version: 66.06
glider: 146
mission: 8
dive: 356
start: 4 2 113 8 3 15
data:
$ID,146
$MISSION,8
$DIVE,356
$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,-314515.22
$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,60
$R_STBD_OVSHOOT,22
$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
$GPS1,075506,1928.436,-8118.422,37,1.3,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.8
$GPS2,080219,1928.424,-8118.472,14,1.5,14,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.152
$KALMAN_X,-190323.8,36.0,94.5,170861.3,-3398.1
$KALMAN_Y,114975.1,-354.0,195.3,-105817.4,1513.0
$MHEAD_RNG_PITCHd_Wd,129.6,2762,-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,-70.50,0.000,2,0.000,0.000,460,2175,3443,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.2,-3.5,9,123,13.48,2.47,-6.60,0.000,4,0.153,0.051,2978,659,3785,0,0,0,0,0,0
$GC,161,-1.06,-146.0,20.8,-18.9,17,169,0.17,2.47,0.00,0.000,6,0.083,0.016,3020,2252,3786,0,0,0,0,0,0
$GC,445,-0.96,-146.0,62.0,-14.3,46,450,0.12,2.62,0.00,0.000,4,0.112,0.044,3048,655,3787,0,0,0,0,0,0
$GC,493,-0.91,-146.0,69.2,-13.2,49,497,0.00,2.35,0.00,0.000,6,0.000,0.016,3048,2204,3787,0,0,0,0,0,0
$GC,762,-0.86,-146.0,102.6,-12.4,73,767,0.10,2.55,0.00,0.000,4,0.118,0.044,3071,653,3788,0,0,0,0,0,0
$GC,795,-0.86,-146.0,107.1,-11.9,75,800,0.00,2.33,0.00,0.000,6,0.000,0.015,3071,2195,3788,0,0,0,0,0,0
$GC,1061,-0.86,-146.0,135.9,-11.0,99,1065,0.00,2.53,0.00,0.000,4,0.000,0.051,3071,658,3788,0,0,0,0,0,0
$GC,1095,-0.86,-146.0,139.4,-11.1,101,1099,0.00,2.33,0.00,0.000,6,0.000,0.025,3071,2184,3788,0,0,0,0,0,0
$GC,1363,-0.94,-146.0,164.5,-7.7,126,1367,0.00,2.50,0.00,0.000,4,0.000,0.039,3071,3765,3789,0,0,0,0,0,0
$GC,1388,-1.03,-146.0,165.9,-7.3,127,1393,0.15,2.42,0.00,0.000,6,0.054,0.019,3002,2201,3789,0,0,0,0,0,0
$GC,1652,-1.03,-146.0,193.0,-10.7,151,1657,0.15,2.55,0.00,0.000,4,0.091,0.048,3037,642,3789,0,0,0,0,0,0
$GC,1733,-1.12,-146.0,199.7,-8.1,157,1737,0.00,2.33,0.00,0.000,6,0.000,0.025,3037,2181,3789,0,0,0,0,0,0
$GC,1983,-1.20,-146.0,216.5,-6.5,163,1988,0.17,2.53,0.00,0.000,4,0.052,0.042,2969,3768,3790,0,0,0,0,0,0
$GC,2005,-1.20,-146.0,218.3,-7.8,163,2010,0.12,2.47,0.00,0.000,6,0.094,0.018,2999,2170,3790,0,0,0,0,0,0
$GC,2263,-1.20,-146.0,237.8,-7.7,170,2267,0.00,2.50,0.00,0.000,4,0.000,0.050,2999,637,3790,0,0,0,0,0,0
$GC,2279,-1.20,-146.0,239.4,-7.9,170,2283,0.00,2.35,0.00,0.000,6,0.000,0.020,2999,2178,3790,0,0,0,0,0,0
$GC,2545,-1.20,-146.0,260.9,-8.3,177,2549,0.00,2.53,0.00,0.000,4,0.000,0.040,2999,3765,3790,0,0,0,0,0,0
$GC,2569,-1.20,-146.0,262.8,-8.2,177,2573,0.00,2.47,0.00,0.000,6,0.000,0.020,2999,2183,3790,0,0,0,0,0,0
$GC,2824,-1.20,-146.0,283.9,-8.2,184,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2183,3789,0,0,0,0,0,0
$GC,3068,-1.20,-146.0,304.2,-8.2,190,3072,0.00,2.55,0.00,0.000,4,0.000,0.039,2998,3766,3789,0,0,0,0,0,0
$GC,3110,-1.20,-146.0,307.6,-8.3,191,3114,0.00,2.47,0.00,0.000,6,0.000,0.028,2999,2188,3789,0,0,0,0,0,0
$GC,3394,-1.24,-146.0,329.3,-7.3,198,3398,0.00,2.60,0.00,0.000,4,0.000,0.067,2999,634,3788,0,0,0,0,0,0
$GC,3426,-1.24,-146.0,331.9,-7.7,198,3432,0.00,2.38,0.00,0.000,6,0.000,0.031,2999,2162,3788,0,0,0,0,0,0
$GC,3679,-1.28,-146.0,350.6,-7.5,205,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2162,3787,0,0,0,0,0,0
$GC,3920,-1.32,-146.0,368.9,-7.6,211,3922,0.12,0.00,0.00,0.000,6,0.067,0.000,2946,2162,3786,0,0,0,0,0,0
$GC,4164,-1.26,-146.0,392.9,-9.9,217,4169,0.17,2.67,0.00,0.000,4,0.085,0.054,2986,3782,3785,0,0,0,0,0,0
$GC,4211,-1.31,-146.0,397.1,-8.7,218,4216,0.00,2.55,0.00,0.000,6,0.000,0.036,2986,2183,3785,0,0,0,0,0,0
$GC,4490,-1.31,-146.0,420.6,-8.4,225,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2182,3784,0,0,0,0,0,0
$GC,4733,-1.31,-146.0,439.9,-7.9,231,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2183,3783,0,0,0,0,0,0
$GC,4979,-1.31,-146.0,458.0,-7.2,237,4984,0.00,2.67,0.00,0.000,4,0.000,0.055,2986,3776,3782,0,0,0,0,0,0
$GC,5001,-1.31,-146.0,459.9,-7.7,237,5005,0.00,2.62,0.00,0.000,6,0.000,0.039,2986,2173,3782,0,0,0,0,0,0
$GC,5256,-1.31,-146.0,478.8,-7.6,244,5260,0.00,2.67,0.00,0.000,4,0.000,0.058,2986,3776,3780,0,0,0,0,0,0
$GC,5302,-1.35,-146.0,482.3,-8.3,245,5307,0.00,2.65,0.00,0.000,6,0.000,0.048,2986,2178,3780,0,0,0,0,0,0
$GC,5580,-1.35,-146.0,504.1,-7.9,252,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2178,3778,0,0,0,0,0,0
$GC,5824,-1.35,-146.0,522.7,-7.8,258,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2178,3777,0,0,0,0,0,0
$GC,6070,-1.35,-146.0,541.0,-7.5,264,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2178,3776,0,0,0,0,0,0
$GC,6311,-1.35,-146.0,559.4,-7.6,270,6316,0.00,2.80,0.00,0.000,4,0.000,0.081,2986,3779,3776,0,0,0,0,0,0
$GC,6345,-1.35,-146.0,561.9,-8.1,270,6351,0.00,2.70,0.00,0.000,6,0.000,0.060,2986,2186,3775,0,0,0,0,0,0
$GC,6595,-1.35,-146.0,581.3,-7.7,277,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2186,3774,0,0,0,0,0,0
$GC,6842,-1.35,-146.0,600.4,-7.9,283,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2186,3772,0,0,0,0,0,0
$GC,7083,-1.35,-146.0,619.5,-7.9,289,7087,0.00,2.83,0.00,0.000,4,0.000,0.084,2986,3779,3771,0,0,0,0,0,0
$GC,7104,-1.35,-146.0,621.3,-8.0,289,7109,0.00,2.75,0.00,0.000,6,0.000,0.065,2986,2187,3771,0,0,0,0,0,0
$GC,7362,-1.35,-146.0,641.1,-7.8,296,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2187,3770,0,0,0,0,0,0
$GC,7603,-1.35,-146.0,659.3,-7.4,302,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2187,3769,0,0,0,0,0,0
$GC,7847,-1.38,-146.0,676.3,-7.0,308,7852,0.12,2.92,0.00,0.000,4,0.067,0.101,2939,3776,3768,0,0,0,0,0,0
$GC,7871,-1.38,-146.0,678.2,-8.0,308,7876,0.00,2.88,0.00,0.000,6,0.000,0.091,2938,2189,3768,0,0,0,0,0,0
$GC,8127,-1.33,-146.0,700.4,-8.5,315,8129,0.15,0.00,0.00,0.000,6,0.095,0.000,2972,2188,3767,0,0,0,0,0,0
$GC,8370,-1.33,-146.0,718.4,-7.3,321,8375,0.00,3.00,0.00,0.000,4,0.000,0.120,2972,3771,3766,0,0,0,0,0,0
$GC,8405,-1.33,-146.0,721.0,-8.0,321,8411,0.00,2.97,0.00,0.000,6,0.000,0.109,2972,2198,3766,0,0,0,0,0,0
$GC,8655,-1.33,-146.0,739.6,-7.3,328,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2198,3764,0,0,0,0,0,0
$GC,8899,-1.33,-146.0,757.7,-7.5,334,8904,0.00,3.15,0.00,0.000,4,0.000,0.144,2972,3773,3763,0,0,0,0,0,0
$GC,8921,-1.33,-146.0,759.5,-7.8,334,8925,0.00,2.83,0.00,0.000,6,0.000,0.081,2972,2191,3763,0,0,0,0,0,0
$GC,9178,-1.33,-146.0,779.8,-8.1,341,9183,0.00,3.05,0.00,0.000,4,0.000,0.128,2972,615,3762,0,0,0,0,0,0
$GC,9205,-1.33,-146.0,782.4,-9.0,341,9210,0.00,2.72,0.00,0.000,6,0.000,0.068,2972,2178,3762,0,0,0,0,0,0
$GC,9456,-1.33,-146.0,803.8,-8.6,347,9460,0.00,2.95,0.00,0.000,4,0.000,0.106,2972,3800,3762,0,0,0,0,0,0
$GC,9479,-1.33,-146.0,805.7,-8.6,347,9484,0.00,2.80,0.00,0.000,6,0.000,0.073,2972,2194,3762,0,0,0,0,0,0
$GC,9734,-1.33,-146.0,826.6,-8.0,354,9739,0.00,2.88,0.00,0.000,4,0.000,0.087,2972,3805,3761,0,0,0,0,0,0
$GC,9750,-1.33,-146.0,827.9,-7.9,354,9755,0.00,2.78,0.00,0.000,6,0.000,0.071,2972,2198,3761,0,0,0,0,0,0
$GC,10014,-1.33,-146.0,848.3,-7.8,361,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2198,3761,0,0,0,0,0,0
$GC,10255,-1.33,-146.0,867.6,-8.0,367,10260,0.00,2.85,0.00,0.000,4,0.000,0.084,2972,3798,3760,0,0,0,0,0,0
$GC,10282,-1.33,-146.0,870.0,-8.9,367,10287,0.00,2.80,0.00,0.000,6,0.000,0.068,2972,2194,3760,0,0,0,0,0,0
$GC,10536,-1.33,-146.0,888.9,-7.5,373,10541,0.00,2.85,0.00,0.000,4,0.000,0.083,2972,3806,3759,0,0,0,0,0,0
$GC,10569,-1.33,-146.0,892.1,-8.8,373,10575,0.00,2.80,0.00,0.000,6,0.000,0.073,2972,2204,3759,0,0,0,0,0,0
$STATE,10695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10695,begin apogee
$GC,10701,-0.31,0.0,901.7,7.6,377,10825,0.95,0.00,120.07,1.203,6,0.067,0.000,3191,2386,3190,0,0,0,0,0,0
$STATE,10825,end apogee,CONTROL_FINISHED_OK
$STATE,10825,begin climb
$GC,10830,1.27,146.0,904.5,0.0,380,10966,1.42,2.83,126.80,1.174,4,0.035,0.084,3543,3930,2594,0,0,0,0,0,0
$GC,11030,1.15,146.0,891.1,12.3,384,11035,0.15,2.72,0.00,0.000,6,0.112,0.062,3512,2366,2589,0,0,0,0,0,0
$GC,11280,1.15,146.0,864.9,10.2,390,11284,0.00,2.75,0.00,0.000,4,0.000,0.063,3512,3939,2586,0,0,0,0,0,0
$GC,11323,1.09,146.0,860.2,10.9,391,11328,0.00,2.67,0.00,0.000,6,0.000,0.046,3512,2374,2586,0,0,0,0,0,0
$GC,11603,1.09,152.2,832.9,9.7,398,11614,0.00,3.05,5.45,0.831,4,0.000,0.115,3512,783,2569,0,0,0,0,0,0
$GC,11637,1.06,163.2,829.1,9.5,398,11657,0.10,2.70,11.82,1.016,6,0.129,0.049,3493,2379,2524,0,0,0,0,0,0
$GC,11934,1.09,189.3,802.9,8.8,406,11964,0.00,2.75,24.42,1.089,4,0.000,0.068,3493,3933,2418,0,0,0,0,0,0
$GC,11997,1.09,189.3,796.2,10.1,407,12002,0.00,2.62,0.00,0.000,6,0.000,0.044,3493,2374,2415,0,0,0,0,0,0
$GC,12253,1.11,207.2,772.7,9.2,414,12272,0.00,0.00,17.60,1.049,6,0.000,0.000,3493,2374,2345,0,0,0,0,0,0
$GC,12500,1.17,220.7,749.8,9.4,420,12519,0.00,3.15,13.65,1.005,4,0.000,0.121,3493,783,2290,0,0,0,0,0,0
$GC,12536,1.19,235.6,745.9,9.3,420,12557,0.10,2.67,15.40,1.012,6,0.084,0.044,3525,2375,2229,0,0,0,0,0,0
$GC,12828,1.19,235.6,712.2,11.9,428,12829,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2376,2225,0,0,0,0,0,0
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$STATE,18995,end climb,SURFACE_DEPTH_REACHED
$STATE,18995,begin surface coast
$FINISH,1.1,1.015171
$STATE,19042,end surface coast,CONTROL_FINISHED_OK
$STATE,19042,begin surface
$SM_CCo,19065,41.47,0.492,0,0,1763,350.04
$SM_GC,1.90,0.00,0.00,41.47,0.000,0.000,0.492,464,2184,1763,-12.87,-0.74,350.04
$IRIDIUM_FIX,1922.94,-8121.49,270602,020255
$TT8_MAMPS,0.026078
$HUMID,59.45
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,24.20
$XPDR_PINGS,70
$24V_AH,23.2,50.354
$10V_AH,10.1,44.486
$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,30.650,228.625,392.875,41.475,0.000,28.202,43.238,187.834,17.500,0.000,16.266,1526.731,14380.271,567.464,2295.405,760.547,33.373,1574.038,0.000,2286.725,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,144.196,1203.423,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,483.569,320.429,420.425,552.499,1050.331,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,54269,714
$CAP_FILE_SIZE,175715,0
$CFSIZE,260165632,103407616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020413,132305,1927.669,-8118.065,40,1.5,40,-3.7