version: 66.06
glider: 139
mission: 8
dive: 576
start: 10 1 110 7 15 10
data:
$ID,139
$MISSION,8
$DIVE,576
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,90
$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,190
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,8
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2163106.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3050
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2630
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$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,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,070834,2100.252,-15753.772,13,2.2,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-71.1
$GPS2,071450,2100.259,-15753.829,12,1.6,12,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,306.6,20639,-16.6,-7.895
$D_GRID,450
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,77,0.00,0.00,-58.78,0.000,2,0.000,0.000,424,1711,2580,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.0,-3.0,11,110,12.65,2.33,-10.48,0.000,4,0.133,0.034,2786,3113,3108,0,0,0,0,0,0
$GC,188,-1.09,-116.8,23.9,-15.4,33,194,0.08,2.42,0.00,0.000,6,0.081,0.033,2806,1703,3110,0,0,0,0,0,0
$GC,393,-0.92,-116.8,56.8,-15.9,54,398,0.20,2.45,0.00,0.000,4,0.091,0.045,2848,292,3110,0,0,0,0,0,0
$GC,450,-0.80,-116.8,66.1,-15.3,58,455,0.12,2.30,0.00,0.000,6,0.100,0.018,2873,1741,3111,0,0,0,0,0,0
$GC,708,-0.80,-116.8,92.3,-8.7,78,712,0.00,2.50,0.00,0.000,4,0.000,0.044,2873,293,3111,0,0,0,0,0,0
$GC,832,-0.80,-116.8,103.2,-8.1,87,836,0.00,2.22,0.00,0.000,6,0.000,0.018,2873,1714,3112,0,0,0,0,0,0
$GC,1097,-0.89,-116.8,125.2,-9.4,108,1101,0.00,2.45,0.00,0.000,4,0.000,0.044,2873,294,3112,0,0,0,0,0,0
$GC,1159,-0.98,-116.8,131.7,-9.0,112,1166,0.12,2.25,0.00,0.000,6,0.029,0.018,2820,1707,3112,0,0,0,0,0,0
$GC,1420,-0.98,-116.8,158.5,-10.1,133,1424,0.00,2.42,0.00,0.000,4,0.000,0.044,2820,289,3113,0,0,0,0,0,0
$GC,1447,-0.92,-116.8,161.5,-11.4,135,1452,0.12,2.22,0.00,0.000,6,0.094,0.018,2847,1707,3113,0,0,0,0,0,0
$GC,1720,-0.99,-116.8,181.0,-6.4,156,1724,0.00,2.45,0.00,0.000,4,0.000,0.045,2847,289,3113,0,0,0,0,0,0
$GC,1794,-1.06,-116.8,186.5,-6.7,161,1800,0.12,2.22,0.00,0.000,6,0.061,0.018,2801,1702,3113,0,0,0,0,0,0
$GC,2070,-1.03,-116.8,209.3,-8.4,180,2075,0.12,2.42,0.00,0.000,4,0.094,0.046,2828,294,3113,0,0,0,0,0,0
$GC,2109,-1.03,-116.8,212.8,-8.2,181,2114,0.00,2.20,0.00,0.000,6,0.000,0.019,2828,1698,3113,0,0,0,0,0,0
$GC,2425,-1.03,-116.8,236.7,-7.7,197,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1703,3113,0,0,0,0,0,0
$GC,2736,-1.07,-116.8,263.0,-7.0,212,2740,0.00,2.42,0.00,0.000,4,0.000,0.048,2829,294,3112,0,0,0,0,0,0
$GC,2859,-1.07,-116.8,271.9,-8.1,217,2863,0.00,2.22,0.00,0.000,6,0.000,0.021,2828,1702,3112,0,0,0,0,0,0
$GC,3185,-1.12,-116.8,301.1,-9.7,233,3190,0.10,2.45,0.00,0.000,4,0.074,0.049,2791,290,3111,0,0,0,0,0,0
$GC,3209,-1.06,-116.8,304.5,-11.2,233,3214,0.12,2.28,0.00,0.000,6,0.093,0.021,2818,1706,3111,0,0,0,0,0,0
$GC,3551,-1.10,-116.8,326.4,-5.2,242,3555,0.00,2.45,0.00,0.000,4,0.000,0.049,2818,294,3110,0,0,0,0,0,0
$GC,3618,-1.10,-116.8,330.6,-6.8,243,3622,0.00,2.25,0.00,0.000,6,0.000,0.022,2818,1698,3109,0,0,0,0,0,0
$GC,3968,-1.15,-116.8,354.8,-7.3,252,3972,0.00,2.45,0.00,0.000,4,0.000,0.051,2817,294,3107,0,0,0,0,0,0
$GC,4021,-1.19,-116.8,358.8,-6.8,253,4026,0.12,2.28,0.00,0.000,6,0.064,0.023,2776,1704,3107,0,0,0,0,0,0
$GC,4342,-1.15,-116.8,386.9,-9.8,261,4347,0.10,2.50,0.00,0.000,4,0.104,0.053,2797,290,3105,0,0,0,0,0,0
$GC,4400,-1.15,-116.8,393.2,-10.3,262,4404,0.00,2.30,0.00,0.000,6,0.000,0.024,2798,1704,3104,0,0,0,0,0,0
$GC,4713,-1.15,-116.8,417.3,-6.4,270,4718,0.00,2.47,0.00,0.000,4,0.000,0.054,2798,296,3103,0,0,0,0,0,0
$GC,4774,-1.15,-116.8,421.8,-7.3,271,4778,0.00,2.28,0.00,0.000,6,0.000,0.025,2798,1695,3103,0,0,0,0,0,0
$GC,5091,-1.15,-116.8,444.4,-6.9,279,5095,0.00,2.50,0.00,0.000,4,0.000,0.055,2798,292,3100,0,0,0,0,0,0
$GC,5134,-1.15,-116.8,447.9,-8.6,280,5138,0.00,2.33,0.00,0.000,6,0.000,0.025,2798,1707,3099,0,0,0,0,0,0
$STATE,5165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5165,begin apogee
$GC,5173,-0.31,0.0,450.4,7.5,280,5272,0.82,0.00,96.20,0.832,6,0.065,0.000,2979,1711,2629,0,0,0,0,0,0
$STATE,5273,end apogee,CONTROL_FINISHED_OK
$STATE,5273,begin climb
$GC,5276,1.18,116.8,452.2,0.0,283,5387,1.42,2.38,101.22,0.816,4,0.038,0.031,3310,3082,2153,0,0,0,0,0,0
$GC,5451,1.03,152.5,448.8,6.3,287,5489,0.17,2.42,31.92,0.787,6,0.102,0.038,3276,1695,2008,0,0,0,0,0,0
$GC,5816,0.91,152.5,420.6,8.3,295,5821,0.12,2.38,0.00,0.000,4,0.110,0.031,3252,3084,2000,0,0,0,0,0,0
$GC,5887,0.94,172.3,415.0,7.0,296,5911,0.00,2.42,17.55,0.760,6,0.000,0.041,3252,1693,1927,0,0,0,0,0,0
$GC,6239,0.89,172.3,388.1,8.4,305,6244,0.00,2.47,0.00,0.000,4,0.000,0.057,3252,293,1921,0,0,0,0,0,0
$GC,6274,0.75,172.3,384.5,9.5,305,6279,0.20,2.35,0.00,0.000,6,0.103,0.027,3213,1706,1919,0,0,0,0,0,0
$GC,6606,0.85,213.9,364.3,6.0,313,6649,0.10,2.60,37.08,0.783,4,0.084,0.056,3242,288,1757,0,0,0,0,0,0
$GC,6761,0.77,213.9,348.1,11.3,316,6766,0.12,2.35,0.00,0.000,6,0.112,0.027,3219,1700,1750,0,0,0,0,0,0
$GC,7113,0.88,250.5,325.3,6.2,325,7154,0.00,2.58,32.25,0.755,4,0.000,0.056,3219,295,1607,0,0,0,0,0,0
$GC,7279,0.88,250.5,311.2,8.9,328,7284,0.10,2.35,0.00,0.000,6,0.081,0.028,3247,1708,1601,0,0,0,0,0,0
$GC,7600,0.88,250.5,282.9,8.9,341,7605,0.00,2.53,0.00,0.000,4,0.000,0.056,3247,295,1600,0,0,0,0,0,0
$GC,7714,0.82,250.5,270.2,11.3,346,7718,0.00,2.35,0.00,0.000,6,0.000,0.026,3247,1711,1597,0,0,0,0,0,0
$GC,8046,0.88,270.2,243.4,7.0,362,8070,0.00,2.58,16.73,0.669,4,0.000,0.054,3247,287,1527,0,0,0,0,0,0
$GC,8155,0.88,270.2,232.9,10.9,366,8159,0.00,2.35,0.00,0.000,6,0.000,0.025,3247,1716,1523,0,0,0,0,0,0
$GC,8475,0.91,270.2,202.6,9.2,382,8480,0.00,2.50,0.00,0.000,4,0.000,0.053,3247,293,1522,0,0,0,0,0,0
$GC,8564,0.87,270.2,193.8,9.2,387,8570,0.00,2.30,0.00,0.000,6,0.000,0.025,3247,1701,1520,0,0,0,0,0,0
$GC,8824,0.92,270.2,170.5,8.1,408,8829,0.00,2.50,0.00,0.000,4,0.000,0.051,3247,286,1520,0,0,0,0,0,0
$GC,8906,0.92,270.2,162.8,10.5,414,8911,0.00,2.33,0.00,0.000,6,0.000,0.023,3247,1711,1519,0,0,0,0,0,0
$GC,9168,1.00,270.2,139.9,9.1,434,9173,0.00,2.50,0.00,0.000,4,0.000,0.051,3247,290,1519,0,0,0,0,0,0
$GC,9311,1.04,270.2,126.8,8.6,444,9318,0.08,2.30,0.00,0.000,6,0.042,0.022,3282,1695,1518,0,0,0,0,0,0
$GC,9574,1.07,270.2,106.6,7.9,465,9578,0.00,2.42,0.00,0.000,4,0.000,0.049,3282,293,1518,0,0,0,0,0,0
$GC,9633,1.07,270.2,101.3,8.4,469,9639,0.00,2.28,0.00,0.000,6,0.000,0.021,3282,1714,1518,0,0,0,0,0,0
$GC,9895,1.19,320.2,85.2,5.6,490,9944,0.12,2.55,42.53,0.553,4,0.064,0.048,3325,293,1324,0,0,0,0,0,0
$GC,10076,1.10,320.2,66.9,11.4,502,10083,0.15,2.30,0.00,0.000,6,0.070,0.020,3289,1710,1319,0,0,0,0,0,0
$GC,10339,1.19,335.3,47.3,7.2,523,10360,0.00,2.50,13.77,0.479,4,0.000,0.046,3289,287,1261,0,0,0,0,0,0
$GC,10477,1.22,335.3,34.9,8.4,533,10482,0.12,2.25,0.00,0.000,6,0.062,0.019,3334,1711,1257,0,0,0,0,0,0
$GC,10741,1.19,335.3,9.0,10.6,587,10748,0.12,2.53,0.00,0.000,4,0.095,0.048,3307,289,1257,0,0,0,0,0,0
$GC,10783,1.14,335.3,4.5,11.1,595,10790,0.00,2.22,0.00,0.000,6,0.000,0.019,3308,1698,1257,0,0,0,0,0,0
$STATE,10795,end climb,SURFACE_DEPTH_REACHED
$STATE,10795,begin surface coast
$FINISH,0.8,1.022804
$STATE,10826,end surface coast,CONTROL_FINISHED_OK
$STATE,10826,begin surface
$SM_CCo,10850,42.10,0.469,0,0,956,410.14
$SM_GC,1.58,0.00,0.00,42.10,0.000,0.000,0.469,429,1695,956,-12.06,-0.14,410.14
$IRIDIUM_FIX,2050.21,-15754.77,261299,040433
$TT8_MAMPS,0.028379
$HUMID,58.03
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.4,51.931
$10V_AH,10.1,42.912
$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,30.050,133.625,389.250,42.100,0.000,30.070,38.735,177.006,4.750,0.000,12.524,1237.083,6996.127,470.095,1999.101,562.818,0.000,1387.962,0.000,1975.213,0.000,29.254,0.000
$DEVICE_MAMPS,132.691,56.758,832.195,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.060,385.674,854.745,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,35020,604
$CAP_FILE_SIZE,128610,0
$CFSIZE,260165632,182398976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011010,101806,2100.760,-15755.339,40,1.0,45,9.8