version: 66.06
glider: 146
mission: 9
dive: 95
start: 3 26 114 22 50 56
data:
$ID,146
$MISSION,9
$DIVE,95
$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,-325291.56
$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,31
$R_STBD_OVSHOOT,45
$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
$GPS1,224335,2243.943,-15803.217,41,1.0,41,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-71.5
$GPS2,225000,2243.985,-15803.271,13,1.1,13,10.0
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.097,-0.241
$KALMAN_X,-63377.7,67.3,-102.3,50287.3,-822.9
$KALMAN_Y,50895.1,-61.2,-152.2,-60498.1,136.9
$MHEAD_RNG_PITCHd_Wd,192.0,7963,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-89.68,0.000,6,0.000,0.000,459,2223,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.9,-9.8,12,132,11.80,2.60,0.00,0.000,4,0.147,0.036,2716,624,3657,0,0,0,0,0,0
$GC,290,-1.16,-146.0,38.8,-13.9,33,295,0.15,2.45,0.00,0.000,6,0.123,0.018,2747,2211,3658,0,0,0,0,0,0
$GC,559,-1.10,-146.0,72.0,-12.3,57,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2211,3659,0,0,0,0,0,0
$GC,820,-1.04,-146.0,103.3,-12.2,82,822,0.12,0.00,0.00,0.000,6,0.120,0.000,2774,2212,3659,0,0,0,0,0,0
$GC,1076,-1.04,-146.0,130.0,-10.5,106,1080,0.00,2.55,0.00,0.000,4,0.000,0.035,2774,3785,3660,0,0,0,0,0,0
$GC,1098,-1.04,-146.0,132.5,-10.0,107,1104,0.00,2.50,0.00,0.000,6,0.000,0.021,2774,2194,3659,0,0,0,0,0,0
$GC,1362,-1.04,-146.0,158.9,-9.3,132,1366,0.00,2.53,0.00,0.000,4,0.000,0.046,2774,640,3660,0,0,0,0,0,0
$GC,1384,-1.04,-146.0,160.6,-9.3,133,1388,0.00,2.40,0.00,0.000,6,0.000,0.024,2774,2209,3660,0,0,0,0,0,0
$GC,1651,-1.09,-146.0,186.4,-9.7,157,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2209,3660,0,0,0,0,0,0
$GC,1921,-1.14,-146.0,211.1,-8.6,174,1925,0.00,2.62,0.00,0.000,4,0.000,0.047,2774,634,3661,0,0,0,0,0,0
$GC,1965,-1.22,-146.0,215.0,-8.1,175,1970,0.17,2.40,0.00,0.000,6,0.054,0.018,2712,2194,3661,0,0,0,0,0,0
$GC,2244,-1.16,-146.0,244.4,-11.0,182,2249,0.17,2.60,0.00,0.000,4,0.091,0.039,2750,3779,3661,0,0,0,0,0,0
$GC,2279,-1.21,-146.0,247.7,-9.0,182,2285,0.00,2.47,0.00,0.000,6,0.000,0.021,2750,2193,3661,0,0,0,0,0,0
$GC,2529,-1.25,-146.0,266.5,-7.3,189,2534,0.00,2.55,0.00,0.000,4,0.000,0.052,2750,640,3661,0,0,0,0,0,0
$GC,2547,-1.29,-146.0,267.8,-7.4,189,2552,0.12,2.38,0.00,0.000,6,0.066,0.028,2699,2177,3662,0,0,0,0,0,0
$GC,2809,-1.24,-146.0,292.4,-9.4,196,2814,0.15,2.65,0.00,0.000,4,0.094,0.047,2733,3779,3662,0,0,0,0,0,0
$GC,2916,-1.24,-146.0,303.0,-10.2,198,2921,0.00,2.50,0.00,0.000,6,0.000,0.023,2733,2200,3662,0,0,0,0,0,0
$GC,3177,-1.24,-146.0,325.2,-8.1,205,3181,0.00,2.67,0.00,0.000,4,0.000,0.065,2733,633,3660,0,0,0,0,0,0
$GC,3209,-1.24,-146.0,327.7,-7.8,205,3215,0.00,2.45,0.00,0.000,6,0.000,0.030,2733,2177,3660,0,0,0,0,0,0
$GC,3461,-1.27,-146.0,347.7,-8.3,212,3466,0.00,2.62,0.00,0.000,4,0.000,0.061,2733,630,3659,0,0,0,0,0,0
$GC,3494,-1.27,-146.0,350.8,-9.0,212,3499,0.00,2.50,0.00,0.000,6,0.000,0.031,2733,2181,3660,0,0,0,0,0,0
$GC,3744,-1.27,-146.0,370.9,-7.9,219,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2181,3659,0,0,0,0,0,0
$GC,3989,-1.32,-146.0,388.7,-7.2,225,3994,0.00,2.67,0.00,0.000,4,0.000,0.061,2732,3789,3657,0,0,0,0,0,0
$GC,4022,-1.36,-146.0,391.5,-7.9,225,4028,0.12,2.60,0.00,0.000,6,0.070,0.034,2686,2195,3657,0,0,0,0,0,0
$GC,4272,-1.32,-146.0,416.2,-10.0,232,4274,0.15,0.00,0.00,0.000,6,0.096,0.000,2719,2195,3655,0,0,0,0,0,0
$GC,4517,-1.32,-146.0,437.2,-8.4,238,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2195,3653,0,0,0,0,0,0
$GC,4759,-1.32,-146.0,456.1,-7.8,244,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2195,3652,0,0,0,0,0,0
$GC,5003,-1.32,-146.0,476.8,-8.6,250,5008,0.00,2.78,0.00,0.000,4,0.000,0.071,2719,3790,3650,0,0,0,0,0,0
$GC,5049,-1.36,-146.0,480.9,-9.2,251,5054,0.00,2.67,0.00,0.000,6,0.000,0.053,2719,2183,3650,0,0,0,0,0,0
$GC,5327,-1.36,-146.0,502.8,-7.6,258,5332,0.00,2.75,0.00,0.000,4,0.000,0.071,2719,3783,3648,0,0,0,0,0,0
$GC,5388,-1.41,-146.0,507.7,-8.2,259,5393,0.00,2.70,0.00,0.000,6,0.000,0.051,2719,2189,3648,0,0,0,0,0,0
$GC,5650,-1.45,-146.0,527.3,-7.5,266,5656,0.15,2.83,0.00,0.000,4,0.061,0.076,2669,3792,3646,0,0,0,0,0,0
$GC,5667,-1.45,-146.0,529.1,-8.2,266,5671,0.00,2.70,0.00,0.000,6,0.000,0.058,2669,2198,3646,0,0,0,0,0,0
$GC,5928,-1.40,-146.0,553.8,-9.4,273,5933,0.12,2.83,0.00,0.000,4,0.104,0.077,2697,3787,3644,0,0,0,0,0,0
$GC,5975,-1.40,-146.0,558.1,-9.4,274,5980,0.00,2.72,0.00,0.000,6,0.000,0.058,2697,2203,3644,0,0,0,0,0,0
$GC,6254,-1.40,-146.0,580.9,-8.2,281,6255,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2203,3643,0,0,0,0,0,0
$STATE,6494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6494,begin apogee
$GC,6502,-0.31,0.0,600.4,8.0,287,6624,1.05,0.00,118.97,1.014,6,0.071,0.000,2935,2368,3060,0,0,0,0,0,0
$STATE,6625,end apogee,CONTROL_FINISHED_OK
$STATE,6625,begin climb
$GC,6627,1.27,146.0,603.5,0.0,290,6757,1.42,0.00,125.00,0.986,6,0.035,0.000,3288,2368,2464,0,0,0,0,0,0
$GC,6996,1.16,146.0,572.3,10.8,299,7001,0.15,2.80,0.00,0.000,4,0.117,0.077,3258,3930,2455,0,0,0,0,0,0
$GC,7012,1.04,146.0,569.9,11.0,299,7017,0.12,2.70,0.00,0.000,6,0.120,0.057,3233,2370,2454,0,0,0,0,0,0
$GC,7273,1.05,152.5,545.3,9.7,306,7280,0.00,0.00,5.00,0.693,6,0.000,0.000,3233,2370,2439,0,0,0,0,0,0
$GC,7518,1.05,152.5,520.6,10.1,312,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2370,2436,0,0,0,0,0,0
$GC,7760,1.08,172.7,497.8,9.1,318,7786,0.00,3.03,19.52,0.913,4,0.000,0.107,3233,781,2354,0,0,0,0,0,0
$GC,7813,1.08,178.2,492.8,9.7,319,7825,0.00,2.70,6.28,0.746,6,0.000,0.048,3233,2378,2333,0,0,0,0,0,0
$GC,8082,1.12,211.4,469.7,8.5,326,8118,0.00,2.75,30.62,0.917,4,0.000,0.058,3233,3942,2197,0,0,0,0,0,0
$GC,8164,1.12,211.4,461.5,10.6,327,8169,0.00,2.65,0.00,0.000,6,0.000,0.038,3233,2372,2194,0,0,0,0,0,0
$GC,8448,1.15,235.8,435.3,8.9,334,8478,0.10,2.97,22.33,0.881,4,0.087,0.090,3262,784,2097,0,0,0,0,0,0
$GC,8511,1.15,235.8,429.0,10.5,335,8516,0.00,2.62,0.00,0.000,6,0.000,0.035,3262,2374,2095,0,0,0,0,0,0
$GC,8772,1.15,235.8,401.8,10.7,342,8777,0.00,2.62,0.00,0.000,4,0.000,0.051,3262,3932,2093,0,0,0,0,0,0
$GC,8801,1.15,235.8,398.4,12.1,342,8805,0.00,2.58,0.00,0.000,6,0.000,0.031,3262,2375,2092,0,0,0,0,0,0
$GC,9050,1.15,235.8,369.3,11.7,348,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2375,2092,0,0,0,0,0,0
$GC,9294,1.15,235.8,339.4,12.4,354,9299,0.00,2.75,0.00,0.000,4,0.000,0.067,3262,782,2091,0,0,0,0,0,0
$GC,9345,1.15,235.8,333.1,12.5,355,9349,0.00,2.58,0.00,0.000,6,0.000,0.030,3262,2370,2090,0,0,0,0,0,0
$GC,9616,1.15,236.4,304.6,10.0,362,9621,0.00,2.72,0.00,0.000,4,0.000,0.054,3262,774,2089,0,0,0,0,0,0
$GC,9657,1.15,236.4,300.4,10.7,363,9661,0.00,2.58,0.00,0.000,6,0.000,0.029,3262,2370,2089,0,0,0,0,0,0
$GC,9941,1.15,236.4,270.4,10.7,370,9945,0.00,2.62,0.00,0.000,4,0.000,0.051,3262,3927,2089,0,0,0,0,0,0
$GC,10007,1.15,236.4,263.0,10.8,371,10011,0.00,2.53,0.00,0.000,6,0.000,0.025,3263,2350,2088,0,0,0,0,0,0
$GC,10268,1.16,240.9,237.3,9.8,378,10277,0.00,2.62,4.32,0.535,4,0.000,0.053,3262,785,2077,0,0,0,0,0,0
$GC,10335,1.16,240.9,230.2,10.3,379,10339,0.00,2.47,0.00,0.000,6,0.000,0.025,3262,2345,2077,0,0,0,0,0,0
$GC,10595,1.16,244.2,204.7,9.8,386,10605,0.00,2.67,4.70,0.537,4,0.000,0.054,3262,3936,2064,0,0,0,0,0,0
$GC,10634,1.17,245.7,200.7,9.9,387,10639,0.00,2.58,0.00,0.000,6,0.000,0.025,3262,2338,2063,0,0,0,0,0,0
$GC,10901,1.23,265.5,177.0,9.1,409,10927,0.00,2.70,20.35,0.676,4,0.000,0.043,3262,3933,1976,0,0,0,0,0,0
$GC,10979,1.28,265.5,169.2,10.4,415,10983,0.00,2.55,0.00,0.000,6,0.000,0.025,3262,2355,1974,0,0,0,0,0,0
$GC,11246,1.33,268.3,141.5,9.9,439,11251,0.12,2.60,0.00,0.000,4,0.074,0.048,3301,787,1974,0,0,0,0,0,0
$GC,11302,1.33,268.3,135.0,11.9,443,11307,0.00,2.45,0.00,0.000,6,0.000,0.023,3301,2351,1973,0,0,0,0,0,0
$GC,11568,1.33,268.3,105.5,11.3,467,11573,0.00,2.60,0.00,0.000,4,0.000,0.044,3301,3927,1973,0,0,0,0,0,0
$GC,11590,1.33,268.3,101.9,13.1,468,11600,0.00,2.58,0.00,0.000,6,0.000,0.025,3300,2334,1973,0,0,0,0,0,0
$GC,11859,1.33,268.3,70.6,11.3,493,11864,0.00,2.65,0.00,0.000,4,0.000,0.044,3301,3931,1973,0,0,0,0,0,0
$GC,11929,1.33,268.3,61.5,12.2,498,11934,0.00,2.53,0.00,0.000,6,0.000,0.025,3301,2335,1973,0,0,0,0,0,0
$GC,12198,1.33,268.3,30.3,11.0,522,12202,0.00,2.62,0.00,0.000,4,0.000,0.046,3301,3924,1973,0,0,0,0,0,0
$GC,12253,1.33,268.3,23.8,11.0,529,12263,0.00,2.53,0.00,0.000,6,0.000,0.025,3301,2358,1974,0,0,0,0,0,0
$STATE,12431,end climb,SURFACE_DEPTH_REACHED
$STATE,12431,begin surface coast
$FINISH,-0.2,1.023887
$STATE,12474,end surface coast,CONTROL_FINISHED_OK
$STATE,12474,begin surface
$SM_CCo,12495,92.38,0.525,0,0,1510,380.21
$SM_GC,0.41,0.00,0.00,92.38,0.000,0.000,0.525,466,2193,1510,-11.67,-0.45,380.21
$IRIDIUM_FIX,2234.68,-15800.20,200603,191935
$TT8_MAMPS,0.026078
$HUMID,59.88
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.10
$XPDR_PINGS,21
$24V_AH,23.4,13.349
$10V_AH,10.4,11.678
$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,27.625,152.575,357.100,92.375,0.000,24.898,37.213,184.674,5.250,0.000,14.916,1180.944,8669.386,566.083,2003.759,553.392,33.355,1341.401,0.000,2001.969,0.000,0.534,0.000
$DEVICE_MAMPS,147.264,107.380,1013.974,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.896,311.121,396.201,570.400,1086.459,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,44660,561
$CAP_FILE_SIZE,126320,0
$CFSIZE,260165632,174133248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270314,022206,2242.774,-15804.509,40,1.0,40,10.0