version: 66.06
glider: 146
mission: 9
dive: 84
start: 3 25 114 5 13 55
data:
$ID,146
$MISSION,9
$DIVE,84
$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,-324981.59
$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,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
$GPS1,050605,2256.634,-15746.850,40,1.5,40,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-65.8
$GPS2,051301,2256.665,-15746.871,14,1.6,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.204,-0.160
$KALMAN_X,-57558.6,-286.2,150.8,72567.8,-394.9
$KALMAN_Y,48120.9,-228.2,525.8,-34746.6,-683.5
$MHEAD_RNG_PITCHd_Wd,221.8,44327,-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,-88.18,0.000,6,0.000,0.000,468,2176,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.9,-12.0,12,133,11.93,2.50,0.00,0.000,4,0.151,0.039,2716,646,3656,0,0,0,0,0,0
$GC,145,0.04,-146.0,19.3,-43.6,15,155,1.35,2.47,0.00,0.000,6,0.092,0.017,3007,2229,3657,0,0,0,0,0,0
$GC,448,-0.57,-146.0,40.8,-8.4,52,453,0.52,2.60,0.00,0.000,4,0.052,0.041,2871,641,3658,0,0,0,0,0,0
$GC,546,-0.82,-146.0,47.7,-6.3,59,551,0.20,2.42,0.00,0.000,6,0.050,0.017,2800,2212,3658,0,0,0,0,0,0
$GC,815,-0.87,-146.0,69.1,-8.0,83,819,0.00,2.50,0.00,0.000,4,0.000,0.036,2800,3766,3658,0,0,0,0,0,0
$GC,862,-0.96,-146.0,73.4,-8.5,86,866,0.00,2.45,0.00,0.000,6,0.000,0.021,2800,2218,3658,0,0,0,0,0,0
$GC,1126,-1.02,-146.0,94.5,-7.8,110,1130,0.00,2.58,0.00,0.000,4,0.000,0.044,2799,639,3659,0,0,0,0,0,0
$GC,1171,-1.10,-146.0,97.9,-7.4,113,1176,0.15,2.42,0.00,0.000,6,0.059,0.018,2743,2199,3659,0,0,0,0,0,0
$GC,1435,-1.05,-146.0,125.7,-11.0,137,1440,0.15,2.58,0.00,0.000,4,0.097,0.035,2776,3782,3659,0,0,0,0,0,0
$GC,1457,-1.05,-146.0,128.7,-11.2,138,1466,0.00,2.50,0.00,0.000,6,0.000,0.021,2775,2205,3659,0,0,0,0,0,0
$GC,1726,-1.09,-146.0,151.6,-7.6,163,1730,0.00,2.58,0.00,0.000,4,0.000,0.045,2775,634,3659,0,0,0,0,0,0
$GC,1778,-1.16,-146.0,156.2,-8.5,167,1783,0.10,2.42,0.00,0.000,6,0.081,0.025,2732,2200,3659,0,0,0,0,0,0
$GC,2039,-1.16,-146.0,183.4,-10.4,191,2043,0.00,2.55,0.00,0.000,4,0.000,0.035,2732,3782,3660,0,0,0,0,0,0
$GC,2055,-1.16,-146.0,185.2,-10.4,192,2060,0.00,2.47,0.00,0.000,6,0.000,0.019,2732,2192,3660,0,0,0,0,0,0
$GC,2332,-1.16,-146.0,211.8,-9.1,209,2336,0.00,2.55,0.00,0.000,4,0.000,0.037,2732,3776,3660,0,0,0,0,0,0
$GC,2390,-1.16,-146.0,217.4,-10.0,210,2394,0.00,2.45,0.00,0.000,6,0.000,0.020,2732,2206,3660,0,0,0,0,0,0
$GC,2656,-1.16,-146.0,242.5,-9.2,217,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2206,3660,0,0,0,0,0,0
$GC,2899,-1.16,-146.0,264.5,-9.1,223,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2206,3660,0,0,0,0,0,0
$GC,3144,-1.16,-146.0,285.6,-8.6,229,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2206,3660,0,0,0,0,0,0
$GC,3387,-1.16,-146.0,306.0,-8.3,235,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2206,3660,0,0,0,0,0,0
$GC,3631,-1.16,-146.0,325.3,-7.7,241,3635,0.00,2.65,0.00,0.000,4,0.000,0.067,2731,644,3659,0,0,0,0,0,0
$GC,3670,-1.16,-146.0,328.6,-8.9,242,3674,0.00,2.50,0.00,0.000,6,0.000,0.028,2731,2203,3659,0,0,0,0,0,0
$GC,3954,-1.16,-146.0,349.4,-7.4,249,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2203,3657,0,0,0,0,0,0
$GC,4197,-1.16,-146.0,368.8,-7.6,255,4201,0.00,2.70,0.00,0.000,4,0.000,0.066,2732,639,3656,0,0,0,0,0,0
$GC,4230,-1.21,-146.0,371.3,-7.9,255,4235,0.00,2.55,0.00,0.000,6,0.000,0.035,2731,2205,3656,0,0,0,0,0,0
$GC,4481,-1.26,-146.0,389.9,-7.6,262,4486,0.00,2.65,0.00,0.000,4,0.000,0.059,2731,3793,3654,0,0,0,0,0,0
$GC,4559,-1.30,-146.0,396.2,-8.2,263,4565,0.00,2.53,0.00,0.000,6,0.000,0.031,2731,2244,3654,0,0,0,0,0,0
$GC,4811,-1.35,-146.0,414.1,-6.9,270,4816,0.10,2.62,0.00,0.000,4,0.082,0.058,2691,3790,3652,0,0,0,0,0,0
$GC,4833,-1.35,-146.0,416.0,-7.8,270,4837,0.00,2.58,0.00,0.000,6,0.000,0.035,2691,2226,3652,0,0,0,0,0,0
$GC,5088,-1.35,-146.0,436.7,-8.2,277,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2225,3651,0,0,0,0,0,0
$GC,5333,-1.35,-146.0,458.4,-8.9,283,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2225,3649,0,0,0,0,0,0
$GC,5575,-1.35,-146.0,479.2,-8.4,289,5580,0.00,2.70,0.00,0.000,4,0.000,0.065,2691,3787,3647,0,0,0,0,0,0
$GC,5592,-1.35,-146.0,480.7,-8.3,289,5596,0.00,2.60,0.00,0.000,6,0.000,0.044,2691,2234,3647,0,0,0,0,0,0
$GC,5852,-1.35,-146.0,503.8,-9.0,296,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2235,3646,0,0,0,0,0,0
$GC,6097,-1.35,-146.0,526.2,-9.1,302,6102,0.00,2.72,0.00,0.000,4,0.000,0.074,2691,3785,3644,0,0,0,0,0,0
$GC,6137,-1.35,-146.0,530.0,-9.7,303,6142,0.00,2.62,0.00,0.000,6,0.000,0.053,2691,2243,3644,0,0,0,0,0,0
$GC,6421,-1.35,-146.0,551.6,-7.2,310,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2243,3642,0,0,0,0,0,0
$GC,6666,-1.35,-146.0,567.8,-6.7,316,6671,0.00,2.78,0.00,0.000,4,0.000,0.081,2691,3792,3641,0,0,0,0,0,0
$GC,6687,-1.35,-146.0,569.5,-7.6,316,6692,0.00,2.67,0.00,0.000,6,0.000,0.059,2691,2240,3641,0,0,0,0,0,0
$GC,6943,-1.35,-146.0,589.9,-8.3,323,6948,0.00,2.75,0.00,0.000,4,0.000,0.083,2691,3783,3639,0,0,0,0,0,0
$GC,6988,-1.35,-146.0,593.9,-9.1,324,6993,0.00,2.67,0.00,0.000,6,0.000,0.067,2691,2251,3639,0,0,0,0,0,0
$STATE,7060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7060,begin apogee
$GC,7066,-0.31,0.0,600.4,8.7,326,7189,1.08,0.00,119.10,1.019,6,0.073,0.000,2934,2372,3060,0,0,0,0,0,0
$STATE,7191,end apogee,CONTROL_FINISHED_OK
$STATE,7191,begin climb
$GC,7193,1.27,146.0,603.4,0.0,329,7331,1.40,2.95,125.00,0.990,4,0.037,0.084,3280,3932,2462,0,0,0,0,0,0
$GC,7361,1.13,146.0,592.4,12.1,333,7366,0.15,2.78,0.00,0.000,6,0.113,0.061,3250,2370,2460,0,0,0,0,0,0
$GC,7646,1.08,146.0,563.4,10.1,340,7650,0.00,2.80,0.00,0.000,4,0.000,0.073,3250,3934,2454,0,0,0,0,0,0
$GC,7689,1.01,146.0,558.3,11.1,341,7695,0.12,2.70,0.00,0.000,6,0.123,0.057,3225,2374,2453,0,0,0,0,0,0
$GC,7969,1.06,190.9,535.3,7.9,348,8014,0.00,3.17,38.95,0.954,4,0.000,0.123,3225,780,2281,0,0,0,0,0,0
$GC,8071,1.06,190.9,526.0,10.0,350,8076,0.00,2.72,0.00,0.000,6,0.000,0.051,3224,2366,2278,0,0,0,0,0,0
$GC,8331,1.07,198.5,501.4,9.6,357,8346,0.00,2.80,7.68,0.805,4,0.000,0.066,3225,3930,2250,0,0,0,0,0,0
$GC,8370,1.07,198.5,497.3,11.0,357,8375,0.00,2.67,0.00,0.000,6,0.000,0.048,3225,2364,2249,0,0,0,0,0,0
$GC,8619,1.07,198.5,471.8,10.1,364,8624,0.00,2.95,0.00,0.000,4,0.000,0.105,3225,781,2247,0,0,0,0,0,0
$GC,8646,1.07,198.5,468.8,10.1,364,8650,0.00,2.65,0.00,0.000,6,0.000,0.047,3225,2356,2246,0,0,0,0,0,0
$GC,8898,1.08,203.3,444.4,9.8,370,8908,0.00,2.72,5.12,0.692,4,0.000,0.055,3225,3940,2230,0,0,0,0,0,0
$GC,8924,1.08,203.3,441.3,10.3,370,8929,0.00,2.65,0.00,0.000,6,0.000,0.040,3225,2353,2230,0,0,0,0,0,0
$GC,9175,1.12,203.3,415.9,10.1,376,9180,0.10,2.85,0.00,0.000,4,0.088,0.087,3254,782,2229,0,0,0,0,0,0
$GC,9203,1.12,203.3,412.7,12.1,376,9208,0.00,2.60,0.00,0.000,6,0.000,0.041,3254,2365,2228,0,0,0,0,0,0
$GC,9453,1.12,203.3,386.9,10.1,382,9457,0.00,2.65,0.00,0.000,4,0.000,0.052,3255,3938,2227,0,0,0,0,0,0
$GC,9496,1.12,203.3,382.4,10.4,383,9501,0.00,2.60,0.00,0.000,6,0.000,0.038,3254,2359,2227,0,0,0,0,0,0
$GC,9781,1.12,203.3,353.6,10.5,390,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2360,2227,0,0,0,0,0,0
$GC,10024,1.12,203.3,327.9,10.6,396,10028,0.00,2.70,0.00,0.000,4,0.000,0.065,3254,783,2226,0,0,0,0,0,0
$GC,10050,1.12,203.3,325.0,10.3,396,10055,0.00,2.55,0.00,0.000,6,0.000,0.029,3255,2363,2226,0,0,0,0,0,0
$GC,10307,1.13,214.0,300.9,9.5,403,10323,0.00,2.70,10.65,0.762,4,0.000,0.050,3254,780,2186,0,0,0,0,0,0
$GC,10347,1.15,229.7,297.1,9.3,404,10367,0.00,2.55,15.05,0.777,6,0.000,0.031,3254,2350,2123,0,0,0,0,0,0
$GC,10628,1.15,229.7,268.7,10.2,411,10633,0.00,2.65,0.00,0.000,4,0.000,0.049,3255,3930,2120,0,0,0,0,0,0
$GC,10709,1.15,229.7,259.9,11.1,412,10715,0.00,2.58,0.00,0.000,6,0.000,0.027,3254,2351,2119,0,0,0,0,0,0
$GC,10959,1.15,229.9,234.5,10.0,419,10963,0.00,2.62,0.00,0.000,4,0.000,0.053,3254,784,2119,0,0,0,0,0,0
$GC,10985,1.15,229.9,231.9,10.0,419,10990,0.00,2.53,0.00,0.000,6,0.000,0.032,3255,2358,2119,0,0,0,0,0,0
$GC,11237,1.22,252.0,208.9,9.0,425,11263,0.00,2.67,20.40,0.713,4,0.000,0.045,3255,3931,2031,0,0,0,0,0,0
$GC,11280,1.24,270.4,204.6,9.2,426,11304,0.00,2.60,17.55,0.692,6,0.000,0.029,3255,2334,1956,0,0,0,0,0,0
$GC,11559,1.29,270.4,175.2,10.9,447,11561,0.12,0.00,0.00,0.000,6,0.078,0.000,3291,2334,1954,0,0,0,0,0,0
$GC,11819,1.29,270.4,146.2,10.8,471,11824,0.00,2.65,0.00,0.000,4,0.000,0.041,3292,3929,1954,0,0,0,0,0,0
$GC,11852,1.29,270.4,142.6,10.8,473,11857,0.00,2.55,0.00,0.000,6,0.000,0.025,3292,2348,1953,0,0,0,0,0,0
$GC,12119,1.30,276.2,116.7,9.7,497,12130,0.00,2.60,6.35,0.523,4,0.000,0.046,3292,787,1932,0,0,0,0,0,0
$GC,12179,1.30,276.2,109.8,10.1,502,12184,0.00,2.50,0.00,0.000,6,0.000,0.023,3291,2362,1931,0,0,0,0,0,0
$GC,12442,1.30,276.2,80.9,11.4,526,12446,0.00,2.53,0.00,0.000,4,0.000,0.041,3292,3921,1931,0,0,0,0,0,0
$GC,12486,1.30,276.2,75.6,11.9,529,12490,0.00,2.53,0.00,0.000,6,0.000,0.024,3292,2342,1931,0,0,0,0,0,0
$GC,12755,1.30,276.2,44.8,11.8,553,12759,0.00,2.55,0.00,0.000,4,0.000,0.046,3292,791,1931,0,0,0,0,0,0
$GC,12777,1.30,276.2,41.1,11.7,554,12786,0.00,2.47,0.00,0.000,6,0.000,0.021,3292,2349,1931,0,0,0,0,0,0
$GC,13083,1.30,276.2,8.6,12.1,594,13091,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2349,1932,0,0,0,0,0,0
$STATE,13120,end climb,SURFACE_DEPTH_REACHED
$STATE,13120,begin surface coast
$FINISH,-0.2,1.012374
$STATE,13162,end surface coast,CONTROL_FINISHED_OK
$STATE,13163,begin surface
$SM_CCo,13185,85.40,0.524,0,0,1509,380.21
$SM_GC,0.53,0.00,0.00,85.40,0.000,0.000,0.524,465,2156,1509,-11.68,-1.53,380.21
$IRIDIUM_FIX,2246.36,-15745.85,190603,010158
$TT8_MAMPS,0.026845
$HUMID,60.04
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.10
$XPDR_PINGS,20
$24V_AH,23.4,11.885
$10V_AH,10.4,10.414
$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,28.750,173.600,365.850,85.400,0.000,31.266,35.400,208.968,5.000,0.000,15.608,1265.070,9022.961,551.779,2235.144,610.233,33.358,1409.980,0.000,2236.002,0.000,0.534,0.000
$DEVICE_MAMPS,151.099,126.555,1018.576,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.384,345.974,436.907,669.282,1272.774,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,47853,605
$CAP_FILE_SIZE,136737,0
$CFSIZE,260165632,174817280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250314,085629,2255.637,-15748.640,35,1.3,41,10.1