version: 66.06
glider: 146
mission: 9
dive: 89
start: 3 26 114 0 5 22
data:
$ID,146
$MISSION,9
$DIVE,89
$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,-325135.62
$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,33
$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
$GPS1,235645,2251.087,-15753.892,17,3.0,36,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-68.4
$GPS2,000429,2251.130,-15753.940,77,1.2,77,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.142,-0.218
$KALMAN_X,-59105.7,35.6,-230.9,62102.2,-320.6
$KALMAN_Y,49847.4,-222.9,-208.1,-45997.4,680.2
$MHEAD_RNG_PITCHd_Wd,203.0,28501,-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,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-88.60,0.000,6,0.000,0.000,468,2194,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.3,-11.1,12,132,11.88,2.53,0.00,0.000,4,0.148,0.036,2716,629,3657,0,0,0,0,0,0
$GC,338,-1.15,-146.0,48.1,-13.9,37,346,0.12,2.50,0.00,0.000,6,0.096,0.021,2746,2216,3658,0,0,0,0,0,0
$GC,602,-1.08,-146.0,82.1,-12.7,62,607,0.10,2.62,0.00,0.000,4,0.130,0.044,2766,633,3658,0,0,0,0,0,0
$GC,624,-1.02,-146.0,84.6,-11.9,63,628,0.00,2.45,0.00,0.000,6,0.000,0.018,2766,2219,3658,0,0,0,0,0,0
$GC,891,-1.02,-146.0,113.2,-11.2,87,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2219,3659,0,0,0,0,0,0
$GC,1152,-1.02,-146.0,140.8,-10.5,112,1156,0.00,2.60,0.00,0.000,4,0.000,0.044,2766,635,3659,0,0,0,0,0,0
$GC,1198,-1.02,-146.0,145.2,-11.2,115,1203,0.00,2.42,0.00,0.000,6,0.000,0.020,2766,2202,3659,0,0,0,0,0,0
$GC,1465,-1.02,-146.0,168.3,-8.1,139,1469,0.00,2.55,0.00,0.000,4,0.000,0.037,2766,3782,3660,0,0,0,0,0,0
$GC,1495,-1.06,-146.0,171.1,-8.2,141,1499,0.00,2.47,0.00,0.000,6,0.000,0.020,2766,2181,3660,0,0,0,0,0,0
$GC,1759,-1.10,-146.0,192.5,-8.1,165,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2181,3660,0,0,0,0,0,0
$GC,2024,-1.14,-146.0,213.8,-8.0,179,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2181,3660,0,0,0,0,0,0
$GC,2269,-1.19,-146.0,232.1,-7.3,185,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2181,3661,0,0,0,0,0,0
$GC,2512,-1.25,-146.0,250.6,-7.7,191,2517,0.15,2.65,0.00,0.000,4,0.061,0.043,2711,3783,3660,0,0,0,0,0,0
$GC,2578,-1.25,-146.0,258.0,-11.4,192,2582,0.00,2.47,0.00,0.000,6,0.000,0.021,2711,2206,3661,0,0,0,0,0,0
$GC,2841,-1.25,-146.0,283.4,-9.5,199,2846,0.10,2.62,0.00,0.000,4,0.114,0.059,2732,639,3661,0,0,0,0,0,0
$GC,2891,-1.25,-146.0,288.4,-9.1,200,2895,0.00,2.47,0.00,0.000,6,0.000,0.027,2733,2206,3661,0,0,0,0,0,0
$GC,3164,-1.25,-146.0,310.3,-8.0,207,3169,0.00,2.62,0.00,0.000,4,0.000,0.058,2733,637,3659,0,0,0,0,0,0
$GC,3185,-1.25,-146.0,312.2,-7.9,207,3190,0.00,2.50,0.00,0.000,6,0.000,0.035,2733,2207,3659,0,0,0,0,0,0
$GC,3441,-1.25,-146.0,331.5,-7.5,214,3446,0.00,2.62,0.00,0.000,4,0.000,0.051,2733,3797,3659,0,0,0,0,0,0
$GC,3527,-1.30,-146.0,337.8,-7.3,216,3532,0.00,2.50,0.00,0.000,6,0.000,0.027,2733,2223,3659,0,0,0,0,0,0
$GC,3810,-1.34,-146.0,360.3,-8.2,223,3815,0.00,2.75,0.00,0.000,4,0.000,0.077,2733,631,3657,0,0,0,0,0,0
$GC,3855,-1.38,-146.0,364.3,-8.7,224,3860,0.12,2.58,0.00,0.000,6,0.070,0.040,2683,2223,3657,0,0,0,0,0,0
$GC,4134,-1.33,-146.0,392.5,-10.4,231,4139,0.15,2.65,0.00,0.000,4,0.098,0.061,2714,3796,3655,0,0,0,0,0,0
$GC,4156,-1.33,-146.0,394.8,-9.3,231,4160,0.00,2.53,0.00,0.000,6,0.000,0.033,2714,2227,3655,0,0,0,0,0,0
$GC,4411,-1.33,-146.0,413.5,-7.0,238,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2227,3653,0,0,0,0,0,0
$GC,4655,-1.33,-146.0,431.3,-7.7,244,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2227,3652,0,0,0,0,0,0
$GC,4898,-1.33,-146.0,451.2,-8.1,250,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2227,3650,0,0,0,0,0,0
$GC,5142,-1.33,-146.0,470.7,-7.8,256,5147,0.00,2.67,0.00,0.000,4,0.000,0.062,2714,3787,3648,0,0,0,0,0,0
$GC,5171,-1.33,-146.0,473.0,-7.7,256,5176,0.00,2.60,0.00,0.000,6,0.000,0.043,2714,2226,3648,0,0,0,0,0,0
$GC,5421,-1.33,-146.0,492.8,-8.0,262,5426,0.00,2.67,0.00,0.000,4,0.000,0.065,2714,3785,3647,0,0,0,0,0,0
$GC,5437,-1.33,-146.0,494.1,-8.0,262,5441,0.00,2.58,0.00,0.000,6,0.000,0.044,2714,2227,3647,0,0,0,0,0,0
$GC,5699,-1.33,-146.0,516.4,-8.6,269,5703,0.00,2.70,0.00,0.000,4,0.000,0.069,2714,3785,3645,0,0,0,0,0,0
$GC,5743,-1.37,-146.0,520.7,-10.0,270,5747,0.00,2.60,0.00,0.000,6,0.000,0.052,2714,2237,3644,0,0,0,0,0,0
$GC,6020,-1.37,-146.0,545.8,-9.1,277,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2238,3643,0,0,0,0,0,0
$GC,6265,-1.41,-146.0,566.5,-8.3,283,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2238,3641,0,0,0,0,0,0
$GC,6508,-1.44,-146.0,583.5,-6.7,289,6510,0.12,0.00,0.00,0.000,6,0.069,0.000,2669,2237,3640,0,0,0,0,0,0
$STATE,6749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6749,begin apogee
$GC,6755,-0.31,0.0,603.0,8.0,295,6877,1.17,0.00,118.65,1.019,6,0.075,0.000,2934,2371,3060,0,0,0,0,0,0
$STATE,6878,end apogee,CONTROL_FINISHED_OK
$STATE,6878,begin climb
$GC,6882,1.27,146.0,604.8,0.0,298,7018,1.42,2.92,124.50,0.991,4,0.035,0.093,3288,3933,2462,0,0,0,0,0,0
$GC,7070,1.12,146.0,590.6,12.0,302,7076,0.20,2.75,0.00,0.000,6,0.105,0.060,3247,2368,2458,0,0,0,0,0,0
$GC,7332,1.11,172.4,566.9,8.8,309,7357,0.00,0.00,23.48,0.934,6,0.000,0.000,3247,2369,2355,0,0,0,0,0,0
$GC,7575,1.11,172.4,542.5,10.3,315,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2368,2351,0,0,0,0,0,0
$GC,7820,1.11,172.6,517.8,10.0,321,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2368,2348,0,0,0,0,0,0
$GC,8063,1.11,177.4,494.1,9.8,327,8072,0.00,2.72,4.47,0.650,4,0.000,0.066,3248,3936,2336,0,0,0,0,0,0
$GC,8100,1.06,177.4,490.1,11.2,327,8106,0.00,2.65,0.00,0.000,6,0.000,0.044,3247,2365,2335,0,0,0,0,0,0
$GC,8351,1.06,177.4,464.2,10.5,334,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2366,2334,0,0,0,0,0,0
$GC,8594,1.06,177.4,438.4,10.5,340,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2366,2334,0,0,0,0,0,0
$GC,8837,1.09,209.7,417.0,8.5,346,8869,0.00,0.00,29.88,0.891,6,0.000,0.000,3248,2365,2205,0,0,0,0,0,0
$GC,9081,1.11,223.3,394.9,9.4,352,9100,0.00,2.75,13.27,0.828,4,0.000,0.058,3248,3930,2148,0,0,0,0,0,0
$GC,9147,1.11,223.3,387.3,11.9,353,9152,0.00,2.60,0.00,0.000,6,0.000,0.038,3247,2357,2147,0,0,0,0,0,0
$GC,9407,1.11,223.3,358.1,10.8,360,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2358,2145,0,0,0,0,0,0
$GC,9651,1.13,235.7,334.1,9.4,366,9665,0.00,0.00,11.77,0.781,6,0.000,0.000,3247,2357,2099,0,0,0,0,0,0
$GC,9896,1.15,250.6,311.9,9.3,372,9916,0.00,2.72,14.68,0.779,4,0.000,0.051,3248,3937,2037,0,0,0,0,0,0
$GC,10002,1.20,250.6,300.5,10.7,374,10007,0.00,2.58,0.00,0.000,6,0.000,0.028,3248,2361,2035,0,0,0,0,0,0
$GC,10264,1.24,252.6,274.5,9.9,381,10269,0.10,2.67,0.00,0.000,4,0.091,0.056,3278,778,2034,0,0,0,0,0,0
$GC,10308,1.24,252.6,269.0,11.9,382,10313,0.00,2.55,0.00,0.000,6,0.000,0.026,3278,2374,2033,0,0,0,0,0,0
$GC,10586,1.24,252.6,239.4,10.2,389,10591,0.00,2.58,0.00,0.000,4,0.000,0.051,3278,3927,2033,0,0,0,0,0,0
$GC,10628,1.24,252.6,235.1,12.1,390,10633,0.00,2.53,0.00,0.000,6,0.000,0.026,3278,2361,2032,0,0,0,0,0,0
$GC,10912,1.24,252.6,200.5,12.1,397,10916,0.00,2.60,0.00,0.000,4,0.000,0.048,3278,3926,2032,0,0,0,0,0,0
$GC,10944,1.24,252.6,196.5,11.8,397,10950,0.00,2.47,0.00,0.000,6,0.000,0.026,3278,2379,2032,0,0,0,0,0,0
$GC,11208,1.24,252.6,169.2,10.8,422,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2379,2032,0,0,0,0,0,0
$GC,11460,1.24,252.6,139.8,11.2,446,11464,0.00,2.55,0.00,0.000,4,0.000,0.047,3278,3924,2032,0,0,0,0,0,0
$GC,11528,1.29,252.6,132.5,11.6,451,11533,0.00,2.47,0.00,0.000,6,0.000,0.025,3278,2372,2032,0,0,0,0,0,0
$GC,11797,1.35,265.9,106.4,9.4,475,11816,0.00,0.00,14.50,0.591,6,0.000,0.000,3278,2372,1974,0,0,0,0,0,0
$GC,12074,1.45,304.1,81.2,8.2,501,12120,0.17,2.70,33.62,0.586,4,0.060,0.045,3329,3927,1819,0,0,0,0,0,0
$GC,12138,1.40,304.1,73.8,12.6,506,12142,0.00,2.50,0.00,0.000,6,0.000,0.025,3329,2382,1818,0,0,0,0,0,0
$GC,12407,1.35,304.1,38.4,14.0,530,12416,0.15,0.00,0.00,0.000,6,0.107,0.000,3296,2382,1817,0,0,0,0,0,0
$STATE,12673,end climb,SURFACE_DEPTH_REACHED
$STATE,12673,begin surface coast
$FINISH,-0.2,1.023914
$STATE,12715,end surface coast,CONTROL_FINISHED_OK
$STATE,12715,begin surface
$SM_CCo,12737,62.20,0.521,0,0,1509,380.21
$SM_GC,0.34,0.00,0.00,62.20,0.000,0.000,0.521,475,2162,1509,-11.63,-1.36,380.21
$IRIDIUM_FIX,2246.36,-15748.90,190603,202002
$TT8_MAMPS,0.026078
$HUMID,60.71
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.00
$XPDR_PINGS,12
$24V_AH,23.4,12.536
$10V_AH,10.4,10.984
$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,27.350,114.800,388.825,62.200,0.000,30.603,39.113,191.505,3.000,0.000,80.202,1156.599,8992.716,529.425,2025.365,556.498,33.359,1290.760,0.000,1963.596,0.000,0.535,0.000
$DEVICE_MAMPS,148.031,98.176,1018.576,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.082,314.454,403.867,570.299,1085.559,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,44699,573
$CAP_FILE_SIZE,117998,0
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$GPS,260314,033951,2250.095,-15755.048,9,3.8,28,10.1