version: 66.06
glider: 146
mission: 8
dive: 30
start: 1 21 113 17 40 49
data:
$ID,146
$MISSION,8
$DIVE,30
$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,-307903.81
$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,3170
$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,61
$R_STBD_OVSHOOT,14
$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
$GPS1,173305,1923.164,-8110.312,39,1.5,39,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-76.3
$GPS2,173955,1923.108,-8110.311,10,1.9,10,-3.8
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,DEEP2a
$TGT_LATLONG,1924.000,-8111.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.107,0.094
$KALMAN_X,2218.8,510.3,299.8,-1594.9,-140.3
$KALMAN_Y,-620.4,-142.3,-43.0,-6452.4,-32.9
$MHEAD_RNG_PITCHd_Wd,315.1,2654,-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,-44.5,0.0,0.0,0,83,0.00,0.00,-57.38,0.000,6,0.000,0.000,467,2183,3371,0,0,0,0,0,0
$GC,89,-2.11,-63.1,4.1,-7.2,8,115,12.50,2.72,-1.38,0.000,4,0.175,0.045,2700,3837,3451,0,0,0,0,0,0
$GC,227,-1.83,-63.1,51.7,-31.7,23,233,0.38,2.50,0.00,0.000,6,0.151,0.021,2766,2254,3451,0,0,0,0,0,0
$GC,496,-1.71,-63.1,126.5,-24.1,47,501,0.15,0.00,0.00,0.000,6,0.156,0.000,2793,2254,3452,0,0,0,0,0,0
$GC,757,-1.71,-63.1,173.0,-14.1,72,761,0.00,2.53,0.00,0.000,4,0.000,0.041,2792,3837,3452,0,0,0,0,0,0
$GC,813,-1.71,-63.1,180.8,-16.5,76,818,0.00,2.50,0.00,0.000,6,0.000,0.025,2792,2230,3452,0,0,0,0,0,0
$GC,1068,-1.71,-63.1,218.2,-14.0,91,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2230,3453,0,0,0,0,0,0
$GC,1312,-1.71,-63.1,250.2,-13.1,97,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2230,3453,0,0,0,0,0,0
$GC,1556,-1.74,-63.1,281.8,-13.0,103,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2230,3453,0,0,0,0,0,0
$GC,1802,-1.79,-63.1,312.4,-12.5,109,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2230,3453,0,0,0,0,0,0
$GC,2044,-1.83,-63.1,343.6,-12.8,115,2049,0.10,2.67,0.00,0.000,4,0.084,0.048,2753,3831,3452,0,0,0,0,0,0
$GC,2106,-1.78,-63.1,352.1,-14.2,116,2111,0.12,2.53,0.00,0.000,6,0.133,0.033,2777,2248,3453,0,0,0,0,0,0
$GC,2369,-1.78,-63.1,385.3,-12.5,123,2373,0.00,2.60,0.00,0.000,4,0.000,0.049,2777,3822,3452,0,0,0,0,0,0
$GC,2408,-1.78,-63.1,390.6,-13.1,124,2412,0.00,2.58,0.00,0.000,6,0.000,0.041,2777,2228,3452,0,0,0,0,0,0
$GC,2690,-1.78,-63.1,426.2,-12.5,131,2695,0.00,2.67,0.00,0.000,4,0.000,0.059,2777,3825,3451,0,0,0,0,0,0
$GC,2741,-1.78,-63.1,432.9,-13.6,132,2746,0.00,2.62,0.00,0.000,6,0.000,0.042,2777,2227,3451,0,0,0,0,0,0
$GC,3013,-1.78,-63.1,467.8,-12.6,139,3018,0.00,2.72,0.00,0.000,4,0.000,0.070,2777,3827,3449,0,0,0,0,0,0
$GC,3094,-1.78,-63.1,478.9,-14.6,140,3099,0.00,2.65,0.00,0.000,6,0.000,0.049,2777,2230,3449,0,0,0,0,0,0
$GC,3343,-1.78,-63.1,510.9,-12.5,147,3348,0.00,2.78,0.00,0.000,4,0.000,0.074,2777,3821,3447,0,0,0,0,0,0
$GC,3409,-1.78,-63.1,519.8,-13.5,148,3414,0.00,2.65,0.00,0.000,6,0.000,0.058,2777,2240,3446,0,0,0,0,0,0
$GC,3672,-1.78,-63.1,552.5,-12.6,155,3677,0.00,2.75,0.00,0.000,4,0.000,0.074,2777,3819,3446,0,0,0,0,0,0
$GC,3783,-1.78,-63.1,567.6,-13.8,157,3788,0.00,2.65,0.00,0.000,6,0.000,0.059,2777,2257,3445,0,0,0,0,0,0
$GC,4039,-1.78,-63.1,598.5,-12.0,164,4043,0.00,2.78,0.00,0.000,4,0.000,0.090,2777,3822,3443,0,0,0,0,0,0
$GC,4056,-1.78,-63.1,600.5,-11.7,164,4061,0.00,2.72,0.00,0.000,6,0.000,0.073,2777,2252,3443,0,0,0,0,0,0
$GC,4317,-1.82,-63.1,632.0,-12.1,171,4321,0.00,2.85,0.00,0.000,4,0.000,0.096,2777,3815,3441,0,0,0,0,0,0
$GC,4383,-1.82,-63.1,641.0,-13.2,172,4387,0.00,2.78,0.00,0.000,6,0.000,0.084,2777,2261,3441,0,0,0,0,0,0
$GC,4646,-1.86,-63.1,673.1,-12.4,179,4651,0.00,2.92,0.00,0.000,4,0.000,0.114,2777,3815,3440,0,0,0,0,0,0
$GC,4701,-1.86,-63.1,680.7,-13.4,180,4705,0.00,2.75,0.00,0.000,6,0.000,0.081,2777,2265,3439,0,0,0,0,0,0
$GC,4967,-1.86,-63.1,713.1,-12.2,187,4972,0.00,2.88,0.00,0.000,4,0.000,0.104,2777,3815,3438,0,0,0,0,0,0
$GC,5042,-1.86,-63.1,722.6,-13.6,188,5047,0.00,2.72,0.00,0.000,6,0.000,0.077,2777,2272,3437,0,0,0,0,0,0
$GC,5292,-1.90,-63.1,753.2,-11.8,194,5297,0.00,2.80,0.00,0.000,4,0.000,0.097,2777,3816,3435,0,0,0,0,0,0
$GC,5392,-1.90,-63.1,766.2,-13.0,196,5396,0.00,2.65,0.00,0.000,6,0.000,0.067,2777,2294,3434,0,0,0,0,0,0
$GC,5660,-1.94,-63.1,797.2,-11.4,203,5666,0.12,2.75,0.00,0.000,4,0.077,0.090,2736,3816,3432,0,0,0,0,0,0
$GC,5750,-1.87,-63.1,809.4,-13.9,205,5755,0.12,2.62,0.00,0.000,6,0.141,0.070,2758,2295,3432,0,0,0,0,0,0
$GC,6030,-1.87,-63.1,842.7,-12.1,212,6034,0.00,2.72,0.00,0.000,4,0.000,0.089,2758,3821,3431,0,0,0,0,0,0
$GC,6084,-1.87,-63.1,850.0,-12.8,213,6089,0.00,2.62,0.00,0.000,6,0.000,0.070,2758,2302,3430,0,0,0,0,0,0
$GC,6351,-1.87,-63.1,881.9,-11.9,220,6356,0.00,2.70,0.00,0.000,4,0.000,0.085,2758,3818,3428,0,0,0,0,0,0
$GC,6483,-1.87,-63.1,898.2,-12.2,223,6487,0.00,2.60,0.00,0.000,6,0.000,0.063,2758,2308,3429,0,0,0,0,0,0
$STATE,6496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6496,begin apogee
$GC,6502,-0.31,0.0,900.4,12.7,223,6557,1.60,0.00,50.42,1.202,6,0.120,0.000,3092,2377,3190,0,0,0,0,0,0
$STATE,6557,end apogee,CONTROL_FINISHED_OK
$STATE,6557,begin climb
$GC,6562,2.11,63.1,902.1,0.0,224,6622,2.33,0.00,55.25,1.183,6,0.063,0.000,3631,2376,2932,0,0,0,0,0,0
$GC,6849,2.33,83.5,886.2,6.9,231,6874,0.20,2.80,18.40,1.120,4,0.071,0.075,3679,3920,2849,0,0,0,0,0,0
$GC,6964,2.39,83.5,875.0,11.0,233,6968,0.00,2.67,0.00,0.000,6,0.000,0.053,3680,2362,2846,0,0,0,0,0,0
$GC,7219,2.52,89.5,851.2,9.1,240,7233,0.15,2.72,6.15,0.903,4,0.083,0.065,3717,3927,2824,0,0,0,0,0,0
$GC,7414,2.52,89.5,829.0,11.0,244,7419,0.00,2.62,0.00,0.000,6,0.000,0.041,3717,2373,2822,0,0,0,0,0,0
$GC,7681,2.58,89.5,800.8,10.7,251,7686,0.00,2.65,0.00,0.000,4,0.000,0.061,3717,3928,2821,0,0,0,0,0,0
$GC,7777,2.58,89.5,790.0,11.6,253,7782,0.00,2.65,0.00,0.000,6,0.000,0.048,3717,2371,2821,0,0,0,0,0,0
$GC,8050,2.64,90.0,762.2,9.9,260,8055,0.12,2.70,0.00,0.000,4,0.087,0.064,3750,3929,2820,0,0,0,0,0,0
$GC,8308,2.60,90.0,733.4,11.6,265,8313,0.00,2.62,0.00,0.000,6,0.000,0.046,3750,2381,2819,0,0,0,0,0,0
$GC,8557,2.60,90.0,708.1,10.1,272,8562,0.00,2.62,0.00,0.000,4,0.000,0.061,3750,3930,2818,0,0,0,0,0,0
$GC,8671,2.55,90.0,695.5,11.7,274,8676,0.12,2.60,0.00,0.000,6,0.151,0.044,3728,2384,2817,0,0,0,0,0,0
$GC,8927,2.60,90.9,669.9,9.9,281,8931,0.00,2.65,0.00,0.000,4,0.000,0.058,3729,3933,2817,0,0,0,0,0,0
$GC,9172,2.60,91.2,645.0,10.0,286,9177,0.00,2.60,0.00,0.000,6,0.000,0.048,3728,2386,2817,0,0,0,0,0,0
$GC,9428,2.67,98.7,622.1,8.9,293,9442,0.00,2.70,8.02,0.904,4,0.000,0.062,3728,3933,2787,0,0,0,0,0,0
$GC,9589,2.67,98.7,604.6,11.4,296,9593,0.00,2.58,0.00,0.000,6,0.000,0.047,3728,2395,2786,0,0,0,0,0,0
$GC,9845,2.73,98.7,578.0,10.5,303,9850,0.12,2.62,0.00,0.000,4,0.090,0.059,3760,3938,2786,0,0,0,0,0,0
$GC,10081,2.69,98.7,549.2,12.5,308,10085,0.00,2.55,0.00,0.000,6,0.000,0.047,3759,2410,2785,0,0,0,0,0,0
$GC,10347,2.69,98.7,520.1,11.0,315,10351,0.00,2.55,0.00,0.000,4,0.000,0.054,3759,3934,2786,0,0,0,0,0,0
$GC,10542,2.65,98.7,497.1,11.4,319,10547,0.00,2.53,0.00,0.000,6,0.000,0.038,3759,2407,2785,0,0,0,0,0,0
$GC,10802,2.65,98.7,469.1,10.7,326,10807,0.00,2.58,0.00,0.000,4,0.000,0.053,3759,3940,2785,0,0,0,0,0,0
$GC,10854,2.65,98.7,463.8,10.8,327,10858,0.00,2.53,0.00,0.000,6,0.000,0.035,3759,2406,2785,0,0,0,0,0,0
$GC,11125,2.65,98.7,436.0,10.2,334,11129,0.00,2.55,0.00,0.000,4,0.000,0.048,3759,3934,2785,0,0,0,0,0,0
$GC,11384,2.65,98.7,407.0,11.5,339,11390,0.00,2.47,0.00,0.000,6,0.000,0.029,3759,2407,2785,0,0,0,0,0,0
$GC,11634,2.65,99.8,382.1,9.8,346,11638,0.00,2.55,0.00,0.000,4,0.000,0.048,3760,3937,2785,0,0,0,0,0,0
$GC,11868,2.65,99.8,355.2,11.1,351,11872,0.00,2.42,0.00,0.000,6,0.000,0.028,3759,2417,2785,0,0,0,0,0,0
$GC,12141,2.65,100.4,327.5,9.9,358,12145,0.00,2.53,0.00,0.000,4,0.000,0.046,3759,3939,2785,0,0,0,0,0,0
$GC,12203,2.65,100.4,321.3,10.3,359,12208,0.00,2.42,0.00,0.000,6,0.000,0.027,3759,2415,2785,0,0,0,0,0,0
$GC,12464,2.65,100.5,294.9,10.0,366,12469,0.00,2.50,0.00,0.000,4,0.000,0.048,3759,3941,2786,0,0,0,0,0,0
$GC,12548,2.65,100.5,285.9,10.8,368,12553,0.00,2.42,0.00,0.000,6,0.000,0.025,3759,2419,2786,0,0,0,0,0,0
$GC,12834,2.69,101.4,257.5,9.9,375,12844,0.00,2.50,4.40,0.518,4,0.000,0.044,3759,3934,2776,0,0,0,0,0,0
$GC,13099,2.69,101.4,228.4,10.7,380,13104,0.00,2.42,0.00,0.000,6,0.000,0.028,3760,2420,2776,0,0,0,0,0,0
$GC,13349,2.76,107.6,205.2,9.1,387,13363,0.00,2.58,6.85,0.580,4,0.000,0.050,3759,3933,2751,0,0,0,0,0,0
$GC,13624,2.76,110.4,179.8,9.6,405,13638,0.00,2.42,4.07,0.448,6,0.000,0.027,3759,2419,2740,0,0,0,0,0,0
$GC,13895,2.87,133.3,159.2,6.6,430,13920,0.00,2.55,20.10,0.626,4,0.000,0.044,3760,3936,2646,0,0,0,0,0,0
$GC,14183,2.97,156.2,136.1,6.6,454,14210,0.00,2.35,20.48,0.601,6,0.000,0.025,3759,2458,2553,0,0,0,0,0,0
$GC,14476,3.15,183.4,115.3,5.9,481,14505,0.00,2.47,23.80,0.581,4,0.000,0.048,3760,3941,2441,0,0,0,0,0,0
$GC,14746,3.31,206.8,93.7,6.5,503,14773,0.00,2.33,20.95,0.554,6,0.000,0.023,3759,2475,2345,0,0,0,0,0,0
$GC,15042,3.51,211.4,68.4,9.3,530,15057,0.00,2.45,5.05,0.412,4,0.000,0.041,3759,3933,2328,0,0,0,0,0,0
$GC,15135,3.67,211.4,58.3,10.5,537,15139,0.00,2.30,0.00,0.000,6,0.000,0.023,3759,2480,2327,0,0,0,0,0,0
$GC,15405,3.87,211.4,30.7,10.8,561,15409,0.00,2.38,0.00,0.000,4,0.000,0.041,3760,3935,2328,0,0,0,0,0,0
$GC,15587,4.03,211.4,9.6,10.2,587,15596,0.00,2.28,0.00,0.000,6,0.000,0.030,3760,2502,2328,0,0,0,0,0,0
$STATE,15640,end climb,SURFACE_DEPTH_REACHED
$STATE,15640,begin surface coast
$FINISH,0.7,1.011911
$STATE,15695,end surface coast,CONTROL_FINISHED_OK
$STATE,15696,begin surface
$SM_CCo,15721,71.05,0.495,0,0,1967,300.00
$SM_GC,1.87,0.00,0.00,71.05,0.000,0.000,0.495,472,2196,1967,-12.41,-0.96,300.00
$IRIDIUM_FIX,1916.08,-8112.45,170402,131329
$TT8_MAMPS,0.026078
$HUMID,53.22
$INTERNAL_PRESSURE,9.50232
$TCM_TEMP,25.20
$XPDR_PINGS,56
$24V_AH,23.2,4.883
$10V_AH,10.5,3.908
$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,31.450,188.000,243.950,71.050,0.000,31.147,37.849,180.244,14.000,0.000,12.398,1421.780,11014.008,430.465,2660.309,670.669,31.427,1548.854,0.000,2643.626,0.000,0.538,0.000
$DEVICE_MAMPS,174.876,114.283,1201.889,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.321,292.039,371.031,490.802,936.398,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356044
$DATA_FILE_SIZE,47947,602
$CAP_FILE_SIZE,158828,0
$CFSIZE,260165632,126578688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210113,220525,1923.800,-8110.822,21,99.0,40,-3.8