version: 66.06
glider: 146
mission: 8
dive: 365
start: 4 4 113 10 59 43
data:
$ID,146
$MISSION,8
$DIVE,365
$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,-314687.25
$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,54
$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
$GPS1,105123,1925.114,-8109.953,39,1.4,39,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.4
$GPS2,105848,1925.098,-8109.917,14,1.5,31,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.247,-0.081
$KALMAN_X,-213023.9,18.3,-1.4,208618.2,-1216.4
$KALMAN_Y,125699.1,30.5,70.1,-122954.1,397.0
$MHEAD_RNG_PITCHd_Wd,112.0,3528,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.60,0.000,2,0.000,0.000,463,2176,3454,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.4,-4.2,9,122,13.45,0.00,-6.35,0.000,6,0.153,0.000,2977,2176,3787,0,0,0,0,0,0
$GC,397,-1.06,-146.0,63.4,-17.1,42,402,0.22,2.53,0.00,0.000,4,0.103,0.044,3025,647,3788,0,0,0,0,0,0
$GC,420,-0.88,-146.0,67.3,-17.1,43,425,0.20,2.45,0.00,0.000,6,0.094,0.016,3069,2250,3788,0,0,0,0,0,0
$GC,686,-0.88,-146.0,97.9,-11.5,67,691,0.00,2.60,0.00,0.000,4,0.000,0.043,3069,654,3788,0,0,0,0,0,0
$GC,718,-0.88,-146.0,101.7,-11.7,69,723,0.00,2.35,0.00,0.000,6,0.000,0.024,3069,2199,3788,0,0,0,0,0,0
$GC,987,-0.88,-146.0,129.9,-10.0,93,992,0.00,2.53,0.00,0.000,4,0.000,0.044,3069,651,3789,0,0,0,0,0,0
$GC,1022,-0.94,-146.0,133.2,-8.8,95,1026,0.00,2.38,0.00,0.000,6,0.000,0.016,3069,2197,3788,0,0,0,0,0,0
$GC,1287,-1.04,-146.0,153.7,-7.4,119,1293,0.15,0.00,0.00,0.000,6,0.057,0.000,3006,2197,3789,0,0,0,0,0,0
$GC,1550,-1.04,-146.0,178.1,-9.7,144,1555,0.12,2.53,0.00,0.000,4,0.097,0.044,3035,656,3789,0,0,0,0,0,0
$GC,1609,-1.12,-146.0,182.7,-7.3,148,1613,0.00,2.35,0.00,0.000,6,0.000,0.018,3035,2187,3790,0,0,0,0,0,0
$GC,1876,-1.20,-146.0,200.1,-6.9,172,1881,0.15,2.53,0.00,0.000,4,0.056,0.054,2969,652,3790,0,0,0,0,0,0
$GC,1912,-1.14,-146.0,203.5,-9.1,172,1918,0.20,2.35,0.00,0.000,6,0.084,0.023,3015,2182,3790,0,0,0,0,0,0
$GC,2162,-1.18,-146.0,221.9,-7.1,179,2167,0.00,2.55,0.00,0.000,4,0.000,0.041,3014,3779,3790,0,0,0,0,0,0
$GC,2213,-1.26,-146.0,225.6,-7.6,180,2218,0.12,2.45,0.00,0.000,6,0.062,0.024,2951,2198,3790,0,0,0,0,0,0
$GC,2488,-1.19,-146.0,251.6,-9.9,187,2493,0.22,2.58,0.00,0.000,4,0.076,0.056,3005,637,3790,0,0,0,0,0,0
$GC,2515,-1.19,-146.0,254.4,-8.3,187,2519,0.00,2.40,0.00,0.000,6,0.000,0.018,3004,2192,3790,0,0,0,0,0,0
$GC,2768,-1.23,-146.0,272.2,-7.1,193,2773,0.00,2.58,0.00,0.000,4,0.000,0.051,3004,641,3790,0,0,0,0,0,0
$GC,2785,-1.23,-146.0,273.8,-7.2,193,2789,0.00,2.40,0.00,0.000,6,0.000,0.021,3005,2191,3790,0,0,0,0,0,0
$GC,3046,-1.27,-146.0,292.5,-7.2,200,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2191,3789,0,0,0,0,0,0
$GC,3292,-1.31,-146.0,309.7,-6.9,206,3297,0.12,2.58,0.00,0.000,4,0.066,0.046,2952,3772,3788,0,0,0,0,0,0
$GC,3308,-1.31,-146.0,311.2,-7.0,206,3313,0.10,2.47,0.00,0.000,6,0.106,0.022,2976,2200,3788,0,0,0,0,0,0
$GC,3569,-1.31,-146.0,332.5,-8.2,213,3574,0.00,2.55,0.00,0.000,4,0.000,0.044,2976,3769,3788,0,0,0,0,0,0
$GC,3588,-1.31,-146.0,334.0,-8.3,213,3592,0.00,2.50,0.00,0.000,6,0.000,0.024,2976,2192,3788,0,0,0,0,0,0
$GC,3849,-1.31,-146.0,357.1,-8.9,220,3853,0.00,2.58,0.00,0.000,4,0.000,0.048,2976,3774,3787,0,0,0,0,0,0
$GC,3865,-1.31,-146.0,358.5,-8.9,220,3869,0.00,2.47,0.00,0.000,6,0.000,0.025,2976,2208,3787,0,0,0,0,0,0
$GC,4128,-1.31,-146.0,381.2,-8.6,227,4132,0.00,2.72,0.00,0.000,4,0.000,0.079,2976,630,3786,0,0,0,0,0,0
$GC,4155,-1.31,-146.0,383.7,-8.9,227,4159,0.00,2.47,0.00,0.000,6,0.000,0.034,2976,2182,3785,0,0,0,0,0,0
$GC,4405,-1.31,-146.0,404.2,-8.0,233,4409,0.00,2.65,0.00,0.000,4,0.000,0.050,2976,3786,3785,0,0,0,0,0,0
$GC,4423,-1.31,-146.0,405.6,-8.3,233,4427,0.00,2.55,0.00,0.000,6,0.000,0.031,2976,2198,3785,0,0,0,0,0,0
$GC,4685,-1.31,-146.0,426.8,-8.0,240,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2198,3784,0,0,0,0,0,0
$GC,4927,-1.31,-146.0,446.4,-8.0,246,4932,0.00,2.65,0.00,0.000,4,0.000,0.057,2976,3783,3782,0,0,0,0,0,0
$GC,4943,-1.31,-146.0,447.8,-8.1,246,4947,0.00,2.58,0.00,0.000,6,0.000,0.040,2976,2205,3783,0,0,0,0,0,0
$GC,5206,-1.31,-146.0,469.2,-8.3,253,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2206,3781,0,0,0,0,0,0
$GC,5447,-1.31,-146.0,489.5,-8.3,259,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2205,3780,0,0,0,0,0,0
$GC,5691,-1.31,-146.0,509.2,-8.0,265,5695,0.00,2.70,0.00,0.000,4,0.000,0.070,2976,3780,3779,0,0,0,0,0,0
$GC,5715,-1.31,-146.0,511.2,-8.7,265,5719,0.00,2.62,0.00,0.000,6,0.000,0.047,2976,2213,3779,0,0,0,0,0,0
$GC,5970,-1.31,-146.0,531.2,-7.8,272,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3777,0,0,0,0,0,0
$GC,6213,-1.31,-146.0,550.1,-7.8,278,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3777,0,0,0,0,0,0
$GC,6461,-1.31,-146.0,569.1,-7.7,284,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3775,0,0,0,0,0,0
$GC,6701,-1.31,-146.0,588.6,-8.0,290,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3774,0,0,0,0,0,0
$GC,6945,-1.31,-146.0,608.5,-8.3,296,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3772,0,0,0,0,0,0
$GC,7188,-1.31,-146.0,628.9,-8.4,302,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3771,0,0,0,0,0,0
$GC,7434,-1.31,-146.0,649.5,-8.3,308,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3771,0,0,0,0,0,0
$GC,7676,-1.31,-146.0,669.6,-8.3,314,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3769,0,0,0,0,0,0
$GC,7920,-1.31,-146.0,689.3,-8.1,320,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2213,3768,0,0,0,0,0,0
$GC,8168,-1.31,-146.0,708.7,-7.9,326,8172,0.00,3.08,0.00,0.000,4,0.000,0.135,2976,3779,3767,0,0,0,0,0,0
$GC,8193,-1.31,-146.0,710.9,-8.4,326,8198,0.00,2.97,0.00,0.000,6,0.000,0.110,2976,2205,3767,0,0,0,0,0,0
$GC,8448,-1.31,-146.0,730.9,-7.7,333,8453,0.00,3.30,0.00,0.000,4,0.000,0.162,2976,620,3766,0,0,0,0,0,0
$GC,8465,-1.31,-146.0,732.3,-7.6,333,8470,0.00,2.88,0.00,0.000,6,0.000,0.100,2976,2190,3767,0,0,0,0,0,0
$GC,8728,-1.31,-146.0,751.4,-7.3,340,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2191,3766,0,0,0,0,0,0
$GC,8969,-1.31,-146.0,769.4,-7.5,346,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2191,3764,0,0,0,0,0,0
$GC,9213,-1.31,-146.0,788.3,-7.8,352,9218,0.00,3.17,0.00,0.000,4,0.000,0.141,2976,3805,3763,0,0,0,0,0,0
$GC,9253,-1.31,-146.0,791.6,-8.8,353,9257,0.00,2.80,0.00,0.000,6,0.000,0.071,2976,2210,3763,0,0,0,0,0,0
$GC,9538,-1.31,-146.0,813.5,-7.6,360,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2210,3762,0,0,0,0,0,0
$GC,9779,-1.31,-146.0,831.6,-7.4,366,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2209,3762,0,0,0,0,0,0
$GC,10023,-1.31,-146.0,849.8,-7.4,372,10028,0.00,2.80,0.00,0.000,4,0.000,0.082,2976,3801,3761,0,0,0,0,0,0
$GC,10047,-1.31,-146.0,851.5,-7.8,372,10051,0.00,2.78,0.00,0.000,6,0.000,0.071,2976,2206,3761,0,0,0,0,0,0
$GC,10302,-1.31,-146.0,870.4,-7.4,379,10307,0.00,2.83,0.00,0.000,4,0.000,0.084,2976,3800,3760,0,0,0,0,0,0
$GC,10342,-1.35,-146.0,873.4,-7.8,380,10346,0.00,2.72,0.00,0.000,6,0.000,0.068,2976,2221,3760,0,0,0,0,0,0
$GC,10627,-1.35,-146.0,894.2,-7.3,387,10632,0.00,3.08,0.00,0.000,4,0.000,0.125,2976,621,3759,0,0,0,0,0,0
$GC,10649,-1.35,-146.0,896.1,-7.3,387,10653,0.00,2.75,0.00,0.000,6,0.000,0.064,2975,2225,3758,0,0,0,0,0,0
$STATE,10739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10739,begin apogee
$GC,10747,-0.31,0.0,902.7,7.3,390,10871,0.95,0.00,120.57,1.202,6,0.070,0.000,3193,2378,3190,0,0,0,0,0,0
$STATE,10872,end apogee,CONTROL_FINISHED_OK
$STATE,10872,begin climb
$GC,10874,1.27,146.0,905.9,0.0,393,11010,1.42,2.90,127.03,1.174,4,0.038,0.087,3543,3936,2593,0,0,0,0,0,0
$GC,11121,1.15,146.0,888.4,12.4,398,11126,0.15,2.72,0.00,0.000,6,0.116,0.054,3513,2368,2588,0,0,0,0,0,0
$GC,11371,1.13,156.1,863.8,9.5,404,11382,0.00,0.00,9.32,0.980,6,0.000,0.000,3514,2368,2553,0,0,0,0,0,0
$GC,11617,1.14,162.6,840.2,9.7,410,11631,0.00,2.80,7.20,0.920,4,0.000,0.060,3513,3938,2527,0,0,0,0,0,0
$GC,11710,1.09,162.6,829.9,10.8,412,11714,0.00,2.65,0.00,0.000,6,0.000,0.045,3514,2374,2525,0,0,0,0,0,0
$GC,11990,1.10,166.3,802.8,9.8,419,11996,0.00,0.00,4.68,0.769,6,0.000,0.000,3514,2374,2511,0,0,0,0,0,0
$GC,12231,1.11,177.4,779.2,9.5,425,12245,0.00,0.00,11.80,1.012,6,0.000,0.000,3514,2374,2466,0,0,0,0,0,0
$GC,12475,1.13,190.6,756.5,9.4,431,12494,0.00,2.78,13.32,1.022,4,0.000,0.061,3514,3938,2412,0,0,0,0,0,0
$GC,12530,1.13,190.6,750.8,11.0,432,12535,0.00,2.65,0.00,0.000,6,0.000,0.044,3514,2384,2411,0,0,0,0,0,0
$GC,12802,1.14,200.8,724.4,9.5,439,12818,0.00,3.17,10.62,0.969,4,0.000,0.126,3514,780,2370,0,0,0,0,0,0
$GC,12835,1.16,215.4,720.9,9.3,439,12855,0.00,2.72,15.23,1.004,6,0.000,0.048,3513,2388,2311,0,0,0,0,0,0
$GC,13125,1.16,215.4,690.3,10.7,447,13126,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2389,2307,0,0,0,0,0,0
$GC,13367,1.16,215.4,663.6,11.0,453,13369,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2389,2307,0,0,0,0,0,0
$GC,13610,1.16,215.4,636.7,11.0,459,13611,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2390,2306,0,0,0,0,0,0
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$STATE,19506,end climb,SURFACE_DEPTH_REACHED
$STATE,19506,begin surface coast
$FINISH,1.1,1.011572
$STATE,19544,end surface coast,CONTROL_FINISHED_OK
$STATE,19544,begin surface
$SM_CCo,19567,30.50,0.486,0,0,1763,350.04
$SM_GC,1.73,0.00,0.00,30.50,0.000,0.000,0.486,463,2170,1763,-12.87,-1.13,350.04
$IRIDIUM_FIX,1916.08,-8112.45,290602,050514
$TT8_MAMPS,0.026078
$HUMID,60.31
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,23.90
$XPDR_PINGS,69
$24V_AH,23.1,51.614
$10V_AH,10.1,45.650
$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
$DEVICE_SECS,30.450,196.400,410.850,30.500,0.000,30.038,33.721,190.796,17.250,0.000,32.703,1528.977,14953.541,555.039,2251.754,746.361,33.368,1530.689,0.000,2230.096,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,496.802,334.076,432.466,547.641,1043.475,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,57277,733
$CAP_FILE_SIZE,168465,0
$CFSIZE,260165632,102764544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040413,162736,1924.732,-8107.896,29,1.3,29,-3.8