version: 66.06
glider: 146
mission: 8
dive: 321
start: 3 25 113 2 53 7
data:
$ID,146
$MISSION,8
$DIVE,321
$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,-313785.94
$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,29
$R_STBD_OVSHOOT,19
$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
$GPS1,024005,1927.959,-8115.524,37,1.1,42,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.4
$GPS2,025213,1927.987,-8115.479,14,1.0,14,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.238,-0.103
$KALMAN_X,-95827.5,25.5,-23.4,81726.2,-1945.0
$KALMAN_Y,57134.0,466.7,187.9,-49605.6,692.4
$MHEAD_RNG_PITCHd_Wd,117.1,14572,-17.5,-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,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-71.18,0.000,2,0.000,0.000,461,2147,3509,0,0,0,0,0,0
$GC,99,-1.27,-146.0,3.8,-5.3,9,125,13.65,2.65,-4.82,0.000,4,0.163,0.039,2977,3812,3788,0,0,0,0,0,0
$GC,149,-0.67,-146.0,24.4,-36.2,15,159,0.57,2.60,0.00,0.000,6,0.077,0.028,3109,2214,3789,0,0,0,0,0,0
$GC,429,-0.74,-146.0,52.8,-9.3,42,433,0.00,2.60,0.00,0.000,4,0.000,0.049,3109,629,3789,0,0,0,0,0,0
$GC,477,-0.84,-146.0,57.3,-9.1,45,482,0.15,2.45,0.00,0.000,6,0.057,0.017,3046,2237,3789,0,0,0,0,0,0
$GC,746,-0.77,-146.0,89.7,-12.8,69,751,0.20,2.67,0.00,0.000,4,0.084,0.044,3091,619,3789,0,0,0,0,0,0
$GC,779,-0.77,-146.0,94.0,-11.3,71,784,0.00,2.42,0.00,0.000,6,0.000,0.016,3092,2197,3789,0,0,0,0,0,0
$GC,1049,-0.81,-146.0,119.0,-8.7,95,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2197,3790,0,0,0,0,0,0
$GC,1311,-0.87,-146.0,142.1,-9.2,120,1316,0.00,2.58,0.00,0.000,4,0.000,0.045,3091,619,3790,0,0,0,0,0,0
$GC,1335,-0.94,-146.0,144.6,-9.2,121,1341,0.15,2.42,0.00,0.000,6,0.057,0.025,3027,2201,3790,0,0,0,0,0,0
$GC,1600,-0.94,-146.0,171.0,-9.4,146,1605,0.12,2.60,0.00,0.000,4,0.097,0.046,3056,626,3791,0,0,0,0,0,0
$GC,1617,-0.94,-146.0,173.1,-9.8,147,1621,0.00,2.40,0.00,0.000,6,0.000,0.021,3056,2198,3791,0,0,0,0,0,0
$GC,1883,-1.04,-146.0,191.6,-6.2,171,1891,0.10,0.00,0.00,0.000,6,0.079,0.000,3006,2199,3791,0,0,0,0,0,0
$GC,2157,-1.04,-146.0,214.4,-8.4,186,2159,0.12,0.00,0.00,0.000,6,0.094,0.000,3036,2199,3791,0,0,0,0,0,0
$GC,2404,-1.13,-146.0,231.2,-6.8,192,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2199,3791,0,0,0,0,0,0
$GC,2645,-1.22,-146.0,246.3,-6.1,198,2650,0.17,2.60,0.00,0.000,4,0.051,0.049,2968,626,3791,0,0,0,0,0,0
$GC,2661,-1.22,-146.0,247.4,-6.0,198,2667,0.12,2.40,0.00,0.000,6,0.098,0.017,2998,2189,3791,0,0,0,0,0,0
$GC,2925,-1.22,-146.0,265.3,-6.9,205,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2189,3790,0,0,0,0,0,0
$GC,3166,-1.22,-146.0,283.3,-7.4,211,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2190,3790,0,0,0,0,0,0
$GC,3410,-1.22,-146.0,303.0,-8.2,217,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2190,3789,0,0,0,0,0,0
$GC,3654,-1.22,-146.0,321.9,-7.7,223,3658,0.00,2.55,0.00,0.000,4,0.000,0.047,2998,3768,3788,0,0,0,0,0,0
$GC,3672,-1.22,-146.0,323.3,-7.9,223,3676,0.00,2.50,0.00,0.000,6,0.000,0.024,2998,2169,3788,0,0,0,0,0,0
$GC,3932,-1.22,-146.0,343.5,-7.7,230,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2169,3787,0,0,0,0,0,0
$GC,4176,-1.22,-146.0,362.3,-7.7,236,4180,0.00,2.60,0.00,0.000,4,0.000,0.045,2998,3773,3786,0,0,0,0,0,0
$GC,4194,-1.22,-146.0,363.6,-7.7,236,4198,0.00,2.53,0.00,0.000,6,0.000,0.025,2998,2188,3786,0,0,0,0,0,0
$GC,4455,-1.22,-146.0,383.7,-7.6,243,4459,0.00,2.58,0.00,0.000,4,0.000,0.051,2998,3771,3785,0,0,0,0,0,0
$GC,4476,-1.26,-146.0,385.4,-7.4,243,4481,0.00,2.53,0.00,0.000,6,0.000,0.032,2998,2185,3785,0,0,0,0,0,0
$GC,4735,-1.29,-146.0,403.7,-7.0,250,4739,0.00,2.67,0.00,0.000,4,0.000,0.077,2998,630,3784,0,0,0,0,0,0
$GC,4775,-1.34,-146.0,407.0,-7.9,251,4780,0.12,2.42,0.00,0.000,6,0.066,0.035,2945,2166,3784,0,0,0,0,0,0
$GC,5061,-1.28,-146.0,433.3,-9.3,258,5063,0.17,0.00,0.00,0.000,6,0.086,0.000,2985,2166,3783,0,0,0,0,0,0
$GC,5302,-1.28,-146.0,451.4,-7.3,264,5306,0.00,2.72,0.00,0.000,4,0.000,0.064,2985,3785,3782,0,0,0,0,0,0
$GC,5334,-1.28,-146.0,454.1,-7.8,264,5340,0.00,2.62,0.00,0.000,6,0.000,0.046,2985,2187,3782,0,0,0,0,0,0
$GC,5584,-1.28,-146.0,472.5,-7.4,271,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2186,3781,0,0,0,0,0,0
$GC,5830,-1.28,-146.0,491.0,-7.6,277,5835,0.00,2.72,0.00,0.000,4,0.000,0.067,2985,3787,3780,0,0,0,0,0,0
$GC,5852,-1.28,-146.0,493.0,-8.0,277,5856,0.00,2.67,0.00,0.000,6,0.000,0.054,2985,2188,3779,0,0,0,0,0,0
$GC,6107,-1.28,-146.0,512.4,-7.7,284,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2188,3778,0,0,0,0,0,0
$GC,6353,-1.28,-146.0,532.0,-8.3,290,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2188,3777,0,0,0,0,0,0
$GC,6594,-1.28,-146.0,551.9,-8.2,296,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2189,3776,0,0,0,0,0,0
$GC,6838,-1.28,-146.0,571.5,-8.1,302,6843,0.00,2.85,0.00,0.000,4,0.000,0.088,2985,3786,3776,0,0,0,0,0,0
$GC,6855,-1.28,-146.0,572.9,-7.9,302,6860,0.00,2.70,0.00,0.000,6,0.000,0.061,2985,2186,3775,0,0,0,0,0,0
$GC,7119,-1.28,-146.0,593.2,-7.7,309,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2186,3774,0,0,0,0,0,0
$GC,7360,-1.28,-146.0,611.7,-7.5,315,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2186,3772,0,0,0,0,0,0
$GC,7604,-1.28,-146.0,630.5,-7.8,321,7609,0.00,2.88,0.00,0.000,4,0.000,0.091,2985,3778,3771,0,0,0,0,0,0
$GC,7633,-1.28,-146.0,632.8,-8.7,321,7638,0.00,2.80,0.00,0.000,6,0.000,0.081,2985,2189,3771,0,0,0,0,0,0
$GC,7885,-1.28,-146.0,652.9,-8.0,327,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2189,3770,0,0,0,0,0,0
$GC,8127,-1.28,-146.0,672.2,-7.8,333,8132,0.00,2.92,0.00,0.000,4,0.000,0.099,2985,3782,3769,0,0,0,0,0,0
$GC,8162,-1.31,-146.0,675.1,-8.5,333,8168,0.00,2.90,0.00,0.000,6,0.000,0.100,2985,2196,3768,0,0,0,0,0,0
$GC,8412,-1.31,-146.0,695.3,-8.1,340,8417,0.00,2.97,0.00,0.000,4,0.000,0.114,2985,3778,3767,0,0,0,0,0,0
$GC,8434,-1.35,-146.0,697.1,-8.0,340,8439,0.00,2.95,0.00,0.000,6,0.000,0.107,2985,2205,3767,0,0,0,0,0,0
$GC,8692,-1.39,-146.0,717.5,-7.9,347,8694,0.12,0.00,0.00,0.000,6,0.069,0.000,2941,2205,3766,0,0,0,0,0,0
$GC,8933,-1.35,-146.0,740.9,-9.7,353,8939,0.12,3.15,0.00,0.000,4,0.241,0.137,2968,3780,3765,0,0,0,0,0,0
$GC,8952,-1.35,-146.0,742.5,-9.5,353,8956,0.00,2.78,0.00,0.000,6,0.000,0.084,2968,2209,3764,0,0,0,0,0,0
$GC,9215,-1.35,-146.0,765.1,-8.6,360,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2209,3763,0,0,0,0,0,0
$GC,9458,-1.35,-146.0,785.1,-8.2,366,9463,0.00,2.80,0.00,0.000,4,0.000,0.092,2968,3785,3762,0,0,0,0,0,0
$GC,9480,-1.35,-146.0,787.2,-8.3,366,9485,0.00,2.78,0.00,0.000,6,0.000,0.073,2968,2205,3762,0,0,0,0,0,0
$GC,9735,-1.35,-146.0,806.9,-7.6,373,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2205,3762,0,0,0,0,0,0
$GC,9981,-1.35,-146.0,824.5,-7.3,379,9986,0.00,2.80,0.00,0.000,4,0.000,0.084,2968,3783,3760,0,0,0,0,0,0
$GC,10008,-1.35,-146.0,826.9,-7.8,379,10013,0.00,2.75,0.00,0.000,6,0.000,0.074,2968,2208,3760,0,0,0,0,0,0
$GC,10258,-1.35,-146.0,844.9,-7.2,385,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2208,3759,0,0,0,0,0,0
$GC,10504,-1.35,-146.0,863.3,-7.6,391,10505,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2208,3758,0,0,0,0,0,0
$GC,10746,-1.35,-146.0,882.9,-8.1,397,10750,0.00,2.78,0.00,0.000,4,0.000,0.079,2968,3781,3757,0,0,0,0,0,0
$GC,10767,-1.35,-146.0,884.9,-8.8,397,10771,0.00,2.72,0.00,0.000,6,0.000,0.072,2968,2216,3757,0,0,0,0,0,0
$STATE,10979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10979,begin apogee
$GC,10987,-0.31,0.0,902.1,8.0,403,11111,0.98,0.00,119.85,1.213,6,0.087,0.000,3192,2369,3189,0,0,0,0,0,0
$STATE,11111,end apogee,CONTROL_FINISHED_OK
$STATE,11112,begin climb
$GC,11114,1.27,146.0,906.0,0.0,406,11249,1.42,2.80,126.18,1.185,4,0.039,0.076,3545,3923,2595,0,0,0,0,0,0
$GC,11274,1.13,146.0,899.0,11.0,409,11280,0.17,2.75,0.00,0.000,6,0.110,0.064,3509,2363,2591,0,0,0,0,0,0
$GC,11525,1.13,169.7,876.3,8.9,416,11554,0.00,2.80,21.65,1.101,4,0.000,0.068,3509,3928,2496,0,0,0,0,0,0
$GC,11602,1.08,169.7,868.7,10.3,417,11606,0.00,2.70,0.00,0.000,6,0.000,0.052,3509,2370,2495,0,0,0,0,0,0
$GC,11852,1.10,182.3,844.6,9.4,423,11866,0.00,0.00,12.32,1.037,6,0.000,0.000,3509,2370,2446,0,0,0,0,0,0
$GC,12095,1.10,182.3,819.2,10.8,429,12100,0.00,2.70,0.00,0.000,4,0.000,0.059,3509,3931,2442,0,0,0,0,0,0
$GC,12142,1.10,182.3,814.0,11.6,430,12146,0.00,2.62,0.00,0.000,6,0.000,0.051,3509,2390,2442,0,0,0,0,0,0
$GC,12419,1.10,182.3,784.1,10.6,437,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2390,2441,0,0,0,0,0,0
$GC,12663,1.10,182.3,758.5,10.5,443,12667,0.00,2.65,0.00,0.000,4,0.000,0.057,3509,3935,2440,0,0,0,0,0,0
$GC,12708,1.10,182.3,753.4,11.3,444,12713,0.00,2.62,0.00,0.000,6,0.000,0.048,3509,2390,2440,0,0,0,0,0,0
$GC,12986,1.10,182.3,724.6,10.2,451,12987,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,2390,2439,0,0,0,0,0,0
$GC,13230,1.10,182.3,699.5,10.3,457,13234,0.00,2.65,0.00,0.000,4,0.000,0.058,3509,3938,2439,0,0,0,0,0,0
$GC,13264,1.10,182.3,695.9,11.0,457,13270,0.00,2.60,0.00,0.000,6,0.000,0.050,3509,2400,2438,0,0,0,0,0,0
$GC,13514,1.10,182.3,669.9,10.3,464,13518,0.00,2.62,0.00,0.000,4,0.000,0.058,3509,3937,2437,0,0,0,0,0,0
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$STATE,19684,end climb,SURFACE_DEPTH_REACHED
$STATE,19684,begin surface coast
$FINISH,1.0,0.998109
$STATE,19720,end surface coast,CONTROL_FINISHED_OK
$STATE,19720,begin surface
$SM_CCo,19805,0.00,0.000,0,0,1728,358.38
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$IRIDIUM_FIX,1918.37,-8116.97,190602,020238
$TT8_MAMPS,0.025311
$HUMID,60.15
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$TCM_TEMP,24.10
$XPDR_PINGS,69
$24V_AH,23.2,44.915
$10V_AH,10.2,39.950
$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
$DEVICE_SECS,31.300,217.675,438.375,0.000,0.000,60.448,78.010,345.735,17.250,0.000,15.527,1531.168,15169.185,553.945,2270.870,994.603,33.363,1569.260,0.000,2266.182,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,495.079,339.603,428.649,552.671,1053.567,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,57373,732
$CAP_FILE_SIZE,178172,0
$CFSIZE,260165632,105914368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250313,082429,1928.343,-8114.588,37,1.3,37,-3.8