version: 66.06
glider: 146
mission: 9
dive: 116
start: 3 30 114 5 19 11
data:
$ID,146
$MISSION,9
$DIVE,116
$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,-325842.59
$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,50
$R_STBD_OVSHOOT,31
$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
$GPS1,045953,2300.642,-15759.375,40,1.1,58,10.1
$_CALLS,4
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-69.5
$GPS2,051818,2300.797,-15759.501,16,99.0,35,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.089,-0.244
$KALMAN_X,-78353.6,-17.4,-503.9,72185.1,787.3
$KALMAN_Y,58194.1,340.2,91.7,-37316.4,869.6
$MHEAD_RNG_PITCHd_Wd,149.9,55376,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,106,0.00,0.00,-86.32,0.000,2,0.000,0.000,467,2190,3630,0,0,0,0,0,0
$GC,109,-1.27,-146.0,3.1,-7.6,11,127,12.50,2.53,-0.47,0.000,4,0.166,0.047,2717,640,3657,0,0,0,0,0,0
$GC,199,-1.14,-146.0,25.4,-17.8,23,209,0.15,2.53,0.00,0.000,6,0.090,0.023,2751,2222,3658,0,0,0,0,0,0
$GC,475,-1.09,-146.0,58.5,-10.8,49,479,0.00,2.58,0.00,0.000,4,0.000,0.043,2751,649,3659,0,0,0,0,0,0
$GC,509,-1.01,-146.0,64.0,-15.4,51,514,0.15,2.42,0.00,0.000,6,0.105,0.018,2783,2221,3658,0,0,0,0,0,0
$GC,775,-1.01,-146.0,91.8,-10.9,75,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2221,3659,0,0,0,0,0,0
$GC,1037,-1.01,-146.0,119.1,-9.8,100,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2221,3659,0,0,0,0,0,0
$GC,1293,-1.07,-146.0,141.4,-8.5,124,1297,0.00,2.55,0.00,0.000,4,0.000,0.043,2783,651,3659,0,0,0,0,0,0
$GC,1317,-1.12,-146.0,143.4,-7.7,125,1323,0.10,2.40,0.00,0.000,6,0.081,0.019,2740,2205,3659,0,0,0,0,0,0
$GC,1579,-1.12,-146.0,168.1,-9.5,150,1584,0.00,2.53,0.00,0.000,4,0.000,0.035,2740,3783,3659,0,0,0,0,0,0
$GC,1603,-1.12,-146.0,169.8,-9.3,151,1607,0.00,2.45,0.00,0.000,6,0.000,0.018,2740,2206,3659,0,0,0,0,0,0
$GC,1869,-1.12,-146.0,195.5,-9.4,175,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2206,3660,0,0,0,0,0,0
$GC,2121,-1.12,-146.0,219.1,-9.5,185,2125,0.00,2.55,0.00,0.000,4,0.000,0.038,2740,3774,3660,0,0,0,0,0,0
$GC,2143,-1.12,-146.0,221.5,-10.6,185,2148,0.00,2.45,0.00,0.000,6,0.000,0.019,2740,2213,3660,0,0,0,0,0,0
$GC,2399,-1.12,-146.0,243.6,-8.5,192,2403,0.00,2.58,0.00,0.000,4,0.000,0.049,2739,640,3660,0,0,0,0,0,0
$GC,2465,-1.12,-146.0,249.8,-9.5,193,2470,0.00,2.42,0.00,0.000,6,0.000,0.021,2739,2210,3660,0,0,0,0,0,0
$GC,2722,-1.12,-146.0,271.5,-8.4,200,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2211,3660,0,0,0,0,0,0
$GC,2965,-1.12,-146.0,290.6,-7.7,206,2969,0.00,2.58,0.00,0.000,4,0.000,0.046,2739,3783,3659,0,0,0,0,0,0
$GC,2998,-1.16,-146.0,293.2,-7.7,206,3003,0.00,2.50,0.00,0.000,6,0.000,0.022,2739,2213,3659,0,0,0,0,0,0
$GC,3249,-1.20,-146.0,310.8,-7.0,213,3254,0.00,2.65,0.00,0.000,4,0.000,0.062,2740,636,3658,0,0,0,0,0,0
$GC,3277,-1.23,-146.0,313.1,-7.5,213,3282,0.00,2.50,0.00,0.000,6,0.000,0.033,2740,2199,3658,0,0,0,0,0,0
$GC,3528,-1.28,-146.0,332.3,-7.5,219,3532,0.00,2.65,0.00,0.000,4,0.000,0.061,2740,633,3657,0,0,0,0,0,0
$GC,3556,-1.33,-146.0,334.5,-7.9,219,3561,0.10,2.50,0.00,0.000,6,0.080,0.031,2696,2203,3657,0,0,0,0,0,0
$GC,3806,-1.33,-146.0,357.2,-9.2,225,3811,0.00,2.65,0.00,0.000,4,0.000,0.048,2695,3800,3656,0,0,0,0,0,0
$GC,3851,-1.29,-146.0,361.8,-10.5,226,3856,0.12,2.58,0.00,0.000,6,0.104,0.031,2722,2208,3656,0,0,0,0,0,0
$GC,4130,-1.29,-146.0,385.3,-8.3,233,4135,0.00,2.78,0.00,0.000,4,0.000,0.081,2722,628,3653,0,0,0,0,0,0
$GC,4151,-1.29,-146.0,387.3,-8.2,233,4156,0.00,2.55,0.00,0.000,6,0.000,0.038,2722,2208,3653,0,0,0,0,0,0
$GC,4408,-1.29,-146.0,405.4,-7.0,240,4412,0.00,2.65,0.00,0.000,4,0.000,0.053,2722,3801,3652,0,0,0,0,0,0
$GC,4447,-1.29,-146.0,408.3,-7.0,241,4452,0.00,2.58,0.00,0.000,6,0.000,0.034,2723,2217,3651,0,0,0,0,0,0
$GC,4731,-1.33,-146.0,428.1,-7.1,248,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2217,3650,0,0,0,0,0,0
$GC,4976,-1.37,-146.0,445.4,-7.1,254,4980,0.00,2.67,0.00,0.000,4,0.000,0.058,2723,3794,3648,0,0,0,0,0,0
$GC,5008,-1.37,-146.0,448.0,-7.1,254,5014,0.00,2.60,0.00,0.000,6,0.000,0.039,2722,2222,3647,0,0,0,0,0,0
$GC,5259,-1.40,-146.0,466.1,-7.3,261,5264,0.10,2.70,0.00,0.000,4,0.081,0.061,2681,3797,3646,0,0,0,0,0,0
$GC,5282,-1.40,-146.0,468.2,-8.7,261,5286,0.00,2.62,0.00,0.000,6,0.000,0.041,2680,2223,3645,0,0,0,0,0,0
$GC,5537,-1.40,-146.0,492.0,-9.1,268,5542,0.00,2.95,0.00,0.000,4,0.000,0.104,2680,624,3644,0,0,0,0,0,0
$GC,5555,-1.36,-146.0,493.5,-8.8,268,5560,0.12,2.65,0.00,0.000,6,0.102,0.052,2706,2221,3644,0,0,0,0,0,0
$GC,5817,-1.36,-146.0,515.0,-8.2,275,5822,0.00,2.72,0.00,0.000,4,0.000,0.076,2706,3795,3643,0,0,0,0,0,0
$GC,5839,-1.36,-146.0,517.1,-8.9,275,5843,0.00,2.65,0.00,0.000,6,0.000,0.054,2706,2224,3643,0,0,0,0,0,0
$GC,6094,-1.36,-146.0,537.6,-7.9,282,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2224,3640,0,0,0,0,0,0
$GC,6339,-1.36,-146.0,555.2,-7.1,288,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2225,3639,0,0,0,0,0,0
$GC,6581,-1.36,-146.0,572.9,-7.3,294,6586,0.00,2.83,0.00,0.000,4,0.000,0.083,2706,3798,3638,0,0,0,0,0,0
$GC,6625,-1.36,-146.0,576.4,-7.9,295,6630,0.00,2.72,0.00,0.000,6,0.000,0.062,2706,2231,3638,0,0,0,0,0,0
$GC,6904,-1.36,-146.0,595.7,-6.7,302,6908,0.00,2.78,0.00,0.000,4,0.000,0.088,2706,3791,3636,0,0,0,0,0,0
$GC,6948,-1.36,-146.0,599.0,-7.3,303,6952,0.00,2.75,0.00,0.000,6,0.000,0.069,2706,2227,3635,0,0,0,0,0,0
$STATE,6962,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6962,begin apogee
$GC,6968,-0.31,0.0,600.2,7.3,303,7089,0.98,0.00,117.80,1.017,6,0.071,0.000,2931,2379,3060,0,0,0,0,0,0
$STATE,7090,end apogee,CONTROL_FINISHED_OK
$STATE,7090,begin climb
$GC,7094,1.27,146.0,601.7,0.0,306,7228,1.45,2.88,124.05,0.988,4,0.035,0.085,3288,3937,2462,0,0,0,0,0,0
$GC,7259,1.11,146.0,590.6,11.3,310,7264,0.20,2.78,0.00,0.000,6,0.109,0.061,3248,2370,2459,0,0,0,0,0,0
$GC,7543,1.13,197.1,567.1,7.6,317,7593,0.00,2.85,44.85,0.957,4,0.000,0.070,3248,3933,2255,0,0,0,0,0,0
$GC,7641,1.15,207.8,558.9,9.5,319,7657,0.00,2.70,10.55,0.852,6,0.000,0.051,3248,2378,2212,0,0,0,0,0,0
$GC,7907,1.16,215.8,533.7,9.6,326,7921,0.00,3.12,7.90,0.809,4,0.000,0.114,3248,784,2179,0,0,0,0,0,0
$GC,7956,1.16,215.8,528.6,10.2,327,7960,0.00,2.70,0.00,0.000,6,0.000,0.048,3248,2370,2177,0,0,0,0,0,0
$GC,8234,1.16,215.8,501.0,10.0,334,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2370,2176,0,0,0,0,0,0
$GC,8477,1.16,215.8,472.9,11.9,340,8481,0.00,2.88,0.00,0.000,4,0.000,0.077,3248,771,2175,0,0,0,0,0,0
$GC,8503,1.16,215.8,469.2,13.8,340,8508,0.00,2.67,0.00,0.000,6,0.000,0.045,3248,2380,2174,0,0,0,0,0,0
$GC,8755,1.16,215.8,438.2,12.2,346,8759,0.00,2.65,0.00,0.000,4,0.000,0.055,3248,3941,2173,0,0,0,0,0,0
$GC,8794,1.16,215.8,433.2,12.3,347,8798,0.00,2.60,0.00,0.000,6,0.000,0.032,3248,2370,2172,0,0,0,0,0,0
$GC,9076,1.16,215.8,403.3,10.0,354,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2370,2172,0,0,0,0,0,0
$GC,9322,1.16,222.7,379.6,9.7,360,9335,0.00,2.67,6.28,0.724,4,0.000,0.054,3248,3940,2151,0,0,0,0,0,0
$GC,9366,1.16,222.7,374.8,11.4,361,9370,0.00,2.55,0.00,0.000,6,0.000,0.029,3248,2378,2151,0,0,0,0,0,0
$GC,9649,1.16,222.7,344.7,10.7,368,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2378,2150,0,0,0,0,0,0
$GC,9893,1.16,222.7,320.2,10.0,374,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2378,2149,0,0,0,0,0,0
$GC,10136,1.17,231.9,296.9,9.6,380,10151,0.00,2.75,9.65,0.746,4,0.000,0.058,3248,781,2114,0,0,0,0,0,0
$GC,10167,1.17,231.9,293.8,10.2,380,10174,0.00,2.62,0.00,0.000,6,0.000,0.026,3248,2402,2113,0,0,0,0,0,0
$GC,10420,1.23,249.9,270.8,9.2,387,10444,0.10,2.65,16.92,0.763,4,0.089,0.049,3279,3925,2040,0,0,0,0,0,0
$GC,10569,1.23,249.9,253.1,12.5,390,10573,0.00,2.42,0.00,0.000,6,0.000,0.024,3279,2412,2038,0,0,0,0,0,0
$GC,10836,1.23,249.9,224.1,10.7,397,10841,0.00,2.70,0.00,0.000,4,0.000,0.049,3279,791,2037,0,0,0,0,0,0
$GC,10902,1.23,249.9,216.7,11.0,398,10907,0.00,2.60,0.00,0.000,6,0.000,0.026,3279,2410,2037,0,0,0,0,0,0
$GC,11162,1.23,249.9,190.1,10.7,411,11166,0.00,2.53,0.00,0.000,4,0.000,0.044,3279,3937,2037,0,0,0,0,0,0
$GC,11192,1.23,249.9,186.6,12.8,413,11196,0.00,2.42,0.00,0.000,6,0.000,0.022,3279,2420,2036,0,0,0,0,0,0
$GC,11461,1.25,259.8,159.0,9.5,438,11473,0.00,0.00,9.60,0.614,6,0.000,0.000,3279,2420,2001,0,0,0,0,0,0
$GC,11730,1.25,259.8,131.0,10.6,463,11735,0.00,2.53,0.00,0.000,4,0.000,0.043,3279,3941,2000,0,0,0,0,0,0
$GC,11771,1.28,259.8,125.9,11.3,466,11775,0.00,2.40,0.00,0.000,6,0.000,0.023,3279,2436,1999,0,0,0,0,0,0
$GC,12035,1.33,259.8,97.9,10.3,490,12040,0.00,2.70,0.00,0.000,4,0.000,0.044,3279,788,1999,0,0,0,0,0,0
$GC,12082,1.41,284.1,93.9,8.9,493,12110,0.12,2.62,22.75,0.594,6,0.071,0.026,3320,2446,1900,0,0,0,0,0,0
$GC,12372,1.36,284.1,59.6,14.8,519,12377,0.00,2.47,0.00,0.000,4,0.000,0.047,3320,3937,1898,0,0,0,0,0,0
$GC,12445,1.36,284.1,48.5,13.3,524,12455,0.00,2.42,0.00,0.000,6,0.000,0.024,3320,2436,1897,0,0,0,0,0,0
$GC,12738,1.36,284.1,11.8,14.9,559,12747,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2436,1898,0,0,0,0,0,0
$STATE,12795,end climb,SURFACE_DEPTH_REACHED
$STATE,12795,begin surface coast
$FINISH,-0.2,1.024122
$STATE,12831,end surface coast,CONTROL_FINISHED_OK
$STATE,12831,begin surface
$SM_CCo,12853,77.20,0.522,0,0,1509,380.21
$SM_GC,0.40,0.00,0.00,77.20,0.000,0.000,0.522,458,2203,1509,-11.71,-0.20,380.21
$IRIDIUM_FIX,2253.38,-15802.79,240603,050548
$TT8_MAMPS,0.025311
$HUMID,60.78
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.90
$XPDR_PINGS,21
$24V_AH,23.4,16.166
$10V_AH,10.4,14.131
$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,27.625,163.300,370.350,77.200,0.000,114.785,146.039,459.099,5.250,0.000,37.353,1203.407,9126.149,535.028,2072.530,1096.270,33.358,1362.805,0.000,2052.543,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,113.516,1017.042,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.626,319.192,405.027,570.406,1086.282,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,44694,572
$CAP_FILE_SIZE,139861,0
$CFSIZE,260165632,172806144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300314,085623,2259.883,-15758.661,58,1.6,58,10.1