version: 66.06
glider: 146
mission: 9
dive: 92
start: 3 26 114 11 37 51
data:
$ID,146
$MISSION,9
$DIVE,92
$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,-325224.66
$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,64
$R_STBD_OVSHOOT,33
$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
$GPS1,111536,2247.659,-15758.371,25,1.4,25,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-69.9
$GPS2,113657,2247.655,-15758.516,15,99.0,34,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.162,-0.203
$KALMAN_X,-60582.8,-332.5,-386.2,56295.4,380.3
$KALMAN_Y,50469.1,170.8,-336.8,-53320.2,806.8
$MHEAD_RNG_PITCHd_Wd,208.6,18416,-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,-87.68,0.000,6,0.000,0.000,468,2160,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,4.2,-11.4,12,131,11.88,2.42,0.00,0.000,4,0.151,0.037,2717,660,3657,0,0,0,0,0,0
$GC,314,-1.15,-146.0,42.4,-13.6,35,319,0.17,2.45,0.00,0.000,6,0.115,0.021,2751,2227,3657,0,0,0,0,0,0
$GC,583,-1.10,-146.0,73.9,-11.2,59,587,0.00,2.58,0.00,0.000,4,0.000,0.042,2751,660,3658,0,0,0,0,0,0
$GC,604,-1.03,-146.0,76.8,-11.3,60,610,0.12,2.42,0.00,0.000,6,0.116,0.017,2777,2229,3657,0,0,0,0,0,0
$GC,868,-1.03,-146.0,102.8,-10.5,84,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2229,3658,0,0,0,0,0,0
$GC,1120,-1.03,-146.0,129.5,-10.7,108,1124,0.00,2.55,0.00,0.000,4,0.000,0.043,2776,663,3658,0,0,0,0,0,0
$GC,1212,-1.07,-146.0,138.7,-9.5,115,1217,0.00,2.38,0.00,0.000,6,0.000,0.021,2777,2200,3658,0,0,0,0,0,0
$GC,1479,-1.07,-146.0,163.5,-8.9,139,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2200,3659,0,0,0,0,0,0
$GC,1743,-1.12,-146.0,185.3,-8.0,164,1748,0.00,2.53,0.00,0.000,4,0.000,0.036,2777,3774,3659,0,0,0,0,0,0
$GC,1754,-1.17,-146.0,186.5,-8.0,164,1761,0.12,2.40,0.00,0.000,6,0.066,0.017,2727,2213,3659,0,0,0,0,0,0
$GC,2015,-1.13,-146.0,211.7,-9.5,180,2017,0.15,0.00,0.00,0.000,6,0.097,0.000,2760,2213,3659,0,0,0,0,0,0
$GC,2254,-1.13,-146.0,230.0,-7.5,186,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2212,3659,0,0,0,0,0,0
$GC,2498,-1.17,-146.0,252.1,-9.6,192,2502,0.00,2.55,0.00,0.000,4,0.000,0.039,2760,3768,3659,0,0,0,0,0,0
$GC,2521,-1.22,-146.0,254.4,-9.9,192,2526,0.10,2.45,0.00,0.000,6,0.081,0.020,2716,2209,3659,0,0,0,0,0,0
$GC,2776,-1.22,-146.0,282.4,-10.7,199,2778,0.10,0.00,0.00,0.000,6,0.110,0.000,2738,2209,3658,0,0,0,0,0,0
$GC,3020,-1.22,-146.0,301.1,-7.7,205,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2209,3658,0,0,0,0,0,0
$GC,3265,-1.22,-146.0,321.1,-8.1,211,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2209,3658,0,0,0,0,0,0
$GC,3507,-1.22,-146.0,339.3,-7.5,217,3512,0.00,2.60,0.00,0.000,4,0.000,0.050,2738,3762,3656,0,0,0,0,0,0
$GC,3529,-1.22,-146.0,341.1,-7.5,217,3534,0.00,2.50,0.00,0.000,6,0.000,0.032,2738,2202,3657,0,0,0,0,0,0
$GC,3785,-1.26,-146.0,360.7,-7.7,224,3790,0.00,2.62,0.00,0.000,4,0.000,0.050,2738,3768,3655,0,0,0,0,0,0
$GC,3848,-1.32,-146.0,366.0,-8.8,225,3852,0.00,2.55,0.00,0.000,6,0.000,0.031,2738,2197,3655,0,0,0,0,0,0
$GC,4109,-1.37,-146.0,386.5,-7.9,232,4114,0.12,2.67,0.00,0.000,4,0.069,0.061,2689,3767,3653,0,0,0,0,0,0
$GC,4126,-1.37,-146.0,388.2,-8.0,232,4131,0.00,2.55,0.00,0.000,6,0.000,0.033,2690,2206,3653,0,0,0,0,0,0
$GC,4389,-1.32,-146.0,411.8,-8.8,239,4391,0.12,0.00,0.00,0.000,6,0.103,0.000,2717,2206,3652,0,0,0,0,0,0
$GC,4631,-1.32,-146.0,431.0,-7.8,245,4635,0.00,2.65,0.00,0.000,4,0.000,0.067,2717,3759,3650,0,0,0,0,0,0
$GC,4653,-1.32,-146.0,432.8,-7.5,245,4658,0.00,2.53,0.00,0.000,6,0.000,0.041,2717,2222,3650,0,0,0,0,0,0
$GC,4908,-1.32,-146.0,454.3,-8.6,252,4913,0.00,2.65,0.00,0.000,4,0.000,0.064,2716,3765,3648,0,0,0,0,0,0
$GC,4941,-1.32,-146.0,457.4,-9.4,252,4947,0.00,2.55,0.00,0.000,6,0.000,0.046,2717,2232,3648,0,0,0,0,0,0
$GC,5193,-1.32,-146.0,476.6,-7.6,259,5198,0.00,2.92,0.00,0.000,4,0.000,0.100,2717,619,3646,0,0,0,0,0,0
$GC,5237,-1.36,-146.0,480.4,-8.0,260,5242,0.00,2.62,0.00,0.000,6,0.000,0.046,2717,2192,3646,0,0,0,0,0,0
$GC,5515,-1.36,-146.0,501.6,-7.7,267,5519,0.00,2.75,0.00,0.000,4,0.000,0.069,2717,3801,3644,0,0,0,0,0,0
$GC,5583,-1.40,-146.0,507.8,-9.3,268,5587,0.00,2.62,0.00,0.000,6,0.000,0.047,2717,2225,3644,0,0,0,0,0,0
$GC,5838,-1.40,-146.0,528.7,-8.0,275,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2226,3642,0,0,0,0,0,0
$GC,6082,-1.44,-146.0,546.5,-7.2,281,6087,0.12,2.78,0.00,0.000,4,0.071,0.073,2670,3800,3641,0,0,0,0,0,0
$GC,6105,-1.44,-146.0,548.3,-8.0,281,6109,0.00,2.65,0.00,0.000,6,0.000,0.053,2670,2229,3640,0,0,0,0,0,0
$GC,6360,-1.40,-146.0,570.4,-8.5,288,6366,0.12,2.80,0.00,0.000,4,0.103,0.085,2697,3797,3639,0,0,0,0,0,0
$GC,6402,-1.40,-146.0,573.6,-8.0,289,6406,0.00,2.65,0.00,0.000,6,0.000,0.059,2698,2243,3639,0,0,0,0,0,0
$GC,6685,-1.40,-146.0,593.9,-7.1,296,6689,0.00,2.75,0.00,0.000,4,0.000,0.079,2697,3793,3636,0,0,0,0,0,0
$GC,6702,-1.40,-146.0,595.2,-7.3,296,6707,0.00,2.67,0.00,0.000,6,0.000,0.064,2698,2250,3637,0,0,0,0,0,0
$STATE,6797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6797,begin apogee
$GC,6805,-0.31,0.0,602.7,7.6,299,6926,1.05,0.00,117.80,1.015,6,0.073,0.000,2935,2374,3060,0,0,0,0,0,0
$STATE,6927,end apogee,CONTROL_FINISHED_OK
$STATE,6927,begin climb
$GC,6929,1.27,146.0,605.5,0.0,302,7066,1.42,2.88,124.55,0.985,4,0.035,0.080,3287,3935,2462,0,0,0,0,0,0
$GC,7132,1.13,146.0,589.2,13.6,306,7137,0.17,2.75,0.00,0.000,6,0.109,0.058,3251,2369,2458,0,0,0,0,0,0
$GC,7382,1.08,146.0,561.4,10.8,312,7387,0.00,2.78,0.00,0.000,4,0.000,0.070,3251,3935,2454,0,0,0,0,0,0
$GC,7427,1.00,146.0,556.2,11.7,313,7432,0.15,2.70,0.00,0.000,6,0.114,0.054,3221,2371,2452,0,0,0,0,0,0
$GC,7705,1.04,178.7,531.5,8.5,320,7735,0.00,0.00,28.40,0.933,6,0.000,0.000,3221,2371,2331,0,0,0,0,0,0
$GC,7949,1.07,202.2,510.0,8.9,326,7973,0.00,0.00,22.15,0.913,6,0.000,0.000,3221,2370,2235,0,0,0,0,0,0
$GC,8194,1.07,202.2,485.9,10.0,332,8198,0.00,3.03,0.00,0.000,4,0.000,0.113,3221,780,2230,0,0,0,0,0,0
$GC,8216,1.07,202.2,483.6,10.0,332,8221,0.00,2.70,0.00,0.000,6,0.000,0.046,3221,2383,2228,0,0,0,0,0,0
$GC,8471,1.11,202.2,457.2,10.4,339,8477,0.10,2.85,0.00,0.000,4,0.091,0.078,3251,778,2228,0,0,0,0,0,0
$GC,8500,1.11,202.2,453.7,12.2,339,8504,0.00,2.62,0.00,0.000,6,0.000,0.041,3250,2354,2226,0,0,0,0,0,0
$GC,8749,1.11,202.2,425.7,11.0,345,8754,0.00,2.67,0.00,0.000,4,0.000,0.055,3250,3941,2226,0,0,0,0,0,0
$GC,8788,1.11,202.2,421.3,11.4,346,8793,0.00,2.62,0.00,0.000,6,0.000,0.038,3250,2351,2225,0,0,0,0,0,0
$GC,9072,1.12,213.0,393.9,9.5,353,9087,0.00,2.72,9.55,0.799,4,0.000,0.054,3251,3945,2191,0,0,0,0,0,0
$GC,9156,1.12,213.0,384.6,11.2,355,9160,0.00,2.58,0.00,0.000,6,0.000,0.035,3250,2375,2189,0,0,0,0,0,0
$GC,9438,1.12,213.0,355.7,10.2,362,9443,0.00,2.65,0.00,0.000,4,0.000,0.049,3250,3945,2188,0,0,0,0,0,0
$GC,9466,1.12,213.0,352.5,11.7,362,9471,0.00,2.53,0.00,0.000,6,0.000,0.034,3251,2391,2187,0,0,0,0,0,0
$GC,9716,1.12,213.0,326.0,10.4,368,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2391,2187,0,0,0,0,0,0
$GC,9960,1.13,219.2,301.9,9.7,374,9973,0.00,2.62,6.70,0.686,4,0.000,0.048,3250,3945,2165,0,0,0,0,0,0
$GC,10019,1.13,219.2,295.2,10.9,375,10024,0.00,2.50,0.00,0.000,6,0.000,0.027,3250,2406,2164,0,0,0,0,0,0
$GC,10285,1.13,219.2,266.3,11.1,382,10290,0.00,2.72,0.00,0.000,4,0.000,0.055,3251,785,2164,0,0,0,0,0,0
$GC,10369,1.13,219.2,256.7,11.5,384,10374,0.00,2.62,0.00,0.000,6,0.000,0.033,3251,2418,2162,0,0,0,0,0,0
$GC,10655,1.21,246.2,231.0,8.8,391,10685,0.00,2.80,24.35,0.738,4,0.000,0.048,3250,781,2055,0,0,0,0,0,0
$GC,10718,1.25,246.2,224.9,10.4,392,10724,0.10,2.62,0.00,0.000,6,0.087,0.029,3283,2405,2054,0,0,0,0,0,0
$GC,10975,1.25,246.2,195.8,11.7,399,10979,0.00,2.55,0.00,0.000,4,0.000,0.046,3283,3937,2053,0,0,0,0,0,0
$GC,11065,1.25,246.2,185.5,11.6,406,11069,0.00,2.47,0.00,0.000,6,0.000,0.025,3283,2401,2052,0,0,0,0,0,0
$GC,11332,1.25,246.2,157.9,10.7,430,11337,0.00,2.53,0.00,0.000,4,0.000,0.045,3283,3929,2052,0,0,0,0,0,0
$GC,11395,1.25,246.2,149.7,11.7,435,11400,0.00,2.42,0.00,0.000,6,0.000,0.023,3284,2408,2052,0,0,0,0,0,0
$GC,11663,1.25,246.2,120.5,11.4,459,11667,0.00,2.67,0.00,0.000,4,0.000,0.047,3283,782,2052,0,0,0,0,0,0
$GC,11707,1.25,246.2,114.2,11.0,462,11717,0.00,2.62,0.00,0.000,6,0.000,0.024,3283,2425,2052,0,0,0,0,0,0
$GC,11976,1.32,271.6,88.5,8.8,487,12004,0.00,2.75,23.30,0.590,4,0.000,0.043,3283,787,1950,0,0,0,0,0,0
$GC,12040,1.36,271.6,81.5,10.4,492,12045,0.00,2.55,0.00,0.000,6,0.000,0.022,3283,2410,1949,0,0,0,0,0,0
$GC,12308,1.40,271.6,55.1,10.2,516,12317,0.10,0.00,0.00,0.000,6,0.087,0.000,3316,2410,1949,0,0,0,0,0,0
$GC,12588,1.40,271.6,20.3,12.1,547,12597,0.00,2.50,0.00,0.000,4,0.000,0.041,3316,3920,1948,0,0,0,0,0,0
$GC,12613,1.40,271.6,17.1,12.1,550,12622,0.00,2.45,0.00,0.000,6,0.000,0.025,3316,2402,1948,0,0,0,0,0,0
$STATE,12708,end climb,SURFACE_DEPTH_REACHED
$STATE,12708,begin surface coast
$FINISH,-0.3,1.004280
$STATE,12745,end surface coast,CONTROL_FINISHED_OK
$STATE,12745,begin surface
$SM_CCo,12766,87.05,0.521,0,0,1509,380.21
$SM_GC,0.53,0.00,0.00,87.05,0.000,0.000,0.521,465,2197,1509,-11.68,-0.37,380.21
$IRIDIUM_FIX,2239.35,-15800.20,200603,111126
$TT8_MAMPS,0.026078
$HUMID,59.68
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.20
$XPDR_PINGS,20
$24V_AH,23.4,12.967
$10V_AH,10.4,11.337
$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,27.600,157.850,356.800,87.050,0.000,109.950,149.270,657.212,5.000,0.000,36.704,1193.975,9070.584,550.113,2063.691,1255.935,33.362,1353.779,0.000,2037.243,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,112.749,1014.741,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,386.716,295.190,399.920,577.996,1099.923,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,44795,569
$CAP_FILE_SIZE,143423,0
$CFSIZE,260165632,174305280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260314,151324,2246.602,-15759.887,36,1.4,36,10.1