version: 66.06
glider: 146
mission: 8
dive: 270
start: 3 14 113 1 20 19
data:
$ID,146
$MISSION,8
$DIVE,270
$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,-312758.12
$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,32
$R_STBD_OVSHOOT,34
$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
$GPS1,010830,1924.529,-8111.299,40,1.1,40,-3.8
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-75.1
$GPS2,011925,1924.472,-8111.325,13,1.2,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.237,0.107
$KALMAN_X,-22031.4,-451.9,-116.5,15762.9,722.3
$KALMAN_Y,15931.3,-164.8,-37.4,-14039.9,-510.0
$MHEAD_RNG_PITCHd_Wd,298.2,12562,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-70.57,0.000,2,0.000,0.000,465,2137,3470,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.3,-4.3,9,123,13.65,2.67,-6.18,0.000,4,0.163,0.041,2978,3800,3786,0,0,0,0,0,0
$GC,241,-1.13,-146.0,33.1,-17.0,28,247,0.17,2.53,0.00,0.000,6,0.096,0.023,3017,2206,3787,0,0,0,0,0,0
$GC,512,-1.00,-146.0,73.9,-15.2,52,517,0.12,2.58,0.00,0.000,4,0.115,0.046,3044,637,3787,0,0,0,0,0,0
$GC,567,-0.95,-146.0,82.7,-13.0,56,572,0.00,2.42,0.00,0.000,6,0.000,0.016,3044,2228,3786,0,0,0,0,0,0
$GC,830,-0.88,-146.0,115.2,-12.0,80,835,0.10,2.62,0.00,0.000,4,0.120,0.044,3067,632,3787,0,0,0,0,0,0
$GC,866,-0.88,-146.0,119.7,-12.2,82,876,0.00,2.42,0.00,0.000,6,0.000,0.022,3067,2204,3787,0,0,0,0,0,0
$GC,1133,-0.94,-146.0,145.4,-8.0,107,1137,0.00,2.50,0.00,0.000,4,0.000,0.034,3066,3782,3787,0,0,0,0,0,0
$GC,1167,-1.05,-146.0,148.0,-8.0,109,1172,0.15,2.47,0.00,0.000,6,0.056,0.024,3002,2202,3787,0,0,0,0,0,0
$GC,1432,-1.05,-146.0,174.5,-10.3,133,1437,0.12,2.55,0.00,0.000,4,0.097,0.047,3031,641,3788,0,0,0,0,0,0
$GC,1497,-1.11,-146.0,180.3,-8.1,138,1502,0.00,2.42,0.00,0.000,6,0.000,0.021,3030,2220,3788,0,0,0,0,0,0
$GC,1761,-1.17,-146.0,200.2,-7.5,162,1766,0.12,2.47,0.00,0.000,4,0.065,0.039,2976,3773,3788,0,0,0,0,0,0
$GC,1790,-1.17,-146.0,202.9,-9.6,162,1795,0.12,2.40,0.00,0.000,6,0.094,0.019,3006,2221,3788,0,0,0,0,0,0
$GC,2040,-1.17,-146.0,224.7,-8.7,168,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2221,3788,0,0,0,0,0,0
$GC,2284,-1.17,-146.0,244.8,-8.1,174,2288,0.00,2.60,0.00,0.000,4,0.000,0.056,3006,637,3788,0,0,0,0,0,0
$GC,2319,-1.17,-146.0,247.5,-8.8,174,2324,0.00,2.45,0.00,0.000,6,0.000,0.021,3006,2228,3788,0,0,0,0,0,0
$GC,2569,-1.17,-146.0,266.2,-7.3,181,2573,0.00,2.45,0.00,0.000,4,0.000,0.044,3006,3771,3788,0,0,0,0,0,0
$GC,2608,-1.22,-146.0,269.2,-7.2,182,2613,0.00,2.38,0.00,0.000,6,0.000,0.028,3006,2235,3788,0,0,0,0,0,0
$GC,2895,-1.26,-146.0,288.9,-6.9,189,2899,0.00,2.65,0.00,0.000,4,0.000,0.055,3006,640,3788,0,0,0,0,0,0
$GC,2928,-1.30,-146.0,291.4,-7.3,189,2934,0.12,2.47,0.00,0.000,6,0.064,0.021,2950,2236,3787,0,0,0,0,0,0
$GC,3181,-1.23,-146.0,315.2,-9.9,196,3183,0.20,0.00,0.00,0.000,6,0.083,0.000,2996,2236,3787,0,0,0,0,0,0
$GC,3422,-1.23,-146.0,335.2,-8.2,202,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2236,3786,0,0,0,0,0,0
$GC,3665,-1.23,-146.0,354.9,-8.0,208,3670,0.00,2.65,0.00,0.000,4,0.000,0.058,2996,645,3785,0,0,0,0,0,0
$GC,3705,-1.23,-146.0,358.1,-7.8,209,3709,0.00,2.50,0.00,0.000,6,0.000,0.031,2995,2232,3786,0,0,0,0,0,0
$GC,3990,-1.23,-146.0,379.2,-7.5,216,3994,0.00,2.50,0.00,0.000,4,0.000,0.047,2996,3783,3784,0,0,0,0,0,0
$GC,4018,-1.27,-146.0,381.6,-8.0,216,4022,0.00,2.42,0.00,0.000,6,0.000,0.025,2996,2247,3784,0,0,0,0,0,0
$GC,4270,-1.27,-146.0,401.2,-7.9,222,4275,0.00,2.75,0.00,0.000,4,0.000,0.077,2996,633,3783,0,0,0,0,0,0
$GC,4303,-1.27,-146.0,404.2,-8.2,222,4309,0.00,2.55,0.00,0.000,6,0.000,0.028,2996,2235,3783,0,0,0,0,0,0
$GC,4553,-1.27,-146.0,423.3,-7.6,229,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2234,3782,0,0,0,0,0,0
$GC,4797,-1.27,-146.0,441.3,-7.4,235,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2235,3781,0,0,0,0,0,0
$GC,5043,-1.27,-146.0,459.8,-7.5,241,5047,0.00,2.75,0.00,0.000,4,0.000,0.076,2996,633,3781,0,0,0,0,0,0
$GC,5069,-1.27,-146.0,462.1,-7.6,241,5074,0.00,2.60,0.00,0.000,6,0.000,0.045,2996,2224,3780,0,0,0,0,0,0
$GC,5320,-1.31,-146.0,480.8,-7.4,247,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2225,3779,0,0,0,0,0,0
$GC,5566,-1.35,-146.0,498.2,-7.0,253,5568,0.12,0.00,0.00,0.000,6,0.066,0.000,2947,2224,3778,0,0,0,0,0,0
$GC,5807,-1.30,-146.0,519.2,-8.6,259,5809,0.12,0.00,0.00,0.000,6,0.099,0.000,2977,2225,3778,0,0,0,0,0,0
$GC,6051,-1.30,-146.0,537.2,-7.4,265,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2224,3777,0,0,0,0,0,0
$GC,6297,-1.30,-146.0,556.8,-8.2,271,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2225,3776,0,0,0,0,0,0
$GC,6538,-1.30,-146.0,576.6,-8.1,277,6539,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2225,3774,0,0,0,0,0,0
$GC,6782,-1.30,-146.0,594.8,-7.3,283,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2225,3773,0,0,0,0,0,0
$GC,7026,-1.30,-146.0,612.1,-7.1,289,7030,0.00,2.85,0.00,0.000,4,0.000,0.098,2978,3791,3772,0,0,0,0,0,0
$GC,7061,-1.30,-146.0,614.6,-7.6,289,7066,0.00,2.67,0.00,0.000,6,0.000,0.068,2978,2245,3772,0,0,0,0,0,0
$GC,7311,-1.30,-146.0,633.0,-7.3,296,7315,0.00,3.05,0.00,0.000,4,0.000,0.117,2977,622,3770,0,0,0,0,0,0
$GC,7338,-1.30,-146.0,635.2,-8.4,296,7342,0.00,2.78,0.00,0.000,6,0.000,0.069,2977,2231,3770,0,0,0,0,0,0
$GC,7590,-1.30,-146.0,653.9,-7.6,302,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2231,3769,0,0,0,0,0,0
$GC,7832,-1.30,-146.0,671.6,-7.2,308,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2231,3768,0,0,0,0,0,0
$GC,8075,-1.30,-146.0,689.8,-7.6,314,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2231,3766,0,0,0,0,0,0
$GC,8319,-1.30,-146.0,709.8,-8.2,320,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2231,3765,0,0,0,0,0,0
$GC,8565,-1.30,-146.0,730.6,-8.6,326,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2231,3763,0,0,0,0,0,0
$GC,8806,-1.30,-146.0,751.3,-8.4,332,8811,0.00,3.22,0.00,0.000,4,0.000,0.165,2977,3793,3763,0,0,0,0,0,0
$GC,8828,-1.30,-146.0,753.3,-8.6,332,8832,0.00,2.70,0.00,0.000,6,0.000,0.060,2977,2220,3762,0,0,0,0,0,0
$GC,9083,-1.30,-146.0,773.2,-7.6,339,9088,0.00,3.00,0.00,0.000,4,0.000,0.116,2977,619,3761,0,0,0,0,0,0
$GC,9107,-1.30,-146.0,775.0,-7.8,339,9111,0.00,2.78,0.00,0.000,6,0.000,0.061,2977,2237,3761,0,0,0,0,0,0
$GC,9362,-1.30,-146.0,793.4,-7.0,346,9366,0.00,2.80,0.00,0.000,4,0.000,0.100,2977,3798,3761,0,0,0,0,0,0
$GC,9383,-1.30,-146.0,795.1,-7.7,346,9388,0.00,2.72,0.00,0.000,6,0.000,0.064,2977,2224,3760,0,0,0,0,0,0
$GC,9641,-1.30,-146.0,814.1,-7.6,353,9642,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2224,3759,0,0,0,0,0,0
$GC,9883,-1.30,-146.0,833.4,-7.8,359,9887,0.00,2.78,0.00,0.000,4,0.000,0.084,2978,3797,3758,0,0,0,0,0,0
$GC,9910,-1.30,-146.0,835.6,-8.2,359,9914,0.00,2.70,0.00,0.000,6,0.000,0.062,2977,2230,3758,0,0,0,0,0,0
$GC,10162,-1.30,-146.0,854.2,-7.4,365,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2230,3757,0,0,0,0,0,0
$GC,10405,-1.30,-146.0,871.7,-7.1,371,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2229,3755,0,0,0,0,0,0
$GC,10647,-1.30,-146.0,888.9,-7.1,377,10652,0.00,2.78,0.00,0.000,4,0.000,0.077,2977,3804,3754,0,0,0,0,0,0
$GC,10699,-1.35,-146.0,892.9,-8.3,378,10704,0.00,2.70,0.00,0.000,6,0.000,0.066,2977,2237,3754,0,0,0,0,0,0
$STATE,10807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10807,begin apogee
$GC,10813,-0.31,0.0,900.9,7.1,381,10936,0.93,0.00,119.68,1.216,6,0.067,0.000,3190,2382,3190,0,0,0,0,0,0
$STATE,10937,end apogee,CONTROL_FINISHED_OK
$STATE,10937,begin climb
$GC,10939,1.27,146.0,903.8,0.0,384,11076,1.42,2.85,126.72,1.185,4,0.035,0.080,3542,3924,2593,0,0,0,0,0,0
$GC,11162,1.14,146.0,888.7,11.8,389,11167,0.15,2.72,0.00,0.000,6,0.116,0.054,3511,2363,2588,0,0,0,0,0,0
$GC,11437,1.13,165.8,863.6,9.1,396,11462,0.00,2.83,17.60,1.081,4,0.000,0.061,3511,3929,2514,0,0,0,0,0,0
$GC,11496,1.07,165.8,857.4,11.6,397,11501,0.00,2.67,0.00,0.000,6,0.000,0.053,3511,2374,2512,0,0,0,0,0,0
$GC,11765,1.07,165.8,831.1,10.0,404,11770,0.00,2.70,0.00,0.000,4,0.000,0.062,3511,3937,2510,0,0,0,0,0,0
$GC,11788,1.03,165.8,828.4,10.5,404,11793,0.12,2.65,0.00,0.000,6,0.124,0.046,3485,2377,2509,0,0,0,0,0,0
$GC,12043,1.05,182.3,804.5,9.2,411,12064,0.00,2.70,15.75,1.065,4,0.000,0.061,3485,3927,2445,0,0,0,0,0,0
$GC,12077,1.05,186.9,801.4,9.8,411,12088,0.00,2.65,5.70,0.842,6,0.000,0.044,3485,2381,2428,0,0,0,0,0,0
$GC,12367,1.07,202.2,773.6,9.3,419,12384,0.00,0.00,15.55,1.052,6,0.000,0.000,3485,2381,2365,0,0,0,0,0,0
$GC,12611,1.13,214.3,750.6,9.4,425,12625,0.00,0.00,12.55,1.016,6,0.000,0.000,3485,2381,2316,0,0,0,0,0,0
$GC,12857,1.17,215.6,726.8,9.9,431,12859,0.12,0.00,0.00,0.000,6,0.077,0.000,3522,2381,2314,0,0,0,0,0,0
$GC,13097,1.17,215.6,699.7,11.1,437,13099,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2380,2312,0,0,0,0,0,0
$GC,13341,1.17,215.6,671.9,11.5,443,13346,0.00,2.65,0.00,0.000,4,0.000,0.058,3522,3931,2311,0,0,0,0,0,0
$GC,13365,1.14,215.6,669.2,12.0,443,13369,0.00,2.62,0.00,0.000,6,0.000,0.046,3522,2375,2311,0,0,0,0,0,0
$GC,13624,1.14,215.6,639.9,11.4,450,13625,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,2375,2310,0,0,0,0,0,0
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$GC,15156,1.22,222.4,479.4,10.2,487,15157,0.12,0.00,0.00,0.000,6,0.126,0.000,3535,2384,2282,0,0,0,0,0,0
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$STATE,19406,end climb,SURFACE_DEPTH_REACHED
$STATE,19407,begin surface coast
$FINISH,1.1,1.023770
$STATE,19453,end surface coast,CONTROL_FINISHED_OK
$STATE,19453,begin surface
$SM_CCo,19476,17.80,0.475,0,0,1763,350.04
$SM_GC,2.07,0.00,0.00,17.80,0.000,0.000,0.475,458,2156,1763,-12.89,-1.53,350.04
$IRIDIUM_FIX,1916.08,-8110.19,080602,010106
$TT8_MAMPS,0.026078
$HUMID,59.64
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.20
$XPDR_PINGS,60
$24V_AH,23.3,38.065
$10V_AH,10.3,33.610
$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,31.075,199.075,415.600,17.800,0.000,50.566,75.151,292.475,15.000,0.000,14.802,1528.978,14892.744,531.687,2275.428,909.600,33.363,1520.570,0.000,2268.207,0.000,0.535,0.000
$DEVICE_MAMPS,163.371,164.905,1216.462,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,493.933,338.630,431.630,565.155,1075.668,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355872
$DATA_FILE_SIZE,57139,729
$CAP_FILE_SIZE,174810,0
$CFSIZE,260165632,109555712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140313,064654,1925.235,-8114.519,58,1.7,58,-3.8