version: 66.06
glider: 146
mission: 8
dive: 318
start: 3 24 113 11 11 27
data:
$ID,146
$MISSION,8
$DIVE,318
$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,-313698.03
$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,44
$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
$GPS1,110336,1925.568,-8116.765,25,1.4,25,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-76.0
$GPS2,111031,1925.558,-8116.710,12,1.5,12,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.023,0.141
$KALMAN_X,-89527.0,36.3,21.3,73209.4,-2026.6
$KALMAN_Y,53316.7,-22.4,-123.3,-49464.8,1303.5
$MHEAD_RNG_PITCHd_Wd,354.5,3493,-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,-67.43,0.000,6,0.000,0.000,459,2175,3371,0,0,0,0,0,0
$GC,96,-2.13,-79.2,3.7,-4.8,9,122,12.73,2.55,-2.65,0.000,4,0.163,0.053,2785,640,3515,0,0,0,0,0,0
$GC,297,-2.03,-79.2,57.2,-25.7,30,302,0.15,2.45,0.00,0.000,6,0.137,0.015,2814,2261,3515,0,0,0,0,0,0
$GC,561,-2.03,-79.2,119.5,-22.7,54,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2262,3516,0,0,0,0,0,0
$GC,827,-2.10,-79.2,170.1,-14.7,79,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2262,3516,0,0,0,0,0,0
$GC,1119,-2.19,-79.2,210.6,-12.4,101,1124,0.12,2.65,0.00,0.000,4,0.065,0.045,2759,645,3517,0,0,0,0,0,0
$GC,1146,-2.19,-79.2,215.2,-15.7,101,1151,0.10,2.45,0.00,0.000,6,0.129,0.020,2779,2265,3517,0,0,0,0,0,0
$GC,1397,-2.25,-79.2,250.9,-14.3,107,1401,0.00,2.45,0.00,0.000,4,0.000,0.034,2779,3810,3517,0,0,0,0,0,0
$GC,1426,-2.29,-79.2,254.8,-14.6,107,1430,0.00,2.42,0.00,0.000,6,0.000,0.019,2779,2233,3517,0,0,0,0,0,0
$GC,1676,-2.35,-79.2,287.0,-13.0,113,1681,0.15,2.55,0.00,0.000,4,0.058,0.042,2721,3812,3517,0,0,0,0,0,0
$GC,1697,-2.35,-79.2,290.5,-15.1,113,1702,0.12,2.47,0.00,0.000,6,0.120,0.025,2744,2236,3517,0,0,0,0,0,0
$GC,1960,-2.35,-79.2,326.6,-13.7,120,1965,0.00,2.53,0.00,0.000,4,0.000,0.048,2744,3802,3517,0,0,0,0,0,0
$GC,1987,-2.35,-79.2,330.9,-14.5,120,1991,0.00,2.47,0.00,0.000,6,0.000,0.030,2744,2237,3517,0,0,0,0,0,0
$GC,2237,-2.35,-79.2,364.7,-13.8,126,2241,0.00,2.55,0.00,0.000,4,0.000,0.050,2744,3800,3516,0,0,0,0,0,0
$GC,2260,-2.35,-79.2,367.8,-14.1,126,2265,0.00,2.53,0.00,0.000,6,0.000,0.033,2744,2233,3516,0,0,0,0,0,0
$GC,2515,-2.35,-79.2,403.7,-13.9,133,2519,0.00,2.58,0.00,0.000,4,0.000,0.054,2744,3797,3515,0,0,0,0,0,0
$GC,2564,-2.35,-79.2,410.7,-14.2,134,2568,0.00,2.53,0.00,0.000,6,0.000,0.044,2744,2237,3515,0,0,0,0,0,0
$GC,2839,-2.35,-79.2,447.6,-13.9,141,2843,0.00,2.60,0.00,0.000,4,0.000,0.056,2744,3796,3514,0,0,0,0,0,0
$GC,2860,-2.35,-79.2,451.2,-14.5,141,2864,0.00,2.55,0.00,0.000,6,0.000,0.040,2744,2249,3514,0,0,0,0,0,0
$GC,3120,-2.35,-79.2,488.9,-14.6,148,3125,0.00,2.62,0.00,0.000,4,0.000,0.064,2744,3796,3513,0,0,0,0,0,0
$GC,3175,-2.35,-79.2,497.6,-15.4,149,3180,0.00,2.58,0.00,0.000,6,0.000,0.055,2744,2245,3513,0,0,0,0,0,0
$GC,3444,-2.35,-79.2,535.9,-14.2,156,3449,0.00,2.70,0.00,0.000,4,0.000,0.075,2743,3797,3511,0,0,0,0,0,0
$GC,3550,-2.35,-79.2,551.4,-14.4,158,3554,0.00,2.62,0.00,0.000,6,0.000,0.061,2744,2254,3511,0,0,0,0,0,0
$GC,3813,-2.35,-79.2,585.8,-13.0,165,3817,0.00,2.70,0.00,0.000,4,0.000,0.081,2744,3793,3510,0,0,0,0,0,0
$GC,3907,-2.35,-79.2,600.0,-14.4,167,3911,0.00,2.65,0.00,0.000,6,0.000,0.074,2744,2264,3509,0,0,0,0,0,0
$GC,4179,-2.39,-79.2,637.7,-13.7,174,4184,0.00,2.78,0.00,0.000,4,0.000,0.100,2744,3793,3507,0,0,0,0,0,0
$GC,4328,-2.39,-79.2,658.1,-14.1,177,4333,0.00,2.80,0.00,0.000,6,0.000,0.098,2744,2276,3507,0,0,0,0,0,0
$GC,4594,-2.39,-79.2,693.9,-13.0,184,4599,0.00,2.88,0.00,0.000,4,0.000,0.124,2744,3794,3504,0,0,0,0,0,0
$GC,4668,-2.39,-79.2,704.2,-14.2,185,4672,0.00,2.75,0.00,0.000,6,0.000,0.092,2744,2288,3505,0,0,0,0,0,0
$GC,4917,-2.39,-79.2,737.6,-13.5,191,4922,0.00,2.75,0.00,0.000,4,0.000,0.097,2744,3795,3502,0,0,0,0,0,0
$GC,4983,-2.39,-79.2,747.4,-14.8,192,4988,0.00,2.65,0.00,0.000,6,0.000,0.077,2744,2295,3502,0,0,0,0,0,0
$GC,5247,-2.39,-79.2,781.1,-13.0,199,5252,0.00,2.67,0.00,0.000,4,0.000,0.087,2744,3800,3500,0,0,0,0,0,0
$GC,5331,-2.39,-79.2,793.6,-14.1,201,5335,0.00,2.65,0.00,0.000,6,0.000,0.074,2744,2298,3500,0,0,0,0,0,0
$GC,5614,-2.39,-79.2,831.4,-13.5,208,5618,0.00,2.67,0.00,0.000,4,0.000,0.085,2744,3793,3498,0,0,0,0,0,0
$GC,5738,-2.39,-79.2,848.4,-13.3,210,5744,0.00,2.60,0.00,0.000,6,0.000,0.075,2744,2311,3497,0,0,0,0,0,0
$GC,5988,-2.43,-79.2,879.5,-12.1,217,5993,0.00,2.60,0.00,0.000,4,0.000,0.086,2744,3794,3495,0,0,0,0,0,0
$GC,6049,-2.43,-79.2,887.5,-12.9,218,6053,0.00,2.55,0.00,0.000,6,0.000,0.068,2745,2322,3495,0,0,0,0,0,0
$STATE,6150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6150,begin apogee
$GC,6159,-0.31,0.0,900.3,12.4,221,6232,2.08,0.00,65.05,1.192,6,0.101,0.000,3188,2375,3190,0,0,0,0,0,0
$STATE,6233,end apogee,CONTROL_FINISHED_OK
$STATE,6233,begin climb
$GC,6235,2.13,79.2,902.8,0.0,223,6317,2.20,3.08,68.82,1.170,4,0.031,0.107,3744,781,2866,0,0,0,0,0,0
$GC,6326,2.14,86.4,897.8,8.9,225,6341,0.00,2.75,8.07,0.953,6,0.000,0.056,3743,2365,2837,0,0,0,0,0,0
$GC,6609,2.14,86.4,862.3,12.9,232,6613,0.00,2.78,0.00,0.000,4,0.000,0.078,3744,3940,2832,0,0,0,0,0,0
$GC,6866,2.07,86.4,828.3,12.3,237,6873,0.17,2.60,0.00,0.000,6,0.141,0.038,3712,2372,2830,0,0,0,0,0,0
$GC,7117,2.11,86.4,801.8,10.6,244,7121,0.00,2.65,0.00,0.000,4,0.000,0.055,3711,3937,2828,0,0,0,0,0,0
$GC,7221,2.11,86.4,789.9,11.9,246,7225,0.00,2.60,0.00,0.000,6,0.000,0.042,3711,2393,2828,0,0,0,0,0,0
$GC,7487,2.15,86.4,758.8,11.6,253,7491,0.00,2.62,0.00,0.000,4,0.000,0.051,3712,3942,2826,0,0,0,0,0,0
$GC,7733,2.15,86.4,727.8,11.4,258,7737,0.00,2.60,0.00,0.000,6,0.000,0.048,3711,2398,2825,0,0,0,0,0,0
$GC,7989,2.20,86.9,702.1,9.9,265,7994,0.12,2.60,0.00,0.000,4,0.087,0.057,3745,3938,2824,0,0,0,0,0,0
$GC,8248,2.14,86.9,672.0,11.8,270,8253,0.00,2.55,0.00,0.000,6,0.000,0.046,3745,2414,2823,0,0,0,0,0,0
$GC,8497,2.14,86.9,644.7,11.0,277,8502,0.00,2.58,0.00,0.000,4,0.000,0.058,3745,3940,2822,0,0,0,0,0,0
$GC,8755,2.08,86.9,612.6,13.3,282,8761,0.15,2.53,0.00,0.000,6,0.143,0.044,3717,2423,2822,0,0,0,0,0,0
$GC,9008,2.14,86.9,583.6,11.6,289,9012,0.00,2.55,0.00,0.000,4,0.000,0.054,3717,3938,2822,0,0,0,0,0,0
$GC,9265,2.14,86.9,554.4,10.4,294,9271,0.00,2.47,0.00,0.000,6,0.000,0.041,3717,2436,2821,0,0,0,0,0,0
$GC,9518,2.19,88.3,530.5,9.8,301,9522,0.00,2.50,0.00,0.000,4,0.000,0.051,3717,3944,2821,0,0,0,0,0,0
$GC,9557,2.19,88.3,526.0,11.3,302,9561,0.00,2.47,0.00,0.000,6,0.000,0.038,3717,2430,2822,0,0,0,0,0,0
$GC,9840,2.25,88.3,496.3,11.0,309,9845,0.12,2.50,0.00,0.000,4,0.082,0.051,3753,3940,2821,0,0,0,0,0,0
$GC,10098,2.18,88.3,464.1,12.6,314,10104,0.00,2.42,0.00,0.000,6,0.000,0.028,3753,2435,2821,0,0,0,0,0,0
$GC,10350,2.18,88.3,437.4,10.6,321,10355,0.00,2.47,0.00,0.000,4,0.000,0.043,3753,3941,2821,0,0,0,0,0,0
$GC,10608,2.12,88.3,404.5,12.6,326,10615,0.15,2.42,0.00,0.000,6,0.137,0.027,3725,2432,2821,0,0,0,0,0,0
$GC,10861,2.18,88.3,378.0,10.5,333,10865,0.00,2.47,0.00,0.000,4,0.000,0.041,3725,3942,2821,0,0,0,0,0,0
$GC,11118,2.18,88.3,348.0,11.6,338,11124,0.00,2.40,0.00,0.000,6,0.000,0.027,3725,2434,2821,0,0,0,0,0,0
$GC,11371,2.24,88.3,320.3,11.4,345,11376,0.10,2.47,0.00,0.000,4,0.089,0.040,3755,3945,2822,0,0,0,0,0,0
$GC,11620,2.19,88.3,288.0,11.6,350,11624,0.00,2.40,0.00,0.000,6,0.000,0.024,3755,2435,2823,0,0,0,0,0,0
$GC,11875,2.19,88.3,260.0,10.6,357,11879,0.00,2.45,0.00,0.000,4,0.000,0.039,3755,3945,2823,0,0,0,0,0,0
$GC,12134,2.19,88.3,234.6,10.3,362,12140,0.00,2.33,0.00,0.000,6,0.000,0.024,3755,2465,2825,0,0,0,0,0,0
$GC,12384,2.20,100.7,213.7,8.1,369,12400,0.00,2.45,11.20,0.630,4,0.000,0.042,3755,3942,2778,0,0,0,0,0,0
$GC,12581,2.22,115.0,195.4,7.8,375,12599,0.00,2.33,12.60,0.622,6,0.000,0.024,3755,2463,2720,0,0,0,0,0,0
$GC,12862,2.30,127.1,172.8,8.2,401,12885,0.00,2.53,11.57,0.595,4,0.000,0.041,3755,3946,2670,0,0,0,0,0,0
$GC,13102,2.38,155.7,155.9,5.7,421,13137,0.00,2.35,24.83,0.613,6,0.000,0.023,3755,2449,2555,0,0,0,0,0,0
$GC,13388,2.53,173.4,134.8,7.3,448,13412,0.00,2.85,15.95,0.574,4,0.000,0.048,3755,768,2481,0,0,0,0,0,0
$GC,13418,2.66,187.7,132.4,7.8,450,13438,0.00,2.78,13.55,0.557,6,0.000,0.027,3756,2503,2423,0,0,0,0,0,0
$GC,13693,2.81,187.7,102.9,10.1,476,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,3755,2503,2421,0,0,0,0,0,0
$GC,13953,2.96,187.7,76.1,11.1,500,13957,0.00,2.35,0.00,0.000,4,0.000,0.043,3755,3941,2421,0,0,0,0,0,0
$GC,14064,3.06,187.7,62.6,12.3,508,14068,0.00,2.33,0.00,0.000,6,0.000,0.024,3756,2455,2421,0,0,0,0,0,0
$GC,14334,3.22,187.7,31.3,11.2,532,14339,0.00,2.42,0.00,0.000,4,0.000,0.041,3755,3941,2422,0,0,0,0,0,0
$GC,14443,3.34,187.7,16.5,11.9,547,14452,0.00,2.35,0.00,0.000,6,0.000,0.026,3755,2471,2422,0,0,0,0,0,0
$STATE,14579,end climb,SURFACE_DEPTH_REACHED
$STATE,14579,begin surface coast
$FINISH,1.1,1.023401
$STATE,14636,end surface coast,CONTROL_FINISHED_OK
$STATE,14636,begin surface
$SM_CCo,14662,130.32,0.495,0,0,1763,350.04
$SM_GC,1.76,0.00,0.00,130.32,0.000,0.000,0.495,463,2178,1763,-12.87,-0.90,350.04
$IRIDIUM_FIX,1918.37,-8119.23,180602,060659
$TT8_MAMPS,0.026078
$HUMID,57.24
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.70
$XPDR_PINGS,57
$24V_AH,23.3,44.475
$10V_AH,10.3,39.572
$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,31.625,180.075,231.650,130.325,0.000,25.568,35.254,187.808,14.250,0.000,13.619,1343.773,10086.200,494.946,2611.097,666.855,33.364,1585.437,0.000,2586.778,0.000,0.537,0.000
$DEVICE_MAMPS,162.604,124.254,1191.918,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.063,284.929,364.841,489.320,932.697,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355836
$DATA_FILE_SIZE,44705,575
$CAP_FILE_SIZE,150234,0
$CFSIZE,260165632,106176512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240313,151923,1926.974,-8118.276,23,1.1,40,-3.7