version: 66.06
glider: 146
mission: 9
dive: 78
start: 3 24 114 6 29 30
data:
$ID,146
$MISSION,9
$DIVE,78
$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,-324864.22
$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,3004
$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,57
$R_STBD_OVSHOOT,45
$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
$GPS1,061429,2302.383,-15737.349,36,1.4,41,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-67.9
$GPS2,062836,2302.354,-15737.370,9,1.8,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.178,-0.189
$KALMAN_X,-55987.4,-79.9,482.6,86666.7,-775.1
$KALMAN_Y,47485.7,-476.3,79.9,-22878.8,-134.2
$MHEAD_RNG_PITCHd_Wd,213.1,63496,-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,17,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-88.93,0.000,6,0.000,0.000,464,2182,3657,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.9,-9.5,12,132,12.40,2.47,0.00,0.000,4,0.163,0.036,2718,654,3657,0,0,0,0,0,0
$GC,340,-1.17,-146.0,47.3,-15.3,37,345,0.15,2.45,0.00,0.000,6,0.117,0.019,2747,2223,3658,0,0,0,0,0,0
$GC,608,-1.10,-146.0,81.6,-12.6,61,613,0.00,2.58,0.00,0.000,4,0.000,0.043,2747,650,3659,0,0,0,0,0,0
$GC,631,-1.03,-146.0,85.3,-12.0,62,639,0.12,2.45,0.00,0.000,6,0.090,0.018,2777,2211,3659,0,0,0,0,0,0
$GC,897,-1.03,-146.0,111.5,-8.3,87,901,0.00,2.53,0.00,0.000,4,0.000,0.036,2777,3777,3659,0,0,0,0,0,0
$GC,945,-1.09,-146.0,116.6,-9.8,90,954,0.00,2.47,0.00,0.000,6,0.000,0.021,2778,2223,3659,0,0,0,0,0,0
$GC,1211,-1.15,-146.0,139.5,-8.0,115,1218,0.10,0.00,0.00,0.000,6,0.081,0.000,2735,2223,3659,0,0,0,0,0,0
$GC,1475,-1.15,-146.0,165.7,-10.2,140,1479,0.00,2.62,0.00,0.000,4,0.000,0.047,2734,631,3659,0,0,0,0,0,0
$GC,1507,-1.15,-146.0,169.0,-10.9,142,1512,0.00,2.45,0.00,0.000,6,0.000,0.024,2734,2204,3659,0,0,0,0,0,0
$GC,1775,-1.15,-146.0,196.4,-10.3,166,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2204,3659,0,0,0,0,0,0
$GC,2057,-1.15,-146.0,223.2,-9.0,176,2061,0.00,2.58,0.00,0.000,4,0.000,0.047,2734,638,3659,0,0,0,0,0,0
$GC,2089,-1.15,-146.0,226.4,-9.3,176,2095,0.00,2.42,0.00,0.000,6,0.000,0.020,2734,2194,3659,0,0,0,0,0,0
$GC,2339,-1.15,-146.0,247.4,-8.0,183,2344,0.00,2.58,0.00,0.000,4,0.000,0.039,2734,3775,3659,0,0,0,0,0,0
$GC,2370,-1.15,-146.0,249.7,-7.9,183,2374,0.00,2.50,0.00,0.000,6,0.000,0.021,2734,2192,3659,0,0,0,0,0,0
$GC,2620,-1.15,-146.0,272.1,-9.2,189,2624,0.00,2.58,0.00,0.000,4,0.000,0.054,2734,640,3659,0,0,0,0,0,0
$GC,2674,-1.15,-146.0,277.8,-10.0,190,2679,0.00,2.42,0.00,0.000,6,0.000,0.027,2734,2190,3659,0,0,0,0,0,0
$GC,2949,-1.15,-146.0,301.3,-8.2,197,2953,0.00,2.62,0.00,0.000,4,0.000,0.046,2734,3779,3658,0,0,0,0,0,0
$GC,2981,-1.15,-146.0,304.0,-8.2,197,2987,0.00,2.50,0.00,0.000,6,0.000,0.023,2734,2206,3658,0,0,0,0,0,0
$GC,3231,-1.15,-146.0,320.9,-6.5,204,3236,0.00,2.67,0.00,0.000,4,0.000,0.065,2734,635,3658,0,0,0,0,0,0
$GC,3288,-1.20,-146.0,325.0,-7.6,205,3293,0.00,2.50,0.00,0.000,6,0.000,0.030,2734,2193,3657,0,0,0,0,0,0
$GC,3555,-1.25,-146.0,345.9,-8.3,212,3559,0.00,2.65,0.00,0.000,4,0.000,0.050,2734,3787,3656,0,0,0,0,0,0
$GC,3641,-1.30,-146.0,353.7,-9.5,214,3645,0.00,2.55,0.00,0.000,6,0.000,0.030,2734,2215,3656,0,0,0,0,0,0
$GC,3924,-1.34,-146.0,376.0,-7.4,221,3930,0.10,2.78,0.00,0.000,4,0.082,0.078,2692,629,3654,0,0,0,0,0,0
$GC,3941,-1.34,-146.0,377.4,-7.6,221,3945,0.00,2.58,0.00,0.000,6,0.000,0.036,2692,2210,3654,0,0,0,0,0,0
$GC,4203,-1.34,-146.0,400.6,-9.1,228,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2210,3652,0,0,0,0,0,0
$GC,4445,-1.34,-146.0,422.0,-8.6,234,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2210,3651,0,0,0,0,0,0
$GC,4689,-1.34,-146.0,445.3,-9.9,240,4693,0.00,2.83,0.00,0.000,4,0.000,0.082,2692,631,3649,0,0,0,0,0,0
$GC,4705,-1.34,-146.0,447.1,-9.9,240,4710,0.00,2.62,0.00,0.000,6,0.000,0.044,2691,2209,3649,0,0,0,0,0,0
$GC,4966,-1.34,-146.0,471.6,-9.3,247,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2209,3647,0,0,0,0,0,0
$GC,5210,-1.34,-146.0,490.2,-7.4,253,5214,0.00,2.78,0.00,0.000,4,0.000,0.074,2692,3796,3645,0,0,0,0,0,0
$GC,5232,-1.34,-146.0,491.8,-7.2,253,5237,0.00,2.65,0.00,0.000,6,0.000,0.043,2692,2204,3645,0,0,0,0,0,0
$GC,5487,-1.34,-146.0,509.2,-6.9,260,5492,0.00,2.95,0.00,0.000,4,0.000,0.110,2692,627,3644,0,0,0,0,0,0
$GC,5509,-1.34,-146.0,510.9,-7.7,260,5513,0.00,2.65,0.00,0.000,6,0.000,0.050,2692,2201,3644,0,0,0,0,0,0
$GC,5765,-1.34,-146.0,532.0,-8.4,267,5770,0.00,2.78,0.00,0.000,4,0.000,0.080,2692,3794,3642,0,0,0,0,0,0
$GC,5792,-1.34,-146.0,534.7,-9.7,267,5796,0.00,2.67,0.00,0.000,6,0.000,0.054,2692,2208,3642,0,0,0,0,0,0
$GC,6042,-1.34,-146.0,554.5,-7.7,273,6047,0.00,2.80,0.00,0.000,4,0.000,0.074,2692,3797,3640,0,0,0,0,0,0
$GC,6098,-1.34,-146.0,558.8,-8.5,274,6103,0.00,2.72,0.00,0.000,6,0.000,0.056,2691,2211,3640,0,0,0,0,0,0
$GC,6364,-1.34,-146.0,577.8,-7.1,281,6369,0.00,2.83,0.00,0.000,4,0.000,0.084,2692,3797,3638,0,0,0,0,0,0
$GC,6397,-1.34,-146.0,580.6,-8.9,281,6403,0.00,2.75,0.00,0.000,6,0.000,0.063,2691,2217,3638,0,0,0,0,0,0
$STATE,6645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6645,begin apogee
$GC,6652,-0.31,0.0,601.5,8.6,288,6774,1.08,0.00,118.10,1.022,6,0.074,0.000,2934,2381,3060,0,0,0,0,0,0
$STATE,6774,end apogee,CONTROL_FINISHED_OK
$STATE,6775,begin climb
$GC,6777,1.27,146.0,604.6,0.0,291,6914,1.48,2.90,124.53,0.995,4,0.035,0.084,3291,3923,2463,0,0,0,0,0,0
$GC,6920,1.13,146.0,596.0,10.8,294,6925,0.20,2.78,0.00,0.000,6,0.106,0.063,3251,2365,2461,0,0,0,0,0,0
$GC,7170,1.07,146.0,570.3,10.3,300,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2365,2454,0,0,0,0,0,0
$GC,7414,1.04,176.9,548.3,8.6,306,7448,0.00,2.88,26.55,0.948,4,0.000,0.067,3251,3930,2337,0,0,0,0,0,0
$GC,7467,0.99,181.0,543.5,9.8,307,7478,0.15,2.72,5.45,0.716,6,0.114,0.048,3221,2361,2321,0,0,0,0,0,0
$GC,7740,1.00,191.0,518.4,9.5,314,7755,0.00,2.80,9.88,0.856,4,0.000,0.061,3221,3939,2280,0,0,0,0,0,0
$GC,7795,1.00,191.0,512.3,11.4,315,7799,0.00,2.72,0.00,0.000,6,0.000,0.050,3221,2365,2279,0,0,0,0,0,0
$GC,8061,1.01,202.1,486.6,9.5,322,8080,0.00,3.15,11.15,0.866,4,0.000,0.125,3221,779,2235,0,0,0,0,0,0
$GC,8132,1.01,202.1,479.6,10.2,323,8137,0.00,2.65,0.00,0.000,6,0.000,0.047,3220,2357,2233,0,0,0,0,0,0
$GC,8387,1.06,203.8,454.6,9.9,330,8392,0.00,2.70,0.00,0.000,4,0.000,0.060,3221,3938,2232,0,0,0,0,0,0
$GC,8410,1.06,203.8,452.2,10.4,330,8414,0.00,2.67,0.00,0.000,6,0.000,0.037,3220,2338,2231,0,0,0,0,0,0
$GC,8666,1.10,207.6,427.0,9.8,337,8675,0.10,0.00,5.95,0.733,6,0.094,0.000,3249,2339,2213,0,0,0,0,0,0
$GC,8908,1.10,207.6,400.0,11.0,343,8913,0.00,2.78,0.00,0.000,4,0.000,0.083,3249,783,2211,0,0,0,0,0,0
$GC,8929,1.10,207.6,397.7,10.6,343,8933,0.00,2.60,0.00,0.000,6,0.000,0.033,3249,2379,2210,0,0,0,0,0,0
$GC,9186,1.11,209.3,372.5,9.9,350,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2378,2210,0,0,0,0,0,0
$GC,9428,1.11,209.3,347.2,10.3,356,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2379,2210,0,0,0,0,0,0
$GC,9672,1.14,239.5,325.7,8.6,362,9707,0.00,2.70,28.75,0.839,4,0.000,0.050,3249,3927,2082,0,0,0,0,0,0
$GC,9771,1.14,239.5,316.3,10.3,364,9776,0.00,2.60,0.00,0.000,6,0.000,0.029,3249,2352,2079,0,0,0,0,0,0
$GC,10043,1.14,240.4,290.4,10.0,371,10048,0.00,2.65,0.00,0.000,4,0.000,0.060,3249,783,2078,0,0,0,0,0,0
$GC,10132,1.18,240.4,280.7,11.0,373,10136,0.00,2.50,0.00,0.000,6,0.000,0.026,3249,2335,2077,0,0,0,0,0,0
$GC,10411,1.26,270.8,256.3,8.6,380,10442,0.12,0.00,28.23,0.774,6,0.081,0.000,3285,2335,1955,0,0,0,0,0,0
$GC,10653,1.26,270.8,228.2,12.1,386,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2335,1952,0,0,0,0,0,0
$GC,10896,1.26,270.8,198.9,12.0,392,10901,0.00,2.67,0.00,0.000,4,0.000,0.044,3285,3935,1951,0,0,0,0,0,0
$GC,10938,1.26,270.8,193.9,12.3,395,10942,0.00,2.62,0.00,0.000,6,0.000,0.026,3285,2315,1950,0,0,0,0,0,0
$GC,11200,1.26,270.8,163.4,10.8,419,11204,0.00,2.58,0.00,0.000,4,0.000,0.050,3285,770,1950,0,0,0,0,0,0
$GC,11216,1.26,270.8,161.4,11.1,420,11221,0.00,2.47,0.00,0.000,6,0.000,0.021,3285,2336,1950,0,0,0,0,0,0
$GC,11480,1.26,270.8,131.2,13.1,444,11484,0.00,2.62,0.00,0.000,4,0.000,0.044,3285,3923,1949,0,0,0,0,0,0
$GC,11525,1.26,270.8,124.6,13.0,447,11531,0.00,2.58,0.00,0.000,6,0.000,0.025,3285,2317,1949,0,0,0,0,0,0
$GC,11790,1.27,276.5,96.2,9.7,472,11800,0.00,0.00,5.88,0.501,6,0.000,0.000,3285,2318,1932,0,0,0,0,0,0
$GC,12057,1.27,276.5,68.8,10.7,497,12062,0.00,2.65,0.00,0.000,4,0.000,0.041,3285,3923,1931,0,0,0,0,0,0
$GC,12093,1.28,290.1,64.7,9.4,499,12117,0.00,2.60,13.35,0.555,6,0.000,0.025,3285,2316,1876,0,0,0,0,0,0
$GC,12372,1.28,290.1,35.2,12.0,525,12377,0.00,2.65,0.00,0.000,4,0.000,0.040,3285,3923,1874,0,0,0,0,0,0
$GC,12397,1.33,290.1,31.8,11.5,526,12406,0.00,2.60,0.00,0.000,6,0.000,0.027,3285,2321,1875,0,0,0,0,0,0
$STATE,12632,end climb,SURFACE_DEPTH_REACHED
$STATE,12632,begin surface coast
$FINISH,-0.1,1.000757
$STATE,12681,end surface coast,CONTROL_FINISHED_OK
$STATE,12682,begin surface
$SM_CCo,12704,72.72,0.525,0,0,1510,380.21
$SM_GC,0.48,0.00,0.00,72.72,0.000,0.000,0.525,460,2155,1510,-11.70,-1.55,380.21
$IRIDIUM_FIX,2253.38,-15737.57,180603,060631
$TT8_MAMPS,0.025311
$HUMID,60.78
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.20
$XPDR_PINGS,14
$24V_AH,23.3,11.115
$10V_AH,10.4,9.692
$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,27.275,159.300,377.800,72.725,0.000,57.744,76.284,504.927,3.500,0.000,15.655,1184.524,8897.459,554.668,2025.370,958.470,33.359,1353.537,0.000,2023.231,0.000,0.536,0.000
$DEVICE_MAMPS,163.371,125.021,1022.411,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,386.045,313.043,400.378,582.827,1109.775,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,44592,568
$CAP_FILE_SIZE,132906,0
$CFSIZE,260165632,175198208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240314,100354,2300.973,-15738.962,46,1.4,46,10.1