version: 66.06
glider: 146
mission: 9
dive: 151
start: 4 4 114 22 55 50
data:
$ID,146
$MISSION,9
$DIVE,151
$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,-326728
$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,53
$R_STBD_OVSHOOT,43
$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
$GPS1,224607,2238.976,-15739.442,47,1.7,47,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-70.5
$GPS2,225455,2239.009,-15739.599,13,1.7,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,-0.062
$KALMAN_X,-123874.8,-49.1,-353.7,151566.2,-849.6
$KALMAN_Y,76418.4,-186.3,212.4,-95473.1,187.7
$MHEAD_RNG_PITCHd_Wd,93.6,3159,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,111,0.00,0.00,-89.07,0.000,6,0.000,0.000,460,2175,3656,0,0,0,0,0,0
$GC,113,-1.27,-146.0,4.2,-10.9,12,131,12.60,2.47,0.00,0.000,4,0.166,0.035,2716,650,3656,0,0,0,0,0,0
$GC,143,0.13,-146.0,16.6,-37.8,15,153,1.40,2.47,0.00,0.000,6,0.081,0.017,3024,2223,3658,0,0,0,0,0,0
$GC,454,-0.44,-146.0,39.5,-8.3,54,459,0.47,2.53,0.00,0.000,4,0.049,0.039,2900,3772,3658,0,0,0,0,0,0
$GC,579,-0.92,-146.0,48.0,-6.7,63,585,0.40,2.42,0.00,0.000,6,0.040,0.018,2790,2209,3658,0,0,0,0,0,0
$GC,848,-0.96,-146.0,69.3,-8.8,87,852,0.00,2.53,0.00,0.000,4,0.000,0.042,2789,648,3658,0,0,0,0,0,0
$GC,897,-1.04,-146.0,74.1,-8.6,90,906,0.00,2.45,0.00,0.000,6,0.000,0.018,2789,2215,3658,0,0,0,0,0,0
$GC,1164,-1.09,-146.0,96.2,-8.9,115,1169,0.10,2.58,0.00,0.000,4,0.081,0.043,2742,648,3659,0,0,0,0,0,0
$GC,1187,-1.09,-146.0,98.6,-9.3,116,1192,0.10,2.40,0.00,0.000,6,0.110,0.018,2764,2218,3659,0,0,0,0,0,0
$GC,1453,-1.09,-146.0,126.1,-10.7,140,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2218,3659,0,0,0,0,0,0
$GC,1719,-1.09,-146.0,153.0,-10.0,165,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2218,3660,0,0,0,0,0,0
$GC,1980,-1.09,-146.0,178.6,-9.5,190,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2218,3660,0,0,0,0,0,0
$GC,2242,-1.14,-146.0,201.3,-9.0,214,2246,0.00,2.58,0.00,0.000,4,0.000,0.044,2764,647,3660,0,0,0,0,0,0
$GC,2287,-1.20,-146.0,205.3,-8.8,217,2291,0.00,2.40,0.00,0.000,6,0.000,0.018,2764,2208,3660,0,0,0,0,0,0
$GC,2555,-1.25,-146.0,226.9,-7.5,241,2561,0.15,0.00,0.00,0.000,6,0.058,0.000,2706,2209,3660,0,0,0,0,0,0
$GC,2818,-1.20,-146.0,252.8,-9.2,266,2824,0.17,2.62,0.00,0.000,4,0.089,0.051,2744,646,3660,0,0,0,0,0,0
$GC,2837,-1.20,-146.0,254.6,-9.4,267,2842,0.00,2.40,0.00,0.000,6,0.000,0.028,2744,2201,3660,0,0,0,0,0,0
$GC,3101,-1.20,-146.0,274.8,-7.6,291,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2201,3660,0,0,0,0,0,0
$GC,3370,-1.24,-146.0,293.8,-7.3,316,3374,0.00,2.58,0.00,0.000,4,0.000,0.042,2744,3774,3660,0,0,0,0,0,0
$GC,3380,-1.29,-146.0,295.1,-7.2,316,3386,0.00,2.47,0.00,0.000,6,0.000,0.021,2744,2211,3660,0,0,0,0,0,0
$GC,3644,-1.33,-146.0,312.5,-7.2,341,3646,0.12,0.00,0.00,0.000,6,0.069,0.000,2692,2210,3659,0,0,0,0,0,0
$GC,3900,-1.29,-146.0,336.3,-9.8,365,3905,0.15,0.00,0.00,0.000,6,0.094,0.000,2725,2211,3658,0,0,0,0,0,0
$GC,4163,-1.29,-146.0,359.2,-8.6,390,4167,0.00,2.60,0.00,0.000,4,0.000,0.047,2725,3769,3657,0,0,0,0,0,0
$GC,4204,-1.33,-146.0,362.8,-8.7,393,4209,0.00,2.50,0.00,0.000,6,0.000,0.031,2725,2222,3656,0,0,0,0,0,0
$GC,4467,-1.33,-146.0,382.4,-7.4,417,4472,0.00,2.78,0.00,0.000,4,0.000,0.078,2725,628,3655,0,0,0,0,0,0
$GC,4513,-1.33,-146.0,386.1,-7.8,420,4522,0.00,2.55,0.00,0.000,6,0.000,0.041,2725,2180,3654,0,0,0,0,0,0
$GC,4780,-1.37,-146.0,405.8,-7.9,445,4785,0.00,2.70,0.00,0.000,4,0.000,0.054,2725,3791,3653,0,0,0,0,0,0
$GC,4834,-1.41,-146.0,410.3,-7.7,449,4839,0.12,2.58,0.00,0.000,6,0.070,0.034,2676,2219,3653,0,0,0,0,0,0
$GC,5096,-1.36,-146.0,434.8,-9.2,473,5101,0.12,2.65,0.00,0.000,4,0.102,0.053,2705,3789,3651,0,0,0,0,0,0
$GC,5172,-1.36,-146.0,441.8,-9.2,479,5177,0.00,2.58,0.00,0.000,6,0.000,0.046,2705,2230,3651,0,0,0,0,0,0
$GC,5435,-1.36,-146.0,465.8,-9.3,503,5440,0.00,2.92,0.00,0.000,4,0.000,0.097,2705,628,3649,0,0,0,0,0,0
$GC,5518,-1.36,-146.0,473.7,-9.6,509,5524,0.00,2.62,0.00,0.000,6,0.000,0.045,2705,2215,3648,0,0,0,0,0,0
$GC,5781,-1.36,-146.0,498.8,-9.1,534,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2216,3647,0,0,0,0,0,0
$GC,6035,-1.36,-146.0,522.5,-8.4,558,6039,0.00,2.72,0.00,0.000,4,0.000,0.077,2705,3793,3645,0,0,0,0,0,0
$GC,6068,-1.36,-146.0,525.8,-9.3,560,6074,0.00,2.62,0.00,0.000,6,0.000,0.046,2705,2228,3645,0,0,0,0,0,0
$GC,6333,-1.36,-146.0,546.2,-7.3,585,6337,0.00,2.70,0.00,0.000,4,0.000,0.073,2705,3793,3643,0,0,0,0,0,0
$GC,6377,-1.36,-146.0,549.8,-8.0,588,6386,0.00,2.67,0.00,0.000,6,0.000,0.057,2705,2236,3643,0,0,0,0,0,0
$GC,6644,-1.36,-146.0,567.0,-6.5,613,6649,0.00,3.03,0.00,0.000,4,0.000,0.117,2705,624,3641,0,0,0,0,0,0
$GC,6664,-1.36,-146.0,568.4,-6.2,614,6669,0.00,2.75,0.00,0.000,6,0.000,0.058,2705,2227,3641,0,0,0,0,0,0
$GC,6927,-1.36,-146.0,584.2,-5.8,638,6931,0.00,2.78,0.00,0.000,4,0.000,0.087,2705,3794,3640,0,0,0,0,0,0
$GC,6995,-1.36,-146.0,588.5,-6.8,643,6999,0.00,2.65,0.00,0.000,6,0.000,0.060,2705,2246,3640,0,0,0,0,0,0
$STATE,7193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7193,begin apogee
$GC,7199,-0.31,0.0,600.0,5.6,661,7322,1.02,0.00,118.70,1.006,6,0.071,0.000,2937,2386,3059,0,0,0,0,0,0
$STATE,7322,end apogee,CONTROL_FINISHED_OK
$STATE,7322,begin climb
$GC,7326,1.27,146.0,601.2,0.0,664,7462,1.42,2.85,124.05,0.979,4,0.033,0.077,3291,3920,2463,0,0,0,0,0,0
$GC,7534,1.12,146.0,582.8,13.1,679,7541,0.20,2.70,0.00,0.000,6,0.107,0.055,3250,2369,2458,0,0,0,0,0,0
$GC,7797,1.09,162.3,557.4,9.2,704,7822,0.00,2.83,14.20,0.886,4,0.000,0.064,3250,3928,2396,0,0,0,0,0,0
$GC,7847,1.02,162.3,552.2,11.0,708,7852,0.12,2.67,0.00,0.000,6,0.121,0.054,3225,2379,2395,0,0,0,0,0,0
$GC,8108,1.04,176.9,527.9,9.3,732,8127,0.00,0.00,14.30,0.887,6,0.000,0.000,3225,2379,2336,0,0,0,0,0,0
$GC,8385,1.04,176.9,500.0,10.3,758,8387,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2379,2333,0,0,0,0,0,0
$GC,8637,1.04,181.1,474.9,9.8,782,8648,0.00,2.67,4.30,0.630,4,0.000,0.053,3225,3934,2320,0,0,0,0,0,0
$GC,8665,1.04,181.1,472.7,10.2,784,8670,0.00,2.62,0.00,0.000,6,0.000,0.039,3225,2379,2320,0,0,0,0,0,0
$GC,8933,1.06,192.2,447.8,9.5,808,8954,0.00,3.03,11.57,0.849,4,0.000,0.095,3225,781,2275,0,0,0,0,0,0
$GC,9039,1.06,192.2,436.6,10.3,817,9043,0.00,2.62,0.00,0.000,6,0.000,0.036,3225,2378,2272,0,0,0,0,0,0
$GC,9307,1.06,197.0,410.5,9.8,841,9318,0.00,2.62,5.85,0.713,4,0.000,0.050,3225,3937,2255,0,0,0,0,0,0
$GC,9345,1.06,197.0,406.3,10.2,844,9349,0.00,2.60,0.00,0.000,6,0.000,0.030,3225,2366,2254,0,0,0,0,0,0
$GC,9613,1.13,218.7,381.5,9.0,868,9640,0.10,2.67,20.30,0.851,4,0.085,0.045,3256,3937,2167,0,0,0,0,0,0
$GC,9700,1.13,218.7,371.3,11.5,875,9705,0.00,2.55,0.00,0.000,6,0.000,0.035,3256,2379,2164,0,0,0,0,0,0
$GC,9964,1.13,218.7,343.5,10.3,899,9969,0.00,2.72,0.00,0.000,4,0.000,0.066,3256,788,2163,0,0,0,0,0,0
$GC,10004,1.13,218.7,339.0,10.8,902,10009,0.00,2.60,0.00,0.000,6,0.000,0.035,3256,2393,2162,0,0,0,0,0,0
$GC,10268,1.13,218.7,312.2,10.6,926,10272,0.00,2.72,0.00,0.000,4,0.000,0.054,3256,777,2161,0,0,0,0,0,0
$GC,10289,1.13,218.7,309.5,10.8,927,10299,0.00,2.60,0.00,0.000,6,0.000,0.028,3256,2363,2161,0,0,0,0,0,0
$GC,10557,1.15,237.9,283.5,9.1,952,10581,0.00,2.75,17.23,0.775,4,0.000,0.055,3256,3939,2089,0,0,0,0,0,0
$GC,10628,1.16,241.8,275.9,9.8,958,10638,0.00,2.58,4.78,0.578,6,0.000,0.030,3256,2363,2074,0,0,0,0,0,0
$GC,10895,1.17,251.9,250.8,9.5,983,10911,0.00,2.70,10.57,0.708,4,0.000,0.051,3256,778,2032,0,0,0,0,0,0
$GC,10939,1.17,254.9,246.5,9.9,986,10949,0.00,2.58,4.20,0.517,6,0.000,0.026,3256,2370,2020,0,0,0,0,0,0
$GC,11215,1.22,254.9,218.0,10.6,1012,11220,0.00,2.60,0.00,0.000,4,0.000,0.045,3256,3934,2018,0,0,0,0,0,0
$GC,11295,1.29,254.9,209.0,11.0,1018,11301,0.12,2.55,0.00,0.000,6,0.077,0.025,3292,2357,2017,0,0,0,0,0,0
$GC,11559,1.29,254.9,179.8,11.6,1043,11563,0.00,2.60,0.00,0.000,4,0.000,0.048,3292,790,2017,0,0,0,0,0,0
$GC,11590,1.29,254.9,175.9,12.6,1045,11594,0.00,2.50,0.00,0.000,6,0.000,0.022,3292,2378,2016,0,0,0,0,0,0
$GC,11859,1.29,254.9,144.8,12.4,1069,11863,0.00,2.53,0.00,0.000,4,0.000,0.048,3292,3932,2016,0,0,0,0,0,0
$GC,11904,1.29,254.9,138.6,12.4,1072,11909,0.00,2.50,0.00,0.000,6,0.000,0.024,3292,2371,2016,0,0,0,0,0,0
$GC,12172,1.29,254.9,106.9,12.2,1096,12176,0.00,2.55,0.00,0.000,4,0.000,0.038,3292,3924,2016,0,0,0,0,0,0
$GC,12233,1.29,254.9,98.1,12.7,1100,12242,0.00,2.47,0.00,0.000,6,0.000,0.025,3292,2395,2016,0,0,0,0,0,0
$GC,12500,1.29,254.9,67.4,11.0,1125,12508,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2396,2016,0,0,0,0,0,0
$GC,12767,1.29,254.9,37.4,11.2,1150,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2396,2016,0,0,0,0,0,0
$GC,13080,1.29,254.9,6.8,10.9,1193,13089,0.00,2.55,0.00,0.000,4,0.000,0.041,3292,3920,2018,0,0,0,0,0,0
$STATE,13105,end climb,SURFACE_DEPTH_REACHED
$STATE,13105,begin surface coast
$FINISH,1.7,1.023893
$STATE,13121,end surface coast,CONTROL_FINISHED_OK
$STATE,13121,begin surface
$SM_CCo,13145,101.28,0.523,0,0,1509,380.21
$SM_GC,0.35,0.00,0.00,101.28,0.000,0.000,0.523,465,2199,1509,-11.68,-0.31,380.21
$IRIDIUM_FIX,2230.01,-15741.13,290603,191937
$TT8_MAMPS,0.026078
$HUMID,61.10
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.70
$XPDR_PINGS,18
$24V_AH,23.4,21.714
$10V_AH,10.3,21.311
$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,30.275,162.850,350.050,101.275,0.000,30.049,36.599,289.474,4.500,0.000,16.849,2080.090,6113.242,572.095,4181.508,814.007,33.364,1750.080,0.000,4210.158,0.000,0.535,0.000
$DEVICE_MAMPS,165.672,116.584,1005.537,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,822.703,963.622,1222.325,1546.150,2944.833,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,98386,1198
$CAP_FILE_SIZE,159276,0
$CFSIZE,260165632,169938944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050414,023805,2238.707,-15739.284,41,1.1,47,10.1