version: 66.06
glider: 146
mission: 8
dive: 283
start: 3 17 113 0 41 54
data:
$ID,146
$MISSION,8
$DIVE,283
$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,-313064.06
$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,12
$R_STBD_OVSHOOT,17
$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
$GPS1,003030,1927.937,-8118.307,41,1.2,41,-3.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-74.0
$GPS2,004100,1927.908,-8118.416,10,1.4,15,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.163,-0.101
$KALMAN_X,-38023.8,27.4,-8.1,18776.9,-2208.0
$KALMAN_Y,17698.9,36.3,85.5,-9784.1,147.0
$MHEAD_RNG_PITCHd_Wd,125.5,1831,-24.6,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.63,-76.6,0.0,0.0,0,93,0.00,0.00,-71.10,0.000,2,0.000,0.000,466,2139,3488,0,0,0,0,0,0
$GC,96,-1.71,-137.1,3.5,-4.7,9,122,13.25,2.53,-5.05,0.000,4,0.163,0.048,2881,608,3749,0,0,0,0,0,0
$GC,194,-1.53,-137.1,31.2,-25.7,22,203,0.17,2.53,0.00,0.000,6,0.100,0.015,2922,2249,3749,0,0,0,0,0,0
$GC,461,-1.46,-137.1,84.4,-20.3,47,466,0.00,2.67,0.00,0.000,4,0.000,0.044,2922,614,3750,0,0,0,0,0,0
$GC,485,-1.35,-137.1,91.0,-21.8,48,493,0.15,2.45,0.00,0.000,6,0.091,0.022,2958,2201,3749,0,0,0,0,0,0
$GC,751,-1.41,-137.1,136.1,-15.0,73,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2203,3750,0,0,0,0,0,0
$GC,1015,-1.52,-137.1,168.1,-11.3,98,1020,0.12,2.62,0.00,0.000,4,0.065,0.046,2899,606,3751,0,0,0,0,0,0
$GC,1037,-1.52,-137.1,171.1,-11.9,99,1045,0.10,2.47,0.00,0.000,6,0.080,0.024,2925,2214,3751,0,0,0,0,0,0
$GC,1330,-1.60,-137.1,205.7,-11.6,124,1334,0.00,2.62,0.00,0.000,4,0.000,0.050,2925,604,3751,0,0,0,0,0,0
$GC,1345,-1.68,-137.1,208.0,-11.8,124,1350,0.12,2.45,0.00,0.000,6,0.067,0.017,2870,2219,3751,0,0,0,0,0,0
$GC,1606,-1.68,-137.1,242.1,-12.8,131,1608,0.10,0.00,0.00,0.000,6,0.116,0.000,2893,2219,3751,0,0,0,0,0,0
$GC,1852,-1.72,-137.1,273.5,-12.7,137,1857,0.00,2.50,0.00,0.000,4,0.000,0.044,2893,3775,3751,0,0,0,0,0,0
$GC,1880,-1.72,-137.1,277.5,-13.3,137,1884,0.00,2.45,0.00,0.000,6,0.000,0.021,2893,2200,3751,0,0,0,0,0,0
$GC,2135,-1.76,-137.1,307.7,-11.8,144,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2200,3751,0,0,0,0,0,0
$GC,2379,-1.81,-137.1,337.5,-12.3,150,2381,0.12,0.00,0.00,0.000,6,0.065,0.000,2841,2200,3751,0,0,0,0,0,0
$GC,2625,-1.76,-137.1,371.6,-14.0,156,2627,0.15,0.00,0.00,0.000,6,0.104,0.000,2874,2200,3750,0,0,0,0,0,0
$GC,2866,-1.76,-137.1,401.8,-12.5,162,2870,0.00,2.58,0.00,0.000,4,0.000,0.051,2874,3760,3749,0,0,0,0,0,0
$GC,2887,-1.76,-137.1,404.7,-13.3,162,2891,0.00,2.45,0.00,0.000,6,0.000,0.031,2874,2242,3749,0,0,0,0,0,0
$GC,3144,-1.76,-137.1,437.5,-13.0,169,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2242,3748,0,0,0,0,0,0
$GC,3385,-1.76,-137.1,468.6,-12.8,175,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2242,3748,0,0,0,0,0,0
$GC,3629,-1.76,-137.1,497.5,-11.8,181,3634,0.00,2.95,0.00,0.000,4,0.000,0.104,2874,629,3747,0,0,0,0,0,0
$GC,3650,-1.76,-137.1,500.4,-12.4,181,3655,0.00,2.58,0.00,0.000,6,0.000,0.041,2874,2197,3746,0,0,0,0,0,0
$GC,3908,-1.76,-137.1,529.6,-11.5,188,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2197,3745,0,0,0,0,0,0
$GC,4150,-1.80,-137.1,557.7,-11.5,194,4155,0.00,2.80,0.00,0.000,4,0.000,0.083,2874,3793,3744,0,0,0,0,0,0
$GC,4171,-1.80,-137.1,560.5,-12.8,194,4175,0.00,2.62,0.00,0.000,6,0.000,0.061,2874,2239,3744,0,0,0,0,0,0
$GC,4435,-1.84,-137.1,591.8,-12.0,201,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2239,3742,0,0,0,0,0,0
$GC,4676,-1.88,-137.1,620.2,-11.6,207,4678,0.10,0.00,0.00,0.000,6,0.081,0.000,2834,2239,3741,0,0,0,0,0,0
$GC,4920,-1.88,-137.1,652.2,-13.2,213,4924,0.00,2.85,0.00,0.000,4,0.000,0.103,2834,3792,3740,0,0,0,0,0,0
$GC,4935,-1.83,-137.1,654.5,-13.4,213,4941,0.12,2.83,0.00,0.000,6,0.112,0.094,2860,2232,3740,0,0,0,0,0,0
$GC,5199,-1.83,-137.1,687.1,-12.4,220,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2232,3738,0,0,0,0,0,0
$GC,5440,-1.83,-137.1,717.4,-12.4,226,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2232,3736,0,0,0,0,0,0
$GC,5684,-1.83,-137.1,746.8,-12.1,232,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2227,3734,0,0,0,0,0,0
$GC,5930,-1.83,-137.1,776.2,-12.0,238,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2227,3733,0,0,0,0,0,0
$GC,6171,-1.83,-137.1,805.3,-11.8,244,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2227,3731,0,0,0,0,0,0
$GC,6415,-1.83,-137.1,834.3,-11.9,250,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2227,3729,0,0,0,0,0,0
$GC,6659,-1.83,-137.1,862.9,-11.6,256,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2227,3728,0,0,0,0,0,0
$GC,6902,-1.83,-137.1,889.7,-11.0,262,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2227,3726,0,0,0,0,0,0
$STATE,7022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7022,begin apogee
$GC,7031,-0.31,0.0,903.4,11.2,265,7147,1.48,0.00,112.93,1.204,6,0.077,0.000,3192,2372,3190,0,0,0,0,0,0
$STATE,7148,end apogee,CONTROL_FINISHED_OK
$STATE,7148,begin climb
$GC,7151,1.71,137.1,906.3,0.0,268,7282,1.83,2.83,118.20,1.174,4,0.034,0.082,3641,3935,2631,0,0,0,0,0,0
$GC,7351,1.60,137.1,888.4,15.0,272,7356,0.17,2.72,0.00,0.000,6,0.129,0.058,3609,2361,2626,0,0,0,0,0,0
$GC,7600,1.60,137.1,856.9,12.4,278,7605,0.00,2.72,0.00,0.000,4,0.000,0.060,3609,3932,2623,0,0,0,0,0,0
$GC,7703,1.55,137.1,843.9,12.3,280,7707,0.00,2.62,0.00,0.000,6,0.000,0.047,3609,2379,2622,0,0,0,0,0,0
$GC,7971,1.55,137.1,810.9,12.2,287,7975,0.00,2.65,0.00,0.000,4,0.000,0.058,3609,3932,2620,0,0,0,0,0,0
$GC,8084,1.51,137.1,796.2,13.7,289,8089,0.00,2.58,0.00,0.000,6,0.000,0.044,3609,2405,2619,0,0,0,0,0,0
$GC,8340,1.51,137.1,765.2,12.1,296,8344,0.00,2.60,0.00,0.000,4,0.000,0.055,3609,3932,2618,0,0,0,0,0,0
$GC,8389,1.51,137.1,758.7,13.2,297,8393,0.00,2.55,0.00,0.000,6,0.000,0.048,3609,2412,2618,0,0,0,0,0,0
$GC,8663,1.51,137.1,725.3,12.4,304,8667,0.00,2.60,0.00,0.000,4,0.000,0.060,3609,3935,2617,0,0,0,0,0,0
$GC,8763,1.47,137.1,711.3,13.9,306,8768,0.15,2.55,0.00,0.000,6,0.137,0.048,3582,2420,2616,0,0,0,0,0,0
$GC,9032,1.52,137.1,680.5,11.4,313,9036,0.00,2.58,0.00,0.000,4,0.000,0.061,3581,3940,2615,0,0,0,0,0,0
$GC,9075,1.52,137.1,674.7,12.3,314,9080,0.00,2.55,0.00,0.000,6,0.000,0.047,3582,2424,2615,0,0,0,0,0,0
$GC,9354,1.58,137.1,644.6,10.8,321,9358,0.00,2.58,0.00,0.000,4,0.000,0.058,3581,3935,2614,0,0,0,0,0,0
$GC,9440,1.58,137.1,634.6,12.0,323,9445,0.00,2.53,0.00,0.000,6,0.000,0.041,3581,2425,2614,0,0,0,0,0,0
$GC,9724,1.63,137.1,604.8,10.3,330,9729,0.15,2.55,0.00,0.000,4,0.068,0.054,3623,3932,2614,0,0,0,0,0,0
$GC,9780,1.58,137.1,597.3,13.9,331,9784,0.00,2.53,0.00,0.000,6,0.000,0.041,3623,2425,2613,0,0,0,0,0,0
$GC,10048,1.58,137.1,565.3,12.0,338,10052,0.00,2.55,0.00,0.000,4,0.000,0.059,3623,3932,2613,0,0,0,0,0,0
$GC,10210,1.53,137.1,543.2,12.9,341,10215,0.15,2.45,0.00,0.000,6,0.129,0.036,3595,2448,2613,0,0,0,0,0,0
$GC,10462,1.57,137.1,514.4,11.4,347,10467,0.00,2.47,0.00,0.000,4,0.000,0.053,3595,3937,2613,0,0,0,0,0,0
$GC,10557,1.57,137.1,502.4,12.6,349,10561,0.00,2.42,0.00,0.000,6,0.000,0.039,3595,2456,2613,0,0,0,0,0,0
$GC,10838,1.61,137.1,471.0,11.0,356,10842,0.00,2.47,0.00,0.000,4,0.000,0.048,3595,3942,2612,0,0,0,0,0,0
$GC,10877,1.61,137.1,466.1,12.3,357,10881,0.00,2.42,0.00,0.000,6,0.000,0.034,3595,2456,2612,0,0,0,0,0,0
$GC,11160,1.66,137.1,434.9,10.9,364,11165,0.10,2.47,0.00,0.000,4,0.087,0.046,3627,3945,2612,0,0,0,0,0,0
$GC,11264,1.61,137.1,421.6,14.3,366,11268,0.00,2.40,0.00,0.000,6,0.000,0.033,3627,2460,2612,0,0,0,0,0,0
$GC,11530,1.61,137.1,388.1,12.5,373,11534,0.00,2.42,0.00,0.000,4,0.000,0.043,3628,3938,2612,0,0,0,0,0,0
$GC,11588,1.56,137.1,380.8,13.5,374,11592,0.12,2.38,0.00,0.000,6,0.131,0.027,3603,2460,2612,0,0,0,0,0,0
$GC,11854,1.60,137.1,350.1,11.1,381,11858,0.00,2.45,0.00,0.000,4,0.000,0.049,3603,3948,2612,0,0,0,0,0,0
$GC,11949,1.60,137.1,338.6,12.1,383,11953,0.00,2.35,0.00,0.000,6,0.000,0.027,3603,2470,2612,0,0,0,0,0,0
$GC,12230,1.65,137.1,307.5,11.2,390,12234,0.00,2.42,0.00,0.000,4,0.000,0.048,3603,3945,2613,0,0,0,0,0,0
$GC,12335,1.65,137.1,293.6,13.0,392,12339,0.00,2.33,0.00,0.000,6,0.000,0.029,3603,2484,2613,0,0,0,0,0,0
$GC,12605,1.71,137.1,262.6,11.5,399,12610,0.12,2.38,0.00,0.000,4,0.215,0.041,3642,3942,2614,0,0,0,0,0,0
$GC,12699,1.65,137.1,248.9,14.7,401,12704,0.12,2.30,0.00,0.000,6,0.127,0.024,3619,2495,2614,0,0,0,0,0,0
$GC,12974,1.65,137.1,218.3,11.3,408,12978,0.00,2.38,0.00,0.000,4,0.000,0.049,3620,3941,2615,0,0,0,0,0,0
$GC,13052,1.65,137.1,208.8,11.5,409,13057,0.00,2.30,0.00,0.000,6,0.000,0.025,3620,2498,2615,0,0,0,0,0,0
$GC,13309,1.70,137.1,183.3,10.4,428,13313,0.00,2.35,0.00,0.000,4,0.000,0.046,3619,3939,2616,0,0,0,0,0,0
$GC,13484,1.72,149.0,166.7,9.0,442,13498,0.00,2.28,9.15,0.574,6,0.000,0.024,3619,2502,2582,0,0,0,0,0,0
$GC,13761,1.83,171.7,143.4,8.0,468,13784,0.17,0.00,20.40,0.602,6,0.058,0.000,3672,2502,2490,0,0,0,0,0,0
$GC,14035,1.88,208.0,120.5,6.8,494,14072,0.00,0.00,31.92,0.591,6,0.000,0.000,3673,2502,2340,0,0,0,0,0,0
$GC,14327,1.94,208.0,91.8,10.5,521,14332,0.00,0.00,0.00,0.000,6,0.000,0.000,3673,2502,2338,0,0,0,0,0,0
$GC,14596,2.00,208.0,64.4,10.6,546,14601,0.10,2.88,0.00,0.000,4,0.084,0.048,3708,768,2339,0,0,0,0,0,0
$GC,14617,2.00,208.0,61.5,11.7,547,14621,0.00,2.78,0.00,0.000,6,0.000,0.021,3708,2548,2337,0,0,0,0,0,0
$GC,14884,2.00,208.0,29.5,12.1,571,14894,0.00,2.28,0.00,0.000,4,0.000,0.041,3709,3934,2338,0,0,0,0,0,0
$STATE,15078,end climb,SURFACE_DEPTH_REACHED
$STATE,15078,begin surface coast
$FINISH,1.1,1.023775
$STATE,15121,end surface coast,CONTROL_FINISHED_OK
$STATE,15121,begin surface
$SM_CCo,15146,113.80,0.498,0,0,1762,350.04
$SM_GC,1.71,0.00,0.00,113.80,0.000,0.000,0.498,466,2186,1762,-12.86,-0.71,350.04
$IRIDIUM_FIX,1920.65,-8039.78,100602,202034
$TT8_MAMPS,0.025311
$HUMID,58.15
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.20
$XPDR_PINGS,50
$24V_AH,23.3,40.034
$10V_AH,10.3,35.271
$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,32.175,147.650,292.600,113.800,0.000,24.261,33.635,402.905,12.500,0.000,16.926,1280.432,11100.489,508.320,2134.293,861.030,33.377,1386.689,0.000,2128.321,0.000,0.536,0.000
$DEVICE_MAMPS,214.760,104.312,1204.190,497.783,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,409.692,302.451,383.235,508.927,967.823,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,47912,605
$CAP_FILE_SIZE,139600,0
$CFSIZE,260165632,108650496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170313,045735,1927.513,-8117.154,35,1.2,35,-3.7