version: 66.06
glider: 146
mission: 8
dive: 177
start: 2 21 113 11 6 20
data:
$ID,146
$MISSION,8
$DIVE,177
$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,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,-310831.31
$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,34
$R_STBD_OVSHOOT,23
$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
$GPS1,105454,1927.412,-8118.740,38,1.3,38,-3.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-73.8
$GPS2,110527,1927.396,-8118.784,10,2.1,29,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,T1
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.142,-0.016
$KALMAN_X,-3609.6,-69.0,-71.8,-3474.6,-1198.4
$KALMAN_Y,-718.1,-110.2,55.2,310.3,-439.1
$MHEAD_RNG_PITCHd_Wd,100.2,1554,-32.5,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-2.09,-44.7,0.0,0.0,0,92,0.00,0.00,-67.05,0.000,6,0.000,0.000,465,2195,3374,0,0,0,0,0,0
$GC,95,-2.13,-77.0,3.4,-5.2,9,113,12.82,0.00,-2.67,0.000,6,0.169,0.000,2787,2195,3506,0,0,0,0,0,0
$GC,387,-2.05,-77.0,79.6,-24.8,41,396,0.12,0.00,0.00,0.000,6,0.148,0.000,2809,2195,3507,0,0,0,0,0,0
$GC,647,-2.05,-77.0,140.1,-20.8,66,651,0.00,2.53,0.00,0.000,4,0.000,0.041,2809,631,3507,0,0,0,0,0,0
$GC,658,-2.05,-77.0,142.5,-20.1,66,667,0.00,2.50,0.00,0.000,6,0.000,0.018,2809,2263,3508,0,0,0,0,0,0
$GC,925,-2.13,-77.0,182.2,-12.1,91,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2263,3508,0,0,0,0,0,0
$GC,1194,-2.22,-77.0,215.8,-12.4,108,1195,0.12,0.00,0.00,0.000,6,0.067,0.000,2756,2263,3508,0,0,0,0,0,0
$GC,1435,-2.22,-77.0,251.1,-14.3,114,1437,0.10,0.00,0.00,0.000,6,0.130,0.000,2776,2263,3508,0,0,0,0,0,0
$GC,1679,-2.28,-77.0,282.3,-12.6,120,1683,0.00,2.47,0.00,0.000,4,0.000,0.042,2776,3811,3508,0,0,0,0,0,0
$GC,1700,-2.31,-77.0,285.1,-12.3,120,1705,0.00,2.47,0.00,0.000,6,0.000,0.021,2776,2220,3508,0,0,0,0,0,0
$GC,1958,-2.38,-77.0,315.7,-11.9,127,1963,0.15,2.58,0.00,0.000,4,0.060,0.039,2718,3810,3508,0,0,0,0,0,0
$GC,1974,-2.38,-77.0,318.3,-12.2,127,1979,0.12,2.53,0.00,0.000,6,0.119,0.031,2741,2216,3508,0,0,0,0,0,0
$GC,2237,-2.38,-77.0,353.5,-13.5,134,2241,0.00,2.58,0.00,0.000,4,0.000,0.047,2741,3805,3507,0,0,0,0,0,0
$GC,2286,-2.38,-77.0,361.1,-15.0,135,2290,0.00,2.53,0.00,0.000,6,0.000,0.036,2741,2222,3507,0,0,0,0,0,0
$GC,2558,-2.38,-77.0,399.4,-14.3,142,2562,0.00,2.58,0.00,0.000,4,0.000,0.050,2741,3794,3507,0,0,0,0,0,0
$GC,2631,-2.38,-77.0,410.6,-16.1,143,2636,0.00,2.55,0.00,0.000,6,0.000,0.042,2741,2227,3506,0,0,0,0,0,0
$GC,2881,-2.38,-77.0,445.8,-14.0,149,2885,0.00,2.60,0.00,0.000,4,0.000,0.059,2741,3793,3505,0,0,0,0,0,0
$GC,2975,-2.38,-77.0,459.0,-13.2,151,2979,0.00,2.60,0.00,0.000,6,0.000,0.044,2741,2224,3505,0,0,0,0,0,0
$GC,3250,-2.38,-77.0,494.1,-12.9,158,3254,0.00,2.67,0.00,0.000,4,0.000,0.068,2741,3790,3503,0,0,0,0,0,0
$GC,3265,-2.38,-77.0,496.6,-13.4,158,3269,0.00,2.62,0.00,0.000,6,0.000,0.051,2741,2219,3503,0,0,0,0,0,0
$GC,3526,-2.38,-77.0,531.8,-13.6,165,3530,0.00,2.70,0.00,0.000,4,0.000,0.064,2741,3790,3502,0,0,0,0,0,0
$GC,3594,-2.38,-77.0,541.5,-14.5,166,3599,0.00,2.62,0.00,0.000,6,0.000,0.050,2741,2229,3502,0,0,0,0,0,0
$GC,3849,-2.38,-77.0,575.5,-13.1,173,3853,0.00,2.72,0.00,0.000,4,0.000,0.072,2741,3789,3501,0,0,0,0,0,0
$GC,3903,-2.38,-77.0,583.2,-14.4,174,3908,0.00,2.65,0.00,0.000,6,0.000,0.065,2741,2230,3501,0,0,0,0,0,0
$GC,4172,-2.38,-77.0,617.8,-12.8,181,4177,0.00,2.75,0.00,0.000,4,0.000,0.085,2741,3787,3498,0,0,0,0,0,0
$GC,4238,-2.38,-77.0,627.3,-13.7,182,4243,0.00,2.75,0.00,0.000,6,0.000,0.081,2741,2231,3498,0,0,0,0,0,0
$GC,4500,-2.38,-77.0,661.0,-13.1,189,4504,0.00,2.85,0.00,0.000,4,0.000,0.107,2741,3786,3497,0,0,0,0,0,0
$GC,4517,-2.38,-77.0,663.2,-13.1,189,4522,0.00,2.80,0.00,0.000,6,0.000,0.092,2741,2237,3496,0,0,0,0,0,0
$GC,4777,-2.38,-77.0,698.1,-13.4,196,4782,0.00,2.88,0.00,0.000,4,0.000,0.110,2741,3794,3494,0,0,0,0,0,0
$GC,4837,-2.38,-77.0,706.9,-14.3,197,4842,0.00,2.75,0.00,0.000,6,0.000,0.079,2741,2241,3494,0,0,0,0,0,0
$GC,5100,-2.38,-77.0,742.2,-13.6,204,5105,0.00,2.80,0.00,0.000,4,0.000,0.088,2741,3794,3492,0,0,0,0,0,0
$GC,5200,-2.38,-77.0,756.3,-14.1,206,5205,0.00,2.72,0.00,0.000,6,0.000,0.077,2741,2241,3492,0,0,0,0,0,0
$GC,5467,-2.38,-77.0,789.8,-12.4,213,5472,0.00,2.78,0.00,0.000,4,0.000,0.087,2741,3793,3490,0,0,0,0,0,0
$GC,5558,-2.38,-77.0,802.1,-14.7,215,5562,0.00,2.70,0.00,0.000,6,0.000,0.074,2741,2253,3489,0,0,0,0,0,0
$GC,5835,-2.38,-77.0,837.2,-12.4,222,5839,0.00,2.75,0.00,0.000,4,0.000,0.089,2741,3794,3487,0,0,0,0,0,0
$GC,5929,-2.38,-77.0,849.9,-13.0,224,5933,0.00,2.65,0.00,0.000,6,0.000,0.073,2741,2263,3486,0,0,0,0,0,0
$GC,6203,-2.38,-77.0,881.6,-11.5,231,6207,0.00,2.70,0.00,0.000,4,0.000,0.084,2741,3792,3485,0,0,0,0,0,0
$GC,6269,-2.38,-77.0,889.9,-11.9,232,6273,0.00,2.65,0.00,0.000,6,0.000,0.071,2741,2266,3485,0,0,0,0,0,0
$STATE,6365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6365,begin apogee
$GC,6374,-0.31,0.0,901.5,11.8,235,6441,2.10,0.00,62.90,1.195,6,0.104,0.000,3189,2378,3190,0,0,0,0,0,0
$STATE,6442,end apogee,CONTROL_FINISHED_OK
$STATE,6442,begin climb
$GC,6444,2.13,77.0,903.2,0.0,236,6518,2.17,0.00,67.10,1.168,6,0.032,0.000,3734,2378,2876,0,0,0,0,0,0
$GC,6770,2.13,77.0,870.2,11.9,244,6774,0.00,2.67,0.00,0.000,4,0.000,0.066,3735,3928,2870,0,0,0,0,0,0
$GC,6905,2.05,77.0,853.3,12.4,247,6910,0.12,2.62,0.00,0.000,6,0.149,0.047,3711,2372,2869,0,0,0,0,0,0
$GC,7183,2.05,77.0,823.2,10.8,254,7187,0.00,2.65,0.00,0.000,4,0.000,0.052,3711,3931,2867,0,0,0,0,0,0
$GC,7247,2.05,77.0,816.1,10.8,255,7251,0.00,2.60,0.00,0.000,6,0.000,0.038,3711,2386,2867,0,0,0,0,0,0
$GC,7507,2.06,79.3,790.0,9.7,262,7512,0.00,2.62,0.00,0.000,4,0.000,0.054,3711,3930,2865,0,0,0,0,0,0
$GC,7609,2.06,79.3,779.8,10.7,264,7614,0.00,2.60,0.00,0.000,6,0.000,0.045,3711,2385,2865,0,0,0,0,0,0
$GC,7875,2.06,82.8,754.2,9.5,271,7885,0.00,2.65,4.32,0.737,4,0.000,0.058,3711,3937,2852,0,0,0,0,0,0
$GC,8141,2.06,82.8,725.5,11.1,276,8147,0.00,2.58,0.00,0.000,6,0.000,0.044,3711,2395,2851,0,0,0,0,0,0
$GC,8391,2.06,82.8,700.0,10.2,283,8395,0.00,2.60,0.00,0.000,4,0.000,0.057,3711,3932,2850,0,0,0,0,0,0
$GC,8526,2.06,82.8,685.2,11.0,286,8530,0.00,2.53,0.00,0.000,6,0.000,0.038,3711,2406,2849,0,0,0,0,0,0
$GC,8804,2.10,82.8,656.6,10.6,293,8808,0.00,2.58,0.00,0.000,4,0.000,0.051,3711,3934,2849,0,0,0,0,0,0
$GC,9063,2.10,82.8,627.3,11.0,298,9068,0.00,2.53,0.00,0.000,6,0.000,0.038,3711,2410,2848,0,0,0,0,0,0
$GC,9313,2.15,83.3,602.3,9.9,305,9317,0.00,2.55,0.00,0.000,4,0.000,0.056,3711,3930,2848,0,0,0,0,0,0
$GC,9572,2.15,83.3,575.0,10.8,310,9578,0.00,2.47,0.00,0.000,6,0.000,0.040,3711,2432,2847,0,0,0,0,0,0
$GC,9823,2.20,85.7,550.5,9.7,317,9828,0.12,2.53,0.00,0.000,4,0.079,0.049,3746,3940,2847,0,0,0,0,0,0
$GC,10080,2.12,85.7,520.8,11.3,322,10087,0.12,2.47,0.00,0.000,6,0.140,0.035,3725,2432,2847,0,0,0,0,0,0
$GC,10330,2.12,85.7,494.6,10.5,329,10334,0.00,2.50,0.00,0.000,4,0.000,0.050,3724,3935,2847,0,0,0,0,0,0
$GC,10587,2.12,85.7,465.1,11.1,334,10593,0.00,2.40,0.00,0.000,6,0.000,0.032,3723,2450,2847,0,0,0,0,0,0
$GC,10837,2.12,87.2,440.3,9.8,341,10847,0.00,2.47,4.40,0.613,4,0.000,0.050,3724,3933,2834,0,0,0,0,0,0
$GC,11100,2.12,87.2,410.5,12.0,346,11106,0.00,2.38,0.00,0.000,6,0.000,0.030,3724,2457,2834,0,0,0,0,0,0
$GC,11351,2.16,87.2,384.5,10.2,353,11355,0.00,2.45,0.00,0.000,4,0.000,0.041,3724,3942,2834,0,0,0,0,0,0
$GC,11529,2.16,87.2,364.8,10.7,357,11533,0.00,2.40,0.00,0.000,6,0.000,0.024,3724,2444,2834,0,0,0,0,0,0
$GC,11815,2.21,87.2,335.2,10.4,364,11820,0.00,2.45,0.00,0.000,4,0.000,0.040,3724,3938,2835,0,0,0,0,0,0
$GC,11845,2.21,87.2,331.8,11.2,364,11849,0.00,2.38,0.00,0.000,6,0.000,0.023,3724,2450,2835,0,0,0,0,0,0
$GC,12095,2.26,87.2,305.8,10.2,370,12100,0.12,2.45,0.00,0.000,4,0.077,0.041,3762,3941,2835,0,0,0,0,0,0
$GC,12182,2.20,87.2,296.2,11.3,372,12186,0.12,2.38,0.00,0.000,6,0.136,0.025,3739,2453,2836,0,0,0,0,0,0
$GC,12465,2.20,87.2,266.3,10.3,379,12469,0.00,2.42,0.00,0.000,4,0.000,0.041,3739,3935,2836,0,0,0,0,0,0
$GC,12724,2.20,89.0,239.5,9.7,384,12733,0.00,2.35,4.05,0.470,6,0.000,0.024,3739,2459,2828,0,0,0,0,0,0
$GC,13018,2.26,94.7,212.2,9.1,392,13027,0.00,0.00,6.93,0.575,6,0.000,0.000,3739,2459,2803,0,0,0,0,0,0
$GC,13268,2.32,102.5,189.8,8.8,404,13283,0.08,2.47,8.02,0.581,4,0.107,0.046,3766,3930,2771,0,0,0,0,0,0
$GC,13547,2.34,121.0,166.5,7.2,428,13572,0.00,2.35,16.15,0.613,6,0.000,0.024,3766,2451,2695,0,0,0,0,0,0
$GC,13823,2.44,146.7,144.9,6.1,454,13851,0.00,2.50,22.67,0.602,4,0.000,0.040,3766,3942,2591,0,0,0,0,0,0
$GC,14121,2.51,171.4,122.6,6.3,478,14153,0.00,2.40,21.25,0.574,6,0.000,0.023,3766,2449,2490,0,0,0,0,0,0
$GC,14409,2.64,181.3,97.2,8.5,505,14423,0.00,2.47,9.65,0.510,4,0.000,0.038,3766,3943,2450,0,0,0,0,0,0
$GC,14463,2.72,181.3,92.2,10.5,509,14467,0.00,2.40,0.00,0.000,6,0.000,0.023,3766,2436,2449,0,0,0,0,0,0
$GC,14733,2.84,181.3,63.3,11.4,533,14737,0.00,2.45,0.00,0.000,4,0.000,0.037,3766,3941,2448,0,0,0,0,0,0
$GC,14945,2.94,181.3,36.1,12.5,549,14954,0.00,2.38,0.00,0.000,6,0.000,0.024,3766,2458,2449,0,0,0,0,0,0
$STATE,15222,end climb,SURFACE_DEPTH_REACHED
$STATE,15222,begin surface coast
$FINISH,1.1,1.005352
$STATE,15265,end surface coast,CONTROL_FINISHED_OK
$STATE,15265,begin surface
$SM_CCo,15290,135.05,0.489,0,0,1763,350.04
$SM_GC,1.80,0.00,0.00,135.05,0.000,0.000,0.489,466,2176,1763,-12.85,-0.93,350.04
$IRIDIUM_FIX,1916.08,-8119.23,180502,060633
$TT8_MAMPS,0.025311
$HUMID,54.72
$INTERNAL_PRESSURE,9.49255
$TCM_TEMP,24.70
$XPDR_PINGS,55
$24V_AH,23.3,25.039
$10V_AH,10.4,21.883
$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,31.625,175.350,227.450,135.050,0.000,23.492,39.984,385.492,13.750,0.000,31.426,1366.131,10717.092,484.691,2628.746,853.105,33.349,1568.220,0.000,2589.953,0.000,0.538,0.000
$DEVICE_MAMPS,168.740,110.448,1194.986,489.346,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,401.966,291.376,371.596,496.903,947.181,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355884
$DATA_FILE_SIZE,44687,594
$CAP_FILE_SIZE,153479,0
$CFSIZE,260165632,116301824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210213,152436,1927.513,-8118.059,27,1.4,27,-3.7