version: 66.06
glider: 146
mission: 8
dive: 165
start: 2 18 113 20 13 50
data:
$ID,146
$MISSION,8
$DIVE,165
$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,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,665.4989
$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,-310602.56
$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,15
$R_STBD_OVSHOOT,18
$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,3190
$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
$GPS1,195035,1927.681,-8118.121,71,1.2,71,-3.7
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-70.2
$GPS2,201254,1927.687,-8118.351,11,1.5,16,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.251,-0.065
$KALMAN_X,-6132.2,-165.6,-54.4,-13971.0,-1395.8
$KALMAN_Y,-889.4,298.6,98.3,6761.8,146.4
$MHEAD_RNG_PITCHd_Wd,108.2,19019,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.47,0.000,2,0.000,0.000,464,2118,3521,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-6.5,9,123,13.90,2.47,-4.72,0.000,4,0.167,0.053,2976,609,3786,0,0,0,0,0,0
$GC,174,-1.06,-146.0,29.5,-25.7,19,184,0.20,2.55,0.00,0.000,6,0.183,0.018,3024,2240,3786,0,0,0,0,0,0
$GC,444,-0.93,-146.0,69.2,-14.4,44,449,0.15,2.67,0.00,0.000,4,0.103,0.044,3058,617,3786,0,0,0,0,0,0
$GC,481,-0.88,-146.0,75.4,-12.5,46,490,0.00,2.47,0.00,0.000,6,0.000,0.016,3058,2213,3786,0,0,0,0,0,0
$GC,750,-0.85,-146.0,105.2,-12.5,71,754,0.00,2.60,0.00,0.000,4,0.000,0.042,3058,612,3786,0,0,0,0,0,0
$GC,781,-0.85,-146.0,109.4,-12.4,73,785,0.00,2.45,0.00,0.000,6,0.000,0.015,3058,2213,3786,0,0,0,0,0,0
$GC,1048,-0.88,-146.0,135.9,-8.5,97,1053,0.00,2.62,0.00,0.000,4,0.000,0.044,3058,611,3787,0,0,0,0,0,0
$GC,1083,-0.95,-146.0,139.2,-9.4,99,1087,0.00,2.40,0.00,0.000,6,0.000,0.017,3058,2180,3787,0,0,0,0,0,0
$GC,1355,-1.03,-146.0,160.5,-7.2,124,1360,0.10,2.55,0.00,0.000,4,0.079,0.039,3009,3776,3787,0,0,0,0,0,0
$GC,1375,-1.07,-146.0,162.2,-7.5,125,1379,0.00,2.50,0.00,0.000,6,0.000,0.025,3009,2152,3787,0,0,0,0,0,0
$GC,1638,-1.07,-146.0,184.7,-7.6,149,1642,0.00,2.50,0.00,0.000,4,0.000,0.052,3008,612,3787,0,0,0,0,0,0
$GC,1671,-1.07,-146.0,187.6,-8.8,151,1677,0.00,2.38,0.00,0.000,6,0.000,0.024,3009,2186,3788,0,0,0,0,0,0
$GC,1961,-1.07,-146.0,209.9,-7.6,170,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2186,3788,0,0,0,0,0,0
$GC,2202,-1.07,-146.0,229.1,-7.8,176,2207,0.00,2.58,0.00,0.000,4,0.000,0.053,3008,608,3787,0,0,0,0,0,0
$GC,2232,-1.11,-146.0,231.3,-7.2,176,2237,0.00,2.40,0.00,0.000,6,0.000,0.018,3009,2176,3787,0,0,0,0,0,0
$GC,2488,-1.15,-146.0,250.6,-7.4,183,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2176,3786,0,0,0,0,0,0
$GC,2732,-1.20,-146.0,267.4,-6.8,189,2737,0.00,2.53,0.00,0.000,4,0.000,0.040,3009,3768,3786,0,0,0,0,0,0
$GC,2751,-1.24,-146.0,268.6,-6.8,189,2755,0.00,2.50,0.00,0.000,6,0.000,0.025,3008,2152,3786,0,0,0,0,0,0
$GC,3012,-1.29,-146.0,287.7,-7.3,196,3017,0.12,2.60,0.00,0.000,4,0.070,0.036,2960,3766,3785,0,0,0,0,0,0
$GC,3034,-1.29,-146.0,289.7,-8.6,196,3038,0.00,2.50,0.00,0.000,6,0.000,0.026,2960,2161,3785,0,0,0,0,0,0
$GC,3292,-1.24,-146.0,312.9,-9.2,203,3293,0.12,0.00,0.00,0.000,6,0.101,0.000,2989,2160,3784,0,0,0,0,0,0
$GC,3533,-1.24,-146.0,332.6,-8.1,209,3537,0.00,2.60,0.00,0.000,4,0.000,0.037,2989,3765,3783,0,0,0,0,0,0
$GC,3550,-1.24,-146.0,334.0,-8.0,209,3554,0.00,2.47,0.00,0.000,6,0.000,0.025,2989,2181,3783,0,0,0,0,0,0
$GC,3813,-1.24,-146.0,354.7,-7.8,216,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2181,3782,0,0,0,0,0,0
$GC,4054,-1.24,-146.0,373.3,-7.5,222,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2181,3781,0,0,0,0,0,0
$GC,4298,-1.24,-146.0,391.0,-7.3,228,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2181,3779,0,0,0,0,0,0
$GC,4542,-1.24,-146.0,410.9,-8.2,234,4546,0.00,2.60,0.00,0.000,4,0.000,0.046,2989,3770,3779,0,0,0,0,0,0
$GC,4560,-1.24,-146.0,412.3,-8.4,234,4564,0.00,2.50,0.00,0.000,6,0.000,0.031,2989,2204,3779,0,0,0,0,0,0
$GC,4822,-1.24,-146.0,434.1,-8.3,241,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2204,3778,0,0,0,0,0,0
$GC,5064,-1.24,-146.0,452.7,-7.7,247,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2204,3776,0,0,0,0,0,0
$GC,5310,-1.24,-146.0,470.9,-7.5,253,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2204,3776,0,0,0,0,0,0
$GC,5552,-1.24,-146.0,488.4,-7.1,259,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2203,3775,0,0,0,0,0,0
$GC,5795,-1.24,-146.0,506.8,-7.5,265,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2204,3774,0,0,0,0,0,0
$GC,6039,-1.24,-146.0,525.1,-7.6,271,6044,0.00,2.70,0.00,0.000,4,0.000,0.076,2989,3757,3772,0,0,0,0,0,0
$GC,6058,-1.24,-146.0,526.5,-7.7,271,6062,0.00,2.60,0.00,0.000,6,0.000,0.048,2989,2196,3772,0,0,0,0,0,0
$GC,6319,-1.28,-146.0,545.8,-7.2,278,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2196,3771,0,0,0,0,0,0
$GC,6562,-1.28,-146.0,563.8,-7.4,284,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2196,3769,0,0,0,0,0,0
$GC,6808,-1.31,-146.0,581.8,-7.3,290,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2196,3768,0,0,0,0,0,0
$GC,7050,-1.35,-146.0,599.1,-7.0,296,7055,0.10,2.78,0.00,0.000,4,0.082,0.086,2951,3755,3767,0,0,0,0,0,0
$GC,7072,-1.35,-146.0,601.0,-8.6,296,7076,0.00,2.67,0.00,0.000,6,0.000,0.061,2951,2196,3767,0,0,0,0,0,0
$GC,7329,-1.31,-146.0,622.2,-8.3,303,7331,0.10,0.00,0.00,0.000,6,0.114,0.000,2973,2195,3766,0,0,0,0,0,0
$GC,7571,-1.31,-146.0,641.5,-7.9,309,7575,0.00,2.78,0.00,0.000,4,0.000,0.094,2974,3755,3764,0,0,0,0,0,0
$GC,7597,-1.31,-146.0,643.7,-8.4,309,7602,0.00,2.75,0.00,0.000,6,0.000,0.075,2973,2197,3764,0,0,0,0,0,0
$GC,7847,-1.31,-146.0,663.8,-8.0,315,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2196,3762,0,0,0,0,0,0
$GC,8094,-1.31,-146.0,683.2,-7.8,321,8098,0.00,2.88,0.00,0.000,4,0.000,0.104,2973,3760,3762,0,0,0,0,0,0
$GC,8109,-1.31,-146.0,684.7,-7.9,321,8114,0.00,2.78,0.00,0.000,6,0.000,0.079,2973,2193,3762,0,0,0,0,0,0
$GC,8371,-1.31,-146.0,704.2,-7.3,328,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2193,3761,0,0,0,0,0,0
$GC,8616,-1.31,-146.0,721.7,-7.2,334,8621,0.00,2.85,0.00,0.000,4,0.000,0.096,2973,3755,3760,0,0,0,0,0,0
$GC,8632,-1.31,-146.0,723.2,-7.3,334,8636,0.00,2.67,0.00,0.000,6,0.000,0.069,2974,2208,3759,0,0,0,0,0,0
$GC,8893,-1.31,-146.0,743.2,-7.7,341,8897,0.00,2.75,0.00,0.000,4,0.000,0.090,2973,3755,3758,0,0,0,0,0,0
$GC,8934,-1.31,-146.0,746.3,-8.7,342,8939,0.00,2.67,0.00,0.000,6,0.000,0.069,2973,2213,3758,0,0,0,0,0,0
$GC,9217,-1.31,-146.0,768.8,-7.9,349,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2213,3757,0,0,0,0,0,0
$GC,9461,-1.31,-146.0,788.1,-8.0,355,9466,0.00,2.75,0.00,0.000,4,0.000,0.084,2973,3762,3755,0,0,0,0,0,0
$GC,9490,-1.31,-146.0,790.5,-9.0,355,9495,0.00,2.67,0.00,0.000,6,0.000,0.065,2974,2222,3755,0,0,0,0,0,0
$GC,9740,-1.31,-146.0,809.7,-7.6,361,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2221,3754,0,0,0,0,0,0
$GC,9986,-1.31,-146.0,827.4,-7.2,367,9991,0.00,2.70,0.00,0.000,4,0.000,0.077,2973,3757,3753,0,0,0,0,0,0
$GC,10039,-1.31,-146.0,831.6,-7.5,368,10043,0.00,2.65,0.00,0.000,6,0.000,0.064,2973,2224,3753,0,0,0,0,0,0
$GC,10311,-1.31,-146.0,850.2,-6.8,375,10315,0.00,2.70,0.00,0.000,4,0.000,0.074,2974,3762,3751,0,0,0,0,0,0
$GC,10326,-1.31,-146.0,851.4,-6.9,375,10331,0.00,2.65,0.00,0.000,6,0.000,0.067,2974,2224,3751,0,0,0,0,0,0
$GC,10589,-1.31,-146.0,869.8,-7.1,382,10594,0.00,2.67,0.00,0.000,4,0.000,0.074,2974,3757,3750,0,0,0,0,0,0
$GC,10611,-1.31,-146.0,871.7,-7.6,382,10615,0.00,2.60,0.00,0.000,6,0.000,0.066,2973,2232,3750,0,0,0,0,0,0
$GC,10866,-1.31,-146.0,890.1,-7.1,389,10870,0.00,2.67,0.00,0.000,4,0.000,0.080,2973,3765,3749,0,0,0,0,0,0
$GC,10881,-1.31,-146.0,891.3,-7.1,389,10886,0.00,2.62,0.00,0.000,6,0.000,0.066,2973,2237,3749,0,0,0,0,0,0
$STATE,11018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11018,begin apogee
$GC,11026,-0.31,0.0,901.0,7.1,393,11147,0.95,0.00,117.68,1.219,6,0.072,0.000,3190,2348,3190,0,0,0,0,0,0
$STATE,11148,end apogee,CONTROL_FINISHED_OK
$STATE,11148,begin climb
$GC,11151,1.27,146.0,904.1,0.0,396,11287,1.42,2.80,127.15,1.187,4,0.037,0.078,3538,3930,2591,0,0,0,0,0,0
$GC,11373,1.15,146.0,889.0,11.6,401,11378,0.12,2.72,0.00,0.000,6,0.126,0.059,3513,2366,2587,0,0,0,0,0,0
$GC,11648,1.09,146.0,861.5,10.1,408,11652,0.00,2.72,0.00,0.000,4,0.000,0.062,3513,3930,2583,0,0,0,0,0,0
$GC,11687,1.02,146.0,857.1,11.1,409,11693,0.15,2.65,0.00,0.000,6,0.119,0.048,3483,2375,2583,0,0,0,0,0,0
$GC,11971,1.05,176.1,832.4,8.6,416,12005,0.00,3.15,26.27,1.113,4,0.000,0.117,3482,777,2471,0,0,0,0,0,0
$GC,12019,1.07,191.4,828.1,9.3,417,12040,0.00,2.72,15.50,1.061,6,0.000,0.044,3482,2378,2409,0,0,0,0,0,0
$GC,12295,1.08,197.8,801.2,9.7,424,12309,0.00,2.83,6.72,0.907,4,0.000,0.071,3482,3938,2382,0,0,0,0,0,0
$GC,12328,1.08,197.8,797.7,11.0,424,12333,0.00,2.65,0.00,0.000,6,0.000,0.037,3482,2366,2381,0,0,0,0,0,0
$GC,12578,1.12,197.8,772.1,10.3,430,12583,0.00,3.03,0.00,0.000,4,0.000,0.114,3482,778,2381,0,0,0,0,0,0
$GC,12605,1.12,197.8,769.0,10.1,430,12610,0.00,2.67,0.00,0.000,6,0.000,0.038,3483,2379,2380,0,0,0,0,0,0
$GC,12858,1.16,198.7,743.9,10.0,436,12863,0.12,2.72,0.00,0.000,4,0.077,0.074,3518,3932,2379,0,0,0,0,0,0
$GC,12914,1.12,198.7,737.2,11.6,437,12918,0.00,2.60,0.00,0.000,6,0.000,0.037,3518,2375,2378,0,0,0,0,0,0
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$STATE,19878,end climb,SURFACE_DEPTH_REACHED
$STATE,19879,begin surface coast
$FINISH,1.1,1.024064
$STATE,19921,end surface coast,CONTROL_FINISHED_OK
$STATE,19921,begin surface
$SM_CCo,19946,276.35,0.485,0,0,477,665.50
$SM_GC,1.53,0.00,0.00,276.35,0.000,0.000,0.485,464,2181,477,-12.86,-0.82,665.50
$IRIDIUM_FIX,1918.37,-8116.97,150502,202015
$TT8_MAMPS,0.025311
$HUMID,53.38
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.60
$XPDR_PINGS,77
$24V_AH,23.3,23.469
$10V_AH,10.4,20.387
$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,30.925,242.075,403.550,276.350,0.000,141.615,197.879,543.505,19.250,0.000,17.806,1604.131,15311.292,795.756,2404.740,1442.377,33.367,1864.898,0.000,2400.600,0.000,0.537,0.000
$DEVICE_MAMPS,183.313,118.885,1218.763,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,507.437,343.512,445.332,578.055,1100.758,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355836
$DATA_FILE_SIZE,57303,748
$CAP_FILE_SIZE,199172,0
$CFSIZE,260165632,117104640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190213,015206,1927.692,-8116.370,30,1.5,30,-3.8