version: 66.06
glider: 146
mission: 9
dive: 136
start: 4 2 114 11 12 49
data:
$ID,146
$MISSION,9
$DIVE,136
$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,-326398.5
$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,31
$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
$GPS1,105937,2243.882,-15743.952,69,1.0,69,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-65.5
$GPS2,111155,2243.917,-15744.053,12,1.1,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,-0.152
$KALMAN_X,-88803.1,-80.0,5.0,108563.6,-380.4
$KALMAN_Y,74523.6,48.9,319.7,-84822.3,-164.8
$MHEAD_RNG_PITCHd_Wd,115.7,14536,-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,-88.72,0.000,6,0.000,0.000,463,2226,3657,0,0,0,0,0,0
$GC,116,-1.27,-146.0,4.1,-9.4,12,134,12.52,2.62,0.00,0.000,4,0.166,0.038,2719,626,3658,0,0,0,0,0,0
$GC,204,-1.15,-146.0,26.4,-13.0,24,214,0.12,2.50,0.00,0.000,6,0.088,0.020,2749,2208,3658,0,0,0,0,0,0
$GC,486,-1.15,-146.0,54.3,-10.0,51,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2210,3658,0,0,0,0,0,0
$GC,752,-1.10,-146.0,84.9,-10.9,76,756,0.00,2.55,0.00,0.000,4,0.000,0.035,2749,3785,3659,0,0,0,0,0,0
$GC,813,-1.10,-146.0,92.5,-11.3,80,824,0.00,2.53,0.00,0.000,6,0.000,0.021,2749,2209,3659,0,0,0,0,0,0
$GC,1081,-1.10,-146.0,119.6,-9.9,105,1085,0.00,2.58,0.00,0.000,4,0.000,0.044,2749,635,3659,0,0,0,0,0,0
$GC,1101,-1.10,-146.0,122.0,-10.4,106,1106,0.00,2.45,0.00,0.000,6,0.000,0.017,2749,2224,3659,0,0,0,0,0,0
$GC,1370,-1.10,-146.0,149.5,-10.3,130,1374,0.00,2.47,0.00,0.000,4,0.000,0.033,2749,3778,3659,0,0,0,0,0,0
$GC,1400,-1.10,-146.0,153.5,-11.0,132,1404,0.00,2.45,0.00,0.000,6,0.000,0.021,2749,2210,3659,0,0,0,0,0,0
$GC,1663,-1.10,-146.0,180.4,-10.3,156,1668,0.00,2.60,0.00,0.000,4,0.000,0.046,2749,633,3660,0,0,0,0,0,0
$GC,1710,-1.10,-146.0,184.6,-9.6,159,1714,0.00,2.45,0.00,0.000,6,0.000,0.018,2749,2217,3660,0,0,0,0,0,0
$GC,1974,-1.10,-146.0,207.7,-8.0,183,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2218,3660,0,0,0,0,0,0
$GC,2239,-1.10,-146.0,229.5,-8.2,208,2243,0.00,2.60,0.00,0.000,4,0.000,0.048,2749,635,3660,0,0,0,0,0,0
$GC,2307,-1.10,-146.0,236.1,-9.8,213,2316,0.00,2.45,0.00,0.000,6,0.000,0.018,2749,2198,3660,0,0,0,0,0,0
$GC,2574,-1.14,-146.0,261.1,-9.1,238,2579,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2198,3660,0,0,0,0,0,0
$GC,2839,-1.21,-146.0,282.7,-7.4,263,2843,0.00,2.58,0.00,0.000,4,0.000,0.043,2749,3780,3660,0,0,0,0,0,0
$GC,2890,-1.28,-146.0,286.7,-7.6,267,2896,0.12,2.50,0.00,0.000,6,0.067,0.023,2699,2193,3660,0,0,0,0,0,0
$GC,3151,-1.28,-146.0,307.9,-8.8,291,3156,0.12,2.67,0.00,0.000,4,0.102,0.067,2726,628,3660,0,0,0,0,0,0
$GC,3173,-1.28,-146.0,309.5,-8.8,292,3178,0.00,2.45,0.00,0.000,6,0.000,0.035,2726,2170,3660,0,0,0,0,0,0
$GC,3441,-1.28,-146.0,329.4,-7.0,316,3446,0.00,2.70,0.00,0.000,4,0.000,0.051,2726,3786,3659,0,0,0,0,0,0
$GC,3463,-1.28,-146.0,331.7,-7.8,317,3468,0.00,2.60,0.00,0.000,6,0.000,0.029,2726,2177,3659,0,0,0,0,0,0
$GC,3726,-1.28,-146.0,352.1,-8.0,342,3730,0.00,2.70,0.00,0.000,4,0.000,0.048,2726,3790,3658,0,0,0,0,0,0
$GC,3760,-1.28,-146.0,355.2,-9.0,344,3766,0.00,2.58,0.00,0.000,6,0.000,0.030,2726,2189,3658,0,0,0,0,0,0
$GC,4023,-1.32,-146.0,375.0,-7.0,369,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2189,3656,0,0,0,0,0,0
$GC,4277,-1.32,-146.0,393.1,-7.1,393,4281,0.00,2.67,0.00,0.000,4,0.000,0.053,2726,3782,3655,0,0,0,0,0,0
$GC,4299,-1.32,-146.0,394.9,-7.9,394,4305,0.00,2.62,0.00,0.000,6,0.000,0.037,2726,2187,3655,0,0,0,0,0,0
$GC,4564,-1.36,-146.0,413.5,-7.0,419,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2187,3653,0,0,0,0,0,0
$GC,4827,-1.40,-146.0,432.5,-7.4,444,4832,0.12,2.72,0.00,0.000,4,0.071,0.057,2677,3787,3651,0,0,0,0,0,0
$GC,4905,-1.36,-146.0,439.8,-10.0,450,4910,0.15,2.62,0.00,0.000,6,0.096,0.041,2710,2191,3651,0,0,0,0,0,0
$GC,5166,-1.36,-146.0,459.2,-6.8,474,5170,0.00,2.72,0.00,0.000,4,0.000,0.065,2710,3789,3649,0,0,0,0,0,0
$GC,5188,-1.36,-146.0,460.4,-7.3,475,5192,0.00,2.67,0.00,0.000,6,0.000,0.049,2710,2184,3649,0,0,0,0,0,0
$GC,5455,-1.36,-146.0,479.7,-7.4,499,5460,0.00,2.85,0.00,0.000,4,0.000,0.101,2710,627,3647,0,0,0,0,0,0
$GC,5500,-1.36,-146.0,483.4,-8.1,502,5505,0.00,2.60,0.00,0.000,6,0.000,0.045,2710,2189,3646,0,0,0,0,0,0
$GC,5768,-1.36,-146.0,504.9,-8.3,526,5772,0.00,2.75,0.00,0.000,4,0.000,0.064,2710,3794,3645,0,0,0,0,0,0
$GC,5800,-1.36,-146.0,508.5,-9.5,528,5810,0.00,2.70,0.00,0.000,6,0.000,0.048,2710,2199,3645,0,0,0,0,0,0
$GC,6068,-1.36,-146.0,531.1,-9.0,553,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2199,3643,0,0,0,0,0,0
$GC,6331,-1.36,-146.0,555.0,-9.5,578,6335,0.00,2.83,0.00,0.000,4,0.000,0.073,2710,3801,3642,0,0,0,0,0,0
$GC,6457,-1.36,-146.0,568.0,-10.6,588,6466,0.00,2.80,0.00,0.000,6,0.000,0.057,2710,2185,3641,0,0,0,0,0,0
$GC,6724,-1.39,-146.0,591.3,-8.2,613,6729,0.00,2.85,0.00,0.000,4,0.000,0.087,2710,3793,3640,0,0,0,0,0,0
$GC,6769,-1.39,-146.0,595.1,-8.1,616,6774,0.00,2.80,0.00,0.000,6,0.000,0.064,2710,2185,3639,0,0,0,0,0,0
$STATE,6826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6826,begin apogee
$GC,6832,-0.31,0.0,600.2,7.5,621,6954,1.00,0.00,118.82,1.007,6,0.070,0.000,2937,2384,3060,0,0,0,0,0,0
$STATE,6955,end apogee,CONTROL_FINISHED_OK
$STATE,6955,begin climb
$GC,6958,1.27,146.0,602.2,0.0,624,7100,1.42,2.88,124.22,0.979,4,0.035,0.081,3290,3922,2462,0,0,0,0,0,0
$GC,7148,1.12,146.0,585.5,13.6,635,7153,0.20,2.72,0.00,0.000,6,0.108,0.057,3249,2365,2458,0,0,0,0,0,0
$GC,7409,1.07,146.0,557.3,10.3,659,7413,0.00,2.75,0.00,0.000,4,0.000,0.066,3249,3928,2454,0,0,0,0,0,0
$GC,7441,0.99,146.0,554.1,11.4,661,7446,0.15,2.65,0.00,0.000,6,0.114,0.045,3219,2375,2453,0,0,0,0,0,0
$GC,7706,1.03,171.5,530.0,8.8,685,7741,0.00,2.83,22.00,0.916,4,0.000,0.065,3219,3937,2359,0,0,0,0,0,0
$GC,7779,1.03,171.5,522.8,11.0,691,7783,0.00,2.65,0.00,0.000,6,0.000,0.045,3219,2389,2357,0,0,0,0,0,0
$GC,8047,1.06,202.7,497.9,8.6,715,8081,0.00,3.17,28.30,0.915,4,0.000,0.119,3218,781,2233,0,0,0,0,0,0
$GC,8157,1.10,202.7,487.6,10.3,724,8163,0.10,2.70,0.00,0.000,6,0.087,0.050,3250,2378,2230,0,0,0,0,0,0
$GC,8422,1.10,202.7,459.9,10.8,748,8426,0.00,2.65,0.00,0.000,4,0.000,0.056,3250,3938,2228,0,0,0,0,0,0
$GC,8443,1.10,202.7,456.9,11.2,749,8449,0.00,2.62,0.00,0.000,6,0.000,0.033,3250,2353,2227,0,0,0,0,0,0
$GC,8707,1.10,202.7,427.2,11.8,774,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2354,2227,0,0,0,0,0,0
$GC,8958,1.10,202.7,399.3,10.6,798,8963,0.00,2.67,0.00,0.000,4,0.000,0.046,3250,3939,2226,0,0,0,0,0,0
$GC,8987,1.10,202.7,396.2,11.4,800,8992,0.00,2.58,0.00,0.000,6,0.000,0.029,3250,2371,2225,0,0,0,0,0,0
$GC,9251,1.11,207.2,370.3,9.8,824,9262,0.00,2.80,4.18,0.591,4,0.000,0.071,3250,781,2215,0,0,0,0,0,0
$GC,9286,1.11,207.2,366.4,11.3,827,9291,0.00,2.60,0.00,0.000,6,0.000,0.034,3250,2388,2214,0,0,0,0,0,0
$GC,9550,1.13,225.3,342.1,9.2,851,9575,0.00,2.60,17.77,0.825,4,0.000,0.046,3250,3927,2140,0,0,0,0,0,0
$GC,9613,1.13,225.3,336.1,11.0,856,9617,0.00,2.55,0.00,0.000,6,0.000,0.029,3250,2378,2137,0,0,0,0,0,0
$GC,9881,1.14,237.9,310.1,9.4,880,9902,0.00,2.83,12.07,0.773,4,0.000,0.061,3250,783,2088,0,0,0,0,0,0
$GC,9930,1.14,237.9,304.4,10.3,884,9936,0.00,2.60,0.00,0.000,6,0.000,0.025,3250,2390,2087,0,0,0,0,0,0
$GC,10193,1.16,254.5,278.0,9.2,909,10211,0.00,0.00,15.80,0.765,6,0.000,0.000,3250,2390,2022,0,0,0,0,0,0
$GC,10469,1.23,268.7,252.2,9.3,935,10490,0.00,0.00,13.98,0.732,6,0.000,0.000,3250,2390,1963,0,0,0,0,0,0
$GC,10749,1.29,268.7,222.8,10.5,961,10754,0.15,2.58,0.00,0.000,4,0.067,0.042,3295,3934,1960,0,0,0,0,0,0
$GC,10766,1.29,268.7,220.0,11.2,962,10770,0.00,2.47,0.00,0.000,6,0.000,0.025,3295,2391,1959,0,0,0,0,0,0
$GC,11029,1.29,268.7,185.8,12.9,986,11034,0.00,2.65,0.00,0.000,4,0.000,0.048,3295,781,1959,0,0,0,0,0,0
$GC,11075,1.29,268.7,178.9,13.5,989,11081,0.00,2.58,0.00,0.000,6,0.000,0.023,3295,2403,1958,0,0,0,0,0,0
$GC,11344,1.29,268.7,143.4,13.2,1014,11349,0.00,2.50,0.00,0.000,4,0.000,0.039,3295,3932,1958,0,0,0,0,0,0
$GC,11402,1.29,268.7,135.1,13.1,1018,11407,0.00,2.45,0.00,0.000,6,0.000,0.023,3295,2401,1958,0,0,0,0,0,0
$GC,11670,1.29,268.7,102.7,12.0,1042,11674,0.00,2.65,0.00,0.000,4,0.000,0.045,3295,789,1958,0,0,0,0,0,0
$GC,11692,1.29,268.7,99.9,11.7,1043,11696,0.00,2.53,0.00,0.000,6,0.000,0.021,3295,2412,1958,0,0,0,0,0,0
$GC,11959,1.29,268.7,69.0,11.5,1067,11963,0.00,2.45,0.00,0.000,4,0.000,0.039,3295,3924,1958,0,0,0,0,0,0
$GC,11994,1.29,268.7,64.5,12.8,1069,11998,0.00,2.42,0.00,0.000,6,0.000,0.023,3295,2403,1958,0,0,0,0,0,0
$GC,12261,1.29,268.7,31.9,13.5,1093,12270,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2403,1959,0,0,0,0,0,0
$STATE,12480,end climb,SURFACE_DEPTH_REACHED
$STATE,12480,begin surface coast
$FINISH,-0.1,1.024164
$STATE,12523,end surface coast,CONTROL_FINISHED_OK
$STATE,12523,begin surface
$SM_CCo,12544,89.72,0.527,0,0,1510,380.21
$SM_GC,0.43,0.00,0.00,89.72,0.000,0.000,0.527,464,2200,1510,-11.68,-0.28,380.21
$IRIDIUM_FIX,2234.68,-15745.45,270603,111117
$TT8_MAMPS,0.026078
$HUMID,61.38
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.50
$XPDR_PINGS,20
$24V_AH,23.4,19.189
$10V_AH,10.4,17.651
$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,27.500,164.025,357.150,89.725,0.000,54.218,72.695,364.470,5.000,0.000,13.822,1964.525,6013.343,564.441,3869.768,945.163,33.358,1693.194,0.000,3896.395,0.000,0.535,0.000
$DEVICE_MAMPS,165.672,118.885,1007.071,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,777.054,906.636,1153.833,1409.281,2683.204,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355368
$DATA_FILE_SIZE,92015,1131
$CAP_FILE_SIZE,155064,0
$CFSIZE,260165632,171257856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020414,144530,2242.617,-15743.422,85,1.4,85,10.1