version: 66.06
glider: 146
mission: 8
dive: 461
start: 4 26 113 0 7 25
data:
$ID,146
$MISSION,8
$DIVE,461
$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,-316448.59
$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,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
$GPS1,235505,1926.589,-8110.638,31,1.3,31,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-75.3
$GPS2,000631,1926.580,-8110.580,10,1.5,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TSE
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.181,-0.186
$KALMAN_X,-120538.4,306.5,114.2,114572.6,892.4
$KALMAN_Y,123479.3,423.9,-52.1,-118275.2,-172.2
$MHEAD_RNG_PITCHd_Wd,139.7,5928,-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,20,-1.27,-146.0,0.0,0.0,0,83,0.00,0.00,-60.30,0.000,2,0.000,0.000,456,2101,3217,0,0,0,0,0,0
$GC,86,-1.27,-146.0,3.0,-3.3,8,120,13.62,2.47,-11.77,0.000,4,0.160,0.058,2976,628,3787,0,0,0,0,0,0
$GC,207,-1.08,-146.0,28.0,-17.3,24,217,0.17,2.53,0.00,0.000,6,0.087,0.017,3019,2242,3787,0,0,0,0,0,0
$GC,475,-0.94,-146.0,71.3,-15.5,49,484,0.15,0.00,0.00,0.000,6,0.100,0.000,3053,2243,3788,0,0,0,0,0,0
$GC,742,-0.90,-146.0,104.9,-11.7,74,746,0.00,2.65,0.00,0.000,4,0.000,0.044,3053,632,3788,0,0,0,0,0,0
$GC,794,-0.90,-146.0,111.8,-12.1,78,798,0.00,2.42,0.00,0.000,6,0.000,0.016,3053,2204,3788,0,0,0,0,0,0
$GC,1059,-0.90,-146.0,139.6,-8.7,102,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2205,3788,0,0,0,0,0,0
$GC,1326,-0.97,-146.0,159.9,-7.4,127,1331,0.00,2.60,0.00,0.000,4,0.000,0.044,3053,625,3788,0,0,0,0,0,0
$GC,1370,-1.06,-146.0,163.2,-7.7,130,1375,0.10,2.42,0.00,0.000,6,0.076,0.019,2998,2212,3788,0,0,0,0,0,0
$GC,1637,-1.06,-146.0,187.4,-9.2,154,1642,0.12,2.50,0.00,0.000,4,0.092,0.035,3028,3775,3788,0,0,0,0,0,0
$GC,1695,-1.14,-146.0,192.4,-7.3,158,1700,0.00,2.47,0.00,0.000,6,0.000,0.019,3029,2179,3788,0,0,0,0,0,0
$GC,1973,-1.21,-146.0,212.4,-7.3,173,1978,0.15,2.55,0.00,0.000,4,0.057,0.050,2964,643,3789,0,0,0,0,0,0
$GC,2017,-1.17,-146.0,216.7,-9.3,174,2022,0.17,2.38,0.00,0.000,6,0.086,0.027,3004,2185,3789,0,0,0,0,0,0
$GC,2298,-1.17,-146.0,238.2,-7.7,181,2302,0.00,2.58,0.00,0.000,4,0.000,0.045,3004,3779,3788,0,0,0,0,0,0
$GC,2337,-1.22,-146.0,241.5,-8.5,182,2342,0.00,2.47,0.00,0.000,6,0.000,0.027,3004,2198,3788,0,0,0,0,0,0
$GC,2623,-1.22,-146.0,262.7,-7.4,189,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2198,3787,0,0,0,0,0,0
$GC,2865,-1.22,-146.0,281.9,-7.9,195,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2198,3787,0,0,0,0,0,0
$GC,3108,-1.26,-146.0,300.4,-7.6,201,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2198,3787,0,0,0,0,0,0
$GC,3352,-1.30,-146.0,318.7,-7.5,207,3354,0.12,0.00,0.00,0.000,6,0.065,0.000,2951,2198,3785,0,0,0,0,0,0
$GC,3598,-1.24,-146.0,341.7,-9.6,213,3600,0.17,0.00,0.00,0.000,6,0.084,0.000,2993,2198,3784,0,0,0,0,0,0
$GC,3839,-1.24,-146.0,360.8,-7.8,219,3844,0.00,2.58,0.00,0.000,4,0.000,0.046,2993,3768,3784,0,0,0,0,0,0
$GC,3867,-1.24,-146.0,363.1,-8.5,219,3871,0.00,2.50,0.00,0.000,6,0.000,0.026,2993,2202,3784,0,0,0,0,0,0
$GC,4119,-1.24,-146.0,383.0,-8.0,225,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2202,3783,0,0,0,0,0,0
$GC,4361,-1.24,-146.0,402.4,-8.0,231,4365,0.00,2.70,0.00,0.000,4,0.000,0.079,2993,635,3782,0,0,0,0,0,0
$GC,4393,-1.24,-146.0,405.1,-8.6,231,4399,0.00,2.47,0.00,0.000,6,0.000,0.033,2993,2176,3782,0,0,0,0,0,0
$GC,4646,-1.24,-146.0,424.6,-7.8,238,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2176,3781,0,0,0,0,0,0
$GC,4887,-1.24,-146.0,444.5,-8.3,244,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2176,3780,0,0,0,0,0,0
$GC,5131,-1.24,-146.0,461.9,-7.0,250,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2176,3779,0,0,0,0,0,0
$GC,5375,-1.28,-146.0,479.0,-7.0,256,5380,0.00,2.72,0.00,0.000,4,0.000,0.067,2993,3787,3778,0,0,0,0,0,0
$GC,5405,-1.32,-146.0,481.3,-7.9,256,5409,0.00,2.62,0.00,0.000,6,0.000,0.046,2993,2208,3777,0,0,0,0,0,0
$GC,5655,-1.36,-146.0,499.8,-7.3,262,5661,0.12,2.90,0.00,0.000,4,0.067,0.100,2944,620,3776,0,0,0,0,0,0
$GC,5677,-1.36,-146.0,501.8,-8.8,262,5682,0.00,2.60,0.00,0.000,6,0.000,0.049,2944,2191,3777,0,0,0,0,0,0
$GC,5935,-1.30,-146.0,524.9,-8.9,269,5937,0.15,0.00,0.00,0.000,6,0.093,0.000,2979,2191,3775,0,0,0,0,0,0
$GC,6176,-1.30,-146.0,543.7,-7.8,275,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2191,3775,0,0,0,0,0,0
$GC,6423,-1.30,-146.0,563.0,-7.8,281,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2191,3773,0,0,0,0,0,0
$GC,6666,-1.30,-146.0,582.9,-8.1,287,6671,0.00,2.88,0.00,0.000,4,0.000,0.094,2979,3796,3772,0,0,0,0,0,0
$GC,6688,-1.30,-146.0,585.0,-8.2,287,6692,0.00,2.70,0.00,0.000,6,0.000,0.061,2979,2204,3772,0,0,0,0,0,0
$GC,6943,-1.30,-146.0,605.3,-8.0,294,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2204,3770,0,0,0,0,0,0
$GC,7189,-1.30,-146.0,624.5,-7.9,300,7194,0.00,2.88,0.00,0.000,4,0.000,0.091,2978,3796,3769,0,0,0,0,0,0
$GC,7205,-1.30,-146.0,626.0,-7.6,300,7209,0.00,2.80,0.00,0.000,6,0.000,0.071,2978,2192,3769,0,0,0,0,0,0
$GC,7465,-1.30,-146.0,645.6,-7.6,307,7470,0.00,3.03,0.00,0.000,4,0.000,0.125,2979,619,3768,0,0,0,0,0,0
$GC,7481,-1.30,-146.0,647.0,-7.7,307,7486,0.00,2.72,0.00,0.000,6,0.000,0.071,2979,2187,3767,0,0,0,0,0,0
$GC,7744,-1.30,-146.0,667.3,-7.8,314,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2187,3767,0,0,0,0,0,0
$GC,7986,-1.30,-146.0,686.7,-8.0,320,7991,0.00,3.08,0.00,0.000,4,0.000,0.123,2979,3794,3766,0,0,0,0,0,0
$GC,8010,-1.30,-146.0,688.8,-8.4,320,8015,0.00,2.97,0.00,0.000,6,0.000,0.106,2979,2195,3765,0,0,0,0,0,0
$GC,8269,-1.30,-146.0,708.7,-7.8,327,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2195,3763,0,0,0,0,0,0
$GC,8509,-1.30,-146.0,727.0,-7.5,333,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2195,3762,0,0,0,0,0,0
$GC,8753,-1.30,-146.0,745.4,-7.5,339,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2195,3761,0,0,0,0,0,0
$GC,8999,-1.30,-146.0,764.5,-7.9,345,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2194,3760,0,0,0,0,0,0
$GC,9240,-1.30,-146.0,782.7,-7.4,351,9245,0.00,2.92,0.00,0.000,4,0.000,0.096,2979,3802,3759,0,0,0,0,0,0
$GC,9290,-1.35,-146.0,786.5,-7.5,352,9295,0.00,2.85,0.00,0.000,6,0.000,0.077,2979,2187,3759,0,0,0,0,0,0
$GC,9565,-1.35,-146.0,807.3,-7.7,359,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2188,3758,0,0,0,0,0,0
$GC,9806,-1.35,-146.0,825.5,-7.3,365,9810,0.00,2.90,0.00,0.000,4,0.000,0.092,2978,3800,3756,0,0,0,0,0,0
$GC,9850,-1.39,-146.0,829.0,-7.8,366,9856,0.10,2.83,0.00,0.000,6,0.080,0.071,2938,2193,3756,0,0,0,0,0,0
$GC,10131,-1.35,-146.0,853.4,-8.9,373,10137,0.12,3.00,0.00,0.000,4,0.104,0.117,2965,616,3755,0,0,0,0,0,0
$GC,10150,-1.35,-146.0,855.2,-8.6,373,10154,0.00,2.72,0.00,0.000,6,0.000,0.068,2965,2203,3755,0,0,0,0,0,0
$GC,10410,-1.35,-146.0,874.8,-7.4,380,10415,0.00,2.90,0.00,0.000,4,0.000,0.099,2966,3797,3753,0,0,0,0,0,0
$GC,10428,-1.35,-146.0,876.0,-7.5,380,10433,0.00,2.78,0.00,0.000,6,0.000,0.065,2965,2201,3754,0,0,0,0,0,0
$GC,10689,-1.35,-146.0,896.8,-7.9,387,10694,0.00,2.85,0.00,0.000,4,0.000,0.088,2965,3798,3753,0,0,0,0,0,0
$GC,10722,-1.35,-146.0,899.5,-8.0,387,10727,0.00,2.78,0.00,0.000,6,0.000,0.071,2965,2208,3752,0,0,0,0,0,0
$STATE,10766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10766,begin apogee
$GC,10775,-0.31,0.0,902.9,7.6,389,10899,0.98,0.00,120.53,1.207,6,0.067,0.000,3189,2389,3189,0,0,0,0,0,0
$STATE,10900,end apogee,CONTROL_FINISHED_OK
$STATE,10900,begin climb
$GC,10902,1.27,146.0,905.7,0.0,392,11040,1.42,2.85,128.77,1.177,4,0.044,0.082,3542,3934,2592,0,0,0,0,0,0
$GC,11134,1.16,146.0,889.2,12.2,397,11139,0.15,2.75,0.00,0.000,6,0.115,0.058,3513,2365,2588,0,0,0,0,0,0
$GC,11395,1.18,161.3,864.1,9.3,404,11411,0.00,0.00,13.93,1.048,6,0.000,0.000,3513,2366,2532,0,0,0,0,0,0
$GC,11641,1.20,178.1,841.8,9.2,410,11665,0.00,2.80,16.42,1.063,4,0.000,0.063,3513,3931,2463,0,0,0,0,0,0
$GC,11688,1.17,187.9,836.8,9.5,411,11704,0.00,2.70,10.93,1.008,6,0.000,0.048,3513,2369,2423,0,0,0,0,0,0
$GC,11968,1.17,187.9,808.1,10.4,418,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2369,2418,0,0,0,0,0,0
$GC,12209,1.17,187.9,782.8,10.4,424,12213,0.00,2.70,0.00,0.000,4,0.000,0.062,3513,3931,2417,0,0,0,0,0,0
$GC,12230,1.17,187.9,780.4,11.3,424,12234,0.00,2.67,0.00,0.000,6,0.000,0.050,3513,2375,2417,0,0,0,0,0,0
$GC,12485,1.17,187.9,754.1,10.2,431,12490,0.00,2.70,0.00,0.000,4,0.000,0.061,3513,3932,2416,0,0,0,0,0,0
$GC,12522,1.17,187.9,750.5,10.7,431,12527,0.00,2.67,0.00,0.000,6,0.000,0.053,3513,2378,2416,0,0,0,0,0,0
$GC,12772,1.17,188.8,725.1,10.0,438,12773,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,2378,2416,0,0,0,0,0,0
$GC,13015,1.18,191.5,700.9,9.9,444,13020,0.00,2.67,0.00,0.000,4,0.000,0.067,3514,3931,2415,0,0,0,0,0,0
$GC,13044,1.18,191.5,698.0,10.7,444,13049,0.00,2.65,0.00,0.000,6,0.000,0.055,3513,2380,2414,0,0,0,0,0,0
$GC,13297,1.19,199.9,673.7,9.6,450,13310,0.00,0.00,11.18,0.959,6,0.000,0.000,3513,2380,2374,0,0,0,0,0,0
$GC,13538,1.19,199.9,648.8,10.3,456,13542,0.00,2.70,0.00,0.000,4,0.000,0.065,3513,3940,2372,0,0,0,0,0,0
$GC,13574,1.19,199.9,645.1,10.9,456,13580,0.00,2.70,0.00,0.000,6,0.000,0.053,3513,2366,2372,0,0,0,0,0,0
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$STATE,19745,end climb,SURFACE_DEPTH_REACHED
$STATE,19745,begin surface coast
$FINISH,1.1,1.000983
$STATE,19794,end surface coast,CONTROL_FINISHED_OK
$STATE,19795,begin surface
$SM_CCo,19820,39.80,0.479,0,0,1762,350.04
$SM_GC,2.07,0.00,0.00,39.80,0.000,0.000,0.479,457,2185,1762,-12.90,-0.71,350.04
$IRIDIUM_FIX,1918.37,-8114.71,200702,181813
$TT8_MAMPS,0.025311
$HUMID,61.61
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.70
$XPDR_PINGS,131
$24V_AH,23.1,64.967
$10V_AH,10.0,57.873
$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,30.675,187.475,395.675,39.800,0.000,28.235,37.298,443.741,32.750,0.000,12.361,1553.624,15063.571,558.127,2340.212,1018.044,33.375,1542.908,0.000,2347.761,0.000,0.537,0.000
$DEVICE_MAMPS,182.546,125.021,1207.258,478.608,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,511.404,357.970,455.263,600.960,1141.402,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355868
$DATA_FILE_SIZE,57371,756
$CAP_FILE_SIZE,169550,0
$CFSIZE,260165632,95813632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260413,053936,1924.774,-8106.684,28,1.2,28,-3.8