version: 66.06
glider: 146
mission: 9
dive: 36
start: 3 17 114 16 24 1
data:
$ID,146
$MISSION,9
$DIVE,36
$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,-323968.94
$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,3001
$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,66
$R_STBD_OVSHOOT,46
$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
$GPS1,160959,2258.299,-15757.734,41,1.9,41,10.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-67.8
$GPS2,162307,2258.260,-15757.842,10,2.0,10,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.138,-0.220
$KALMAN_X,-30483.4,-442.5,-425.9,27494.9,-320.2
$KALMAN_Y,11022.0,-415.9,-496.9,6509.1,1222.9
$MHEAD_RNG_PITCHd_Wd,137.9,49998,-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,17,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-87.70,0.000,6,0.000,0.000,473,2167,3656,0,0,0,0,0,0
$GC,114,-1.27,-146.0,5.0,-13.0,12,132,11.32,2.47,0.00,0.000,4,0.130,0.038,2716,659,3657,0,0,0,0,0,0
$GC,228,-1.15,-146.0,34.9,-16.4,26,233,0.15,2.42,0.00,0.000,6,0.114,0.019,2747,2211,3657,0,0,0,0,0,0
$GC,496,-1.09,-146.0,63.7,-11.4,50,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2213,3658,0,0,0,0,0,0
$GC,761,-1.04,-146.0,95.5,-12.1,75,766,0.12,2.58,0.00,0.000,4,0.110,0.044,2774,663,3658,0,0,0,0,0,0
$GC,782,-1.04,-146.0,98.8,-11.5,76,792,0.00,2.42,0.00,0.000,6,0.000,0.018,2774,2207,3658,0,0,0,0,0,0
$GC,1049,-1.04,-146.0,124.7,-9.0,101,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2207,3658,0,0,0,0,0,0
$GC,1314,-1.09,-146.0,145.0,-8.0,126,1318,0.00,2.53,0.00,0.000,4,0.000,0.044,2773,662,3659,0,0,0,0,0,0
$GC,1366,-1.14,-146.0,149.6,-8.4,130,1371,0.10,2.38,0.00,0.000,6,0.084,0.025,2734,2205,3659,0,0,0,0,0,0
$GC,1631,-1.14,-146.0,174.3,-9.4,154,1636,0.00,2.53,0.00,0.000,4,0.000,0.044,2733,659,3659,0,0,0,0,0,0
$GC,1653,-1.14,-146.0,176.9,-9.7,155,1659,0.00,2.40,0.00,0.000,6,0.000,0.027,2734,2213,3659,0,0,0,0,0,0
$GC,1917,-1.14,-146.0,199.8,-9.0,180,1922,0.00,2.53,0.00,0.000,4,0.000,0.038,2734,3774,3659,0,0,0,0,0,0
$GC,1950,-1.14,-146.0,203.2,-8.6,180,1956,0.00,2.42,0.00,0.000,6,0.000,0.022,2734,2222,3659,0,0,0,0,0,0
$GC,2200,-1.14,-146.0,227.2,-9.9,187,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2222,3659,0,0,0,0,0,0
$GC,2445,-1.14,-146.0,249.7,-9.0,193,2450,0.00,2.60,0.00,0.000,4,0.000,0.052,2734,644,3659,0,0,0,0,0,0
$GC,2473,-1.14,-146.0,252.3,-8.5,193,2477,0.00,2.42,0.00,0.000,6,0.000,0.030,2734,2191,3659,0,0,0,0,0,0
$GC,2728,-1.14,-146.0,273.8,-8.6,200,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2191,3658,0,0,0,0,0,0
$GC,2973,-1.14,-146.0,292.7,-7.3,206,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2191,3658,0,0,0,0,0,0
$GC,3215,-1.14,-146.0,311.5,-8.0,212,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2191,3657,0,0,0,0,0,0
$GC,3459,-1.19,-146.0,330.9,-7.8,218,3464,0.00,2.62,0.00,0.000,4,0.000,0.049,2734,3784,3656,0,0,0,0,0,0
$GC,3520,-1.24,-146.0,335.6,-8.1,219,3525,0.00,2.53,0.00,0.000,6,0.000,0.029,2734,2213,3656,0,0,0,0,0,0
$GC,3783,-1.29,-146.0,355.4,-7.8,226,3787,0.00,2.60,0.00,0.000,4,0.000,0.056,2734,3779,3654,0,0,0,0,0,0
$GC,3810,-1.34,-146.0,358.1,-9.8,226,3815,0.10,2.60,0.00,0.000,6,0.086,0.038,2696,2190,3654,0,0,0,0,0,0
$GC,4061,-1.34,-146.0,381.5,-9.2,232,4066,0.00,2.65,0.00,0.000,4,0.000,0.052,2697,3776,3652,0,0,0,0,0,0
$GC,4088,-1.34,-146.0,384.1,-8.9,232,4093,0.00,2.60,0.00,0.000,6,0.000,0.044,2696,2202,3652,0,0,0,0,0,0
$GC,4338,-1.34,-146.0,405.5,-8.6,238,4343,0.00,2.80,0.00,0.000,4,0.000,0.086,2696,624,3651,0,0,0,0,0,0
$GC,4361,-1.34,-146.0,407.7,-9.0,238,4366,0.00,2.58,0.00,0.000,6,0.000,0.046,2696,2188,3651,0,0,0,0,0,0
$GC,4617,-1.34,-146.0,430.4,-8.8,245,4621,0.00,2.72,0.00,0.000,4,0.000,0.061,2696,3801,3649,0,0,0,0,0,0
$GC,4632,-1.34,-146.0,432.0,-8.7,245,4637,0.00,2.62,0.00,0.000,6,0.000,0.041,2696,2219,3649,0,0,0,0,0,0
$GC,4895,-1.34,-146.0,453.5,-8.1,252,4900,0.00,2.92,0.00,0.000,4,0.000,0.100,2696,623,3647,0,0,0,0,0,0
$GC,4922,-1.34,-146.0,456.2,-9.6,252,4926,0.00,2.65,0.00,0.000,6,0.000,0.049,2696,2220,3647,0,0,0,0,0,0
$GC,5172,-1.34,-146.0,477.1,-8.4,258,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2220,3645,0,0,0,0,0,0
$GC,5416,-1.34,-146.0,498.3,-8.7,264,5420,0.00,2.75,0.00,0.000,4,0.000,0.071,2696,3801,3644,0,0,0,0,0,0
$GC,5456,-1.34,-146.0,502.1,-9.9,265,5461,0.00,2.67,0.00,0.000,6,0.000,0.051,2696,2223,3644,0,0,0,0,0,0
$GC,5739,-1.34,-146.0,528.0,-9.1,272,5744,0.00,3.00,0.00,0.000,4,0.000,0.111,2696,624,3642,0,0,0,0,0,0
$GC,5771,-1.34,-146.0,531.2,-10.0,272,5777,0.00,2.70,0.00,0.000,6,0.000,0.054,2696,2215,3642,0,0,0,0,0,0
$GC,6022,-1.34,-146.0,553.3,-8.8,279,6027,0.00,2.80,0.00,0.000,4,0.000,0.091,2696,3794,3641,0,0,0,0,0,0
$GC,6043,-1.34,-146.0,555.5,-9.6,279,6048,0.00,2.67,0.00,0.000,6,0.000,0.061,2696,2228,3640,0,0,0,0,0,0
$GC,6298,-1.34,-146.0,576.8,-8.3,286,6303,0.00,2.80,0.00,0.000,4,0.000,0.080,2696,3800,3639,0,0,0,0,0,0
$GC,6327,-1.34,-146.0,579.4,-8.8,286,6331,0.00,2.72,0.00,0.000,6,0.000,0.064,2696,2233,3638,0,0,0,0,0,0
$GC,6577,-1.34,-146.0,599.8,-8.0,292,6580,0.00,2.08,0.00,0.000,3,0.000,0.081,2696,3400,3637,0,0,0,0,0,0
$STATE,6581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6581,begin apogee
$GC,6589,-0.31,0.0,600.3,8.0,292,6710,1.02,0.00,117.55,1.022,6,0.074,0.000,2930,2370,3059,0,0,0,0,0,0
$STATE,6711,end apogee,CONTROL_FINISHED_OK
$STATE,6711,begin climb
$GC,6715,1.27,146.0,603.9,0.0,295,6851,1.48,3.00,124.15,0.995,4,0.039,0.093,3283,3940,2463,0,0,0,0,0,0
$GC,6898,1.11,146.0,591.5,12.8,299,6903,0.20,2.78,0.00,0.000,6,0.108,0.064,3243,2370,2458,0,0,0,0,0,0
$GC,7154,1.06,149.0,566.0,9.9,306,7159,0.00,2.85,0.00,0.000,4,0.000,0.079,3243,3941,2454,0,0,0,0,0,0
$GC,7198,1.00,149.0,561.0,11.6,307,7203,0.12,2.72,0.00,0.000,6,0.127,0.055,3218,2376,2453,0,0,0,0,0,0
$GC,7477,1.04,183.9,537.2,8.4,314,7515,0.00,0.00,33.00,0.951,6,0.000,0.000,3218,2376,2309,0,0,0,0,0,0
$GC,7760,1.04,187.5,510.2,9.8,321,7769,0.00,3.05,3.90,0.594,4,0.000,0.108,3218,781,2295,0,0,0,0,0,0
$GC,7809,1.04,187.5,505.0,10.3,322,7814,0.00,2.75,0.00,0.000,6,0.000,0.051,3218,2385,2294,0,0,0,0,0,0
$GC,8081,1.05,192.4,478.3,9.8,329,8092,0.00,2.70,6.10,0.751,4,0.000,0.066,3218,3934,2275,0,0,0,0,0,0
$GC,8103,1.05,193.0,476.1,10.0,329,8108,0.00,2.67,0.00,0.000,6,0.000,0.045,3218,2365,2274,0,0,0,0,0,0
$GC,8360,1.08,216.4,452.7,8.9,336,8384,0.00,0.00,22.75,0.906,6,0.000,0.000,3218,2365,2177,0,0,0,0,0,0
$GC,8603,1.12,216.4,428.8,10.0,342,8608,0.10,2.95,0.00,0.000,4,0.095,0.097,3244,777,2173,0,0,0,0,0,0
$GC,8647,1.12,216.4,423.4,11.3,343,8651,0.00,2.67,0.00,0.000,6,0.000,0.046,3244,2382,2171,0,0,0,0,0,0
$GC,8926,1.12,216.4,393.7,10.4,350,8931,0.00,2.80,0.00,0.000,4,0.000,0.070,3244,777,2170,0,0,0,0,0,0
$GC,8947,1.12,216.4,391.2,10.8,350,8952,0.00,2.62,0.00,0.000,6,0.000,0.034,3244,2372,2170,0,0,0,0,0,0
$GC,9202,1.12,216.4,364.5,10.5,357,9207,0.00,2.65,0.00,0.000,4,0.000,0.057,3244,3930,2169,0,0,0,0,0,0
$GC,9243,1.12,216.4,360.0,11.6,358,9248,0.00,2.58,0.00,0.000,6,0.000,0.031,3244,2368,2169,0,0,0,0,0,0
$GC,9526,1.12,219.3,331.7,9.9,365,9531,0.00,2.65,0.00,0.000,4,0.000,0.051,3244,3934,2169,0,0,0,0,0,0
$GC,9565,1.12,219.3,327.4,10.5,366,9569,0.00,2.55,0.00,0.000,6,0.000,0.029,3244,2373,2168,0,0,0,0,0,0
$GC,9849,1.13,223.4,300.0,9.8,373,9863,0.00,2.65,6.35,0.691,4,0.000,0.050,3244,3940,2148,0,0,0,0,0,0
$GC,9902,1.13,223.4,294.4,10.9,374,9907,0.00,2.55,0.00,0.000,6,0.000,0.035,3244,2383,2147,0,0,0,0,0,0
$GC,10175,1.13,223.4,267.1,10.1,381,10179,0.00,2.70,0.00,0.000,4,0.000,0.058,3244,784,2147,0,0,0,0,0,0
$GC,10215,1.16,223.4,263.1,11.2,382,10220,0.00,2.58,0.00,0.000,6,0.000,0.033,3244,2386,2146,0,0,0,0,0,0
$GC,10499,1.23,244.8,237.2,9.0,389,10525,0.10,2.65,19.52,0.754,4,0.093,0.050,3272,3933,2062,0,0,0,0,0,0
$GC,10542,1.23,244.8,232.6,10.4,390,10547,0.00,2.55,0.00,0.000,6,0.000,0.026,3272,2361,2061,0,0,0,0,0,0
$GC,10820,1.23,245.9,204.9,9.9,397,10824,0.00,2.62,0.00,0.000,4,0.000,0.048,3271,3923,2060,0,0,0,0,0,0
$GC,10869,1.23,245.9,199.0,11.7,398,10873,0.00,2.47,0.00,0.000,6,0.000,0.027,3272,2392,2058,0,0,0,0,0,0
$GC,11137,1.23,245.9,170.4,11.1,421,11141,0.00,2.58,0.00,0.000,4,0.000,0.048,3272,3932,2058,0,0,0,0,0,0
$GC,11158,1.23,245.9,167.1,11.5,422,11164,0.00,2.47,0.00,0.000,6,0.000,0.026,3272,2389,2058,0,0,0,0,0,0
$GC,11426,1.26,263.9,140.9,9.2,447,11451,0.00,2.67,17.88,0.645,4,0.000,0.047,3272,788,1982,0,0,0,0,0,0
$GC,11502,1.26,263.9,132.7,10.9,453,11506,0.00,2.58,0.00,0.000,6,0.000,0.024,3272,2397,1981,0,0,0,0,0,0
$GC,11770,1.34,301.3,108.2,8.3,477,11808,0.00,2.72,32.92,0.621,4,0.000,0.044,3272,787,1830,0,0,0,0,0,0
$GC,11837,1.38,301.3,101.0,10.5,482,11847,0.08,2.60,0.00,0.000,6,0.056,0.024,3301,2390,1828,0,0,0,0,0,0
$GC,12102,1.38,301.3,70.6,12.0,507,12106,0.00,2.53,0.00,0.000,4,0.000,0.042,3301,3929,1828,0,0,0,0,0,0
$GC,12135,1.38,301.3,66.8,11.5,509,12139,0.00,2.47,0.00,0.000,6,0.000,0.025,3300,2388,1826,0,0,0,0,0,0
$GC,12402,1.38,301.3,33.7,13.0,533,12410,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2388,1826,0,0,0,0,0,0
$STATE,12627,end climb,SURFACE_DEPTH_REACHED
$STATE,12627,begin surface coast
$FINISH,-0.3,1.023911
$STATE,12668,end surface coast,CONTROL_FINISHED_OK
$STATE,12668,begin surface
$SM_CCo,12691,62.53,0.529,0,0,1509,380.21
$SM_GC,0.30,0.00,0.00,62.53,0.000,0.000,0.529,471,2188,1509,-11.64,-0.62,380.21
$IRIDIUM_FIX,2251.04,-15758.45,110603,161653
$TT8_MAMPS,0.026078
$HUMID,60.00
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.00
$XPDR_PINGS,20
$24V_AH,23.3,5.552
$10V_AH,10.4,4.780
$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,26.325,173.300,384.125,62.525,0.000,51.820,75.675,453.692,5.000,0.000,12.275,1187.515,8846.002,560.181,2042.405,903.576,33.351,1379.070,0.000,2043.718,0.000,0.535,0.000
$DEVICE_MAMPS,130.390,111.215,1022.411,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.264,305.444,406.284,580.582,1104.216,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,44831,572
$CAP_FILE_SIZE,136626,0
$CFSIZE,260165632,177852416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170314,195745,2257.807,-15757.076,8,99.0,27,10.1