version: 66.06
glider: 146
mission: 8
dive: 205
start: 2 27 113 15 23 51
data:
$ID,146
$MISSION,8
$DIVE,205
$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,-311378.47
$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,55
$R_STBD_OVSHOOT,35
$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
$GPS1,151206,1926.294,-8109.825,33,1.2,33,-3.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-75.9
$GPS2,152255,1926.318,-8109.862,14,1.2,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.195,-0.172
$KALMAN_X,8513.4,164.9,185.3,-13154.8,-358.2
$KALMAN_Y,-175.9,467.9,107.9,4694.3,-153.5
$MHEAD_RNG_PITCHd_Wd,135.2,4682,-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,-70.68,0.000,2,0.000,0.000,461,2180,3524,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-5.7,9,123,13.75,0.00,-4.68,0.000,6,0.167,0.000,2977,2181,3786,0,0,0,0,0,0
$GC,395,-1.06,-146.0,67.3,-17.6,41,400,0.25,2.50,0.00,0.000,4,0.102,0.040,3034,653,3787,0,0,0,0,0,0
$GC,418,-0.87,-146.0,71.2,-16.7,42,423,0.15,2.40,0.00,0.000,6,0.101,0.015,3067,2235,3787,0,0,0,0,0,0
$GC,681,-0.87,-146.0,101.1,-11.4,66,685,0.00,2.60,0.00,0.000,4,0.000,0.042,3067,654,3787,0,0,0,0,0,0
$GC,703,-0.87,-146.0,103.9,-11.6,67,709,0.00,2.38,0.00,0.000,6,0.000,0.023,3067,2207,3787,0,0,0,0,0,0
$GC,968,-0.87,-146.0,130.7,-8.0,92,977,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2207,3788,0,0,0,0,0,0
$GC,1231,-0.94,-146.0,154.3,-7.5,117,1235,0.00,2.55,0.00,0.000,4,0.000,0.043,3067,652,3788,0,0,0,0,0,0
$GC,1263,-1.01,-146.0,156.5,-7.4,119,1268,0.12,2.38,0.00,0.000,6,0.065,0.023,3009,2209,3788,0,0,0,0,0,0
$GC,1524,-1.01,-146.0,180.2,-8.7,143,1529,0.12,2.47,0.00,0.000,4,0.094,0.038,3039,3771,3789,0,0,0,0,0,0
$GC,1543,-1.01,-146.0,181.6,-8.0,144,1547,0.00,2.42,0.00,0.000,6,0.000,0.021,3039,2205,3789,0,0,0,0,0,0
$GC,1826,-1.10,-146.0,203.0,-7.4,167,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2206,3789,0,0,0,0,0,0
$GC,2070,-1.18,-146.0,218.5,-6.3,173,2072,0.15,0.00,0.00,0.000,6,0.058,0.000,2978,2205,3789,0,0,0,0,0,0
$GC,2311,-1.18,-146.0,242.0,-9.9,179,2316,0.10,2.60,0.00,0.000,4,0.108,0.051,3003,638,3789,0,0,0,0,0,0
$GC,2333,-1.18,-146.0,244.2,-9.5,179,2337,0.00,2.38,0.00,0.000,6,0.000,0.017,3003,2197,3789,0,0,0,0,0,0
$GC,2590,-1.18,-146.0,264.7,-7.6,186,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2198,3789,0,0,0,0,0,0
$GC,2831,-1.18,-146.0,282.0,-7.1,192,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2198,3788,0,0,0,0,0,0
$GC,3075,-1.18,-146.0,301.9,-8.2,198,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2198,3787,0,0,0,0,0,0
$GC,3319,-1.18,-146.0,320.4,-7.6,204,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2198,3787,0,0,0,0,0,0
$GC,3565,-1.22,-146.0,339.3,-7.9,210,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2198,3786,0,0,0,0,0,0
$GC,3807,-1.26,-146.0,359.1,-8.1,216,3811,0.00,2.58,0.00,0.000,4,0.000,0.044,3003,3770,3785,0,0,0,0,0,0
$GC,3828,-1.31,-146.0,361.0,-8.2,216,3834,0.12,2.45,0.00,0.000,6,0.065,0.031,2950,2217,3785,0,0,0,0,0,0
$GC,4087,-1.26,-146.0,385.8,-9.6,223,4089,0.15,0.00,0.00,0.000,6,0.094,0.000,2985,2218,3784,0,0,0,0,0,0
$GC,4328,-1.26,-146.0,406.0,-8.3,229,4332,0.00,2.72,0.00,0.000,4,0.000,0.077,2986,626,3783,0,0,0,0,0,0
$GC,4349,-1.26,-146.0,407.7,-7.7,229,4353,0.00,2.47,0.00,0.000,6,0.000,0.037,2985,2184,3784,0,0,0,0,0,0
$GC,4606,-1.26,-146.0,427.5,-7.7,236,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2184,3783,0,0,0,0,0,0
$GC,4848,-1.26,-146.0,445.7,-7.4,242,4852,0.00,2.67,0.00,0.000,4,0.000,0.056,2985,3800,3781,0,0,0,0,0,0
$GC,4863,-1.26,-146.0,447.1,-7.2,242,4868,0.00,2.58,0.00,0.000,6,0.000,0.038,2986,2215,3782,0,0,0,0,0,0
$GC,5124,-1.26,-146.0,465.8,-7.2,249,5129,0.00,2.85,0.00,0.000,4,0.000,0.097,2986,619,3780,0,0,0,0,0,0
$GC,5159,-1.26,-146.0,468.5,-8.1,249,5165,0.00,2.58,0.00,0.000,6,0.000,0.041,2985,2210,3780,0,0,0,0,0,0
$GC,5409,-1.26,-146.0,489.0,-8.2,256,5413,0.00,2.70,0.00,0.000,4,0.000,0.064,2985,3796,3779,0,0,0,0,0,0
$GC,5436,-1.26,-146.0,491.5,-9.2,256,5440,0.00,2.60,0.00,0.000,6,0.000,0.046,2985,2215,3779,0,0,0,0,0,0
$GC,5688,-1.26,-146.0,511.0,-7.8,262,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2215,3777,0,0,0,0,0,0
$GC,5930,-1.26,-146.0,528.9,-7.3,268,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2215,3777,0,0,0,0,0,0
$GC,6173,-1.26,-146.0,546.7,-7.3,274,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2215,3777,0,0,0,0,0,0
$GC,6419,-1.26,-146.0,565.9,-8.0,280,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2215,3775,0,0,0,0,0,0
$GC,6662,-1.26,-146.0,583.8,-7.2,286,6667,0.00,2.78,0.00,0.000,4,0.000,0.080,2986,3791,3774,0,0,0,0,0,0
$GC,6678,-1.26,-146.0,585.1,-7.1,286,6683,0.00,2.67,0.00,0.000,6,0.000,0.058,2986,2205,3774,0,0,0,0,0,0
$GC,6939,-1.26,-146.0,604.1,-7.3,293,6943,0.00,2.78,0.00,0.000,4,0.000,0.079,2985,3795,3772,0,0,0,0,0,0
$GC,6964,-1.26,-146.0,605.9,-7.9,293,6968,0.00,2.72,0.00,0.000,6,0.000,0.068,2986,2215,3772,0,0,0,0,0,0
$GC,7219,-1.26,-146.0,625.8,-7.7,300,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2215,3770,0,0,0,0,0,0
$GC,7463,-1.29,-146.0,643.8,-7.3,306,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2215,3769,0,0,0,0,0,0
$GC,7709,-1.33,-146.0,661.3,-7.1,312,7714,0.00,2.88,0.00,0.000,4,0.000,0.099,2985,3793,3769,0,0,0,0,0,0
$GC,7742,-1.37,-146.0,664.1,-7.8,312,7748,0.10,2.85,0.00,0.000,6,0.081,0.091,2943,2217,3768,0,0,0,0,0,0
$GC,7992,-1.33,-146.0,686.3,-9.0,319,7998,0.12,2.92,0.00,0.000,4,0.103,0.105,2971,3786,3767,0,0,0,0,0,0
$GC,8011,-1.33,-146.0,687.9,-8.9,319,8016,0.00,2.90,0.00,0.000,6,0.000,0.099,2970,2220,3767,0,0,0,0,0,0
$GC,8272,-1.33,-146.0,708.5,-7.9,326,8277,0.00,3.28,0.00,0.000,4,0.000,0.154,2970,619,3765,0,0,0,0,0,0
$GC,8293,-1.33,-146.0,710.5,-8.6,326,8298,0.00,2.90,0.00,0.000,6,0.000,0.099,2970,2207,3765,0,0,0,0,0,0
$GC,8551,-1.33,-146.0,730.3,-7.8,333,8556,0.00,3.15,0.00,0.000,4,0.000,0.138,2970,3802,3764,0,0,0,0,0,0
$GC,8590,-1.33,-146.0,733.7,-8.3,334,8595,0.00,2.78,0.00,0.000,6,0.000,0.079,2970,2226,3763,0,0,0,0,0,0
$GC,8873,-1.33,-146.0,753.8,-7.0,341,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2226,3762,0,0,0,0,0,0
$GC,9119,-1.33,-146.0,772.0,-7.5,347,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2225,3762,0,0,0,0,0,0
$GC,9361,-1.33,-146.0,791.4,-7.9,353,9366,0.00,2.80,0.00,0.000,4,0.000,0.083,2971,3809,3761,0,0,0,0,0,0
$GC,9416,-1.33,-146.0,796.1,-8.5,354,9421,0.00,2.75,0.00,0.000,6,0.000,0.074,2970,2231,3760,0,0,0,0,0,0
$GC,9685,-1.33,-146.0,817.7,-8.2,361,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2231,3758,0,0,0,0,0,0
$GC,9926,-1.33,-146.0,836.9,-7.9,367,9931,0.00,2.80,0.00,0.000,4,0.000,0.081,2970,3810,3757,0,0,0,0,0,0
$GC,9968,-1.33,-146.0,840.2,-7.7,368,9972,0.00,2.72,0.00,0.000,6,0.000,0.065,2970,2242,3757,0,0,0,0,0,0
$GC,10253,-1.33,-146.0,860.8,-7.1,375,10254,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2243,3756,0,0,0,0,0,0
$GC,10494,-1.33,-146.0,877.8,-7.0,381,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2241,3755,0,0,0,0,0,0
$GC,10738,-1.33,-146.0,894.6,-6.8,387,10743,0.00,2.75,0.00,0.000,4,0.000,0.074,2970,3810,3753,0,0,0,0,0,0
$GC,10758,-1.33,-146.0,895.8,-6.9,387,10763,0.00,2.70,0.00,0.000,6,0.000,0.061,2970,2244,3753,0,0,0,0,0,0
$STATE,10813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10813,begin apogee
$GC,10819,-0.31,0.0,900.2,7.3,389,10942,0.95,0.00,118.93,1.218,6,0.067,0.000,3189,2389,3190,0,0,0,0,0,0
$STATE,10943,end apogee,CONTROL_FINISHED_OK
$STATE,10943,begin climb
$GC,10945,1.27,146.0,902.7,0.0,392,11082,1.42,2.70,126.90,1.186,4,0.034,0.071,3542,3924,2593,0,0,0,0,0,0
$GC,11168,1.14,146.0,886.0,12.8,397,11173,0.17,2.67,0.00,0.000,6,0.113,0.056,3508,2368,2588,0,0,0,0,0,0
$GC,11442,1.09,146.0,858.0,10.0,404,11444,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2369,2584,0,0,0,0,0,0
$GC,11684,1.05,150.0,834.0,9.8,410,11685,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2368,2582,0,0,0,0,0,0
$GC,11928,1.02,159.6,810.7,9.6,416,11948,0.12,2.78,11.57,1.029,4,0.125,0.061,3483,3928,2538,0,0,0,0,0,0
$GC,11989,1.02,159.6,804.9,10.7,417,11993,0.00,2.65,0.00,0.000,6,0.000,0.041,3483,2371,2537,0,0,0,0,0,0
$GC,12255,1.06,190.2,781.4,8.6,424,12289,0.00,3.17,28.52,1.104,4,0.000,0.120,3483,775,2413,0,0,0,0,0,0
$GC,12303,1.11,235.3,777.3,7.9,425,12352,0.00,2.67,43.08,1.108,6,0.000,0.041,3483,2374,2229,0,0,0,0,0,0
$GC,12626,1.16,235.6,745.3,10.0,433,12628,0.12,0.00,0.00,0.000,6,0.076,0.000,3518,2375,2222,0,0,0,0,0,0
$GC,12869,1.16,235.6,716.8,11.9,439,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,2375,2221,0,0,0,0,0,0
$GC,13114,1.16,235.6,688.2,11.8,445,13119,0.00,2.85,0.00,0.000,4,0.000,0.079,3518,777,2220,0,0,0,0,0,0
$GC,13136,1.11,235.6,685.1,12.1,445,13140,0.00,2.65,0.00,0.000,6,0.000,0.044,3518,2372,2219,0,0,0,0,0,0
$GC,13393,1.11,235.6,653.5,12.5,452,13397,0.00,2.65,0.00,0.000,4,0.000,0.062,3518,3933,2219,0,0,0,0,0,0
$GC,13444,1.11,235.6,646.3,13.3,453,13449,0.00,2.60,0.00,0.000,6,0.000,0.041,3518,2374,2217,0,0,0,0,0,0
$GC,13716,1.11,235.6,611.7,12.8,460,13721,0.00,3.00,0.00,0.000,4,0.000,0.110,3518,777,2217,0,0,0,0,0,0
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$STATE,18994,end climb,SURFACE_DEPTH_REACHED
$STATE,18994,begin surface coast
$FINISH,1.0,1.012578
$STATE,19040,end surface coast,CONTROL_FINISHED_OK
$STATE,19040,begin surface
$SM_CCo,19062,36.92,0.488,0,0,1763,350.04
$SM_GC,1.83,0.00,0.00,36.92,0.000,0.000,0.488,463,2177,1763,-12.87,-0.93,350.04
$IRIDIUM_FIX,1918.37,-8107.58,240502,151536
$TT8_MAMPS,0.025311
$HUMID,58.19
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.50
$XPDR_PINGS,56
$24V_AH,23.3,28.807
$10V_AH,10.4,25.426
$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,30.700,186.725,387.250,36.925,0.000,61.334,65.259,284.337,14.000,0.000,16.439,1492.769,14602.080,531.075,2229.223,885.072,33.370,1501.002,0.000,2224.462,0.000,0.535,0.000
$DEVICE_MAMPS,167.206,154.167,1217.996,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,487.340,335.368,424.891,545.110,1039.154,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355848
$DATA_FILE_SIZE,54238,719
$CAP_FILE_SIZE,167321,0
$CFSIZE,260165632,114237440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270213,204330,1925.065,-8107.127,38,1.7,38,-3.8