version: 66.06
glider: 146
mission: 8
dive: 127
start: 2 10 113 9 7 36
data:
$ID,146
$MISSION,8
$DIVE,127
$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,290
$T_MISSION,620
$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,-309810.34
$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,3260
$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,39
$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,3200
$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
$GPS1,085924,1915.428,-8040.586,56,1.4,56,-4.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.8
$GPS2,090643,1915.335,-8040.538,15,1.4,15,-4.1
$SPEED_LIMITS,0.148,0.263
$TGT_NAME,Tp6
$TGT_LATLONG,1924.000,-8037.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,0.080
$KALMAN_X,3907.7,801.9,1372.1,5248.7,-3344.1
$KALMAN_Y,-4818.1,-971.5,-691.7,5106.8,1620.1
$MHEAD_RNG_PITCHd_Wd,76.4,16903,-18.1,-10.345
$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,19,-1.31,-146.0,0.0,0.0,0,92,0.00,0.00,-70.43,0.000,2,0.000,0.000,467,2155,3515,0,0,0,0,0,0
$GC,97,-1.31,-146.0,3.7,-5.5,9,122,13.77,2.60,-4.90,0.000,4,0.171,0.040,2969,3791,3796,0,0,0,0,0,0
$GC,172,-1.16,-146.0,27.2,-19.4,19,181,0.12,2.55,0.00,0.000,6,0.091,0.024,3001,2201,3797,0,0,0,0,0,0
$GC,451,-1.00,-146.0,73.2,-16.8,45,456,0.17,2.58,0.00,0.000,4,0.105,0.045,3038,633,3797,0,0,0,0,0,0
$GC,488,-0.90,-146.0,80.9,-15.9,47,498,0.08,2.45,0.00,0.000,6,0.087,0.017,3060,2221,3796,0,0,0,0,0,0
$GC,754,-0.90,-146.0,113.7,-11.6,72,758,0.00,2.60,0.00,0.000,4,0.000,0.048,3060,626,3798,0,0,0,0,0,0
$GC,811,-0.90,-146.0,120.3,-10.1,76,823,0.00,2.42,0.00,0.000,6,0.000,0.023,3060,2194,3798,0,0,0,0,0,0
$GC,1082,-0.97,-146.0,144.6,-9.0,101,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2194,3798,0,0,0,0,0,0
$GC,1345,-1.09,-146.0,163.6,-6.1,126,1346,0.15,0.00,0.00,0.000,6,0.058,0.000,2999,2194,3799,0,0,0,0,0,0
$GC,1601,-1.09,-146.0,187.0,-7.7,150,1606,0.10,2.50,0.00,0.000,4,0.109,0.035,3021,3768,3799,0,0,0,0,0,0
$GC,1624,-1.14,-146.0,188.9,-6.9,151,1632,0.00,2.47,0.00,0.000,6,0.000,0.026,3022,2165,3800,0,0,0,0,0,0
$GC,1901,-1.21,-146.0,209.9,-7.7,169,1903,0.12,0.00,0.00,0.000,6,0.067,0.000,2970,2165,3800,0,0,0,0,0,0
$GC,2147,-1.21,-146.0,229.4,-7.7,175,2152,0.12,2.58,0.00,0.000,4,0.098,0.038,2999,3769,3800,0,0,0,0,0,0
$GC,2168,-1.21,-146.0,231.2,-7.3,175,2173,0.00,2.45,0.00,0.000,6,0.000,0.028,2999,2178,3800,0,0,0,0,0,0
$GC,2424,-1.25,-146.0,254.1,-9.8,182,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2178,3800,0,0,0,0,0,0
$GC,2670,-1.29,-146.0,273.8,-7.6,188,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2178,3800,0,0,0,0,0,0
$GC,2911,-1.34,-146.0,289.7,-6.5,194,2916,0.12,2.58,0.00,0.000,4,0.068,0.038,2949,3767,3799,0,0,0,0,0,0
$GC,2933,-1.34,-146.0,291.8,-8.9,194,2937,0.00,2.50,0.00,0.000,6,0.000,0.029,2948,2177,3799,0,0,0,0,0,0
$GC,3190,-1.29,-146.0,317.7,-10.4,201,3196,0.12,2.58,0.00,0.000,4,0.100,0.038,2977,3766,3798,0,0,0,0,0,0
$GC,3206,-1.29,-146.0,319.7,-10.6,201,3211,0.00,2.50,0.00,0.000,6,0.000,0.022,2977,2178,3798,0,0,0,0,0,0
$GC,3468,-1.29,-146.0,343.5,-9.2,208,3472,0.00,2.60,0.00,0.000,4,0.000,0.064,2977,633,3797,0,0,0,0,0,0
$GC,3485,-1.29,-146.0,345.1,-9.4,208,3490,0.00,2.40,0.00,0.000,6,0.000,0.028,2977,2165,3797,0,0,0,0,0,0
$GC,3747,-1.29,-146.0,367.7,-8.3,215,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2165,3797,0,0,0,0,0,0
$GC,3990,-1.29,-146.0,387.6,-8.0,221,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2165,3796,0,0,0,0,0,0
$GC,4236,-1.29,-146.0,404.9,-7.0,227,4241,0.00,2.65,0.00,0.000,4,0.000,0.054,2977,3784,3794,0,0,0,0,0,0
$GC,4269,-1.29,-146.0,407.9,-8.5,227,4275,0.00,2.55,0.00,0.000,6,0.000,0.040,2977,2197,3794,0,0,0,0,0,0
$GC,4519,-1.29,-146.0,428.0,-8.2,234,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2197,3793,0,0,0,0,0,0
$GC,4763,-1.29,-146.0,449.8,-9.1,240,4768,0.00,2.62,0.00,0.000,4,0.000,0.053,2977,3782,3792,0,0,0,0,0,0
$GC,4781,-1.29,-146.0,451.3,-9.2,240,4786,0.00,2.60,0.00,0.000,6,0.000,0.038,2977,2183,3792,0,0,0,0,0,0
$GC,5042,-1.29,-146.0,474.4,-8.7,247,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2184,3791,0,0,0,0,0,0
$GC,5285,-1.29,-146.0,495.2,-8.5,253,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2184,3790,0,0,0,0,0,0
$GC,5531,-1.29,-146.0,514.9,-8.0,259,5536,0.00,2.75,0.00,0.000,4,0.000,0.070,2977,3785,3788,0,0,0,0,0,0
$GC,5559,-1.29,-146.0,517.5,-8.6,259,5563,0.00,2.70,0.00,0.000,6,0.000,0.051,2977,2178,3788,0,0,0,0,0,0
$GC,5809,-1.29,-146.0,538.4,-8.4,265,5813,0.00,2.75,0.00,0.000,4,0.000,0.064,2977,3785,3787,0,0,0,0,0,0
$GC,5825,-1.29,-146.0,539.9,-8.4,265,5829,0.00,2.67,0.00,0.000,6,0.000,0.053,2977,2185,3787,0,0,0,0,0,0
$GC,6087,-1.29,-146.0,559.8,-7.4,272,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2184,3786,0,0,0,0,0,0
$GC,6329,-1.29,-146.0,579.0,-8.0,278,6334,0.00,2.80,0.00,0.000,4,0.000,0.074,2977,3782,3785,0,0,0,0,0,0
$GC,6345,-1.29,-146.0,580.4,-8.1,278,6349,0.00,2.72,0.00,0.000,6,0.000,0.060,2977,2180,3784,0,0,0,0,0,0
$GC,6607,-1.29,-146.0,602.1,-8.5,285,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2180,3784,0,0,0,0,0,0
$GC,6849,-1.29,-146.0,623.6,-8.8,291,6854,0.00,2.85,0.00,0.000,4,0.000,0.086,2977,3783,3782,0,0,0,0,0,0
$GC,6882,-1.33,-146.0,626.9,-9.6,291,6888,0.00,2.80,0.00,0.000,6,0.000,0.074,2977,2195,3782,0,0,0,0,0,0
$GC,7134,-1.37,-146.0,648.4,-8.3,298,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2195,3780,0,0,0,0,0,0
$GC,7376,-1.41,-146.0,667.1,-7.9,304,7381,0.10,2.92,0.00,0.000,4,0.081,0.101,2936,3776,3779,0,0,0,0,0,0
$GC,7398,-1.41,-146.0,669.2,-9.5,304,7403,0.00,2.88,0.00,0.000,6,0.000,0.095,2935,2196,3779,0,0,0,0,0,0
$GC,7658,-1.37,-146.0,694.3,-9.7,311,7663,0.12,2.97,0.00,0.000,4,0.106,0.111,2962,3779,3778,0,0,0,0,0,0
$GC,7680,-1.37,-146.0,696.8,-9.6,311,7685,0.00,2.80,0.00,0.000,6,0.000,0.085,2962,2195,3778,0,0,0,0,0,0
$GC,7935,-1.37,-146.0,718.0,-8.3,318,7940,0.00,2.85,0.00,0.000,4,0.000,0.093,2962,3775,3777,0,0,0,0,0,0
$GC,7953,-1.37,-146.0,719.4,-8.2,318,7957,0.00,2.75,0.00,0.000,6,0.000,0.078,2962,2210,3776,0,0,0,0,0,0
$GC,8213,-1.37,-146.0,741.2,-8.2,325,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2210,3775,0,0,0,0,0,0
$GC,8457,-1.37,-146.0,761.2,-8.3,331,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2209,3775,0,0,0,0,0,0
$GC,8703,-1.37,-146.0,781.6,-8.4,337,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2209,3773,0,0,0,0,0,0
$GC,8944,-1.37,-146.0,804.0,-9.3,343,8949,0.00,3.00,0.00,0.000,4,0.000,0.122,2962,624,3772,0,0,0,0,0,0
$GC,8966,-1.37,-146.0,806.1,-9.7,343,8970,0.00,2.67,0.00,0.000,6,0.000,0.060,2962,2193,3772,0,0,0,0,0,0
$GC,9221,-1.37,-146.0,828.2,-8.5,350,9226,0.00,2.88,0.00,0.000,4,0.000,0.097,2962,3804,3770,0,0,0,0,0,0
$GC,9239,-1.37,-146.0,829.8,-8.3,350,9243,0.00,2.72,0.00,0.000,6,0.000,0.060,2962,2216,3770,0,0,0,0,0,0
$GC,9499,-1.37,-146.0,851.2,-8.2,357,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2216,3769,0,0,0,0,0,0
$GC,9743,-1.37,-146.0,869.6,-7.4,363,9748,0.00,2.80,0.00,0.000,4,0.000,0.080,2962,3802,3768,0,0,0,0,0,0
$GC,9811,-1.37,-146.0,874.6,-7.9,364,9816,0.00,2.70,0.00,0.000,6,0.000,0.067,2962,2226,3768,0,0,0,0,0,0
$GC,10067,-1.37,-146.0,893.4,-7.5,371,10068,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2226,3767,0,0,0,0,0,0
$STATE,10186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10186,begin apogee
$GC,10192,-0.31,0.0,902.9,7.8,374,10315,1.00,0.00,119.40,1.222,6,0.074,0.000,3189,2383,3200,0,0,0,0,0,0
$STATE,10316,end apogee,CONTROL_FINISHED_OK
$STATE,10316,begin climb
$GC,10321,1.31,146.0,905.7,0.0,377,10456,1.48,2.83,126.70,1.185,4,0.036,0.076,3551,3927,2603,0,0,0,0,0,0
$GC,10580,1.17,146.0,884.4,13.2,383,10585,0.17,2.70,0.00,0.000,6,0.117,0.050,3517,2367,2597,0,0,0,0,0,0
$GC,10859,1.13,155.5,856.5,9.9,390,10873,0.00,2.80,8.70,0.986,4,0.000,0.067,3517,3927,2565,0,0,0,0,0,0
$GC,10949,1.08,155.5,846.7,12.0,392,10955,0.12,2.62,0.00,0.000,6,0.127,0.046,3493,2382,2563,0,0,0,0,0,0
$GC,11233,1.10,172.2,819.2,9.5,399,11251,0.00,0.00,16.25,1.075,6,0.000,0.000,3493,2382,2497,0,0,0,0,0,0
$GC,11479,1.11,185.0,795.6,9.7,405,11494,0.00,0.00,12.75,1.039,6,0.000,0.000,3493,2382,2445,0,0,0,0,0,0
$GC,11720,1.14,212.2,773.2,9.0,411,11754,0.00,3.12,26.17,1.091,4,0.000,0.114,3493,776,2334,0,0,0,0,0,0
$GC,11782,1.14,212.2,767.2,10.5,412,11787,0.00,2.67,0.00,0.000,6,0.000,0.042,3493,2375,2332,0,0,0,0,0,0
$GC,12045,1.15,215.6,741.4,10.2,419,12050,0.00,2.67,0.00,0.000,4,0.000,0.066,3493,3930,2329,0,0,0,0,0,0
$GC,12078,1.15,215.6,737.4,11.7,419,12084,0.00,2.58,0.00,0.000,6,0.000,0.040,3493,2374,2329,0,0,0,0,0,0
$GC,12328,1.20,223.4,712.4,10.0,426,12348,0.12,3.08,11.05,0.981,4,0.076,0.113,3527,783,2287,0,0,0,0,0,0
$GC,12373,1.15,223.4,707.2,12.3,427,12378,0.00,2.67,0.00,0.000,6,0.000,0.041,3527,2379,2287,0,0,0,0,0,0
$GC,12657,1.15,223.4,672.7,11.9,434,12661,0.00,2.70,0.00,0.000,4,0.000,0.065,3527,3940,2285,0,0,0,0,0,0
$GC,12713,1.15,223.4,665.3,13.0,435,12718,0.00,2.60,0.00,0.000,6,0.000,0.043,3527,2385,2285,0,0,0,0,0,0
$GC,12980,1.15,223.4,633.2,11.8,442,12985,0.00,3.03,0.00,0.000,4,0.000,0.110,3527,779,2284,0,0,0,0,0,0
$GC,12995,1.15,223.4,631.1,12.0,442,13000,0.00,2.67,0.00,0.000,6,0.000,0.041,3527,2391,2284,0,0,0,0,0,0
$GC,13260,1.15,223.4,600.3,11.9,449,13264,0.00,2.62,0.00,0.000,4,0.000,0.066,3527,3933,2283,0,0,0,0,0,0
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$STATE,18500,end climb,SURFACE_DEPTH_REACHED
$STATE,18500,begin surface coast
$FINISH,1.0,1.005949
$STATE,18533,end surface coast,CONTROL_FINISHED_OK
$STATE,18533,begin surface
$SM_CCo,18556,20.40,0.479,0,0,1773,350.04
$SM_GC,2.07,0.00,0.00,20.40,0.000,0.000,0.479,465,2174,1773,-12.86,-0.99,350.04
$IRIDIUM_FIX,1906.95,-8049.90,070502,030351
$TT8_MAMPS,0.026078
$HUMID,57.28
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,24.20
$XPDR_PINGS,62
$24V_AH,23.3,18.021
$10V_AH,10.4,15.625
$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,31.100,203.200,414.125,20.400,0.000,22.548,37.309,209.224,15.500,0.000,17.368,1489.106,13973.070,551.874,2260.958,732.297,31.432,1553.963,0.000,2254.192,0.000,0.535,0.000
$DEVICE_MAMPS,171.041,121.953,1221.831,479.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.107,341.633,434.563,560.163,1064.780,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,54197,717
$CAP_FILE_SIZE,166236,0
$CFSIZE,260165632,119885824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100213,141830,1914.972,-8036.236,37,1.3,37,-4.1