version: 66.06
glider: 146
mission: 9
dive: 56
start: 3 20 114 19 19 25
data:
$ID,146
$MISSION,9
$DIVE,56
$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,-324485.97
$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,26
$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
$GPS1,190859,2243.292,-15741.165,40,1.2,40,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-68.1
$GPS2,191831,2243.398,-15741.277,15,1.6,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.102,-0.239
$KALMAN_X,-42572.4,-106.5,-164.3,67255.0,-168.3
$KALMAN_Y,27616.0,38.0,-161.9,-38397.2,1276.1
$MHEAD_RNG_PITCHd_Wd,146.7,10700,-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,-146.0,0.0,0.0,0,112,0.00,0.00,-89.07,0.000,6,0.000,0.000,466,2208,3656,0,0,0,0,0,0
$GC,115,-1.27,-146.0,4.3,-11.1,12,132,11.60,2.58,0.00,0.000,4,0.138,0.035,2717,621,3657,0,0,0,0,0,0
$GC,229,-1.16,-146.0,32.7,-14.0,27,238,0.12,2.53,0.00,0.000,6,0.087,0.020,2747,2217,3658,0,0,0,0,0,0
$GC,497,-1.10,-146.0,68.8,-12.5,52,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2217,3658,0,0,0,0,0,0
$GC,763,-1.05,-146.0,101.3,-10.6,77,768,0.12,2.62,0.00,0.000,4,0.114,0.044,2773,628,3658,0,0,0,0,0,0
$GC,780,-1.05,-146.0,103.7,-10.9,78,784,0.00,2.47,0.00,0.000,6,0.000,0.018,2773,2229,3658,0,0,0,0,0,0
$GC,1044,-1.05,-146.0,129.4,-9.5,102,1048,0.00,2.47,0.00,0.000,4,0.000,0.037,2773,3772,3659,0,0,0,0,0,0
$GC,1072,-1.05,-146.0,132.6,-10.0,104,1077,0.00,2.47,0.00,0.000,6,0.000,0.021,2773,2193,3659,0,0,0,0,0,0
$GC,1337,-1.09,-146.0,157.4,-9.4,128,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2193,3659,0,0,0,0,0,0
$GC,1600,-1.14,-146.0,179.7,-8.5,153,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2193,3659,0,0,0,0,0,0
$GC,1873,-1.19,-146.0,203.5,-8.5,176,1878,0.12,2.55,0.00,0.000,4,0.069,0.047,2725,640,3659,0,0,0,0,0,0
$GC,1895,-1.19,-146.0,205.7,-9.4,176,1900,0.00,2.45,0.00,0.000,6,0.000,0.027,2725,2229,3659,0,0,0,0,0,0
$GC,2151,-1.19,-146.0,230.7,-9.6,183,2155,0.00,2.53,0.00,0.000,4,0.000,0.039,2724,3783,3660,0,0,0,0,0,0
$GC,2162,-1.19,-146.0,231.8,-9.7,183,2167,0.00,2.45,0.00,0.000,6,0.000,0.018,2725,2219,3660,0,0,0,0,0,0
$GC,2429,-1.19,-146.0,257.9,-9.8,190,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2219,3660,0,0,0,0,0,0
$GC,2673,-1.19,-146.0,280.8,-9.2,196,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2219,3660,0,0,0,0,0,0
$GC,2917,-1.19,-146.0,302.1,-8.6,202,2921,0.00,2.65,0.00,0.000,4,0.000,0.058,2725,645,3660,0,0,0,0,0,0
$GC,2973,-1.19,-146.0,306.8,-8.5,203,2977,0.00,2.50,0.00,0.000,6,0.000,0.028,2725,2209,3659,0,0,0,0,0,0
$GC,3239,-1.19,-146.0,328.0,-7.8,210,3243,0.00,2.60,0.00,0.000,4,0.000,0.048,2724,3790,3659,0,0,0,0,0,0
$GC,3272,-1.19,-146.0,331.2,-9.5,210,3278,0.00,2.47,0.00,0.000,6,0.000,0.027,2725,2251,3659,0,0,0,0,0,0
$GC,3523,-1.19,-146.0,353.8,-9.1,217,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2251,3657,0,0,0,0,0,0
$GC,3765,-1.19,-146.0,374.2,-8.2,223,3770,0.00,2.83,0.00,0.000,4,0.000,0.077,2725,631,3656,0,0,0,0,0,0
$GC,3787,-1.19,-146.0,376.0,-7.5,223,3791,0.00,2.60,0.00,0.000,6,0.000,0.040,2725,2226,3656,0,0,0,0,0,0
$GC,4043,-1.19,-146.0,393.9,-6.9,230,4048,0.00,2.72,0.00,0.000,4,0.000,0.066,2725,634,3655,0,0,0,0,0,0
$GC,4059,-1.19,-146.0,395.1,-7.1,230,4063,0.00,2.60,0.00,0.000,6,0.000,0.038,2724,2224,3655,0,0,0,0,0,0
$GC,4319,-1.19,-146.0,414.3,-7.5,237,4324,0.00,2.65,0.00,0.000,4,0.000,0.059,2725,3798,3653,0,0,0,0,0,0
$GC,4342,-1.19,-146.0,416.1,-8.0,237,4346,0.00,2.58,0.00,0.000,6,0.000,0.038,2725,2229,3653,0,0,0,0,0,0
$GC,4597,-1.23,-146.0,436.2,-7.9,244,4602,0.00,2.65,0.00,0.000,4,0.000,0.060,2725,3793,3651,0,0,0,0,0,0
$GC,4614,-1.27,-146.0,437.7,-7.7,244,4619,0.00,2.60,0.00,0.000,6,0.000,0.041,2725,2228,3651,0,0,0,0,0,0
$GC,4876,-1.31,-146.0,456.0,-6.7,251,4881,0.00,2.90,0.00,0.000,4,0.000,0.096,2725,620,3649,0,0,0,0,0,0
$GC,4904,-1.37,-146.0,458.2,-7.2,251,4909,0.00,2.67,0.00,0.000,6,0.000,0.047,2725,2229,3649,0,0,0,0,0,0
$GC,5155,-1.42,-146.0,476.2,-7.4,257,5160,0.12,2.70,0.00,0.000,4,0.071,0.071,2678,3801,3647,0,0,0,0,0,0
$GC,5178,-1.42,-146.0,478.4,-9.2,257,5182,0.00,2.62,0.00,0.000,6,0.000,0.043,2678,2232,3647,0,0,0,0,0,0
$GC,5433,-1.38,-146.0,505.1,-10.5,264,5438,0.12,2.72,0.00,0.000,4,0.107,0.068,2705,3795,3645,0,0,0,0,0,0
$GC,5454,-1.38,-146.0,507.4,-10.3,264,5459,0.00,2.65,0.00,0.000,6,0.000,0.051,2705,2232,3646,0,0,0,0,0,0
$GC,5711,-1.38,-146.0,529.5,-8.5,271,5716,0.00,2.75,0.00,0.000,4,0.000,0.077,2705,3796,3644,0,0,0,0,0,0
$GC,5761,-1.38,-146.0,533.9,-8.5,272,5765,0.00,2.62,0.00,0.000,6,0.000,0.053,2705,2244,3644,0,0,0,0,0,0
$GC,6034,-1.38,-146.0,553.9,-7.3,279,6039,0.00,3.08,0.00,0.000,4,0.000,0.120,2705,623,3642,0,0,0,0,0,0
$GC,6061,-1.38,-146.0,556.2,-7.9,279,6066,0.00,2.78,0.00,0.000,6,0.000,0.056,2705,2249,3642,0,0,0,0,0,0
$GC,6311,-1.38,-146.0,575.2,-7.7,285,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2249,3641,0,0,0,0,0,0
$GC,6555,-1.38,-146.0,594.2,-7.8,291,6559,0.00,2.85,0.00,0.000,4,0.000,0.101,2706,3796,3639,0,0,0,0,0,0
$GC,6577,-1.38,-146.0,595.8,-7.9,291,6582,0.00,2.70,0.00,0.000,6,0.000,0.067,2705,2247,3639,0,0,0,0,0,0
$STATE,6667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6667,begin apogee
$GC,6673,-0.31,0.0,602.9,7.5,294,6795,1.02,0.00,118.50,1.018,6,0.071,0.000,2937,2382,3060,0,0,0,0,0,0
$STATE,6797,end apogee,CONTROL_FINISHED_OK
$STATE,6797,begin climb
$GC,6800,1.27,146.0,604.8,0.0,297,6935,1.42,2.85,123.85,0.992,4,0.038,0.083,3287,3928,2461,0,0,0,0,0,0
$GC,7025,1.12,146.0,584.2,13.8,302,7030,0.20,2.75,0.00,0.000,6,0.103,0.060,3246,2369,2456,0,0,0,0,0,0
$GC,7293,1.07,146.0,556.3,10.3,309,7298,0.00,2.78,0.00,0.000,4,0.000,0.071,3246,3929,2453,0,0,0,0,0,0
$GC,7333,0.99,146.0,552.0,11.2,310,7338,0.12,2.70,0.00,0.000,6,0.123,0.051,3222,2370,2452,0,0,0,0,0,0
$GC,7618,1.01,161.1,525.1,9.3,317,7637,0.00,3.15,12.25,0.881,4,0.000,0.120,3222,788,2403,0,0,0,0,0,0
$GC,7670,1.01,161.1,519.5,11.0,318,7675,0.00,2.70,0.00,0.000,6,0.000,0.050,3222,2366,2401,0,0,0,0,0,0
$GC,7943,1.04,181.4,494.7,9.1,325,7967,0.00,2.80,19.30,0.910,4,0.000,0.071,3222,3937,2319,0,0,0,0,0,0
$GC,7985,1.04,181.4,490.6,10.4,326,7989,0.00,2.67,0.00,0.000,6,0.000,0.039,3222,2366,2318,0,0,0,0,0,0
$GC,8262,1.04,186.8,463.9,9.7,333,8270,0.00,0.00,5.75,0.727,6,0.000,0.000,3221,2366,2298,0,0,0,0,0,0
$GC,8507,1.06,196.5,440.3,9.6,339,8523,0.00,2.92,10.55,0.838,4,0.000,0.091,3222,777,2257,0,0,0,0,0,0
$GC,8568,1.06,196.5,434.0,10.1,340,8572,0.00,2.65,0.00,0.000,6,0.000,0.038,3222,2379,2256,0,0,0,0,0,0
$GC,8829,1.07,209.1,409.3,9.4,347,8843,0.00,0.00,12.27,0.840,6,0.000,0.000,3222,2380,2207,0,0,0,0,0,0
$GC,9074,1.15,233.0,387.5,8.9,353,9099,0.12,0.00,22.48,0.861,6,0.083,0.000,3256,2380,2110,0,0,0,0,0,0
$GC,9316,1.15,233.0,361.5,10.8,359,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2380,2106,0,0,0,0,0,0
$GC,9560,1.15,236.4,337.0,9.8,365,9569,0.00,2.80,3.70,0.522,4,0.000,0.058,3256,779,2096,0,0,0,0,0,0
$GC,9587,1.15,236.4,334.2,10.1,365,9591,0.00,2.60,0.00,0.000,6,0.000,0.029,3256,2379,2096,0,0,0,0,0,0
$GC,9841,1.15,236.4,307.4,10.7,372,9846,0.00,2.60,0.00,0.000,4,0.000,0.052,3256,3932,2095,0,0,0,0,0,0
$GC,9902,1.15,236.4,300.2,12.1,373,9906,0.00,2.53,0.00,0.000,6,0.000,0.030,3256,2375,2094,0,0,0,0,0,0
$GC,10164,1.15,236.4,272.8,10.3,380,10168,0.00,2.67,0.00,0.000,4,0.000,0.057,3256,786,2094,0,0,0,0,0,0
$GC,10214,1.15,236.4,267.3,10.5,381,10219,0.00,2.58,0.00,0.000,6,0.000,0.033,3257,2390,2093,0,0,0,0,0,0
$GC,10486,1.15,239.1,240.0,9.9,388,10488,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2390,2093,0,0,0,0,0,0
$GC,10732,1.18,259.6,217.5,9.1,394,10760,0.00,2.75,21.35,0.724,4,0.000,0.048,3256,779,2001,0,0,0,0,0,0
$GC,10772,1.18,259.6,213.1,10.9,395,10777,0.00,2.58,0.00,0.000,6,0.000,0.025,3256,2389,1999,0,0,0,0,0,0
$GC,11031,1.23,259.6,185.6,10.9,408,11035,0.00,2.53,0.00,0.000,4,0.000,0.044,3256,3927,1999,0,0,0,0,0,0
$GC,11137,1.28,259.6,174.0,10.9,416,11143,0.12,2.45,0.00,0.000,6,0.076,0.025,3294,2393,1997,0,0,0,0,0,0
$GC,11401,1.28,259.6,146.1,11.2,441,11406,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2393,1997,0,0,0,0,0,0
$GC,11664,1.30,275.4,118.0,9.3,466,11687,0.00,2.65,14.90,0.604,4,0.000,0.044,3294,3934,1936,0,0,0,0,0,0
$GC,11807,1.30,275.4,102.1,11.7,478,11811,0.00,2.45,0.00,0.000,6,0.000,0.025,3294,2408,1935,0,0,0,0,0,0
$GC,12073,1.30,275.4,73.5,11.8,502,12077,0.00,2.65,0.00,0.000,4,0.000,0.047,3294,792,1935,0,0,0,0,0,0
$GC,12131,1.30,275.4,66.1,10.9,506,12141,0.00,2.58,0.00,0.000,6,0.000,0.023,3294,2409,1934,0,0,0,0,0,0
$GC,12400,1.30,275.4,37.1,11.5,531,12408,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2409,1934,0,0,0,0,0,0
$STATE,12697,end climb,SURFACE_DEPTH_REACHED
$STATE,12697,begin surface coast
$FINISH,-0.3,1.023881
$STATE,12746,end surface coast,CONTROL_FINISHED_OK
$STATE,12747,begin surface
$SM_CCo,12769,84.35,0.524,0,0,1510,380.21
$SM_GC,0.34,0.00,0.00,84.35,0.000,0.000,0.524,469,2155,1510,-11.66,-1.55,380.21
$IRIDIUM_FIX,2237.01,-15742.40,140603,151522
$TT8_MAMPS,0.026078
$HUMID,58.82
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,22.40
$XPDR_PINGS,18
$24V_AH,23.3,8.177
$10V_AH,10.4,7.098
$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,26.600,154.575,364.900,84.350,0.000,25.833,34.438,369.834,4.500,0.000,16.809,1196.533,8876.074,554.478,2059.986,736.509,33.353,1360.944,0.000,2054.808,0.000,0.536,0.000
$DEVICE_MAMPS,138.060,120.419,1017.809,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,394.195,322.247,410.317,595.625,1134.406,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,44594,580
$CAP_FILE_SIZE,130170,0
$CFSIZE,260165632,176607232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200314,225500,2242.258,-15740.986,40,1.0,40,10.1