version: 66.06
glider: 146
mission: 8
dive: 66
start: 1 29 113 16 1 1
data:
$ID,146
$MISSION,8
$DIVE,66
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,950
$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,200
$T_MISSION,400
$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,-308655.12
$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,55
$R_STBD_OVSHOOT,33
$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
$GPS1,154836,1924.951,-8107.353,31,1.5,31,-3.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.5
$GPS2,160006,1924.952,-8107.364,15,1.6,32,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.300,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.218,-0.096
$KALMAN_X,73481.0,378.8,75.8,-67346.1,1521.4
$KALMAN_Y,-5903.7,454.2,-86.0,1678.2,-45.9
$MHEAD_RNG_PITCHd_Wd,250.0,1640,-19.4,-10.000
$D_GRID,600
$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,-1.36,-120.8,0.0,0.0,0,92,0.00,0.00,-71.07,0.000,2,0.000,0.000,459,2199,3554,0,0,0,0,0,0
$GC,95,-1.39,-146.0,3.8,-6.0,9,120,13.60,2.60,-4.40,0.000,4,0.169,0.051,2942,3810,3797,0,0,0,0,0,0
$GC,293,-1.21,-146.0,52.6,-20.0,30,298,0.20,2.47,0.00,0.000,6,0.107,0.024,2984,2244,3798,0,0,0,0,0,0
$GC,558,-1.07,-146.0,99.4,-17.3,54,563,0.15,2.62,0.00,0.000,4,0.110,0.045,3016,656,3797,0,0,0,0,0,0
$GC,582,-0.95,-146.0,103.3,-17.0,55,587,0.12,2.45,0.00,0.000,6,0.110,0.024,3043,2253,3797,0,0,0,0,0,0
$GC,851,-1.00,-146.0,134.0,-9.3,79,855,0.00,2.62,0.00,0.000,4,0.000,0.043,3043,651,3798,0,0,0,0,0,0
$GC,930,-1.13,-146.0,142.1,-9.4,85,935,0.17,2.40,0.00,0.000,6,0.051,0.020,2973,2212,3798,0,0,0,0,0,0
$GC,1195,-1.13,-146.0,172.8,-11.3,109,1201,0.15,0.00,0.00,0.000,6,0.097,0.000,3007,2212,3799,0,0,0,0,0,0
$GC,1458,-1.18,-146.0,197.2,-8.6,134,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2212,3798,0,0,0,0,0,0
$GC,1734,-1.25,-146.0,220.2,-8.2,143,1740,0.12,2.58,0.00,0.000,4,0.067,0.050,2955,655,3798,0,0,0,0,0,0
$GC,1801,-1.25,-146.0,227.4,-10.9,144,1806,0.10,2.40,0.00,0.000,6,0.114,0.026,2977,2218,3799,0,0,0,0,0,0
$GC,2056,-1.25,-146.0,250.2,-8.8,151,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2218,3799,0,0,0,0,0,0
$GC,2302,-1.25,-146.0,272.7,-9.2,157,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2218,3798,0,0,0,0,0,0
$GC,2544,-1.29,-146.0,294.4,-8.8,163,2548,0.00,2.55,0.00,0.000,4,0.000,0.044,2977,3798,3797,0,0,0,0,0,0
$GC,2566,-1.33,-146.0,296.5,-9.0,163,2570,0.00,2.50,0.00,0.000,6,0.000,0.029,2977,2211,3797,0,0,0,0,0,0
$GC,2823,-1.37,-146.0,320.2,-9.5,170,2825,0.10,0.00,0.00,0.000,6,0.081,0.000,2934,2210,3796,0,0,0,0,0,0
$GC,3064,-1.37,-146.0,345.7,-10.5,176,3069,0.00,2.67,0.00,0.000,4,0.000,0.068,2934,651,3796,0,0,0,0,0,0
$GC,3085,-1.32,-146.0,348.1,-11.2,176,3091,0.12,2.45,0.00,0.000,6,0.104,0.034,2961,2199,3796,0,0,0,0,0,0
$GC,3343,-1.32,-146.0,372.7,-9.6,183,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2199,3795,0,0,0,0,0,0
$GC,3585,-1.32,-146.0,394.5,-8.9,189,3589,0.00,2.67,0.00,0.000,4,0.000,0.058,2961,3811,3793,0,0,0,0,0,0
$GC,3628,-1.32,-146.0,398.6,-9.2,190,3633,0.00,2.58,0.00,0.000,6,0.000,0.040,2961,2215,3793,0,0,0,0,0,0
$GC,3908,-1.32,-146.0,422.9,-8.9,197,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2216,3792,0,0,0,0,0,0
$GC,4150,-1.32,-146.0,445.7,-9.4,203,4154,0.00,2.83,0.00,0.000,4,0.000,0.094,2961,641,3791,0,0,0,0,0,0
$GC,4171,-1.32,-146.0,447.8,-9.0,203,4175,0.00,2.58,0.00,0.000,6,0.000,0.041,2961,2209,3791,0,0,0,0,0,0
$GC,4428,-1.32,-146.0,471.0,-9.1,210,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2210,3790,0,0,0,0,0,0
$GC,4670,-1.32,-146.0,493.0,-9.1,216,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2210,3788,0,0,0,0,0,0
$GC,4913,-1.32,-146.0,514.7,-8.8,222,4918,0.00,2.80,0.00,0.000,4,0.000,0.084,2961,3811,3787,0,0,0,0,0,0
$GC,4953,-1.36,-146.0,518.2,-9.0,223,4958,0.00,2.67,0.00,0.000,6,0.000,0.054,2961,2209,3787,0,0,0,0,0,0
$GC,5239,-1.40,-146.0,543.1,-8.8,230,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2209,3785,0,0,0,0,0,0
$GC,5480,-1.43,-146.0,563.6,-8.4,236,5482,0.10,0.00,0.00,0.000,6,0.081,0.000,2924,2209,3784,0,0,0,0,0,0
$GC,5723,-1.43,-146.0,588.3,-10.3,242,5728,0.00,2.88,0.00,0.000,4,0.000,0.093,2924,3811,3783,0,0,0,0,0,0
$GC,5768,-1.43,-146.0,593.2,-10.4,243,5773,0.00,2.78,0.00,0.000,6,0.000,0.072,2924,2207,3782,0,0,0,0,0,0
$STATE,5840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5840,begin apogee
$GC,5846,-0.31,0.0,601.2,10.4,245,5967,1.12,0.00,116.78,0.962,6,0.073,0.000,3180,2363,3200,0,0,0,0,0,0
$STATE,5967,end apogee,CONTROL_FINISHED_OK
$STATE,5968,begin climb
$GC,5970,1.39,146.0,604.3,0.0,248,6104,1.55,2.92,120.07,0.940,4,0.037,0.084,3559,3932,2602,0,0,0,0,0,0
$GC,6126,1.30,146.0,594.3,11.8,251,6132,0.12,2.75,0.00,0.000,6,0.123,0.064,3534,2360,2600,0,0,0,0,0,0
$GC,6378,1.30,146.0,567.8,10.5,257,6383,0.00,2.75,0.00,0.000,4,0.000,0.069,3534,3933,2596,0,0,0,0,0,0
$GC,6449,1.30,146.0,559.7,10.7,258,6454,0.00,2.67,0.00,0.000,6,0.000,0.049,3534,2364,2596,0,0,0,0,0,0
$GC,6700,1.30,146.0,534.2,10.2,264,6704,0.00,2.70,0.00,0.000,4,0.000,0.061,3534,3932,2594,0,0,0,0,0,0
$GC,6762,1.30,146.0,527.4,10.8,265,6766,0.00,2.60,0.00,0.000,6,0.000,0.041,3535,2385,2594,0,0,0,0,0,0
$GC,7022,1.30,147.9,501.0,9.9,272,7027,0.00,2.60,0.00,0.000,4,0.000,0.059,3534,3930,2593,0,0,0,0,0,0
$GC,7089,1.26,147.9,493.9,10.9,273,7093,0.00,2.58,0.00,0.000,6,0.000,0.039,3534,2382,2592,0,0,0,0,0,0
$GC,7350,1.27,157.2,469.7,9.5,280,7364,0.00,2.67,8.57,0.762,4,0.000,0.054,3534,3931,2559,0,0,0,0,0,0
$GC,7403,1.27,157.2,463.5,11.1,281,7408,0.00,2.55,0.00,0.000,6,0.000,0.039,3534,2386,2559,0,0,0,0,0,0
$GC,7679,1.28,165.6,437.4,9.5,288,7689,0.00,0.00,8.77,0.750,6,0.000,0.000,3534,2386,2524,0,0,0,0,0,0
$GC,7921,1.29,170.1,413.8,9.7,294,7931,0.00,2.62,5.43,0.640,4,0.000,0.048,3534,3941,2505,0,0,0,0,0,0
$GC,7981,1.29,170.1,407.5,10.7,295,7986,0.00,2.53,0.00,0.000,6,0.000,0.030,3534,2388,2504,0,0,0,0,0,0
$GC,8244,1.29,170.1,381.4,10.0,302,8249,0.00,2.60,0.00,0.000,4,0.000,0.051,3534,3938,2503,0,0,0,0,0,0
$GC,8329,1.29,170.1,372.0,11.2,304,8333,0.00,2.47,0.00,0.000,6,0.000,0.032,3534,2398,2502,0,0,0,0,0,0
$GC,8611,1.29,170.1,343.1,10.0,311,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2398,2502,0,0,0,0,0,0
$GC,8857,1.29,170.1,317.9,10.6,317,8861,0.00,2.58,0.00,0.000,4,0.000,0.053,3534,3941,2502,0,0,0,0,0,0
$GC,8889,1.29,170.1,313.8,12.5,317,8895,0.00,2.42,0.00,0.000,6,0.000,0.026,3535,2422,2502,0,0,0,0,0,0
$GC,9139,1.29,170.1,286.7,10.7,324,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2423,2502,0,0,0,0,0,0
$GC,9383,1.29,171.9,262.5,9.9,330,9387,0.00,2.50,0.00,0.000,4,0.000,0.048,3534,3931,2501,0,0,0,0,0,0
$GC,9436,1.29,171.9,257.1,10.6,331,9440,0.00,2.40,0.00,0.000,6,0.000,0.031,3534,2425,2501,0,0,0,0,0,0
$GC,9708,1.37,194.3,232.0,8.8,338,9737,0.00,2.62,21.52,0.676,4,0.000,0.052,3534,3932,2406,0,0,0,0,0,0
$GC,9785,1.41,194.3,224.4,11.4,339,9789,0.10,2.40,0.00,0.000,6,0.084,0.033,3568,2437,2404,0,0,0,0,0,0
$GC,10034,1.41,194.3,196.2,11.3,345,10035,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,2438,2403,0,0,0,0,0,0
$GC,10292,1.42,201.7,169.4,9.6,369,10302,0.00,0.00,7.53,0.548,6,0.000,0.000,3567,2437,2376,0,0,0,0,0,0
$GC,10556,1.48,207.8,144.8,9.7,394,10570,0.00,2.78,6.53,0.509,4,0.000,0.050,3568,769,2353,0,0,0,0,0,0
$GC,10583,1.52,209.7,142.1,9.9,396,10587,0.00,2.67,0.00,0.000,6,0.000,0.028,3568,2454,2353,0,0,0,0,0,0
$GC,10848,1.63,236.0,119.2,8.5,420,10881,0.15,2.83,25.90,0.581,4,0.066,0.046,3613,772,2235,0,0,0,0,0,0
$GC,10896,1.63,237.8,114.7,9.9,424,10900,0.00,2.67,0.00,0.000,6,0.000,0.025,3614,2442,2234,0,0,0,0,0,0
$GC,11158,1.65,252.2,89.6,9.2,448,11182,0.00,2.53,14.73,0.535,4,0.000,0.043,3614,3935,2171,0,0,0,0,0,0
$GC,11199,1.65,252.2,85.4,10.1,451,11205,0.00,2.40,0.00,0.000,6,0.000,0.024,3614,2428,2170,0,0,0,0,0,0
$GC,11469,1.65,252.2,58.7,10.2,476,11473,0.00,2.47,0.00,0.000,4,0.000,0.040,3614,3942,2169,0,0,0,0,0,0
$GC,11514,1.65,252.2,53.5,10.5,479,11518,0.00,2.38,0.00,0.000,6,0.000,0.023,3614,2440,2169,0,0,0,0,0,0
$GC,11789,1.71,262.4,26.7,9.4,505,11807,0.00,0.00,10.10,0.464,6,0.000,0.000,3613,2440,2129,0,0,0,0,0,0
$STATE,12027,end climb,SURFACE_DEPTH_REACHED
$STATE,12027,begin surface coast
$FINISH,0.8,1.012046
$STATE,12076,end surface coast,CONTROL_FINISHED_OK
$STATE,12076,begin surface
$SM_CCo,12101,69.80,0.492,0,0,1772,350.04
$SM_GC,1.60,0.00,0.00,69.80,0.000,0.000,0.492,465,2180,1772,-12.81,-1.41,350.04
$IRIDIUM_FIX,1918.37,-8110.19,250402,161652
$TT8_MAMPS,0.026078
$HUMID,55.11
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,25.00
$XPDR_PINGS,43
$24V_AH,23.4,10.023
$10V_AH,10.5,8.367
$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,30.575,125.375,345.925,69.800,0.000,55.914,82.173,298.016,10.750,0.000,33.569,1123.969,8489.256,480.557,1961.167,804.776,33.355,1233.361,0.000,1944.218,0.000,0.538,0.000
$DEVICE_MAMPS,168.740,148.031,961.818,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.848,307.902,390.169,561.336,1070.540,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355884
$DATA_FILE_SIZE,41484,547
$CAP_FILE_SIZE,121549,0
$CFSIZE,260165632,124030976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290113,192524,1924.047,-8107.784,51,1.3,51,-3.8