version: 66.06
glider: 146
mission: 8
dive: 315
start: 3 23 113 22 4 18
data:
$ID,146
$MISSION,8
$DIVE,315
$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,-313649.81
$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,36
$R_STBD_OVSHOOT,18
$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
$GPS1,215306,1926.165,-8116.838,34,1.0,34,-3.7
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-74.2
$GPS2,220324,1926.212,-8116.831,12,1.0,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.042,-0.137
$KALMAN_X,-84920.4,195.9,60.3,68191.0,-2324.9
$KALMAN_Y,52030.9,-590.8,-110.1,-46418.9,2405.2
$MHEAD_RNG_PITCHd_Wd,166.6,2510,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-2.09,-44.5,0.0,0.0,0,85,0.00,0.00,-63.42,0.000,2,0.000,0.000,465,2182,3282,0,0,0,0,0,0
$GC,88,-2.14,-85.6,3.1,-3.8,8,114,12.70,2.53,-5.35,0.000,4,0.163,0.046,2780,640,3539,0,0,0,0,0,0
$GC,279,-2.00,-85.6,60.1,-27.6,29,285,0.20,2.45,0.00,0.000,6,0.137,0.015,2818,2257,3540,0,0,0,0,0,0
$GC,546,-2.00,-85.6,120.6,-22.4,53,550,0.00,2.65,0.00,0.000,4,0.000,0.044,2818,634,3540,0,0,0,0,0,0
$GC,565,-1.97,-85.6,126.0,-22.8,54,569,0.00,2.42,0.00,0.000,6,0.000,0.017,2818,2228,3540,0,0,0,0,0,0
$GC,827,-2.05,-85.6,174.7,-14.3,78,832,0.00,2.60,0.00,0.000,4,0.000,0.048,2818,630,3541,0,0,0,0,0,0
$GC,852,-2.13,-85.6,177.3,-13.5,79,857,0.00,2.40,0.00,0.000,6,0.000,0.018,2818,2217,3540,0,0,0,0,0,0
$GC,1110,-2.24,-85.6,211.7,-13.2,97,1115,0.20,2.62,0.00,0.000,4,0.048,0.048,2746,634,3541,0,0,0,0,0,0
$GC,1126,-2.29,-85.6,214.2,-13.5,97,1131,0.00,2.40,0.00,0.000,6,0.000,0.025,2747,2213,3541,0,0,0,0,0,0
$GC,1389,-2.29,-85.6,253.4,-14.9,104,1394,0.00,2.45,0.00,0.000,4,0.000,0.036,2746,3768,3541,0,0,0,0,0,0
$GC,1400,-2.29,-85.6,255.5,-14.7,104,1404,0.00,2.42,0.00,0.000,6,0.000,0.025,2747,2195,3542,0,0,0,0,0,0
$GC,1666,-2.29,-85.6,294.6,-15.0,111,1670,0.00,2.53,0.00,0.000,4,0.000,0.042,2746,3765,3541,0,0,0,0,0,0
$GC,1762,-2.29,-85.6,309.5,-16.1,113,1767,0.00,2.42,0.00,0.000,6,0.000,0.026,2747,2219,3541,0,0,0,0,0,0
$GC,2034,-2.29,-85.6,350.4,-15.1,120,2038,0.00,2.50,0.00,0.000,4,0.000,0.048,2746,3766,3540,0,0,0,0,0,0
$GC,2060,-2.29,-85.6,354.6,-15.5,120,2065,0.00,2.47,0.00,0.000,6,0.000,0.029,2747,2214,3540,0,0,0,0,0,0
$GC,2313,-2.29,-85.6,390.2,-14.2,126,2317,0.00,2.55,0.00,0.000,4,0.000,0.051,2746,3761,3539,0,0,0,0,0,0
$GC,2368,-2.29,-85.6,399.0,-14.9,127,2372,0.00,2.50,0.00,0.000,6,0.000,0.035,2747,2220,3539,0,0,0,0,0,0
$GC,2634,-2.29,-85.6,436.2,-14.0,134,2638,0.00,2.58,0.00,0.000,4,0.000,0.053,2747,3762,3538,0,0,0,0,0,0
$GC,2697,-2.29,-85.6,445.6,-15.7,135,2701,0.00,2.55,0.00,0.000,6,0.000,0.047,2746,2223,3538,0,0,0,0,0,0
$GC,2957,-2.29,-85.6,483.1,-14.0,142,2961,0.00,2.58,0.00,0.000,4,0.000,0.060,2746,3753,3537,0,0,0,0,0,0
$GC,2972,-2.29,-85.6,485.5,-14.2,142,2977,0.00,2.53,0.00,0.000,6,0.000,0.054,2746,2229,3537,0,0,0,0,0,0
$GC,3236,-2.29,-85.6,521.6,-14.2,149,3240,0.00,2.62,0.00,0.000,4,0.000,0.071,2746,3756,3535,0,0,0,0,0,0
$GC,3257,-2.29,-85.6,525.2,-14.8,149,3261,0.00,2.58,0.00,0.000,6,0.000,0.053,2746,2219,3535,0,0,0,0,0,0
$GC,3512,-2.29,-85.6,561.5,-13.8,156,3516,0.00,2.67,0.00,0.000,4,0.000,0.079,2746,3753,3534,0,0,0,0,0,0
$GC,3645,-2.29,-85.6,579.5,-14.6,159,3649,0.00,2.60,0.00,0.000,6,0.000,0.063,2746,2233,3534,0,0,0,0,0,0
$GC,3928,-2.33,-85.6,619.1,-13.7,166,3932,0.00,2.72,0.00,0.000,4,0.000,0.092,2746,3756,3531,0,0,0,0,0,0
$GC,3945,-2.33,-85.6,621.5,-13.9,166,3949,0.00,2.70,0.00,0.000,6,0.000,0.089,2746,2237,3531,0,0,0,0,0,0
$GC,4207,-2.33,-85.6,657.8,-13.9,173,4212,0.00,2.80,0.00,0.000,4,0.000,0.104,2746,3749,3530,0,0,0,0,0,0
$GC,4262,-2.33,-85.6,666.3,-15.0,174,4267,0.00,2.80,0.00,0.000,6,0.000,0.104,2746,2240,3530,0,0,0,0,0,0
$GC,4529,-2.33,-85.6,703.3,-14.2,181,4534,0.00,2.95,0.00,0.000,4,0.000,0.134,2746,3753,3528,0,0,0,0,0,0
$GC,4575,-2.33,-85.6,709.7,-15.2,182,4579,0.00,2.75,0.00,0.000,6,0.000,0.093,2746,2239,3528,0,0,0,0,0,0
$GC,4853,-2.37,-85.6,748.9,-14.2,189,4857,0.00,2.78,0.00,0.000,4,0.000,0.097,2746,3755,3526,0,0,0,0,0,0
$GC,4928,-2.37,-85.6,759.3,-14.4,190,4933,0.00,2.67,0.00,0.000,6,0.000,0.081,2746,2245,3525,0,0,0,0,0,0
$GC,5178,-2.40,-85.6,793.7,-13.5,196,5183,0.00,2.70,0.00,0.000,4,0.000,0.094,2746,3750,3523,0,0,0,0,0,0
$GC,5205,-2.40,-85.6,797.7,-13.9,196,5209,0.00,2.65,0.00,0.000,6,0.000,0.081,2746,2243,3523,0,0,0,0,0,0
$GC,5455,-2.44,-85.6,832.3,-14.2,202,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2243,3522,0,0,0,0,0,0
$GC,5701,-2.49,-85.6,864.6,-12.9,208,5707,0.12,2.70,0.00,0.000,4,0.072,0.083,2702,3751,3520,0,0,0,0,0,0
$GC,5763,-2.43,-85.6,874.0,-14.4,209,5768,0.12,2.65,0.00,0.000,6,0.130,0.072,2727,2247,3519,0,0,0,0,0,0
$STATE,5981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5981,begin apogee
$GC,5989,-0.31,0.0,901.4,12.2,215,6064,2.17,0.00,69.82,1.189,6,0.106,0.000,3190,2336,3190,0,0,0,0,0,0
$STATE,6064,end apogee,CONTROL_FINISHED_OK
$STATE,6065,begin climb
$GC,6067,2.14,85.6,902.9,0.0,217,6154,2.20,3.08,74.10,1.166,4,0.032,0.107,3743,776,2841,0,0,0,0,0,0
$GC,6184,2.08,85.6,893.6,13.1,219,6189,0.15,2.78,0.00,0.000,6,0.140,0.059,3717,2373,2839,0,0,0,0,0,0
$GC,6434,2.08,85.6,862.9,11.9,225,6438,0.00,2.78,0.00,0.000,4,0.000,0.081,3717,3941,2835,0,0,0,0,0,0
$GC,6691,2.08,85.6,830.8,12.0,230,6697,0.00,2.62,0.00,0.000,6,0.000,0.039,3717,2374,2833,0,0,0,0,0,0
$GC,6942,2.12,85.6,804.0,10.5,237,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,3717,2374,2831,0,0,0,0,0,0
$GC,7185,2.15,85.6,778.4,10.5,243,7190,0.00,2.65,0.00,0.000,4,0.000,0.054,3717,3937,2830,0,0,0,0,0,0
$GC,7321,2.15,85.6,762.9,11.9,246,7326,0.00,2.60,0.00,0.000,6,0.000,0.040,3717,2381,2829,0,0,0,0,0,0
$GC,7599,2.20,86.7,734.8,9.8,253,7603,0.00,2.62,0.00,0.000,4,0.000,0.052,3717,3937,2828,0,0,0,0,0,0
$GC,7856,2.20,86.7,706.0,11.5,258,7862,0.00,2.60,0.00,0.000,6,0.000,0.043,3717,2384,2827,0,0,0,0,0,0
$GC,8107,2.24,86.7,679.6,10.8,265,8112,0.12,2.62,0.00,0.000,4,0.085,0.056,3752,3941,2826,0,0,0,0,0,0
$GC,8365,2.17,86.7,648.0,12.3,270,8371,0.00,2.62,0.00,0.000,6,0.000,0.042,3752,2374,2825,0,0,0,0,0,0
$GC,8615,2.17,86.7,620.9,10.7,277,8619,0.00,2.65,0.00,0.000,4,0.000,0.058,3752,3944,2825,0,0,0,0,0,0
$GC,8872,2.10,86.7,589.0,12.5,282,8879,0.17,2.60,0.00,0.000,6,0.140,0.044,3719,2383,2824,0,0,0,0,0,0
$GC,9125,2.15,86.7,562.2,10.8,289,9129,0.00,2.62,0.00,0.000,4,0.000,0.054,3719,3944,2824,0,0,0,0,0,0
$GC,9247,2.15,86.7,546.8,12.7,291,9253,0.00,2.58,0.00,0.000,6,0.000,0.042,3719,2390,2823,0,0,0,0,0,0
$GC,9497,2.20,86.7,521.5,10.0,298,9502,0.00,2.58,0.00,0.000,4,0.000,0.056,3719,3938,2823,0,0,0,0,0,0
$GC,9756,2.20,86.7,491.3,12.8,303,9762,0.00,2.53,0.00,0.000,6,0.000,0.038,3720,2397,2824,0,0,0,0,0,0
$GC,10008,2.25,86.7,465.2,10.2,310,10014,0.12,2.58,0.00,0.000,4,0.081,0.045,3755,3949,2823,0,0,0,0,0,0
$GC,10133,2.19,86.7,450.1,11.8,312,10139,0.00,2.50,0.00,0.000,6,0.000,0.030,3755,2407,2823,0,0,0,0,0,0
$GC,10383,2.19,86.7,421.8,11.4,319,10387,0.00,2.53,0.00,0.000,4,0.000,0.043,3755,3941,2823,0,0,0,0,0,0
$GC,10640,2.13,86.7,389.8,11.8,324,10647,0.15,2.47,0.00,0.000,6,0.137,0.034,3727,2404,2823,0,0,0,0,0,0
$GC,10893,2.18,86.7,362.8,10.9,331,10897,0.00,2.53,0.00,0.000,4,0.000,0.047,3728,3948,2823,0,0,0,0,0,0
$GC,11150,2.18,86.7,330.8,12.2,336,11156,0.00,2.42,0.00,0.000,6,0.000,0.025,3728,2426,2824,0,0,0,0,0,0
$GC,11403,2.24,86.7,303.5,11.0,343,11407,0.00,2.47,0.00,0.000,4,0.000,0.047,3728,3944,2825,0,0,0,0,0,0
$GC,11603,2.24,86.7,279.1,12.2,347,11607,0.00,2.40,0.00,0.000,6,0.000,0.028,3727,2429,2825,0,0,0,0,0,0
$GC,11868,2.30,87.5,252.3,9.9,354,11873,0.12,2.47,0.00,0.000,4,0.218,0.041,3764,3950,2826,0,0,0,0,0,0
$GC,12128,2.30,87.5,223.8,10.4,359,12133,0.00,2.40,0.00,0.000,6,0.000,0.025,3764,2442,2827,0,0,0,0,0,0
$GC,12378,2.32,98.0,201.4,8.4,366,12392,0.00,2.53,9.35,0.604,4,0.000,0.042,3764,3945,2790,0,0,0,0,0,0
$GC,12655,2.34,119.8,178.2,6.7,387,12679,0.00,2.38,18.75,0.630,6,0.000,0.025,3764,2451,2701,0,0,0,0,0,0
$GC,12934,2.44,146.6,157.9,6.0,413,12963,0.00,2.50,23.48,0.617,4,0.000,0.048,3764,3941,2591,0,0,0,0,0,0
$GC,13231,2.55,182.6,135.5,4.6,437,13274,0.00,2.38,30.73,0.599,6,0.000,0.025,3764,2447,2442,0,0,0,0,0,0
$GC,13529,2.68,182.6,107.0,10.4,465,13533,0.00,2.45,0.00,0.000,4,0.000,0.045,3764,3941,2440,0,0,0,0,0,0
$GC,13728,2.78,182.6,84.1,11.4,481,13732,0.00,2.35,0.00,0.000,6,0.000,0.025,3764,2463,2440,0,0,0,0,0,0
$GC,13996,2.92,182.6,55.8,10.9,505,14000,0.00,2.42,0.00,0.000,4,0.000,0.040,3764,3946,2441,0,0,0,0,0,0
$GC,14182,3.03,184.8,35.9,9.7,519,14186,0.00,2.33,0.00,0.000,6,0.000,0.025,3764,2473,2442,0,0,0,0,0,0
$GC,14493,3.22,200.5,13.6,7.6,560,14519,0.00,2.47,16.38,0.479,4,0.000,0.044,3764,3943,2371,0,0,0,0,0,0
$STATE,14587,end climb,SURFACE_DEPTH_REACHED
$STATE,14587,begin surface coast
$FINISH,1.0,1.023179
$STATE,14631,end surface coast,CONTROL_FINISHED_OK
$STATE,14631,begin surface
$SM_CCo,14659,119.68,0.493,0,0,1762,350.04
$SM_GC,1.84,0.00,0.00,119.68,0.000,0.000,0.493,465,2184,1762,-12.86,-0.71,350.04
$IRIDIUM_FIX,1920.65,-8116.97,170602,222233
$TT8_MAMPS,0.025311
$HUMID,56.65
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.80
$XPDR_PINGS,61
$24V_AH,23.3,44.175
$10V_AH,10.3,39.217
$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,31.775,185.575,242.600,119.675,0.000,55.781,66.641,256.628,15.250,0.000,13.948,1349.020,10137.121,477.317,2606.393,818.894,33.373,1548.365,0.000,2588.894,0.000,0.537,0.000
$DEVICE_MAMPS,217.828,134.225,1188.850,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,391.024,293.304,372.239,517.280,985.941,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,44633,579
$CAP_FILE_SIZE,153169,0
$CFSIZE,260165632,106385408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240313,021200,1925.281,-8117.128,39,1.3,39,-3.7