version: 66.06
glider: 146
mission: 9
dive: 144
start: 4 3 114 19 0 1
data:
$ID,146
$MISSION,9
$DIVE,144
$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,-326573.97
$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,72
$R_STBD_OVSHOOT,37
$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
$GPS1,183524,2238.930,-15741.354,47,1.8,47,10.1
$_CALLS,4
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-63.8
$GPS2,185907,2238.935,-15741.692,12,1.8,12,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.258,-0.028
$KALMAN_X,-106129.9,-373.5,-386.7,130611.1,-1376.5
$KALMAN_Y,74087.0,-91.0,-133.3,-93029.8,167.9
$MHEAD_RNG_PITCHd_Wd,86.0,6672,-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,15,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,151,0.00,0.00,-126.65,0.000,6,0.000,0.000,461,2163,3655,0,0,0,0,0,0
$GC,155,-1.27,-146.0,4.6,-12.0,17,173,12.57,2.45,0.00,0.000,4,0.166,0.037,2719,659,3656,0,0,0,0,0,0
$GC,185,0.04,-146.0,18.1,-40.2,20,195,1.33,2.45,0.00,0.000,6,0.088,0.016,3006,2234,3657,0,0,0,0,0,0
$GC,492,-0.57,-146.0,41.1,-8.7,58,497,0.52,2.50,0.00,0.000,4,0.050,0.037,2870,3767,3656,0,0,0,0,0,0
$GC,551,-0.96,-146.0,45.9,-7.1,62,556,0.32,2.40,0.00,0.000,6,0.035,0.018,2765,2224,3656,0,0,0,0,0,0
$GC,820,-0.96,-146.0,70.8,-9.8,86,825,0.12,2.60,0.00,0.000,4,0.100,0.043,2793,647,3657,0,0,0,0,0,0
$GC,916,-1.06,-146.0,80.3,-8.8,93,921,0.00,2.38,0.00,0.000,6,0.000,0.018,2793,2197,3656,0,0,0,0,0,0
$GC,1186,-1.13,-146.0,103.7,-9.3,117,1195,0.15,0.00,0.00,0.000,6,0.057,0.000,2734,2198,3656,0,0,0,0,0,0
$GC,1453,-1.08,-146.0,134.3,-11.4,142,1458,0.15,2.55,0.00,0.000,4,0.094,0.034,2767,3779,3656,0,0,0,0,0,0
$GC,1476,-1.08,-146.0,137.7,-11.5,143,1486,0.00,2.50,0.00,0.000,6,0.000,0.020,2767,2207,3656,0,0,0,0,0,0
$GC,1740,-1.08,-146.0,161.8,-8.7,168,1745,0.00,2.58,0.00,0.000,4,0.000,0.046,2768,641,3656,0,0,0,0,0,0
$GC,1794,-1.13,-146.0,166.6,-8.4,172,1798,0.00,2.38,0.00,0.000,6,0.000,0.017,2767,2193,3655,0,0,0,0,0,0
$GC,2058,-1.18,-146.0,187.0,-7.6,196,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2193,3655,0,0,0,0,0,0
$GC,2323,-1.23,-146.0,208.4,-8.9,221,2328,0.15,0.00,0.00,0.000,6,0.058,0.000,2707,2193,3655,0,0,0,0,0,0
$GC,2586,-1.17,-146.0,238.9,-10.8,246,2591,0.17,2.58,0.00,0.000,4,0.087,0.038,2746,3767,3655,0,0,0,0,0,0
$GC,2608,-1.17,-146.0,241.0,-11.0,247,2612,0.00,2.47,0.00,0.000,6,0.000,0.021,2746,2187,3655,0,0,0,0,0,0
$GC,2877,-1.21,-146.0,264.5,-8.0,271,2881,0.00,2.58,0.00,0.000,4,0.000,0.054,2745,633,3655,0,0,0,0,0,0
$GC,2909,-1.27,-146.0,267.7,-8.4,273,2919,0.00,2.45,0.00,0.000,6,0.000,0.030,2745,2174,3655,0,0,0,0,0,0
$GC,3177,-1.31,-146.0,289.4,-7.6,298,3183,0.12,2.65,0.00,0.000,4,0.067,0.044,2695,3786,3654,0,0,0,0,0,0
$GC,3211,-1.26,-146.0,293.0,-9.3,300,3221,0.10,2.58,0.00,0.000,6,0.072,0.023,2723,2191,3654,0,0,0,0,0,0
$GC,3479,-1.26,-146.0,315.0,-8.3,325,3483,0.00,2.62,0.00,0.000,4,0.000,0.044,2722,3776,3653,0,0,0,0,0,0
$GC,3511,-1.26,-146.0,318.6,-8.9,327,3521,0.00,2.55,0.00,0.000,6,0.000,0.027,2722,2203,3653,0,0,0,0,0,0
$GC,3779,-1.26,-146.0,339.9,-8.2,352,3784,0.00,2.72,0.00,0.000,4,0.000,0.071,2722,628,3652,0,0,0,0,0,0
$GC,3822,-1.26,-146.0,343.8,-9.2,355,3827,0.00,2.47,0.00,0.000,6,0.000,0.037,2723,2178,3652,0,0,0,0,0,0
$GC,4090,-1.26,-146.0,365.2,-8.3,379,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2178,3650,0,0,0,0,0,0
$GC,4352,-1.26,-146.0,387.4,-8.0,404,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2178,3648,0,0,0,0,0,0
$GC,4608,-1.26,-146.0,407.6,-7.9,428,4612,0.00,2.72,0.00,0.000,4,0.000,0.055,2722,3794,3646,0,0,0,0,0,0
$GC,4653,-1.30,-146.0,411.2,-7.5,431,4659,0.00,2.62,0.00,0.000,6,0.000,0.036,2722,2188,3646,0,0,0,0,0,0
$GC,4917,-1.34,-146.0,430.2,-7.5,456,4922,0.00,2.67,0.00,0.000,4,0.000,0.057,2722,3785,3644,0,0,0,0,0,0
$GC,4973,-1.38,-146.0,434.8,-8.5,460,4978,0.00,2.62,0.00,0.000,6,0.000,0.047,2722,2193,3644,0,0,0,0,0,0
$GC,5240,-1.43,-146.0,454.2,-6.9,484,5246,0.12,2.83,0.00,0.000,4,0.067,0.094,2672,627,3642,0,0,0,0,0,0
$GC,5288,-1.38,-146.0,459.0,-9.9,487,5294,0.15,2.58,0.00,0.000,6,0.097,0.041,2705,2179,3642,0,0,0,0,0,0
$GC,5551,-1.38,-146.0,478.1,-7.2,512,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2180,3639,0,0,0,0,0,0
$GC,5805,-1.38,-146.0,495.1,-6.2,536,5807,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2179,3638,0,0,0,0,0,0
$GC,6059,-1.38,-146.0,512.0,-6.5,560,6064,0.00,2.78,0.00,0.000,4,0.000,0.065,2705,3796,3636,0,0,0,0,0,0
$GC,6094,-1.38,-146.0,513.9,-7.2,562,6098,0.00,2.67,0.00,0.000,6,0.000,0.043,2705,2193,3636,0,0,0,0,0,0
$GC,6360,-1.38,-146.0,531.6,-6.6,586,6365,0.00,2.78,0.00,0.000,4,0.000,0.064,2705,3797,3635,0,0,0,0,0,0
$GC,6413,-1.38,-146.0,535.8,-7.3,590,6418,0.00,2.67,0.00,0.000,6,0.000,0.048,2705,2210,3634,0,0,0,0,0,0
$GC,6676,-1.38,-146.0,554.6,-7.1,614,6681,0.00,2.78,0.00,0.000,4,0.000,0.077,2705,3793,3632,0,0,0,0,0,0
$GC,6745,-1.38,-146.0,559.8,-8.2,619,6749,0.00,2.67,0.00,0.000,6,0.000,0.060,2705,2214,3632,0,0,0,0,0,0
$GC,7011,-1.38,-146.0,579.4,-7.4,643,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2214,3630,0,0,0,0,0,0
$GC,7274,-1.38,-146.0,597.7,-7.0,668,7278,0.00,2.83,0.00,0.000,4,0.000,0.087,2705,3790,3629,0,0,0,0,0,0
$STATE,7305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7305,begin apogee
$GC,7314,-0.31,0.0,600.4,7.6,670,7434,1.00,0.00,116.78,1.010,6,0.071,0.000,2934,2372,3060,0,0,0,0,0,0
$STATE,7436,end apogee,CONTROL_FINISHED_OK
$STATE,7436,begin climb
$GC,7438,1.27,146.0,601.9,0.0,673,7573,1.42,3.10,125.82,0.982,4,0.034,0.112,3288,783,2463,0,0,0,0,0,0
$GC,7582,1.14,146.0,592.3,10.7,680,7589,0.17,2.80,0.00,0.000,6,0.108,0.064,3254,2367,2460,0,0,0,0,0,0
$GC,7847,1.08,147.0,565.4,9.9,705,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2367,2454,0,0,0,0,0,0
$GC,8112,1.06,170.3,540.5,8.9,730,8139,0.00,2.80,21.17,0.920,4,0.000,0.070,3254,3935,2364,0,0,0,0,0,0
$GC,8227,1.00,170.3,529.2,10.6,739,8232,0.15,2.67,0.00,0.000,6,0.120,0.047,3224,2356,2361,0,0,0,0,0,0
$GC,8493,1.07,224.0,507.6,7.5,763,8544,0.00,0.00,48.28,0.934,6,0.000,0.000,3224,2356,2146,0,0,0,0,0,0
$GC,8795,1.15,252.9,481.2,8.7,792,8825,0.12,0.00,25.77,0.898,6,0.076,0.000,3261,2356,2029,0,0,0,0,0,0
$GC,9079,1.15,252.9,448.6,11.4,819,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2355,2023,0,0,0,0,0,0
$GC,9335,1.15,252.9,416.4,13.5,843,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2356,2021,0,0,0,0,0,0
$GC,9589,1.15,252.9,383.4,13.0,867,9594,0.00,2.70,0.00,0.000,4,0.000,0.048,3260,3954,2020,0,0,0,0,0,0
$GC,9635,1.15,252.9,377.0,14.1,870,9644,0.00,2.67,0.00,0.000,6,0.000,0.030,3261,2347,2019,0,0,0,0,0,0
$GC,9901,1.15,252.9,343.6,12.1,895,9905,0.00,2.70,0.00,0.000,4,0.000,0.067,3261,782,2019,0,0,0,0,0,0
$GC,9922,1.15,252.9,340.0,13.3,896,9928,0.00,2.58,0.00,0.000,6,0.000,0.030,3261,2381,2017,0,0,0,0,0,0
$GC,10186,1.15,252.9,309.1,12.0,921,10191,0.00,2.72,0.00,0.000,4,0.000,0.057,3261,781,2018,0,0,0,0,0,0
$GC,10226,1.15,252.9,303.9,12.5,924,10230,0.00,2.53,0.00,0.000,6,0.000,0.031,3261,2354,2017,0,0,0,0,0,0
$GC,10490,1.15,252.9,274.3,10.6,948,10494,0.00,2.62,0.00,0.000,4,0.000,0.046,3260,3935,2016,0,0,0,0,0,0
$GC,10546,1.15,252.9,268.3,10.9,952,10550,0.00,2.55,0.00,0.000,6,0.000,0.025,3261,2342,2016,0,0,0,0,0,0
$GC,10814,1.18,278.8,243.3,8.8,976,10849,0.00,2.70,21.98,0.749,4,0.000,0.052,3261,792,1921,0,0,0,0,0,0
$GC,10896,1.22,278.8,234.5,10.6,983,10900,0.00,2.47,0.00,0.000,6,0.000,0.023,3261,2349,1920,0,0,0,0,0,0
$GC,11160,1.27,278.8,208.0,10.4,1007,11165,0.00,2.60,0.00,0.000,4,0.000,0.042,3261,3927,1919,0,0,0,0,0,0
$GC,11236,1.33,278.8,198.7,12.0,1013,11241,0.12,2.53,0.00,0.000,6,0.076,0.025,3299,2353,1917,0,0,0,0,0,0
$GC,11502,1.33,278.8,166.0,12.0,1037,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2353,1918,0,0,0,0,0,0
$GC,11768,1.33,278.8,136.5,10.6,1062,11772,0.00,2.58,0.00,0.000,4,0.000,0.046,3299,786,1917,0,0,0,0,0,0
$GC,11791,1.33,278.8,133.5,10.7,1063,11801,0.00,2.47,0.00,0.000,6,0.000,0.021,3299,2346,1917,0,0,0,0,0,0
$GC,12059,1.33,278.8,103.7,12.0,1088,12063,0.00,2.58,0.00,0.000,4,0.000,0.040,3299,3923,1917,0,0,0,0,0,0
$GC,12092,1.33,278.8,99.0,13.0,1090,12096,0.00,2.53,0.00,0.000,6,0.000,0.025,3299,2344,1917,0,0,0,0,0,0
$GC,12361,1.33,278.8,67.2,11.6,1114,12365,0.00,2.60,0.00,0.000,4,0.000,0.043,3299,3927,1917,0,0,0,0,0,0
$GC,12420,1.33,278.8,58.6,12.5,1118,12430,0.00,2.53,0.00,0.000,6,0.000,0.025,3299,2364,1917,0,0,0,0,0,0
$GC,12689,1.33,278.8,29.5,11.1,1143,12698,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2364,1918,0,0,0,0,0,0
$STATE,12910,end climb,SURFACE_DEPTH_REACHED
$STATE,12910,begin surface coast
$FINISH,-0.1,1.023903
$STATE,12954,end surface coast,CONTROL_FINISHED_OK
$STATE,12954,begin surface
$SM_CCo,12977,81.18,0.522,0,0,1509,380.21
$SM_GC,0.42,0.00,0.00,81.18,0.000,0.000,0.522,465,2165,1509,-11.68,-1.27,380.21
$IRIDIUM_FIX,2230.01,-15743.29,280603,191949
$TT8_MAMPS,0.026078
$HUMID,61.10
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.70
$XPDR_PINGS,19
$24V_AH,23.4,20.543
$10V_AH,10.3,19.595
$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,30.350,146.425,359.800,81.175,0.000,114.999,154.714,768.325,4.750,0.000,13.629,2028.712,6262.427,577.334,4074.728,1524.969,33.361,1736.205,0.000,4112.756,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,111.982,1010.139,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,811.503,948.346,1206.352,1520.800,2896.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355344
$DATA_FILE_SIZE,98459,1182
$CAP_FILE_SIZE,166072,0
$CFSIZE,260165632,170541056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030414,223900,2238.994,-15740.927,39,1.2,39,10.1