version: 66.06
glider: 146
mission: 9
dive: 297
start: 5 4 114 1 4 21
data:
$ID,146
$MISSION,9
$DIVE,297
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$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,266
$T_MISSION,540
$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,-330085.78
$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,2996
$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,50
$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
$GPS1,004506,2240.427,-15742.587,52,1.3,52,10.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-72.3
$GPS2,010327,2240.550,-15742.818,11,2.1,30,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,-0.099
$KALMAN_X,-236650.6,-641.0,-173.2,259258.0,221.3
$KALMAN_Y,5113.6,-140.0,102.8,-21245.9,-148.0
$MHEAD_RNG_PITCHd_Wd,102.3,9303,-17.5,-10.025
$D_GRID,800
$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,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-85.72,0.000,2,0.000,0.000,454,2186,3624,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.3,-7.8,11,125,12.52,2.65,-0.55,0.000,4,0.166,0.041,2707,3797,3657,0,0,0,0,0,0
$GC,150,-0.57,-146.0,18.1,-32.9,16,160,0.75,2.53,0.00,0.000,6,0.089,0.021,2866,2217,3659,0,0,0,0,0,0
$GC,445,-0.73,-146.0,40.3,-6.6,51,450,0.12,2.60,0.00,0.000,4,0.064,0.046,2809,633,3659,0,0,0,0,0,0
$GC,482,-0.82,-146.0,43.4,-8.4,53,486,0.00,2.45,0.00,0.000,6,0.000,0.017,2809,2220,3659,0,0,0,0,0,0
$GC,750,-0.88,-146.0,68.8,-8.6,77,754,0.00,2.47,0.00,0.000,4,0.000,0.035,2809,3777,3659,0,0,0,0,0,0
$GC,796,-0.99,-146.0,72.7,-8.1,80,801,0.12,2.47,0.00,0.000,6,0.065,0.020,2753,2197,3659,0,0,0,0,0,0
$GC,1060,-0.99,-146.0,96.6,-9.0,104,1070,0.12,0.00,0.00,0.000,6,0.099,0.000,2780,2197,3659,0,0,0,0,0,0
$GC,1329,-1.03,-146.0,119.2,-8.9,129,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2197,3660,0,0,0,0,0,0
$GC,1592,-1.08,-146.0,142.4,-9.4,154,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2197,3660,0,0,0,0,0,0
$GC,1847,-1.14,-146.0,165.0,-8.0,178,1852,0.15,2.58,0.00,0.000,4,0.058,0.047,2720,636,3660,0,0,0,0,0,0
$GC,1893,-1.09,-146.0,169.5,-10.7,181,1898,0.17,2.40,0.00,0.000,6,0.089,0.025,2757,2195,3660,0,0,0,0,0,0
$GC,2160,-1.09,-146.0,192.5,-8.1,205,2164,0.00,2.50,0.00,0.000,4,0.000,0.035,2757,3772,3660,0,0,0,0,0,0
$GC,2217,-1.15,-146.0,197.9,-8.0,209,2223,0.00,2.42,0.00,0.000,6,0.000,0.020,2758,2202,3660,0,0,0,0,0,0
$GC,2482,-1.15,-146.0,216.5,-7.1,234,2486,0.00,2.55,0.00,0.000,4,0.000,0.048,2758,640,3660,0,0,0,0,0,0
$GC,2504,-1.15,-146.0,218.6,-7.5,235,2510,0.00,2.40,0.00,0.000,6,0.000,0.021,2758,2195,3660,0,0,0,0,0,0
$GC,2768,-1.19,-146.0,241.0,-9.8,260,2772,0.00,2.53,0.00,0.000,4,0.000,0.038,2757,3773,3660,0,0,0,0,0,0
$GC,2836,-1.27,-146.0,247.5,-10.1,265,2841,0.17,2.42,0.00,0.000,6,0.051,0.020,2691,2206,3660,0,0,0,0,0,0
$GC,3103,-1.19,-146.0,271.4,-7.2,289,3108,0.20,2.62,0.00,0.000,4,0.086,0.054,2735,637,3660,0,0,0,0,0,0
$GC,3151,-1.24,-146.0,274.9,-6.4,292,3156,0.00,2.42,0.00,0.000,6,0.000,0.024,2735,2193,3659,0,0,0,0,0,0
$GC,3414,-1.24,-146.0,292.9,-7.8,317,3418,0.00,2.58,0.00,0.000,4,0.000,0.041,2735,3781,3658,0,0,0,0,0,0
$GC,3437,-1.24,-146.0,294.9,-8.2,318,3446,0.00,2.55,0.00,0.000,6,0.000,0.024,2735,2193,3658,0,0,0,0,0,0
$GC,3705,-1.24,-146.0,317.8,-8.7,343,3709,0.00,2.65,0.00,0.000,4,0.000,0.069,2735,635,3657,0,0,0,0,0,0
$GC,3728,-1.28,-146.0,320.4,-8.6,344,3734,0.00,2.47,0.00,0.000,6,0.000,0.030,2735,2183,3657,0,0,0,0,0,0
$GC,3991,-1.28,-146.0,343.0,-8.7,369,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2183,3655,0,0,0,0,0,0
$GC,4248,-1.32,-146.0,364.1,-8.1,393,4257,0.12,0.00,0.00,0.000,6,0.067,0.000,2682,2183,3654,0,0,0,0,0,0
$GC,4515,-1.26,-146.0,388.6,-8.6,418,4521,0.17,0.00,0.00,0.000,6,0.089,0.000,2720,2183,3653,0,0,0,0,0,0
$GC,4780,-1.26,-146.0,406.5,-6.4,443,4784,0.00,2.70,0.00,0.000,4,0.000,0.074,2720,630,3651,0,0,0,0,0,0
$GC,4825,-1.30,-146.0,410.0,-7.0,446,4831,0.00,2.53,0.00,0.000,6,0.000,0.042,2720,2176,3650,0,0,0,0,0,0
$GC,5089,-1.30,-146.0,427.8,-7.1,471,5094,0.00,2.70,0.00,0.000,4,0.000,0.056,2720,3800,3649,0,0,0,0,0,0
$GC,5123,-1.30,-146.0,430.8,-8.2,473,5129,0.00,2.62,0.00,0.000,6,0.000,0.041,2720,2203,3649,0,0,0,0,0,0
$GC,5386,-1.30,-146.0,451.8,-7.9,498,5390,0.00,2.67,0.00,0.000,4,0.000,0.054,2720,3794,3647,0,0,0,0,0,0
$GC,5421,-1.30,-146.0,454.9,-8.6,500,5426,0.00,2.65,0.00,0.000,6,0.000,0.043,2720,2203,3646,0,0,0,0,0,0
$GC,5684,-1.34,-146.0,474.8,-7.3,525,5689,0.00,2.88,0.00,0.000,4,0.000,0.102,2720,624,3645,0,0,0,0,0,0
$GC,5720,-1.38,-146.0,477.6,-7.8,527,5726,0.10,2.60,0.00,0.000,6,0.079,0.044,2675,2194,3644,0,0,0,0,0,0
$GC,5983,-1.33,-146.0,500.2,-8.5,552,5988,0.15,2.75,0.00,0.000,4,0.094,0.064,2707,3797,3643,0,0,0,0,0,0
$GC,6025,-1.33,-146.0,503.9,-8.2,555,6030,0.00,2.67,0.00,0.000,6,0.000,0.050,2707,2209,3643,0,0,0,0,0,0
$GC,6288,-1.33,-146.0,524.1,-7.6,579,6293,0.00,2.70,0.00,0.000,4,0.000,0.064,2707,3796,3641,0,0,0,0,0,0
$GC,6323,-1.33,-146.0,527.2,-8.3,581,6329,0.00,2.70,0.00,0.000,6,0.000,0.052,2708,2208,3641,0,0,0,0,0,0
$GC,6586,-1.33,-146.0,546.9,-7.6,606,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2208,3639,0,0,0,0,0,0
$GC,6841,-1.33,-146.0,565.6,-7.8,630,6846,0.00,2.80,0.00,0.000,4,0.000,0.077,2708,3796,3637,0,0,0,0,0,0
$GC,6870,-1.33,-146.0,567.9,-8.0,632,6874,0.00,2.70,0.00,0.000,6,0.000,0.058,2707,2219,3637,0,0,0,0,0,0
$GC,7133,-1.37,-146.0,586.4,-7.0,656,7138,0.00,2.75,0.00,0.000,4,0.000,0.083,2707,3787,3636,0,0,0,0,0,0
$GC,7156,-1.37,-146.0,588.2,-7.7,657,7166,0.00,2.75,0.00,0.000,6,0.000,0.066,2707,2222,3636,0,0,0,0,0,0
$GC,7447,-1.41,-146.0,609.1,-7.3,676,7451,0.00,2.80,0.00,0.000,4,0.000,0.086,2707,3786,3634,0,0,0,0,0,0
$GC,7462,-1.41,-146.0,610.6,-7.4,676,7467,0.00,2.75,0.00,0.000,6,0.000,0.076,2708,2223,3633,0,0,0,0,0,0
$GC,7726,-1.45,-146.0,630.1,-7.5,683,7731,0.12,2.88,0.00,0.000,4,0.070,0.094,2659,3792,3632,0,0,0,0,0,0
$GC,7754,-1.40,-146.0,632.8,-9.4,683,7759,0.15,2.80,0.00,0.000,6,0.097,0.078,2691,2229,3632,0,0,0,0,0,0
$GC,8006,-1.40,-146.0,651.4,-7.3,689,8010,0.00,2.90,0.00,0.000,4,0.000,0.106,2692,3793,3631,0,0,0,0,0,0
$GC,8038,-1.40,-146.0,654.3,-8.7,689,8044,0.00,2.83,0.00,0.000,6,0.000,0.092,2691,2243,3631,0,0,0,0,0,0
$GC,8288,-1.40,-146.0,673.0,-7.5,696,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2243,3630,0,0,0,0,0,0
$GC,8534,-1.40,-146.0,691.6,-7.7,702,8539,0.00,2.95,0.00,0.000,4,0.000,0.122,2691,3785,3628,0,0,0,0,0,0
$GC,8578,-1.40,-146.0,695.6,-8.4,703,8582,0.00,2.90,0.00,0.000,6,0.000,0.107,2691,2242,3628,0,0,0,0,0,0
$GC,8855,-1.40,-146.0,717.9,-7.9,710,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2243,3627,0,0,0,0,0,0
$GC,9101,-1.40,-146.0,736.9,-7.7,716,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2243,3626,0,0,0,0,0,0
$GC,9343,-1.40,-146.0,755.5,-7.7,722,9348,0.00,3.17,0.00,0.000,4,0.000,0.156,2691,3782,3625,0,0,0,0,0,0
$GC,9370,-1.40,-146.0,757.7,-7.5,722,9375,0.00,3.08,0.00,0.000,6,0.000,0.143,2691,2251,3625,0,0,1,0,0,0
$GC,9620,-1.40,-146.0,775.4,-7.0,728,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2251,3624,0,0,0,0,0,0
$GC,9865,-1.40,-146.0,791.6,-6.6,734,9871,0.00,3.33,0.00,0.000,4,0.000,0.174,2692,3786,3623,0,0,0,0,0,0
$GC,9898,-1.40,-146.0,793.9,-7.0,734,9904,0.00,3.25,0.00,0.000,6,0.000,0.164,2691,2255,3623,0,0,1,0,0,0
$STATE,10024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10024,begin apogee
$GC,10030,-0.31,0.0,801.6,6.1,738,10154,1.05,0.00,120.38,1.171,6,0.068,0.000,2929,2356,3060,0,0,0,0,0,0
$STATE,10155,end apogee,CONTROL_FINISHED_OK
$STATE,10155,begin climb
$GC,10159,1.28,146.0,803.1,0.0,741,10302,1.45,3.53,129.95,1.145,4,0.035,0.170,3283,3939,2462,0,0,0,0,0,0
$GC,10343,1.13,146.0,787.5,12.8,745,10349,0.20,3.35,0.00,0.000,6,0.105,0.156,3242,2371,2457,0,0,1,0,0,0
$GC,10593,1.08,150.2,762.0,9.8,751,10598,0.00,3.28,0.00,0.000,4,0.000,0.150,3242,3938,2453,0,0,0,0,0,0
$GC,10620,1.02,150.2,759.0,10.4,751,10626,0.12,3.22,0.00,0.000,6,0.124,0.139,3218,2371,2452,0,0,0,0,0,0
$GC,10872,1.08,200.3,739.3,7.7,757,10927,0.00,3.50,49.05,1.098,4,0.000,0.167,3217,777,2242,0,0,0,0,0,0
$GC,10945,1.12,232.5,733.2,8.5,758,10984,0.00,3.12,30.95,1.068,6,0.000,0.119,3218,2370,2111,0,0,0,0,0,0
$GC,11238,1.13,236.3,705.3,9.8,766,11244,0.10,3.25,0.00,0.000,4,0.091,0.140,3244,778,2104,0,0,0,0,0,0
$GC,11271,1.13,236.3,700.9,12.3,766,11277,0.00,2.97,0.00,0.000,6,0.000,0.100,3244,2362,2103,0,0,0,0,0,0
$GC,11523,1.13,236.3,671.6,11.7,773,11524,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2362,2102,0,0,0,0,0,0
$GC,11766,1.13,236.3,643.4,11.5,779,11768,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2362,2101,0,0,0,0,0,0
$GC,12009,1.13,236.3,616.0,11.2,785,12013,0.00,2.85,0.00,0.000,4,0.000,0.086,3244,3942,2100,0,0,0,0,0,0
$GC,12041,1.13,236.3,611.9,12.2,785,12047,0.00,2.80,0.00,0.000,6,0.000,0.064,3244,2344,2099,0,0,0,0,0,0
$GC,12298,1.13,236.3,583.2,11.4,801,12303,0.00,2.97,0.00,0.000,4,0.000,0.114,3244,778,2099,0,0,0,0,0,0
$GC,12320,1.13,236.3,581.0,11.5,802,12324,0.00,2.72,0.00,0.000,6,0.000,0.054,3244,2366,2098,0,0,0,0,0,0
$GC,12586,1.13,236.3,549.7,11.5,826,12591,0.00,2.75,0.00,0.000,4,0.000,0.070,3244,3942,2098,0,0,0,0,0,0
$GC,12620,1.13,236.3,544.7,13.8,828,12629,0.00,2.75,0.00,0.000,6,0.000,0.051,3244,2352,2098,0,0,0,0,0,0
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$STATE,17676,end climb,SURFACE_DEPTH_REACHED
$STATE,17676,begin surface coast
$FINISH,-0.1,1.023642
$STATE,17719,end surface coast,CONTROL_FINISHED_OK
$STATE,17719,begin surface
$SM_CCo,17742,75.53,0.523,0,0,1510,380.21
$SM_GC,0.52,0.00,0.00,75.53,0.000,0.000,0.523,460,2165,1510,-11.67,-1.27,380.21
$IRIDIUM_FIX,2232.34,-15750.66,290703,000001
$TT8_MAMPS,0.026078
$HUMID,62.52
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.50
$XPDR_PINGS,69
$24V_AH,23.2,46.452
$10V_AH,9.9,55.284
$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,29.775,235.775,386.400,75.525,0.000,51.366,81.589,691.593,17.250,0.000,32.522,2339.594,10284.010,646.312,4229.188,1399.411,33.365,1990.183,0.000,4232.731,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,174.109,1171.209,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,895.857,952.352,1239.123,1386.495,2640.040,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,108209,1303
$CAP_FILE_SIZE,206473,0
$CFSIZE,260165632,156221440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,040514,060236,2239.719,-15741.938,35,1.2,35,10.1