version: 66.06
glider: 146
mission: 9
dive: 93
start: 3 26 114 15 22 46
data:
$ID,146
$MISSION,9
$DIVE,93
$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,-325258.5
$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,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
$GPS1,151324,2246.602,-15759.887,36,1.4,36,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-68.5
$GPS2,152151,2246.602,-15759.965,11,3.1,30,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.184,-0.183
$KALMAN_X,-61534.5,-68.7,-190.7,54315.4,222.3
$KALMAN_Y,50427.9,240.9,131.6,-55763.1,22.0
$MHEAD_RNG_PITCHd_Wd,215.0,15299,-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,16,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-89.00,0.000,6,0.000,0.000,464,2198,3657,0,0,0,0,0,0
$GC,113,-1.27,-146.0,4.1,-10.0,12,131,11.88,2.58,0.00,0.000,4,0.150,0.040,2717,626,3657,0,0,0,0,0,0
$GC,301,-1.16,-146.0,40.6,-13.0,34,306,0.15,2.50,0.00,0.000,6,0.108,0.021,2748,2226,3658,0,0,0,0,0,0
$GC,569,-1.11,-146.0,70.6,-10.6,58,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2226,3659,0,0,0,0,0,0
$GC,835,-1.06,-146.0,100.4,-11.2,83,840,0.10,2.62,0.00,0.000,4,0.124,0.044,2769,634,3659,0,0,0,0,0,0
$GC,916,-1.06,-146.0,109.2,-9.5,89,922,0.00,2.42,0.00,0.000,6,0.000,0.018,2770,2211,3659,0,0,0,0,0,0
$GC,1180,-1.06,-146.0,132.4,-9.3,114,1184,0.00,2.58,0.00,0.000,4,0.000,0.043,2770,630,3660,0,0,0,0,0,0
$GC,1227,-1.11,-146.0,137.6,-10.2,117,1233,0.00,2.42,0.00,0.000,6,0.000,0.021,2770,2190,3660,0,0,0,0,0,0
$GC,1496,-1.16,-146.0,161.0,-8.7,142,1500,0.00,2.55,0.00,0.000,4,0.000,0.041,2770,3777,3660,0,0,0,0,0,0
$GC,1552,-1.23,-146.0,166.5,-8.4,146,1559,0.15,2.50,0.00,0.000,6,0.060,0.021,2714,2184,3660,0,0,0,0,0,0
$GC,1817,-1.17,-146.0,192.0,-9.3,171,1826,0.15,0.00,0.00,0.000,6,0.096,0.000,2747,2185,3660,0,0,0,0,0,0
$GC,2092,-1.17,-146.0,212.8,-7.7,186,2096,0.00,2.60,0.00,0.000,4,0.000,0.038,2747,3775,3660,0,0,0,0,0,0
$GC,2113,-1.17,-146.0,214.9,-9.4,186,2117,0.00,2.47,0.00,0.000,6,0.000,0.020,2747,2194,3660,0,0,0,0,0,0
$GC,2370,-1.17,-146.0,238.2,-9.2,193,2374,0.00,2.55,0.00,0.000,4,0.000,0.051,2747,639,3660,0,0,0,0,0,0
$GC,2465,-1.23,-146.0,247.1,-8.6,195,2469,0.00,2.42,0.00,0.000,6,0.000,0.025,2747,2192,3660,0,0,0,0,0,0
$GC,2737,-1.26,-146.0,267.5,-7.5,202,2742,0.00,2.60,0.00,0.000,4,0.000,0.043,2747,3776,3660,0,0,0,0,0,0
$GC,2761,-1.32,-146.0,269.3,-7.9,202,2766,0.12,2.47,0.00,0.000,6,0.067,0.021,2699,2196,3660,0,0,0,0,0,0
$GC,3017,-1.27,-146.0,293.5,-9.5,209,3019,0.12,0.00,0.00,0.000,6,0.102,0.000,2726,2196,3660,0,0,0,0,0,0
$GC,3261,-1.27,-146.0,314.4,-8.5,215,3266,0.00,2.60,0.00,0.000,4,0.000,0.047,2726,3771,3659,0,0,0,0,0,0
$GC,3323,-1.27,-146.0,319.7,-8.6,216,3327,0.00,2.50,0.00,0.000,6,0.000,0.026,2726,2206,3659,0,0,0,0,0,0
$GC,3583,-1.27,-146.0,337.9,-6.8,223,3588,0.00,2.62,0.00,0.000,4,0.000,0.051,2725,3771,3657,0,0,0,0,0,0
$GC,3606,-1.27,-146.0,339.7,-7.5,223,3611,0.00,2.53,0.00,0.000,6,0.000,0.028,2726,2204,3657,0,0,0,0,0,0
$GC,3862,-1.27,-146.0,359.3,-7.6,230,3867,0.00,2.72,0.00,0.000,4,0.000,0.075,2726,635,3656,0,0,0,0,0,0
$GC,3883,-1.27,-146.0,361.1,-8.1,230,3888,0.00,2.50,0.00,0.000,6,0.000,0.031,2726,2189,3656,0,0,0,0,0,0
$GC,4140,-1.27,-146.0,376.6,-5.7,237,4145,0.00,2.65,0.00,0.000,4,0.000,0.052,2726,3789,3654,0,0,0,0,0,0
$GC,4225,-1.32,-146.0,382.5,-7.0,239,4230,0.00,2.55,0.00,0.000,6,0.000,0.031,2726,2223,3654,0,0,0,0,0,0
$GC,4509,-1.35,-146.0,404.9,-8.4,246,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2223,3652,0,0,0,0,0,0
$GC,4754,-1.40,-146.0,426.8,-9.0,252,4759,0.12,2.67,0.00,0.000,4,0.071,0.057,2679,3786,3650,0,0,0,0,0,0
$GC,4798,-1.36,-146.0,431.5,-10.1,253,4803,0.12,2.58,0.00,0.000,6,0.102,0.046,2706,2229,3650,0,0,0,0,0,0
$GC,5077,-1.36,-146.0,456.1,-8.9,260,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2229,3648,0,0,0,0,0,0
$GC,5320,-1.36,-146.0,477.4,-8.8,266,5324,0.00,2.92,0.00,0.000,4,0.000,0.100,2706,621,3646,0,0,0,0,0,0
$GC,5352,-1.36,-146.0,480.4,-9.2,266,5358,0.00,2.65,0.00,0.000,6,0.000,0.049,2706,2214,3646,0,0,0,0,0,0
$GC,5602,-1.36,-146.0,501.4,-8.2,273,5607,0.00,2.70,0.00,0.000,4,0.000,0.071,2706,3803,3645,0,0,0,0,0,0
$GC,5625,-1.36,-146.0,503.3,-8.4,273,5629,0.00,2.62,0.00,0.000,6,0.000,0.049,2706,2224,3645,0,0,0,0,0,0
$GC,5880,-1.36,-146.0,522.0,-7.0,280,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2225,3643,0,0,0,0,0,0
$GC,6124,-1.36,-146.0,539.4,-7.1,286,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2225,3643,0,0,0,0,0,0
$GC,6369,-1.36,-146.0,556.1,-6.8,292,6373,0.00,2.78,0.00,0.000,4,0.000,0.079,2706,3801,3641,0,0,0,0,0,0
$GC,6390,-1.36,-146.0,557.8,-7.1,292,6394,0.00,2.67,0.00,0.000,6,0.000,0.052,2706,2216,3641,0,0,0,0,0,0
$GC,6645,-1.36,-146.0,575.8,-7.1,299,6650,0.00,2.80,0.00,0.000,4,0.000,0.078,2706,3797,3640,0,0,0,0,0,0
$GC,6730,-1.36,-146.0,582.5,-8.2,301,6735,0.00,2.70,0.00,0.000,6,0.000,0.063,2706,2236,3639,0,0,0,0,0,0
$STATE,6970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6970,begin apogee
$GC,6976,-0.31,0.0,600.8,7.5,307,7098,1.00,0.00,118.20,1.021,6,0.072,0.000,2934,2375,3060,0,0,0,0,0,0
$STATE,7099,end apogee,CONTROL_FINISHED_OK
$STATE,7099,begin climb
$GC,7103,1.27,146.0,603.9,0.0,310,7239,1.48,2.90,124.60,0.991,4,0.035,0.080,3296,3927,2464,0,0,0,0,0,0
$GC,7267,1.10,146.0,593.1,12.2,314,7272,0.25,2.75,0.00,0.000,6,0.100,0.058,3244,2367,2460,0,0,0,0,0,0
$GC,7541,1.08,164.3,567.4,9.2,321,7565,0.00,2.80,16.23,0.910,4,0.000,0.068,3243,3928,2389,0,0,0,0,0,0
$GC,7605,1.03,164.3,560.7,10.7,322,7609,0.00,2.70,0.00,0.000,6,0.000,0.055,3244,2369,2387,0,0,0,0,0,0
$GC,7867,1.04,173.7,535.3,9.6,329,7878,0.00,0.00,9.43,0.844,6,0.000,0.000,3244,2369,2351,0,0,0,0,0,0
$GC,8109,1.04,173.7,511.2,10.1,335,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2369,2348,0,0,0,0,0,0
$GC,8353,1.06,186.5,487.5,9.4,341,8373,0.00,2.78,12.45,0.871,4,0.000,0.058,3244,3926,2299,0,0,0,0,0,0
$GC,8418,1.06,186.5,480.4,11.3,342,8423,0.00,2.62,0.00,0.000,6,0.000,0.042,3244,2381,2297,0,0,0,0,0,0
$GC,8679,1.06,192.1,454.9,9.7,349,8692,0.00,3.00,6.05,0.736,4,0.000,0.100,3244,779,2277,0,0,0,0,0,0
$GC,8731,1.06,192.1,449.3,11.1,350,8736,0.00,2.65,0.00,0.000,6,0.000,0.039,3244,2374,2276,0,0,0,0,0,0
$GC,9005,1.06,192.1,421.0,10.7,357,9009,0.00,2.80,0.00,0.000,4,0.000,0.070,3244,778,2275,0,0,0,0,0,0
$GC,9026,1.06,192.1,418.4,10.9,357,9030,0.00,2.60,0.00,0.000,6,0.000,0.035,3244,2369,2275,0,0,0,0,0,0
$GC,9281,1.09,210.5,394.4,9.1,364,9305,0.00,2.72,17.83,0.857,4,0.000,0.054,3244,3928,2200,0,0,0,0,0,0
$GC,9335,1.09,210.5,389.3,10.2,365,9340,0.00,2.60,0.00,0.000,6,0.000,0.035,3244,2360,2198,0,0,0,0,0,0
$GC,9608,1.10,223.2,364.0,9.4,372,9627,0.00,2.75,12.07,0.811,4,0.000,0.048,3244,3931,2149,0,0,0,0,0,0
$GC,9701,1.10,223.2,354.1,11.5,374,9706,0.00,2.55,0.00,0.000,6,0.000,0.030,3244,2384,2147,0,0,0,0,0,0
$GC,9979,1.12,234.4,327.1,9.5,381,9998,0.00,2.80,11.30,0.777,4,0.000,0.064,3244,785,2103,0,0,0,0,0,0
$GC,10021,1.12,234.4,322.9,10.1,382,10026,0.00,2.60,0.00,0.000,6,0.000,0.035,3244,2381,2102,0,0,0,0,0,0
$GC,10305,1.12,234.4,294.7,10.1,389,10306,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2382,2101,0,0,0,0,0,0
$GC,10548,1.12,234.4,270.0,10.1,395,10549,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2383,2100,0,0,0,0,0,0
$GC,10792,1.17,234.4,244.1,10.7,401,10797,0.00,2.67,0.00,0.000,4,0.000,0.048,3244,782,2100,0,0,0,0,0,0
$GC,10866,1.22,237.6,236.8,9.9,402,10871,0.10,2.55,0.00,0.000,6,0.085,0.027,3276,2377,2098,0,0,0,0,0,0
$GC,11115,1.22,237.6,210.1,10.4,408,11120,0.00,2.65,0.00,0.000,4,0.000,0.046,3276,780,2099,0,0,0,0,0,0
$GC,11160,1.22,237.6,205.3,10.3,409,11164,0.00,2.53,0.00,0.000,6,0.000,0.030,3276,2368,2098,0,0,0,0,0,0
$GC,11428,1.22,237.6,176.6,11.7,429,11432,0.00,2.55,0.00,0.000,4,0.000,0.045,3276,3928,2098,0,0,0,0,0,0
$GC,11483,1.22,237.6,170.2,11.9,433,11487,0.00,2.50,0.00,0.000,6,0.000,0.024,3276,2366,2098,0,0,0,0,0,0
$GC,11751,1.24,256.2,145.0,9.1,457,11776,0.00,2.62,19.67,0.652,4,0.000,0.046,3276,787,2014,0,0,0,0,0,0
$GC,11788,1.24,256.2,140.5,10.3,460,11792,0.00,2.55,0.00,0.000,6,0.000,0.023,3276,2385,2013,0,0,0,0,0,0
$GC,12052,1.29,261.8,114.3,9.7,484,12066,0.00,0.00,6.47,0.531,6,0.000,0.000,3276,2385,1991,0,0,0,0,0,0
$GC,12325,1.35,276.3,87.7,9.3,509,12349,0.00,2.60,14.00,0.575,4,0.000,0.043,3276,3916,1932,0,0,0,0,0,0
$GC,12363,1.39,276.3,83.3,10.1,512,12368,0.12,2.50,0.00,0.000,6,0.076,0.022,3315,2359,1932,0,0,0,0,0,0
$GC,12629,1.39,276.3,51.4,12.0,536,12633,0.00,2.58,0.00,0.000,4,0.000,0.045,3315,789,1932,0,0,0,0,0,0
$GC,12663,1.39,276.3,46.9,12.4,538,12667,0.00,2.50,0.00,0.000,6,0.000,0.022,3316,2374,1931,0,0,0,0,0,0
$GC,12959,1.39,276.3,9.9,12.7,574,12968,0.00,2.58,0.00,0.000,4,0.000,0.044,3316,3918,1931,0,0,0,0,0,0
$GC,13000,1.39,276.3,4.7,13.3,579,13010,0.00,2.50,0.00,0.000,6,0.000,0.024,3315,2366,1931,0,0,0,0,0,0
$STATE,13017,end climb,SURFACE_DEPTH_REACHED
$STATE,13017,begin surface coast
$FINISH,-0.2,1.006271
$STATE,13060,end surface coast,CONTROL_FINISHED_OK
$STATE,13060,begin surface
$SM_CCo,13081,84.78,0.525,0,0,1510,380.21
$SM_GC,0.61,0.00,0.00,84.78,0.000,0.000,0.525,466,2189,1510,-11.67,-0.59,380.21
$IRIDIUM_FIX,2237.01,-15800.20,200603,111127
$TT8_MAMPS,0.026078
$HUMID,60.67
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.90
$XPDR_PINGS,20
$24V_AH,23.4,13.097
$10V_AH,10.4,11.456
$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,27.300,163.050,368.300,84.775,0.000,27.142,36.653,286.167,5.000,0.000,33.229,1227.888,9058.323,562.350,2153.844,669.252,33.359,1413.937,0.000,2133.656,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,100.477,1020.877,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.799,325.740,414.172,593.199,1129.851,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,44572,587
$CAP_FILE_SIZE,134758,0
$CFSIZE,260165632,174252032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260314,190335,2245.443,-15801.501,37,1.2,41,10.1