version: 66.06
glider: 146
mission: 8
dive: 454
start: 4 24 113 8 49 51
data:
$ID,146
$MISSION,8
$DIVE,454
$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,-316323.34
$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,79
$R_STBD_OVSHOOT,32
$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
$GPS1,084106,1924.950,-8112.250,34,1.6,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-76.5
$GPS2,084855,1924.937,-8112.166,12,1.7,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.252,0.062
$KALMAN_X,-134441.8,-127.8,121.6,126129.5,1896.5
$KALMAN_Y,128235.7,-149.2,-155.1,-125385.4,-124.8
$MHEAD_RNG_PITCHd_Wd,287.6,10881,-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,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.35,0.000,2,0.000,0.000,458,2159,3492,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.8,-5.0,9,122,13.75,2.40,-5.12,0.000,4,0.163,0.046,2978,675,3786,0,0,0,0,0,0
$GC,343,-1.07,-146.0,61.2,-18.5,34,348,0.22,2.40,0.00,0.000,6,0.102,0.016,3026,2234,3787,0,0,0,0,0,0
$GC,608,-0.96,-146.0,97.0,-12.5,58,613,0.10,2.55,0.00,0.000,4,0.117,0.042,3049,678,3788,0,0,0,0,0,0
$GC,633,-0.89,-146.0,99.8,-12.1,59,637,0.00,2.35,0.00,0.000,6,0.000,0.015,3049,2210,3788,0,0,0,0,0,0
$GC,902,-0.89,-146.0,128.9,-10.0,83,907,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2210,3789,0,0,0,0,0,0
$GC,1164,-0.95,-146.0,153.4,-7.7,108,1168,0.00,2.53,0.00,0.000,4,0.000,0.044,3049,674,3789,0,0,0,0,0,0
$GC,1196,-1.01,-146.0,155.7,-7.5,110,1200,0.00,2.35,0.00,0.000,6,0.000,0.021,3049,2203,3789,0,0,0,0,0,0
$GC,1459,-1.10,-146.0,174.3,-7.3,134,1461,0.12,0.00,0.00,0.000,6,0.064,0.000,2991,2204,3789,0,0,0,0,0,0
$GC,1716,-1.10,-146.0,197.4,-9.3,158,1721,0.12,0.00,0.00,0.000,6,0.093,0.000,3021,2204,3789,0,0,0,0,0,0
$GC,1988,-1.15,-146.0,218.0,-7.2,167,1992,0.00,2.53,0.00,0.000,4,0.000,0.038,3021,3772,3790,0,0,0,0,0,0
$GC,2015,-1.22,-146.0,220.1,-7.4,167,2020,0.12,2.40,0.00,0.000,6,0.064,0.019,2963,2225,3789,0,0,0,0,0,0
$GC,2268,-1.17,-146.0,244.1,-9.9,173,2273,0.17,2.62,0.00,0.000,4,0.085,0.052,3005,637,3789,0,0,0,0,0,0
$GC,2297,-1.17,-146.0,247.0,-8.9,173,2301,0.00,2.40,0.00,0.000,6,0.000,0.026,3005,2181,3789,0,0,0,0,0,0
$GC,2550,-1.21,-146.0,266.8,-7.8,179,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2181,3788,0,0,0,0,0,0
$GC,2791,-1.25,-146.0,284.1,-7.0,185,2796,0.00,2.55,0.00,0.000,4,0.000,0.056,3005,642,3788,0,0,0,0,0,0
$GC,2819,-1.29,-146.0,286.4,-7.6,185,2824,0.12,2.42,0.00,0.000,6,0.063,0.028,2945,2188,3787,0,0,0,0,0,0
$GC,3072,-1.21,-146.0,310.9,-10.0,191,3077,0.22,2.58,0.00,0.000,4,0.080,0.041,2997,3780,3787,0,0,0,0,0,0
$GC,3106,-1.25,-146.0,314.3,-8.5,191,3112,0.00,2.50,0.00,0.000,6,0.000,0.026,2996,2188,3787,0,0,0,0,0,0
$GC,3356,-1.25,-146.0,333.9,-7.7,198,3361,0.00,2.62,0.00,0.000,4,0.000,0.045,2997,3785,3787,0,0,0,0,0,0
$GC,3386,-1.29,-146.0,336.2,-8.2,198,3390,0.00,2.53,0.00,0.000,6,0.000,0.031,2997,2197,3786,0,0,0,0,0,0
$GC,3636,-1.29,-146.0,354.9,-7.5,204,3640,0.00,2.65,0.00,0.000,4,0.000,0.064,2996,630,3785,0,0,0,0,0,0
$GC,3663,-1.29,-146.0,357.1,-7.8,204,3667,0.00,2.50,0.00,0.000,6,0.000,0.027,2996,2198,3785,0,0,0,0,0,0
$GC,3916,-1.29,-146.0,375.6,-7.3,210,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2198,3784,0,0,0,0,0,0
$GC,4157,-1.29,-146.0,393.2,-7.2,216,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2198,3783,0,0,0,0,0,0
$GC,4401,-1.33,-146.0,411.8,-7.7,222,4403,0.12,0.00,0.00,0.000,6,0.063,0.000,2941,2198,3782,0,0,0,0,0,0
$GC,4647,-1.26,-146.0,435.3,-9.7,228,4652,0.20,2.72,0.00,0.000,4,0.083,0.070,2987,634,3781,0,0,0,0,0,0
$GC,4669,-1.26,-146.0,437.5,-8.2,228,4673,0.00,2.53,0.00,0.000,6,0.000,0.035,2987,2189,3782,0,0,0,0,0,0
$GC,4924,-1.26,-146.0,456.8,-7.5,235,4929,0.00,2.72,0.00,0.000,4,0.000,0.061,2987,3797,3780,0,0,0,0,0,0
$GC,4954,-1.26,-146.0,459.1,-8.0,235,4959,0.00,2.60,0.00,0.000,6,0.000,0.040,2987,2212,3780,0,0,0,0,0,0
$GC,5206,-1.26,-146.0,477.5,-7.3,241,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2212,3779,0,0,0,0,0,0
$GC,5448,-1.26,-146.0,495.6,-7.5,247,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2212,3778,0,0,0,0,0,0
$GC,5692,-1.26,-146.0,514.3,-7.8,253,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2212,3777,0,0,0,0,0,0
$GC,5938,-1.26,-146.0,532.6,-7.5,259,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2212,3776,0,0,0,0,0,0
$GC,6179,-1.26,-146.0,550.4,-7.2,265,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2212,3775,0,0,0,0,0,0
$GC,6423,-1.26,-146.0,567.7,-7.0,271,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2212,3774,0,0,0,0,0,0
$GC,6667,-1.26,-146.0,585.2,-7.2,277,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2212,3773,0,0,0,0,0,0
$GC,6910,-1.26,-146.0,603.1,-7.4,283,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2212,3772,0,0,0,0,0,0
$GC,7155,-1.29,-146.0,622.0,-7.8,289,7159,0.00,2.90,0.00,0.000,4,0.000,0.101,2987,3790,3770,0,0,0,0,0,0
$GC,7176,-1.33,-146.0,623.9,-8.1,289,7181,0.00,2.78,0.00,0.000,6,0.000,0.078,2987,2206,3770,0,0,0,0,0,0
$GC,7434,-1.37,-146.0,643.7,-7.6,296,7436,0.12,0.00,0.00,0.000,6,0.067,0.000,2939,2206,3769,0,0,0,0,0,0
$GC,7675,-1.32,-146.0,666.4,-9.4,302,7681,0.15,2.95,0.00,0.000,4,0.096,0.109,2973,3787,3768,0,0,0,0,0,0
$GC,7704,-1.32,-146.0,669.1,-8.7,302,7708,0.00,2.88,0.00,0.000,6,0.000,0.093,2973,2209,3768,0,0,0,0,0,0
$GC,7956,-1.32,-146.0,688.7,-7.8,308,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2209,3767,0,0,0,0,0,0
$GC,8197,-1.32,-146.0,708.5,-8.1,314,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2209,3765,0,0,0,0,0,0
$GC,8441,-1.32,-146.0,728.4,-8.1,320,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2209,3764,0,0,0,0,0,0
$GC,8685,-1.32,-146.0,748.1,-8.1,326,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2209,3762,0,0,0,0,0,0
$GC,8931,-1.32,-146.0,767.6,-7.9,332,8936,0.00,3.35,0.00,0.000,4,0.000,0.170,2973,3787,3762,0,0,0,0,0,0
$GC,8964,-1.32,-146.0,770.6,-8.6,332,8970,0.00,2.83,0.00,0.000,6,0.000,0.088,2973,2209,3762,0,0,0,0,0,0
$GC,9214,-1.32,-146.0,790.6,-8.0,339,9219,0.00,2.88,0.00,0.000,4,0.000,0.096,2973,3789,3761,0,0,0,0,0,0
$GC,9238,-1.32,-146.0,792.4,-8.2,339,9243,0.00,2.78,0.00,0.000,6,0.000,0.074,2973,2217,3760,0,0,0,0,0,0
$GC,9493,-1.32,-146.0,811.9,-7.5,346,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2217,3759,0,0,0,0,0,0
$GC,9737,-1.32,-146.0,829.3,-7.1,352,9742,0.00,2.83,0.00,0.000,4,0.000,0.088,2973,3788,3758,0,0,0,0,0,0
$GC,9766,-1.32,-146.0,831.4,-7.6,352,9771,0.00,2.78,0.00,0.000,6,0.000,0.072,2973,2215,3758,0,0,0,0,0,0
$GC,10016,-1.32,-146.0,850.0,-7.3,358,10021,0.00,3.08,0.00,0.000,4,0.000,0.127,2973,622,3757,0,0,0,0,0,0
$GC,10038,-1.32,-146.0,851.6,-7.5,358,10043,0.00,2.75,0.00,0.000,6,0.000,0.062,2973,2212,3757,0,0,0,0,0,0
$GC,10295,-1.32,-146.0,870.1,-7.1,365,10297,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2212,3756,0,0,0,0,0,0
$GC,10537,-1.32,-146.0,887.0,-6.9,371,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2212,3755,0,0,0,0,0,0
$STATE,10737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10737,begin apogee
$GC,10743,-0.31,0.0,900.8,6.8,376,10868,0.95,0.00,120.78,1.209,6,0.070,0.000,3191,2378,3190,0,0,0,0,0,0
$STATE,10868,end apogee,CONTROL_FINISHED_OK
$STATE,10869,begin climb
$GC,10871,1.27,146.0,903.8,0.0,379,11008,1.42,2.92,128.50,1.180,4,0.036,0.094,3542,3946,2593,0,0,0,0,0,0
$GC,11053,1.15,146.0,893.7,11.6,383,11059,0.15,2.78,0.00,0.000,6,0.116,0.058,3512,2367,2589,0,0,0,0,0,0
$GC,11323,1.17,165.9,868.8,9.1,390,11343,0.00,0.00,18.33,1.088,6,0.000,0.000,3512,2367,2513,0,0,0,0,0,0
$GC,11564,1.19,184.0,846.4,9.2,396,11583,0.00,0.00,17.40,1.074,6,0.000,0.000,3512,2367,2440,0,0,0,0,0,0
$GC,11808,1.20,188.3,822.7,9.8,402,11815,0.00,0.00,5.18,0.815,6,0.000,0.000,3512,2367,2422,0,0,0,0,0,0
$GC,12053,1.20,188.3,797.0,10.6,408,12058,0.00,2.72,0.00,0.000,4,0.000,0.065,3512,3937,2420,0,0,0,0,0,0
$GC,12092,1.20,188.3,792.3,12.2,409,12097,0.00,2.70,0.00,0.000,6,0.000,0.051,3512,2360,2420,0,0,0,0,0,0
$GC,12375,1.20,188.3,762.6,10.4,416,12380,0.00,2.72,0.00,0.000,4,0.000,0.065,3512,3937,2419,0,0,0,0,0,0
$GC,12393,1.20,188.3,760.8,10.7,416,12398,0.00,2.70,0.00,0.000,6,0.000,0.052,3512,2366,2418,0,0,0,0,0,0
$GC,12653,1.20,188.3,734.1,10.1,423,12658,0.00,2.72,0.00,0.000,4,0.000,0.060,3512,3941,2418,0,0,0,0,0,0
$GC,12685,1.20,188.3,730.6,11.0,423,12691,0.00,2.72,0.00,0.000,6,0.000,0.055,3512,2360,2418,0,0,0,0,0,0
$GC,12938,1.21,196.5,706.4,9.6,430,12953,0.00,2.80,8.68,0.929,4,0.000,0.066,3512,3937,2387,0,0,0,0,0,0
$GC,12965,1.21,197.9,703.6,9.9,430,12969,0.00,2.70,0.00,0.000,6,0.000,0.055,3512,2371,2387,0,0,0,0,0,0
$GC,13220,1.23,211.1,679.3,9.4,437,13237,0.00,0.00,15.27,0.996,6,0.000,0.000,3512,2371,2329,0,0,0,0,0,0
$GC,13466,1.23,211.1,654.5,10.3,443,13470,0.00,2.72,0.00,0.000,4,0.000,0.063,3512,3942,2325,0,0,0,0,0,0
$GC,13498,1.23,211.1,650.5,11.0,443,13504,0.00,2.70,0.00,0.000,6,0.000,0.051,3512,2373,2325,0,0,0,0,0,0
$GC,13748,1.23,211.1,624.0,10.7,450,13749,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2373,2324,0,0,0,0,0,0
$GC,13994,1.23,211.1,598.2,10.5,456,13995,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2373,2324,0,0,0,0,0,0
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$STATE,19705,end climb,SURFACE_DEPTH_REACHED
$STATE,19705,begin surface coast
$FINISH,1.2,1.023145
$STATE,19748,end surface coast,CONTROL_FINISHED_OK
$STATE,19748,begin surface
$SM_CCo,19771,29.20,0.476,0,0,1762,350.04
$SM_GC,1.85,0.00,0.00,29.20,0.000,0.000,0.476,459,2174,1762,-12.88,-1.02,350.04
$IRIDIUM_FIX,1916.08,-8112.45,190702,030337
$TT8_MAMPS,0.025311
$HUMID,61.38
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.80
$XPDR_PINGS,127
$24V_AH,23.0,63.935
$10V_AH,10.0,56.970
$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,31.050,190.600,410.700,29.200,0.000,24.361,47.270,219.656,31.750,0.000,14.377,1515.680,15182.782,555.792,2211.915,793.399,33.371,1508.215,0.000,2208.287,0.000,0.537,0.000
$DEVICE_MAMPS,162.604,170.274,1208.792,475.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,496.699,340.083,435.814,562.887,1069.276,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,57381,734
$CAP_FILE_SIZE,167025,0
$CFSIZE,260165632,96321536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240413,142106,1924.949,-8113.378,31,1.0,31,-3.8