version: 66.06
glider: 146
mission: 8
dive: 94
start: 2 2 113 23 45 27
data:
$ID,146
$MISSION,8
$DIVE,94
$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,-309210.03
$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,3270
$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,34
$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
$GPS1,233633,1923.700,-8110.335,13,99.0,32,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-74.1
$GPS2,234431,1923.680,-8110.311,15,1.5,15,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.249,0.073
$KALMAN_X,132367.5,428.4,103.3,-131447.1,1849.2
$KALMAN_Y,-18504.2,130.8,-114.0,12289.1,-358.9
$MHEAD_RNG_PITCHd_Wd,290.2,14769,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-70.78,0.000,2,0.000,0.000,463,2136,3573,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-6.7,9,122,13.82,2.65,-3.92,0.000,4,0.169,0.039,2988,3801,3806,0,0,0,0,0,0
$GC,271,-1.13,-146.0,46.1,-17.0,28,281,0.12,2.53,0.00,0.000,6,0.087,0.023,3020,2210,3807,0,0,0,0,0,0
$GC,539,-1.00,-146.0,86.9,-15.3,53,544,0.15,2.58,0.00,0.000,4,0.109,0.045,3053,636,3807,0,0,0,0,0,0
$GC,597,-1.00,-146.0,95.5,-12.7,57,601,0.00,2.42,0.00,0.000,6,0.000,0.017,3053,2220,3807,0,0,0,0,0,0
$GC,865,-1.00,-146.0,125.2,-9.7,81,870,0.00,2.45,0.00,0.000,4,0.000,0.032,3053,3776,3808,0,0,0,0,0,0
$GC,923,-1.06,-146.0,131.7,-9.4,85,929,0.00,2.45,0.00,0.000,6,0.000,0.019,3053,2198,3808,0,0,0,0,0,0
$GC,1189,-1.11,-146.0,155.2,-8.6,110,1194,0.10,2.55,0.00,0.000,4,0.077,0.046,3002,645,3808,0,0,0,0,0,0
$GC,1221,-1.07,-146.0,158.4,-10.6,112,1226,0.15,2.40,0.00,0.000,6,0.100,0.020,3035,2215,3809,0,0,0,0,0,0
$GC,1487,-1.12,-146.0,182.5,-8.7,136,1491,0.00,2.58,0.00,0.000,4,0.000,0.046,3035,634,3810,0,0,0,0,0,0
$GC,1532,-1.18,-146.0,186.9,-8.4,139,1538,0.10,2.40,0.00,0.000,6,0.077,0.023,2983,2199,3810,0,0,0,0,0,0
$GC,1800,-1.18,-146.0,212.7,-9.9,156,1805,0.12,2.50,0.00,0.000,4,0.101,0.035,3012,3771,3809,0,0,0,0,0,0
$GC,1873,-1.24,-146.0,219.4,-8.7,157,1877,0.00,2.42,0.00,0.000,6,0.000,0.026,3012,2209,3809,0,0,0,0,0,0
$GC,2123,-1.24,-146.0,238.7,-7.8,163,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2210,3810,0,0,0,0,0,0
$GC,2369,-1.29,-146.0,257.2,-7.5,169,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2210,3809,0,0,0,0,0,0
$GC,2611,-1.33,-146.0,275.3,-7.5,175,2613,0.15,0.00,0.00,0.000,6,0.059,0.000,2954,2210,3809,0,0,0,0,0,0
$GC,2855,-1.28,-146.0,298.8,-9.6,181,2856,0.17,0.00,0.00,0.000,6,0.088,0.000,2994,2210,3809,0,0,0,0,0,0
$GC,3100,-1.28,-146.0,318.9,-8.3,187,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2210,3808,0,0,0,0,0,0
$GC,3342,-1.28,-146.0,339.3,-8.3,193,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2210,3807,0,0,0,0,0,0
$GC,3585,-1.28,-146.0,359.7,-8.2,199,3590,0.00,2.70,0.00,0.000,4,0.000,0.074,2994,639,3806,0,0,0,0,0,0
$GC,3618,-1.28,-146.0,362.3,-7.9,199,3624,0.00,2.50,0.00,0.000,6,0.000,0.035,2993,2210,3806,0,0,0,0,0,0
$GC,3871,-1.28,-146.0,381.0,-7.4,206,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2210,3806,0,0,0,0,0,0
$GC,4112,-1.28,-146.0,398.9,-7.3,212,4117,0.00,2.62,0.00,0.000,4,0.000,0.058,2993,3794,3804,0,0,0,0,0,0
$GC,4153,-1.33,-146.0,402.2,-8.3,213,4157,0.00,2.50,0.00,0.000,6,0.000,0.034,2993,2240,3804,0,0,0,0,0,0
$GC,4438,-1.33,-146.0,424.8,-8.2,220,4442,0.00,2.83,0.00,0.000,4,0.000,0.084,2994,627,3803,0,0,0,0,0,0
$GC,4493,-1.37,-146.0,430.1,-9.0,221,4498,0.10,2.62,0.00,0.000,6,0.079,0.044,2951,2233,3802,0,0,0,0,0,0
$GC,4762,-1.33,-146.0,456.8,-10.2,228,4767,0.12,2.67,0.00,0.000,4,0.099,0.070,2979,3801,3801,0,0,0,0,0,0
$GC,4784,-1.33,-146.0,459.1,-9.1,228,4788,0.00,2.55,0.00,0.000,6,0.000,0.037,2979,2234,3801,0,0,0,0,0,0
$GC,5039,-1.33,-146.0,479.8,-7.9,235,5044,0.00,2.90,0.00,0.000,4,0.000,0.100,2979,620,3800,0,0,0,0,0,0
$GC,5068,-1.33,-146.0,482.0,-7.5,235,5073,0.00,2.65,0.00,0.000,6,0.000,0.043,2979,2224,3800,0,0,0,0,0,0
$GC,5318,-1.33,-146.0,500.3,-7.2,241,5323,0.00,2.72,0.00,0.000,4,0.000,0.075,2979,3802,3799,0,0,0,0,0,0
$GC,5357,-1.33,-146.0,503.4,-7.8,242,5362,0.00,2.60,0.00,0.000,6,0.000,0.043,2979,2229,3799,0,0,0,0,0,0
$GC,5643,-1.33,-146.0,524.7,-7.5,249,5647,0.00,2.95,0.00,0.000,4,0.000,0.108,2979,627,3796,0,0,0,0,0,0
$GC,5682,-1.33,-146.0,528.0,-8.2,250,5687,0.00,2.67,0.00,0.000,6,0.000,0.054,2979,2224,3796,0,0,0,0,0,0
$GC,5965,-1.33,-146.0,550.4,-7.9,257,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2224,3795,0,0,0,0,0,0
$GC,6211,-1.33,-146.0,570.7,-8.5,263,6215,0.00,2.80,0.00,0.000,4,0.000,0.091,2979,3797,3794,0,0,0,0,0,0
$GC,6243,-1.33,-146.0,574.2,-10.0,263,6249,0.00,2.60,0.00,0.000,6,0.000,0.059,2979,2237,3793,0,0,0,0,0,0
$GC,6493,-1.33,-146.0,596.6,-8.9,270,6498,0.00,3.10,0.00,0.000,4,0.000,0.125,2979,620,3792,0,0,0,0,0,0
$STATE,6530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6531,begin apogee
$GC,6541,-0.31,0.0,600.4,9.2,271,6662,0.98,0.00,117.10,0.960,6,0.071,0.000,3201,2377,3210,0,0,0,0,0,0
$STATE,6663,end apogee,CONTROL_FINISHED_OK
$STATE,6663,begin climb
$GC,6665,1.27,146.0,604.8,0.0,274,6799,1.42,3.00,120.32,0.936,4,0.035,0.104,3555,3933,2613,0,0,0,0,0,0
$GC,6856,1.13,146.0,593.9,11.9,278,6861,0.17,2.70,0.00,0.000,6,0.112,0.055,3519,2369,2610,0,0,0,0,0,0
$GC,7117,1.17,173.3,570.6,8.7,285,7146,0.00,2.83,23.62,0.882,4,0.000,0.072,3519,3949,2503,0,0,0,0,0,0
$GC,7188,1.11,173.3,563.7,11.1,286,7192,0.00,2.67,0.00,0.000,6,0.000,0.051,3519,2373,2500,0,0,0,0,0,0
$GC,7444,1.11,173.3,538.1,10.1,293,7449,0.00,2.67,0.00,0.000,4,0.000,0.056,3519,3937,2498,0,0,0,0,0,0
$GC,7507,1.07,173.3,531.2,11.4,294,7511,0.00,2.60,0.00,0.000,6,0.000,0.045,3519,2380,2497,0,0,0,0,0,0
$GC,7767,1.07,173.3,504.1,10.3,301,7772,0.00,3.05,0.00,0.000,4,0.000,0.116,3519,777,2496,0,0,0,0,0,0
$GC,7784,1.03,173.3,502.3,10.6,301,7789,0.12,2.70,0.00,0.000,6,0.116,0.048,3494,2393,2495,0,0,0,0,0,0
$GC,8047,1.05,195.0,478.1,9.0,308,8071,0.00,2.70,19.05,0.841,4,0.000,0.061,3494,3936,2414,0,0,0,0,0,0
$GC,8150,1.05,195.0,467.8,10.2,310,8154,0.00,2.53,0.00,0.000,6,0.000,0.035,3494,2387,2411,0,0,0,0,0,0
$GC,8417,1.08,218.0,443.9,8.9,317,8440,0.00,0.00,21.23,0.828,6,0.000,0.000,3494,2387,2321,0,0,0,0,0,0
$GC,8663,1.14,236.0,421.6,9.2,323,8683,0.10,0.00,17.38,0.797,6,0.084,0.000,3527,2388,2247,0,0,0,0,0,0
$GC,8904,1.14,236.0,393.5,12.0,329,8909,0.00,2.60,0.00,0.000,4,0.000,0.044,3527,3947,2244,0,0,0,0,0,0
$GC,8954,1.14,236.0,386.8,12.7,330,8958,0.00,2.50,0.00,0.000,6,0.000,0.028,3527,2398,2242,0,0,0,0,0,0
$GC,9228,1.14,236.0,353.9,12.2,337,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2398,2242,0,0,0,0,0,0
$GC,9470,1.14,236.0,324.2,12.2,343,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2398,2242,0,0,0,0,0,0
$GC,9714,1.14,236.0,294.6,12.0,349,9718,0.00,2.70,0.00,0.000,4,0.000,0.058,3527,784,2242,0,0,0,0,0,0
$GC,9731,1.14,236.0,292.5,12.2,349,9735,0.00,2.62,0.00,0.000,6,0.000,0.031,3527,2431,2241,0,0,0,0,0,0
$GC,9991,1.14,236.0,261.3,11.9,356,9995,0.00,2.47,0.00,0.000,4,0.000,0.044,3527,3948,2240,0,0,0,0,0,0
$GC,10041,1.14,236.0,254.9,12.3,357,10045,0.00,2.45,0.00,0.000,6,0.000,0.030,3527,2410,2240,0,0,0,0,0,0
$GC,10319,1.14,236.0,222.2,11.7,364,10323,0.00,2.53,0.00,0.000,4,0.000,0.045,3527,3938,2240,0,0,0,0,0,0
$GC,10346,1.14,236.0,218.7,12.8,364,10350,0.00,2.40,0.00,0.000,6,0.000,0.032,3527,2423,2240,0,0,0,0,0,0
$GC,10605,1.14,236.0,190.8,10.8,377,10606,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,2423,2240,0,0,0,0,0,0
$GC,10864,1.21,245.9,165.7,9.5,401,10882,0.00,0.00,9.15,0.565,6,0.000,0.000,3527,2423,2206,0,0,0,0,0,0
$GC,11140,1.30,262.4,138.8,9.2,427,11166,0.10,2.55,15.62,0.579,4,0.081,0.042,3564,3935,2138,0,0,0,0,0,0
$GC,11195,1.30,262.4,132.9,11.6,431,11199,0.00,2.40,0.00,0.000,6,0.000,0.024,3564,2424,2138,0,0,0,0,0,0
$GC,11462,1.40,302.8,105.8,8.1,455,11501,0.00,0.00,35.65,0.568,6,0.000,0.000,3564,2424,1975,0,0,0,0,0,0
$GC,11757,1.50,321.8,78.3,9.1,483,11785,0.12,2.78,17.17,0.525,4,0.070,0.047,3608,785,1897,0,0,0,0,0,0
$GC,11827,1.50,321.8,69.3,13.0,488,11836,0.00,2.65,0.00,0.000,6,0.000,0.022,3607,2448,1896,0,0,0,0,0,0
$GC,12097,1.50,321.8,38.0,11.7,513,12101,0.00,2.45,0.00,0.000,4,0.000,0.042,3607,3949,1896,0,0,0,0,0,0
$GC,12131,1.50,321.8,32.6,13.2,515,12141,0.00,2.40,0.00,0.000,6,0.000,0.023,3607,2441,1895,0,0,0,0,0,0
$STATE,12373,end climb,SURFACE_DEPTH_REACHED
$STATE,12373,begin surface coast
$FINISH,0.8,1.022793
$STATE,12416,end surface coast,CONTROL_FINISHED_OK
$STATE,12416,begin surface
$SM_CCo,12438,22.10,0.474,0,0,1782,350.04
$SM_GC,1.81,0.00,0.00,22.10,0.000,0.000,0.474,475,2179,1782,-12.86,-0.88,350.04
$IRIDIUM_FIX,1916.08,-8107.94,290402,202016
$TT8_MAMPS,0.026078
$HUMID,57.36
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.80
$XPDR_PINGS,38
$24V_AH,23.5,13.274
$10V_AH,10.5,11.471
$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,30.700,142.275,396.300,22.100,0.000,25.387,36.126,267.405,9.500,0.000,16.582,1143.923,8660.106,499.812,1958.344,679.653,33.366,1284.430,0.000,1955.640,0.000,0.537,0.000
$DEVICE_MAMPS,168.740,125.021,960.284,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.129,303.365,392.078,546.936,1042.678,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355984
$DATA_FILE_SIZE,44778,556
$CAP_FILE_SIZE,122978,0
$CFSIZE,260165632,122327040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030213,031449,1923.881,-8110.599,36,2.2,55,-3.8