version: 66.06
glider: 146
mission: 8
dive: 235
start: 3 6 113 10 14 13
data:
$ID,146
$MISSION,8
$DIVE,235
$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,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,-312080.06
$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,59
$R_STBD_OVSHOOT,13
$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
$GPS1,100306,1926.100,-8117.297,29,1.4,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-75.3
$GPS2,101319,1926.109,-8117.376,10,1.4,10,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.088,0.126
$KALMAN_X,-578.6,-157.6,-369.0,-16298.1,475.2
$KALMAN_Y,4153.8,182.6,82.1,296.5,-617.6
$MHEAD_RNG_PITCHd_Wd,328.9,1978,-30.5,-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,-1.97,-50.5,0.0,0.0,0,92,0.00,0.00,-68.28,0.000,6,0.000,0.000,458,2179,3394,0,0,0,0,0,0
$GC,95,-2.02,-93.7,3.4,-4.3,9,121,12.85,2.65,-3.55,0.000,4,0.166,0.039,2812,3816,3575,0,0,0,0,0,0
$GC,249,-1.92,-93.7,45.6,-24.4,26,254,0.15,2.50,0.00,0.000,6,0.136,0.021,2839,2228,3576,0,0,0,0,0,0
$GC,512,-1.87,-93.7,113.6,-23.1,50,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2228,3577,0,0,0,0,0,0
$GC,768,-1.91,-93.7,162.1,-17.0,74,773,0.00,2.53,0.00,0.000,4,0.000,0.035,2839,3822,3577,0,0,0,0,0,0
$GC,805,-1.91,-93.7,168.0,-14.5,76,810,0.00,2.53,0.00,0.000,6,0.000,0.017,2839,2190,3577,0,0,0,0,0,0
$GC,1089,-1.99,-93.7,205.3,-12.2,100,1093,0.00,2.58,0.00,0.000,4,0.000,0.031,2839,3816,3578,0,0,0,0,0,0
$GC,1139,-2.07,-93.7,212.3,-12.6,101,1144,0.12,2.50,0.00,0.000,6,0.064,0.022,2785,2206,3578,0,0,0,0,0,0
$GC,1410,-2.07,-93.7,252.4,-14.7,108,1412,0.12,0.00,0.00,0.000,6,0.116,0.000,2810,2206,3578,0,0,0,0,0,0
$GC,1657,-2.12,-93.7,283.6,-12.7,114,1661,0.00,2.58,0.00,0.000,4,0.000,0.036,2810,3811,3578,0,0,0,0,0,0
$GC,1689,-2.12,-93.7,288.6,-14.2,114,1698,0.00,2.50,0.00,0.000,6,0.000,0.027,2810,2220,3578,0,0,0,0,0,0
$GC,1940,-2.18,-93.7,321.6,-13.2,121,1945,0.10,2.58,0.00,0.000,4,0.079,0.044,2763,3809,3578,0,0,0,0,0,0
$GC,1997,-2.12,-93.7,330.4,-16.1,122,2003,0.15,2.53,0.00,0.000,6,0.107,0.029,2794,2213,3578,0,0,0,0,0,0
$GC,2264,-2.12,-93.7,366.6,-13.4,129,2268,0.00,2.62,0.00,0.000,4,0.000,0.044,2794,3812,3577,0,0,0,0,0,0
$GC,2296,-2.12,-93.7,371.4,-14.4,129,2302,0.00,2.55,0.00,0.000,6,0.000,0.035,2794,2225,3576,0,0,0,0,0,0
$GC,2548,-2.12,-93.7,404.3,-13.2,136,2553,0.00,2.60,0.00,0.000,4,0.000,0.049,2795,3807,3576,0,0,0,0,0,0
$GC,2575,-2.12,-93.7,408.7,-14.5,136,2580,0.00,2.55,0.00,0.000,6,0.000,0.039,2794,2223,3576,0,0,0,0,0,0
$GC,2826,-2.16,-93.7,441.2,-12.8,142,2830,0.00,2.62,0.00,0.000,4,0.000,0.052,2794,3801,3575,0,0,0,0,0,0
$GC,2867,-2.16,-93.7,446.7,-13.8,143,2872,0.00,2.60,0.00,0.000,6,0.000,0.045,2794,2223,3575,0,0,0,0,0,0
$GC,3150,-2.21,-93.7,484.0,-13.0,150,3155,0.00,2.67,0.00,0.000,4,0.000,0.064,2795,3808,3574,0,0,0,0,0,0
$GC,3182,-2.21,-93.7,488.4,-13.2,150,3188,0.00,2.65,0.00,0.000,6,0.000,0.051,2794,2221,3574,0,0,0,0,0,0
$GC,3435,-2.25,-93.7,520.8,-12.9,157,3440,0.10,2.70,0.00,0.000,4,0.078,0.070,2750,3799,3573,0,0,0,0,0,0
$GC,3485,-2.20,-93.7,528.8,-16.0,158,3491,0.15,2.62,0.00,0.000,6,0.108,0.052,2781,2236,3573,0,0,0,0,0,0
$GC,3758,-2.20,-93.7,564.9,-13.2,165,3762,0.00,2.72,0.00,0.000,4,0.000,0.074,2780,3807,3571,0,0,0,0,0,0
$GC,3809,-2.20,-93.7,572.0,-14.3,166,3813,0.00,2.67,0.00,0.000,6,0.000,0.061,2780,2241,3571,0,0,0,0,0,0
$GC,4080,-2.20,-93.7,608.2,-13.3,173,4085,0.00,2.75,0.00,0.000,4,0.000,0.081,2780,3804,3569,0,0,0,0,0,0
$GC,4107,-2.20,-93.7,611.8,-13.6,173,4112,0.00,2.72,0.00,0.000,6,0.000,0.076,2781,2249,3569,0,0,0,0,0,0
$GC,4359,-2.20,-93.7,644.9,-13.3,179,4364,0.00,2.83,0.00,0.000,4,0.000,0.100,2780,3796,3568,0,0,0,0,0,0
$GC,4391,-2.20,-93.7,649.7,-14.3,179,4397,0.00,2.80,0.00,0.000,6,0.000,0.087,2780,2253,3568,0,0,0,0,0,0
$GC,4642,-2.20,-93.7,682.2,-13.1,186,4646,0.00,2.95,0.00,0.000,4,0.000,0.117,2780,3801,3565,0,0,0,0,0,0
$GC,4698,-2.20,-93.7,690.0,-14.0,187,4703,0.00,2.92,0.00,0.000,6,0.000,0.116,2780,2251,3565,0,0,0,0,0,0
$GC,4964,-2.20,-93.7,726.7,-13.6,194,4969,0.00,3.08,0.00,0.000,4,0.000,0.146,2781,3794,3563,0,0,0,0,0,0
$GC,5049,-2.20,-93.7,738.7,-14.7,196,5053,0.00,2.72,0.00,0.000,6,0.000,0.084,2780,2266,3563,0,0,0,0,0,0
$GC,5334,-2.20,-93.7,777.1,-13.5,203,5338,0.00,2.75,0.00,0.000,4,0.000,0.087,2781,3805,3561,0,0,0,0,0,0
$GC,5372,-2.20,-93.7,782.8,-14.0,204,5377,0.00,2.70,0.00,0.000,6,0.000,0.074,2781,2269,3561,0,0,0,0,0,0
$GC,5656,-2.24,-93.7,819.7,-12.9,211,5660,0.00,2.75,0.00,0.000,4,0.000,0.089,2780,3806,3558,0,0,0,0,0,0
$GC,5713,-2.24,-93.7,827.3,-13.4,212,5717,0.00,2.70,0.00,0.000,6,0.000,0.068,2780,2265,3558,0,0,0,0,0,0
$GC,5979,-2.28,-93.7,861.0,-12.6,219,5984,0.00,2.72,0.00,0.000,4,0.000,0.080,2781,3798,3556,0,0,0,0,0,0
$GC,6070,-2.28,-93.7,873.3,-13.7,221,6074,0.00,2.65,0.00,0.000,6,0.000,0.071,2780,2280,3556,0,0,0,0,0,0
$STATE,6304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6304,begin apogee
$GC,6310,-0.31,0.0,902.8,12.4,227,6392,1.88,0.00,77.43,1.197,6,0.092,0.000,3189,2390,3190,0,0,0,0,0,0
$STATE,6393,end apogee,CONTROL_FINISHED_OK
$STATE,6393,begin climb
$GC,6395,2.02,93.7,904.7,0.0,229,6482,2.15,0.00,82.22,1.170,6,0.031,0.000,3714,2390,2807,0,0,0,0,0,0
$GC,6712,2.02,93.7,870.1,13.3,237,6717,0.00,2.67,0.00,0.000,4,0.000,0.066,3714,3934,2801,0,0,0,0,0,0
$GC,6835,1.94,93.7,852.6,14.6,239,6841,0.15,2.65,0.00,0.000,6,0.142,0.042,3686,2372,2799,0,0,0,0,0,0
$GC,7087,1.94,93.7,822.6,11.8,246,7091,0.00,2.67,0.00,0.000,4,0.000,0.054,3686,3940,2798,0,0,0,0,0,0
$GC,7282,1.94,93.7,797.5,12.7,250,7286,0.00,2.62,0.00,0.000,6,0.000,0.044,3686,2386,2796,0,0,0,0,0,0
$GC,7546,1.94,93.7,768.2,11.1,257,7550,0.00,2.60,0.00,0.000,4,0.000,0.056,3686,3937,2795,0,0,0,0,0,0
$GC,7679,1.94,93.7,751.5,12.8,260,7683,0.00,2.60,0.00,0.000,6,0.000,0.048,3686,2388,2794,0,0,0,0,0,0
$GC,7963,1.94,93.7,720.7,10.8,267,7967,0.00,2.60,0.00,0.000,4,0.000,0.051,3686,3931,2793,0,0,0,0,0,0
$GC,8158,1.94,93.7,697.1,11.7,271,8162,0.00,2.55,0.00,0.000,6,0.000,0.042,3686,2403,2791,0,0,0,0,0,0
$GC,8419,1.94,93.7,668.3,10.9,278,8424,0.00,2.58,0.00,0.000,4,0.000,0.057,3686,3931,2791,0,0,0,0,0,0
$GC,8609,1.94,93.7,646.1,11.5,282,8614,0.00,2.55,0.00,0.000,6,0.000,0.040,3686,2403,2790,0,0,0,0,0,0
$GC,8877,1.98,93.7,618.8,10.2,289,8881,0.00,2.58,0.00,0.000,4,0.000,0.058,3686,3939,2790,0,0,0,0,0,0
$GC,9012,1.98,93.7,603.4,11.5,292,9017,0.00,2.55,0.00,0.000,6,0.000,0.044,3685,2407,2789,0,0,0,0,0,0
$GC,9290,1.98,93.7,573.3,10.8,299,9294,0.00,2.58,0.00,0.000,4,0.000,0.050,3686,3940,2789,0,0,0,0,0,0
$GC,9426,1.98,93.7,557.8,11.1,302,9430,0.00,2.50,0.00,0.000,6,0.000,0.035,3686,2421,2788,0,0,0,0,0,0
$GC,9703,2.02,93.7,528.6,10.4,309,9708,0.00,2.53,0.00,0.000,4,0.000,0.054,3686,3934,2788,0,0,0,0,0,0
$GC,9846,2.02,93.7,512.2,11.9,312,9850,0.00,2.47,0.00,0.000,6,0.000,0.039,3686,2429,2788,0,0,0,0,0,0
$GC,10118,2.07,93.7,483.1,10.5,319,10123,0.10,2.53,0.00,0.000,4,0.094,0.048,3715,3942,2788,0,0,0,0,0,0
$GC,10244,2.00,93.7,467.6,12.4,321,10252,0.00,2.45,0.00,0.000,6,0.000,0.036,3715,2432,2788,0,0,0,0,0,0
$GC,10494,2.00,93.7,438.9,11.2,328,10498,0.00,2.50,0.00,0.000,4,0.000,0.044,3715,3941,2788,0,0,0,0,0,0
$GC,10618,1.94,93.7,424.1,12.5,330,10624,0.15,2.45,0.00,0.000,6,0.138,0.026,3686,2424,2788,0,0,0,0,0,0
$GC,10871,1.99,93.9,398.2,10.0,337,10875,0.00,2.50,0.00,0.000,4,0.000,0.049,3685,3945,2788,0,0,0,0,0,0
$GC,10931,1.99,93.9,391.4,11.0,338,10936,0.00,2.45,0.00,0.000,6,0.000,0.025,3685,2418,2788,0,0,0,0,0,0
$GC,11195,2.05,93.9,364.1,10.3,345,11199,0.00,2.50,0.00,0.000,4,0.000,0.043,3685,3941,2789,0,0,0,0,0,0
$GC,11311,2.05,93.9,350.3,11.3,347,11315,0.00,2.40,0.00,0.000,6,0.000,0.024,3685,2435,2789,0,0,0,0,0,0
$GC,11568,2.11,93.9,322.9,10.9,354,11573,0.12,2.47,0.00,0.000,4,0.077,0.041,3724,3941,2789,0,0,0,0,0,0
$GC,11747,2.05,93.9,300.5,12.6,358,11751,0.00,2.38,0.00,0.000,6,0.000,0.023,3724,2446,2790,0,0,0,0,0,0
$GC,12024,2.05,93.9,268.5,11.5,365,12028,0.00,2.45,0.00,0.000,4,0.000,0.048,3725,3937,2791,0,0,0,0,0,0
$GC,12253,1.99,93.9,240.1,11.5,370,12258,0.15,2.35,0.00,0.000,6,0.131,0.024,3696,2452,2791,0,0,0,0,0,0
$GC,12528,2.06,97.2,213.4,9.6,377,12533,0.00,2.42,0.00,0.000,4,0.000,0.048,3696,3937,2792,0,0,0,0,0,0
$GC,12540,2.11,100.1,211.8,9.6,377,12549,0.10,2.38,4.30,0.472,6,0.088,0.032,3727,2444,2781,0,0,0,0,0,0
$GC,12807,2.14,119.3,187.8,7.5,392,12832,0.00,2.53,16.83,0.634,4,0.000,0.042,3727,3934,2702,0,0,0,0,0,0
$GC,12952,2.14,119.3,173.7,10.8,404,12956,0.00,2.38,0.00,0.000,6,0.000,0.024,3727,2443,2702,0,0,0,0,0,0
$GC,13218,2.20,130.4,151.7,8.5,428,13233,0.00,2.47,10.62,0.573,4,0.000,0.042,3727,3938,2657,0,0,0,0,0,0
$GC,13435,2.26,171.6,136.0,4.5,446,13476,0.10,2.35,35.10,0.604,6,0.085,0.022,3760,2449,2490,0,0,0,0,0,0
$GC,13738,2.33,185.2,110.8,8.2,474,13755,0.00,2.47,12.43,0.542,4,0.000,0.041,3761,3941,2434,0,0,0,0,0,0
$GC,13950,2.37,185.2,87.3,11.2,491,13956,0.00,2.33,0.00,0.000,6,0.000,0.024,3761,2471,2433,0,0,0,0,0,0
$GC,14221,2.45,185.2,58.6,11.2,516,14225,0.00,2.40,0.00,0.000,4,0.000,0.041,3761,3935,2433,0,0,0,0,0,0
$GC,14393,2.49,185.2,35.1,13.3,529,14397,0.00,2.30,0.00,0.000,6,0.000,0.023,3761,2475,2433,0,0,0,0,0,0
$STATE,14658,end climb,SURFACE_DEPTH_REACHED
$STATE,14658,begin surface coast
$FINISH,1.1,1.010532
$STATE,14707,end surface coast,CONTROL_FINISHED_OK
$STATE,14707,begin surface
$SM_CCo,14730,133.27,0.493,0,0,1763,350.04
$SM_GC,1.82,0.00,0.00,133.27,0.000,0.000,0.493,467,2154,1763,-12.84,-1.58,350.04
$IRIDIUM_FIX,1918.37,-8114.71,310502,040407
$TT8_MAMPS,0.026078
$HUMID,55.86
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.50
$XPDR_PINGS,64
$24V_AH,23.3,33.301
$10V_AH,10.3,29.243
$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,31.850,191.475,238.925,133.275,0.000,29.768,34.315,383.446,16.000,0.000,12.470,1325.724,10347.488,517.142,2422.036,858.729,33.370,1521.957,0.000,2404.469,0.000,0.537,0.000
$DEVICE_MAMPS,166.439,145.730,1197.287,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.690,278.874,356.656,476.613,908.533,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356020
$DATA_FILE_SIZE,44791,573
$CAP_FILE_SIZE,151655,0
$CFSIZE,260165632,112087040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060313,142323,1927.261,-8119.022,24,1.4,41,-3.7