.084,0.040,3251,2366,2173,0,0,0,0,0,0
$GC,8712,1.14,219.2,416.0,10.1,346,8717,0.00,2.67,0.00,0.000,4,0.000,0.057,3251,3934,2172,0,0,0,0,0,0
$GC,8758,1.14,219.2,410.7,11.4,347,8762,0.00,2.62,0.00,0.000,6,0.000,0.035,3252,2358,2172,0,0,0,0,0,0
$GC,9035,1.14,219.2,379.9,11.0,354,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2358,2171,0,0,0,0,0,0
$GC,9280,1.14,219.2,355.2,10.2,360,9284,0.00,2.67,0.00,0.000,4,0.000,0.051,3252,3935,2171,0,0,0,0,0,0
$GC,9302,1.14,219.2,352.8,10.5,360,9307,0.00,2.58,0.00,0.000,6,0.000,0.036,3252,2368,2170,0,0,0,0,0,0
$GC,9557,1.15,227.6,327.6,9.6,367,9573,0.00,2.67,10.43,0.782,4,0.000,0.054,3252,3937,2131,0,0,0,0,0,0
$GC,9628,1.15,227.6,319.9,10.9,368,9633,0.00,2.55,0.00,0.000,6,0.000,0.028,3251,2379,2129,0,0,0,0,0,0
$GC,9885,1.15,227.6,293.2,10.5,375,9890,0.00,2.72,0.00,0.000,4,0.000,0.060,3251,783,2129,0,0,0,0,0,0
$GC,9925,1.15,227.6,289.0,10.1,376,9929,0.00,2.58,0.00,0.000,6,0.000,0.035,3252,2378,2127,0,0,0,0,0,0
$GC,10208,1.16,236.9,261.3,9.6,383,10223,0.00,2.75,9.30,0.719,4,0.000,0.051,3252,777,2093,0,0,0,0,0,0
$GC,10240,1.16,236.9,258.1,10.9,383,10245,0.00,2.58,0.00,0.000,6,0.000,0.027,3252,2367,2092,0,0,0,0,0,0
$GC,10490,1.19,262.3,235.4,8.8,389,10516,0.00,0.00,23.73,0.752,6,0.000,0.000,3251,2368,1989,0,0,0,0,0,0
$GC,10735,1.24,262.5,212.2,10.0,395,10740,0.00,2.60,0.00,0.000,4,0.000,0.046,3251,3935,1986,0,0,0,0,0,0
$GC,10785,1.30,262.5,206.6,11.4,396,10791,0.12,2.58,0.00,0.000,6,0.077,0.027,3288,2353,1984,0,0,0,0,0,0
$GC,11046,1.30,262.5,177.2,11.8,416,11047,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2354,1985,0,0,0,0,0,0
$GC,11302,1.30,262.5,148.0,10.5,440,11303,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2354,1985,0,0,0,0,0,0
$GC,11555,1.30,262.5,120.8,10.5,464,11560,0.00,2.62,0.00,0.000,4,0.000,0.041,3288,3938,1985,0,0,0,0,0,0
$GC,11585,1.30,262.5,117.9,10.7,466,11590,0.00,2.53,0.00,0.000,6,0.000,0.024,3288,2347,1985,0,0,0,0,0,0
$GC,11848,1.30,269.8,90.6,9.7,490,11863,0.00,2.58,7.68,0.531,4,0.000,0.038,3288,784,1959,0,0,0,0,0,0
$GC,11876,1.36,281.8,87.8,9.4,492,11894,0.00,2.53,11.98,0.562,6,0.000,0.022,3289,2379,1910,0,0,0,0,0,0
$GC,12160,1.36,281.8,58.6,10.7,518,12165,0.00,2.53,0.00,0.000,4,0.000,0.043,3288,3926,1909,0,0,0,0,0,0
$GC,12181,1.36,281.8,56.1,11.3,519,12185,0.00,2.53,0.00,0.000,6,0.000,0.026,3288,2355,1908,0,0,0,0,0,0
$GC,12457,1.36,281.8,23.4,13.0,546,12466,0.00,2.62,0.00,0.000,4,0.000,0.044,3288,3924,1908,0,0,0,0,0,0
$GC,12497,1.36,281.8,17.8,13.6,551,12507,0.00,2.50,0.00,0.000,6,0.000,0.023,3288,2367,1908,0,0,0,0,0,0
$STATE,12613,end climb,SURFACE_DEPTH_REACHED
$STATE,12613,begin surface coast
$FINISH,-0.2,1.023946
$STATE,12659,end surface coast,CONTROL_FINISHED_OK
$STATE,12659,begin surface
$SM_CCo,12680,79.00,0.528,0,0,1510,380.21
$SM_GC,0.22,0.00,0.00,79.00,0.000,0.000,0.528,474,2196,1510,-11.62,-0.40,380.21
$IRIDIUM_FIX,2246.36,-15751.06,120603,111119
$TT8_MAMPS,0.025311
$HUMID,58.70
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,22
$24V_AH,23.3,6.357
$10V_AH,10.4,5.473
$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,26.425,164.875,372.700,79.000,0.000,30.072,33.446,174.352,5.500,0.000,35.060,1209.201,8756.580,557.058,2081.398,548.232,33.381,1372.215,0.000,2061.643,0.000,0.536,0.000
$DEVICE_MAMPS,131.924,113.516,1027.780,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.385,317.505,405.495,580.533,1106.622,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,44718,574
$CAP_FILE_SIZE,130743,0
$CFSIZE,260165632,177479680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180314,182906,2252.701,-15751.820,39,1.0,39,10.1