version: 66.06
glider: 146
mission: 8
dive: 243
start: 3 8 113 4 0 50
data:
$ID,146
$MISSION,8
$DIVE,243
$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,-312232.44
$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,31
$R_STBD_OVSHOOT,26
$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
$GPS1,034824,1923.709,-8106.371,37,1.4,37,-3.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-76.0
$GPS2,035957,1923.689,-8106.333,11,2.2,30,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.140,0.026
$KALMAN_X,-6906.9,475.6,319.9,7971.8,-505.9
$KALMAN_Y,10760.5,-14.8,-286.6,-10217.4,1044.0
$MHEAD_RNG_PITCHd_Wd,284.5,3277,-32.6,-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,16,begin dive
$GC,19,-2.09,-44.5,0.0,0.0,0,91,0.00,0.00,-66.78,0.000,6,0.000,0.000,465,2197,3371,0,0,0,0,0,0
$GC,94,-2.13,-77.5,3.7,-5.0,9,120,12.85,2.60,-2.72,0.000,4,0.167,0.049,2787,3797,3510,0,0,0,0,0,0
$GC,343,-2.05,-77.5,72.1,-25.6,34,348,0.12,2.53,0.00,0.000,6,0.139,0.021,2810,2194,3510,0,0,0,0,0,0
$GC,607,-2.05,-77.5,132.1,-19.5,58,612,0.00,2.58,0.00,0.000,4,0.000,0.032,2810,3808,3510,0,0,0,0,0,0
$GC,653,-2.05,-77.5,140.0,-17.8,61,657,0.00,2.47,0.00,0.000,6,0.000,0.018,2809,2213,3510,0,0,0,0,0,0
$GC,922,-2.14,-77.5,179.7,-14.0,85,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2212,3511,0,0,0,0,0,0
$GC,1188,-2.23,-77.5,216.3,-13.2,102,1193,0.15,2.55,0.00,0.000,4,0.058,0.034,2750,3812,3511,0,0,0,0,0,0
$GC,1199,-2.30,-77.5,217.9,-13.2,102,1203,0.00,2.45,0.00,0.000,6,0.000,0.015,2750,2216,3511,0,0,0,0,0,0
$GC,1467,-2.30,-77.5,255.9,-13.9,109,1471,0.00,2.53,0.00,0.000,4,0.000,0.039,2750,3802,3512,0,0,0,0,0,0
$GC,1572,-2.30,-77.5,271.9,-14.6,111,1576,0.00,2.45,0.00,0.000,6,0.000,0.027,2750,2240,3512,0,0,0,0,0,0
$GC,1835,-2.30,-77.5,308.6,-14.2,118,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2240,3511,0,0,0,0,0,0
$GC,2079,-2.30,-77.5,343.6,-14.4,124,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2240,3511,0,0,0,0,0,0
$GC,2321,-2.30,-77.5,378.5,-14.2,130,2325,0.00,2.55,0.00,0.000,4,0.000,0.046,2750,3803,3511,0,0,0,0,0,0
$GC,2404,-2.30,-77.5,390.9,-15.1,132,2409,0.00,2.50,0.00,0.000,6,0.000,0.031,2750,2245,3511,0,0,0,0,0,0
$GC,2690,-2.30,-77.5,428.7,-13.0,139,2694,0.00,2.58,0.00,0.000,4,0.000,0.054,2750,3790,3509,0,0,0,0,0,0
$GC,2729,-2.30,-77.5,434.2,-13.5,140,2733,0.00,2.53,0.00,0.000,6,0.000,0.038,2750,2241,3509,0,0,0,0,0,0
$GC,3012,-2.30,-77.5,470.7,-12.9,147,3016,0.00,2.62,0.00,0.000,4,0.000,0.059,2750,3788,3508,0,0,0,0,0,0
$GC,3040,-2.30,-77.5,474.4,-13.2,147,3045,0.00,2.58,0.00,0.000,6,0.000,0.048,2750,2237,3508,0,0,0,0,0,0
$GC,3290,-2.30,-77.5,507.2,-13.1,153,3295,0.00,2.65,0.00,0.000,4,0.000,0.070,2750,3788,3507,0,0,0,0,0,0
$GC,3345,-2.30,-77.5,515.2,-14.1,154,3350,0.00,2.55,0.00,0.000,6,0.000,0.049,2750,2254,3507,0,0,0,0,0,0
$GC,3616,-2.30,-77.5,551.1,-13.5,161,3620,0.00,2.67,0.00,0.000,4,0.000,0.071,2750,3793,3506,0,0,0,0,0,0
$GC,3711,-2.30,-77.5,565.6,-14.6,163,3716,0.00,2.60,0.00,0.000,6,0.000,0.061,2750,2253,3505,0,0,0,0,0,0
$GC,3983,-2.30,-77.5,603.3,-13.8,170,3988,0.00,2.70,0.00,0.000,4,0.000,0.078,2750,3791,3503,0,0,0,0,0,0
$GC,4024,-2.30,-77.5,608.7,-14.3,171,4029,0.00,2.65,0.00,0.000,6,0.000,0.074,2750,2264,3503,0,0,0,0,0,0
$GC,4307,-2.30,-77.5,646.2,-13.1,178,4312,0.00,2.78,0.00,0.000,4,0.000,0.094,2750,3791,3501,0,0,0,0,0,0
$GC,4384,-2.30,-77.5,656.8,-14.2,179,4390,0.00,2.78,0.00,0.000,6,0.000,0.090,2750,2270,3501,0,0,0,0,0,0
$GC,4637,-2.30,-77.5,690.1,-13.4,186,4641,0.00,2.90,0.00,0.000,4,0.000,0.123,2750,3787,3500,0,0,0,0,0,0
$GC,4714,-2.30,-77.5,701.3,-13.6,187,4720,0.00,2.70,0.00,0.000,6,0.000,0.085,2750,2280,3499,0,0,0,0,0,0
$GC,4964,-2.30,-77.5,734.2,-13.0,194,4968,0.00,2.75,0.00,0.000,4,0.000,0.100,2750,3783,3497,0,0,0,0,0,0
$GC,4993,-2.30,-77.5,738.1,-13.8,194,4997,0.00,2.65,0.00,0.000,6,0.000,0.077,2750,2286,3497,0,0,0,0,0,0
$GC,5243,-2.34,-77.5,771.0,-13.2,200,5247,0.00,2.70,0.00,0.000,4,0.000,0.093,2750,3787,3495,0,0,0,0,0,0
$GC,5298,-2.34,-77.5,778.7,-13.5,201,5302,0.00,2.60,0.00,0.000,6,0.000,0.074,2750,2292,3495,0,0,0,0,0,0
$GC,5567,-2.38,-77.5,813.1,-12.9,208,5571,0.00,2.67,0.00,0.000,4,0.000,0.091,2750,3784,3493,0,0,0,0,0,0
$GC,5666,-2.38,-77.5,827.1,-13.4,210,5671,0.00,2.60,0.00,0.000,6,0.000,0.071,2750,2298,3492,0,0,0,0,0,0
$GC,5936,-2.42,-77.5,859.8,-12.1,217,5940,0.00,2.65,0.00,0.000,4,0.000,0.080,2750,3787,3491,0,0,0,0,0,0
$GC,5964,-2.42,-77.5,863.7,-13.5,217,5968,0.00,2.58,0.00,0.000,6,0.000,0.068,2750,2302,3491,0,0,0,0,0,0
$GC,6214,-2.46,-77.5,892.5,-11.3,223,6219,0.10,2.62,0.00,0.000,4,0.081,0.081,2709,3790,3489,0,0,0,0,0,0
$STATE,6273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6273,begin apogee
$GC,6283,-0.31,0.0,900.5,12.9,224,6352,2.22,0.00,63.58,1.194,6,0.110,0.000,3187,2365,3190,0,0,0,0,0,0
$STATE,6352,end apogee,CONTROL_FINISHED_OK
$STATE,6352,begin climb
$GC,6355,2.13,77.5,902.4,0.0,226,6428,2.20,0.00,67.97,1.170,6,0.034,0.000,3740,2366,2873,0,0,0,0,0,0
$GC,6642,2.13,77.5,872.4,12.2,233,6646,0.00,2.72,0.00,0.000,4,0.000,0.061,3740,3931,2867,0,0,0,0,0,0
$GC,6753,2.06,77.5,858.1,12.1,235,6758,0.17,2.65,0.00,0.000,6,0.140,0.048,3708,2369,2866,0,0,0,0,0,0
$GC,7009,2.10,77.5,831.1,10.4,242,7013,0.00,2.67,0.00,0.000,4,0.000,0.058,3709,3937,2865,0,0,0,0,0,0
$GC,7255,2.10,77.5,803.8,10.6,247,7259,0.00,2.62,0.00,0.000,6,0.000,0.041,3709,2374,2863,0,0,0,0,0,0
$GC,7512,2.15,77.5,778.2,10.1,254,7516,0.00,2.62,0.00,0.000,4,0.000,0.050,3709,3930,2862,0,0,0,0,0,0
$GC,7660,2.15,77.5,761.4,11.5,257,7664,0.00,2.62,0.00,0.000,6,0.000,0.048,3709,2374,2861,0,0,0,0,0,0
$GC,7926,2.19,77.5,733.9,10.2,264,7932,0.12,2.65,0.00,0.000,4,0.081,0.051,3743,3937,2860,0,0,0,0,0,0
$GC,8186,2.12,77.5,704.0,11.0,269,8192,0.10,2.60,0.00,0.000,6,0.156,0.047,3725,2385,2859,0,0,0,0,0,0
$GC,8438,2.12,80.7,679.5,9.5,276,8443,0.00,2.62,0.00,0.000,4,0.000,0.056,3725,3938,2858,0,0,0,0,0,0
$GC,8697,2.09,80.7,652.3,10.3,281,8705,0.00,2.58,0.00,0.000,6,0.000,0.043,3725,2388,2857,0,0,0,0,0,0
$GC,8949,2.09,83.5,628.4,9.6,288,8954,0.00,2.60,0.00,0.000,4,0.000,0.051,3725,3930,2857,0,0,0,0,0,0
$GC,9146,2.09,83.5,608.1,10.9,292,9151,0.00,2.58,0.00,0.000,6,0.000,0.044,3725,2385,2856,0,0,0,0,0,0
$GC,9409,2.09,85.8,582.8,9.7,299,9419,0.00,2.62,5.30,0.755,4,0.000,0.055,3725,3935,2840,0,0,0,0,0,0
$GC,9554,2.09,85.8,567.9,10.2,302,9558,0.00,2.55,0.00,0.000,6,0.000,0.041,3725,2398,2838,0,0,0,0,0,0
$GC,9823,2.09,87.9,542.1,9.7,309,9827,0.00,2.58,0.00,0.000,4,0.000,0.050,3725,3937,2838,0,0,0,0,0,0
$GC,9906,2.09,87.9,532.9,10.9,311,9911,0.00,2.55,0.00,0.000,6,0.000,0.041,3725,2396,2838,0,0,0,0,0,0
$GC,10190,2.10,93.9,506.1,9.1,318,10205,0.00,2.62,8.30,0.823,4,0.000,0.052,3725,3928,2807,0,0,0,0,0,0
$GC,10459,2.10,93.9,476.0,11.9,324,10464,0.00,2.50,0.00,0.000,6,0.000,0.031,3725,2404,2806,0,0,0,0,0,0
$GC,10745,2.15,93.9,445.4,10.7,331,10750,0.00,2.53,0.00,0.000,4,0.000,0.044,3725,3933,2806,0,0,0,0,0,0
$GC,10789,2.15,93.9,440.0,11.7,332,10794,0.00,2.45,0.00,0.000,6,0.000,0.028,3725,2406,2806,0,0,0,0,0,0
$GC,11068,2.20,93.9,410.2,10.8,339,11072,0.00,2.53,0.00,0.000,4,0.000,0.042,3724,3939,2806,0,0,0,0,0,0
$GC,11314,2.20,93.9,379.4,12.6,344,11318,0.00,2.45,0.00,0.000,6,0.000,0.029,3725,2402,2806,0,0,0,0,0,0
$GC,11575,2.25,93.9,351.1,10.8,351,11580,0.10,2.53,0.00,0.000,4,0.212,0.040,3755,3935,2807,0,0,0,0,0,0
$GC,11833,2.20,93.9,319.8,12.2,356,11839,0.00,2.40,0.00,0.000,6,0.000,0.022,3756,2426,2808,0,0,0,0,0,0
$GC,12085,2.20,93.9,292.5,10.8,363,12089,0.00,2.47,0.00,0.000,4,0.000,0.044,3756,3940,2808,0,0,0,0,0,0
$GC,12343,2.15,93.9,261.4,11.7,368,12349,0.12,2.40,0.00,0.000,6,0.134,0.023,3732,2431,2809,0,0,0,0,0,0
$GC,12595,2.21,93.9,234.7,10.7,375,12600,0.00,2.45,0.00,0.000,4,0.000,0.047,3732,3934,2810,0,0,0,0,0,0
$GC,12855,2.21,93.9,206.2,10.3,380,12861,0.00,2.38,0.00,0.000,6,0.000,0.027,3732,2440,2811,0,0,0,0,0,0
$GC,13113,2.29,105.2,185.0,8.3,399,13131,0.10,2.50,11.88,0.614,4,0.087,0.041,3766,3944,2760,0,0,0,0,0,0
$GC,13186,2.30,114.0,178.8,8.7,405,13201,0.00,2.38,8.43,0.574,6,0.000,0.024,3765,2447,2725,0,0,0,0,0,0
$GC,13456,2.35,121.2,155.9,8.9,430,13470,0.00,2.50,7.62,0.547,4,0.000,0.044,3766,3933,2694,0,0,0,0,0,0
$GC,13736,2.39,154.7,136.9,5.0,454,13774,0.00,2.38,28.80,0.605,6,0.000,0.021,3766,2430,2559,0,0,0,0,0,0
$GC,14029,2.53,180.6,114.1,6.1,481,14055,0.00,0.00,22.48,0.573,6,0.000,0.000,3766,2430,2453,0,0,0,0,0,0
$GC,14312,2.66,180.6,86.9,10.5,508,14316,0.00,2.47,0.00,0.000,4,0.000,0.044,3765,3943,2450,0,0,0,0,0,0
$GC,14594,2.74,180.6,52.0,13.7,530,14604,0.00,2.42,0.00,0.000,6,0.000,0.024,3766,2430,2450,0,0,0,0,0,0
$GC,14886,2.88,180.6,14.7,11.6,564,14896,0.00,2.47,0.00,0.000,4,0.000,0.038,3766,3939,2451,0,0,0,0,0,0
$STATE,14970,end climb,SURFACE_DEPTH_REACHED
$STATE,14970,begin surface coast
$FINISH,1.1,1.023761
$STATE,15012,end surface coast,CONTROL_FINISHED_OK
$STATE,15014,begin surface
$SM_CCo,15041,135.60,0.497,0,0,1763,350.04
$SM_GC,1.82,0.00,0.00,135.60,0.000,0.000,0.497,466,2203,1763,-12.85,-0.20,350.04
$IRIDIUM_FIX,1916.08,-8105.68,010602,222235
$TT8_MAMPS,0.026078
$HUMID,55.78
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.50
$XPDR_PINGS,65
$24V_AH,23.3,34.429
$10V_AH,10.4,30.235
$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,31.625,180.250,224.350,135.600,0.000,25.183,39.394,444.825,16.250,0.000,32.436,1362.671,10473.373,487.508,2626.474,913.293,33.350,1575.035,0.000,2580.993,0.000,0.539,0.000
$DEVICE_MAMPS,212.459,122.720,1194.219,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,393.738,277.647,363.004,476.615,908.538,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356052
$DATA_FILE_SIZE,44789,582
$CAP_FILE_SIZE,153391,0
$CFSIZE,260165632,111525888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080313,081506,1923.575,-8107.642,35,1.2,35,-3.8