version: 66.06
glider: 146
mission: 9
dive: 191
start: 4 11 114 9 44 21
data:
$ID,146
$MISSION,9
$DIVE,191
$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,-327728.47
$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,63
$R_STBD_OVSHOOT,40
$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
$GPS1,093254,2250.747,-15747.676,41,1.3,41,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-69.9
$GPS2,094324,2250.676,-15747.727,10,2.0,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.244,-0.088
$KALMAN_X,-163092.4,47.1,300.8,176151.2,-232.5
$KALMAN_Y,43874.6,-375.6,-200.3,-40702.9,-859.3
$MHEAD_RNG_PITCHd_Wd,240.1,36474,-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,-90.20,0.000,6,0.000,0.000,461,2165,3656,0,0,0,0,0,0
$GC,116,-1.27,-146.0,3.5,-8.3,12,134,12.52,2.42,0.00,0.000,4,0.168,0.033,2719,657,3657,0,0,0,0,0,0
$GC,351,-1.17,-146.0,45.5,-13.2,38,356,0.15,2.42,0.00,0.000,6,0.117,0.019,2748,2227,3658,0,0,0,0,0,0
$GC,620,-1.11,-146.0,76.1,-11.4,62,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2227,3659,0,0,0,0,0,0
$GC,885,-1.06,-146.0,106.6,-10.9,87,890,0.10,2.58,0.00,0.000,4,0.129,0.041,2771,657,3659,0,0,0,0,0,0
$GC,920,-1.06,-146.0,110.9,-10.9,89,926,0.00,2.40,0.00,0.000,6,0.000,0.018,2770,2220,3658,0,0,0,0,0,0
$GC,1183,-1.06,-146.0,136.1,-9.4,114,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2221,3659,0,0,0,0,0,0
$GC,1437,-1.06,-146.0,159.6,-9.3,138,1442,0.00,2.55,0.00,0.000,4,0.000,0.042,2770,654,3659,0,0,0,0,0,0
$GC,1505,-1.10,-146.0,165.7,-9.1,143,1510,0.00,2.38,0.00,0.000,6,0.000,0.018,2770,2201,3659,0,0,0,0,0,0
$GC,1773,-1.10,-146.0,189.0,-9.4,167,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2201,3659,0,0,0,0,0,0
$GC,2036,-1.15,-146.0,210.3,-7.1,192,2041,0.00,2.47,0.00,0.000,4,0.000,0.043,2770,664,3660,0,0,0,0,0,0
$GC,2082,-1.23,-146.0,213.8,-7.4,195,2091,0.12,2.38,0.00,0.000,6,0.033,0.018,2711,2190,3660,0,0,0,0,0,0
$GC,2349,-1.16,-146.0,241.9,-11.7,220,2354,0.17,2.58,0.00,0.000,4,0.091,0.041,2749,3773,3660,0,0,0,0,0,0
$GC,2453,-1.21,-146.0,253.4,-9.9,228,2463,0.00,2.42,0.00,0.000,6,0.000,0.021,2749,2237,3660,0,0,0,0,0,0
$GC,2720,-1.25,-146.0,272.1,-6.8,253,2724,0.00,2.62,0.00,0.000,4,0.000,0.051,2750,640,3660,0,0,0,0,0,0
$GC,2741,-1.29,-146.0,274.2,-7.2,254,2748,0.12,2.45,0.00,0.000,6,0.065,0.023,2697,2208,3660,0,0,0,0,0,0
$GC,3006,-1.23,-146.0,300.4,-9.9,279,3011,0.17,2.58,0.00,0.000,4,0.090,0.054,2735,3782,3660,0,0,0,0,0,0
$GC,3063,-1.27,-146.0,305.7,-9.1,283,3068,0.00,2.47,0.00,0.000,6,0.000,0.024,2735,2217,3659,0,0,0,0,0,0
$GC,3330,-1.27,-146.0,326.7,-7.2,307,3335,0.00,2.70,0.00,0.000,4,0.000,0.068,2735,635,3659,0,0,0,0,0,0
$GC,3387,-1.32,-146.0,331.7,-9.0,311,3392,0.00,2.50,0.00,0.000,6,0.000,0.034,2735,2203,3659,0,0,0,0,0,0
$GC,3651,-1.35,-146.0,353.3,-8.6,336,3660,0.12,0.00,0.00,0.000,6,0.067,0.000,2682,2203,3658,0,0,0,0,0,0
$GC,3920,-1.29,-146.0,380.1,-9.6,361,3925,0.17,2.65,0.00,0.000,4,0.089,0.054,2721,3787,3657,0,0,0,0,0,0
$GC,3964,-1.29,-146.0,384.2,-8.4,364,3968,0.00,2.55,0.00,0.000,6,0.000,0.038,2720,2209,3656,0,0,0,0,0,0
$GC,4232,-1.29,-146.0,404.4,-8.4,388,4236,0.00,2.80,0.00,0.000,4,0.000,0.085,2721,626,3654,0,0,0,0,0,0
$GC,4275,-1.29,-146.0,408.5,-9.1,391,4280,0.00,2.55,0.00,0.000,6,0.000,0.037,2721,2197,3655,0,0,0,0,0,0
$GC,4542,-1.29,-146.0,434.0,-9.1,415,4546,0.00,2.67,0.00,0.000,4,0.000,0.058,2720,3792,3652,0,0,0,0,0,0
$GC,4586,-1.33,-146.0,438.0,-9.0,418,4591,0.00,2.60,0.00,0.000,6,0.000,0.037,2720,2203,3652,0,0,0,0,0,0
$GC,4853,-1.33,-146.0,457.1,-6.7,442,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2203,3651,0,0,0,0,0,0
$GC,5117,-1.37,-146.0,477.4,-7.9,467,5122,0.00,2.67,0.00,0.000,4,0.000,0.061,2720,3789,3649,0,0,0,0,0,0
$GC,5163,-1.42,-146.0,481.8,-9.0,470,5170,0.12,2.65,0.00,0.000,6,0.067,0.051,2673,2203,3648,0,0,0,0,0,0
$GC,5427,-1.37,-146.0,506.7,-9.1,495,5432,0.15,2.92,0.00,0.000,4,0.096,0.105,2706,622,3646,0,0,0,0,0,0
$GC,5468,-1.37,-146.0,510.2,-8.1,498,5472,0.00,2.62,0.00,0.000,6,0.000,0.047,2706,2201,3646,0,0,0,0,0,0
$GC,5732,-1.37,-146.0,528.9,-7.1,522,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2201,3645,0,0,0,0,0,0
$GC,5997,-1.37,-146.0,549.2,-7.7,547,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2201,3643,0,0,0,0,0,0
$GC,6258,-1.37,-146.0,569.9,-7.9,572,6263,0.00,2.83,0.00,0.000,4,0.000,0.084,2706,3795,3642,0,0,0,0,0,0
$GC,6290,-1.37,-146.0,572.2,-8.1,574,6295,0.00,2.70,0.00,0.000,6,0.000,0.058,2706,2211,3642,0,0,0,0,0,0
$GC,6558,-1.37,-146.0,591.1,-6.3,598,6563,0.00,2.80,0.00,0.000,4,0.000,0.080,2706,3793,3640,0,0,0,0,0,0
$GC,6602,-1.37,-146.0,594.6,-7.8,601,6606,0.00,2.75,0.00,0.000,6,0.000,0.065,2706,2206,3640,0,0,0,0,0,0
$STATE,6679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6679,begin apogee
$GC,6686,-0.31,0.0,600.7,7.5,608,6808,1.00,0.00,118.50,1.009,6,0.067,0.000,2934,2375,3060,0,0,0,0,0,0
$STATE,6809,end apogee,CONTROL_FINISHED_OK
$STATE,6809,begin climb
$GC,6812,1.27,146.0,603.1,0.0,611,6946,1.48,2.83,124.93,0.985,4,0.032,0.080,3295,3928,2462,0,0,0,0,0,0
$GC,6987,1.11,146.0,591.5,12.2,619,6992,0.25,2.72,0.00,0.000,6,0.098,0.058,3243,2370,2458,0,0,0,0,0,0
$GC,7252,1.11,176.2,567.0,8.6,643,7283,0.00,0.00,26.52,0.933,6,0.000,0.000,3243,2370,2340,0,0,0,0,0,0
$GC,7539,1.11,176.2,538.4,10.4,670,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2370,2335,0,0,0,0,0,0
$GC,7801,1.11,176.2,511.4,10.0,695,7806,0.00,2.88,0.00,0.000,4,0.000,0.091,3243,782,2333,0,0,0,0,0,0
$GC,7822,1.07,176.2,508.9,10.7,696,7832,0.00,2.67,0.00,0.000,6,0.000,0.042,3243,2372,2332,0,0,0,0,0,0
$GC,8090,1.09,190.1,484.3,9.4,721,8111,0.00,2.88,12.45,0.866,4,0.000,0.069,3243,779,2283,0,0,0,0,0,0
$GC,8129,1.11,207.7,480.5,9.2,724,8153,0.00,2.62,17.15,0.878,6,0.000,0.043,3243,2367,2212,0,0,0,0,0,0
$GC,8418,1.11,207.7,451.1,10.3,751,8423,0.00,2.65,0.00,0.000,4,0.000,0.054,3243,3935,2209,0,0,0,0,0,0
$GC,8464,1.11,207.7,446.3,11.2,754,8469,0.00,2.60,0.00,0.000,6,0.000,0.032,3243,2353,2208,0,0,0,0,0,0
$GC,8732,1.11,207.7,418.4,10.3,778,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2354,2207,0,0,0,0,0,0
$GC,8993,1.11,207.7,390.8,10.7,803,8997,0.00,2.72,0.00,0.000,4,0.000,0.071,3243,778,2206,0,0,0,0,0,0
$GC,9025,1.11,207.7,387.6,11.8,805,9030,0.00,2.55,0.00,0.000,6,0.000,0.035,3243,2370,2204,0,0,0,0,0,0
$GC,9294,1.11,211.6,359.7,9.8,829,9298,0.00,2.60,0.00,0.000,4,0.000,0.050,3243,3926,2204,0,0,0,0,0,0
$GC,9345,1.11,211.6,353.7,10.5,833,9349,0.00,2.55,0.00,0.000,6,0.000,0.033,3243,2351,2204,0,0,0,0,0,0
$GC,9609,1.12,216.4,329.7,9.8,857,9623,0.00,2.70,7.93,0.735,4,0.000,0.048,3243,3923,2176,0,0,0,0,0,0
$GC,9668,1.12,216.4,323.5,10.6,862,9673,0.00,2.53,0.00,0.000,6,0.000,0.025,3243,2362,2176,0,0,0,0,0,0
$GC,9936,1.16,216.4,297.0,10.0,886,9941,0.00,2.65,0.00,0.000,4,0.000,0.054,3243,779,2175,0,0,0,0,0,0
$GC,9953,1.16,216.4,294.5,10.4,887,9957,0.00,2.53,0.00,0.000,6,0.000,0.028,3243,2378,2174,0,0,0,0,0,0
$GC,10217,1.24,250.6,270.3,8.4,911,10254,0.12,0.00,31.35,0.775,6,0.074,0.000,3280,2378,2036,0,0,0,0,0,0
$GC,10509,1.24,250.6,236.8,11.5,939,10513,0.00,2.58,0.00,0.000,4,0.000,0.048,3280,3924,2033,0,0,0,0,0,0
$GC,10554,1.24,250.6,231.6,11.9,942,10563,0.00,2.53,0.00,0.000,6,0.000,0.025,3280,2372,2031,0,0,0,0,0,0
$GC,10821,1.24,250.6,203.8,11.4,967,10825,0.00,2.58,0.00,0.000,4,0.000,0.044,3280,3924,2031,0,0,0,0,0,0
$GC,10955,1.24,250.6,187.3,11.8,978,10959,0.00,2.45,0.00,0.000,6,0.000,0.026,3280,2395,2031,0,0,0,0,0,0
$GC,11218,1.24,250.6,158.4,11.2,1002,11219,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2395,2031,0,0,0,0,0,0
$GC,11472,1.24,250.6,131.2,10.4,1026,11477,0.00,2.62,0.00,0.000,4,0.000,0.044,3280,784,2031,0,0,0,0,0,0
$GC,11507,1.24,250.6,127.3,10.8,1028,11516,0.00,2.60,0.00,0.000,6,0.000,0.022,3280,2427,2031,0,0,0,0,0,0
$GC,11773,1.24,250.6,101.7,10.1,1053,11777,0.00,2.67,0.00,0.000,4,0.000,0.042,3280,788,2031,0,0,0,0,0,0
$GC,11805,1.24,250.6,98.3,10.2,1055,11810,0.00,2.55,0.00,0.000,6,0.000,0.022,3280,2417,2031,0,0,0,0,0,0
$GC,12073,1.28,250.6,70.6,10.3,1079,12082,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2417,2031,0,0,0,0,0,0
$GC,12341,1.29,256.4,43.1,9.7,1104,12356,0.00,2.47,6.05,0.456,4,0.000,0.039,3281,3920,2014,0,0,0,0,0,0
$GC,12373,1.29,256.4,39.5,10.8,1106,12377,0.00,2.38,0.00,0.000,6,0.000,0.021,3280,2405,2013,0,0,0,0,0,0
$GC,12682,1.33,256.4,7.9,10.1,1146,12691,0.00,2.65,0.00,0.000,4,0.000,0.044,3280,792,2014,0,0,0,0,0,0
$STATE,12713,end climb,SURFACE_DEPTH_REACHED
$STATE,12713,begin surface coast
$FINISH,-0.2,1.024047
$STATE,12756,end surface coast,CONTROL_FINISHED_OK
$STATE,12756,begin surface
$SM_CCo,12779,100.18,0.518,0,0,1510,380.21
$SM_GC,0.37,0.00,0.00,100.18,0.000,0.000,0.518,459,2236,1510,-11.71,0.71,380.21
$IRIDIUM_FIX,2241.69,-15746.73,060703,050508
$TT8_MAMPS,0.026078
$HUMID,60.08
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.00
$XPDR_PINGS,18
$24V_AH,23.4,27.515
$10V_AH,10.2,30.484
$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,28.075,150.975,344.875,100.175,0.000,30.718,34.147,386.157,4.500,0.000,16.564,2005.003,6227.606,591.710,3777.692,896.698,33.368,1699.830,0.000,3804.941,0.000,0.535,0.000
$DEVICE_MAMPS,167.973,105.079,1009.372,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,793.972,900.195,1177.924,1315.528,2505.282,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,95365,1156
$CAP_FILE_SIZE,152873,0
$CFSIZE,260165632,166486016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110414,132023,2249.264,-15749.615,40,1.2,40,10.1