version: 66.06
glider: 146
mission: 8
dive: 260
start: 3 11 113 21 22 21
data:
$ID,146
$MISSION,8
$DIVE,260
$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,-312568.53
$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,73
$R_STBD_OVSHOOT,22
$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
$GPS1,210900,1926.024,-8114.378,39,1.8,39,-3.8
$_CALLS,1
$_XMS_NAKs,27
$_XMS_TOUTs,1
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.3
$GPS2,212125,1926.065,-8114.451,15,1.9,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.235,0.110
$KALMAN_X,-19199.3,-91.2,-265.1,7258.9,21.8
$KALMAN_Y,13198.9,173.3,121.8,-8863.0,-802.9
$MHEAD_RNG_PITCHd_Wd,298.9,6435,-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,-70.45,0.000,2,0.000,0.000,465,2164,3460,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.3,-4.1,9,123,13.68,2.65,-6.20,0.000,4,0.163,0.041,2979,3810,3787,0,0,0,0,0,0
$GC,312,-1.14,-146.0,46.1,-16.6,33,317,0.15,2.45,0.00,0.000,6,0.104,0.022,3013,2247,3788,0,0,0,0,0,0
$GC,579,-1.02,-146.0,86.7,-14.9,57,584,0.12,2.67,0.00,0.000,4,0.113,0.045,3040,633,3788,0,0,0,0,0,0
$GC,649,-1.02,-146.0,97.7,-13.8,62,659,0.00,2.47,0.00,0.000,6,0.000,0.023,3039,2225,3788,0,0,0,0,0,0
$GC,918,-0.98,-146.0,132.0,-12.8,87,922,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2225,3788,0,0,0,0,0,0
$GC,1185,-0.98,-146.0,158.6,-9.1,112,1189,0.00,2.60,0.00,0.000,4,0.000,0.044,3039,631,3789,0,0,0,0,0,0
$GC,1233,-1.04,-146.0,163.6,-9.3,115,1238,0.00,2.42,0.00,0.000,6,0.000,0.018,3039,2213,3789,0,0,0,0,0,0
$GC,1496,-1.11,-146.0,183.1,-7.6,140,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2214,3789,0,0,0,0,0,0
$GC,1752,-1.19,-146.0,200.5,-6.5,164,1754,0.17,0.00,0.00,0.000,6,0.051,0.000,2970,2214,3789,0,0,0,0,0,0
$GC,1992,-1.15,-146.0,222.9,-9.5,170,1994,0.17,0.00,0.00,0.000,6,0.084,0.000,3012,2213,3789,0,0,0,0,0,0
$GC,2238,-1.20,-146.0,241.1,-7.3,176,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2214,3789,0,0,0,0,0,0
$GC,2480,-1.24,-146.0,259.6,-7.8,182,2484,0.00,2.47,0.00,0.000,4,0.000,0.041,3012,3767,3789,0,0,0,0,0,0
$GC,2501,-1.29,-146.0,261.4,-8.0,182,2506,0.15,2.45,0.00,0.000,6,0.057,0.020,2951,2206,3789,0,0,0,0,0,0
$GC,2759,-1.23,-146.0,286.9,-10.0,189,2764,0.17,2.62,0.00,0.000,4,0.087,0.064,2993,639,3789,0,0,0,0,0,0
$GC,2792,-1.23,-146.0,290.2,-8.8,189,2798,0.00,2.42,0.00,0.000,6,0.000,0.020,2993,2197,3788,0,0,0,0,0,0
$GC,3042,-1.23,-146.0,309.3,-7.7,196,3047,0.00,2.55,0.00,0.000,4,0.000,0.046,2993,3783,3788,0,0,0,0,0,0
$GC,3072,-1.23,-146.0,311.6,-8.0,196,3076,0.00,2.47,0.00,0.000,6,0.000,0.027,2993,2202,3788,0,0,0,0,0,0
$GC,3322,-1.23,-146.0,331.2,-7.8,202,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2202,3787,0,0,0,0,0,0
$GC,3566,-1.23,-146.0,351.2,-8.2,208,3570,0.00,2.62,0.00,0.000,4,0.000,0.063,2993,638,3786,0,0,0,0,0,0
$GC,3595,-1.23,-146.0,353.4,-8.6,208,3599,0.00,2.47,0.00,0.000,6,0.000,0.033,2993,2201,3786,0,0,0,0,0,0
$GC,3845,-1.23,-146.0,374.5,-8.3,214,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2201,3785,0,0,0,0,0,0
$GC,4089,-1.23,-146.0,393.6,-7.8,220,4093,0.00,2.60,0.00,0.000,4,0.000,0.054,2992,3784,3784,0,0,0,0,0,0
$GC,4128,-1.23,-146.0,396.7,-7.7,221,4132,0.00,2.53,0.00,0.000,6,0.000,0.028,2993,2214,3784,0,0,0,0,0,0
$GC,4413,-1.23,-146.0,418.8,-7.8,228,4418,0.00,2.72,0.00,0.000,4,0.000,0.079,2993,625,3783,0,0,0,0,0,0
$GC,4458,-1.27,-146.0,422.8,-8.5,229,4462,0.00,2.55,0.00,0.000,6,0.000,0.030,2992,2213,3783,0,0,0,0,0,0
$GC,4737,-1.27,-146.0,445.6,-8.2,236,4742,0.00,2.60,0.00,0.000,4,0.000,0.058,2993,3789,3782,0,0,0,0,0,0
$GC,4777,-1.32,-146.0,449.2,-8.6,237,4782,0.00,2.55,0.00,0.000,6,0.000,0.035,2993,2222,3782,0,0,0,0,0,0
$GC,5060,-1.32,-146.0,471.1,-7.7,244,5065,0.00,2.83,0.00,0.000,4,0.000,0.084,2992,626,3780,0,0,0,0,0,0
$GC,5095,-1.32,-146.0,473.9,-8.2,244,5101,0.00,2.60,0.00,0.000,6,0.000,0.038,2993,2219,3780,0,0,0,0,0,0
$GC,5345,-1.35,-146.0,493.3,-7.6,251,5347,0.12,0.00,0.00,0.000,6,0.068,0.000,2945,2219,3779,0,0,0,0,0,0
$GC,5589,-1.30,-146.0,515.9,-9.4,257,5591,0.15,0.00,0.00,0.000,6,0.094,0.000,2979,2219,3778,0,0,0,0,0,0
$GC,5835,-1.30,-146.0,536.3,-8.4,263,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2219,3777,0,0,0,0,0,0
$GC,6076,-1.30,-146.0,557.1,-8.5,269,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2219,3776,0,0,0,0,0,0
$GC,6320,-1.30,-146.0,577.1,-8.1,275,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2219,3776,0,0,0,0,0,0
$GC,6564,-1.30,-146.0,596.4,-8.0,281,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2220,3774,0,0,0,0,0,0
$GC,6810,-1.30,-146.0,616.2,-8.2,287,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2219,3773,0,0,0,0,0,0
$GC,7051,-1.30,-146.0,635.5,-7.9,293,7056,0.00,2.90,0.00,0.000,4,0.000,0.109,2979,3787,3771,0,0,0,0,0,0
$GC,7080,-1.30,-146.0,637.7,-8.7,293,7084,0.00,2.75,0.00,0.000,6,0.000,0.074,2979,2220,3771,0,0,0,0,0,0
$GC,7332,-1.30,-146.0,657.7,-8.0,299,7337,0.00,3.10,0.00,0.000,4,0.000,0.129,2979,622,3770,0,0,0,0,0,0
$GC,7382,-1.34,-146.0,662.3,-8.9,300,7387,0.00,2.78,0.00,0.000,6,0.000,0.076,2979,2198,3770,0,0,0,0,0,0
$GC,7654,-1.34,-146.0,684.4,-8.1,307,7659,0.00,2.97,0.00,0.000,4,0.000,0.115,2979,3797,3768,0,0,0,0,0,0
$GC,7706,-1.34,-146.0,688.3,-7.6,308,7710,0.00,2.80,0.00,0.000,6,0.000,0.081,2979,2214,3768,0,0,0,0,0,0
$GC,7977,-1.34,-146.0,708.9,-7.4,315,7982,0.00,3.03,0.00,0.000,4,0.000,0.123,2979,622,3767,0,0,0,0,0,0
$GC,8001,-1.34,-146.0,710.7,-7.8,315,8006,0.00,2.80,0.00,0.000,6,0.000,0.074,2979,2223,3767,0,0,0,0,0,0
$GC,8259,-1.34,-146.0,729.7,-7.4,322,8264,0.00,2.85,0.00,0.000,4,0.000,0.099,2979,3798,3765,0,0,0,0,0,0
$GC,8299,-1.38,-146.0,733.0,-7.8,323,8303,0.00,2.75,0.00,0.000,6,0.000,0.071,2979,2214,3765,0,0,0,0,0,0
$GC,8584,-1.38,-146.0,754.3,-7.5,330,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2214,3764,0,0,0,0,0,0
$GC,8826,-1.38,-146.0,772.4,-7.5,336,8830,0.00,2.80,0.00,0.000,4,0.000,0.087,2979,3798,3762,0,0,0,0,0,0
$GC,8865,-1.42,-146.0,775.5,-8.1,337,8871,0.12,2.72,0.00,0.000,6,0.067,0.064,2932,2223,3762,0,0,0,0,0,0
$GC,9152,-1.36,-146.0,802.8,-9.7,344,9154,0.15,0.00,0.00,0.000,6,0.097,0.000,2965,2223,3761,0,0,0,0,0,0
$GC,9393,-1.36,-146.0,822.6,-8.0,350,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2223,3760,0,0,0,0,0,0
$GC,9637,-1.36,-146.0,842.4,-8.0,356,9641,0.00,2.78,0.00,0.000,4,0.000,0.081,2964,3798,3759,0,0,0,0,0,0
$GC,9671,-1.36,-146.0,845.2,-8.2,356,9677,0.00,2.72,0.00,0.000,6,0.000,0.064,2965,2222,3759,0,0,0,0,0,0
$GC,9921,-1.36,-146.0,864.6,-7.6,363,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2222,3757,0,0,0,0,0,0
$GC,10165,-1.36,-146.0,884.2,-8.0,369,10166,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2222,3756,0,0,0,0,0,0
$STATE,10406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10406,begin apogee
$GC,10412,-0.31,0.0,903.1,7.8,375,10535,1.00,0.00,119.53,1.216,6,0.069,0.000,3194,2385,3190,0,0,0,0,0,0
$STATE,10536,end apogee,CONTROL_FINISHED_OK
$STATE,10536,begin climb
$GC,10541,1.27,146.0,906.2,0.0,378,10676,1.42,2.80,126.85,1.186,4,0.035,0.076,3545,3927,2593,0,0,0,0,0,0
$GC,10765,1.13,146.0,890.7,12.7,383,10770,0.20,2.70,0.00,0.000,6,0.109,0.054,3507,2369,2588,0,0,0,0,0,0
$GC,11037,1.16,168.1,865.0,9.0,390,11063,0.00,3.15,20.02,1.094,4,0.000,0.121,3506,783,2503,0,0,0,0,0,0
$GC,11082,1.14,184.3,860.9,9.3,391,11103,0.00,2.70,15.80,1.065,6,0.000,0.048,3505,2362,2438,0,0,0,0,0,0
$GC,11359,1.14,184.3,832.6,10.1,398,11364,0.00,2.75,0.00,0.000,4,0.000,0.070,3505,3931,2433,0,0,0,0,0,0
$GC,11394,1.10,184.3,829.0,11.3,398,11400,0.00,2.65,0.00,0.000,6,0.000,0.041,3506,2361,2433,0,0,0,0,0,0
$GC,11644,1.10,186.5,803.9,9.9,405,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2362,2432,0,0,0,0,0,0
$GC,11888,1.12,200.4,781.0,9.4,411,11908,0.00,2.72,15.43,1.051,4,0.000,0.057,3506,3935,2371,0,0,0,0,0,0
$GC,11936,1.12,200.4,775.9,10.3,412,11940,0.00,2.65,0.00,0.000,6,0.000,0.046,3506,2373,2369,0,0,0,0,0,0
$GC,12211,1.12,200.4,747.1,10.7,419,12215,0.00,2.67,0.00,0.000,4,0.000,0.058,3506,3939,2367,0,0,0,0,0,0
$GC,12232,1.12,200.7,744.4,10.0,419,12237,0.00,2.62,0.00,0.000,6,0.000,0.046,3506,2380,2367,0,0,0,0,0,0
$GC,12488,1.12,200.7,717.6,10.3,426,12492,0.00,2.62,0.00,0.000,4,0.000,0.058,3506,3934,2367,0,0,0,0,0,0
$GC,12511,1.12,200.7,715.3,10.3,426,12515,0.00,2.60,0.00,0.000,6,0.000,0.040,3506,2386,2366,0,0,0,0,0,0
$GC,12766,1.12,200.7,688.7,10.3,433,12767,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2386,2366,0,0,0,0,0,0
$GC,13009,1.12,200.7,663.9,10.2,439,13013,0.00,2.62,0.00,0.000,4,0.000,0.057,3506,3935,2365,0,0,0,0,0,0
$GC,13032,1.12,200.7,661.4,11.2,439,13037,0.00,2.60,0.00,0.000,6,0.000,0.044,3506,2386,2365,0,0,0,0,0,0
$GC,13288,1.12,200.7,634.0,10.6,446,13289,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2386,2365,0,0,0,0,0,0
$GC,13531,1.12,200.7,608.3,10.6,452,13535,0.00,2.62,0.00,0.000,4,0.000,0.053,3506,3936,2365,0,0,0,0,0,0
$GC,13563,1.12,200.7,604.5,11.7,452,13569,0.00,2.60,0.00,0.000,6,0.000,0.044,3506,2384,2364,0,0,0,0,0,0
$GC,13816,1.12,200.7,578.1,10.4,459,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2384,2364,0,0,0,0,0,0
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$STATE,19304,end climb,SURFACE_DEPTH_REACHED
$STATE,19304,begin surface coast
$FINISH,0.9,1.012932
$STATE,19347,end surface coast,CONTROL_FINISHED_OK
$STATE,19347,begin surface
$SM_CCo,19371,30.35,0.488,0,0,1763,350.04
$SM_GC,1.80,0.00,0.00,30.35,0.000,0.000,0.488,461,2137,1763,-12.87,-2.06,350.04
$IRIDIUM_FIX,1916.08,-8110.19,050602,151550
$TT8_MAMPS,0.026078
$HUMID,59.13
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.20
$XPDR_PINGS,64
$24V_AH,23.3,36.765
$10V_AH,10.4,32.388
$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,30.800,191.100,396.300,30.350,0.000,30.555,33.610,509.035,16.000,0.000,17.444,1510.052,14776.938,531.341,2277.459,1042.526,33.365,1505.889,0.000,2266.126,0.000,0.536,0.000
$DEVICE_MAMPS,174.109,128.856,1216.462,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,494.553,340.824,431.250,547.635,1043.049,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,57290,730
$CAP_FILE_SIZE,170902,0
$CFSIZE,260165632,110268416
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120313,024659,1927.134,-8117.770,35,1.4,35,-3.7