version: 66.06
glider: 146
mission: 8
dive: 32
start: 1 22 113 3 42 37
data:
$ID,146
$MISSION,8
$DIVE,32
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,600
$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,300
$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,-307930.5
$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,3200
$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,2230
$C_ROLL_CLIMB,2360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,40
$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
$GPS1,032936,1924.459,-8112.486,38,1.0,38,-3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.6
$GPS2,034143,1924.414,-8112.480,9,1.5,9,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.241,0.097
$KALMAN_X,5986.8,-519.7,-0.6,-7794.5,2136.2
$KALMAN_Y,-1867.3,113.6,0.8,-3091.7,-645.2
$MHEAD_RNG_PITCHd_Wd,295.6,10764,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-63.40,0.000,2,0.000,0.000,466,2158,3439,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.3,-4.9,8,115,13.70,2.70,-6.30,0.000,4,0.176,0.048,2916,3810,3787,0,0,0,0,0,0
$GC,216,-0.87,-146.0,40.5,-23.0,23,222,0.45,2.53,0.00,0.000,6,0.112,0.025,3007,2227,3788,0,0,0,0,0,0
$GC,485,-0.64,-146.0,92.4,-18.7,47,490,0.25,2.60,0.00,0.000,4,0.114,0.048,3063,647,3787,0,0,0,0,0,0
$GC,555,-0.64,-146.0,103.3,-11.4,52,565,0.00,2.47,0.00,0.000,6,0.000,0.018,3063,2231,3787,0,0,0,0,0,0
$GC,823,-0.64,-146.0,131.4,-10.5,77,828,0.00,2.53,0.00,0.000,4,0.000,0.041,3063,3796,3788,0,0,0,0,0,0
$GC,840,-0.64,-146.0,134.1,-10.7,78,845,0.00,2.47,0.00,0.000,6,0.000,0.020,3063,2200,3788,0,0,0,0,0,0
$GC,1105,-0.64,-146.0,158.0,-8.9,102,1109,0.00,2.53,0.00,0.000,4,0.000,0.048,3063,653,3789,0,0,0,0,0,0
$GC,1134,-0.68,-146.0,160.9,-9.2,104,1139,0.00,2.42,0.00,0.000,6,0.000,0.025,3063,2220,3789,0,0,0,0,0,0
$GC,1399,-0.74,-146.0,182.7,-8.0,128,1404,0.10,2.53,0.00,0.000,4,0.084,0.042,3022,3797,3789,0,0,0,0,0,0
$GC,1445,-0.74,-146.0,187.1,-9.0,131,1450,0.00,2.47,0.00,0.000,6,0.000,0.023,3022,2212,3790,0,0,0,0,0,0
$GC,1711,-0.74,-146.0,211.7,-9.3,148,1715,0.00,2.55,0.00,0.000,4,0.000,0.040,3021,3794,3789,0,0,0,0,0,0
$GC,1729,-0.74,-146.0,213.2,-8.6,148,1733,0.00,2.45,0.00,0.000,6,0.000,0.027,3021,2214,3790,0,0,0,0,0,0
$GC,1991,-0.74,-146.0,234.6,-8.1,155,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2214,3789,0,0,0,0,0,0
$GC,2233,-0.74,-146.0,254.7,-8.3,161,2237,0.00,2.60,0.00,0.000,4,0.000,0.055,3021,660,3789,0,0,0,0,0,0
$GC,2258,-0.74,-146.0,256.6,-8.8,161,2262,0.00,2.42,0.00,0.000,6,0.000,0.020,3021,2213,3789,0,0,0,0,0,0
$GC,2513,-0.74,-146.0,276.7,-7.8,168,2517,0.00,2.58,0.00,0.000,4,0.000,0.046,3021,3805,3789,0,0,0,0,0,0
$GC,2534,-0.74,-146.0,278.6,-8.7,168,2539,0.00,2.50,0.00,0.000,6,0.000,0.022,3021,2215,3788,0,0,0,0,0,0
$GC,2791,-0.74,-146.0,298.8,-8.0,175,2796,0.00,2.65,0.00,0.000,4,0.000,0.066,3021,651,3787,0,0,0,0,0,0
$GC,2824,-0.74,-146.0,301.7,-8.3,175,2830,0.00,2.45,0.00,0.000,6,0.000,0.030,3021,2207,3787,0,0,0,0,0,0
$GC,3074,-0.74,-146.0,320.6,-7.5,182,3079,0.00,2.60,0.00,0.000,4,0.000,0.052,3021,3805,3787,0,0,0,0,0,0
$GC,3109,-0.78,-146.0,323.3,-7.8,182,3115,0.00,2.53,0.00,0.000,6,0.000,0.024,3021,2215,3787,0,0,0,0,0,0
$GC,3359,-0.78,-146.0,341.6,-7.3,189,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2216,3786,0,0,0,0,0,0
$GC,3603,-0.78,-146.0,360.8,-8.0,195,3608,0.00,2.62,0.00,0.000,4,0.000,0.052,3021,3804,3785,0,0,0,0,0,0
$GC,3625,-0.82,-146.0,362.6,-8.0,195,3629,0.00,2.53,0.00,0.000,6,0.000,0.031,3021,2213,3784,0,0,0,0,0,0
$GC,3882,-0.82,-146.0,383.2,-8.1,202,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2213,3783,0,0,0,0,0,0
$GC,4123,-0.82,-146.0,402.8,-8.1,208,4128,0.00,2.75,0.00,0.000,4,0.000,0.081,3021,652,3782,0,0,0,0,0,0
$GC,4151,-0.86,-146.0,405.1,-8.2,208,4155,0.00,2.53,0.00,0.000,6,0.000,0.034,3021,2210,3782,0,0,0,0,0,0
$GC,4403,-0.90,-146.0,424.0,-7.5,214,4408,0.00,2.70,0.00,0.000,4,0.000,0.064,3021,3816,3781,0,0,0,0,0,0
$GC,4437,-0.95,-146.0,427.0,-9.0,214,4443,0.12,2.60,0.00,0.000,6,0.071,0.036,2975,2224,3781,0,0,0,0,0,0
$GC,4689,-0.90,-146.0,450.8,-9.5,221,4695,0.12,2.70,0.00,0.000,4,0.112,0.061,3002,3809,3779,0,0,0,0,0,0
$GC,4711,-0.90,-146.0,453.2,-9.5,221,4716,0.00,2.60,0.00,0.000,6,0.000,0.040,3002,2231,3780,0,0,0,0,0,0
$GC,4967,-0.90,-146.0,474.0,-8.1,228,4972,0.00,2.90,0.00,0.000,4,0.000,0.107,3002,637,3778,0,0,0,0,0,0
$GC,4990,-0.90,-146.0,475.9,-8.3,228,4995,0.00,2.62,0.00,0.000,6,0.000,0.047,3002,2235,3778,0,0,0,0,0,0
$GC,5245,-0.90,-146.0,497.5,-8.5,235,5250,0.00,2.75,0.00,0.000,4,0.000,0.077,3002,3821,3777,0,0,0,0,0,0
$GC,5278,-0.90,-146.0,500.6,-8.6,235,5284,0.00,2.65,0.00,0.000,6,0.000,0.047,3002,2236,3777,0,0,0,0,0,0
$GC,5531,-0.90,-146.0,521.8,-8.4,242,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2236,3776,0,0,0,0,0,0
$GC,5772,-0.90,-146.0,541.9,-8.3,248,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2235,3775,0,0,0,0,0,0
$GC,6016,-0.90,-146.0,562.5,-8.5,254,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2236,3773,0,0,0,0,0,0
$GC,6260,-0.90,-146.0,582.1,-7.9,260,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2236,3771,0,0,0,0,0,0
$GC,6505,-0.90,-146.0,600.6,-7.5,266,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2235,3770,0,0,0,0,0,0
$GC,6747,-0.90,-146.0,620.0,-8.1,272,6752,0.00,3.05,0.00,0.000,4,0.000,0.125,3002,641,3769,0,0,0,0,0,0
$GC,6774,-0.90,-146.0,622.5,-8.9,272,6779,0.00,2.75,0.00,0.000,6,0.000,0.067,3002,2228,3769,0,0,0,0,0,0
$GC,7024,-0.90,-146.0,642.6,-8.1,278,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2228,3767,0,0,0,0,0,0
$GC,7270,-0.90,-146.0,662.1,-8.0,284,7275,0.00,3.03,0.00,0.000,4,0.000,0.122,3002,3815,3766,0,0,0,0,0,0
$GC,7302,-0.90,-146.0,665.0,-8.4,284,7308,0.00,2.85,0.00,0.000,6,0.000,0.095,3002,2236,3766,0,0,0,0,0,0
$GC,7553,-0.90,-146.0,684.5,-7.7,291,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2237,3764,0,0,0,0,0,0
$GC,7798,-0.90,-146.0,703.2,-7.6,297,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2237,3763,0,0,0,0,0,0
$GC,8040,-0.90,-146.0,722.4,-7.9,303,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2237,3762,0,0,0,0,0,0
$GC,8284,-0.90,-146.0,741.2,-7.6,309,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2237,3761,0,0,0,0,0,0
$GC,8527,-0.90,-146.0,759.0,-7.2,315,8532,0.00,3.28,0.00,0.000,4,0.000,0.163,3002,3817,3760,0,0,0,0,0,0
$GC,8551,-0.90,-146.0,760.9,-8.4,315,8556,0.00,2.72,0.00,0.000,6,0.000,0.064,3001,2230,3760,0,0,0,0,0,0
$GC,8806,-0.90,-146.0,780.6,-7.7,322,8811,0.00,3.05,0.00,0.000,4,0.000,0.127,3002,641,3759,0,0,0,0,0,0
$GC,8833,-0.90,-146.0,782.9,-8.9,322,8837,0.00,2.75,0.00,0.000,6,0.000,0.063,3002,2239,3759,0,0,0,0,0,0
$GC,9085,-0.90,-146.0,802.4,-7.9,328,9090,0.00,2.85,0.00,0.000,4,0.000,0.103,3002,3819,3757,0,0,0,0,0,0
$GC,9106,-0.90,-146.0,804.4,-8.4,328,9111,0.00,2.70,0.00,0.000,6,0.000,0.067,3002,2231,3757,0,0,0,0,0,0
$GC,9361,-0.90,-146.0,825.3,-8.3,335,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2231,3756,0,0,0,0,0,0
$GC,9607,-0.90,-146.0,844.7,-7.9,341,9612,0.00,2.83,0.00,0.000,4,0.000,0.087,3002,3825,3755,0,0,0,0,0,0
$GC,9634,-0.90,-146.0,847.3,-8.0,341,9639,0.00,2.72,0.00,0.000,6,0.000,0.067,3002,2239,3754,0,0,0,0,0,0
$GC,9884,-0.90,-146.0,866.3,-7.6,347,9885,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2239,3754,0,0,0,0,0,0
$GC,10128,-0.90,-146.0,885.2,-7.7,353,10132,0.00,2.80,0.00,0.000,4,0.000,0.081,3002,3818,3753,0,0,0,0,0,0
$GC,10164,-0.94,-146.0,887.9,-7.7,353,10170,0.00,2.70,0.00,0.000,6,0.000,0.068,3002,2253,3753,0,0,0,0,0,0
$STATE,10330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10330,begin apogee
$GC,10337,-0.31,0.0,901.0,7.6,358,10457,0.57,0.00,117.65,1.233,6,0.084,0.000,3130,2380,3190,0,0,0,0,0,0
$STATE,10458,end apogee,CONTROL_FINISHED_OK
$STATE,10458,begin climb
$GC,10463,1.27,146.0,905.2,0.0,361,10598,1.50,2.85,126.25,1.202,4,0.060,0.081,3472,3916,2593,0,0,0,0,0,0
$GC,10638,1.39,198.1,898.1,7.6,365,10691,0.12,2.72,46.85,1.160,6,0.080,0.060,3506,2359,2382,0,0,0,0,0,0
$GC,10952,1.41,215.1,869.9,9.2,373,10976,0.00,3.10,16.00,1.084,4,0.000,0.115,3506,768,2311,0,0,0,0,0,0
$GC,10996,1.43,228.4,865.9,9.4,374,11016,0.00,2.72,14.07,1.062,6,0.000,0.050,3505,2345,2257,0,0,0,0,0,0
$GC,11283,1.47,228.4,836.9,10.0,381,11288,0.00,2.83,0.00,0.000,4,0.000,0.076,3506,3937,2253,0,0,0,0,0,0
$GC,11304,1.47,228.4,834.5,10.6,381,11309,0.00,2.67,0.00,0.000,6,0.000,0.041,3506,2349,2252,0,0,0,0,0,0
$GC,11562,1.51,228.4,808.6,10.1,388,11567,0.00,3.03,0.00,0.000,4,0.000,0.116,3506,766,2251,0,0,0,0,0,0
$GC,11578,1.51,228.4,806.5,10.1,388,11582,0.00,2.70,0.00,0.000,6,0.000,0.044,3506,2370,2251,0,0,0,0,0,0
$GC,11839,1.55,228.4,780.2,10.1,395,11841,0.12,0.00,0.00,0.000,6,0.085,0.000,3539,2370,2251,0,0,0,0,0,0
$GC,12084,1.55,228.4,752.8,11.3,401,12089,0.00,2.88,0.00,0.000,4,0.000,0.080,3539,766,2250,0,0,0,0,0,0
$GC,12105,1.55,228.4,749.8,12.0,401,12110,0.00,2.67,0.00,0.000,6,0.000,0.048,3539,2356,2249,0,0,0,0,0,0
$GC,12361,1.55,228.4,720.3,11.6,408,12362,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2357,2248,0,0,0,0,0,0
$GC,12604,1.55,228.4,692.2,11.6,414,12609,0.00,2.75,0.00,0.000,4,0.000,0.072,3539,3932,2248,0,0,0,0,0,0
$GC,12627,1.55,228.4,689.4,12.2,414,12632,0.00,2.65,0.00,0.000,6,0.000,0.046,3539,2350,2247,0,0,0,0,0,0
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$STATE,18881,end climb,SURFACE_DEPTH_REACHED
$STATE,18881,begin surface coast
$FINISH,0.7,1.010211
$STATE,18923,end surface coast,CONTROL_FINISHED_OK
$STATE,18923,begin surface
$SM_CCo,19006,0.00,0.000,0,0,1836,332.14
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$IRIDIUM_FIX,1918.37,-8110.19,180402,030351
$TT8_MAMPS,0.026078
$HUMID,55.55
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.80
$XPDR_PINGS,62
$24V_AH,23.2,5.172
$10V_AH,10.4,4.143
$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,30.300,214.125,412.075,0.000,0.000,78.893,193.801,172.671,15.500,0.000,11.132,1471.135,14696.639,509.806,2136.121,908.466,33.356,1472.417,0.000,2139.253,0.000,0.536,0.000
$DEVICE_MAMPS,175.643,162.604,1232.569,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,476.490,319.489,411.444,512.161,976.219,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355864
$DATA_FILE_SIZE,53994,704
$CAP_FILE_SIZE,167054,0
$CFSIZE,260165632,126414848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220113,090036,1925.085,-8113.979,33,1.1,33,-3.8