version: 66.06
glider: 146
mission: 8
dive: 71
start: 1 30 113 10 34 21
data:
$ID,146
$MISSION,8
$DIVE,71
$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,-308753.5
$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,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,44
$R_STBD_OVSHOOT,20
$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
$GPS1,102606,1923.899,-8110.591,39,1.5,39,-3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.2
$GPS2,103327,1923.911,-8110.618,9,99.0,28,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.256,0.042
$KALMAN_X,82795.6,245.4,121.0,-82242.0,1254.2
$KALMAN_Y,-7336.0,40.5,-179.2,1705.0,300.4
$MHEAD_RNG_PITCHd_Wd,283.2,14103,-17.5,-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,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,-63.60,0.000,2,0.000,0.000,466,2222,3337,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.3,-5.7,8,124,13.65,2.62,-8.75,0.000,4,0.167,0.052,2968,3822,3797,0,0,0,0,0,0
$GC,258,-1.13,-146.0,40.4,-18.7,28,263,0.15,2.50,0.00,0.000,6,0.115,0.023,3001,2239,3798,0,0,0,0,0,0
$GC,523,-0.97,-146.0,84.7,-16.1,52,528,0.17,2.60,0.00,0.000,4,0.104,0.048,3039,656,3799,0,0,0,0,0,0
$GC,569,-0.90,-146.0,91.6,-14.0,55,574,0.00,2.47,0.00,0.000,6,0.000,0.017,3039,2264,3798,0,0,0,0,0,0
$GC,838,-0.85,-146.0,124.4,-11.9,79,843,0.10,2.65,0.00,0.000,4,0.123,0.054,3062,656,3799,0,0,0,0,0,0
$GC,871,-0.85,-146.0,128.4,-10.8,81,875,0.00,2.40,0.00,0.000,6,0.000,0.019,3062,2215,3799,0,0,0,0,0,0
$GC,1136,-0.92,-146.0,151.6,-7.5,105,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2216,3800,0,0,0,0,0,0
$GC,1403,-1.01,-146.0,170.8,-6.9,130,1409,0.15,0.00,0.00,0.000,6,0.058,0.000,3000,2216,3800,0,0,0,0,0,0
$GC,1668,-1.01,-146.0,194.4,-8.5,155,1673,0.12,2.58,0.00,0.000,4,0.098,0.056,3029,655,3800,0,0,0,0,0,0
$GC,1720,-1.08,-146.0,198.8,-7.5,159,1725,0.00,2.40,0.00,0.000,6,0.000,0.021,3029,2215,3801,0,0,0,0,0,0
$GC,1992,-1.15,-146.0,217.9,-7.0,167,1994,0.12,0.00,0.00,0.000,6,0.067,0.000,2978,2215,3800,0,0,0,0,0,0
$GC,2237,-1.15,-146.0,238.8,-8.8,173,2242,0.10,2.53,0.00,0.000,4,0.110,0.044,3001,3793,3800,0,0,0,0,0,0
$GC,2299,-1.19,-146.0,244.3,-8.6,174,2303,0.00,2.50,0.00,0.000,6,0.000,0.028,3001,2193,3800,0,0,0,0,0,0
$GC,2562,-1.19,-146.0,264.9,-7.9,181,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2193,3800,0,0,0,0,0,0
$GC,2803,-1.19,-146.0,284.8,-8.3,187,2807,0.00,2.60,0.00,0.000,4,0.000,0.043,3001,3792,3799,0,0,0,0,0,0
$GC,2830,-1.23,-146.0,287.3,-8.9,187,2835,0.00,2.50,0.00,0.000,6,0.000,0.030,3001,2208,3799,0,0,0,0,0,0
$GC,3083,-1.27,-146.0,307.2,-7.9,193,3088,0.12,2.65,0.00,0.000,4,0.070,0.069,2952,651,3799,0,0,0,0,0,0
$GC,3112,-1.21,-146.0,310.1,-10.3,193,3117,0.15,2.45,0.00,0.000,6,0.095,0.028,2986,2200,3798,0,0,0,0,0,0
$GC,3362,-1.21,-146.0,331.2,-8.1,199,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2201,3798,0,0,0,0,0,0
$GC,3607,-1.21,-146.0,349.8,-7.6,205,3612,0.00,2.62,0.00,0.000,4,0.000,0.048,2985,3805,3797,0,0,0,0,0,0
$GC,3640,-1.21,-146.0,352.9,-9.0,205,3646,0.00,2.53,0.00,0.000,6,0.000,0.030,2986,2217,3797,0,0,0,0,0,0
$GC,3890,-1.21,-146.0,373.0,-8.1,212,3894,0.00,2.72,0.00,0.000,4,0.000,0.074,2985,645,3796,0,0,0,0,0,0
$GC,3924,-1.21,-146.0,375.9,-9.1,212,3930,0.00,2.53,0.00,0.000,6,0.000,0.039,2985,2212,3795,0,0,0,0,0,0
$GC,4176,-1.21,-146.0,396.7,-8.5,219,4180,0.00,2.65,0.00,0.000,4,0.000,0.061,2985,3816,3795,0,0,0,0,0,0
$GC,4203,-1.21,-146.0,399.3,-9.1,219,4207,0.00,2.55,0.00,0.000,6,0.000,0.035,2985,2223,3795,0,0,0,0,0,0
$GC,4453,-1.21,-146.0,420.4,-8.5,225,4457,0.00,2.65,0.00,0.000,4,0.000,0.053,2985,3809,3793,0,0,0,0,0,0
$GC,4482,-1.21,-146.0,422.9,-9.1,225,4486,0.00,2.55,0.00,0.000,6,0.000,0.040,2986,2227,3793,0,0,0,0,0,0
$GC,4732,-1.21,-146.0,444.5,-8.5,231,4736,0.00,2.80,0.00,0.000,4,0.000,0.094,2985,639,3792,0,0,0,0,0,0
$GC,4765,-1.21,-146.0,447.4,-8.3,231,4770,0.00,2.60,0.00,0.000,6,0.000,0.038,2986,2226,3791,0,0,0,0,0,0
$GC,5017,-1.21,-146.0,466.9,-7.6,238,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2226,3791,0,0,0,0,0,0
$GC,5258,-1.21,-146.0,484.2,-7.1,244,5263,0.00,2.78,0.00,0.000,4,0.000,0.087,2985,647,3790,0,0,0,0,0,0
$GC,5285,-1.21,-146.0,486.3,-7.9,244,5290,0.00,2.60,0.00,0.000,6,0.000,0.051,2985,2215,3789,0,0,0,0,0,0
$GC,5537,-1.21,-146.0,505.2,-7.7,250,5542,0.00,2.80,0.00,0.000,4,0.000,0.081,2985,3818,3787,0,0,0,0,0,0
$GC,5581,-1.24,-146.0,509.3,-8.9,251,5586,0.00,2.62,0.00,0.000,6,0.000,0.051,2985,2228,3787,0,0,0,0,0,0
$GC,5859,-1.24,-146.0,532.2,-8.3,258,5863,0.00,2.95,0.00,0.000,4,0.000,0.110,2985,644,3786,0,0,0,0,0,0
$GC,5893,-1.24,-146.0,534.9,-8.4,258,5899,0.00,2.65,0.00,0.000,6,0.000,0.053,2985,2225,3786,0,0,0,0,0,0
$GC,6143,-1.24,-146.0,555.8,-8.2,265,6144,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2225,3785,0,0,0,0,0,0
$GC,6387,-1.24,-146.0,575.3,-7.9,271,6392,0.00,2.88,0.00,0.000,4,0.000,0.103,2985,640,3784,0,0,0,0,0,0
$GC,6416,-1.24,-146.0,577.6,-8.7,271,6421,0.00,2.67,0.00,0.000,6,0.000,0.061,2986,2216,3784,0,0,0,0,0,0
$GC,6666,-1.24,-146.0,597.8,-8.1,277,6671,0.00,2.92,0.00,0.000,4,0.000,0.101,2985,3814,3783,0,0,0,0,0,0
$STATE,6691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6691,begin apogee
$GC,6699,-0.31,0.0,600.3,8.9,277,6819,0.82,0.00,117.18,0.966,6,0.069,0.000,3179,2357,3200,0,0,0,0,0,0
$STATE,6820,end apogee,CONTROL_FINISHED_OK
$STATE,6820,begin climb
$GC,6825,1.27,146.0,603.8,0.0,280,6955,1.45,2.88,120.70,0.941,4,0.038,0.082,3534,3939,2602,0,0,0,0,0,0
$GC,6971,1.22,172.5,598.5,8.8,284,7002,0.00,2.75,23.20,0.881,6,0.000,0.058,3534,2361,2496,0,0,0,0,0,0
$GC,7246,1.16,172.5,569.0,10.9,291,7251,0.15,2.78,0.00,0.000,4,0.182,0.066,3504,3937,2490,0,0,0,0,0,0
$GC,7318,1.16,172.5,561.1,10.5,292,7323,0.00,2.65,0.00,0.000,6,0.000,0.047,3504,2368,2489,0,0,0,0,0,0
$GC,7571,1.17,175.8,536.7,9.8,298,7575,0.00,3.03,0.00,0.000,4,0.000,0.111,3503,773,2488,0,0,0,0,0,0
$GC,7592,1.17,175.8,534.2,10.9,298,7597,0.00,2.67,0.00,0.000,6,0.000,0.051,3503,2376,2487,0,0,0,0,0,0
$GC,7847,1.17,177.7,509.2,9.9,305,7853,0.00,0.00,4.38,0.599,6,0.000,0.000,3503,2376,2475,0,0,0,0,0,0
$GC,8093,1.17,177.7,484.1,10.3,311,8097,0.00,2.67,0.00,0.000,4,0.000,0.067,3504,3933,2474,0,0,0,0,0,0
$GC,8153,1.17,177.7,477.0,11.8,312,8157,0.00,2.55,0.00,0.000,6,0.000,0.035,3503,2370,2473,0,0,0,0,0,0
$GC,8414,1.17,178.3,450.7,10.0,319,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,2370,2473,0,0,0,0,0,0
$GC,8660,1.18,182.5,426.7,9.8,325,8667,0.00,0.00,5.43,0.650,6,0.000,0.000,3503,2369,2455,0,0,0,0,0,0
$GC,8902,1.19,190.9,403.6,9.6,331,8916,0.00,2.65,9.00,0.740,4,0.000,0.047,3503,3944,2420,0,0,0,0,0,0
$GC,8966,1.19,190.9,396.6,11.1,332,8971,0.00,2.55,0.00,0.000,6,0.000,0.031,3503,2367,2419,0,0,0,0,0,0
$GC,9229,1.19,191.1,370.3,10.0,339,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,2367,2419,0,0,0,0,0,0
$GC,9471,1.22,220.9,348.9,8.6,345,9505,0.00,2.75,27.10,0.779,4,0.000,0.050,3503,3938,2298,0,0,0,0,0,0
$GC,9551,1.26,220.9,340.9,10.9,346,9557,0.00,2.50,0.00,0.000,6,0.000,0.028,3503,2385,2297,0,0,0,0,0,0
$GC,9804,1.30,223.4,316.5,9.9,353,9809,0.12,2.72,0.00,0.000,4,0.102,0.054,3541,774,2296,0,0,0,0,0,0
$GC,9820,1.30,223.4,314.3,10.6,353,9824,0.00,2.60,0.00,0.000,6,0.000,0.031,3541,2400,2295,0,0,0,0,0,0
$GC,10080,1.30,223.4,284.1,11.5,360,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2400,2295,0,0,0,0,0,0
$GC,10326,1.30,223.4,255.7,11.6,366,10330,0.00,2.53,0.00,0.000,4,0.000,0.048,3541,3927,2295,0,0,0,0,0,0
$GC,10359,1.25,223.4,251.5,12.4,366,10364,0.00,2.45,0.00,0.000,6,0.000,0.031,3541,2379,2294,0,0,0,0,0,0
$GC,10608,1.25,223.4,223.4,11.2,373,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,2379,2294,0,0,0,0,0,0
$GC,10854,1.25,223.4,195.7,11.4,379,10858,0.00,2.58,0.00,0.000,4,0.000,0.044,3541,3932,2294,0,0,0,0,0,0
$GC,10897,1.25,223.4,191.0,11.9,382,10901,0.00,2.47,0.00,0.000,6,0.000,0.028,3541,2379,2294,0,0,0,0,0,0
$GC,11163,1.25,223.4,164.0,10.0,406,11167,0.00,2.58,0.00,0.000,4,0.000,0.047,3541,3935,2294,0,0,0,0,0,0
$GC,11221,1.25,223.4,157.4,10.8,410,11227,0.00,2.45,0.00,0.000,6,0.000,0.028,3541,2396,2294,0,0,0,0,0,0
$GC,11488,1.37,268.8,134.5,7.9,435,11538,0.00,2.75,41.03,0.604,4,0.000,0.048,3541,785,2104,0,0,0,0,0,0
$GC,11553,1.45,284.4,128.7,9.3,440,11577,0.10,2.55,15.00,0.562,6,0.086,0.028,3575,2402,2039,0,0,0,0,0,0
$GC,11834,1.50,291.8,99.0,9.7,466,11849,0.00,2.50,7.55,0.492,4,0.000,0.043,3575,3927,2009,0,0,0,0,0,0
$GC,11865,1.50,291.8,95.3,10.5,468,11875,0.00,2.50,0.00,0.000,6,0.000,0.023,3575,2376,2008,0,0,0,0,0,0
$GC,12133,1.57,301.0,69.4,9.6,493,12148,0.00,0.00,9.52,0.492,6,0.000,0.000,3576,2377,1971,0,0,0,0,0,0
$GC,12408,1.63,301.0,41.3,10.3,518,12417,0.12,0.00,0.00,0.000,6,0.072,0.000,3617,2376,1971,0,0,0,0,0,0
$GC,12714,1.59,301.0,4.5,12.6,558,12722,0.00,0.00,0.00,0.000,6,0.000,0.000,3617,2377,1971,0,0,0,0,0,0
$STATE,12730,end climb,SURFACE_DEPTH_REACHED
$STATE,12730,begin surface coast
$FINISH,0.9,1.014488
$STATE,12772,end surface coast,CONTROL_FINISHED_OK
$STATE,12772,begin surface
$SM_CCo,12794,39.85,0.488,0,0,1773,350.04
$SM_GC,1.77,0.00,0.00,39.85,0.000,0.000,0.488,464,2174,1773,-12.82,-1.58,350.04
$IRIDIUM_FIX,1916.08,-8207.71,260402,060602
$TT8_MAMPS,0.025311
$HUMID,57.04
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.70
$XPDR_PINGS,52
$24V_AH,23.4,10.621
$10V_AH,10.5,8.931
$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,30.125,152.375,380.075,39.850,0.000,22.818,58.433,183.466,13.000,0.000,32.762,1161.822,8995.202,506.591,1979.185,632.070,33.352,1302.850,0.000,1960.001,0.000,0.537,0.000
$DEVICE_MAMPS,181.779,111.215,965.653,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.849,316.371,399.965,570.442,1087.375,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,44813,566
$CAP_FILE_SIZE,127090,0
$CFSIZE,260165632,123711488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300113,140935,1924.074,-8111.485,34,1.1,34,-3.8