version: 66.06
glider: 146
mission: 8
dive: 314
start: 3 23 113 17 37 33
data:
$ID,146
$MISSION,8
$DIVE,314
$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,-313635.25
$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,60
$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
$GPS1,172936,1926.817,-8116.751,26,1.2,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-75.4
$GPS2,173637,1926.818,-8116.741,12,1.4,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.083,-0.116
$KALMAN_X,-83754.4,342.0,352.1,66738.9,-3089.3
$KALMAN_Y,50373.6,-28.6,35.4,-44349.0,1596.9
$MHEAD_RNG_PITCHd_Wd,148.1,2225,-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,17,begin dive
$GC,19,-2.09,-44.5,0.0,0.0,0,91,0.00,0.00,-66.80,0.000,6,0.000,0.000,465,2163,3369,0,0,0,0,0,0
$GC,96,-2.13,-75.5,3.9,-5.3,9,122,12.75,2.47,-2.40,0.000,4,0.163,0.051,2788,662,3501,0,0,0,0,0,0
$GC,141,-1.58,-75.5,20.5,-37.1,14,149,0.57,2.47,0.00,0.000,6,0.117,0.018,2907,2248,3501,0,0,0,0,0,0
$GC,421,-1.69,-75.5,78.3,-18.9,41,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2248,3502,0,0,0,0,0,0
$GC,682,-1.82,-75.5,126.7,-18.3,66,684,0.17,0.00,0.00,0.000,6,0.051,0.000,2842,2249,3502,0,0,0,0,0,0
$GC,941,-1.93,-75.5,171.8,-15.3,90,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2249,3503,0,0,0,0,0,0
$GC,1211,-2.07,-75.5,205.4,-11.1,113,1213,0.12,0.00,0.00,0.000,6,0.065,0.000,2784,2248,3503,0,0,0,0,0,0
$GC,1454,-2.13,-75.5,239.1,-13.9,119,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2249,3503,0,0,0,0,0,0
$GC,1700,-2.19,-75.5,272.4,-13.2,125,1705,0.00,2.45,0.00,0.000,4,0.000,0.043,2784,3779,3504,0,0,0,0,0,0
$GC,1722,-2.25,-75.5,275.5,-12.0,125,1727,0.00,2.38,0.00,0.000,6,0.000,0.021,2784,2237,3504,0,0,0,0,0,0
$GC,1978,-2.32,-75.5,307.3,-12.5,132,1983,0.12,2.47,0.00,0.000,4,0.065,0.039,2733,3772,3504,0,0,0,0,0,0
$GC,2041,-2.28,-75.5,316.6,-15.1,133,2047,0.15,2.42,0.00,0.000,6,0.111,0.030,2763,2222,3504,0,0,0,0,0,0
$GC,2303,-2.32,-75.5,352.6,-13.4,140,2307,0.00,2.50,0.00,0.000,4,0.000,0.041,2763,3774,3503,0,0,0,0,0,0
$GC,2318,-2.32,-75.5,354.9,-13.5,140,2322,0.00,2.47,0.00,0.000,6,0.000,0.035,2762,2222,3502,0,0,0,0,0,0
$GC,2582,-2.36,-75.5,389.6,-13.2,147,2586,0.00,2.53,0.00,0.000,4,0.000,0.047,2762,3769,3502,0,0,0,0,0,0
$GC,2608,-2.36,-75.5,393.7,-13.7,147,2613,0.00,2.50,0.00,0.000,6,0.000,0.039,2762,2220,3502,0,0,0,0,0,0
$GC,2859,-2.42,-75.5,425.8,-12.8,153,2864,0.12,2.55,0.00,0.000,4,0.070,0.051,2714,3760,3501,0,0,0,0,0,0
$GC,2969,-2.35,-75.5,441.5,-15.2,155,2974,0.15,2.53,0.00,0.000,6,0.116,0.048,2743,2227,3500,0,0,0,0,0,0
$GC,3230,-2.35,-75.5,477.1,-13.3,162,3234,0.00,2.58,0.00,0.000,4,0.000,0.063,2743,3765,3500,0,0,0,0,0,0
$GC,3326,-2.35,-75.5,490.8,-15.4,164,3330,0.00,2.58,0.00,0.000,6,0.000,0.051,2743,2221,3499,0,0,0,0,0,0
$GC,3598,-2.35,-75.5,527.8,-13.3,171,3602,0.00,2.65,0.00,0.000,4,0.000,0.069,2743,3766,3498,0,0,0,0,0,0
$GC,3658,-2.35,-75.5,536.2,-12.8,172,3662,0.00,2.58,0.00,0.000,6,0.000,0.060,2743,2226,3498,0,0,0,0,0,0
$GC,3921,-2.35,-75.5,569.8,-12.8,179,3926,0.00,2.67,0.00,0.000,4,0.000,0.075,2743,3758,3497,0,0,0,0,0,0
$GC,4005,-2.35,-75.5,582.0,-14.9,181,4010,0.00,2.62,0.00,0.000,6,0.000,0.067,2743,2237,3496,0,0,0,0,0,0
$GC,4289,-2.35,-75.5,619.9,-13.3,188,4293,0.00,2.70,0.00,0.000,4,0.000,0.087,2743,3760,3494,0,0,0,0,0,0
$GC,4375,-2.35,-75.5,631.5,-14.5,190,4380,0.00,2.72,0.00,0.000,6,0.000,0.091,2743,2244,3494,0,0,0,0,0,0
$GC,4658,-2.35,-75.5,668.9,-12.9,197,4663,0.00,2.80,0.00,0.000,4,0.000,0.106,2743,3761,3493,0,0,0,0,0,0
$GC,4692,-2.35,-75.5,673.4,-13.6,197,4698,0.00,2.88,0.00,0.000,6,0.000,0.115,2743,2242,3492,0,0,0,0,0,0
$GC,4942,-2.35,-75.5,705.7,-12.8,204,4947,0.00,2.85,0.00,0.000,4,0.000,0.120,2743,3755,3491,0,0,0,0,0,0
$GC,5047,-2.35,-75.5,719.9,-13.5,206,5052,0.00,2.70,0.00,0.000,6,0.000,0.086,2743,2249,3490,0,0,0,0,0,0
$GC,5311,-2.35,-75.5,752.6,-12.4,213,5315,0.00,2.72,0.00,0.000,4,0.000,0.095,2743,3756,3489,0,0,0,0,0,0
$GC,5350,-2.35,-75.5,758.1,-13.8,214,5354,0.00,2.67,0.00,0.000,6,0.000,0.082,2743,2245,3489,0,0,0,0,0,0
$GC,5632,-2.35,-75.5,794.6,-12.7,221,5637,0.00,2.70,0.00,0.000,4,0.000,0.086,2743,3765,3487,0,0,0,0,0,0
$GC,5667,-2.35,-75.5,798.9,-13.8,221,5672,0.00,2.67,0.00,0.000,6,0.000,0.077,2743,2249,3486,0,0,0,0,0,0
$GC,5917,-2.35,-75.5,830.6,-12.6,228,5921,0.00,2.67,0.00,0.000,4,0.000,0.085,2743,3762,3484,0,0,0,0,0,0
$GC,6016,-2.35,-75.5,843.0,-12.8,230,6021,0.00,2.62,0.00,0.000,6,0.000,0.069,2743,2260,3484,0,0,0,0,0,0
$GC,6285,-2.35,-75.5,874.3,-11.8,237,6289,0.00,2.65,0.00,0.000,4,0.000,0.079,2743,3763,3482,0,0,0,0,0,0
$GC,6403,-2.35,-75.5,889.4,-13.4,239,6407,0.00,2.62,0.00,0.000,6,0.000,0.074,2743,2263,3481,0,0,0,0,0,0
$STATE,6528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6528,begin apogee
$GC,6535,-0.31,0.0,904.2,11.6,242,6601,2.08,0.00,62.12,1.195,6,0.102,0.000,3188,2341,3190,0,0,0,0,0,0
$STATE,6602,end apogee,CONTROL_FINISHED_OK
$STATE,6602,begin climb
$GC,6607,2.13,75.5,905.8,0.0,243,6682,2.17,3.05,65.70,1.171,4,0.032,0.106,3740,783,2882,0,0,0,0,0,0
$GC,6695,2.14,87.3,901.2,8.2,245,6714,0.00,2.75,11.65,1.029,6,0.000,0.055,3740,2368,2834,0,0,0,0,0,0
$GC,6978,2.14,87.3,867.7,12.0,252,6983,0.00,2.75,0.00,0.000,4,0.000,0.074,3740,3935,2830,0,0,0,0,0,0
$GC,7239,2.07,87.3,833.7,14.0,257,7246,0.15,2.60,0.00,0.000,6,0.152,0.037,3714,2365,2827,0,0,0,0,0,0
$GC,7489,2.07,87.3,806.3,10.5,264,7493,0.00,2.65,0.00,0.000,4,0.000,0.051,3714,3937,2827,0,0,0,0,0,0
$GC,7594,2.07,87.3,793.9,12.2,266,7599,0.00,2.60,0.00,0.000,6,0.000,0.046,3714,2379,2825,0,0,0,0,0,0
$GC,7864,2.11,87.3,766.0,10.3,273,7868,0.00,2.65,0.00,0.000,4,0.000,0.057,3714,3944,2824,0,0,0,0,0,0
$GC,7986,2.11,87.3,752.1,10.9,275,7992,0.00,2.62,0.00,0.000,6,0.000,0.048,3714,2382,2823,0,0,0,0,0,0
$GC,8239,2.16,89.0,727.1,9.7,282,8244,0.00,2.62,0.00,0.000,4,0.000,0.058,3714,3936,2822,0,0,0,0,0,0
$GC,8496,2.16,89.0,698.7,10.9,287,8502,0.00,2.58,0.00,0.000,6,0.000,0.047,3714,2396,2821,0,0,0,0,0,0
$GC,8749,2.21,91.1,674.4,9.7,294,8754,0.12,2.65,0.00,0.000,4,0.086,0.054,3749,3946,2820,0,0,0,0,0,0
$GC,9007,2.14,91.1,642.4,12.3,299,9013,0.12,2.58,0.00,0.000,6,0.150,0.044,3728,2404,2820,0,0,0,0,0,0
$GC,9259,2.14,91.1,613.2,11.9,306,9264,0.00,2.60,0.00,0.000,4,0.000,0.056,3728,3942,2819,0,0,0,0,0,0
$GC,9455,2.14,91.1,587.4,13.5,310,9459,0.00,2.53,0.00,0.000,6,0.000,0.044,3728,2416,2819,0,0,0,0,0,0
$GC,9719,2.14,91.1,557.3,11.6,317,9723,0.00,2.58,0.00,0.000,4,0.000,0.058,3728,3945,2819,0,0,0,0,0,0
$GC,9940,2.14,91.1,532.3,11.9,322,9944,0.00,2.47,0.00,0.000,6,0.000,0.039,3728,2422,2818,0,0,0,0,0,0
$GC,10225,2.14,91.1,502.9,10.3,329,10230,0.00,2.53,0.00,0.000,4,0.000,0.048,3728,3939,2818,0,0,0,0,0,0
$GC,10286,2.14,91.1,495.5,11.3,330,10291,0.00,2.47,0.00,0.000,6,0.000,0.031,3727,2416,2818,0,0,0,0,0,0
$GC,10556,2.19,91.1,467.3,10.4,337,10560,0.00,2.50,0.00,0.000,4,0.000,0.045,3728,3939,2818,0,0,0,0,0,0
$GC,10740,2.19,91.1,444.7,12.0,341,10744,0.00,2.40,0.00,0.000,6,0.000,0.034,3728,2433,2818,0,0,0,0,0,0
$GC,11021,2.23,91.1,413.3,11.6,348,11025,0.00,2.47,0.00,0.000,4,0.000,0.043,3728,3941,2819,0,0,0,0,0,0
$GC,11173,2.23,91.1,395.5,12.6,351,11177,0.00,2.42,0.00,0.000,6,0.000,0.033,3728,2431,2818,0,0,0,0,0,0
$GC,11434,2.29,91.1,366.4,10.6,358,11439,0.12,2.50,0.00,0.000,4,0.079,0.045,3764,3952,2819,0,0,0,0,0,0
$GC,11596,2.23,91.1,347.8,11.2,361,11600,0.00,2.40,0.00,0.000,6,0.000,0.029,3764,2435,2819,0,0,0,0,0,0
$GC,11852,2.23,91.1,320.4,10.8,368,11856,0.00,2.45,0.00,0.000,4,0.000,0.044,3764,3953,2819,0,0,0,0,0,0
$GC,11915,2.18,91.1,312.8,12.4,369,11920,0.15,2.40,0.00,0.000,6,0.133,0.029,3737,2442,2819,0,0,0,0,0,0
$GC,12176,2.21,91.1,282.6,11.3,376,12180,0.00,2.45,0.00,0.000,4,0.000,0.046,3737,3941,2820,0,0,0,0,0,0
$GC,12435,2.21,91.1,250.7,11.7,381,12440,0.00,2.35,0.00,0.000,6,0.000,0.024,3737,2446,2821,0,0,0,0,0,0
$GC,12685,2.27,96.4,226.7,9.2,388,12694,0.00,0.00,7.20,0.588,6,0.000,0.000,3737,2446,2796,0,0,0,0,0,0
$GC,12931,2.34,101.5,204.0,9.2,394,12942,0.10,2.45,5.88,0.541,4,0.087,0.042,3769,3949,2776,0,0,0,0,0,0
$GC,13045,2.34,101.5,191.9,10.6,401,13051,0.00,2.40,0.00,0.000,6,0.000,0.024,3769,2443,2776,0,0,0,0,0,0
$GC,13311,2.43,133.9,172.2,5.1,426,13345,0.00,2.53,27.23,0.636,4,0.000,0.045,3769,3945,2643,0,0,0,0,0,0
$GC,13612,2.51,165.3,147.1,5.3,451,13644,0.00,2.38,27.30,0.609,6,0.000,0.022,3769,2447,2516,0,0,0,0,0,0
$GC,13903,2.65,177.2,125.7,8.2,478,13921,0.00,2.50,11.15,0.546,4,0.000,0.038,3769,3940,2466,0,0,0,0,0,0
$GC,14111,2.73,177.2,102.6,11.6,495,14116,0.00,2.38,0.00,0.000,6,0.000,0.024,3769,2446,2465,0,0,0,0,0,0
$GC,14380,2.86,177.2,73.2,10.4,520,14385,0.00,2.42,0.00,0.000,4,0.000,0.038,3769,3945,2465,0,0,0,0,0,0
$GC,14583,2.96,177.2,51.1,11.2,536,14587,0.00,2.33,0.00,0.000,6,0.000,0.025,3769,2457,2466,0,0,0,0,0,0
$GC,14858,3.14,204.2,27.8,5.9,562,14892,0.00,2.47,23.88,0.501,4,0.000,0.038,3769,3937,2356,0,0,0,0,0,0
$STATE,15077,end climb,SURFACE_DEPTH_REACHED
$STATE,15077,begin surface coast
$FINISH,1.0,1.012861
$STATE,15113,end surface coast,CONTROL_FINISHED_OK
$STATE,15113,begin surface
$SM_CCo,15139,116.60,0.494,0,0,1763,350.04
$SM_GC,1.75,0.00,0.00,116.60,0.000,0.000,0.494,465,2181,1763,-12.86,-0.82,350.04
$IRIDIUM_FIX,1920.65,-8119.23,170602,131318
$TT8_MAMPS,0.026078
$HUMID,56.89
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.60
$XPDR_PINGS,60
$24V_AH,23.3,44.070
$10V_AH,10.3,39.097
$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,32.450,179.850,242.100,116.600,0.000,29.057,38.827,186.822,15.000,0.000,14.426,1373.426,10535.446,476.242,2609.058,677.320,33.363,1557.148,0.000,2586.008,0.000,0.537,0.000
$DEVICE_MAMPS,163.371,120.419,1194.986,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,403.847,297.290,379.579,524.609,999.225,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355788
$DATA_FILE_SIZE,47867,598
$CAP_FILE_SIZE,151220,0
$CFSIZE,260165632,106455040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230313,215306,1926.165,-8116.838,34,1.0,34,-3.7