version: 66.06
glider: 146
mission: 9
dive: 188
start: 4 10 114 22 15 6
data:
$ID,146
$MISSION,9
$DIVE,188
$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,-327679.25
$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,54
$R_STBD_OVSHOOT,39
$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
$GPS1,220500,2256.226,-15744.139,42,1.5,42,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-69.2
$GPS2,221412,2256.109,-15744.075,9,1.0,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.222,-0.135
$KALMAN_X,-165288.8,293.3,445.8,184184.7,-601.2
$KALMAN_Y,49303.0,-419.2,-239.3,-35991.5,-893.4
$MHEAD_RNG_PITCHd_Wd,228.5,47323,-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,16,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-89.75,0.000,6,0.000,0.000,462,2185,3655,0,0,0,0,0,0
$GC,115,-1.27,-146.0,3.8,-9.3,12,132,12.50,2.47,0.00,0.000,4,0.163,0.033,2720,643,3655,0,0,0,0,0,0
$GC,281,-1.18,-146.0,37.8,-13.3,33,289,0.08,2.45,0.00,0.000,6,0.105,0.018,2739,2219,3656,0,0,0,0,0,0
$GC,550,-1.09,-146.0,70.3,-12.9,58,560,0.12,0.00,0.00,0.000,6,0.118,0.000,2764,2219,3657,0,0,0,0,0,0
$GC,817,-1.05,-146.0,101.5,-12.0,83,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2219,3657,0,0,0,0,0,0
$GC,1078,-1.05,-146.0,130.7,-10.5,108,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2219,3658,0,0,0,0,0,0
$GC,1335,-1.05,-146.0,155.4,-9.7,132,1339,0.00,2.47,0.00,0.000,4,0.000,0.035,2764,3784,3658,0,0,0,0,0,0
$GC,1380,-1.10,-146.0,159.3,-9.1,135,1385,0.00,2.45,0.00,0.000,6,0.000,0.020,2764,2207,3658,0,0,0,0,0,0
$GC,1648,-1.10,-146.0,181.9,-7.5,159,1652,0.00,2.55,0.00,0.000,4,0.000,0.044,2764,636,3658,0,0,0,0,0,0
$GC,1682,-1.14,-146.0,184.8,-8.0,161,1687,0.00,2.42,0.00,0.000,6,0.000,0.018,2764,2215,3658,0,0,0,0,0,0
$GC,1946,-1.14,-146.0,205.0,-7.9,185,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2215,3658,0,0,0,0,0,0
$GC,2210,-1.19,-146.0,228.3,-8.7,210,2214,0.00,2.47,0.00,0.000,4,0.000,0.038,2764,3773,3658,0,0,0,0,0,0
$GC,2240,-1.24,-146.0,231.2,-9.0,212,2245,0.12,2.42,0.00,0.000,6,0.067,0.020,2714,2210,3659,0,0,0,0,0,0
$GC,2502,-1.20,-146.0,258.1,-10.3,236,2507,0.12,2.58,0.00,0.000,4,0.101,0.052,2742,643,3658,0,0,0,0,0,0
$GC,2570,-1.23,-146.0,264.0,-8.3,241,2575,0.00,2.40,0.00,0.000,6,0.000,0.021,2742,2191,3658,0,0,0,0,0,0
$GC,2837,-1.23,-146.0,287.2,-8.8,265,2841,0.00,2.58,0.00,0.000,4,0.000,0.041,2742,3783,3658,0,0,0,0,0,0
$GC,2903,-1.27,-146.0,293.5,-9.1,270,2907,0.00,2.47,0.00,0.000,6,0.000,0.022,2742,2200,3658,0,0,0,0,0,0
$GC,3165,-1.27,-146.0,313.6,-7.3,294,3170,0.00,2.60,0.00,0.000,4,0.000,0.061,2742,638,3657,0,0,0,0,0,0
$GC,3236,-1.34,-146.0,319.1,-7.6,299,3242,0.12,2.45,0.00,0.000,6,0.067,0.032,2689,2184,3657,0,0,0,0,0,0
$GC,3499,-1.28,-146.0,342.4,-9.2,324,3504,0.15,2.65,0.00,0.000,4,0.095,0.048,2723,3790,3656,0,0,0,0,0,0
$GC,3545,-1.28,-146.0,346.8,-9.3,327,3554,0.00,2.58,0.00,0.000,6,0.000,0.028,2723,2194,3656,0,0,0,0,0,0
$GC,3812,-1.28,-146.0,371.3,-9.7,352,3817,0.00,2.72,0.00,0.000,4,0.000,0.080,2723,630,3654,0,0,0,0,0,0
$GC,3835,-1.28,-146.0,374.0,-9.3,353,3841,0.00,2.50,0.00,0.000,6,0.000,0.037,2723,2192,3654,0,0,0,0,0,0
$GC,4099,-1.28,-146.0,397.1,-9.5,378,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2193,3654,0,0,0,0,0,0
$GC,4366,-1.28,-146.0,420.0,-8.3,403,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2193,3651,0,0,0,0,0,0
$GC,4627,-1.28,-146.0,441.8,-8.1,428,4631,0.00,2.67,0.00,0.000,4,0.000,0.059,2722,3787,3650,0,0,0,0,0,0
$GC,4648,-1.28,-146.0,443.8,-8.6,429,4658,0.00,2.62,0.00,0.000,6,0.000,0.044,2723,2198,3649,0,0,0,0,0,0
$GC,4917,-1.32,-146.0,463.4,-7.4,454,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2198,3648,0,0,0,0,0,0
$GC,5180,-1.36,-146.0,483.5,-8.0,479,5184,0.00,2.70,0.00,0.000,4,0.000,0.062,2723,3785,3646,0,0,0,0,0,0
$GC,5214,-1.36,-146.0,486.1,-9.2,481,5219,0.00,2.62,0.00,0.000,6,0.000,0.045,2723,2199,3646,0,0,0,0,0,0
$GC,5482,-1.41,-146.0,508.8,-8.2,505,5487,0.12,2.72,0.00,0.000,4,0.066,0.071,2674,3785,3645,0,0,0,0,0,0
$GC,5540,-1.37,-146.0,515.2,-10.5,509,5546,0.15,2.62,0.00,0.000,6,0.097,0.057,2706,2213,3644,0,0,0,0,0,0
$GC,5803,-1.37,-146.0,536.1,-7.7,534,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2214,3643,0,0,0,0,0,0
$GC,6057,-1.37,-146.0,555.1,-7.5,558,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2214,3642,0,0,0,0,0,0
$GC,6311,-1.37,-146.0,575.4,-8.4,582,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2214,3640,0,0,0,0,0,0
$GC,6567,-1.37,-146.0,597.1,-8.5,606,6572,0.00,2.85,0.00,0.000,4,0.000,0.098,2706,3790,3638,0,0,0,0,0,0
$STATE,6598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6598,begin apogee
$GC,6606,-0.31,0.0,600.3,9.4,608,6734,0.98,0.00,118.88,1.004,6,0.069,0.000,2933,2369,3060,0,0,0,0,0,0
$STATE,6735,end apogee,CONTROL_FINISHED_OK
$STATE,6735,begin climb
$GC,6738,1.27,146.0,604.8,0.0,612,6875,1.42,2.88,124.07,0.988,4,0.034,0.078,3287,3924,2464,0,0,0,0,0,0
$GC,6948,1.12,146.0,589.8,11.8,622,6954,0.17,2.70,0.00,0.000,6,0.106,0.060,3250,2369,2460,0,0,0,0,0,0
$GC,7214,1.08,149.7,564.3,9.8,646,7219,0.00,2.92,0.00,0.000,4,0.000,0.100,3250,780,2455,0,0,0,0,0,0
$GC,7237,1.02,156.6,561.7,9.7,647,7259,0.08,2.65,9.20,0.834,6,0.097,0.051,3230,2353,2422,0,0,0,0,0,0
$GC,7513,1.06,183.6,537.0,8.8,673,7548,0.00,2.85,25.58,0.926,4,0.000,0.070,3230,3938,2310,0,0,0,0,0,0
$GC,7560,1.09,212.0,532.6,8.7,677,7594,0.00,2.67,26.67,0.917,6,0.000,0.043,3230,2358,2194,0,0,0,0,0,0
$GC,7849,1.10,215.3,505.7,9.8,704,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2358,2189,0,0,0,0,0,0
$GC,8105,1.10,215.3,478.5,11.0,728,8110,0.00,2.67,0.00,0.000,4,0.000,0.059,3230,3940,2186,0,0,0,0,0,0
$GC,8138,1.10,215.3,475.0,12.4,730,8142,0.00,2.60,0.00,0.000,6,0.000,0.044,3230,2372,2186,0,0,0,0,0,0
$GC,8404,1.10,215.3,445.3,10.3,754,8411,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2372,2185,0,0,0,0,0,0
$GC,8667,1.10,222.4,418.5,9.7,779,8677,0.00,0.00,8.77,0.798,6,0.000,0.000,3230,2373,2153,0,0,0,0,0,0
$GC,8935,1.17,245.6,392.9,8.9,804,8966,0.12,2.88,22.12,0.859,4,0.080,0.074,3265,782,2057,0,0,0,0,0,0
$GC,8985,1.13,245.6,388.3,10.8,808,8989,0.00,2.62,0.00,0.000,6,0.000,0.029,3265,2399,2055,0,0,0,0,0,0
$GC,9251,1.14,251.3,360.3,9.7,832,9263,0.00,2.55,6.15,0.696,4,0.000,0.047,3265,3932,2034,0,0,0,0,0,0
$GC,9291,1.14,251.3,356.1,11.0,835,9296,0.00,2.55,0.00,0.000,6,0.000,0.033,3265,2366,2033,0,0,0,0,0,0
$GC,9557,1.14,251.3,326.8,11.7,859,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2367,2032,0,0,0,0,0,0
$GC,9820,1.14,251.3,294.6,11.9,884,9824,0.00,2.62,0.00,0.000,4,0.000,0.055,3265,782,2031,0,0,0,0,0,0
$GC,9859,1.14,251.3,289.4,12.7,887,9864,0.00,2.53,0.00,0.000,6,0.000,0.028,3265,2369,2031,0,0,0,0,0,0
$GC,10123,1.16,264.7,259.6,9.4,911,10148,0.00,2.65,13.07,0.733,4,0.000,0.048,3265,3925,1979,0,0,0,0,0,0
$GC,10223,1.21,267.0,250.2,9.9,919,10228,0.00,2.50,0.00,0.000,6,0.000,0.027,3265,2370,1977,0,0,0,0,0,0
$GC,10491,1.21,267.0,220.2,11.9,943,10495,0.00,2.60,0.00,0.000,4,0.000,0.048,3265,787,1977,0,0,0,0,0,0
$GC,10519,1.21,267.0,216.0,12.4,945,10523,0.00,2.50,0.00,0.000,6,0.000,0.028,3265,2381,1976,0,0,0,0,0,0
$GC,10786,1.21,267.0,187.7,11.0,969,10791,0.00,2.53,0.00,0.000,4,0.000,0.043,3265,3926,1976,0,0,0,0,0,0
$GC,10923,1.21,267.0,171.4,11.2,980,10928,0.00,2.42,0.00,0.000,6,0.000,0.024,3265,2396,1975,0,0,0,0,0,0
$GC,11187,1.25,267.0,143.7,10.3,1004,11192,0.00,2.60,0.00,0.000,4,0.000,0.045,3265,782,1975,0,0,0,0,0,0
$GC,11208,1.29,269.4,141.7,9.9,1005,11220,0.00,2.55,5.15,0.504,6,0.000,0.021,3265,2414,1961,0,0,0,0,0,0
$GC,11476,1.37,284.2,116.1,9.3,1030,11501,0.15,2.55,14.60,0.597,4,0.068,0.040,3309,3932,1900,0,0,0,0,0,0
$GC,11542,1.37,284.2,107.9,12.7,1035,11548,0.00,2.42,0.00,0.000,6,0.000,0.023,3309,2406,1899,0,0,0,0,0,0
$GC,11811,1.37,284.2,76.8,12.2,1060,11815,0.00,2.45,0.00,0.000,4,0.000,0.040,3309,3923,1898,0,0,0,0,0,0
$GC,11846,1.37,284.2,71.3,12.8,1062,11855,0.00,2.40,0.00,0.000,6,0.000,0.025,3309,2422,1898,0,0,0,0,0,0
$GC,12111,1.37,284.2,38.6,12.7,1087,12116,0.00,2.65,0.00,0.000,4,0.000,0.044,3309,789,1898,0,0,0,0,0,0
$GC,12135,1.37,284.2,35.7,12.6,1088,12139,0.00,2.55,0.00,0.000,6,0.000,0.021,3309,2425,1899,0,0,0,0,0,0
$STATE,12393,end climb,SURFACE_DEPTH_REACHED
$STATE,12393,begin surface coast
$FINISH,-0.2,1.023811
$STATE,12436,end surface coast,CONTROL_FINISHED_OK
$STATE,12436,begin surface
$SM_CCo,12458,77.60,0.522,0,0,1509,380.21
$SM_GC,0.53,0.00,0.00,77.60,0.000,0.000,0.522,465,2175,1509,-11.68,-0.99,380.21
$IRIDIUM_FIX,2251.04,-15742.79,050703,181828
$TT8_MAMPS,0.026078
$HUMID,61.89
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.70
$XPDR_PINGS,15
$24V_AH,23.4,27.088
$10V_AH,10.3,29.817
$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,27.775,140.000,374.275,77.600,0.000,28.192,34.947,316.449,3.750,0.000,15.482,1949.985,6077.063,552.418,3693.648,801.113,33.368,1664.945,0.000,3709.216,0.000,0.535,0.000
$DEVICE_MAMPS,163.371,100.477,1004.003,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,775.867,870.875,1150.440,1274.812,2422.068,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355332
$DATA_FILE_SIZE,95214,1130
$CAP_FILE_SIZE,149779,0
$CFSIZE,260165632,166748160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110414,014506,2254.250,-15745.485,22,1.9,22,10.1