version: 66.06
glider: 146
mission: 9
dive: 91
start: 3 26 114 7 37 14
data:
$ID,146
$MISSION,9
$DIVE,91
$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,-325187.31
$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,36
$R_STBD_OVSHOOT,38
$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
$GPS1,072535,2248.869,-15756.585,24,1.0,24,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-67.7
$GPS2,073618,2248.858,-15756.664,11,1.1,11,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.169,-0.197
$KALMAN_X,-59831.1,-473.2,109.9,58347.5,-417.2
$KALMAN_Y,50222.0,-91.6,44.3,-50961.2,-12.8
$MHEAD_RNG_PITCHd_Wd,210.6,22229,-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,-88.95,0.000,6,0.000,0.000,469,2196,3657,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.4,-11.6,12,132,11.95,2.58,0.00,0.000,4,0.152,0.038,2720,624,3657,0,0,0,0,0,0
$GC,266,-1.15,-146.0,38.8,-13.8,30,274,0.10,2.50,0.00,0.000,6,0.085,0.018,2746,2217,3658,0,0,0,0,0,0
$GC,535,-1.08,-146.0,70.7,-12.7,55,540,0.10,2.60,0.00,0.000,4,0.126,0.044,2766,636,3659,0,0,0,0,0,0
$GC,559,-1.03,-146.0,75.0,-12.6,56,568,0.00,2.47,0.00,0.000,6,0.000,0.018,2766,2214,3659,0,0,0,0,0,0
$GC,825,-1.03,-146.0,106.1,-12.5,81,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2214,3659,0,0,0,0,0,0
$GC,1085,-1.03,-146.0,134.1,-10.0,106,1090,0.00,2.53,0.00,0.000,4,0.000,0.041,2766,3774,3660,0,0,0,0,0,0
$GC,1114,-1.03,-146.0,137.3,-11.3,108,1119,0.00,2.47,0.00,0.000,6,0.000,0.021,2766,2198,3659,0,0,0,0,0,0
$GC,1378,-1.03,-146.0,160.7,-7.9,132,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2197,3660,0,0,0,0,0,0
$GC,1646,-1.07,-146.0,182.3,-7.9,157,1650,0.00,2.58,0.00,0.000,4,0.000,0.037,2766,3776,3660,0,0,0,0,0,0
$GC,1677,-1.11,-146.0,185.0,-8.4,159,1681,0.00,2.47,0.00,0.000,6,0.000,0.020,2766,2183,3660,0,0,0,0,0,0
$GC,1947,-1.16,-146.0,206.8,-8.1,178,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2183,3661,0,0,0,0,0,0
$GC,2189,-1.21,-146.0,226.6,-8.2,184,2194,0.12,2.60,0.00,0.000,4,0.068,0.040,2717,3773,3661,0,0,0,0,0,0
$GC,2275,-1.21,-146.0,235.4,-10.4,186,2280,0.10,2.47,0.00,0.000,6,0.110,0.021,2739,2197,3661,0,0,0,0,0,0
$GC,2558,-1.21,-146.0,260.8,-8.7,193,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2197,3661,0,0,0,0,0,0
$GC,2803,-1.21,-146.0,281.8,-8.4,199,2807,0.00,2.60,0.00,0.000,4,0.000,0.059,2739,642,3661,0,0,0,0,0,0
$GC,2881,-1.25,-146.0,288.5,-7.8,200,2887,0.00,2.45,0.00,0.000,6,0.000,0.025,2740,2189,3660,0,0,0,0,0,0
$GC,3131,-1.25,-146.0,308.9,-8.1,207,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2189,3660,0,0,0,0,0,0
$GC,3376,-1.29,-146.0,328.2,-7.9,213,3381,0.00,2.65,0.00,0.000,4,0.000,0.048,2739,3785,3659,0,0,0,0,0,0
$GC,3449,-1.36,-146.0,334.5,-8.3,214,3454,0.12,2.53,0.00,0.000,6,0.068,0.028,2692,2215,3659,0,0,0,0,0,0
$GC,3700,-1.31,-146.0,357.6,-9.1,220,3706,0.12,2.78,0.00,0.000,4,0.103,0.076,2718,630,3658,0,0,0,0,0,0
$GC,3722,-1.31,-146.0,359.7,-8.7,220,3727,0.00,2.50,0.00,0.000,6,0.000,0.038,2719,2193,3657,0,0,0,0,0,0
$GC,3978,-1.31,-146.0,380.8,-8.2,227,3982,0.00,2.67,0.00,0.000,4,0.000,0.054,2719,3790,3656,0,0,0,0,0,0
$GC,4001,-1.31,-146.0,382.6,-7.8,227,4005,0.00,2.58,0.00,0.000,6,0.000,0.040,2719,2196,3656,0,0,0,0,0,0
$GC,4256,-1.31,-146.0,401.7,-7.3,234,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2196,3654,0,0,0,0,0,0
$GC,4499,-1.31,-146.0,420.4,-7.7,240,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2197,3653,0,0,0,0,0,0
$GC,4743,-1.31,-146.0,438.5,-7.4,246,4747,0.00,2.70,0.00,0.000,4,0.000,0.067,2718,3785,3651,0,0,0,0,0,0
$GC,4839,-1.31,-146.0,445.9,-7.5,248,4843,0.00,2.62,0.00,0.000,6,0.000,0.044,2719,2204,3650,0,0,0,0,0,0
$GC,5111,-1.35,-146.0,465.6,-7.4,255,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2204,3649,0,0,0,0,0,0
$GC,5356,-1.39,-146.0,484.8,-8.0,261,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2204,3647,0,0,0,0,0,0
$GC,5598,-1.43,-146.0,503.2,-7.5,267,5604,0.12,2.78,0.00,0.000,4,0.070,0.070,2673,3783,3646,0,0,0,0,0,0
$GC,5626,-1.39,-146.0,505.9,-10.0,267,5632,0.12,2.67,0.00,0.000,6,0.107,0.054,2699,2196,3646,0,0,0,0,0,0
$GC,5878,-1.39,-146.0,525.3,-7.4,273,5882,0.00,2.78,0.00,0.000,4,0.000,0.075,2699,3787,3644,0,0,0,0,0,0
$GC,5893,-1.39,-146.0,526.6,-7.3,273,5898,0.00,2.67,0.00,0.000,6,0.000,0.054,2699,2208,3644,0,0,0,0,0,0
$GC,6154,-1.39,-146.0,546.0,-7.4,280,6159,0.00,2.78,0.00,0.000,4,0.000,0.080,2699,3790,3643,0,0,0,0,0,0
$GC,6201,-1.39,-146.0,549.7,-8.6,281,6205,0.00,2.70,0.00,0.000,6,0.000,0.054,2699,2210,3643,0,0,0,0,0,0
$GC,6478,-1.39,-146.0,569.2,-6.8,288,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2210,3640,0,0,0,0,0,0
$GC,6722,-1.39,-146.0,585.8,-6.9,294,6726,0.00,2.85,0.00,0.000,4,0.000,0.086,2699,3782,3639,0,0,0,0,0,0
$GC,6756,-1.39,-146.0,588.3,-8.3,294,6761,0.00,2.72,0.00,0.000,6,0.000,0.064,2699,2218,3639,0,0,0,0,0,0
$STATE,6962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6962,begin apogee
$GC,6968,-0.31,0.0,602.6,6.7,300,7091,1.05,0.00,118.97,1.022,6,0.073,0.000,2937,2371,3060,0,0,0,0,0,0
$STATE,7092,end apogee,CONTROL_FINISHED_OK
$STATE,7092,begin climb
$GC,7094,1.27,146.0,604.4,0.0,303,7233,1.42,2.92,124.90,0.992,4,0.035,0.083,3289,3927,2462,0,0,0,0,0,0
$GC,7278,1.12,146.0,590.4,12.6,307,7283,0.20,2.75,0.00,0.000,6,0.106,0.061,3249,2370,2459,0,0,0,0,0,0
$GC,7547,1.08,155.4,564.4,9.6,314,7558,0.00,0.00,8.32,0.828,6,0.000,0.000,3248,2370,2426,0,0,0,0,0,0
$GC,7790,1.04,155.4,539.1,10.7,320,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2370,2423,0,0,0,0,0,0
$GC,8033,1.00,155.4,512.3,10.8,326,8039,0.12,2.75,0.00,0.000,4,0.121,0.063,3224,3935,2421,0,0,0,0,0,0
$GC,8084,1.00,155.4,506.8,10.7,327,8089,0.00,2.67,0.00,0.000,6,0.000,0.047,3224,2370,2420,0,0,0,0,0,0
$GC,8357,1.03,178.7,481.9,8.9,334,8386,0.00,3.10,21.48,0.913,4,0.000,0.114,3224,781,2330,0,0,0,0,0,0
$GC,8403,1.05,193.4,477.6,9.3,335,8423,0.00,2.67,14.55,0.874,6,0.000,0.044,3224,2377,2271,0,0,0,0,0,0
$GC,8680,1.09,227.0,453.6,8.4,342,8714,0.00,0.00,30.70,0.909,6,0.000,0.000,3224,2377,2133,0,0,0,0,0,0
$GC,8966,1.14,236.9,427.6,9.5,349,8981,0.12,2.67,9.48,0.805,4,0.077,0.055,3260,3935,2093,0,0,0,0,0,0
$GC,8993,1.14,236.9,424.3,11.6,349,8998,0.00,2.65,0.00,0.000,6,0.000,0.032,3260,2350,2092,0,0,0,0,0,0
$GC,9243,1.14,236.9,392.4,12.7,355,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2351,2090,0,0,0,0,0,0
$GC,9487,1.14,236.9,362.8,12.0,361,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2351,2090,0,0,0,0,0,0
$GC,9730,1.14,236.9,336.7,10.5,367,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2351,2089,0,0,0,0,0,0
$GC,9975,1.14,236.9,309.0,11.3,373,9980,0.00,2.67,0.00,0.000,4,0.000,0.046,3260,3945,2088,0,0,0,0,0,0
$GC,10060,1.14,236.9,299.4,10.7,375,10064,0.00,2.55,0.00,0.000,6,0.000,0.034,3260,2360,2087,0,0,0,0,0,0
$GC,10344,1.14,236.9,270.1,10.2,382,10348,0.00,2.62,0.00,0.000,4,0.000,0.054,3260,785,2087,0,0,0,0,0,0
$GC,10410,1.14,236.9,263.2,10.1,383,10414,0.00,2.53,0.00,0.000,6,0.000,0.025,3260,2365,2086,0,0,0,0,0,0
$GC,10666,1.16,252.5,239.7,9.3,390,10685,0.00,2.67,14.00,0.721,4,0.000,0.049,3260,3934,2029,0,0,0,0,0,0
$GC,10710,1.16,252.5,235.6,10.2,391,10714,0.00,2.58,0.00,0.000,6,0.000,0.025,3260,2350,2028,0,0,0,0,0,0
$GC,10993,1.20,252.5,205.8,11.0,398,10994,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2350,2027,0,0,0,0,0,0
$GC,11245,1.26,265.1,181.3,9.4,416,11269,0.00,2.72,12.25,0.650,4,0.000,0.044,3260,3931,1978,0,0,0,0,0,0
$GC,11287,1.26,265.1,177.1,10.2,419,11292,0.00,2.53,0.00,0.000,6,0.000,0.025,3260,2360,1978,0,0,0,0,0,0
$GC,11550,1.32,269.4,151.2,9.8,444,11561,0.12,0.00,5.53,0.520,6,0.074,0.000,3299,2360,1961,0,0,0,0,0,0
$GC,11816,1.33,276.1,122.5,9.7,469,11830,0.00,2.70,7.38,0.543,4,0.000,0.044,3299,3928,1934,0,0,0,0,0,0
$GC,11866,1.33,276.1,117.4,11.4,473,11870,0.00,2.47,0.00,0.000,6,0.000,0.023,3299,2366,1933,0,0,0,0,0,0
$GC,12133,1.33,276.1,90.4,10.6,497,12137,0.00,2.60,0.00,0.000,4,0.000,0.045,3299,3927,1933,0,0,0,0,0,0
$GC,12164,1.33,276.1,86.5,11.3,499,12169,0.00,2.47,0.00,0.000,6,0.000,0.025,3299,2371,1933,0,0,0,0,0,0
$GC,12433,1.33,276.1,56.8,11.3,523,12438,0.00,2.60,0.00,0.000,4,0.000,0.046,3299,780,1933,0,0,0,0,0,0
$GC,12454,1.33,276.1,53.9,11.4,524,12459,0.00,2.53,0.00,0.000,6,0.000,0.022,3299,2392,1933,0,0,0,0,0,0
$GC,12735,1.33,276.1,21.5,11.6,553,12745,0.00,2.67,0.00,0.000,4,0.000,0.047,3299,787,1933,0,0,0,0,0,0
$GC,12754,1.33,276.1,19.3,11.0,555,12764,0.00,2.53,0.00,0.000,6,0.000,0.024,3300,2373,1933,0,0,0,0,0,0
$STATE,12884,end climb,SURFACE_DEPTH_REACHED
$STATE,12884,begin surface coast
$FINISH,-0.3,1.010537
$STATE,12928,end surface coast,CONTROL_FINISHED_OK
$STATE,12928,begin surface
$SM_CCo,12950,84.53,0.520,0,0,1510,380.21
$SM_GC,0.44,0.00,0.00,84.53,0.000,0.000,0.520,469,2160,1510,-11.66,-1.41,380.21
$IRIDIUM_FIX,2239.35,-15757.16,200603,070732
$TT8_MAMPS,0.026078
$HUMID,59.21
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.40
$XPDR_PINGS,17
$24V_AH,23.3,12.808
$10V_AH,10.4,11.215
$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,27.250,137.500,367.550,84.525,0.000,57.930,77.675,299.898,4.250,0.000,12.955,1185.575,9170.920,539.702,2025.046,756.456,33.364,1346.043,0.000,2027.047,0.000,0.534,0.000
$DEVICE_MAMPS,151.866,114.283,1022.411,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.821,318.889,409.469,580.386,1104.855,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,44489,580
$CAP_FILE_SIZE,128979,0
$CFSIZE,260165632,174383104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260314,111536,2247.659,-15758.371,25,1.4,25,10.1