version: 66.06
glider: 146
mission: 8
dive: 81
start: 1 31 113 23 30 19
data:
$ID,146
$MISSION,8
$DIVE,81
$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,-308957.69
$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,3260
$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,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,28
$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,3210
$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
$GPS1,232235,1926.263,-8115.782,39,0.9,39,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-76.7
$GPS2,232925,1926.224,-8115.781,9,1.5,9,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.240,0.099
$KALMAN_X,102886.8,141.0,252.7,-111382.0,1363.5
$KALMAN_Y,-12745.4,-121.2,-32.6,11405.4,-626.6
$MHEAD_RNG_PITCHd_Wd,296.3,4134,-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,-63.35,0.000,2,0.000,0.000,462,2183,3324,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.0,-3.9,8,124,13.77,2.55,-9.40,0.000,4,0.169,0.057,2976,659,3808,0,0,0,0,0,0
$GC,329,-1.08,-146.0,54.8,-18.8,34,339,0.20,2.45,0.00,0.000,6,0.091,0.017,3023,2240,3808,0,0,0,0,0,0
$GC,598,-0.95,-146.0,94.1,-14.0,59,603,0.12,2.60,0.00,0.000,4,0.117,0.044,3051,656,3808,0,0,0,0,0,0
$GC,633,-0.87,-146.0,99.5,-13.7,61,638,0.00,2.38,0.00,0.000,6,0.000,0.024,3051,2211,3809,0,0,0,0,0,0
$GC,902,-0.87,-146.0,130.0,-9.7,85,906,0.00,2.45,0.00,0.000,4,0.000,0.039,3050,3765,3809,0,0,0,0,0,0
$GC,942,-0.91,-146.0,134.8,-10.2,88,946,0.00,2.42,0.00,0.000,6,0.000,0.021,3051,2215,3810,0,0,0,0,0,0
$GC,1211,-0.97,-146.0,157.7,-8.0,112,1215,0.00,2.55,0.00,0.000,4,0.000,0.046,3050,641,3810,0,0,0,0,0,0
$GC,1278,-1.04,-146.0,163.9,-8.1,117,1287,0.00,2.40,0.00,0.000,6,0.000,0.016,3050,2192,3810,0,0,0,0,0,0
$GC,1548,-1.13,-146.0,183.1,-7.4,142,1553,0.15,0.00,0.00,0.000,6,0.059,0.000,2991,2192,3811,0,0,0,0,0,0
$GC,1805,-1.13,-146.0,207.5,-8.8,161,1807,0.10,0.00,0.00,0.000,6,0.111,0.000,3013,2192,3811,0,0,0,0,0,0
$GC,2049,-1.17,-146.0,227.1,-8.0,167,2053,0.00,2.50,0.00,0.000,4,0.000,0.043,3013,3772,3811,0,0,0,0,0,0
$GC,2078,-1.21,-146.0,229.4,-8.3,167,2083,0.00,2.45,0.00,0.000,6,0.000,0.025,3013,2177,3811,0,0,0,0,0,0
$GC,2329,-1.26,-146.0,248.5,-7.4,173,2334,0.12,2.53,0.00,0.000,4,0.067,0.057,2962,636,3811,0,0,0,0,0,0
$GC,2359,-1.22,-146.0,251.1,-10.2,173,2364,0.15,2.35,0.00,0.000,6,0.097,0.020,2996,2169,3811,0,0,0,0,0,0
$GC,2608,-1.22,-146.0,272.2,-8.4,179,2613,0.00,2.55,0.00,0.000,4,0.000,0.046,2996,3772,3810,0,0,0,0,0,0
$GC,2659,-1.26,-146.0,276.5,-9.1,180,2663,0.00,2.45,0.00,0.000,6,0.000,0.022,2996,2183,3810,0,0,0,0,0,0
$GC,2933,-1.26,-146.0,298.7,-8.2,187,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2184,3810,0,0,0,0,0,0
$GC,3174,-1.26,-146.0,318.9,-8.2,193,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2184,3809,0,0,0,0,0,0
$GC,3418,-1.26,-146.0,337.5,-7.5,199,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2184,3807,0,0,0,0,0,0
$GC,3662,-1.26,-146.0,355.8,-7.5,205,3666,0.00,2.60,0.00,0.000,4,0.000,0.052,2996,3773,3807,0,0,0,0,0,0
$GC,3685,-1.26,-146.0,357.7,-8.2,205,3689,0.00,2.47,0.00,0.000,6,0.000,0.033,2996,2189,3807,0,0,0,0,0,0
$GC,3940,-1.26,-146.0,376.0,-6.9,212,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2189,3806,0,0,0,0,0,0
$GC,4184,-1.26,-146.0,394.1,-7.5,218,4188,0.00,2.60,0.00,0.000,4,0.000,0.049,2996,3768,3805,0,0,0,0,0,0
$GC,4213,-1.30,-146.0,396.3,-8.1,218,4217,0.00,2.50,0.00,0.000,6,0.000,0.031,2996,2189,3805,0,0,0,0,0,0
$GC,4463,-1.30,-146.0,415.8,-7.6,224,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2188,3804,0,0,0,0,0,0
$GC,4707,-1.34,-146.0,434.7,-7.8,230,4712,0.12,2.65,0.00,0.000,4,0.067,0.062,2950,3767,3802,0,0,0,0,0,0
$GC,4731,-1.34,-146.0,436.7,-8.7,230,4735,0.00,2.55,0.00,0.000,6,0.000,0.038,2949,2186,3802,0,0,0,0,0,0
$GC,4986,-1.29,-146.0,460.3,-9.3,237,4988,0.12,0.00,0.00,0.000,6,0.105,0.000,2977,2185,3801,0,0,0,0,0,0
$GC,5231,-1.29,-146.0,480.3,-8.1,243,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2186,3800,0,0,0,0,0,0
$GC,5475,-1.29,-146.0,500.3,-8.4,249,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2186,3799,0,0,0,0,0,0
$GC,5717,-1.29,-146.0,520.3,-8.2,255,5722,0.00,2.75,0.00,0.000,4,0.000,0.079,2977,3764,3798,0,0,0,0,0,0
$GC,5766,-1.29,-146.0,524.5,-8.6,256,5771,0.00,2.60,0.00,0.000,6,0.000,0.054,2977,2204,3798,0,0,0,0,0,0
$GC,6041,-1.29,-146.0,547.2,-8.4,263,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2203,3796,0,0,0,0,0,0
$GC,6282,-1.29,-146.0,567.0,-8.1,269,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2204,3795,0,0,0,0,0,0
$GC,6526,-1.29,-146.0,585.8,-7.6,275,6530,0.00,2.78,0.00,0.000,4,0.000,0.087,2977,3766,3793,0,0,0,0,0,0
$GC,6553,-1.29,-146.0,588.1,-8.5,275,6557,0.00,2.67,0.00,0.000,6,0.000,0.067,2978,2194,3793,0,0,0,0,0,0
$STATE,6719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6719,begin apogee
$GC,6727,-0.31,0.0,600.3,7.3,279,6848,0.93,0.00,117.43,0.964,6,0.070,0.000,3190,2351,3210,0,0,0,0,0,0
$STATE,6849,end apogee,CONTROL_FINISHED_OK
$STATE,6849,begin climb
$GC,6851,1.27,146.0,602.5,0.0,282,6985,1.42,2.92,120.20,0.937,4,0.035,0.083,3542,3927,2613,0,0,0,0,0,0
$GC,7053,1.16,146.0,589.0,11.5,286,7058,0.15,2.70,0.00,0.000,6,0.114,0.055,3512,2365,2610,0,0,0,0,0,0
$GC,7303,1.20,175.6,566.6,8.6,292,7334,0.00,2.75,25.48,0.886,4,0.000,0.068,3512,3929,2494,0,0,0,0,0,0
$GC,7353,1.18,192.2,562.4,9.2,293,7374,0.00,2.67,15.88,0.844,6,0.000,0.052,3512,2364,2426,0,0,0,0,0,0
$GC,7624,1.19,196.8,535.7,9.8,300,7631,0.00,0.00,4.80,0.628,6,0.000,0.000,3512,2364,2407,0,0,0,0,0,0
$GC,7870,1.19,196.8,511.3,10.0,306,7874,0.00,2.67,0.00,0.000,4,0.000,0.054,3512,3940,2405,0,0,0,0,0,0
$GC,7919,1.19,196.8,505.5,11.4,307,7923,0.00,2.60,0.00,0.000,6,0.000,0.038,3512,2378,2404,0,0,0,0,0,0
$GC,8191,1.19,196.8,477.2,10.4,314,8195,0.00,2.60,0.00,0.000,4,0.000,0.054,3512,3935,2404,0,0,0,0,0,0
$GC,8208,1.19,196.8,475.5,10.4,314,8212,0.00,2.55,0.00,0.000,6,0.000,0.040,3512,2377,2404,0,0,0,0,0,0
$GC,8468,1.19,196.8,449.0,10.0,321,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2377,2403,0,0,0,0,0,0
$GC,8712,1.19,197.3,424.6,10.0,327,8716,0.00,2.58,0.00,0.000,4,0.000,0.045,3512,3938,2402,0,0,0,0,0,0
$GC,8733,1.19,197.3,422.1,11.3,327,8737,0.00,2.50,0.00,0.000,6,0.000,0.035,3512,2385,2402,0,0,0,0,0,0
$GC,8991,1.19,197.3,396.1,10.2,334,8992,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2385,2402,0,0,0,0,0,0
$GC,9232,1.19,197.3,370.6,10.6,340,9237,0.00,2.58,0.00,0.000,4,0.000,0.052,3512,3937,2401,0,0,0,0,0,0
$GC,9248,1.19,197.3,368.6,10.9,340,9253,0.00,2.47,0.00,0.000,6,0.000,0.028,3512,2378,2401,0,0,0,0,0,0
$GC,9511,1.19,197.3,341.3,10.3,347,9515,0.00,2.58,0.00,0.000,4,0.000,0.051,3512,3940,2401,0,0,0,0,0,0
$GC,9526,1.19,197.3,339.3,10.5,347,9530,0.00,2.45,0.00,0.000,6,0.000,0.025,3512,2398,2400,0,0,0,0,0,0
$GC,9793,1.19,197.3,310.9,10.6,354,9794,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2398,2400,0,0,0,0,0,0
$GC,10037,1.19,197.3,284.9,10.7,360,10041,0.00,2.55,0.00,0.000,4,0.000,0.051,3512,3939,2400,0,0,0,0,0,0
$GC,10065,1.19,197.3,281.7,11.6,360,10070,0.00,2.45,0.00,0.000,6,0.000,0.026,3512,2392,2400,0,0,0,0,0,0
$GC,10315,1.19,197.3,256.1,10.2,366,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,2392,2400,0,0,0,0,0,0
$GC,10558,1.19,197.3,231.8,10.0,372,10563,0.00,2.53,0.00,0.000,4,0.000,0.048,3512,3934,2400,0,0,0,0,0,0
$GC,10604,1.19,197.3,227.3,11.2,373,10608,0.00,2.42,0.00,0.000,6,0.000,0.032,3512,2404,2400,0,0,0,0,0,0
$GC,10882,1.26,219.2,201.8,9.0,380,10904,0.10,0.00,19.88,0.644,6,0.087,0.000,3546,2404,2316,0,0,0,0,0,0
$GC,11138,1.26,219.2,174.9,10.7,401,11143,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,2404,2313,0,0,0,0,0,0
$GC,11399,1.26,219.5,148.3,10.0,426,11403,0.00,2.62,0.00,0.000,4,0.000,0.050,3546,789,2313,0,0,0,0,0,0
$GC,11432,1.28,233.7,145.1,9.3,428,11452,0.00,2.58,13.70,0.577,6,0.000,0.030,3546,2417,2256,0,0,0,0,0,0
$GC,11706,1.40,270.5,121.2,8.3,454,11741,0.00,0.00,32.47,0.584,6,0.000,0.000,3546,2417,2106,0,0,0,0,0,0
$GC,11996,1.56,327.3,99.2,7.4,481,12054,0.22,2.55,49.15,0.562,4,0.050,0.046,3613,3927,1874,0,0,0,0,0,0
$GC,12093,1.56,327.3,88.2,13.6,489,12097,0.00,2.40,0.00,0.000,6,0.000,0.025,3613,2418,1872,0,0,0,0,0,0
$GC,12362,1.56,327.3,54.3,12.0,513,12367,0.00,2.67,0.00,0.000,4,0.000,0.047,3613,788,1871,0,0,0,0,0,0
$GC,12383,1.56,327.3,51.1,12.2,514,12388,0.00,2.58,0.00,0.000,6,0.000,0.020,3613,2437,1869,0,0,0,0,0,0
$GC,12672,1.56,327.3,15.4,12.2,546,12681,0.00,2.45,0.00,0.000,4,0.000,0.043,3613,3930,1869,0,0,0,0,0,0
$GC,12712,1.56,327.3,10.1,13.4,551,12721,0.00,2.40,0.00,0.000,6,0.000,0.024,3613,2422,1869,0,0,0,0,0,0
$STATE,12757,end climb,SURFACE_DEPTH_REACHED
$STATE,12757,begin surface coast
$FINISH,0.8,1.005765
$STATE,12793,end surface coast,CONTROL_FINISHED_OK
$STATE,12793,begin surface
$SM_CCo,12818,17.38,0.467,0,0,1782,350.04
$SM_GC,1.75,0.00,0.00,17.38,0.000,0.000,0.467,465,2167,1782,-12.85,-1.22,350.04
$IRIDIUM_FIX,1918.37,-8116.97,270402,191936
$TT8_MAMPS,0.026078
$HUMID,57.20
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.70
$XPDR_PINGS,41
$24V_AH,23.5,11.750
$10V_AH,10.5,10.025
$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,30.250,128.225,398.975,17.375,0.000,29.877,38.648,187.032,10.250,0.000,12.813,1137.364,9150.714,472.209,1873.461,608.614,33.358,1235.786,0.000,1873.016,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,86.671,964.119,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.510,302.189,393.576,537.509,1024.535,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355860
$DATA_FILE_SIZE,44634,562
$CAP_FILE_SIZE,120104,0
$CFSIZE,260165632,123113472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010213,030536,1926.516,-8116.102,39,1.2,39,-3.8