version: 66.06
glider: 139
mission: 8
dive: 592
start: 10 3 110 9 23 55
data:
$ID,139
$MISSION,8
$DIVE,592
$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,-2163374.2
$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,1650
$C_ROLL_CLIMB,1650
$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
$GPS1,091726,2107.324,-15752.284,12,1.7,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.7
$GPS2,092337,2107.338,-15752.294,18,1.7,35,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$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,90.1,16444,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,77,0.00,0.00,-58.78,0.000,2,0.000,0.000,426,1645,2570,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.0,-2.8,11,110,12.62,2.45,-10.82,0.000,4,0.132,0.056,2784,241,3108,0,0,0,0,0,0
$GC,136,-0.62,-116.8,16.4,-22.8,21,143,0.55,2.35,0.00,0.000,6,0.081,0.019,2910,1695,3109,0,0,0,0,0,0
$GC,337,-0.69,-116.8,37.1,-9.5,55,342,0.00,2.53,0.00,0.000,4,0.000,0.044,2910,241,3109,0,0,0,0,0,0
$GC,391,-0.76,-116.8,42.7,-9.6,59,396,0.12,2.25,0.00,0.000,6,0.062,0.018,2865,1659,3110,0,0,0,0,0,0
$GC,657,-0.76,-116.8,73.5,-11.6,80,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1664,3110,0,0,0,0,0,0
$GC,910,-0.76,-116.8,97.1,-8.9,100,914,0.00,2.45,0.00,0.000,4,0.000,0.045,2864,243,3111,0,0,0,0,0,0
$GC,939,-0.76,-116.8,100.2,-11.0,102,943,0.00,2.20,0.00,0.000,6,0.000,0.018,2865,1654,3111,0,0,0,0,0,0
$GC,1202,-0.82,-116.8,124.3,-9.5,122,1206,0.00,2.45,0.00,0.000,4,0.000,0.044,2864,239,3111,0,0,0,0,0,0
$GC,1249,-0.90,-116.8,129.1,-9.3,125,1254,0.00,2.22,0.00,0.000,6,0.000,0.018,2864,1649,3112,0,0,0,0,0,0
$GC,1509,-0.99,-116.8,151.4,-8.0,146,1514,0.15,2.42,0.00,0.000,4,0.054,0.045,2810,245,3112,0,0,0,0,0,0
$GC,1551,-0.93,-116.8,155.3,-10.5,149,1555,0.17,2.20,0.00,0.000,6,0.085,0.018,2847,1650,3112,0,0,0,0,0,0
$GC,1817,-1.00,-116.8,174.7,-7.5,170,1821,0.00,2.42,0.00,0.000,4,0.000,0.046,2847,245,3112,0,0,0,0,0,0
$GC,1877,-1.07,-116.8,179.8,-8.4,174,1883,0.15,2.20,0.00,0.000,6,0.054,0.019,2797,1649,3113,0,0,0,0,0,0
$GC,2144,-1.03,-116.8,206.3,-10.1,193,2149,0.12,2.25,0.00,0.000,4,0.095,0.023,2824,3022,3113,0,0,0,0,0,0
$GC,2184,-1.15,-116.8,210.1,-8.4,194,2191,0.08,2.33,0.00,0.000,6,0.036,0.032,2782,1653,3113,0,0,0,0,0,0
$GC,2500,-1.08,-116.8,238.7,-8.5,210,2505,0.15,2.45,0.00,0.000,4,0.087,0.048,2815,243,3113,0,0,0,0,0,0
$GC,2544,-1.08,-116.8,242.2,-7.4,212,2548,0.00,2.22,0.00,0.000,6,0.000,0.020,2815,1648,3113,0,0,0,0,0,0
$GC,2879,-1.08,-116.8,265.8,-7.8,228,2883,0.00,2.42,0.00,0.000,4,0.000,0.048,2815,239,3112,0,0,0,0,0,0
$GC,2915,-1.08,-116.8,269.0,-8.5,229,2921,0.00,2.25,0.00,0.000,6,0.000,0.021,2815,1651,3112,0,0,0,0,0,0
$GC,3234,-1.12,-116.8,294.3,-7.6,245,3239,0.00,2.42,0.00,0.000,4,0.000,0.049,2814,245,3111,0,0,0,0,0,0
$GC,3272,-1.12,-116.8,297.7,-8.2,246,3278,0.00,2.28,0.00,0.000,6,0.000,0.021,2815,1647,3110,0,0,0,0,0,0
$GC,3608,-1.16,-116.8,322.1,-7.4,256,3612,0.00,2.42,0.00,0.000,4,0.000,0.050,2815,245,3109,0,0,0,0,0,0
$GC,3631,-1.16,-116.8,324.4,-8.4,256,3635,0.00,2.25,0.00,0.000,6,0.000,0.023,2815,1649,3109,0,0,0,0,0,0
$GC,3978,-1.20,-116.8,352.4,-8.2,265,3982,0.12,2.47,0.00,0.000,4,0.066,0.051,2774,246,3106,0,0,0,0,0,0
$GC,4018,-1.11,-116.8,356.4,-10.3,265,4024,0.15,2.25,0.00,0.000,6,0.091,0.023,2806,1652,3107,0,0,0,0,0,0
$GC,4350,-1.11,-116.8,382.2,-7.2,274,4354,0.00,2.47,0.00,0.000,4,0.000,0.052,2806,242,3104,0,0,0,0,0,0
$GC,4383,-1.11,-116.8,384.8,-7.5,274,4387,0.00,2.28,0.00,0.000,6,0.000,0.024,2806,1658,3104,0,0,0,0,0,0
$GC,4715,-1.15,-116.8,411.0,-8.2,282,4720,0.00,2.50,0.00,0.000,4,0.000,0.054,2806,241,3102,0,0,0,0,0,0
$GC,4753,-1.15,-116.8,414.6,-9.0,282,4758,0.00,2.28,0.00,0.000,6,0.000,0.025,2806,1649,3102,0,0,0,0,0,0
$GC,5085,-1.19,-116.8,441.8,-8.3,291,5089,0.00,2.45,0.00,0.000,4,0.000,0.055,2806,248,3100,0,0,0,0,0,0
$STATE,5172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5172,begin apogee
$GC,5182,-0.31,0.0,450.2,9.5,293,5281,0.82,0.00,96.25,0.832,6,0.069,0.000,2983,1651,2630,0,0,0,0,0,0
$STATE,5282,end apogee,CONTROL_FINISHED_OK
$STATE,5282,begin climb
$GC,5285,1.18,116.8,453.3,0.0,295,5398,1.40,2.40,101.75,0.816,4,0.037,0.031,3310,3032,2152,0,0,0,0,0,0
$GC,5450,1.04,146.6,452.8,6.5,298,5484,0.17,2.42,27.15,0.780,6,0.100,0.040,3276,1645,2031,0,0,0,0,0,0
$GC,5831,0.92,147.9,424.0,7.8,308,5836,0.12,2.53,0.00,0.000,4,0.108,0.057,3252,242,2022,0,0,0,0,0,0
$GC,5856,0.76,147.9,421.7,8.2,308,5861,0.17,2.35,0.00,0.000,6,0.105,0.027,3218,1655,2019,0,0,0,0,0,0
$GC,6198,0.82,189.3,400.3,6.0,317,6241,0.00,2.35,37.00,0.795,4,0.000,0.030,3218,3031,1857,0,0,0,0,0,0
$GC,6258,0.94,242.2,396.6,5.5,318,6312,0.17,2.42,47.92,0.788,6,0.055,0.041,3265,1645,1642,0,0,0,0,0,0
$GC,6654,0.88,242.2,351.5,12.1,328,6659,0.12,2.50,0.00,0.000,4,0.103,0.058,3240,243,1634,0,0,0,0,0,0
$GC,6756,0.80,242.2,339.8,12.6,330,6760,0.00,2.33,0.00,0.000,6,0.000,0.027,3241,1651,1629,0,0,0,0,0,0
$GC,7076,0.81,250.2,312.9,7.5,338,7088,0.00,2.60,5.97,0.591,4,0.000,0.058,3241,241,1610,0,0,0,0,0,0
$GC,7146,0.77,250.2,306.6,9.7,339,7151,0.12,2.35,0.00,0.000,6,0.110,0.027,3217,1654,1608,0,0,0,0,0,0
$GC,7480,0.85,255.2,281.8,7.7,353,7492,0.00,2.58,5.97,0.577,4,0.000,0.057,3218,248,1588,0,0,0,0,0,0
$GC,7579,0.85,259.5,273.5,7.7,357,7591,0.00,2.33,5.25,0.541,6,0.000,0.027,3217,1658,1571,0,0,0,0,0,0
$GC,7912,0.98,297.3,252.6,6.2,373,7957,0.20,2.62,34.55,0.704,4,0.054,0.056,3272,240,1416,0,0,0,0,0,0
$GC,8070,0.89,297.3,235.4,11.2,379,8076,0.15,2.33,0.00,0.000,6,0.102,0.026,3243,1648,1411,0,0,0,0,0,0
$GC,8387,0.95,297.3,206.5,10.0,395,8391,0.00,2.53,0.00,0.000,4,0.000,0.055,3243,235,1409,0,0,0,0,0,0
$GC,8485,0.95,297.3,194.9,10.2,400,8489,0.00,2.33,0.00,0.000,6,0.000,0.025,3243,1652,1407,0,0,0,0,0,0
$GC,8749,1.00,297.3,171.4,8.2,421,8754,0.10,2.47,0.00,0.000,4,0.077,0.053,3275,242,1407,0,0,0,0,0,0
$GC,8811,0.90,297.3,164.6,11.2,425,8817,0.15,2.30,0.00,0.000,6,0.097,0.024,3246,1655,1407,0,0,0,0,0,0
$GC,9072,0.97,297.3,142.0,8.2,446,9076,0.00,2.47,0.00,0.000,4,0.000,0.052,3245,242,1406,0,0,0,0,0,0
$GC,9155,0.97,297.3,134.2,10.1,452,9160,0.00,2.28,0.00,0.000,6,0.000,0.022,3245,1656,1405,0,0,0,0,0,0
$GC,9416,1.20,379.2,118.2,4.2,472,9495,0.25,2.55,68.55,0.588,4,0.044,0.051,3320,236,1083,0,0,0,0,0,0
$GC,9569,1.11,379.2,100.7,13.6,482,9574,0.15,2.30,0.00,0.000,6,0.092,0.021,3290,1656,1077,0,0,0,0,0,0
$GC,9833,1.19,382.1,78.6,7.8,502,9838,0.00,2.47,0.00,0.000,4,0.000,0.050,3290,242,1077,0,0,0,0,0,0
$GC,9920,1.23,382.1,70.0,9.4,508,9927,0.10,2.33,0.00,0.000,6,0.035,0.021,3333,1670,1075,0,0,0,0,0,0
$GC,10182,1.23,382.1,43.5,11.2,529,10187,0.00,2.50,0.00,0.000,4,0.000,0.049,3333,235,1074,0,0,0,0,0,0
$GC,10235,1.10,382.1,36.5,15.2,533,10240,0.20,2.25,0.00,0.000,6,0.085,0.019,3290,1664,1074,0,0,0,0,0,0
$GC,10501,1.21,411.6,14.0,6.6,583,10536,0.10,2.58,26.55,0.476,4,0.073,0.048,3327,241,951,0,0,0,0,0,0
$STATE,10586,end climb,SURFACE_DEPTH_REACHED
$STATE,10586,begin surface coast
$FINISH,1.0,1.023061
$STATE,10605,end surface coast,CONTROL_FINISHED_OK
$STATE,10605,begin surface
$SM_CCo,10691,0.00,0.000,0,0,945,413.33
$SM_GC,1.79,12.43,0.00,0.00,0.022,0.000,0.000,428,1649,945,-11.98,-0.03,413.33
$IRIDIUM_FIX,2059.45,-15750.89,281299,060654
$TT8_MAMPS,0.028379
$HUMID,57.75
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.3,53.653
$10V_AH,10.0,44.236
$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,31.350,138.225,456.925,0.000,0.000,22.543,32.436,164.648,4.500,0.000,35.483,1195.101,6960.857,473.399,1888.175,536.944,0.000,1352.476,0.000,1849.638,0.000,29.264,0.000
$DEVICE_MAMPS,131.924,58.292,832.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,405.366,389.356,874.358,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34962,604
$CAP_FILE_SIZE,124328,0
$CFSIZE,260165632,181436416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031010,122324,2106.940,-15751.902,43,1.3,43,9.8