version: 66.06
glider: 146
mission: 9
dive: 145
start: 4 3 114 22 49 51
data:
$ID,146
$MISSION,9
$DIVE,145
$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,-326591.72
$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,73
$R_STBD_OVSHOOT,41
$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
$GPS1,223900,2238.994,-15740.927,39,1.2,39,10.1
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-68.8
$GPS2,224855,2238.975,-15741.042,15,1.2,15,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.258,-0.030
$KALMAN_X,-108206.9,-497.6,-153.7,133679.5,-905.1
$KALMAN_Y,74175.5,-49.3,132.6,-93351.9,82.6
$MHEAD_RNG_PITCHd_Wd,86.6,5576,-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,15,-1.27,-146.0,0.0,0.0,0,112,0.00,0.00,-88.30,0.000,6,0.000,0.000,465,2165,3654,0,0,0,0,0,0
$GC,116,-1.27,-146.0,4.8,-12.0,12,134,12.73,2.42,0.00,0.000,4,0.168,0.032,2718,661,3655,0,0,0,0,0,0
$GC,217,-1.16,-146.0,32.6,-15.3,26,227,0.10,2.45,0.00,0.000,6,0.097,0.020,2742,2214,3657,0,0,0,0,0,0
$GC,486,-1.11,-146.0,63.4,-11.0,51,490,0.00,2.53,0.00,0.000,4,0.000,0.041,2743,668,3657,0,0,0,0,0,0
$GC,532,-1.11,-146.0,68.8,-10.4,54,536,0.00,2.38,0.00,0.000,6,0.000,0.017,2743,2214,3656,0,0,0,0,0,0
$GC,800,-1.11,-146.0,95.7,-9.6,78,804,0.00,2.50,0.00,0.000,4,0.000,0.038,2743,3772,3657,0,0,0,0,0,0
$GC,823,-1.11,-146.0,98.9,-10.3,79,834,0.00,2.47,0.00,0.000,6,0.000,0.020,2742,2224,3657,0,0,0,0,0,0
$GC,1092,-1.11,-146.0,123.2,-8.8,104,1096,0.00,2.58,0.00,0.000,4,0.000,0.044,2742,639,3657,0,0,0,0,0,0
$GC,1125,-1.07,-146.0,126.5,-9.7,106,1130,0.12,2.38,0.00,0.000,6,0.115,0.023,2768,2188,3657,0,0,0,0,0,0
$GC,1394,-1.07,-146.0,146.8,-7.1,130,1399,0.00,2.53,0.00,0.000,4,0.000,0.043,2768,639,3658,0,0,0,0,0,0
$GC,1428,-1.07,-146.0,149.7,-7.4,132,1432,0.00,2.38,0.00,0.000,6,0.000,0.025,2768,2178,3658,0,0,0,0,0,0
$GC,1693,-1.11,-146.0,169.5,-7.6,156,1697,0.00,2.50,0.00,0.000,4,0.000,0.043,2768,641,3658,0,0,0,0,0,0
$GC,1715,-1.15,-146.0,171.6,-8.1,157,1721,0.00,2.38,0.00,0.000,6,0.000,0.017,2768,2179,3658,0,0,0,0,0,0
$GC,1979,-1.20,-146.0,192.5,-7.6,182,1989,0.12,0.00,0.00,0.000,6,0.067,0.000,2715,2179,3658,0,0,0,0,0,0
$GC,2242,-1.15,-146.0,220.5,-11.0,207,2248,0.17,2.58,0.00,0.000,4,0.090,0.038,2753,3768,3658,0,0,0,0,0,0
$GC,2300,-1.21,-146.0,226.1,-10.4,211,2304,0.00,2.50,0.00,0.000,6,0.000,0.021,2753,2186,3658,0,0,0,0,0,0
$GC,2567,-1.25,-146.0,248.3,-7.5,235,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2186,3658,0,0,0,0,0,0
$GC,2831,-1.29,-146.0,266.6,-7.2,260,2836,0.15,2.58,0.00,0.000,4,0.060,0.054,2697,641,3658,0,0,0,0,0,0
$GC,2866,-1.24,-146.0,269.9,-8.9,262,2872,0.17,2.42,0.00,0.000,6,0.092,0.023,2735,2182,3658,0,0,0,0,0,0
$GC,3130,-1.24,-146.0,291.5,-8.5,287,3134,0.00,2.60,0.00,0.000,4,0.000,0.041,2734,3779,3657,0,0,0,0,0,0
$GC,3163,-1.24,-146.0,294.7,-8.5,289,3169,0.00,2.50,0.00,0.000,6,0.000,0.022,2735,2198,3657,0,0,0,0,0,0
$GC,3427,-1.24,-146.0,316.8,-8.2,314,3432,0.00,2.65,0.00,0.000,4,0.000,0.066,2735,637,3657,0,0,0,0,0,0
$GC,3444,-1.24,-146.0,318.4,-8.0,315,3449,0.00,2.42,0.00,0.000,6,0.000,0.026,2735,2174,3657,0,0,0,0,0,0
$GC,3709,-1.28,-146.0,340.3,-8.0,339,3713,0.00,2.65,0.00,0.000,4,0.000,0.051,2735,3784,3655,0,0,0,0,0,0
$GC,3731,-1.32,-146.0,341.8,-7.8,340,3736,0.00,2.55,0.00,0.000,6,0.000,0.035,2735,2189,3655,0,0,0,0,0,0
$GC,3998,-1.37,-146.0,362.5,-8.2,364,4003,0.12,0.00,0.00,0.000,6,0.069,0.000,2684,2189,3654,0,0,0,0,0,0
$GC,4263,-1.32,-146.0,386.8,-9.0,389,4268,0.15,2.72,0.00,0.000,4,0.096,0.077,2717,630,3653,0,0,0,0,0,0
$GC,4304,-1.32,-146.0,390.7,-8.8,392,4308,0.00,2.50,0.00,0.000,6,0.000,0.033,2717,2168,3653,0,0,0,0,0,0
$GC,4568,-1.32,-146.0,411.4,-8.0,416,4572,0.00,2.70,0.00,0.000,4,0.000,0.053,2717,3791,3651,0,0,0,0,0,0
$GC,4643,-1.32,-146.0,418.0,-8.8,422,4647,0.00,2.62,0.00,0.000,6,0.000,0.038,2717,2187,3650,0,0,0,0,0,0
$GC,4907,-1.32,-146.0,438.7,-8.0,446,4911,0.00,2.70,0.00,0.000,4,0.000,0.051,2717,3790,3649,0,0,0,0,0,0
$GC,4963,-1.32,-146.0,443.9,-8.8,450,4972,0.00,2.67,0.00,0.000,6,0.000,0.041,2717,2197,3649,0,0,0,0,0,0
$GC,5231,-1.32,-146.0,467.6,-8.8,475,5236,0.00,2.88,0.00,0.000,4,0.000,0.097,2717,619,3647,0,0,0,0,0,0
$GC,5274,-1.32,-146.0,471.7,-9.4,478,5279,0.00,2.60,0.00,0.000,6,0.000,0.043,2717,2184,3646,0,0,0,0,0,0
$GC,5543,-1.32,-146.0,493.1,-7.2,502,5547,0.00,2.75,0.00,0.000,4,0.000,0.061,2717,3797,3645,0,0,0,0,0,0
$GC,5586,-1.32,-146.0,496.7,-7.9,505,5590,0.00,2.65,0.00,0.000,6,0.000,0.044,2716,2190,3645,0,0,0,0,0,0
$GC,5854,-1.35,-146.0,515.7,-6.9,529,5859,0.00,2.78,0.00,0.000,4,0.000,0.067,2716,3799,3643,0,0,0,0,0,0
$GC,5871,-1.35,-146.0,517.4,-7.2,530,5875,0.00,2.67,0.00,0.000,6,0.000,0.043,2717,2198,3643,0,0,0,0,0,0
$GC,6134,-1.40,-146.0,535.1,-6.7,554,6139,0.00,2.75,0.00,0.000,4,0.000,0.070,2717,3798,3642,0,0,0,0,0,0
$GC,6202,-1.44,-146.0,539.8,-7.3,559,6208,0.12,2.70,0.00,0.000,6,0.071,0.051,2671,2212,3642,0,0,0,0,0,0
$GC,6469,-1.40,-146.0,562.5,-8.9,583,6475,0.12,2.80,0.00,0.000,4,0.100,0.079,2698,3791,3640,0,0,0,0,0,0
$GC,6487,-1.40,-146.0,564.4,-8.4,584,6491,0.00,2.72,0.00,0.000,6,0.000,0.061,2699,2197,3640,0,0,0,0,0,0
$GC,6749,-1.40,-146.0,584.4,-7.6,608,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2197,3638,0,0,0,0,0,0
$STATE,6979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6979,begin apogee
$GC,6986,-0.31,0.0,600.3,6.3,630,7108,1.05,0.00,118.38,1.007,6,0.070,0.000,2937,2378,3060,0,0,0,0,0,0
$STATE,7110,end apogee,CONTROL_FINISHED_OK
$STATE,7111,begin climb
$GC,7113,1.27,146.0,601.0,0.0,633,7248,1.45,2.88,125.20,0.978,4,0.032,0.081,3293,3934,2462,0,0,0,0,0,0
$GC,7257,1.13,146.0,588.7,12.9,644,7263,0.20,2.75,0.00,0.000,6,0.105,0.063,3252,2366,2461,0,0,0,0,0,0
$GC,7520,1.08,146.0,556.7,12.3,669,7524,0.00,3.08,0.00,0.000,4,0.000,0.119,3252,776,2455,0,0,0,0,0,0
$GC,7543,1.02,146.0,554.5,12.1,670,7548,0.12,2.75,0.00,0.000,6,0.115,0.059,3227,2368,2453,0,0,0,0,0,0
$GC,7808,1.02,146.0,525.6,10.2,694,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2368,2451,0,0,0,0,0,0
$GC,8070,1.05,169.5,500.3,8.9,719,8095,0.00,2.78,20.02,0.904,4,0.000,0.067,3227,3935,2368,0,0,0,0,0,0
$GC,8133,1.05,169.5,494.7,10.1,724,8138,0.00,2.62,0.00,0.000,6,0.000,0.041,3227,2374,2365,0,0,0,0,0,0
$GC,8401,1.09,202.3,471.1,8.5,748,8437,0.00,0.00,30.10,0.906,6,0.000,0.000,3227,2374,2234,0,0,0,0,0,0
$GC,8694,1.12,229.3,443.8,8.8,776,8722,0.00,0.00,24.73,0.880,6,0.000,0.000,3227,2374,2124,0,0,0,0,0,0
$GC,8979,1.19,248.1,418.1,9.1,803,9005,0.15,2.95,17.38,0.851,4,0.068,0.087,3269,772,2047,0,0,0,0,0,0
$GC,9051,1.19,248.1,409.5,12.4,809,9056,0.00,2.65,0.00,0.000,6,0.000,0.040,3270,2387,2045,0,0,0,0,0,0
$GC,9315,1.19,248.1,379.1,11.8,833,9320,0.00,2.60,0.00,0.000,4,0.000,0.048,3269,3934,2044,0,0,0,0,0,0
$GC,9348,1.19,248.1,375.1,13.0,835,9352,0.00,2.60,0.00,0.000,6,0.000,0.031,3269,2363,2043,0,0,0,0,0,0
$GC,9615,1.19,248.1,342.3,12.4,859,9620,0.00,2.75,0.00,0.000,4,0.000,0.067,3270,776,2042,0,0,0,0,0,0
$GC,9648,1.15,248.1,337.2,13.2,861,9657,0.00,2.62,0.00,0.000,6,0.000,0.027,3270,2385,2041,0,0,0,0,0,0
$GC,9915,1.15,248.1,303.7,12.7,886,9919,0.00,2.72,0.00,0.000,4,0.000,0.055,3270,782,2041,0,0,0,0,0,0
$GC,9937,1.15,248.1,300.1,12.6,887,9943,0.00,2.55,0.00,0.000,6,0.000,0.031,3270,2371,2040,0,0,0,0,0,0
$GC,10201,1.15,248.1,270.7,10.1,912,10206,0.00,2.58,0.00,0.000,4,0.000,0.046,3270,3932,2040,0,0,0,0,0,0
$GC,10258,1.15,248.1,264.4,11.9,916,10262,0.00,2.58,0.00,0.000,6,0.000,0.027,3270,2349,2040,0,0,0,0,0,0
$GC,10524,1.19,277.0,238.9,8.7,940,10559,0.00,2.72,25.42,0.749,4,0.000,0.053,3270,782,1929,0,0,0,0,0,0
$GC,10612,1.20,282.9,229.9,9.7,947,10624,0.00,2.50,6.55,0.618,6,0.000,0.022,3269,2353,1906,0,0,0,0,0,0
$GC,10879,1.20,282.9,202.6,10.7,972,10883,0.00,2.60,0.00,0.000,4,0.000,0.042,3270,3929,1903,0,0,0,0,0,0
$GC,10937,1.24,282.9,195.7,11.9,976,10947,0.00,2.58,0.00,0.000,6,0.000,0.026,3270,2361,1902,0,0,0,0,0,0
$GC,11204,1.28,282.9,165.8,11.3,1001,11208,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2361,1902,0,0,0,0,0,0
$GC,11471,1.28,282.9,135.9,11.2,1026,11475,0.00,2.60,0.00,0.000,4,0.000,0.046,3270,785,1902,0,0,0,0,0,0
$GC,11493,1.28,282.9,132.5,11.6,1027,11503,0.00,2.50,0.00,0.000,6,0.000,0.025,3270,2359,1901,0,0,0,0,0,0
$GC,11762,1.28,282.9,102.4,12.0,1052,11767,0.00,2.58,0.00,0.000,4,0.000,0.044,3270,785,1901,0,0,0,0,0,0
$GC,11782,1.28,282.9,99.3,12.5,1053,11787,0.00,2.47,0.00,0.000,6,0.000,0.027,3270,2361,1901,0,0,0,0,0,0
$GC,12050,1.32,282.9,65.3,12.4,1077,12055,0.00,2.55,0.00,0.000,4,0.000,0.039,3270,3924,1901,0,0,0,0,0,0
$GC,12085,1.32,282.9,60.6,12.1,1079,12089,0.00,2.50,0.00,0.000,6,0.000,0.024,3269,2348,1901,0,0,0,0,0,0
$GC,12354,1.38,282.9,28.3,10.7,1104,12363,0.15,2.60,0.00,0.000,4,0.063,0.044,3319,785,1901,0,0,0,0,0,0
$GC,12394,1.38,282.9,23.6,11.5,1109,12403,0.00,2.45,0.00,0.000,6,0.000,0.021,3318,2330,1902,0,0,0,0,0,0
$STATE,12547,end climb,SURFACE_DEPTH_REACHED
$STATE,12547,begin surface coast
$FINISH,-0.2,1.024165
$STATE,12583,end surface coast,CONTROL_FINISHED_OK
$STATE,12583,begin surface
$SM_CCo,12604,78.40,0.525,0,0,1510,380.21
$SM_GC,0.46,0.00,0.00,78.40,0.000,0.000,0.525,466,2116,1510,-11.67,-2.66,380.21
$IRIDIUM_FIX,2232.34,-15743.29,280603,191903
$TT8_MAMPS,0.026078
$HUMID,61.85
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.20
$XPDR_PINGS,25
$24V_AH,23.4,20.678
$10V_AH,10.3,19.825
$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,28.575,172.775,367.775,78.400,0.000,24.551,35.867,348.109,6.250,0.000,17.124,1973.513,5980.602,567.096,3881.619,864.598,33.364,1688.213,0.000,3906.948,0.000,0.535,0.000
$DEVICE_MAMPS,167.973,118.885,1007.071,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,780.445,896.755,1160.068,1427.096,2716.152,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,92432,1137
$CAP_FILE_SIZE,156773,0
$CFSIZE,260165632,170471424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040414,022253,2238.850,-15740.198,56,1.6,56,10.1