version: 66.06
glider: 146
mission: 9
dive: 299
start: 5 4 114 11 54 16
data:
$ID,146
$MISSION,9
$DIVE,299
$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,-330115.75
$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,30
$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
$GPS1,111936,2239.354,-15740.121,31,1.1,31,10.1
$_CALLS,4
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-71.6
$GPS2,115319,2239.613,-15740.560,14,1.5,14,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.260,-0.001
$KALMAN_X,-241172.3,40.8,-12.8,266793.3,-1065.0
$KALMAN_Y,5468.7,337.3,509.7,-24231.0,-1222.1
$MHEAD_RNG_PITCHd_Wd,80.2,5073,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.28,-146.0,0.0,0.0,0,111,0.00,0.00,-87.25,0.000,6,0.000,0.000,462,2209,3655,0,0,0,0,0,0
$GC,114,-1.28,-146.0,4.6,-12.2,12,132,12.62,2.55,0.00,0.000,4,0.167,0.032,2707,621,3656,0,0,0,0,0,0
$GC,143,0.07,-146.0,17.9,-41.2,15,152,1.38,2.50,0.00,0.000,6,0.085,0.018,3005,2216,3657,0,0,0,0,0,0
$GC,440,-0.53,-146.0,40.9,-7.7,52,445,0.50,2.53,0.00,0.000,4,0.050,0.035,2873,3789,3657,0,0,0,0,0,0
$GC,501,-0.85,-146.0,45.0,-5.6,56,506,0.25,2.50,0.00,0.000,6,0.041,0.019,2787,2186,3657,0,0,0,0,0,0
$GC,770,-0.85,-146.0,69.5,-9.4,80,775,0.10,2.50,0.00,0.000,4,0.107,0.043,2811,647,3657,0,0,0,0,0,0
$GC,818,-0.98,-146.0,73.6,-7.9,83,823,0.12,2.40,0.00,0.000,6,0.064,0.017,2757,2208,3657,0,0,0,0,0,0
$GC,1087,-0.98,-146.0,100.0,-9.0,107,1091,0.12,2.53,0.00,0.000,4,0.097,0.035,2784,3774,3657,0,0,0,0,0,0
$GC,1156,-1.05,-146.0,106.3,-7.7,112,1165,0.00,2.47,0.00,0.000,6,0.000,0.021,2785,2210,3658,0,0,0,0,0,0
$GC,1424,-1.10,-146.0,123.4,-6.5,137,1429,0.12,2.53,0.00,0.000,4,0.065,0.036,2731,3775,3658,0,0,0,0,0,0
$GC,1445,-1.10,-146.0,125.8,-8.1,138,1454,0.08,2.47,0.00,0.000,6,0.073,0.021,2753,2207,3658,0,0,0,0,0,0
$GC,1714,-1.10,-146.0,149.7,-9.4,163,1718,0.00,2.50,0.00,0.000,4,0.000,0.035,2754,3770,3658,0,0,0,0,0,0
$GC,1735,-1.10,-146.0,152.5,-9.5,164,1744,0.00,2.45,0.00,0.000,6,0.000,0.020,2753,2214,3658,0,0,0,0,0,0
$GC,2003,-1.10,-146.0,175.1,-8.0,189,2007,0.00,2.58,0.00,0.000,4,0.000,0.048,2754,640,3658,0,0,0,0,0,0
$GC,2036,-1.10,-146.0,178.2,-8.5,191,2040,0.00,2.38,0.00,0.000,6,0.000,0.019,2753,2198,3658,0,0,0,0,0,0
$GC,2304,-1.10,-146.0,197.9,-6.7,215,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2199,3657,0,0,0,0,0,0
$GC,2565,-1.10,-146.0,216.5,-7.6,240,2570,0.00,2.53,0.00,0.000,4,0.000,0.038,2753,3781,3657,0,0,0,0,0,0
$GC,2587,-1.15,-146.0,218.0,-8.2,241,2591,0.00,2.47,0.00,0.000,6,0.000,0.021,2753,2193,3658,0,0,0,0,0,0
$GC,2856,-1.19,-146.0,241.6,-9.8,265,2860,0.00,2.58,0.00,0.000,4,0.000,0.048,2753,3776,3656,0,0,0,0,0,0
$GC,2884,-1.25,-146.0,245.0,-9.6,267,2889,0.15,2.47,0.00,0.000,6,0.062,0.021,2697,2200,3656,0,0,0,0,0,0
$GC,3145,-1.20,-146.0,272.7,-10.2,291,3147,0.17,0.00,0.00,0.000,6,0.088,0.000,2736,2200,3656,0,0,0,0,0,0
$GC,3402,-1.20,-146.0,292.1,-6.9,315,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2200,3654,0,0,0,0,0,0
$GC,3657,-1.20,-146.0,309.1,-7.1,339,3661,0.00,2.58,0.00,0.000,4,0.000,0.044,2735,3776,3653,0,0,0,0,0,0
$GC,3678,-1.20,-146.0,310.5,-7.2,340,3683,0.00,2.47,0.00,0.000,6,0.000,0.025,2735,2208,3653,0,0,0,0,0,0
$GC,3947,-1.23,-146.0,328.6,-6.9,364,3952,0.00,2.67,0.00,0.000,4,0.000,0.067,2736,630,3651,0,0,0,0,0,0
$GC,3981,-1.28,-146.0,331.7,-7.2,366,3990,0.00,2.50,0.00,0.000,6,0.000,0.028,2735,2180,3651,0,0,0,0,0,0
$GC,4249,-1.32,-146.0,350.3,-7.5,391,4254,0.12,2.65,0.00,0.000,4,0.067,0.048,2683,3792,3649,0,0,0,0,0,0
$GC,4327,-1.26,-146.0,358.1,-10.2,397,4333,0.17,2.55,0.00,0.000,6,0.088,0.035,2721,2204,3649,0,0,0,0,0,0
$GC,4593,-1.26,-146.0,381.3,-8.7,421,4597,0.00,2.72,0.00,0.000,4,0.000,0.078,2721,631,3647,0,0,0,0,0,0
$GC,4621,-1.26,-146.0,384.4,-9.8,423,4625,0.00,2.53,0.00,0.000,6,0.000,0.032,2721,2198,3647,0,0,0,0,0,0
$GC,4885,-1.26,-146.0,408.5,-9.6,447,4890,0.00,2.65,0.00,0.000,4,0.000,0.053,2721,3792,3645,0,0,0,0,0,0
$GC,4930,-1.30,-146.0,413.4,-10.1,450,4939,0.00,2.62,0.00,0.000,6,0.000,0.037,2721,2199,3644,0,0,0,0,0,0
$GC,5196,-1.30,-146.0,436.4,-8.4,475,5200,0.00,2.67,0.00,0.000,4,0.000,0.051,2721,3797,3642,0,0,0,0,0,0
$GC,5226,-1.30,-146.0,439.4,-8.9,477,5230,0.00,2.58,0.00,0.000,6,0.000,0.037,2721,2213,3642,0,0,0,0,0,0
$GC,5489,-1.30,-146.0,460.7,-8.0,501,5493,0.00,2.88,0.00,0.000,4,0.000,0.097,2721,626,3641,0,0,0,0,0,0
$GC,5512,-1.30,-146.0,462.2,-7.4,502,5517,0.00,2.62,0.00,0.000,6,0.000,0.042,2721,2216,3640,0,0,0,0,0,0
$GC,5779,-1.34,-146.0,482.0,-6.5,526,5784,0.00,2.67,0.00,0.000,4,0.000,0.061,2721,3796,3638,0,0,0,0,0,0
$GC,5861,-1.39,-146.0,488.3,-7.4,532,5868,0.12,2.60,0.00,0.000,6,0.067,0.042,2675,2224,3638,0,0,0,0,0,0
$GC,6125,-1.34,-146.0,510.0,-8.6,557,6130,0.12,2.70,0.00,0.000,4,0.103,0.060,2702,3796,3636,0,0,0,0,0,0
$GC,6172,-1.34,-146.0,514.0,-7.9,560,6178,0.00,2.65,0.00,0.000,6,0.000,0.054,2702,2222,3636,0,0,0,0,0,0
$GC,6435,-1.34,-146.0,532.5,-6.9,585,6439,0.00,3.03,0.00,0.000,4,0.000,0.118,2702,623,3634,0,0,0,0,0,0
$GC,6457,-1.34,-146.0,533.8,-7.1,586,6461,0.00,2.70,0.00,0.000,6,0.000,0.052,2702,2227,3634,0,0,0,0,0,0
$GC,6725,-1.34,-146.0,551.8,-7.0,610,6730,0.00,2.72,0.00,0.000,4,0.000,0.074,2702,3793,3632,0,0,0,0,0,0
$GC,6758,-1.34,-146.0,554.8,-7.7,612,6767,0.00,2.67,0.00,0.000,6,0.000,0.051,2702,2226,3632,0,0,0,0,0,0
$GC,7027,-1.34,-146.0,572.1,-6.3,637,7031,0.00,2.75,0.00,0.000,4,0.000,0.074,2701,3796,3630,0,0,0,0,0,0
$GC,7048,-1.34,-146.0,574.3,-7.5,638,7054,0.00,2.67,0.00,0.000,6,0.000,0.058,2702,2233,3631,0,0,0,0,0,0
$GC,7313,-1.34,-146.0,592.8,-7.4,663,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2234,3629,0,0,0,0,0,0
$GC,7567,-1.34,-146.0,612.3,-7.6,676,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2234,3628,0,0,0,0,0,0
$GC,7810,-1.34,-146.0,630.8,-7.6,682,7815,0.00,2.83,0.00,0.000,4,0.000,0.100,2702,3792,3627,0,0,0,0,0,0
$GC,7844,-1.34,-146.0,633.5,-8.5,682,7850,0.00,2.75,0.00,0.000,6,0.000,0.078,2702,2237,3627,0,0,0,0,0,0
$GC,8094,-1.34,-146.0,652.3,-7.4,689,8099,0.00,2.88,0.00,0.000,4,0.000,0.100,2702,3794,3625,0,0,0,0,0,0
$GC,8155,-1.34,-146.0,657.1,-7.7,690,8160,0.00,2.80,0.00,0.000,6,0.000,0.088,2702,2245,3625,0,0,0,0,0,0
$GC,8417,-1.34,-146.0,675.7,-7.2,697,8422,0.00,3.22,0.00,0.000,4,0.000,0.143,2701,616,3623,0,0,0,0,0,0
$GC,8433,-1.34,-146.0,677.0,-6.9,697,8438,0.00,2.95,0.00,0.000,6,0.000,0.092,2701,2243,3623,0,0,0,0,0,0
$GC,8694,-1.34,-146.0,694.4,-6.5,704,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2243,3622,0,0,0,0,0,0
$GC,8940,-1.34,-146.0,709.5,-6.1,710,8944,0.00,3.08,0.00,0.000,4,0.000,0.137,2701,3799,3621,0,0,0,0,0,0
$GC,8967,-1.34,-146.0,711.4,-6.2,710,8972,0.00,2.97,0.00,0.000,6,0.000,0.114,2702,2247,3621,0,0,0,0,0,0
$GC,9217,-1.34,-146.0,724.7,-5.2,716,9222,0.00,3.08,0.00,0.000,4,0.000,0.133,2702,3798,3621,0,0,0,0,0,0
$GC,9250,-1.34,-146.0,726.5,-5.6,716,9255,0.00,3.00,0.00,0.000,6,0.000,0.120,2702,2258,3620,0,0,0,0,0,0
$GC,9502,-1.38,-146.0,738.4,-4.6,723,9507,0.00,3.10,0.00,0.000,4,0.000,0.143,2701,3797,3619,0,0,0,0,0,0
$GC,9529,-1.38,-146.0,740.0,-5.2,723,9534,0.00,3.03,0.00,0.000,6,0.000,0.128,2702,2267,3619,0,0,0,0,0,0
$GC,9781,-1.42,-146.0,752.3,-5.0,729,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2267,3618,0,0,0,0,0,0
$GC,10023,-1.46,-146.0,766.8,-6.1,735,10028,0.00,3.15,0.00,0.000,4,0.000,0.154,2702,3800,3617,0,0,0,0,0,0
$GC,10050,-1.46,-146.0,768.9,-7.9,735,10055,0.00,3.10,0.00,0.000,6,0.000,0.145,2702,2276,3617,0,0,0,0,0,0
$GC,10301,-1.49,-146.0,786.6,-7.2,741,10303,0.12,0.00,0.00,0.000,6,0.069,0.000,2656,2276,3617,0,0,0,0,0,0
$STATE,10460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10460,begin apogee
$GC,10468,-0.31,0.0,801.3,9.0,745,10591,1.20,0.00,119.30,1.173,6,0.071,0.000,2925,2367,3060,0,0,0,0,0,0
$STATE,10592,end apogee,CONTROL_FINISHED_OK
$STATE,10592,begin climb
$GC,10594,1.28,146.0,804.4,0.0,748,10736,1.45,3.58,130.15,1.147,4,0.035,0.175,3283,3940,2462,0,0,0,0,0,0
$GC,10764,1.12,146.0,792.9,13.1,752,10770,0.20,3.38,0.00,0.000,6,0.107,0.160,3241,2372,2458,0,0,1,0,0,0
$GC,11045,1.08,148.6,765.1,9.9,759,11046,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2372,2453,0,0,0,0,0,0
$GC,11287,1.05,152.2,741.3,9.9,765,11297,0.00,3.25,4.80,0.772,4,0.000,0.139,3241,3946,2439,0,0,0,0,0,0
$GC,11337,0.99,152.2,735.7,11.6,766,11342,0.15,3.15,0.00,0.000,6,0.115,0.123,3213,2365,2438,0,0,0,0,0,0
$GC,11610,1.02,175.1,711.1,9.0,773,11634,0.00,0.00,22.73,1.067,6,0.000,0.000,3213,2365,2346,0,0,0,0,0,0
$GC,11853,1.04,189.0,688.3,9.4,779,11873,0.00,3.08,14.12,1.017,4,0.000,0.110,3213,3944,2288,0,0,0,0,0,0
$GC,11891,1.05,200.7,684.6,9.5,780,11910,0.00,2.95,12.62,0.988,6,0.000,0.094,3213,2368,2240,0,0,0,0,0,0
$GC,12182,1.11,219.8,657.7,9.1,787,12206,0.10,3.17,18.40,1.022,4,0.094,0.124,3240,780,2163,0,0,0,0,0,0
$GC,12264,1.11,219.8,648.7,11.4,788,12269,0.00,2.88,0.00,0.000,6,0.000,0.078,3240,2369,2161,0,0,0,0,0,0
$GC,12515,1.11,219.8,623.0,10.3,795,12519,0.00,2.88,0.00,0.000,4,0.000,0.096,3241,3944,2160,0,0,0,0,0,0
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$STATE,18341,end climb,SURFACE_DEPTH_REACHED
$STATE,18341,begin surface coast
$FINISH,0.1,1.023638
$STATE,18383,end surface coast,CONTROL_FINISHED_OK
$STATE,18384,begin surface
$SM_CCo,18405,68.90,0.522,0,0,1509,380.21
$SM_GC,0.49,0.00,0.00,68.90,0.000,0.000,0.522,457,2132,1509,-11.68,-2.21,380.21
$IRIDIUM_FIX,2232.34,-15738.08,290703,111159
$TT8_MAMPS,0.026078
$HUMID,62.40
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.60
$XPDR_PINGS,52
$24V_AH,23.2,46.867
$10V_AH,9.8,55.776
$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,31.100,267.525,396.825,68.900,0.000,113.184,194.385,1326.176,13.000,0.000,15.611,2416.582,10891.680,637.785,4295.835,2241.168,33.363,2037.552,0.000,4318.878,0.000,0.535,0.000
$DEVICE_MAMPS,167.206,174.876,1172.743,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,909.078,960.322,1246.197,1391.155,2643.653,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,107852,1320
$CAP_FILE_SIZE,229632,0
$CFSIZE,260165632,155996160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,040514,170335,2239.311,-15739.036,35,1.4,41,10.1