version: 66.06
glider: 146
mission: 9
dive: 81
start: 3 24 114 17 44 31
data:
$ID,146
$MISSION,9
$DIVE,81
$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,-324931.03
$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,53
$R_STBD_OVSHOOT,36
$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
$GPS1,173654,2259.261,-15741.211,55,1.2,55,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-69.2
$GPS2,174336,2259.257,-15741.207,11,1.2,22,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.239,-0.100
$KALMAN_X,-55773.4,-8.2,244.5,80078.3,-28.3
$KALMAN_Y,47087.6,456.6,290.7,-29358.1,-1177.7
$MHEAD_RNG_PITCHd_Wd,237.2,54788,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-89.32,0.000,6,0.000,0.000,468,2185,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.8,-9.0,12,132,11.90,2.60,0.00,0.000,4,0.150,0.033,2719,3787,3657,0,0,0,0,0,0
$GC,254,-1.17,-146.0,32.7,-11.7,31,260,0.15,2.47,0.00,0.000,6,0.120,0.023,2748,2225,3658,0,0,0,0,0,0
$GC,524,-1.10,-146.0,63.5,-11.6,55,528,0.00,2.62,0.00,0.000,4,0.000,0.046,2748,632,3659,0,0,0,0,0,0
$GC,570,-1.04,-146.0,69.1,-10.9,58,576,0.12,2.47,0.00,0.000,6,0.121,0.019,2773,2215,3658,0,0,0,0,0,0
$GC,833,-1.04,-146.0,96.7,-11.9,82,837,0.00,2.60,0.00,0.000,4,0.000,0.045,2773,635,3659,0,0,0,0,0,0
$GC,861,-1.04,-146.0,100.3,-12.0,84,866,0.00,2.45,0.00,0.000,6,0.000,0.018,2773,2212,3659,0,0,0,0,0,0
$GC,1124,-1.04,-146.0,125.9,-8.3,108,1128,0.00,2.60,0.00,0.000,4,0.000,0.044,2773,635,3659,0,0,0,0,0,0
$GC,1146,-1.04,-146.0,127.4,-8.0,109,1150,0.00,2.42,0.00,0.000,6,0.000,0.018,2773,2193,3659,0,0,0,0,0,0
$GC,1412,-1.04,-146.0,149.2,-8.5,133,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2194,3659,0,0,0,0,0,0
$GC,1677,-1.08,-146.0,170.7,-9.1,158,1681,0.00,2.55,0.00,0.000,4,0.000,0.043,2773,3778,3660,0,0,0,0,0,0
$GC,1717,-1.14,-146.0,174.8,-9.5,161,1722,0.00,2.50,0.00,0.000,6,0.000,0.020,2773,2184,3660,0,0,0,0,0,0
$GC,1982,-1.19,-146.0,196.2,-7.8,185,1987,0.12,0.00,0.00,0.000,6,0.069,0.000,2725,2185,3660,0,0,0,0,0,0
$GC,2234,-1.16,-146.0,220.8,-9.9,195,2236,0.12,0.00,0.00,0.000,6,0.100,0.000,2752,2184,3661,0,0,0,0,0,0
$GC,2478,-1.16,-146.0,241.9,-8.4,201,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2184,3661,0,0,0,0,0,0
$GC,2723,-1.20,-146.0,262.1,-8.1,207,2727,0.00,2.60,0.00,0.000,4,0.000,0.042,2752,3775,3661,0,0,0,0,0,0
$GC,2745,-1.24,-146.0,264.0,-8.0,207,2749,0.00,2.47,0.00,0.000,6,0.000,0.020,2752,2193,3661,0,0,0,0,0,0
$GC,3000,-1.28,-146.0,285.1,-8.3,214,3005,0.12,2.65,0.00,0.000,4,0.070,0.059,2701,632,3661,0,0,0,0,0,0
$GC,3035,-1.23,-146.0,288.5,-10.9,214,3041,0.15,2.47,0.00,0.000,6,0.098,0.031,2733,2189,3660,0,0,0,0,0,0
$GC,3285,-1.23,-146.0,309.8,-8.2,221,3289,0.00,2.62,0.00,0.000,4,0.000,0.047,2733,3789,3660,0,0,0,0,0,0
$GC,3341,-1.23,-146.0,314.4,-8.1,222,3346,0.00,2.53,0.00,0.000,6,0.000,0.027,2733,2209,3660,0,0,0,0,0,0
$GC,3607,-1.23,-146.0,334.1,-7.2,229,3612,0.00,2.62,0.00,0.000,4,0.000,0.056,2733,3780,3659,0,0,0,0,0,0
$GC,3635,-1.27,-146.0,336.2,-7.5,229,3639,0.00,2.53,0.00,0.000,6,0.000,0.027,2733,2216,3659,0,0,0,0,0,0
$GC,3886,-1.27,-146.0,354.1,-7.1,235,3891,0.00,2.72,0.00,0.000,4,0.000,0.072,2733,632,3658,0,0,0,0,0,0
$GC,3909,-1.27,-146.0,356.0,-7.3,235,3913,0.00,2.55,0.00,0.000,6,0.000,0.035,2733,2206,3658,0,0,0,0,0,0
$GC,4164,-1.31,-146.0,373.8,-7.0,242,4168,0.00,2.65,0.00,0.000,4,0.000,0.057,2733,3793,3656,0,0,0,0,0,0
$GC,4193,-1.35,-146.0,375.8,-7.6,242,4198,0.10,2.55,0.00,0.000,6,0.083,0.038,2692,2222,3656,0,0,0,0,0,0
$GC,4443,-1.35,-146.0,396.6,-8.3,248,4447,0.00,2.80,0.00,0.000,4,0.000,0.078,2691,623,3654,0,0,0,0,0,0
$GC,4509,-1.35,-146.0,402.5,-9.3,249,4513,0.00,2.58,0.00,0.000,6,0.000,0.038,2691,2193,3654,0,0,0,0,0,0
$GC,4765,-1.35,-146.0,424.4,-8.3,256,4770,0.00,2.72,0.00,0.000,4,0.000,0.062,2691,3803,3653,0,0,0,0,0,0
$GC,4787,-1.31,-146.0,426.3,-8.1,256,4792,0.12,2.62,0.00,0.000,6,0.104,0.039,2719,2213,3652,0,0,0,0,0,0
$GC,5043,-1.31,-146.0,442.6,-6.1,263,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2213,3650,0,0,0,0,0,0
$GC,5288,-1.35,-146.0,460.2,-7.5,269,5293,0.00,2.70,0.00,0.000,4,0.000,0.067,2719,3793,3649,0,0,0,0,0,0
$GC,5329,-1.39,-146.0,463.8,-8.5,270,5333,0.00,2.62,0.00,0.000,6,0.000,0.044,2719,2222,3649,0,0,0,0,0,0
$GC,5613,-1.43,-146.0,487.3,-8.2,277,5615,0.12,0.00,0.00,0.000,6,0.069,0.000,2675,2223,3647,0,0,0,0,0,0
$GC,5856,-1.39,-146.0,510.1,-9.6,283,5861,0.12,2.78,0.00,0.000,4,0.104,0.071,2701,3794,3645,0,0,0,0,0,0
$GC,5896,-1.39,-146.0,513.7,-8.7,284,5900,0.00,2.65,0.00,0.000,6,0.000,0.058,2700,2235,3645,0,0,0,0,0,0
$GC,6180,-1.39,-146.0,536.5,-7.9,291,6185,0.00,2.72,0.00,0.000,4,0.000,0.075,2701,3789,3643,0,0,0,0,0,0
$GC,6207,-1.39,-146.0,538.9,-8.7,291,6212,0.00,2.67,0.00,0.000,6,0.000,0.061,2701,2224,3643,0,0,0,0,0,0
$GC,6457,-1.39,-146.0,557.7,-7.4,297,6462,0.00,2.78,0.00,0.000,4,0.000,0.077,2701,3789,3642,0,0,0,0,0,0
$GC,6480,-1.39,-146.0,559.3,-7.8,297,6484,0.00,2.62,0.00,0.000,6,0.000,0.057,2701,2243,3641,0,0,0,0,0,0
$GC,6735,-1.39,-146.0,577.6,-7.2,304,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2243,3640,0,0,0,0,0,0
$GC,6978,-1.39,-146.0,595.7,-7.4,310,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2243,3639,0,0,0,0,0,0
$STATE,7057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7057,begin apogee
$GC,7063,-0.31,0.0,601.4,7.2,312,7185,1.05,0.00,118.75,1.022,6,0.074,0.000,2938,2377,3060,0,0,0,0,0,0
$STATE,7187,end apogee,CONTROL_FINISHED_OK
$STATE,7188,begin climb
$GC,7190,1.27,146.0,603.4,0.0,315,7326,1.40,2.88,124.28,0.993,4,0.035,0.084,3285,3928,2464,0,0,0,0,0,0
$GC,7406,1.13,146.0,585.0,12.9,320,7412,0.17,2.75,0.00,0.000,6,0.108,0.060,3250,2370,2459,0,0,0,0,0,0
$GC,7685,1.08,148.0,556.7,9.9,327,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2370,2454,0,0,0,0,0,0
$GC,7930,1.05,164.4,533.8,9.2,333,7948,0.00,0.00,16.10,0.913,6,0.000,0.000,3250,2370,2389,0,0,0,0,0,0
$GC,8172,1.03,184.1,511.7,9.1,339,8194,0.10,0.00,18.88,0.917,6,0.137,0.000,3230,2371,2309,0,0,0,0,0,0
$GC,8416,1.04,195.7,489.1,9.5,345,8434,0.00,2.83,11.55,0.865,4,0.000,0.058,3230,3942,2260,0,0,0,0,0,0
$GC,8470,1.04,195.7,483.5,10.4,346,8474,0.00,2.67,0.00,0.000,6,0.000,0.042,3230,2376,2259,0,0,0,0,0,0
$GC,8742,1.07,215.0,458.1,9.1,353,8762,0.00,0.00,18.23,0.892,6,0.000,0.000,3230,2376,2183,0,0,0,0,0,0
$GC,8985,1.07,217.5,434.3,9.9,359,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2376,2180,0,0,0,0,0,0
$GC,9230,1.08,223.0,410.3,9.7,365,9240,0.00,0.00,8.18,0.788,6,0.000,0.000,3230,2376,2150,0,0,0,0,0,0
$GC,9472,1.08,223.0,385.8,10.1,371,9477,0.00,2.85,0.00,0.000,4,0.000,0.081,3229,777,2147,0,0,0,0,0,0
$GC,9521,1.08,223.0,380.5,10.2,372,9526,0.00,2.65,0.00,0.000,6,0.000,0.036,3230,2397,2146,0,0,0,0,0,0
$GC,9795,1.14,236.5,354.5,9.4,379,9815,0.10,2.88,12.88,0.815,4,0.092,0.061,3259,782,2096,0,0,0,0,0,0
$GC,9854,1.14,236.5,347.6,11.8,380,9859,0.00,2.62,0.00,0.000,6,0.000,0.032,3259,2389,2093,0,0,0,0,0,0
$GC,10121,1.14,236.5,319.5,10.6,387,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2389,2093,0,0,0,0,0,0
$GC,10366,1.14,236.5,293.3,10.7,393,10370,0.00,2.58,0.00,0.000,4,0.000,0.049,3259,3930,2092,0,0,0,0,0,0
$GC,10415,1.14,236.5,287.4,11.8,394,10420,0.00,2.55,0.00,0.000,6,0.000,0.027,3259,2359,2091,0,0,0,0,0,0
$GC,10688,1.14,236.5,258.7,10.4,401,10692,0.00,2.65,0.00,0.000,4,0.000,0.055,3259,785,2091,0,0,0,0,0,0
$GC,10732,1.14,236.5,254.1,10.4,402,10737,0.00,2.55,0.00,0.000,6,0.000,0.025,3259,2375,2091,0,0,0,0,0,0
$GC,11010,1.15,248.3,227.9,9.5,409,11029,0.00,2.60,11.55,0.710,4,0.000,0.045,3259,3924,2045,0,0,0,0,0,0
$GC,11046,1.15,248.3,223.9,10.9,409,11052,0.00,2.55,0.00,0.000,6,0.000,0.025,3259,2360,2045,0,0,0,0,0,0
$GC,11298,1.20,250.4,199.1,9.9,416,11302,0.00,2.60,0.00,0.000,4,0.000,0.045,3259,3924,2044,0,0,0,0,0,0
$GC,11354,1.25,250.4,192.7,10.4,420,11363,0.00,2.53,0.00,0.000,6,0.000,0.025,3259,2377,2043,0,0,0,0,0,0
$GC,11622,1.30,262.9,168.1,9.4,445,11643,0.12,2.70,13.80,0.657,4,0.081,0.049,3296,779,1987,0,0,0,0,0,0
$GC,11672,1.30,262.9,161.7,11.5,449,11678,0.00,2.58,0.00,0.000,6,0.000,0.030,3296,2388,1986,0,0,0,0,0,0
$GC,11936,1.30,262.9,131.8,11.0,474,11940,0.00,2.53,0.00,0.000,4,0.000,0.044,3297,3920,1985,0,0,0,0,0,0
$GC,12028,1.30,262.9,121.2,12.0,481,12033,0.00,2.47,0.00,0.000,6,0.000,0.025,3296,2376,1985,0,0,0,0,0,0
$GC,12296,1.30,262.9,91.2,10.8,505,12300,0.00,2.62,0.00,0.000,4,0.000,0.047,3296,784,1985,0,0,0,0,0,0
$GC,12329,1.30,262.9,87.2,11.8,507,12333,0.00,2.53,0.00,0.000,6,0.000,0.022,3296,2389,1985,0,0,0,0,0,0
$GC,12596,1.30,262.9,57.6,11.1,531,12605,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2389,1985,0,0,0,0,0,0
$GC,12863,1.30,262.9,31.0,10.3,556,12872,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2389,1985,0,0,0,0,0,0
$STATE,13104,end climb,SURFACE_DEPTH_REACHED
$STATE,13104,begin surface coast
$FINISH,-0.2,1.001882
$STATE,13154,end surface coast,CONTROL_FINISHED_OK
$STATE,13154,begin surface
$SM_CCo,13177,95.62,0.525,0,0,1509,380.21
$SM_GC,0.52,0.00,0.00,95.62,0.000,0.000,0.525,466,2156,1509,-11.67,-1.53,380.21
$IRIDIUM_FIX,2251.04,-15742.79,180603,141437
$TT8_MAMPS,0.026078
$HUMID,60.27
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.20
$XPDR_PINGS,20
$24V_AH,23.4,11.495
$10V_AH,10.4,10.049
$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,27.400,147.225,354.175,95.625,0.000,28.019,34.324,191.721,5.000,0.000,23.650,1233.432,9185.438,565.825,2115.861,573.426,33.384,1362.233,0.000,2111.545,0.000,0.535,0.000
$DEVICE_MAMPS,149.565,89.739,1022.411,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.357,343.226,428.897,626.156,1192.464,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,47814,599
$CAP_FILE_SIZE,130040,0
$CFSIZE,260165632,175013888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240314,212706,2258.195,-15743.447,40,1.0,40,10.1