version: 66.06
glider: 146
mission: 8
dive: 285
start: 3 17 113 9 33 51
data:
$ID,146
$MISSION,8
$DIVE,285
$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,-313095.97
$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,34
$R_STBD_OVSHOOT,65
$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
$GPS1,092554,1926.489,-8116.908,38,1.3,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-75.8
$GPS2,093255,1926.482,-8116.938,12,1.1,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.071,0.124
$KALMAN_X,-40208.7,450.8,179.8,22917.5,-2283.3
$KALMAN_Y,19035.5,167.8,41.8,-13836.1,189.7
$MHEAD_RNG_PITCHd_Wd,33.4,2089,-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,-67.70,0.000,6,0.000,0.000,465,2178,3371,0,0,0,0,0,0
$GC,94,-2.14,-84.0,3.4,-4.1,9,120,12.77,2.58,-3.33,0.000,4,0.164,0.040,2785,3761,3533,0,0,0,0,0,0
$GC,382,-2.06,-84.0,79.2,-26.7,38,387,0.12,2.42,0.00,0.000,6,0.144,0.021,2807,2205,3534,0,0,0,0,0,0
$GC,647,-2.06,-84.0,139.7,-18.6,62,651,0.00,2.55,0.00,0.000,4,0.000,0.044,2807,637,3535,0,0,0,0,0,0
$GC,670,-2.06,-84.0,144.0,-19.4,63,675,0.00,2.35,0.00,0.000,6,0.000,0.018,2807,2201,3534,0,0,0,0,0,0
$GC,936,-2.14,-84.0,186.3,-14.2,87,940,0.00,2.47,0.00,0.000,4,0.000,0.037,2807,3768,3535,0,0,0,0,0,0
$GC,965,-2.21,-84.0,191.3,-15.6,89,970,0.12,2.45,0.00,0.000,6,0.067,0.018,2755,2185,3535,0,0,0,0,0,0
$GC,1227,-2.21,-84.0,231.4,-15.2,99,1232,0.12,2.53,0.00,0.000,4,0.117,0.031,2780,3769,3535,0,0,0,0,0,0
$GC,1269,-2.25,-84.0,237.1,-13.6,100,1273,0.00,2.42,0.00,0.000,6,0.000,0.022,2779,2210,3536,0,0,0,0,0,0
$GC,1552,-2.31,-84.0,275.2,-13.4,107,1557,0.10,2.50,0.00,0.000,4,0.080,0.035,2735,3765,3536,0,0,0,0,0,0
$GC,1584,-2.31,-84.0,280.4,-15.9,107,1591,0.10,2.42,0.00,0.000,6,0.123,0.021,2754,2212,3536,0,0,0,0,0,0
$GC,1837,-2.31,-84.0,318.2,-15.4,114,1841,0.00,2.47,0.00,0.000,4,0.000,0.041,2754,3758,3535,0,0,0,0,0,0
$GC,1863,-2.31,-84.0,323.1,-16.0,114,1868,0.00,2.45,0.00,0.000,6,0.000,0.031,2754,2218,3535,0,0,0,0,0,0
$GC,2119,-2.31,-84.0,360.7,-14.5,121,2123,0.00,2.47,0.00,0.000,4,0.000,0.044,2754,3751,3535,0,0,0,0,0,0
$GC,2176,-2.31,-84.0,369.2,-14.7,122,2180,0.00,2.47,0.00,0.000,6,0.000,0.037,2754,2219,3534,0,0,0,0,0,0
$GC,2442,-2.31,-84.0,407.2,-14.2,129,2446,0.00,2.50,0.00,0.000,4,0.000,0.045,2754,3749,3534,0,0,0,0,0,0
$GC,2530,-2.31,-84.0,420.3,-14.7,131,2535,0.00,2.47,0.00,0.000,6,0.000,0.042,2754,2222,3533,0,0,0,0,0,0
$GC,2811,-2.31,-84.0,458.3,-13.5,138,2815,0.00,2.53,0.00,0.000,4,0.000,0.054,2754,3746,3533,0,0,0,0,0,0
$GC,2910,-2.31,-84.0,472.5,-14.0,140,2915,0.00,2.50,0.00,0.000,6,0.000,0.049,2754,2237,3532,0,0,0,0,0,0
$GC,3180,-2.36,-84.0,506.3,-12.9,147,3184,0.00,2.58,0.00,0.000,4,0.000,0.067,2754,3749,3531,0,0,0,0,0,0
$GC,3240,-2.36,-84.0,515.2,-13.7,148,3244,0.00,2.53,0.00,0.000,6,0.000,0.050,2754,2235,3531,0,0,0,0,0,0
$GC,3502,-2.40,-84.0,549.8,-13.2,155,3506,0.00,2.60,0.00,0.000,4,0.000,0.068,2754,3746,3529,0,0,0,0,0,0
$GC,3559,-2.40,-84.0,558.0,-14.8,156,3563,0.00,2.58,0.00,0.000,6,0.000,0.063,2754,2237,3529,0,0,0,0,0,0
$GC,3825,-2.45,-84.0,593.2,-13.2,163,3830,0.12,2.67,0.00,0.000,4,0.070,0.078,2707,3750,3528,0,0,0,0,0,0
$GC,3902,-2.38,-84.0,604.9,-16.8,164,3907,0.15,2.60,0.00,0.000,6,0.113,0.072,2737,2250,3528,0,0,0,0,0,0
$GC,4151,-2.38,-84.0,641.7,-14.4,170,4156,0.00,2.70,0.00,0.000,4,0.000,0.095,2737,3742,3526,0,0,0,0,0,0
$GC,4259,-2.38,-84.0,657.8,-15.3,172,4263,0.00,2.70,0.00,0.000,6,0.000,0.093,2737,2258,3526,0,0,0,0,0,0
$GC,4521,-2.38,-84.0,694.0,-14.0,179,4526,0.00,2.83,0.00,0.000,4,0.000,0.117,2737,3743,3523,0,0,0,0,0,0
$GC,4576,-2.38,-84.0,702.9,-15.9,180,4581,0.00,2.65,0.00,0.000,6,0.000,0.091,2737,2258,3523,0,0,0,0,0,0
$GC,4843,-2.38,-84.0,739.8,-13.9,187,4848,0.00,2.67,0.00,0.000,4,0.000,0.094,2737,3746,3521,0,0,0,0,0,0
$GC,4941,-2.38,-84.0,753.6,-14.5,189,4946,0.00,2.62,0.00,0.000,6,0.000,0.081,2737,2265,3521,0,0,0,0,0,0
$GC,5213,-2.38,-84.0,791.4,-14.0,196,5217,0.00,2.62,0.00,0.000,4,0.000,0.088,2737,3745,3519,0,0,0,0,0,0
$GC,5290,-2.38,-84.0,802.4,-13.6,197,5296,0.00,2.58,0.00,0.000,6,0.000,0.077,2737,2272,3518,0,0,0,0,0,0
$GC,5542,-2.38,-84.0,834.7,-13.0,204,5547,0.00,2.60,0.00,0.000,4,0.000,0.087,2737,3746,3516,0,0,0,0,0,0
$GC,5633,-2.38,-84.0,847.5,-13.8,206,5637,0.00,2.55,0.00,0.000,6,0.000,0.070,2737,2276,3515,0,0,0,0,0,0
$GC,5912,-2.38,-84.0,883.1,-12.7,213,5917,0.00,2.60,0.00,0.000,4,0.000,0.085,2737,3743,3513,0,0,0,0,0,0
$GC,5934,-2.38,-84.0,886.5,-13.5,213,5938,0.00,2.55,0.00,0.000,6,0.000,0.073,2737,2277,3513,0,0,0,0,0,0
$STATE,6071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6071,begin apogee
$GC,6077,-0.31,0.0,904.2,12.8,217,6153,2.12,0.00,68.93,1.193,6,0.104,0.000,3189,2325,3189,0,0,0,0,0,0
$STATE,6154,end apogee,CONTROL_FINISHED_OK
$STATE,6154,begin climb
$GC,6157,2.14,84.0,906.5,0.0,219,6239,2.20,3.00,72.80,1.173,4,0.032,0.108,3743,774,2847,0,0,0,0,0,0
$GC,6289,2.08,84.0,895.9,13.2,222,6294,0.15,2.75,0.00,0.000,6,0.136,0.059,3716,2372,2844,0,0,0,0,0,0
$GC,6575,2.08,84.0,861.9,11.9,229,6579,0.00,2.72,0.00,0.000,4,0.000,0.077,3716,3935,2840,0,0,0,0,0,0
$GC,6590,2.08,84.0,859.5,11.9,229,6594,0.00,2.65,0.00,0.000,6,0.000,0.046,3716,2363,2840,0,0,0,0,0,0
$GC,6851,2.08,84.0,829.9,11.1,236,6856,0.00,2.70,0.00,0.000,4,0.000,0.060,3716,3942,2839,0,0,0,0,0,0
$GC,7110,2.08,84.0,798.2,12.4,241,7116,0.00,2.60,0.00,0.000,6,0.000,0.042,3716,2374,2836,0,0,0,0,0,0
$GC,7361,2.11,84.0,771.2,10.7,248,7365,0.00,2.65,0.00,0.000,4,0.000,0.051,3716,3941,2836,0,0,0,0,0,0
$GC,7580,2.11,84.0,745.3,12.0,253,7584,0.00,2.62,0.00,0.000,6,0.000,0.048,3716,2380,2835,0,0,0,0,0,0
$GC,7863,2.15,84.0,715.2,10.5,260,7867,0.00,2.62,0.00,0.000,4,0.000,0.055,3715,3939,2834,0,0,0,0,0,0
$GC,8109,2.15,84.0,687.4,10.7,265,8113,0.00,2.58,0.00,0.000,6,0.000,0.046,3716,2394,2833,0,0,0,0,0,0
$GC,8371,2.20,84.0,661.2,10.2,272,8375,0.00,2.60,0.00,0.000,4,0.000,0.056,3716,3946,2831,0,0,0,0,0,0
$GC,8506,2.20,84.0,645.7,11.4,275,8511,0.00,2.58,0.00,0.000,6,0.000,0.040,3716,2394,2831,0,0,0,0,0,0
$GC,8789,2.25,84.0,616.5,10.4,282,8794,0.15,2.60,0.00,0.000,4,0.074,0.051,3757,3945,2830,0,0,0,0,0,0
$GC,9047,2.17,84.0,583.8,12.1,287,9053,0.12,2.55,0.00,0.000,6,0.144,0.041,3735,2407,2829,0,0,0,0,0,0
$GC,9296,2.17,84.0,556.6,10.9,294,9301,0.00,2.58,0.00,0.000,4,0.000,0.051,3735,3940,2830,0,0,0,0,0,0
$GC,9481,2.13,84.0,534.5,11.9,298,9485,0.00,2.50,0.00,0.000,6,0.000,0.036,3735,2411,2829,0,0,0,0,0,0
$GC,9753,2.13,84.0,504.2,11.3,305,9757,0.00,2.55,0.00,0.000,4,0.000,0.047,3735,3941,2829,0,0,0,0,0,0
$GC,9861,2.09,84.0,492.7,10.6,307,9865,0.00,2.45,0.00,0.000,6,0.000,0.032,3735,2425,2829,0,0,0,0,0,0
$GC,10121,2.09,84.0,466.4,10.1,314,10126,0.00,2.50,0.00,0.000,4,0.000,0.044,3735,3941,2829,0,0,0,0,0,0
$GC,10368,2.09,84.0,438.9,11.3,319,10372,0.00,2.42,0.00,0.000,6,0.000,0.031,3735,2439,2829,0,0,0,0,0,0
$GC,10622,2.09,84.0,411.9,10.5,326,10627,0.00,2.47,0.00,0.000,4,0.000,0.041,3735,3945,2829,0,0,0,0,0,0
$GC,10674,2.09,84.0,406.4,10.8,327,10679,0.00,2.42,0.00,0.000,6,0.000,0.031,3735,2434,2829,0,0,0,0,0,0
$GC,10946,2.09,84.0,378.7,10.1,334,10951,0.00,2.47,0.00,0.000,4,0.000,0.042,3736,3944,2829,0,0,0,0,0,0
$GC,11161,2.09,84.0,354.6,11.3,338,11167,0.00,2.40,0.00,0.000,6,0.000,0.025,3735,2440,2829,0,0,0,0,0,0
$GC,11411,2.09,84.0,327.8,10.7,345,11415,0.00,2.45,0.00,0.000,4,0.000,0.044,3735,3944,2830,0,0,0,0,0,0
$GC,11533,2.09,84.0,313.6,11.2,347,11539,0.00,2.35,0.00,0.000,6,0.000,0.025,3735,2456,2831,0,0,0,0,0,0
$GC,11786,2.13,84.0,288.3,10.0,354,11790,0.00,2.42,0.00,0.000,4,0.000,0.045,3735,3952,2831,0,0,0,0,0,0
$GC,11927,2.13,84.0,272.0,11.1,357,11931,0.00,2.38,0.00,0.000,6,0.000,0.027,3735,2452,2831,0,0,0,0,0,0
$GC,12203,2.18,84.0,243.5,10.2,364,12207,0.00,2.45,0.00,0.000,4,0.000,0.040,3735,3946,2832,0,0,0,0,0,0
$GC,12449,2.18,84.2,217.0,10.0,369,12453,0.00,2.38,0.00,0.000,6,0.000,0.025,3735,2458,2833,0,0,0,0,0,0
$GC,12714,2.26,94.1,195.5,8.5,379,12728,0.00,2.50,7.60,0.575,4,0.000,0.042,3735,3945,2805,0,0,0,0,0,0
$GC,12902,2.28,108.6,179.4,7.8,395,12922,0.00,2.33,13.02,0.615,6,0.000,0.024,3735,2466,2746,0,0,0,0,0,0
$GC,13178,2.40,131.5,158.8,6.6,421,13207,0.10,0.00,20.00,0.614,6,0.086,0.000,3768,2466,2653,0,0,0,0,0,0
$GC,13459,2.50,153.5,137.0,6.7,448,13482,0.00,0.00,19.70,0.591,6,0.000,0.000,3768,2466,2563,0,0,0,0,0,0
$GC,13739,2.64,179.5,115.5,6.1,474,13763,0.00,0.00,22.38,0.574,6,0.000,0.000,3768,2466,2458,0,0,0,0,0,0
$GC,14015,2.78,184.1,90.9,9.3,500,14029,0.00,2.45,5.53,0.441,4,0.000,0.035,3768,3941,2437,0,0,0,0,0,0
$GC,14209,2.87,184.1,69.4,12.5,515,14214,0.00,2.35,0.00,0.000,6,0.000,0.024,3768,2450,2437,0,0,0,0,0,0
$GC,14478,2.99,184.1,40.2,11.2,539,14482,0.00,2.42,0.00,0.000,4,0.000,0.038,3768,3945,2437,0,0,0,0,0,0
$GC,14540,3.09,184.1,31.6,13.3,543,14549,0.00,2.38,0.00,0.000,6,0.000,0.025,3768,2467,2437,0,0,0,0,0,0
$STATE,14775,end climb,SURFACE_DEPTH_REACHED
$STATE,14775,begin surface coast
$FINISH,1.0,1.008452
$STATE,14811,end surface coast,CONTROL_FINISHED_OK
$STATE,14811,begin surface
$SM_CCo,14837,134.12,0.496,0,0,1762,350.04
$SM_GC,1.84,0.00,0.00,134.12,0.000,0.000,0.496,460,2158,1762,-12.88,-1.47,350.04
$IRIDIUM_FIX,1918.37,-8119.23,110602,050554
$TT8_MAMPS,0.025311
$HUMID,57.12
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.50
$XPDR_PINGS,63
$24V_AH,23.3,40.237
$10V_AH,10.4,35.510
$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,31.675,183.175,229.950,134.125,0.000,23.433,43.041,187.109,15.750,0.000,14.291,1358.635,10274.475,492.555,2580.718,681.379,33.355,1566.271,0.000,2561.199,0.000,0.538,0.000
$DEVICE_MAMPS,164.138,118.885,1193.452,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,394.238,284.979,367.764,491.821,937.583,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355868
$DATA_FILE_SIZE,44801,583
$CAP_FILE_SIZE,149467,0
$CFSIZE,260165632,108511232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170313,134436,1927.736,-8116.987,30,1.1,30,-3.7