version: 66.06
glider: 146
mission: 8
dive: 75
start: 1 31 113 1 22 37
data:
$ID,146
$MISSION,8
$DIVE,75
$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,-308812.5
$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,53
$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,3220
$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
$GPS1,011506,1925.424,-8113.110,25,1.1,25,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-76.4
$GPS2,012143,1925.417,-8113.086,12,1.7,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.247,0.079
$KALMAN_X,89975.5,68.3,198.7,-93639.0,1120.0
$KALMAN_Y,-8976.9,-227.1,-54.1,6271.2,-316.2
$MHEAD_RNG_PITCHd_Wd,291.5,9068,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-71.32,0.000,2,0.000,0.000,460,2204,3561,0,0,0,0,0,0
$GC,98,-1.27,-146.0,3.8,-5.8,9,124,13.75,2.60,-4.43,0.000,4,0.169,0.038,2967,3811,3817,0,0,0,0,0,0
$GC,311,-1.10,-146.0,52.7,-16.4,31,316,0.20,2.45,0.00,0.000,6,0.105,0.023,3011,2239,3818,0,0,0,0,0,0
$GC,579,-0.95,-146.0,95.5,-15.5,55,584,0.15,2.62,0.00,0.000,4,0.111,0.046,3042,652,3818,0,0,0,0,0,0
$GC,637,-0.91,-146.0,104.2,-13.4,59,642,0.00,2.45,0.00,0.000,6,0.000,0.017,3042,2241,3818,0,0,0,0,0,0
$GC,906,-0.91,-146.0,134.0,-9.5,83,910,0.00,2.47,0.00,0.000,4,0.000,0.039,3042,3794,3818,0,0,0,0,0,0
$GC,927,-0.91,-146.0,136.9,-9.7,84,936,0.00,2.47,0.00,0.000,6,0.000,0.030,3042,2230,3819,0,0,0,0,0,0
$GC,1196,-0.91,-146.0,159.8,-8.8,109,1200,0.00,2.58,0.00,0.000,4,0.000,0.047,3042,656,3819,0,0,0,0,0,0
$GC,1264,-0.99,-146.0,166.7,-8.3,114,1272,0.00,2.42,0.00,0.000,6,0.000,0.018,3042,2217,3819,0,0,0,0,0,0
$GC,1533,-1.05,-146.0,187.4,-7.7,139,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2218,3819,0,0,0,0,0,0
$GC,1820,-1.13,-146.0,209.3,-7.5,158,1822,0.17,0.00,0.00,0.000,6,0.052,0.000,2972,2218,3819,0,0,0,0,0,0
$GC,2064,-1.08,-146.0,234.2,-10.2,164,2066,0.17,0.00,0.00,0.000,6,0.091,0.000,3013,2218,3819,0,0,0,0,0,0
$GC,2310,-1.13,-146.0,253.4,-7.6,170,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2218,3819,0,0,0,0,0,0
$GC,2552,-1.18,-146.0,270.9,-7.1,176,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2218,3819,0,0,0,0,0,0
$GC,2795,-1.23,-146.0,288.8,-7.3,182,2797,0.12,0.00,0.00,0.000,6,0.067,0.000,2962,2218,3819,0,0,0,0,0,0
$GC,3041,-1.18,-146.0,311.2,-9.3,188,3046,0.12,2.62,0.00,0.000,4,0.103,0.062,2992,660,3818,0,0,0,0,0,0
$GC,3069,-1.18,-146.0,314.1,-8.6,188,3073,0.00,2.42,0.00,0.000,6,0.000,0.024,2991,2203,3818,0,0,0,0,0,0
$GC,3319,-1.18,-146.0,335.4,-8.5,194,3323,0.00,2.60,0.00,0.000,4,0.000,0.048,2991,3803,3818,0,0,0,0,0,0
$GC,3342,-1.18,-146.0,337.4,-8.8,194,3346,0.00,2.53,0.00,0.000,6,0.000,0.026,2991,2212,3817,0,0,0,0,0,0
$GC,3597,-1.18,-146.0,359.2,-8.5,201,3601,0.00,2.67,0.00,0.000,4,0.000,0.071,2992,652,3817,0,0,0,0,0,0
$GC,3629,-1.18,-146.0,362.1,-8.7,201,3635,0.00,2.45,0.00,0.000,6,0.000,0.033,2992,2202,3816,0,0,0,0,0,0
$GC,3882,-1.18,-146.0,382.5,-8.2,208,3886,0.00,2.65,0.00,0.000,4,0.000,0.057,2992,3802,3815,0,0,0,0,0,0
$GC,3916,-1.22,-146.0,385.4,-8.4,208,3922,0.00,2.55,0.00,0.000,6,0.000,0.038,2992,2209,3815,0,0,0,0,0,0
$GC,4166,-1.22,-146.0,405.2,-7.7,215,4171,0.00,2.72,0.00,0.000,4,0.000,0.090,2991,647,3814,0,0,0,0,0,0
$GC,4195,-1.22,-146.0,407.4,-7.9,215,4199,0.00,2.53,0.00,0.000,6,0.000,0.038,2991,2212,3814,0,0,0,0,0,0
$GC,4445,-1.22,-146.0,426.6,-7.5,221,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2211,3813,0,0,0,0,0,0
$GC,4689,-1.22,-146.0,444.8,-7.4,227,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2211,3812,0,0,0,0,0,0
$GC,4932,-1.22,-146.0,462.8,-7.4,233,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2212,3810,0,0,0,0,0,0
$GC,5177,-1.26,-146.0,480.9,-7.4,239,5181,0.00,2.75,0.00,0.000,4,0.000,0.071,2992,3806,3809,0,0,0,0,0,0
$GC,5216,-1.31,-146.0,484.1,-8.0,240,5222,0.12,2.62,0.00,0.000,6,0.070,0.045,2944,2222,3809,0,0,0,0,0,0
$GC,5502,-1.26,-146.0,511.4,-9.8,247,5504,0.15,0.00,0.00,0.000,6,0.100,0.000,2977,2223,3807,0,0,0,0,0,0
$GC,5744,-1.26,-146.0,532.0,-8.4,253,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2223,3806,0,0,0,0,0,0
$GC,5987,-1.26,-146.0,551.9,-8.1,259,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2223,3805,0,0,0,0,0,0
$GC,6231,-1.26,-146.0,571.1,-7.8,265,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2223,3804,0,0,0,0,0,0
$GC,6477,-1.26,-146.0,590.2,-7.7,271,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2223,3802,0,0,0,0,0,0
$STATE,6635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6635,begin apogee
$GC,6641,-0.31,0.0,602.8,7.8,275,6761,0.88,0.00,116.95,0.966,6,0.068,0.000,3180,2363,3220,0,0,0,0,0,0
$STATE,6762,end apogee,CONTROL_FINISHED_OK
$STATE,6762,begin climb
$GC,6764,1.27,146.0,605.0,0.0,278,6891,1.45,0.00,120.07,0.940,6,0.048,0.000,3534,2363,2624,0,0,0,0,0,0
$GC,7130,1.21,146.0,575.4,10.3,287,7135,0.00,2.85,0.00,0.000,4,0.000,0.090,3534,3927,2617,0,0,0,0,0,0
$GC,7179,1.10,146.0,569.8,11.3,288,7185,0.20,2.67,0.00,0.000,6,0.104,0.058,3494,2362,2616,0,0,0,0,0,0
$GC,7454,1.14,172.6,545.9,8.8,295,7479,0.00,0.00,22.75,0.871,6,0.000,0.000,3494,2361,2516,0,0,0,0,0,0
$GC,7735,1.16,187.3,519.6,9.3,302,7754,0.00,2.75,13.55,0.831,4,0.000,0.056,3494,3923,2455,0,0,0,0,0,0
$GC,7767,1.16,187.3,516.4,10.1,302,7771,0.00,2.62,0.00,0.000,6,0.000,0.044,3494,2362,2454,0,0,0,0,0,0
$GC,8017,1.17,199.3,492.4,9.4,308,8031,0.00,0.00,11.93,0.812,6,0.000,0.000,3494,2362,2407,0,0,0,0,0,0
$GC,8261,1.23,214.0,469.5,9.3,314,8281,0.10,2.70,13.93,0.816,4,0.087,0.054,3524,3933,2347,0,0,0,0,0,0
$GC,8306,1.18,214.0,464.9,11.7,315,8311,0.00,2.62,0.00,0.000,6,0.000,0.035,3525,2355,2345,0,0,0,0,0,0
$GC,8591,1.18,214.0,432.9,11.3,322,8596,0.00,2.65,0.00,0.000,4,0.000,0.053,3525,3937,2344,0,0,0,0,0,0
$GC,8630,1.18,214.0,427.9,12.6,323,8635,0.00,2.58,0.00,0.000,6,0.000,0.032,3525,2365,2343,0,0,0,0,0,0
$GC,8916,1.18,214.0,395.8,11.2,330,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2365,2342,0,0,0,0,0,0
$GC,9157,1.18,214.0,368.1,11.4,336,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,3524,2365,2342,0,0,0,0,0,0
$GC,9401,1.18,214.0,339.2,11.8,342,9406,0.00,2.58,0.00,0.000,4,0.000,0.046,3524,3937,2341,0,0,0,0,0,0
$GC,9444,1.18,214.0,334.0,13.1,343,9449,0.00,2.50,0.00,0.000,6,0.000,0.026,3525,2364,2341,0,0,0,0,0,0
$GC,9728,1.18,214.0,301.0,11.4,350,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2364,2341,0,0,0,0,0,0
$GC,9971,1.18,214.0,273.4,11.3,356,9976,0.00,2.60,0.00,0.000,4,0.000,0.047,3525,3935,2341,0,0,0,0,0,0
$GC,9992,1.18,214.0,270.7,12.0,356,9997,0.00,2.47,0.00,0.000,6,0.000,0.029,3525,2371,2340,0,0,0,0,0,0
$GC,10256,1.18,214.0,241.8,10.8,363,10260,0.00,2.60,0.00,0.000,4,0.000,0.054,3525,3937,2341,0,0,0,0,0,0
$GC,10282,1.18,214.0,238.5,11.8,363,10287,0.00,2.47,0.00,0.000,6,0.000,0.032,3524,2387,2341,0,0,0,0,0,0
$GC,10533,1.18,214.0,212.6,10.2,369,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,3525,2387,2340,0,0,0,0,0,0
$GC,10782,1.23,214.0,188.7,10.6,381,10787,0.00,2.55,0.00,0.000,4,0.000,0.047,3525,3935,2341,0,0,0,0,0,0
$GC,10793,1.23,214.0,187.4,10.2,381,10802,0.00,2.50,0.00,0.000,6,0.000,0.029,3525,2379,2341,0,0,0,0,0,0
$GC,11062,1.31,240.3,164.3,8.8,406,11087,0.00,0.00,23.02,0.617,6,0.000,0.000,3525,2379,2240,0,0,0,0,0,0
$GC,11338,1.41,268.4,139.3,8.7,432,11371,0.15,0.00,25.20,0.594,6,0.063,0.000,3573,2379,2124,0,0,0,0,0,0
$GC,11626,1.51,300.5,111.2,8.5,459,11660,0.00,2.62,28.27,0.569,4,0.000,0.041,3573,3938,1994,0,0,0,0,0,0
$GC,11714,1.58,300.5,102.1,10.9,466,11724,0.00,2.53,0.00,0.000,6,0.000,0.025,3573,2378,1992,0,0,0,0,0,0
$GC,11984,1.67,325.0,77.1,8.9,491,12014,0.17,0.00,21.08,0.532,6,0.058,0.000,3627,2378,1898,0,0,0,0,0,0
$GC,12272,1.67,325.0,41.1,12.5,518,12280,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2378,1896,0,0,0,0,0,0
$STATE,12558,end climb,SURFACE_DEPTH_REACHED
$STATE,12558,begin surface coast
$FINISH,0.8,1.001105
$STATE,12601,end surface coast,CONTROL_FINISHED_OK
$STATE,12601,begin surface
$SM_CCo,12625,21.05,0.475,0,0,1793,350.04
$SM_GC,2.03,0.00,0.00,21.05,0.000,0.000,0.475,464,2151,1793,-12.82,-2.23,350.04
$IRIDIUM_FIX,1918.37,-8114.71,260402,212149
$TT8_MAMPS,0.026078
$HUMID,57.56
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.70
$XPDR_PINGS,36
$24V_AH,23.5,11.074
$10V_AH,10.5,9.372
$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,30.575,98.550,396.750,21.050,0.000,28.801,32.980,177.475,9.000,0.000,14.307,1108.971,9039.104,466.096,1849.115,577.395,33.352,1198.551,0.000,1852.447,0.000,0.538,0.000
$DEVICE_MAMPS,168.740,92.040,965.653,474.773,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.021,308.096,398.103,547.624,1043.878,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,44844,563
$CAP_FILE_SIZE,111751,0
$CFSIZE,260165632,123486208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310113,045435,1925.746,-8113.634,31,1.4,31,-3.8