version: 66.06
glider: 146
mission: 8
dive: 29
start: 1 21 113 13 5 57
data:
$ID,146
$MISSION,8
$DIVE,29
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,600
$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,300
$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,-307890.78
$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,3150
$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,24
$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
$GPS1,125806,1924.208,-8110.148,41,1.0,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-75.4
$GPS2,130506,1924.153,-8110.116,11,1.1,11,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,DEEP2a
$TGT_LATLONG,1924.000,-8111.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.115,-0.085
$KALMAN_X,563.6,563.6,563.6,52.9,-1397.3
$KALMAN_Y,-166.8,-166.8,-166.8,-4812.1,413.5
$MHEAD_RNG_PITCHd_Wd,237.3,2435,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.09,-44.5,0.0,0.0,0,92,0.00,0.00,-64.68,0.000,6,0.000,0.000,468,2210,3371,0,0,0,0,0,0
$GC,97,-2.10,-55.9,4.5,-8.3,9,116,12.35,2.58,-0.80,0.000,4,0.174,0.049,2683,659,3421,0,0,0,0,0,0
$GC,376,-1.78,-55.9,101.4,-31.1,35,381,0.40,2.47,0.00,0.000,6,0.146,0.021,2757,2254,3422,0,0,0,0,0,0
$GC,640,-1.71,-55.9,157.5,-16.3,59,646,0.10,0.00,0.00,0.000,6,0.170,0.000,2772,2255,3423,0,0,0,0,0,0
$GC,902,-1.71,-55.9,197.0,-14.8,84,906,0.00,2.50,0.00,0.000,4,0.000,0.041,2772,3811,3424,0,0,0,0,0,0
$GC,939,-1.67,-55.9,202.0,-14.5,86,944,0.00,2.47,0.00,0.000,6,0.000,0.024,2772,2216,3424,0,0,0,0,0,0
$GC,1188,-1.67,-55.9,234.9,-13.2,93,1192,0.00,2.55,0.00,0.000,4,0.000,0.041,2772,3809,3424,0,0,0,0,0,0
$GC,1276,-1.67,-55.9,246.9,-14.2,95,1281,0.00,2.47,0.00,0.000,6,0.000,0.019,2772,2231,3424,0,0,0,0,0,0
$GC,1556,-1.67,-55.9,281.9,-12.6,102,1560,0.00,2.55,0.00,0.000,4,0.000,0.044,2772,3801,3424,0,0,0,0,0,0
$GC,1595,-1.67,-55.9,287.6,-14.1,103,1599,0.00,2.47,0.00,0.000,6,0.000,0.023,2773,2237,3424,0,0,0,0,0,0
$GC,1880,-1.67,-55.9,323.1,-12.7,110,1884,0.00,2.58,0.00,0.000,4,0.000,0.043,2772,3804,3424,0,0,0,0,0,0
$GC,2109,-1.67,-55.9,354.5,-13.5,115,2113,0.00,2.50,0.00,0.000,6,0.000,0.029,2772,2257,3424,0,0,0,0,0,0
$GC,2388,-1.67,-55.9,389.1,-12.5,122,2392,0.00,2.58,0.00,0.000,4,0.000,0.047,2772,3800,3423,0,0,0,0,0,0
$GC,2415,-1.67,-55.9,392.9,-12.8,122,2419,0.00,2.53,0.00,0.000,6,0.000,0.037,2772,2249,3423,0,0,0,0,0,0
$GC,2665,-1.67,-55.9,424.7,-12.7,128,2669,0.00,2.60,0.00,0.000,4,0.000,0.058,2772,3793,3422,0,0,0,0,0,0
$GC,2721,-1.67,-55.9,432.4,-13.2,129,2726,0.00,2.55,0.00,0.000,6,0.000,0.041,2772,2255,3422,0,0,0,0,0,0
$GC,2988,-1.67,-55.9,467.4,-12.9,136,2992,0.00,2.60,0.00,0.000,4,0.000,0.066,2772,3790,3421,0,0,0,0,0,0
$GC,3104,-1.67,-55.9,483.4,-12.7,138,3109,0.00,2.55,0.00,0.000,6,0.000,0.052,2772,2267,3420,0,0,0,0,0,0
$GC,3357,-1.67,-55.9,514.1,-12.0,144,3361,0.00,2.62,0.00,0.000,4,0.000,0.065,2772,3796,3419,0,0,0,0,0,0
$GC,3434,-1.67,-55.9,523.8,-11.9,145,3439,0.00,2.60,0.00,0.000,6,0.000,0.051,2772,2261,3418,0,0,0,0,0,0
$GC,3684,-1.67,-55.9,554.8,-12.5,152,3688,0.00,2.67,0.00,0.000,4,0.000,0.078,2772,3790,3417,0,0,0,0,0,0
$GC,3746,-1.67,-55.9,562.8,-13.3,153,3750,0.00,2.60,0.00,0.000,6,0.000,0.055,2773,2268,3417,0,0,0,0,0,0
$GC,4006,-1.67,-55.9,594.8,-12.3,160,4011,0.00,2.70,0.00,0.000,4,0.000,0.081,2772,3791,3415,0,0,0,0,0,0
$GC,4061,-1.67,-55.9,602.3,-13.2,161,4066,0.00,2.65,0.00,0.000,6,0.000,0.067,2772,2270,3415,0,0,0,0,0,0
$GC,4330,-1.67,-55.9,634.6,-12.0,168,4334,0.00,2.80,0.00,0.000,4,0.000,0.102,2772,3793,3413,0,0,0,0,0,0
$GC,4435,-1.67,-55.9,648.7,-13.0,170,4440,0.00,2.72,0.00,0.000,6,0.000,0.088,2772,2285,3412,0,0,0,0,0,0
$GC,4696,-1.67,-55.9,680.3,-12.0,177,4701,0.00,2.85,0.00,0.000,4,0.000,0.115,2772,3789,3411,0,0,0,0,0,0
$GC,4804,-1.67,-55.9,693.7,-12.1,179,4808,0.00,2.65,0.00,0.000,6,0.000,0.084,2772,2299,3411,0,0,0,0,0,0
$GC,5064,-1.67,-55.9,724.9,-11.9,186,5069,0.00,2.75,0.00,0.000,4,0.000,0.100,2772,3793,3409,0,0,0,0,0,0
$GC,5121,-1.67,-55.9,732.2,-13.1,187,5125,0.00,2.62,0.00,0.000,6,0.000,0.075,2772,2304,3408,0,0,0,0,0,0
$GC,5387,-1.67,-55.9,764.4,-11.8,194,5391,0.00,2.67,0.00,0.000,4,0.000,0.095,2772,3788,3406,0,0,0,0,0,0
$GC,5497,-1.67,-55.9,778.6,-13.0,196,5502,0.00,2.58,0.00,0.000,6,0.000,0.071,2772,2305,3405,0,0,0,0,0,0
$GC,5755,-1.67,-55.9,807.1,-11.0,203,5760,0.00,2.67,0.00,0.000,4,0.000,0.090,2772,3794,3404,0,0,0,0,0,0
$GC,5872,-1.67,-55.9,821.2,-11.3,205,5876,0.00,2.58,0.00,0.000,6,0.000,0.072,2772,2315,3404,0,0,0,0,0,0
$GC,6122,-1.67,-55.9,848.1,-10.7,211,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2315,3403,0,0,0,0,0,0
$GC,6367,-1.67,-55.9,873.4,-10.4,217,6372,0.00,2.62,0.00,0.000,4,0.000,0.085,2772,3793,3401,0,0,0,0,0,0
$GC,6462,-1.67,-55.9,884.3,-11.9,219,6466,0.00,2.55,0.00,0.000,6,0.000,0.064,2772,2320,3400,0,0,0,0,0,0
$STATE,6610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6610,begin apogee
$GC,6618,-0.31,0.0,900.5,10.8,223,6666,1.48,0.00,44.65,1.201,6,0.120,0.000,3078,2320,3190,0,0,0,0,0,0
$STATE,6667,end apogee,CONTROL_FINISHED_OK
$STATE,6667,begin climb
$GC,6669,2.10,55.9,902.6,0.0,224,6729,2.30,3.08,49.12,1.180,4,0.065,0.113,3606,771,2961,0,0,0,0,0,0
$GC,6774,2.32,83.5,898.3,5.8,226,6806,0.22,2.72,24.90,1.141,6,0.067,0.060,3660,2331,2849,0,0,0,0,0,0
$GC,7082,2.47,87.8,871.0,9.4,234,7093,0.12,2.92,4.62,0.785,4,0.087,0.083,3692,3937,2832,0,0,0,0,0,0
$GC,7233,2.51,87.8,854.1,10.8,237,7238,0.00,2.67,0.00,0.000,6,0.000,0.045,3692,2355,2830,0,0,0,0,0,0
$GC,7494,2.61,90.0,828.7,9.7,244,7500,0.10,2.75,0.00,0.000,4,0.107,0.061,3717,3938,2829,0,0,0,0,0,0
$GC,7623,2.61,90.0,814.2,11.7,246,7628,0.00,2.67,0.00,0.000,6,0.000,0.042,3717,2359,2828,0,0,0,0,0,0
$GC,7873,2.67,90.0,788.0,10.3,253,7877,0.00,2.72,0.00,0.000,4,0.000,0.062,3718,3938,2827,0,0,0,0,0,0
$GC,8132,2.67,90.0,759.0,11.7,258,8137,0.00,2.65,0.00,0.000,6,0.000,0.051,3717,2375,2825,0,0,0,0,0,0
$GC,8382,2.73,93.4,734.7,9.5,265,8393,0.12,2.70,5.50,0.838,4,0.087,0.058,3750,3944,2808,0,0,0,0,0,0
$GC,8647,2.69,93.4,704.8,11.4,271,8652,0.00,2.65,0.00,0.000,6,0.000,0.048,3750,2377,2807,0,0,0,0,0,0
$GC,8931,2.69,93.4,675.3,10.2,278,8935,0.00,2.67,0.00,0.000,4,0.000,0.059,3750,3939,2807,0,0,0,0,0,0
$GC,9187,2.65,93.4,646.0,11.9,283,9194,0.12,2.60,0.00,0.000,6,0.153,0.043,3728,2389,2806,0,0,0,0,0,0
$GC,9440,2.70,95.1,621.3,9.7,290,9444,0.00,2.65,0.00,0.000,4,0.000,0.061,3729,3941,2805,0,0,0,0,0,0
$GC,9698,2.70,95.1,593.4,11.3,295,9704,0.00,2.60,0.00,0.000,6,0.000,0.042,3729,2392,2805,0,0,0,0,0,0
$GC,9950,2.76,95.1,567.9,10.0,302,9955,0.00,2.60,0.00,0.000,4,0.000,0.060,3728,3939,2804,0,0,0,0,0,0
$GC,10209,2.76,95.1,539.8,11.8,307,10215,0.00,2.58,0.00,0.000,6,0.000,0.045,3728,2394,2804,0,0,0,0,0,0
$GC,10461,2.82,96.7,515.2,9.8,314,10467,0.12,2.65,0.00,0.000,4,0.089,0.058,3760,3948,2804,0,0,0,0,0,0
$GC,10721,2.78,96.7,485.9,11.3,319,10727,0.00,2.55,0.00,0.000,6,0.000,0.039,3760,2403,2804,0,0,0,0,0,0
$GC,10971,2.78,96.7,459.8,10.3,326,10975,0.00,2.60,0.00,0.000,4,0.000,0.050,3760,3951,2804,0,0,0,0,0,0
$GC,11196,2.78,96.7,436.4,10.2,331,11201,0.00,2.53,0.00,0.000,6,0.000,0.034,3760,2401,2804,0,0,0,0,0,0
$GC,11474,2.78,97.8,409.3,9.8,338,11483,0.00,2.60,4.60,0.622,4,0.000,0.053,3760,3945,2790,0,0,0,0,0,0
$GC,11625,2.78,97.8,392.6,10.8,341,11630,0.00,2.50,0.00,0.000,6,0.000,0.028,3760,2403,2791,0,0,0,0,0,0
$GC,11886,2.78,97.8,365.0,10.8,348,11891,0.00,2.55,0.00,0.000,4,0.000,0.046,3760,3944,2791,0,0,0,0,0,0
$GC,12146,2.78,97.8,336.1,10.8,353,12151,0.00,2.45,0.00,0.000,6,0.000,0.026,3760,2418,2791,0,0,0,0,0,0
$GC,12396,2.78,98.0,310.6,10.0,360,12400,0.00,2.53,0.00,0.000,4,0.000,0.050,3760,3944,2791,0,0,0,0,0,0
$GC,12531,2.78,98.0,295.9,11.0,363,12536,0.00,2.45,0.00,0.000,6,0.000,0.026,3760,2414,2792,0,0,0,0,0,0
$GC,12810,2.81,98.8,267.8,9.9,370,12814,0.00,2.53,0.00,0.000,4,0.000,0.051,3760,3949,2793,0,0,0,0,0,0
$GC,13069,2.82,99.1,240.8,9.9,375,13075,0.00,2.42,0.00,0.000,6,0.000,0.027,3760,2425,2793,0,0,0,0,0,0
$GC,13319,2.87,107.4,218.8,8.8,382,13335,0.00,2.53,10.30,0.639,4,0.000,0.048,3760,3944,2751,0,0,0,0,0,0
$GC,13589,2.87,107.4,191.1,10.2,391,13595,0.00,2.42,0.00,0.000,6,0.000,0.025,3760,2426,2751,0,0,0,0,0,0
$GC,13852,2.97,132.8,172.0,6.2,416,13880,0.00,2.60,22.02,0.643,4,0.000,0.045,3760,3941,2648,0,0,0,0,0,0
$GC,14149,3.02,142.5,146.3,8.5,441,14163,0.00,2.42,9.45,0.564,6,0.000,0.026,3760,2426,2609,0,0,0,0,0,0
$GC,14429,3.20,175.7,127.6,5.0,467,14464,0.00,2.58,29.10,0.600,4,0.000,0.042,3760,3948,2472,0,0,0,0,0,0
$GC,14601,3.32,188.1,115.9,8.1,481,14617,0.00,2.45,11.38,0.543,6,0.000,0.025,3760,2416,2423,0,0,0,0,0,0
$GC,14872,3.53,206.9,95.6,7.2,506,14896,0.00,2.58,17.35,0.548,4,0.000,0.040,3760,3949,2346,0,0,0,0,0,0
$GC,14974,3.69,208.8,86.6,9.7,514,14978,0.00,2.42,0.00,0.000,6,0.000,0.025,3760,2429,2343,0,0,0,0,0,0
$GC,15243,3.89,214.9,60.8,9.1,538,15253,0.00,0.00,8.43,0.474,6,0.000,0.000,3760,2428,2313,0,0,0,0,0,0
$GC,15511,4.09,214.9,33.8,10.2,563,15515,0.00,2.50,0.00,0.000,4,0.000,0.041,3760,3947,2312,0,0,0,0,0,0
$GC,15618,4.25,214.9,22.2,10.6,575,15627,0.00,2.42,0.00,0.000,6,0.000,0.025,3760,2435,2311,0,0,0,0,0,0
$STATE,15797,end climb,SURFACE_DEPTH_REACHED
$STATE,15797,begin surface coast
$FINISH,0.8,1.013162
$STATE,15852,end surface coast,CONTROL_FINISHED_OK
$STATE,15853,begin surface
$SM_CCo,15876,67.72,0.493,0,0,1967,300.00
$SM_GC,1.85,0.00,0.00,67.72,0.000,0.000,0.493,467,2184,1967,-12.34,-1.30,300.00
$IRIDIUM_FIX,1918.37,-8109.84,170402,070739
$TT8_MAMPS,0.026078
$HUMID,53.26
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,25.30
$XPDR_PINGS,54
$24V_AH,23.2,4.793
$10V_AH,10.5,3.790
$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,30.750,187.325,241.425,67.725,0.000,25.510,41.431,196.620,13.500,0.000,14.422,1445.247,10936.523,427.297,2865.776,685.238,30.190,1608.892,0.000,2839.025,0.000,0.537,0.000
$DEVICE_MAMPS,174.109,115.050,1201.122,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.153,289.789,376.944,507.059,966.543,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356060
$DATA_FILE_SIZE,47961,609
$CAP_FILE_SIZE,160972,0
$CFSIZE,260165632,126648320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210113,173305,1923.164,-8110.312,39,1.5,39,-3.8