version: 66.06
glider: 146
mission: 8
dive: 352
start: 4 1 113 10 4 9
data:
$ID,146
$MISSION,8
$DIVE,352
$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,-314433.28
$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,30
$R_STBD_OVSHOOT,17
$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
$GPS1,095606,1927.454,-8120.593,28,1.1,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.4
$GPS2,100313,1927.446,-8120.610,9,1.5,9,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.256,-0.041
$KALMAN_X,-175835.5,-1033.5,-427.2,154255.5,-982.3
$KALMAN_Y,106597.0,401.9,20.9,-99831.5,74.0
$MHEAD_RNG_PITCHd_Wd,102.7,4632,-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,-70.57,0.000,2,0.000,0.000,458,2123,3444,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.2,-3.8,9,123,13.52,2.72,-6.57,0.000,4,0.154,0.042,2977,3815,3785,0,0,0,0,0,0
$GC,180,-1.12,-146.0,24.8,-18.4,20,190,0.12,2.58,0.00,0.000,6,0.082,0.025,3009,2209,3786,0,0,0,0,0,0
$GC,464,-0.99,-146.0,67.6,-14.9,47,469,0.15,2.60,0.00,0.000,4,0.107,0.047,3042,627,3787,0,0,0,0,0,0
$GC,499,-0.90,-146.0,73.6,-14.4,49,504,0.10,2.50,0.00,0.000,6,0.120,0.017,3063,2252,3787,0,0,0,0,0,0
$GC,765,-0.90,-146.0,104.6,-11.2,73,770,0.00,2.67,0.00,0.000,4,0.000,0.044,3063,626,3787,0,0,0,0,0,0
$GC,814,-0.90,-146.0,110.6,-11.3,76,824,0.00,2.42,0.00,0.000,6,0.000,0.024,3063,2193,3788,0,0,0,0,0,0
$GC,1078,-0.90,-146.0,138.1,-10.1,101,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2193,3788,0,0,0,0,0,0
$GC,1344,-0.97,-146.0,162.4,-8.4,126,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2192,3788,0,0,0,0,0,0
$GC,1611,-1.07,-146.0,181.4,-6.6,151,1616,0.15,2.60,0.00,0.000,4,0.058,0.047,2998,626,3789,0,0,0,0,0,0
$GC,1635,-1.07,-146.0,183.7,-7.7,152,1641,0.12,2.38,0.00,0.000,6,0.098,0.020,3027,2181,3789,0,0,0,0,0,0
$GC,1926,-1.11,-146.0,206.7,-7.8,174,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2181,3789,0,0,0,0,0,0
$GC,2171,-1.17,-146.0,224.0,-7.0,180,2175,0.00,2.55,0.00,0.000,4,0.000,0.046,3027,627,3789,0,0,0,0,0,0
$GC,2204,-1.24,-146.0,226.6,-7.4,180,2210,0.15,2.38,0.00,0.000,6,0.058,0.018,2963,2179,3789,0,0,0,0,0,0
$GC,2454,-1.18,-146.0,249.9,-9.8,187,2459,0.17,2.58,0.00,0.000,4,0.085,0.048,3004,629,3789,0,0,0,0,0,0
$GC,2478,-1.18,-146.0,252.1,-9.6,187,2482,0.00,2.38,0.00,0.000,6,0.000,0.018,3004,2181,3789,0,0,0,0,0,0
$GC,2739,-1.18,-146.0,273.8,-8.2,194,2744,0.00,2.53,0.00,0.000,4,0.000,0.045,3004,3766,3789,0,0,0,0,0,0
$GC,2767,-1.22,-146.0,276.1,-8.6,194,2771,0.00,2.50,0.00,0.000,6,0.000,0.025,3004,2165,3789,0,0,0,0,0,0
$GC,3020,-1.26,-146.0,295.3,-7.6,200,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2165,3789,0,0,0,0,0,0
$GC,3261,-1.30,-146.0,313.3,-7.4,206,3266,0.12,2.60,0.00,0.000,4,0.066,0.044,2952,3764,3788,0,0,0,0,0,0
$GC,3277,-1.30,-146.0,314.6,-7.5,206,3282,0.10,2.45,0.00,0.000,6,0.104,0.025,2976,2185,3788,0,0,0,0,0,0
$GC,3541,-1.30,-146.0,338.0,-9.2,213,3545,0.00,2.58,0.00,0.000,4,0.000,0.044,2976,3764,3787,0,0,0,0,0,0
$GC,3564,-1.30,-146.0,340.4,-9.3,213,3568,0.00,2.47,0.00,0.000,6,0.000,0.028,2976,2182,3788,0,0,0,0,0,0
$GC,3818,-1.30,-146.0,361.7,-8.3,220,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2182,3787,0,0,0,0,0,0
$GC,4065,-1.30,-146.0,380.9,-7.8,226,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2182,3785,0,0,0,0,0,0
$GC,4306,-1.30,-146.0,399.5,-7.5,232,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2182,3785,0,0,0,0,0,0
$GC,4550,-1.30,-146.0,417.6,-7.5,238,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2182,3784,0,0,0,0,0,0
$GC,4793,-1.30,-146.0,436.4,-7.6,244,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2181,3783,0,0,0,0,0,0
$GC,5040,-1.30,-146.0,454.5,-7.4,250,5044,0.00,2.67,0.00,0.000,4,0.000,0.064,2976,3767,3782,0,0,0,0,0,0
$GC,5061,-1.30,-146.0,456.5,-7.8,250,5065,0.00,2.55,0.00,0.000,6,0.000,0.041,2976,2201,3782,0,0,0,0,0,0
$GC,5316,-1.30,-146.0,476.9,-8.3,257,5321,0.00,2.83,0.00,0.000,4,0.000,0.093,2976,627,3781,0,0,0,0,0,0
$GC,5345,-1.30,-146.0,479.5,-9.0,257,5350,0.00,2.47,0.00,0.000,6,0.000,0.039,2976,2153,3780,0,0,0,0,0,0
$GC,5595,-1.30,-146.0,500.2,-8.3,263,5600,0.00,2.70,0.00,0.000,4,0.000,0.067,2976,3760,3779,0,0,0,0,0,0
$GC,5617,-1.30,-146.0,502.3,-9.6,263,5621,0.00,2.60,0.00,0.000,6,0.000,0.044,2976,2185,3779,0,0,0,0,0,0
$GC,5874,-1.30,-146.0,523.7,-8.5,270,5879,0.00,2.85,0.00,0.000,4,0.000,0.104,2976,624,3777,0,0,0,0,0,0
$GC,5896,-1.30,-146.0,525.9,-9.0,270,5900,0.00,2.53,0.00,0.000,6,0.000,0.042,2976,2157,3777,0,0,0,0,0,0
$GC,6151,-1.30,-146.0,548.9,-9.0,277,6155,0.00,2.78,0.00,0.000,4,0.000,0.074,2977,3760,3777,0,0,0,0,0,0
$GC,6172,-1.30,-146.0,551.0,-9.6,277,6177,0.00,2.60,0.00,0.000,6,0.000,0.048,2976,2186,3776,0,0,0,0,0,0
$GC,6428,-1.30,-146.0,573.4,-8.7,284,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2186,3775,0,0,0,0,0,0
$GC,6671,-1.30,-146.0,594.3,-8.4,290,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2186,3774,0,0,0,0,0,0
$GC,6915,-1.30,-146.0,615.0,-8.4,296,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2186,3773,0,0,0,0,0,0
$GC,7161,-1.30,-146.0,634.8,-8.1,302,7166,0.00,2.83,0.00,0.000,4,0.000,0.095,2977,3756,3771,0,0,0,0,0,0
$GC,7177,-1.30,-146.0,636.4,-8.1,302,7182,0.00,2.70,0.00,0.000,6,0.000,0.071,2976,2188,3771,0,0,0,0,0,0
$GC,7438,-1.30,-146.0,657.3,-8.0,309,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2188,3770,0,0,0,0,0,0
$GC,7681,-1.30,-146.0,676.7,-7.9,315,7686,0.00,2.85,0.00,0.000,4,0.000,0.094,2976,3754,3769,0,0,0,0,0,0
$GC,7699,-1.30,-146.0,678.0,-7.9,315,7704,0.00,2.80,0.00,0.000,6,0.000,0.093,2976,2192,3769,0,0,0,0,0,0
$GC,7960,-1.30,-146.0,699.5,-8.2,322,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2192,3768,0,0,0,0,0,0
$GC,8206,-1.30,-146.0,719.7,-8.3,328,8210,0.00,3.00,0.00,0.000,4,0.000,0.126,2976,3757,3766,0,0,0,0,0,0
$GC,8229,-1.30,-146.0,721.7,-9.1,328,8234,0.00,2.85,0.00,0.000,6,0.000,0.102,2976,2199,3767,0,0,0,0,0,0
$GC,8484,-1.30,-146.0,743.0,-8.2,335,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2198,3766,0,0,0,0,0,0
$GC,8728,-1.30,-146.0,763.1,-8.2,341,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2197,3765,0,0,0,0,0,0
$GC,8974,-1.30,-146.0,783.0,-8.2,347,8979,0.00,2.80,0.00,0.000,4,0.000,0.087,2976,3760,3763,0,0,0,0,0,0
$GC,9013,-1.30,-146.0,786.6,-8.8,348,9018,0.00,2.72,0.00,0.000,6,0.000,0.072,2976,2191,3763,0,0,0,0,0,0
$GC,9296,-1.30,-146.0,808.2,-7.5,355,9301,0.00,2.80,0.00,0.000,4,0.000,0.084,2977,3761,3762,0,0,0,0,0,0
$GC,9314,-1.30,-146.0,809.5,-7.0,355,9319,0.00,2.72,0.00,0.000,6,0.000,0.070,2976,2200,3762,0,0,0,0,0,0
$GC,9575,-1.30,-146.0,827.2,-6.6,362,9580,0.00,2.78,0.00,0.000,4,0.000,0.087,2976,3758,3762,0,0,0,0,0,0
$GC,9619,-1.30,-146.0,830.4,-7.6,363,9623,0.00,2.70,0.00,0.000,6,0.000,0.075,2977,2211,3762,0,0,0,0,0,0
$GC,9897,-1.30,-146.0,849.3,-6.9,370,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2211,3761,0,0,0,0,0,0
$GC,10140,-1.30,-146.0,866.7,-7.4,376,10145,0.00,2.75,0.00,0.000,4,0.000,0.081,2977,3758,3760,0,0,0,0,0,0
$GC,10185,-1.35,-146.0,870.4,-8.4,377,10190,0.00,2.70,0.00,0.000,6,0.000,0.067,2977,2210,3760,0,0,0,0,0,0
$GC,10466,-1.35,-146.0,892.5,-8.1,384,10470,0.00,2.78,0.00,0.000,4,0.000,0.086,2976,3757,3759,0,0,0,0,0,0
$GC,10482,-1.35,-146.0,894.1,-8.1,384,10486,0.00,2.65,0.00,0.000,6,0.000,0.071,2976,2219,3759,0,0,0,0,0,0
$STATE,10577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10577,begin apogee
$GC,10583,-0.31,0.0,902.2,8.4,387,10707,0.93,0.00,120.32,1.200,6,0.067,0.000,3191,2340,3190,0,0,0,0,0,0
$STATE,10708,end apogee,CONTROL_FINISHED_OK
$STATE,10708,begin climb
$GC,10713,1.27,146.0,905.9,0.0,390,10848,1.42,2.90,126.75,1.175,4,0.035,0.084,3542,3934,2593,0,0,0,0,0,0
$GC,10925,1.15,146.0,892.8,11.0,395,10930,0.15,2.72,0.00,0.000,6,0.112,0.058,3512,2364,2588,0,0,0,0,0,0
$GC,11209,1.16,147.0,864.2,10.0,402,11213,0.00,2.75,0.00,0.000,4,0.000,0.071,3512,3931,2586,0,0,0,0,0,0
$GC,11278,1.10,149.3,857.4,9.9,403,11282,0.00,2.65,0.00,0.000,6,0.000,0.051,3512,2368,2585,0,0,0,0,0,0
$GC,11533,1.13,170.6,834.0,9.0,410,11556,0.00,0.00,21.58,1.089,6,0.000,0.000,3512,2368,2494,0,0,0,0,0,0
$GC,11819,1.13,170.6,805.8,10.1,417,11824,0.00,2.70,0.00,0.000,4,0.000,0.056,3512,3937,2489,0,0,0,0,0,0
$GC,11906,1.13,170.6,796.2,12.9,419,11910,0.00,2.62,0.00,0.000,6,0.000,0.050,3512,2376,2488,0,0,0,0,0,0
$GC,12188,1.13,170.6,766.4,10.3,426,12193,0.00,2.67,0.00,0.000,4,0.000,0.061,3512,3937,2488,0,0,0,0,0,0
$GC,12296,1.13,170.6,754.9,11.0,428,12300,0.00,2.60,0.00,0.000,6,0.000,0.049,3512,2387,2487,0,0,0,0,0,0
$GC,12556,1.14,182.1,729.8,9.5,435,12569,0.00,0.00,10.88,0.975,6,0.000,0.000,3512,2387,2447,0,0,0,0,0,0
$GC,12800,1.15,191.5,706.4,9.6,441,12816,0.00,2.70,9.95,0.946,4,0.000,0.058,3512,3932,2409,0,0,0,0,0,0
$GC,12851,1.15,191.5,701.2,11.2,442,12856,0.00,2.60,0.00,0.000,6,0.000,0.041,3512,2399,2408,0,0,0,0,0,0
$GC,13123,1.15,191.5,672.1,10.7,449,13124,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2399,2408,0,0,0,0,0,0
$GC,13366,1.15,191.5,645.8,10.9,455,13368,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2399,2407,0,0,0,0,0,0
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$STATE,19478,end climb,SURFACE_DEPTH_REACHED
$STATE,19478,begin surface coast
$FINISH,1.1,1.023773
$STATE,19527,end surface coast,CONTROL_FINISHED_OK
$STATE,19527,begin surface
$SM_CCo,19552,54.33,0.495,0,0,1762,350.04
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$IRIDIUM_FIX,1918.37,-8123.75,260602,040442
$TT8_MAMPS,0.025311
$HUMID,59.49
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,24.40
$XPDR_PINGS,69
$24V_AH,23.2,49.799
$10V_AH,10.2,43.963
$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,29.975,217.250,379.900,54.325,0.000,25.691,37.750,197.301,17.250,0.000,10.836,1560.714,14781.969,567.288,2368.483,748.910,33.369,1592.217,0.000,2367.359,0.000,0.538,0.000
$DEVICE_MAMPS,154.167,125.788,1200.355,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,502.342,348.977,444.700,580.473,1106.087,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,57264,741
$CAP_FILE_SIZE,173526,0
$CFSIZE,260165632,103698432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010413,153206,1928.584,-8120.114,28,1.3,28,-3.7