version: 66.06
glider: 146
mission: 8
dive: 171
start: 2 20 113 5 14 39
data:
$ID,146
$MISSION,8
$DIVE,171
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$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,300
$T_MISSION,620
$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,0
$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,-310721.03
$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,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,35
$R_STBD_OVSHOOT,17
$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,3190
$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
$GPS1,050500,1923.985,-8106.658,65,1.2,65,-3.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-74.0
$GPS2,051343,1923.966,-8106.692,12,1.6,12,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T2
$TGT_LATLONG,1924.500,-8108.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.136,-0.045
$KALMAN_X,3.7,497.6,364.4,13003.3,-818.4
$KALMAN_Y,2793.9,-290.2,-348.8,-8964.2,1463.2
$MHEAD_RNG_PITCHd_Wd,255.5,2489,-32.6,-10.000
$D_GRID,900
$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,-2.09,-44.5,0.0,0.0,0,91,0.00,0.00,-66.65,0.000,6,0.000,0.000,466,2182,3371,0,0,0,0,0,0
$GC,94,-2.13,-75.4,3.7,-5.4,9,120,12.88,2.65,-2.50,0.000,4,0.169,0.043,2787,3808,3500,0,0,0,0,0,0
$GC,406,-2.06,-75.4,85.7,-26.8,39,411,0.12,2.53,0.00,0.000,6,0.140,0.026,2810,2208,3501,0,0,0,0,0,0
$GC,672,-2.06,-75.4,145.7,-20.9,63,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2207,3501,0,0,0,0,0,0
$GC,939,-2.14,-75.4,183.7,-13.4,88,943,0.00,2.58,0.00,0.000,4,0.000,0.043,2810,628,3502,0,0,0,0,0,0
$GC,956,-2.22,-75.4,186.8,-12.9,89,961,0.15,2.47,0.00,0.000,6,0.057,0.017,2751,2268,3502,0,0,0,0,0,0
$GC,1222,-2.22,-75.4,225.1,-14.6,102,1224,0.12,0.00,0.00,0.000,6,0.120,0.000,2775,2267,3503,0,0,0,0,0,0
$GC,1464,-2.27,-75.4,255.5,-12.0,108,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2268,3503,0,0,0,0,0,0
$GC,1708,-2.32,-75.4,286.1,-12.7,114,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2268,3503,0,0,0,0,0,0
$GC,1953,-2.39,-75.4,316.4,-12.5,120,1955,0.15,0.00,0.00,0.000,6,0.061,0.000,2720,2268,3502,0,0,0,0,0,0
$GC,2197,-2.39,-75.4,352.0,-14.8,126,2199,0.10,0.00,0.00,0.000,6,0.135,0.000,2738,2268,3502,0,0,0,0,0,0
$GC,2438,-2.39,-75.4,386.0,-13.8,132,2443,0.00,2.50,0.00,0.000,4,0.000,0.046,2738,3801,3501,0,0,0,0,0,0
$GC,2460,-2.39,-75.4,389.3,-14.8,132,2464,0.00,2.53,0.00,0.000,6,0.000,0.033,2738,2237,3501,0,0,0,0,0,0
$GC,2717,-2.39,-75.4,423.5,-12.9,139,2722,0.00,2.60,0.00,0.000,4,0.000,0.054,2738,3807,3500,0,0,0,0,0,0
$GC,2766,-2.39,-75.4,430.7,-14.1,140,2771,0.00,2.60,0.00,0.000,6,0.000,0.041,2738,2224,3500,0,0,0,0,0,0
$GC,3044,-2.39,-75.4,466.3,-13.0,147,3049,0.00,2.65,0.00,0.000,4,0.000,0.056,2738,3800,3499,0,0,0,0,0,0
$GC,3095,-2.39,-75.4,473.1,-13.2,148,3100,0.00,2.62,0.00,0.000,6,0.000,0.049,2738,2217,3499,0,0,0,0,0,0
$GC,3367,-2.39,-75.4,508.9,-13.2,155,3372,0.00,2.70,0.00,0.000,4,0.000,0.065,2738,3804,3497,0,0,0,0,0,0
$GC,3428,-2.39,-75.4,517.4,-13.6,156,3432,0.00,2.65,0.00,0.000,6,0.000,0.054,2738,2221,3497,0,0,0,0,0,0
$GC,3696,-2.39,-75.4,553.1,-13.6,163,3701,0.00,2.72,0.00,0.000,4,0.000,0.067,2738,3794,3496,0,0,0,0,0,0
$GC,3832,-2.39,-75.4,572.4,-13.6,166,3836,0.00,2.65,0.00,0.000,6,0.000,0.064,2738,2238,3495,0,0,0,0,0,0
$GC,4109,-2.39,-75.4,609.2,-13.1,173,4114,0.00,2.75,0.00,0.000,4,0.000,0.081,2738,3800,3493,0,0,0,0,0,0
$GC,4150,-2.39,-75.4,614.7,-14.0,174,4155,0.00,2.72,0.00,0.000,6,0.000,0.071,2738,2246,3493,0,0,0,0,0,0
$GC,4433,-2.39,-75.4,652.2,-13.0,181,4437,0.00,2.80,0.00,0.000,4,0.000,0.097,2738,3794,3491,0,0,0,0,0,0
$GC,4450,-2.39,-75.4,654.3,-12.6,181,4454,0.00,2.78,0.00,0.000,6,0.000,0.087,2738,2242,3491,0,0,0,0,0,0
$GC,4712,-2.39,-75.4,687.1,-12.4,188,4717,0.00,2.85,0.00,0.000,4,0.000,0.099,2738,3798,3489,0,0,0,0,0,0
$GC,4761,-2.39,-75.4,694.0,-13.7,189,4766,0.00,2.75,0.00,0.000,6,0.000,0.081,2738,2244,3489,0,0,0,0,0,0
$GC,5033,-2.39,-75.4,728.6,-12.9,196,5038,0.00,2.80,0.00,0.000,4,0.000,0.096,2738,3794,3487,0,0,0,0,0,0
$GC,5096,-2.39,-75.4,737.1,-14.6,197,5101,0.00,2.70,0.00,0.000,6,0.000,0.069,2738,2253,3487,0,0,0,0,0,0
$GC,5357,-2.39,-75.4,772.4,-13.4,204,5361,0.00,2.75,0.00,0.000,4,0.000,0.088,2738,3794,3485,0,0,0,0,0,0
$GC,5441,-2.39,-75.4,784.0,-14.1,206,5445,0.00,2.67,0.00,0.000,6,0.000,0.067,2738,2260,3485,0,0,0,0,0,0
$GC,5726,-2.39,-75.4,819.7,-12.6,213,5730,0.00,2.72,0.00,0.000,4,0.000,0.078,2738,3800,3484,0,0,0,0,0,0
$GC,5803,-2.39,-75.4,830.5,-13.1,214,5808,0.00,2.67,0.00,0.000,6,0.000,0.068,2738,2259,3483,0,0,0,0,0,0
$GC,6055,-2.39,-75.4,860.0,-11.8,221,6059,0.00,2.70,0.00,0.000,4,0.000,0.083,2738,3800,3481,0,0,0,0,0,0
$GC,6171,-2.39,-75.4,875.6,-13.6,223,6176,0.00,2.65,0.00,0.000,6,0.000,0.063,2738,2271,3480,0,0,0,0,0,0
$STATE,6378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6379,begin apogee
$GC,6385,-0.31,0.0,900.6,11.9,228,6451,2.12,0.00,61.42,1.197,6,0.107,0.000,3187,2382,3190,0,0,0,0,0,0
$STATE,6451,end apogee,CONTROL_FINISHED_OK
$STATE,6452,begin climb
$GC,6456,2.13,75.4,902.0,0.0,229,6531,2.20,3.12,65.80,1.174,4,0.035,0.102,3734,781,2881,0,0,0,0,0,0
$GC,6544,2.13,79.9,896.7,9.3,231,6554,0.00,2.75,5.25,0.820,6,0.000,0.051,3733,2371,2864,0,0,0,0,0,0
$GC,6823,2.13,79.9,862.3,12.4,238,6828,0.00,2.78,0.00,0.000,4,0.000,0.071,3733,3939,2860,0,0,0,0,0,0
$GC,6959,2.07,79.9,844.0,13.4,241,6964,0.12,2.62,0.00,0.000,6,0.146,0.042,3712,2374,2859,0,0,0,0,0,0
$GC,7239,2.07,79.9,813.0,10.7,248,7243,0.00,2.65,0.00,0.000,4,0.000,0.050,3712,3934,2857,0,0,0,0,0,0
$GC,7496,2.07,79.9,782.3,12.2,253,7502,0.00,2.60,0.00,0.000,6,0.000,0.044,3712,2381,2855,0,0,0,0,0,0
$GC,7748,2.07,82.2,757.3,9.7,260,7753,0.00,2.62,0.00,0.000,4,0.000,0.054,3712,3937,2854,0,0,0,0,0,0
$GC,8009,2.07,82.2,728.3,11.8,265,8015,0.00,2.58,0.00,0.000,6,0.000,0.043,3712,2393,2853,0,0,0,0,0,0
$GC,8260,2.11,82.8,703.4,9.9,272,8264,0.00,2.62,0.00,0.000,4,0.000,0.057,3712,3945,2852,0,0,0,0,0,0
$GC,8427,2.11,82.8,685.1,11.3,275,8433,0.00,2.58,0.00,0.000,6,0.000,0.044,3712,2397,2851,0,0,0,0,0,0
$GC,8680,2.15,83.9,660.5,9.8,282,8685,0.00,2.60,0.00,0.000,4,0.000,0.051,3712,3935,2851,0,0,0,0,0,0
$GC,8814,2.15,83.9,645.7,12.0,285,8818,0.00,2.55,0.00,0.000,6,0.000,0.038,3711,2400,2850,0,0,0,0,0,0
$GC,9101,2.19,83.9,616.7,10.3,292,9106,0.10,2.62,0.00,0.000,4,0.094,0.058,3741,3945,2849,0,0,0,0,0,0
$GC,9308,2.12,83.9,591.3,12.0,296,9312,0.00,2.53,0.00,0.000,6,0.000,0.038,3741,2404,2849,0,0,0,0,0,0
$GC,9560,2.12,83.9,565.2,10.4,302,9564,0.00,2.58,0.00,0.000,4,0.000,0.054,3741,3941,2849,0,0,0,0,0,0
$GC,9736,2.06,83.9,545.2,12.1,306,9741,0.15,2.53,0.00,0.000,6,0.139,0.035,3711,2405,2848,0,0,0,0,0,0
$GC,10022,2.11,88.4,517.9,9.3,313,10033,0.00,2.58,5.90,0.759,4,0.000,0.050,3711,3947,2828,0,0,0,0,0,0
$GC,10276,2.11,88.4,490.1,10.9,318,10280,0.00,2.50,0.00,0.000,6,0.000,0.031,3711,2411,2828,0,0,0,0,0,0
$GC,10526,2.17,91.6,466.1,9.5,324,10535,0.00,2.58,4.40,0.630,4,0.000,0.050,3711,3944,2816,0,0,0,0,0,0
$GC,10646,2.17,91.6,453.1,10.6,326,10650,0.00,2.47,0.00,0.000,6,0.000,0.034,3711,2422,2816,0,0,0,0,0,0
$GC,10896,2.22,92.3,427.6,9.9,332,10901,0.12,2.53,0.00,0.000,4,0.079,0.048,3747,3941,2816,0,0,0,0,0,0
$GC,11156,2.16,92.3,396.5,12.1,337,11162,0.00,2.45,0.00,0.000,6,0.000,0.030,3747,2421,2816,0,0,0,0,0,0
$GC,11406,2.16,92.3,368.4,11.0,344,11410,0.00,2.50,0.00,0.000,4,0.000,0.041,3747,3942,2816,0,0,0,0,0,0
$GC,11663,2.11,92.3,337.2,11.7,349,11669,0.15,2.42,0.00,0.000,6,0.133,0.025,3719,2429,2816,0,0,0,0,0,0
$GC,11913,2.16,92.3,310.7,10.5,356,11917,0.00,2.47,0.00,0.000,4,0.000,0.041,3719,3939,2817,0,0,0,0,0,0
$GC,12045,2.16,92.3,295.2,12.3,359,12049,0.00,2.40,0.00,0.000,6,0.000,0.025,3719,2436,2817,0,0,0,0,0,0
$GC,12328,2.22,92.3,265.9,10.3,366,12333,0.10,2.47,0.00,0.000,4,0.087,0.041,3751,3940,2818,0,0,0,0,0,0
$GC,12586,2.18,92.3,232.5,11.8,371,12591,0.00,2.40,0.00,0.000,6,0.000,0.033,3751,2439,2819,0,0,0,0,0,0
$GC,12836,2.19,100.4,208.7,8.8,378,12851,0.00,2.50,10.02,0.622,4,0.000,0.043,3751,3941,2780,0,0,0,0,0,0
$GC,12969,2.19,100.4,194.6,12.2,381,12978,0.00,2.42,0.00,0.000,6,0.000,0.027,3751,2445,2779,0,0,0,0,0,0
$GC,13235,2.27,121.7,173.8,6.8,406,13259,0.00,2.55,18.23,0.629,4,0.000,0.051,3751,3934,2693,0,0,0,0,0,0
$GC,13344,2.27,126.8,164.2,9.2,415,13355,0.00,2.40,5.68,0.505,6,0.000,0.025,3751,2439,2673,0,0,0,0,0,0
$GC,13613,2.40,161.5,141.2,4.8,440,13649,0.00,2.53,29.92,0.609,4,0.000,0.043,3751,3944,2532,0,0,0,0,0,0
$GC,13918,2.49,176.8,115.6,7.7,465,13938,0.00,2.38,14.18,0.556,6,0.000,0.025,3751,2454,2469,0,0,0,0,0,0
$GC,14192,2.64,180.1,92.4,9.5,491,14203,0.00,2.47,4.18,0.388,4,0.000,0.042,3751,3941,2455,0,0,0,0,0,0
$GC,14355,2.74,180.1,74.3,11.9,504,14359,0.00,2.35,0.00,0.000,6,0.000,0.025,3751,2460,2454,0,0,0,0,0,0
$GC,14624,2.89,182.9,47.5,9.6,528,14639,0.00,2.47,4.22,0.368,4,0.000,0.041,3750,3934,2443,0,0,0,0,0,0
$GC,14719,3.00,182.9,37.2,11.1,535,14729,0.00,2.38,0.00,0.000,6,0.000,0.026,3751,2459,2443,0,0,0,0,0,0
$GC,15033,3.17,189.4,4.6,9.0,578,15044,0.00,0.35,7.72,0.429,3,0.000,0.038,3751,2713,2417,0,0,0,0,0,0
$STATE,15045,end climb,SURFACE_DEPTH_REACHED
$STATE,15045,begin surface coast
$FINISH,1.0,1.011672
$STATE,15094,end surface coast,CONTROL_FINISHED_OK
$STATE,15094,begin surface
$SM_CCo,15118,127.97,0.490,0,0,1763,350.04
$SM_GC,1.64,0.00,0.00,127.97,0.000,0.000,0.490,464,2183,1763,-12.86,-0.74,350.04
$IRIDIUM_FIX,1918.37,-8105.33,170502,000032
$TT8_MAMPS,0.025311
$HUMID,54.29
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.90
$XPDR_PINGS,55
$24V_AH,23.3,24.283
$10V_AH,10.3,21.147
$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,31.750,172.700,236.925,127.975,0.000,22.704,37.645,297.106,13.750,0.000,14.396,1366.328,10521.511,482.580,2626.399,768.163,33.348,1565.108,0.000,2602.253,0.000,0.536,0.000
$DEVICE_MAMPS,168.740,102.011,1196.520,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.321,287.462,369.526,509.127,970.159,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356012
$DATA_FILE_SIZE,44546,586
$CAP_FILE_SIZE,152369,0
$CFSIZE,260165632,116731904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200213,093006,1923.207,-8107.873,36,1.3,36,-3.8