version: 66.06
glider: 146
mission: 8
dive: 192
start: 2 24 113 18 37 12
data:
$ID,146
$MISSION,8
$DIVE,192
$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,0
$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,-311115.09
$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,58
$R_STBD_OVSHOOT,44
$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
$GPS1,182854,1927.296,-8113.473,41,1.6,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-75.5
$GPS2,183619,1927.269,-8113.459,16,1.6,16,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.241,-0.096
$KALMAN_X,-1739.1,112.3,33.9,-8982.3,-581.4
$KALMAN_Y,-1642.0,343.6,122.7,8030.0,-288.4
$MHEAD_RNG_PITCHd_Wd,115.5,10828,-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,16,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,-70.50,0.000,2,0.000,0.000,459,2174,3482,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.5,-4.4,9,123,13.77,2.58,-5.55,0.000,4,0.167,0.039,2979,3792,3786,0,0,0,0,0,0
$GC,155,-0.97,-146.0,21.9,-24.1,16,163,0.28,2.50,0.00,0.000,6,0.077,0.024,3045,2230,3787,0,0,0,0,0,0
$GC,430,-0.90,-146.0,58.8,-12.3,44,434,0.00,2.60,0.00,0.000,4,0.000,0.045,3045,631,3787,0,0,0,0,0,0
$GC,478,-0.85,-146.0,64.8,-11.6,47,483,0.12,2.45,0.00,0.000,6,0.110,0.018,3073,2219,3787,0,0,0,0,0,0
$GC,746,-0.85,-146.0,93.9,-10.5,71,750,0.00,2.60,0.00,0.000,4,0.000,0.044,3072,625,3787,0,0,0,0,0,0
$GC,768,-0.85,-146.0,97.3,-11.3,72,778,0.00,2.42,0.00,0.000,6,0.000,0.017,3072,2197,3787,0,0,0,0,0,0
$GC,1034,-0.85,-146.0,125.3,-9.6,97,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2197,3788,0,0,0,0,0,0
$GC,1300,-0.94,-146.0,147.9,-8.7,122,1304,0.00,2.55,0.00,0.000,4,0.000,0.044,3072,626,3789,0,0,0,0,0,0
$GC,1333,-1.03,-146.0,151.2,-8.4,124,1340,0.15,2.38,0.00,0.000,6,0.056,0.023,3007,2191,3789,0,0,0,0,0,0
$GC,1598,-1.03,-146.0,176.0,-8.9,149,1604,0.12,0.00,0.00,0.000,6,0.095,0.000,3037,2192,3790,0,0,0,0,0,0
$GC,1862,-1.10,-146.0,195.4,-6.6,174,1866,0.00,2.53,0.00,0.000,4,0.000,0.048,3037,634,3790,0,0,0,0,0,0
$GC,1887,-1.18,-146.0,197.1,-7.0,175,1893,0.15,2.35,0.00,0.000,6,0.058,0.020,2977,2175,3790,0,0,0,0,0,0
$GC,2169,-1.18,-146.0,223.7,-9.5,185,2174,0.12,2.55,0.00,0.000,4,0.100,0.035,3006,3776,3790,0,0,0,0,0,0
$GC,2190,-1.18,-146.0,225.4,-7.4,185,2195,0.00,2.50,0.00,0.000,6,0.000,0.021,3006,2166,3790,0,0,0,0,0,0
$GC,2448,-1.18,-146.0,242.7,-6.8,192,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2166,3790,0,0,0,0,0,0
$GC,2690,-1.18,-146.0,260.4,-7.3,198,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2166,3790,0,0,0,0,0,0
$GC,2934,-1.22,-146.0,278.0,-7.3,204,2938,0.00,2.55,0.00,0.000,4,0.000,0.042,3006,3763,3790,0,0,0,0,0,0
$GC,2969,-1.27,-146.0,280.6,-7.7,204,2975,0.10,2.47,0.00,0.000,6,0.077,0.020,2958,2183,3790,0,0,0,0,0,0
$GC,3219,-1.22,-146.0,303.3,-9.3,211,3221,0.15,0.00,0.00,0.000,6,0.094,0.000,2995,2183,3789,0,0,0,0,0,0
$GC,3463,-1.22,-146.0,322.2,-7.7,217,3467,0.00,2.58,0.00,0.000,4,0.000,0.037,2995,3768,3788,0,0,0,0,0,0
$GC,3481,-1.22,-146.0,323.5,-7.7,217,3485,0.00,2.47,0.00,0.000,6,0.000,0.024,2995,2182,3788,0,0,0,0,0,0
$GC,3741,-1.22,-146.0,343.5,-7.5,224,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2183,3787,0,0,0,0,0,0
$GC,3985,-1.22,-146.0,361.3,-7.2,230,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2182,3787,0,0,0,0,0,0
$GC,4231,-1.22,-146.0,378.9,-7.2,236,4235,0.00,2.55,0.00,0.000,4,0.000,0.047,2995,3761,3785,0,0,0,0,0,0
$GC,4248,-1.22,-146.0,380.2,-7.0,236,4253,0.00,2.50,0.00,0.000,6,0.000,0.026,2995,2192,3785,0,0,0,0,0,0
$GC,4509,-1.22,-146.0,399.3,-7.3,243,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2192,3785,0,0,0,0,0,0
$GC,4755,-1.25,-146.0,417.5,-7.4,249,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2192,3784,0,0,0,0,0,0
$GC,4997,-1.29,-146.0,435.0,-7.3,255,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2192,3783,0,0,0,0,0,0
$GC,5240,-1.33,-146.0,452.2,-7.0,261,5242,0.10,0.00,0.00,0.000,6,0.079,0.000,2952,2192,3782,0,0,0,0,0,0
$GC,5484,-1.29,-146.0,474.7,-9.5,267,5489,0.12,2.62,0.00,0.000,4,0.098,0.058,2980,3755,3781,0,0,0,0,0,0
$GC,5508,-1.29,-146.0,476.9,-9.3,267,5512,0.00,2.55,0.00,0.000,6,0.000,0.044,2980,2193,3781,0,0,0,0,0,0
$GC,5763,-1.29,-146.0,497.0,-7.6,274,5767,0.00,2.65,0.00,0.000,4,0.000,0.059,2981,3761,3779,0,0,0,0,0,0
$GC,5784,-1.29,-146.0,498.8,-7.6,274,5789,0.00,2.60,0.00,0.000,6,0.000,0.048,2980,2192,3779,0,0,0,0,0,0
$GC,6044,-1.29,-146.0,517.3,-7.2,281,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2192,3778,0,0,0,0,0,0
$GC,6284,-1.29,-146.0,535.3,-7.5,287,6288,0.00,2.67,0.00,0.000,4,0.000,0.069,2981,3754,3777,0,0,0,0,0,0
$GC,6305,-1.29,-146.0,537.1,-8.1,287,6310,0.00,2.58,0.00,0.000,6,0.000,0.052,2980,2204,3777,0,0,0,0,0,0
$GC,6562,-1.29,-146.0,555.6,-7.2,294,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2204,3776,0,0,0,0,0,0
$GC,6804,-1.29,-146.0,573.2,-7.4,300,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2204,3775,0,0,0,0,0,0
$GC,7048,-1.29,-146.0,591.4,-7.5,306,7052,0.00,2.70,0.00,0.000,4,0.000,0.076,2981,3750,3774,0,0,0,0,0,0
$GC,7063,-1.29,-146.0,592.7,-7.5,306,7068,0.00,2.62,0.00,0.000,6,0.000,0.058,2981,2202,3774,0,0,0,0,0,0
$GC,7327,-1.29,-146.0,613.6,-8.2,313,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2203,3772,0,0,0,0,0,0
$GC,7568,-1.29,-146.0,633.4,-8.1,319,7573,0.00,2.78,0.00,0.000,4,0.000,0.092,2981,3754,3771,0,0,0,0,0,0
$GC,7589,-1.29,-146.0,635.2,-8.5,319,7594,0.00,2.72,0.00,0.000,6,0.000,0.076,2981,2205,3771,0,0,0,0,0,0
$GC,7849,-1.29,-146.0,654.8,-7.6,326,7853,0.00,2.78,0.00,0.000,4,0.000,0.096,2981,3756,3769,0,0,0,0,0,0
$GC,7864,-1.29,-146.0,656.2,-7.7,326,7869,0.00,2.75,0.00,0.000,6,0.000,0.084,2981,2211,3769,0,0,0,0,0,0
$GC,8126,-1.29,-146.0,675.9,-7.6,333,8130,0.00,2.83,0.00,0.000,4,0.000,0.102,2981,3751,3768,0,0,0,0,0,0
$GC,8144,-1.29,-146.0,677.2,-7.7,333,8148,0.00,2.83,0.00,0.000,6,0.000,0.093,2980,2205,3768,0,0,0,0,0,0
$GC,8404,-1.29,-146.0,697.1,-7.6,340,8409,0.00,2.90,0.00,0.000,4,0.000,0.114,2981,3750,3767,0,0,0,0,0,0
$GC,8425,-1.29,-146.0,699.1,-8.2,340,8430,0.00,2.70,0.00,0.000,6,0.000,0.083,2981,2213,3767,0,0,0,0,0,0
$GC,8683,-1.29,-146.0,719.3,-7.9,347,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2213,3765,0,0,0,0,0,0
$GC,8924,-1.29,-146.0,737.8,-7.5,353,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2212,3764,0,0,0,0,0,0
$GC,9168,-1.29,-146.0,755.5,-7.1,359,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2211,3762,0,0,0,0,0,0
$GC,9412,-1.33,-146.0,772.0,-6.8,365,9417,0.00,2.75,0.00,0.000,4,0.000,0.084,2981,3754,3761,0,0,0,0,0,0
$GC,9454,-1.38,-146.0,774.9,-7.4,366,9459,0.00,2.67,0.00,0.000,6,0.000,0.067,2981,2205,3761,0,0,0,0,0,0
$GC,9738,-1.42,-146.0,794.5,-6.8,373,9743,0.12,2.78,0.00,0.000,4,0.074,0.086,2935,3760,3761,0,0,0,0,0,0
$GC,9762,-1.42,-146.0,796.6,-8.8,373,9766,0.00,2.67,0.00,0.000,6,0.000,0.065,2935,2219,3761,0,0,0,0,0,0
$GC,10018,-1.37,-146.0,819.7,-9.1,380,10019,0.12,0.00,0.00,0.000,6,0.106,0.000,2963,2219,3760,0,0,0,0,0,0
$GC,10261,-1.37,-146.0,839.0,-7.8,386,10265,0.00,2.70,0.00,0.000,4,0.000,0.082,2963,3753,3758,0,0,0,0,0,0
$GC,10284,-1.37,-146.0,840.8,-8.4,386,10289,0.00,2.62,0.00,0.000,6,0.000,0.069,2962,2222,3758,0,0,0,0,0,0
$GC,10539,-1.37,-146.0,860.6,-7.7,393,10540,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2222,3756,0,0,0,0,0,0
$GC,10783,-1.37,-146.0,878.7,-7.3,399,10784,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2221,3756,0,0,0,0,0,0
$GC,11027,-1.37,-146.0,897.6,-7.7,405,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2221,3754,0,0,0,0,0,0
$STATE,11064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11065,begin apogee
$GC,11073,-0.31,0.0,900.6,7.6,406,11196,1.00,0.00,119.38,1.217,6,0.071,0.000,3190,2333,3190,0,0,0,0,0,0
$STATE,11196,end apogee,CONTROL_FINISHED_OK
$STATE,11197,begin climb
$GC,11199,1.27,146.0,903.7,0.0,409,11336,1.42,2.83,127.22,1.186,4,0.036,0.072,3542,3928,2592,0,0,0,0,0,0
$GC,11410,1.14,146.0,889.2,12.1,414,11415,0.15,2.70,0.00,0.000,6,0.116,0.054,3510,2370,2587,0,0,0,0,0,0
$GC,11696,1.10,150.8,861.2,9.8,421,11702,0.00,0.00,4.10,0.710,6,0.000,0.000,3510,2370,2575,0,0,0,0,0,0
$GC,11938,1.06,160.9,837.6,9.5,427,11950,0.00,0.00,10.60,1.020,6,0.000,0.000,3510,2370,2534,0,0,0,0,0,0
$GC,12181,1.03,164.6,813.7,9.8,433,12189,0.12,0.00,4.97,0.805,6,0.123,0.000,3486,2370,2518,0,0,0,0,0,0
$GC,12427,1.06,194.9,792.4,8.6,439,12461,0.00,2.78,28.60,1.105,4,0.000,0.058,3486,3936,2395,0,0,0,0,0,0
$GC,12483,1.06,194.9,786.7,10.6,440,12488,0.00,2.65,0.00,0.000,6,0.000,0.046,3486,2373,2393,0,0,0,0,0,0
$GC,12750,1.09,213.1,762.1,9.2,447,12770,0.00,0.00,17.88,1.058,6,0.000,0.000,3486,2373,2321,0,0,0,0,0,0
$GC,12996,1.14,222.4,739.0,9.6,453,13008,0.00,0.00,9.85,0.969,6,0.000,0.000,3486,2372,2283,0,0,0,0,0,0
$GC,13238,1.18,222.4,714.8,10.0,459,13243,0.12,3.08,0.00,0.000,4,0.076,0.119,3523,782,2280,0,0,0,0,0,0
$GC,13261,1.18,222.4,712.0,12.2,459,13266,0.00,2.65,0.00,0.000,6,0.000,0.044,3523,2374,2279,0,0,0,0,0,0
$GC,13518,1.18,222.4,681.2,12.1,466,13522,0.00,2.70,0.00,0.000,4,0.000,0.065,3523,3939,2278,0,0,0,0,0,0
$GC,13579,1.14,222.4,673.0,12.6,467,13583,0.00,2.60,0.00,0.000,6,0.000,0.041,3523,2375,2278,0,0,0,0,0,0
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$STATE,19787,end climb,SURFACE_DEPTH_REACHED
$STATE,19787,begin surface coast
$FINISH,1.0,1.023482
$STATE,19837,end surface coast,CONTROL_FINISHED_OK
$STATE,19838,begin surface
$SM_CCo,19862,43.90,0.487,0,0,1763,350.04
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$IRIDIUM_FIX,1920.65,-8114.36,210502,131304
$TT8_MAMPS,0.026078
$HUMID,57.79
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.50
$XPDR_PINGS,65
$24V_AH,23.3,27.087
$10V_AH,10.4,23.808
$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
$DEVICE_SECS,31.025,203.900,389.500,43.900,0.000,25.639,35.138,211.255,16.250,0.000,17.650,1567.473,15138.250,568.185,2309.580,756.307,33.352,1556.028,0.000,2306.131,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,515.096,357.056,456.411,600.750,1144.368,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355916
$DATA_FILE_SIZE,57426,761
$CAP_FILE_SIZE,173601,0
$CFSIZE,260165632,115171328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250213,001029,1926.633,-8110.371,48,1.1,48,-3.8