version: 66.06
glider: 146
mission: 8
dive: 113
start: 2 7 113 5 26 19
data:
$ID,146
$MISSION,8
$DIVE,113
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$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,300
$T_MISSION,600
$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,52423
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2225
$TGT_DEFAULT_LON,-8113.5
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,-309562.75
$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,3270
$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,3205
$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,-27.560358
$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,0.0043571657
$SEABIRD_T_H,0.00063262874
$SEABIRD_T_I,2.5277763e-05
$SEABIRD_T_J,2.8683949e-06
$SEABIRD_C_G,-9.9054022
$SEABIRD_C_H,1.142597
$SEABIRD_C_I,-0.0022074829
$SEABIRD_C_J,0.00025491611
$GPS1,051735,1923.466,-8105.290,34,1.4,34,-3.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-75.1
$GPS2,052525,1923.469,-8105.151,10,1.6,10,-3.9
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.260,-0.006
$KALMAN_X,201325.5,313.4,410.4,-191605.5,3660.4
$KALMAN_Y,-38921.6,-567.5,-281.1,33182.1,425.5
$MHEAD_RNG_PITCHd_Wd,272.5,5209,-17.5,-10.000
$D_GRID,900
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-71.10,0.000,2,0.000,0.000,465,2142,3561,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.1,-6.7,9,123,13.82,2.65,-4.07,0.000,4,0.170,0.043,2988,3789,3801,0,0,0,0,0,0
$GC,135,-0.06,-146.0,20.7,-41.1,13,143,1.20,2.53,0.00,0.000,6,0.085,0.021,3253,2205,3802,0,0,0,0,0,0
$GC,429,-0.62,-146.0,43.8,-9.1,47,434,0.50,2.55,0.00,0.000,4,0.060,0.034,3129,3792,3802,0,0,0,0,0,0
$GC,528,-0.79,-146.0,51.8,-7.2,54,533,0.12,2.47,0.00,0.000,6,0.066,0.017,3073,2196,3802,0,0,0,0,0,0
$GC,797,-0.79,-146.0,80.5,-11.2,78,802,0.10,2.55,0.00,0.000,4,0.108,0.045,3096,646,3803,0,0,0,0,0,0
$GC,868,-0.89,-146.0,88.4,-10.1,83,873,0.00,2.40,0.00,0.000,6,0.000,0.017,3096,2218,3803,0,0,0,0,0,0
$GC,1137,-0.94,-146.0,113.2,-8.3,107,1143,0.12,2.60,0.00,0.000,4,0.066,0.044,3042,642,3803,0,0,0,0,0,0
$GC,1171,-0.94,-146.0,116.6,-9.6,109,1176,0.10,2.40,0.00,0.000,6,0.107,0.018,3065,2197,3804,0,0,0,0,0,0
$GC,1437,-1.00,-146.0,139.8,-7.5,133,1441,0.00,2.53,0.00,0.000,4,0.000,0.032,3065,3784,3804,0,0,0,0,0,0
$GC,1470,-1.09,-146.0,142.9,-8.7,135,1477,0.15,2.47,0.00,0.000,6,0.058,0.028,3000,2201,3804,0,0,0,0,0,0
$GC,1739,-1.09,-146.0,168.8,-9.8,160,1744,0.15,2.58,0.00,0.000,4,0.091,0.049,3035,638,3805,0,0,0,0,0,0
$GC,1803,-1.17,-146.0,175.8,-9.2,165,1807,0.00,2.38,0.00,0.000,6,0.000,0.018,3035,2202,3805,0,0,0,0,0,0
$GC,2068,-1.24,-146.0,196.9,-7.8,189,2073,0.15,2.50,0.00,0.000,4,0.058,0.041,2973,3778,3806,0,0,0,0,0,0
$GC,2113,-1.24,-146.0,201.9,-10.8,192,2118,0.12,2.45,0.00,0.000,6,0.094,0.021,3003,2196,3806,0,0,0,0,0,0
$GC,2393,-1.24,-146.0,222.5,-7.1,199,2397,0.00,2.55,0.00,0.000,4,0.000,0.048,3003,642,3806,0,0,0,0,0,0
$GC,2426,-1.24,-146.0,225.1,-7.7,199,2431,0.00,2.38,0.00,0.000,6,0.000,0.026,3003,2189,3806,0,0,0,0,0,0
$GC,2676,-1.28,-146.0,244.0,-7.7,206,2681,0.00,2.55,0.00,0.000,4,0.000,0.041,3003,3781,3806,0,0,0,0,0,0
$GC,2736,-1.34,-146.0,248.6,-8.1,207,2741,0.10,2.45,0.00,0.000,6,0.077,0.028,2954,2196,3805,0,0,0,0,0,0
$GC,3003,-1.28,-146.0,274.1,-9.8,214,3008,0.15,2.60,0.00,0.000,4,0.094,0.061,2989,635,3805,0,0,0,0,0,0
$GC,3057,-1.28,-146.0,278.9,-9.3,215,3061,0.00,2.40,0.00,0.000,6,0.000,0.020,2989,2195,3805,0,0,0,0,0,0
$GC,3329,-1.28,-146.0,302.8,-8.6,222,3333,0.00,2.58,0.00,0.000,4,0.000,0.044,2988,3786,3805,0,0,0,0,0,0
$GC,3361,-1.28,-146.0,305.8,-9.2,222,3367,0.00,2.47,0.00,0.000,6,0.000,0.023,2989,2213,3805,0,0,0,0,0,0
$GC,3613,-1.28,-146.0,326.8,-8.4,229,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2213,3804,0,0,0,0,0,0
$GC,3855,-1.28,-146.0,347.2,-8.4,235,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2212,3803,0,0,0,0,0,0
$GC,4098,-1.28,-146.0,368.0,-8.5,241,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2213,3802,0,0,0,0,0,0
$GC,4342,-1.28,-146.0,388.5,-8.4,247,4343,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2213,3801,0,0,0,0,0,0
$GC,4588,-1.28,-146.0,408.2,-8.0,253,4592,0.00,2.58,0.00,0.000,4,0.000,0.046,2988,3776,3800,0,0,0,0,0,0
$GC,4621,-1.28,-146.0,411.1,-8.4,253,4626,0.00,2.53,0.00,0.000,6,0.000,0.030,2989,2211,3800,0,0,0,0,0,0
$GC,4871,-1.28,-146.0,430.9,-7.8,260,4875,0.00,2.78,0.00,0.000,4,0.000,0.087,2989,626,3799,0,0,0,0,0,0
$GC,4934,-1.33,-146.0,436.1,-8.5,261,4938,0.00,2.50,0.00,0.000,6,0.000,0.041,2989,2183,3799,0,0,0,0,0,0
$GC,5195,-1.37,-146.0,456.7,-7.8,268,5199,0.00,2.72,0.00,0.000,4,0.000,0.065,2989,3802,3797,0,0,0,0,0,0
$GC,5222,-1.41,-146.0,458.9,-8.3,268,5227,0.12,2.60,0.00,0.000,6,0.068,0.038,2940,2205,3797,0,0,0,0,0,0
$GC,5475,-1.35,-146.0,483.0,-9.8,274,5477,0.15,0.00,0.00,0.000,6,0.096,0.000,2974,2205,3796,0,0,0,0,0,0
$GC,5716,-1.35,-146.0,503.6,-8.2,280,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2205,3795,0,0,0,0,0,0
$GC,5960,-1.35,-146.0,521.4,-7.1,286,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2205,3794,0,0,0,0,0,0
$GC,6205,-1.35,-146.0,540.0,-7.7,292,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2205,3792,0,0,0,0,0,0
$GC,6447,-1.35,-146.0,559.4,-8.1,298,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2205,3791,0,0,0,0,0,0
$GC,6691,-1.35,-146.0,578.9,-8.0,304,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2205,3790,0,0,0,0,0,0
$GC,6934,-1.35,-146.0,598.5,-8.1,310,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2205,3789,0,0,0,0,0,0
$GC,7180,-1.35,-146.0,618.7,-8.4,316,7185,0.00,2.90,0.00,0.000,4,0.000,0.102,2974,3790,3787,0,0,0,0,0,0
$GC,7202,-1.35,-146.0,621.0,-9.2,316,7206,0.00,2.72,0.00,0.000,6,0.000,0.072,2974,2213,3787,0,0,0,0,0,0
$GC,7458,-1.35,-146.0,642.9,-8.5,323,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2214,3786,0,0,0,0,0,0
$GC,7703,-1.35,-146.0,663.2,-8.4,329,7707,0.00,2.90,0.00,0.000,4,0.000,0.098,2974,3795,3785,0,0,0,0,0,0
$GC,7726,-1.35,-146.0,665.5,-8.6,329,7731,0.00,2.85,0.00,0.000,6,0.000,0.092,2974,2214,3784,0,0,0,0,0,0
$GC,7981,-1.35,-146.0,686.6,-8.4,336,7986,0.00,3.17,0.00,0.000,4,0.000,0.147,2974,616,3783,0,0,0,0,0,0
$GC,8005,-1.35,-146.0,688.5,-8.8,336,8010,0.00,2.88,0.00,0.000,6,0.000,0.087,2974,2204,3783,0,0,0,0,0,0
$GC,8260,-1.35,-146.0,709.8,-8.3,343,8265,0.00,3.10,0.00,0.000,4,0.000,0.136,2974,3800,3782,0,0,0,0,0,0
$GC,8299,-1.35,-146.0,713.0,-8.8,344,8304,0.00,3.03,0.00,0.000,6,0.000,0.112,2973,2209,3782,0,0,0,0,0,0
$GC,8585,-1.35,-146.0,736.7,-8.5,351,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2209,3781,0,0,0,0,0,0
$GC,8826,-1.35,-146.0,756.9,-8.3,357,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2209,3779,0,0,0,0,0,0
$GC,9070,-1.35,-146.0,777.9,-8.7,363,9075,0.00,3.35,0.00,0.000,4,0.000,0.167,2974,3800,3778,0,0,0,0,0,0
$GC,9092,-1.35,-146.0,780.0,-9.1,363,9096,0.00,2.70,0.00,0.000,6,0.000,0.060,2974,2212,3778,0,0,0,0,0,0
$GC,9349,-1.35,-146.0,800.4,-7.8,370,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2212,3777,0,0,0,0,0,0
$GC,9591,-1.35,-146.0,817.8,-6.9,376,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2212,3776,0,0,0,0,0,0
$GC,9834,-1.35,-146.0,836.2,-7.8,382,9839,0.00,3.10,0.00,0.000,4,0.000,0.131,2973,616,3774,0,0,0,0,0,0
$GC,9858,-1.35,-146.0,838.1,-8.1,382,9863,0.00,2.72,0.00,0.000,6,0.000,0.064,2974,2223,3774,0,0,0,0,0,0
$GC,10113,-1.35,-146.0,859.1,-8.2,389,10118,0.00,2.85,0.00,0.000,4,0.000,0.094,2974,3804,3773,0,0,0,0,0,0
$GC,10146,-1.35,-146.0,862.0,-9.1,389,10152,0.00,2.72,0.00,0.000,6,0.000,0.064,2974,2215,3773,0,0,0,0,0,0
$GC,10398,-1.35,-146.0,883.1,-8.3,396,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2215,3772,0,0,0,0,0,0
$STATE,10637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10637,begin apogee
$GC,10643,-0.31,0.0,902.6,7.9,402,10766,1.00,0.00,119.28,1.213,6,0.071,0.000,3202,2387,3205,0,0,0,0,0,0
$STATE,10767,end apogee,CONTROL_FINISHED_OK
$STATE,10767,begin climb
$GC,10769,1.27,146.0,906.1,0.0,405,10908,1.45,2.80,126.53,1.183,4,0.034,0.080,3555,3926,2608,0,0,0,0,0,0
$GC,10921,1.14,157.3,900.0,9.5,409,10940,0.20,2.70,11.48,1.025,6,0.114,0.053,3516,2369,2563,0,0,0,0,0,0
$GC,11211,1.08,157.8,871.4,10.0,416,11216,0.00,2.72,0.00,0.000,4,0.000,0.067,3516,3928,2556,0,0,0,0,0,0
$GC,11278,1.01,157.8,864.1,10.7,417,11283,0.12,2.65,0.00,0.000,6,0.127,0.044,3491,2371,2555,0,0,0,0,0,0
$GC,11534,1.05,193.3,842.2,8.4,424,11568,0.00,0.00,32.38,1.122,6,0.000,0.000,3491,2371,2416,0,0,0,0,0,0
$GC,11780,1.07,209.7,820.2,9.2,430,11798,0.00,0.00,16.20,1.064,6,0.000,0.000,3491,2371,2349,0,0,0,0,0,0
$GC,12021,1.09,225.0,797.5,9.3,436,12038,0.00,0.00,15.40,1.052,6,0.000,0.000,3491,2371,2287,0,0,0,0,0,0
$GC,12265,1.09,225.0,773.1,10.1,442,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2371,2283,0,0,0,0,0,0
$GC,12510,1.09,225.0,747.5,10.5,448,12511,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2371,2283,0,0,0,0,0,0
$GC,12752,1.09,225.0,721.5,10.8,454,12753,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2371,2282,0,0,0,0,0,0
$GC,12996,1.09,225.0,696.4,10.2,460,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2371,2281,0,0,0,0,0,0
$GC,13240,1.13,225.0,670.1,11.1,466,13242,0.10,0.00,0.00,0.000,6,0.084,0.000,3522,2371,2281,0,0,0,0,0,0
$GC,13485,1.13,225.0,640.3,12.2,472,13490,0.00,2.67,0.00,0.000,4,0.000,0.056,3522,3932,2280,0,0,0,0,0,0
$GC,13513,1.08,225.0,636.6,12.1,472,13517,0.00,2.62,0.00,0.000,6,0.000,0.044,3522,2366,2280,0,0,0,0,0,0
$GC,13763,1.08,225.0,607.0,11.8,478,13767,0.00,2.65,0.00,0.000,4,0.000,0.056,3522,3934,2280,0,0,0,0,0,0
$GC,13786,1.04,225.0,604.1,12.3,478,13791,0.12,2.60,0.00,0.000,6,0.119,0.042,3497,2374,2279,0,0,0,0,0,0
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$STATE,19200,end climb,SURFACE_DEPTH_REACHED
$STATE,19201,begin surface coast
$FINISH,0.9,1.011532
$STATE,19243,end surface coast,CONTROL_FINISHED_OK
$STATE,19243,begin surface
$SM_CCo,19268,35.80,0.483,0,0,1777,350.04
$SM_GC,1.57,0.00,0.00,35.80,0.000,0.000,0.483,465,2158,1777,-12.90,-1.47,350.04
$IRIDIUM_FIX,1918.37,-8112.45,030502,232333
$TT8_MAMPS,0.026078
$HUMID,57.28
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.50
$XPDR_PINGS,52
$24V_AH,23.3,16.005
$10V_AH,10.4,13.877
$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,33.000,190.500,397.575,35.800,0.000,28.788,39.999,234.211,13.000,0.000,12.219,1564.445,14467.273,563.333,2401.318,767.137,33.374,1526.709,0.000,2403.766,0.000,0.536,0.000
$DEVICE_MAMPS,169.507,167.206,1213.394,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,512.005,369.546,465.465,645.749,1229.957,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355912
$DATA_FILE_SIZE,57308,755
$CAP_FILE_SIZE,169295,0
$CFSIZE,260165632,120893440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070213,104923,1922.577,-8104.648,39,1.3,39,-3.9