version: 66.06
glider: 146
mission: 8
dive: 62
start: 1 28 113 21 33 1
data:
$ID,146
$MISSION,8
$DIVE,62
$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,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,-308541.19
$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,3250
$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,41
$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,3200
$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
$GPS1,212436,1926.189,-8116.760,29,1.4,29,-3.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-74.7
$GPS2,213207,1926.193,-8116.794,15,1.4,15,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.243,0.055
$KALMAN_X,62396.3,-251.3,283.6,-72303.4,2283.2
$KALMAN_Y,-6107.0,-246.7,-207.8,5017.4,490.5
$MHEAD_RNG_PITCHd_Wd,286.5,2583,-18.4,-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,-1.31,-133.5,0.0,0.0,0,85,0.00,0.00,-63.50,0.000,2,0.000,0.000,466,2157,3326,0,0,0,0,0,0
$GC,90,-1.33,-146.0,3.0,-4.1,8,124,13.55,2.50,-9.12,0.000,4,0.166,0.051,2954,648,3797,0,0,0,0,0,0
$GC,341,-1.12,-146.0,56.0,-19.1,35,346,0.25,2.47,0.00,0.000,6,0.107,0.017,3006,2251,3797,0,0,0,0,0,0
$GC,610,-1.00,-146.0,99.0,-15.9,59,615,0.12,0.00,0.00,0.000,6,0.120,0.000,3032,2252,3798,0,0,0,0,0,0
$GC,872,-1.00,-146.0,133.3,-11.4,84,877,0.00,2.62,0.00,0.000,4,0.000,0.046,3032,656,3798,0,0,0,0,0,0
$GC,940,-1.00,-146.0,140.8,-10.4,89,944,0.00,2.42,0.00,0.000,6,0.000,0.022,3032,2230,3799,0,0,0,0,0,0
$GC,1203,-1.04,-146.0,166.1,-9.6,113,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2230,3800,0,0,0,0,0,0
$GC,1459,-1.11,-146.0,188.6,-8.1,137,1465,0.10,0.00,0.00,0.000,6,0.079,0.000,2984,2230,3800,0,0,0,0,0,0
$GC,1747,-1.11,-146.0,216.0,-9.7,153,1752,0.10,2.60,0.00,0.000,4,0.114,0.054,3007,657,3800,0,0,0,0,0,0
$GC,1794,-1.17,-146.0,220.6,-9.1,154,1798,0.00,2.42,0.00,0.000,6,0.000,0.020,3007,2225,3800,0,0,0,0,0,0
$GC,2072,-1.22,-146.0,244.8,-8.5,161,2074,0.10,0.00,0.00,0.000,6,0.081,0.000,2963,2225,3800,0,0,0,0,0,0
$GC,2317,-1.22,-146.0,268.0,-9.6,167,2322,0.00,2.55,0.00,0.000,4,0.000,0.048,2963,3801,3800,0,0,0,0,0,0
$GC,2362,-1.22,-146.0,272.8,-9.8,168,2366,0.00,2.45,0.00,0.000,6,0.000,0.027,2963,2227,3800,0,0,0,0,0,0
$GC,2639,-1.22,-146.0,299.2,-9.5,175,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2227,3800,0,0,0,0,0,0
$GC,2885,-1.22,-146.0,322.7,-9.5,181,2890,0.00,2.67,0.00,0.000,4,0.000,0.066,2963,659,3799,0,0,0,0,0,0
$GC,2912,-1.22,-146.0,325.7,-10.1,181,2916,0.00,2.47,0.00,0.000,6,0.000,0.033,2963,2209,3799,0,0,0,0,0,0
$GC,3162,-1.22,-146.0,348.9,-9.3,187,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2209,3798,0,0,0,0,0,0
$GC,3406,-1.22,-146.0,370.9,-8.9,193,3411,0.10,2.70,0.00,0.000,4,0.114,0.060,2985,3817,3797,0,0,0,0,0,0
$GC,3448,-1.27,-146.0,374.4,-8.2,194,3453,0.00,2.53,0.00,0.000,6,0.000,0.029,2985,2237,3797,0,0,0,0,0,0
$GC,3732,-1.31,-146.0,397.0,-8.0,201,3736,0.00,2.78,0.00,0.000,4,0.000,0.084,2985,649,3796,0,0,0,0,0,0
$GC,3774,-1.34,-146.0,400.4,-8.6,202,3779,0.12,2.55,0.00,0.000,6,0.067,0.041,2937,2233,3795,0,0,0,0,0,0
$GC,4058,-1.29,-146.0,429.0,-9.9,209,4063,0.15,2.70,0.00,0.000,4,0.100,0.064,2968,3814,3794,0,0,0,0,0,0
$GC,4085,-1.29,-146.0,431.7,-9.4,209,4090,0.00,2.58,0.00,0.000,6,0.000,0.041,2969,2233,3794,0,0,0,0,0,0
$GC,4337,-1.29,-146.0,453.5,-8.8,215,4342,0.00,2.88,0.00,0.000,4,0.000,0.102,2968,647,3792,0,0,0,0,0,0
$GC,4376,-1.29,-146.0,457.2,-8.8,216,4381,0.00,2.60,0.00,0.000,6,0.000,0.043,2968,2221,3792,0,0,0,0,0,0
$GC,4662,-1.29,-146.0,480.9,-8.4,223,4666,0.00,2.75,0.00,0.000,4,0.000,0.071,2969,3815,3791,0,0,0,0,0,0
$GC,4711,-1.29,-146.0,485.5,-8.7,224,4716,0.00,2.62,0.00,0.000,6,0.000,0.050,2969,2232,3791,0,0,0,0,0,0
$GC,4983,-1.29,-146.0,508.4,-8.4,231,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2232,3790,0,0,0,0,0,0
$GC,5229,-1.29,-146.0,529.1,-8.3,237,5233,0.00,2.95,0.00,0.000,4,0.000,0.114,2969,645,3788,0,0,0,0,0,0
$GC,5256,-1.29,-146.0,531.8,-9.0,237,5260,0.00,2.65,0.00,0.000,6,0.000,0.052,2969,2233,3788,0,0,0,0,0,0
$GC,5507,-1.29,-146.0,552.1,-8.0,243,5512,0.00,2.85,0.00,0.000,4,0.000,0.094,2968,3825,3787,0,0,0,0,0,0
$GC,5529,-1.29,-146.0,554.1,-8.3,243,5533,0.00,2.67,0.00,0.000,6,0.000,0.054,2969,2239,3786,0,0,0,0,0,0
$GC,5786,-1.29,-146.0,575.4,-8.4,250,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2239,3785,0,0,0,0,0,0
$GC,6027,-1.29,-146.0,595.4,-8.1,256,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2239,3784,0,0,0,0,0,0
$GC,6271,-1.29,-146.0,615.7,-8.4,262,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2239,3783,0,0,0,0,0,0
$GC,6517,-1.29,-146.0,636.2,-8.4,268,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2239,3782,0,0,0,0,0,0
$GC,6758,-1.29,-146.0,656.2,-8.1,274,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2239,3780,0,0,0,0,0,0
$GC,7002,-1.29,-146.0,676.7,-8.3,280,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2239,3779,0,0,0,0,0,0
$GC,7248,-1.29,-146.0,697.2,-8.5,286,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2239,3777,0,0,0,0,0,0
$GC,7492,-1.29,-146.0,718.0,-8.3,292,7497,0.00,3.17,0.00,0.000,4,0.000,0.150,2968,3817,3776,0,0,0,0,0,0
$GC,7513,-1.29,-146.0,720.2,-9.0,292,7518,0.00,2.78,0.00,0.000,6,0.000,0.078,2969,2244,3776,0,0,0,0,0,0
$GC,7768,-1.29,-146.0,740.9,-8.2,299,7773,0.00,3.12,0.00,0.000,4,0.000,0.134,2969,640,3775,0,0,0,0,0,0
$GC,7826,-1.34,-146.0,745.4,-7.6,300,7831,0.00,2.80,0.00,0.000,6,0.000,0.081,2969,2234,3774,0,0,0,0,0,0
$GC,8092,-1.34,-146.0,764.8,-7.1,307,8097,0.00,2.92,0.00,0.000,4,0.000,0.111,2969,3821,3773,0,0,0,0,0,0
$GC,8116,-1.34,-146.0,766.5,-7.5,307,8120,0.00,2.75,0.00,0.000,6,0.000,0.071,2968,2227,3773,0,0,0,0,0,0
$GC,8373,-1.34,-146.0,783.5,-6.5,314,8378,0.00,3.00,0.00,0.000,4,0.000,0.118,2969,637,3772,0,0,0,0,0,0
$GC,8400,-1.34,-146.0,785.5,-7.2,314,8405,0.00,2.78,0.00,0.000,6,0.000,0.068,2969,2237,3772,0,0,0,0,0,0
$GC,8650,-1.34,-146.0,801.4,-6.3,320,8655,0.00,2.90,0.00,0.000,4,0.000,0.107,2969,3820,3771,0,0,0,0,0,0
$GC,8692,-1.38,-146.0,804.3,-7.2,321,8696,0.00,2.70,0.00,0.000,6,0.000,0.066,2969,2232,3771,0,0,0,0,0,0
$GC,8975,-1.42,-146.0,824.2,-7.1,328,8977,0.12,0.00,0.00,0.000,6,0.070,0.000,2926,2232,3769,0,0,0,0,0,0
$GC,9219,-1.37,-146.0,846.5,-9.4,334,9221,0.12,0.00,0.00,0.000,6,0.108,0.000,2952,2232,3768,0,0,0,0,0,0
$GC,9465,-1.37,-146.0,866.2,-7.9,340,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2231,3767,0,0,0,0,0,0
$GC,9706,-1.37,-146.0,885.5,-7.9,346,9711,0.00,2.80,0.00,0.000,4,0.000,0.082,2952,3818,3765,0,0,0,0,0,0
$GC,9739,-1.37,-146.0,888.3,-8.7,346,9744,0.00,2.70,0.00,0.000,6,0.000,0.059,2952,2244,3765,0,0,0,0,0,0
$STATE,9905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9905,begin apogee
$GC,9913,-0.31,0.0,902.6,8.5,351,10036,1.00,0.00,119.25,1.223,6,0.074,0.000,3180,2372,3200,0,0,0,0,0,0
$STATE,10037,end apogee,CONTROL_FINISHED_OK
$STATE,10037,begin climb
$GC,10039,1.33,146.0,905.4,0.0,354,10176,1.50,2.90,126.40,1.192,4,0.038,0.077,3543,3929,2603,0,0,0,0,0,0
$GC,10261,1.22,146.0,889.5,12.6,359,10267,0.12,2.70,0.00,0.000,6,0.128,0.051,3519,2356,2598,0,0,0,0,0,0
$GC,10536,1.24,160.4,863.7,9.3,366,10556,0.00,2.83,13.23,1.056,4,0.000,0.064,3519,3919,2545,0,0,0,0,0,0
$GC,10612,1.19,160.4,855.5,11.2,367,10617,0.00,2.65,0.00,0.000,6,0.000,0.048,3519,2370,2543,0,0,0,0,0,0
$GC,10862,1.19,160.4,829.5,10.4,373,10866,0.00,2.72,0.00,0.000,4,0.000,0.061,3519,3934,2541,0,0,0,0,0,0
$GC,10891,1.15,160.4,826.3,11.7,373,10896,0.00,2.65,0.00,0.000,6,0.000,0.045,3519,2374,2541,0,0,0,0,0,0
$GC,11141,1.15,160.4,798.5,10.9,379,11145,0.00,2.70,0.00,0.000,4,0.000,0.059,3519,3934,2539,0,0,0,0,0,0
$GC,11162,1.10,160.4,796.0,11.2,379,11167,0.15,2.62,0.00,0.000,6,0.118,0.047,3489,2381,2539,0,0,0,0,0,0
$GC,11420,1.17,184.2,772.8,8.8,386,11444,0.00,0.00,21.62,1.081,6,0.000,0.000,3489,2381,2449,0,0,0,0,0,0
$GC,11662,1.23,194.3,749.9,9.5,392,11678,0.12,2.70,10.50,0.987,4,0.076,0.057,3525,3930,2408,0,0,0,0,0,0
$GC,11689,1.23,194.3,746.9,10.1,392,11693,0.00,2.65,0.00,0.000,6,0.000,0.044,3525,2377,2406,0,0,0,0,0,0
$GC,11941,1.23,194.3,720.1,10.6,398,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2377,2405,0,0,0,0,0,0
$GC,12183,1.23,194.3,693.9,10.7,404,12184,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2377,2404,0,0,0,0,0,0
$GC,12426,1.23,194.3,667.5,10.8,410,12431,0.00,2.67,0.00,0.000,4,0.000,0.058,3525,3935,2404,0,0,0,0,0,0
$GC,12500,1.23,194.3,659.0,11.4,411,12505,0.00,2.62,0.00,0.000,6,0.000,0.050,3525,2375,2402,0,0,0,0,0,0
$GC,12750,1.23,194.3,632.2,10.8,417,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2375,2402,0,0,0,0,0,0
$GC,12994,1.23,194.3,606.6,10.4,423,12998,0.00,2.65,0.00,0.000,4,0.000,0.058,3525,3927,2401,0,0,0,0,0,0
$GC,13026,1.23,194.3,602.9,11.3,423,13032,0.00,2.60,0.00,0.000,6,0.000,0.043,3525,2384,2401,0,0,0,0,0,0
$GC,13278,1.23,194.3,576.2,10.8,430,13279,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2384,2402,0,0,0,0,0,0
$GC,13520,1.23,194.3,550.1,10.6,436,13521,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2384,2401,0,0,0,0,0,0
$GC,13764,1.23,194.3,524.8,10.4,442,13768,0.00,2.62,0.00,0.000,4,0.000,0.055,3525,3931,2401,0,0,0,0,0,0
$GC,13792,1.23,194.3,521.6,10.8,442,13797,0.00,2.58,0.00,0.000,6,0.000,0.044,3525,2385,2401,0,0,0,0,0,0
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$STATE,18635,end climb,SURFACE_DEPTH_REACHED
$STATE,18635,begin surface coast
$FINISH,0.8,1.002585
$STATE,18691,end surface coast,CONTROL_FINISHED_OK
$STATE,18691,begin surface
$SM_CCo,18715,41.92,0.492,0,0,1773,350.04
$SM_GC,1.64,0.00,0.00,41.92,0.000,0.000,0.492,466,2155,1773,-12.81,-2.09,350.04
$IRIDIUM_FIX,1918.37,-8114.71,240402,161625
$TT8_MAMPS,0.025311
$HUMID,55.82
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,24.60
$XPDR_PINGS,61
$24V_AH,23.2,9.538
$10V_AH,10.5,7.909
$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
$DEVICE_SECS,30.700,201.900,385.975,41.925,0.000,28.729,34.416,221.773,15.250,0.000,16.813,1478.146,14195.299,540.034,2251.376,734.005,33.346,1517.122,0.000,2243.963,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,471.089,319.488,411.578,532.458,1014.939,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,54097,695
$CAP_FILE_SIZE,166314,0
$CFSIZE,260165632,124235776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290113,024659,1926.285,-8117.583,40,1.7,40,-3.7