version: 66.06
glider: 146
mission: 8
dive: 328
start: 3 26 113 18 16 3
data:
$ID,146
$MISSION,8
$DIVE,328
$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,-313886.88
$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,64
$R_STBD_OVSHOOT,40
$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
$GPS1,180805,1928.497,-8113.409,36,1.1,41,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-75.5
$GPS2,181507,1928.481,-8113.419,13,1.3,13,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.147
$KALMAN_X,-117282.7,-548.4,-328.1,107667.1,-1208.4
$KALMAN_Y,76103.3,594.9,553.1,-68157.4,599.0
$MHEAD_RNG_PITCHd_Wd,128.4,11999,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.43,0.000,2,0.000,0.000,462,2171,3480,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.7,-4.4,9,122,13.55,2.50,-5.57,0.000,4,0.159,0.056,2976,659,3786,0,0,0,0,0,0
$GC,166,-1.03,-146.0,25.3,-21.4,18,175,0.22,2.45,0.00,0.000,6,0.084,0.019,3030,2219,3787,0,0,0,0,0,0
$GC,446,-0.92,-146.0,67.9,-14.3,45,455,0.12,0.00,0.00,0.000,6,0.111,0.000,3058,2219,3787,0,0,0,0,0,0
$GC,709,-0.87,-146.0,101.3,-12.4,70,713,0.00,2.55,0.00,0.000,4,0.000,0.045,3058,663,3788,0,0,0,0,0,0
$GC,760,-0.87,-146.0,108.0,-12.7,74,765,0.00,2.38,0.00,0.000,6,0.000,0.018,3058,2212,3788,0,0,0,0,0,0
$GC,1026,-0.83,-146.0,138.8,-11.6,98,1030,0.00,2.53,0.00,0.000,4,0.000,0.044,3058,664,3789,0,0,0,0,0,0
$GC,1055,-0.79,-146.0,142.5,-11.6,100,1059,0.12,2.35,0.00,0.000,6,0.107,0.016,3086,2201,3788,0,0,0,0,0,0
$GC,1320,-0.89,-146.0,165.4,-8.5,124,1324,0.00,2.50,0.00,0.000,4,0.000,0.044,3086,663,3788,0,0,0,0,0,0
$GC,1365,-1.01,-146.0,169.4,-7.7,127,1372,0.20,2.35,0.00,0.000,6,0.046,0.022,3009,2200,3789,0,0,0,0,0,0
$GC,1631,-1.01,-146.0,193.3,-8.8,152,1636,0.12,2.50,0.00,0.000,4,0.097,0.041,3039,3776,3789,0,0,0,0,0,0
$GC,1679,-1.11,-146.0,197.6,-7.5,155,1685,0.00,2.42,0.00,0.000,6,0.000,0.019,3039,2214,3789,0,0,0,0,0,0
$GC,1964,-1.18,-146.0,218.3,-7.6,165,1969,0.15,2.60,0.00,0.000,4,0.057,0.052,2975,646,3790,0,0,0,0,0,0
$GC,2007,-1.18,-146.0,222.7,-10.1,166,2012,0.12,2.35,0.00,0.000,6,0.098,0.026,3004,2190,3790,0,0,0,0,0,0
$GC,2285,-1.18,-146.0,244.5,-7.5,173,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2190,3790,0,0,0,0,0,0
$GC,2532,-1.18,-146.0,262.9,-7.5,179,2536,0.00,2.53,0.00,0.000,4,0.000,0.038,3004,3771,3790,0,0,0,0,0,0
$GC,2553,-1.18,-146.0,264.8,-7.3,179,2557,0.00,2.47,0.00,0.000,6,0.000,0.026,3004,2189,3790,0,0,0,0,0,0
$GC,2808,-1.22,-146.0,283.2,-7.2,186,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2189,3789,0,0,0,0,0,0
$GC,3055,-1.26,-146.0,301.6,-7.7,192,3059,0.00,2.58,0.00,0.000,4,0.000,0.045,3004,3774,3789,0,0,0,0,0,0
$GC,3071,-1.29,-146.0,303.3,-8.1,192,3076,0.12,2.50,0.00,0.000,6,0.064,0.023,2948,2187,3789,0,0,0,0,0,0
$GC,3332,-1.23,-146.0,328.1,-9.6,199,3338,0.20,2.65,0.00,0.000,4,0.081,0.065,2996,631,3788,0,0,0,0,0,0
$GC,3351,-1.19,-146.0,329.5,-8.9,199,3356,0.00,2.42,0.00,0.000,6,0.000,0.024,2996,2168,3788,0,0,0,0,0,0
$GC,3613,-1.19,-146.0,347.9,-6.8,206,3617,0.00,2.65,0.00,0.000,4,0.000,0.051,2996,3792,3787,0,0,0,0,0,0
$GC,3640,-1.19,-146.0,349.9,-7.1,206,3644,0.00,2.53,0.00,0.000,6,0.000,0.031,2996,2196,3787,0,0,0,0,0,0
$GC,3892,-1.19,-146.0,366.3,-6.6,212,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2196,3786,0,0,0,0,0,0
$GC,4133,-1.19,-146.0,384.5,-7.9,218,4138,0.00,2.67,0.00,0.000,4,0.000,0.071,2996,630,3785,0,0,0,0,0,0
$GC,4155,-1.19,-146.0,386.8,-9.6,218,4160,0.00,2.47,0.00,0.000,6,0.000,0.031,2996,2185,3785,0,0,0,0,0,0
$GC,4413,-1.19,-146.0,409.6,-8.8,225,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2185,3784,0,0,0,0,0,0
$GC,4655,-1.19,-146.0,428.8,-7.6,231,4659,0.00,2.65,0.00,0.000,4,0.000,0.059,2996,3793,3783,0,0,0,0,0,0
$GC,4676,-1.23,-146.0,430.5,-7.8,231,4681,0.00,2.60,0.00,0.000,6,0.000,0.038,2996,2188,3782,0,0,0,0,0,0
$GC,4934,-1.27,-146.0,448.8,-7.2,238,4939,0.00,2.78,0.00,0.000,4,0.000,0.091,2996,622,3782,0,0,0,0,0,0
$GC,4967,-1.31,-146.0,451.6,-7.7,238,4976,0.00,2.50,0.00,0.000,6,0.000,0.038,2996,2169,3782,0,0,0,0,0,0
$GC,5218,-1.35,-146.0,469.8,-7.3,245,5223,0.12,2.70,0.00,0.000,4,0.067,0.078,2945,622,3780,0,0,0,0,0,0
$GC,5248,-1.28,-146.0,472.6,-9.5,245,5253,0.15,2.53,0.00,0.000,6,0.092,0.043,2980,2167,3781,0,0,0,0,0,0
$GC,5498,-1.28,-146.0,493.9,-8.4,251,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2167,3779,0,0,0,0,0,0
$GC,5742,-1.28,-146.0,515.2,-8.8,257,5746,0.00,2.80,0.00,0.000,4,0.000,0.072,2980,3793,3778,0,0,0,0,0,0
$GC,5771,-1.28,-146.0,517.9,-10.2,257,5775,0.00,2.70,0.00,0.000,6,0.000,0.054,2980,2180,3778,0,0,0,0,0,0
$GC,6021,-1.28,-146.0,539.5,-8.4,263,6025,0.00,2.75,0.00,0.000,4,0.000,0.071,2979,3790,3778,0,0,0,0,0,0
$GC,6036,-1.28,-146.0,541.0,-8.5,263,6041,0.00,2.70,0.00,0.000,6,0.000,0.049,2980,2181,3777,0,0,0,0,0,0
$GC,6300,-1.28,-146.0,562.7,-8.3,270,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2181,3776,0,0,0,0,0,0
$GC,6541,-1.28,-146.0,581.9,-7.9,276,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2181,3774,0,0,0,0,0,0
$GC,6789,-1.28,-146.0,601.9,-8.3,282,6794,0.00,2.83,0.00,0.000,4,0.000,0.083,2979,3789,3773,0,0,0,0,0,0
$GC,6835,-1.28,-146.0,606.3,-8.9,283,6840,0.00,2.78,0.00,0.000,6,0.000,0.065,2980,2188,3773,0,0,0,0,0,0
$GC,7113,-1.28,-146.0,630.4,-8.8,290,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2188,3771,0,0,0,0,0,0
$GC,7357,-1.28,-146.0,651.4,-8.6,296,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2188,3770,0,0,0,0,0,0
$GC,7600,-1.28,-146.0,671.3,-8.0,302,7605,0.00,2.95,0.00,0.000,4,0.000,0.104,2979,3792,3769,0,0,0,0,0,0
$GC,7635,-1.28,-146.0,674.0,-8.5,302,7641,0.00,2.92,0.00,0.000,6,0.000,0.092,2980,2184,3769,0,0,0,0,0,0
$GC,7885,-1.28,-146.0,693.6,-7.7,309,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2184,3768,0,0,0,0,0,0
$GC,8129,-1.28,-146.0,711.8,-7.5,315,8134,0.00,3.05,0.00,0.000,4,0.000,0.124,2979,3787,3766,0,0,0,0,0,0
$GC,8159,-1.28,-146.0,714.0,-8.2,315,8163,0.00,3.03,0.00,0.000,6,0.000,0.111,2980,2190,3766,0,0,0,0,0,0
$GC,8409,-1.28,-146.0,734.4,-8.2,321,8413,0.00,3.12,0.00,0.000,4,0.000,0.134,2980,3791,3765,0,0,0,0,0,0
$GC,8436,-1.28,-146.0,736.7,-8.3,321,8440,0.00,2.88,0.00,0.000,6,0.000,0.085,2980,2188,3765,0,0,0,0,0,0
$GC,8690,-1.28,-146.0,756.5,-8.2,327,8695,0.00,2.90,0.00,0.000,4,0.000,0.096,2979,3793,3764,0,0,0,0,0,0
$GC,8706,-1.28,-146.0,758.3,-8.4,327,8710,0.00,2.80,0.00,0.000,6,0.000,0.074,2979,2198,3764,0,0,0,0,0,0
$GC,8966,-1.28,-146.0,779.4,-8.0,334,8971,0.00,2.88,0.00,0.000,4,0.000,0.091,2980,3792,3762,0,0,0,0,0,0
$GC,8990,-1.28,-146.0,781.4,-8.9,334,8995,0.00,2.80,0.00,0.000,6,0.000,0.073,2979,2203,3762,0,0,0,0,0,0
$GC,9245,-1.28,-146.0,801.8,-7.9,341,9250,0.00,2.83,0.00,0.000,4,0.000,0.084,2980,3789,3761,0,0,0,0,0,0
$GC,9278,-1.28,-146.0,804.6,-8.9,341,9284,0.00,2.78,0.00,0.000,6,0.000,0.076,2980,2205,3762,0,0,0,0,0,0
$GC,9530,-1.28,-146.0,825.3,-8.3,348,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2205,3761,0,0,0,0,0,0
$GC,9772,-1.28,-146.0,844.3,-7.7,354,9776,0.00,2.83,0.00,0.000,4,0.000,0.085,2979,3795,3760,0,0,0,0,0,0
$GC,9811,-1.33,-146.0,847.4,-8.6,355,9816,0.00,2.78,0.00,0.000,6,0.000,0.068,2980,2205,3760,0,0,0,0,0,0
$GC,10097,-1.33,-146.0,868.3,-7.1,362,10101,0.00,2.78,0.00,0.000,4,0.000,0.084,2980,3790,3758,0,0,0,0,0,0
$GC,10118,-1.33,-146.0,870.2,-7.7,362,10123,0.00,2.75,0.00,0.000,6,0.000,0.072,2980,2211,3758,0,0,0,0,0,0
$GC,10375,-1.37,-146.0,888.6,-7.4,369,10376,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2211,3757,0,0,0,0,0,0
$STATE,10534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10535,begin apogee
$GC,10543,-0.31,0.0,900.9,7.6,373,10666,0.93,0.00,120.05,1.208,6,0.066,0.000,3194,2377,3190,0,0,0,0,0,0
$STATE,10667,end apogee,CONTROL_FINISHED_OK
$STATE,10667,begin climb
$GC,10670,1.27,146.0,904.7,0.0,376,10807,1.45,2.85,127.05,1.182,4,0.038,0.077,3551,3935,2593,0,0,0,0,0,0
$GC,10894,1.13,146.0,890.5,12.1,381,10899,0.22,2.75,0.00,0.000,6,0.105,0.058,3506,2364,2588,0,0,0,0,0,0
$GC,11144,1.15,159.4,867.1,9.4,387,11163,0.00,3.15,12.07,1.037,4,0.000,0.119,3506,785,2540,0,0,0,0,0,0
$GC,11182,1.10,159.4,863.3,10.7,387,11188,0.00,2.70,0.00,0.000,6,0.000,0.049,3506,2364,2538,0,0,0,0,0,0
$GC,11432,1.12,174.3,839.3,9.3,394,11452,0.00,2.83,14.43,1.062,4,0.000,0.078,3506,3932,2478,0,0,0,0,0,0
$GC,11516,1.12,174.3,830.8,11.2,396,11521,0.00,2.65,0.00,0.000,6,0.000,0.048,3506,2369,2477,0,0,0,0,0,0
$GC,11802,1.14,185.8,803.2,9.5,403,11815,0.00,0.00,11.60,1.022,6,0.000,0.000,3506,2369,2432,0,0,0,0,0,0
$GC,12043,1.15,195.2,779.9,9.6,409,12059,0.00,2.72,10.10,0.991,4,0.000,0.059,3506,3934,2393,0,0,0,0,0,0
$GC,12094,1.15,195.2,774.5,11.3,410,12099,0.00,2.67,0.00,0.000,6,0.000,0.048,3506,2365,2392,0,0,0,0,0,0
$GC,12366,1.15,195.2,743.5,11.5,417,12370,0.00,2.70,0.00,0.000,4,0.000,0.060,3506,3938,2390,0,0,0,0,0,0
$GC,12495,1.15,195.2,728.1,11.6,420,12499,0.00,2.60,0.00,0.000,6,0.000,0.043,3506,2391,2390,0,0,0,0,0,0
$GC,12780,1.15,201.2,700.4,9.7,427,12794,0.00,2.67,6.50,0.856,4,0.000,0.058,3506,3940,2369,0,0,0,0,0,0
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$STATE,19467,end climb,SURFACE_DEPTH_REACHED
$STATE,19467,begin surface coast
$FINISH,1.0,1.023690
$STATE,19523,end surface coast,CONTROL_FINISHED_OK
$STATE,19523,begin surface
$SM_CCo,19545,45.05,0.492,0,0,1763,350.04
$SM_GC,1.80,0.00,0.00,45.05,0.000,0.000,0.492,462,2207,1763,-12.87,-0.06,350.04
$IRIDIUM_FIX,1920.65,-8114.71,200602,121226
$TT8_MAMPS,0.025311
$HUMID,58.97
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.50
$XPDR_PINGS,71
$24V_AH,23.2,45.931
$10V_AH,10.2,40.842
$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,30.550,218.775,395.875,45.050,0.000,28.808,34.444,190.581,17.750,0.000,15.132,1549.507,14781.494,584.376,2337.026,754.486,33.370,1597.771,0.000,2331.135,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,134.225,1208.025,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,493.309,344.229,432.047,572.778,1089.296,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,57359,729
$CAP_FILE_SIZE,175192,0
$CFSIZE,260165632,105418752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260313,234400,1929.103,-8112.885,43,1.6,43,-3.8