version: 66.06
glider: 139
mission: 8
dive: 594
start: 10 3 110 15 53 40
data:
$ID,139
$MISSION,8
$DIVE,594
$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,-2163401.5
$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
$GPS1,153937,2106.622,-15751.188,24,1.4,24,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-74.9
$GPS2,155320,2106.588,-15751.154,12,1.7,12,9.8
$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,86.0,14303,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.12,0.000,2,0.000,0.000,426,1658,2765,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.7,-4.0,12,111,12.65,0.00,-6.12,0.000,6,0.132,0.000,2787,1659,3108,0,0,0,0,0,0
$GC,304,-0.96,-116.8,46.9,-16.6,45,309,0.25,2.45,0.00,0.000,4,0.089,0.045,2842,244,3110,0,0,0,0,0,0
$GC,333,-0.78,-116.8,51.7,-14.3,47,338,0.17,2.30,0.00,0.000,6,0.089,0.018,2878,1696,3111,0,0,0,0,0,0
$GC,593,-0.78,-116.8,80.3,-11.1,67,597,0.00,2.53,0.00,0.000,4,0.000,0.045,2878,242,3111,0,0,0,0,0,0
$GC,635,-0.74,-116.8,85.6,-11.8,70,640,0.00,2.25,0.00,0.000,6,0.000,0.018,2878,1670,3111,0,0,0,0,0,0
$GC,904,-0.82,-116.8,107.5,-7.5,91,908,0.00,2.45,0.00,0.000,4,0.000,0.044,2878,244,3112,0,0,0,0,0,0
$GC,960,-0.91,-116.8,112.2,-7.7,95,964,0.12,2.20,0.00,0.000,6,0.061,0.018,2832,1659,3111,0,0,0,0,0,0
$GC,1223,-0.91,-116.8,132.1,-7.8,115,1227,0.00,2.42,0.00,0.000,4,0.000,0.046,2831,246,3112,0,0,0,0,0,0
$GC,1276,-0.91,-116.8,137.0,-9.4,119,1280,0.00,2.22,0.00,0.000,6,0.000,0.018,2831,1659,3113,0,0,0,0,0,0
$GC,1549,-0.91,-116.8,160.1,-8.7,140,1553,0.00,2.42,0.00,0.000,4,0.000,0.046,2831,246,3112,0,0,0,0,0,0
$GC,1631,-0.91,-116.8,168.4,-9.8,146,1635,0.00,2.20,0.00,0.000,6,0.000,0.018,2831,1650,3112,0,0,0,0,0,0
$GC,1892,-0.95,-116.8,189.2,-8.1,166,1896,0.00,2.45,0.00,0.000,4,0.000,0.046,2831,238,3112,0,0,0,0,0,0
$GC,1947,-0.95,-116.8,194.5,-8.8,170,1951,0.00,2.25,0.00,0.000,6,0.000,0.019,2831,1659,3112,0,0,0,0,0,0
$GC,2203,-0.98,-116.8,216.5,-8.8,184,2207,0.00,2.45,0.00,0.000,4,0.000,0.047,2831,245,3112,0,0,0,0,0,0
$GC,2217,-0.98,-116.8,217.9,-8.6,184,2224,0.00,2.25,0.00,0.000,6,0.000,0.021,2831,1659,3112,0,0,0,0,0,0
$GC,2534,-1.02,-116.8,245.4,-9.1,200,2539,0.00,2.42,0.00,0.000,4,0.000,0.048,2831,247,3112,0,0,0,0,0,0
$GC,2614,-1.02,-116.8,253.2,-9.9,203,2618,0.00,2.20,0.00,0.000,6,0.000,0.020,2831,1642,3112,0,0,0,0,0,0
$GC,2931,-1.07,-116.8,278.3,-7.3,218,2935,0.00,2.42,0.00,0.000,4,0.000,0.048,2831,245,3111,0,0,0,0,0,0
$GC,2958,-1.07,-116.8,280.1,-7.5,219,2962,0.00,2.22,0.00,0.000,6,0.000,0.021,2831,1649,3111,0,0,0,0,0,0
$GC,3284,-1.14,-116.8,303.2,-6.9,234,3286,0.15,0.00,0.00,0.000,6,0.058,0.000,2782,1653,3109,0,0,0,0,0,0
$GC,3607,-1.11,-116.8,331.1,-9.1,242,3612,0.12,2.47,0.00,0.000,4,0.092,0.051,2809,244,3107,0,0,0,0,0,0
$GC,3642,-1.11,-116.8,334.4,-9.4,242,3646,0.00,2.25,0.00,0.000,6,0.000,0.022,2809,1653,3107,0,0,0,0,0,0
$GC,3974,-1.14,-116.8,363.5,-9.0,250,3978,0.00,2.45,0.00,0.000,4,0.000,0.052,2810,244,3105,0,0,0,0,0,0
$GC,4031,-1.14,-116.8,369.3,-10.4,251,4035,0.00,2.25,0.00,0.000,6,0.000,0.023,2810,1649,3105,0,0,0,0,0,0
$GC,4345,-1.18,-116.8,396.7,-8.4,259,4349,0.00,2.47,0.00,0.000,4,0.000,0.053,2809,241,3103,0,0,0,0,0,0
$GC,4384,-1.18,-116.8,400.1,-9.3,259,4390,0.00,2.28,0.00,0.000,6,0.000,0.024,2810,1658,3103,0,0,0,0,0,0
$GC,4719,-1.22,-116.8,424.5,-7.1,268,4724,0.12,2.50,0.00,0.000,4,0.066,0.055,2769,241,3100,0,0,0,0,0,0
$GC,4753,-1.11,-116.8,428.0,-9.8,268,4758,0.17,2.28,0.00,0.000,6,0.087,0.025,2807,1649,3100,0,0,0,0,0,0
$STATE,5083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5083,begin apogee
$GC,5090,-0.31,0.0,452.6,7.4,276,5189,0.80,0.00,95.45,0.834,6,0.064,0.000,2980,1654,2630,0,0,0,0,0,0
$STATE,5190,end apogee,CONTROL_FINISHED_OK
$STATE,5190,begin climb
$GC,5193,1.18,116.8,454.9,0.0,278,5304,1.42,2.38,101.05,0.816,4,0.038,0.031,3310,3036,2152,0,0,0,0,0,0
$GC,5511,1.01,119.5,442.7,7.8,285,5516,0.20,2.42,0.00,0.000,6,0.099,0.040,3272,1649,2147,0,0,0,0,0,0
$GC,5836,0.94,163.9,423.3,5.9,293,5884,0.00,2.58,40.90,0.799,4,0.000,0.056,3272,239,1960,0,0,0,0,0,0
$GC,5896,0.78,163.9,419.0,7.9,294,5902,0.28,2.35,0.00,0.000,6,0.097,0.026,3218,1656,1958,0,0,0,0,0,0
$GC,6248,0.79,176.2,393.9,7.3,303,6265,0.00,2.60,11.05,0.717,4,0.000,0.058,3218,239,1911,0,0,0,0,0,0
$GC,6298,0.74,176.2,389.7,9.2,304,6302,0.00,2.38,0.00,0.000,6,0.000,0.027,3218,1659,1908,0,0,0,0,0,0
$GC,6622,0.74,176.2,364.3,8.0,312,6626,0.00,2.53,0.00,0.000,4,0.000,0.058,3218,243,1906,0,0,0,0,0,0
$GC,6712,0.71,176.2,356.5,8.2,314,6716,0.00,2.35,0.00,0.000,6,0.000,0.028,3218,1656,1903,0,0,0,0,0,0
$GC,7044,0.79,204.6,334.6,6.6,322,7076,0.00,2.62,25.58,0.755,4,0.000,0.057,3218,244,1794,0,0,0,0,0,0
$GC,7147,0.80,215.0,326.9,7.4,324,7163,0.00,2.33,10.35,0.680,6,0.000,0.027,3218,1659,1752,0,0,0,0,0,0
$GC,7506,0.93,264.4,304.4,5.7,333,7559,0.15,2.60,44.25,0.744,4,0.063,0.056,3260,241,1550,0,0,0,0,0,0
$GC,7629,0.83,264.4,292.7,10.8,336,7634,0.15,2.33,0.00,0.000,6,0.104,0.026,3232,1649,1545,0,0,0,0,0,0
$GC,7949,0.87,266.3,267.1,7.8,351,7953,0.00,2.53,0.00,0.000,4,0.000,0.056,3231,240,1542,0,0,0,0,0,0
$GC,7995,0.87,266.3,262.4,10.3,353,7999,0.00,2.33,0.00,0.000,6,0.000,0.027,3232,1654,1541,0,0,0,0,0,0
$GC,8327,0.96,283.9,237.5,7.1,369,8350,0.12,2.55,16.58,0.664,4,0.067,0.055,3270,243,1471,0,0,0,0,0,0
$GC,8474,0.86,283.9,222.7,11.3,375,8479,0.17,2.30,0.00,0.000,6,0.097,0.025,3235,1656,1466,0,0,0,0,0,0
$GC,8795,0.92,283.9,196.5,8.5,392,8799,0.00,2.50,0.00,0.000,4,0.000,0.054,3235,241,1465,0,0,0,0,0,0
$GC,8930,0.92,283.9,183.6,8.5,402,8934,0.00,2.33,0.00,0.000,6,0.000,0.025,3235,1659,1464,0,0,0,0,0,0
$GC,9203,1.00,297.8,164.0,7.3,423,9223,0.15,2.55,12.80,0.584,4,0.059,0.051,3281,242,1414,0,0,0,0,0,0
$GC,9321,0.92,297.8,150.5,11.2,431,9327,0.15,2.30,0.00,0.000,6,0.097,0.022,3251,1653,1410,0,0,0,0,0,0
$GC,9581,0.97,297.8,130.0,8.2,452,9586,0.00,2.47,0.00,0.000,4,0.000,0.051,3250,242,1409,0,0,0,0,0,0
$GC,9676,0.97,297.8,121.4,8.7,459,9681,0.00,2.28,0.00,0.000,6,0.000,0.022,3251,1665,1409,0,0,0,0,0,0
$GC,9942,1.11,316.7,103.6,7.0,480,9965,0.17,2.53,17.10,0.551,4,0.052,0.050,3305,242,1337,0,0,0,0,0,0
$GC,10001,1.03,316.7,98.1,10.6,483,10006,0.15,2.28,0.00,0.000,6,0.091,0.021,3274,1655,1334,0,0,0,0,0,0
$GC,10263,1.16,344.6,79.7,6.6,503,10293,0.12,2.58,24.45,0.538,4,0.063,0.049,3317,242,1224,0,0,0,0,0,0
$GC,10394,1.10,344.6,68.7,8.0,512,10399,0.15,2.25,0.00,0.000,6,0.091,0.021,3286,1659,1220,0,0,0,0,0,0
$GC,10656,1.20,363.0,51.6,7.1,532,10679,0.12,2.55,16.42,0.492,4,0.062,0.048,3329,246,1149,0,0,0,0,0,0
$GC,10715,1.11,363.0,45.4,12.1,536,10720,0.17,2.22,0.00,0.000,6,0.086,0.020,3292,1647,1147,0,0,0,0,0,0
$GC,10979,1.17,363.0,20.7,9.4,570,10986,0.00,2.50,0.00,0.000,4,0.000,0.049,3292,238,1146,0,0,0,0,0,0
$GC,11069,1.17,363.0,11.6,11.5,590,11076,0.00,2.28,0.00,0.000,6,0.000,0.019,3292,1669,1145,0,0,0,0,0,0
$STATE,11171,end climb,SURFACE_DEPTH_REACHED
$STATE,11171,begin surface coast
$FINISH,0.9,1.023150
$STATE,11226,end surface coast,CONTROL_FINISHED_OK
$STATE,11226,begin surface
$SM_CCo,11248,29.48,0.465,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,29.48,0.000,0.000,0.465,426,1668,957,-12.07,0.54,410.14
$IRIDIUM_FIX,2059.45,-15753.90,281299,151511
$TT8_MAMPS,0.029146
$HUMID,58.50
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.3,53.879
$10V_AH,10.1,44.411
$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,30.550,133.825,415.975,29.475,0.000,90.631,98.521,365.007,4.500,0.000,12.918,1263.361,7478.384,468.734,1998.161,887.996,0.000,1384.988,0.000,1970.180,0.000,29.253,0.000
$DEVICE_MAMPS,131.924,57.525,833.729,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.141,396.280,890.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,34948,625
$CAP_FILE_SIZE,134295,0
$CFSIZE,260165632,181305344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031010,190300,2106.408,-15750.518,44,2.0,44,9.8