version: 66.06
glider: 139
mission: 8
dive: 596
start: 10 3 110 22 24 22
data:
$ID,139
$MISSION,8
$DIVE,596
$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,-2163459
$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
$GPS1,221707,2106.101,-15750.413,42,0.9,48,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.3
$GPS2,222401,2106.118,-15750.432,12,1.0,17,9.8
$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,82.7,12995,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.28,0.000,2,0.000,0.000,426,1648,2752,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-4.0,12,112,12.68,2.45,-6.55,0.000,4,0.133,0.055,2785,242,3109,0,0,0,0,0,0
$GC,124,0.01,-116.8,16.0,-28.0,18,131,1.23,2.35,0.00,0.000,6,0.081,0.020,3050,1703,3109,0,0,0,0,0,0
$GC,330,-0.54,-116.8,32.4,-9.3,61,338,0.50,2.53,0.00,0.000,4,0.042,0.042,2927,240,3111,0,0,0,0,0,0
$GC,413,-0.64,-116.8,39.4,-9.2,67,417,0.00,2.30,0.00,0.000,6,0.000,0.018,2927,1701,3111,0,0,0,0,0,0
$GC,682,-0.76,-116.8,60.4,-7.6,88,687,0.20,2.53,0.00,0.000,4,0.045,0.044,2861,246,3111,0,0,0,0,0,0
$GC,742,-0.71,-116.8,67.8,-12.3,92,749,0.12,2.33,0.00,0.000,6,0.065,0.018,2893,1695,3111,0,0,0,0,0,0
$GC,1005,-0.76,-116.8,93.8,-9.6,113,1010,0.00,2.50,0.00,0.000,4,0.000,0.044,2893,240,3112,0,0,0,0,0,0
$GC,1060,-0.80,-116.8,99.7,-10.0,117,1067,0.00,2.22,0.00,0.000,6,0.000,0.018,2893,1658,3112,0,0,0,0,0,0
$GC,1331,-0.92,-116.8,120.3,-7.3,138,1336,0.20,2.42,0.00,0.000,4,0.044,0.044,2827,245,3113,0,0,0,0,0,0
$GC,1428,-0.89,-116.8,131.7,-10.6,145,1432,0.15,2.22,0.00,0.000,6,0.085,0.018,2860,1658,3113,0,0,0,0,0,0
$GC,1699,-0.98,-116.8,156.1,-9.1,166,1704,0.12,2.45,0.00,0.000,4,0.061,0.045,2814,238,3114,0,0,0,0,0,0
$GC,1775,-0.94,-116.8,164.8,-10.9,171,1781,0.15,2.20,0.00,0.000,6,0.086,0.018,2847,1647,3114,0,0,0,0,0,0
$GC,2038,-1.02,-116.8,186.9,-8.1,192,2043,0.00,2.40,0.00,0.000,4,0.000,0.046,2847,245,3114,0,0,0,0,0,0
$GC,2084,-1.09,-116.8,191.5,-9.2,195,2090,0.15,2.20,0.00,0.000,6,0.054,0.018,2796,1651,3114,0,0,0,0,0,0
$GC,2357,-1.06,-116.8,220.5,-10.2,211,2362,0.10,2.45,0.00,0.000,4,0.103,0.047,2818,244,3114,0,0,0,0,0,0
$GC,2403,-1.06,-116.8,225.3,-9.9,213,2407,0.00,2.20,0.00,0.000,6,0.000,0.020,2818,1657,3114,0,0,0,0,0,0
$GC,2735,-1.06,-116.8,250.5,-7.6,229,2739,0.00,2.45,0.00,0.000,4,0.000,0.048,2818,247,3114,0,0,0,0,0,0
$GC,2871,-1.06,-116.8,261.0,-7.1,235,2875,0.00,2.20,0.00,0.000,6,0.000,0.020,2818,1644,3114,0,0,0,0,0,0
$GC,3205,-1.10,-116.8,284.9,-7.8,251,3210,0.00,2.45,0.00,0.000,4,0.000,0.049,2818,238,3113,0,0,0,0,0,0
$GC,3261,-1.10,-116.8,290.4,-9.4,253,3265,0.00,2.25,0.00,0.000,6,0.000,0.021,2818,1647,3113,0,0,0,0,0,0
$GC,3599,-1.14,-116.8,314.5,-6.3,265,3603,0.00,2.42,0.00,0.000,4,0.000,0.050,2817,245,3111,0,0,0,0,0,0
$GC,3644,-1.17,-116.8,317.6,-7.9,266,3648,0.00,2.25,0.00,0.000,6,0.000,0.022,2818,1656,3111,0,0,0,0,0,0
$GC,3974,-1.22,-116.8,342.4,-8.0,274,3979,0.15,2.47,0.00,0.000,4,0.057,0.051,2770,246,3109,0,0,0,0,0,0
$GC,4000,-1.14,-116.8,345.2,-10.0,274,4005,0.15,2.25,0.00,0.000,6,0.090,0.023,2802,1649,3109,0,0,0,0,0,0
$GC,4347,-1.14,-116.8,377.9,-9.8,283,4351,0.00,2.47,0.00,0.000,4,0.000,0.052,2802,239,3107,0,0,0,0,0,0
$GC,4361,-1.14,-116.8,379.5,-9.6,283,4368,0.00,2.30,0.00,0.000,6,0.000,0.024,2802,1669,3106,0,0,0,0,0,0
$GC,4679,-1.14,-116.8,408.6,-9.2,291,4683,0.00,2.50,0.00,0.000,4,0.000,0.054,2802,247,3104,0,0,0,0,0,0
$GC,4712,-1.14,-116.8,412.1,-10.3,291,4716,0.00,2.25,0.00,0.000,6,0.000,0.024,2802,1637,3104,0,0,0,0,0,0
$GC,5044,-1.18,-116.8,440.6,-8.2,299,5048,0.00,2.45,0.00,0.000,4,0.000,0.056,2802,248,3102,0,0,0,0,0,0
$GC,5129,-1.18,-116.8,447.8,-8.3,300,5135,0.00,2.28,0.00,0.000,6,0.000,0.025,2802,1651,3101,0,0,0,0,0,0
$STATE,5173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5173,begin apogee
$GC,5179,-0.31,0.0,451.4,7.8,302,5279,0.82,0.00,96.15,0.834,6,0.067,0.000,2980,1656,2631,0,0,0,0,0,0
$STATE,5279,end apogee,CONTROL_FINISHED_OK
$STATE,5279,begin climb
$GC,5282,1.18,116.8,453.5,0.0,304,5395,1.42,2.42,101.12,0.816,4,0.038,0.031,3311,3035,2152,0,0,0,0,0,0
$GC,5425,1.05,159.6,452.6,6.0,307,5470,0.17,2.40,38.33,0.789,6,0.100,0.038,3278,1651,1978,0,0,0,0,0,0
$GC,5785,0.92,159.6,420.8,8.9,316,5790,0.15,2.53,0.00,0.000,4,0.106,0.057,3249,241,1970,0,0,0,0,0,0
$GC,5819,0.77,159.6,417.4,9.5,316,5824,0.15,2.33,0.00,0.000,6,0.107,0.026,3219,1657,1966,0,0,0,0,0,0
$GC,6151,0.82,203.4,397.2,5.9,324,6196,0.00,2.62,37.65,0.788,4,0.000,0.057,3219,247,1800,0,0,0,0,0,0
$GC,6218,0.79,220.2,392.9,7.1,325,6240,0.00,2.35,16.35,0.738,6,0.000,0.027,3219,1655,1731,0,0,0,0,0,0
$GC,6566,0.86,243.3,368.6,6.9,334,6589,0.00,0.00,20.95,0.752,6,0.000,0.000,3219,1656,1638,0,0,0,0,0,0
$GC,6891,0.93,263.1,346.8,7.0,342,6916,0.15,2.62,18.35,0.737,4,0.062,0.059,3261,246,1556,0,0,0,0,0,0
$GC,7015,0.82,263.1,332.6,12.1,344,7019,0.15,2.33,0.00,0.000,6,0.104,0.028,3233,1645,1551,0,0,0,0,0,0
$GC,7356,0.86,263.1,300.4,9.5,353,7360,0.00,2.53,0.00,0.000,4,0.000,0.058,3232,237,1550,0,0,0,0,0,0
$GC,7450,0.83,263.1,290.3,11.4,356,7454,0.00,2.35,0.00,0.000,6,0.000,0.027,3232,1657,1547,0,0,0,0,0,0
$GC,7776,0.87,268.0,261.9,7.7,372,7786,0.00,2.55,4.03,0.463,4,0.000,0.058,3231,237,1537,0,0,0,0,0,0
$GC,7908,0.87,268.0,249.7,9.0,377,7914,0.00,2.33,0.00,0.000,6,0.000,0.026,3232,1656,1535,0,0,0,0,0,0
$GC,8226,0.94,275.5,226.6,7.6,393,8242,0.10,2.53,8.23,0.598,4,0.077,0.054,3263,244,1506,0,0,0,0,0,0
$GC,8305,0.88,275.5,218.2,11.7,396,8310,0.12,2.33,0.00,0.000,6,0.104,0.025,3239,1653,1503,0,0,0,0,0,0
$GC,8631,0.93,275.5,187.8,8.7,416,8635,0.00,2.47,0.00,0.000,4,0.000,0.054,3239,243,1503,0,0,0,0,0,0
$GC,8711,0.93,275.5,180.1,10.1,422,8715,0.00,2.33,0.00,0.000,6,0.000,0.025,3239,1662,1501,0,0,0,0,0,0
$GC,8978,1.04,305.8,161.5,6.5,443,9013,0.15,2.60,27.08,0.627,4,0.060,0.052,3284,248,1382,0,0,0,0,0,0
$GC,9089,0.95,305.8,150.1,11.9,451,9094,0.15,2.30,0.00,0.000,6,0.095,0.023,3255,1662,1379,0,0,0,0,0,0
$GC,9357,1.04,305.8,124.8,9.1,472,9361,0.00,2.53,0.00,0.000,4,0.000,0.050,3254,235,1379,0,0,0,0,0,0
$GC,9409,1.10,305.8,119.8,9.4,476,9414,0.15,2.30,0.00,0.000,6,0.058,0.022,3301,1653,1377,0,0,0,0,0,0
$GC,9678,1.13,327.2,98.4,6.9,497,9705,0.00,2.58,18.88,0.553,4,0.000,0.051,3301,241,1295,0,0,0,0,0,0
$GC,9752,1.08,327.2,91.5,9.7,502,9756,0.00,2.28,0.00,0.000,6,0.000,0.021,3301,1660,1292,0,0,0,0,0,0
$GC,10015,1.16,354.8,71.6,6.6,522,10047,0.00,2.60,24.75,0.533,4,0.000,0.049,3301,242,1182,0,0,0,0,0,0
$GC,10115,1.17,359.7,63.9,7.7,529,10130,0.00,2.28,5.05,0.396,6,0.000,0.020,3301,1657,1163,0,0,0,0,0,0
$GC,10386,1.22,359.7,43.8,7.9,550,10391,0.00,2.45,0.00,0.000,4,0.000,0.048,3301,242,1162,0,0,0,0,0,0
$GC,10459,1.22,359.7,36.4,10.4,555,10466,0.00,2.28,0.00,0.000,6,0.000,0.019,3301,1656,1161,0,0,0,0,0,0
$GC,10724,1.26,359.7,14.8,8.5,604,10731,0.10,2.50,0.00,0.000,4,0.072,0.047,3339,245,1161,0,0,0,0,0,0
$GC,10814,1.12,359.7,3.4,14.0,623,10821,0.20,2.25,0.00,0.000,6,0.077,0.018,3286,1663,1160,0,0,0,0,0,0
$STATE,10826,end climb,SURFACE_DEPTH_REACHED
$STATE,10826,begin surface coast
$FINISH,0.8,0.998481
$STATE,10849,end surface coast,CONTROL_FINISHED_OK
$STATE,10849,begin surface
$SM_CCo,10871,31.80,0.467,0,0,957,410.14
$SM_GC,1.40,0.00,0.00,31.80,0.000,0.000,0.467,427,1668,957,-12.07,0.51,410.14
$IRIDIUM_FIX,2059.45,-15748.75,281299,191955
$TT8_MAMPS,0.029146
$HUMID,58.78
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.3,54.094
$10V_AH,10.1,44.585
$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,32.075,138.675,416.900,31.800,0.000,29.313,35.056,214.292,4.500,0.000,17.726,1256.817,6956.403,495.273,1986.675,619.123,0.000,1401.750,0.000,1966.442,0.000,29.273,0.000
$DEVICE_MAMPS,132.691,59.059,833.729,467.103,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.637,406.959,944.637,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34796,630
$CAP_FILE_SIZE,130442,0
$CFSIZE,260165632,181186560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041010,012746,2106.014,-15750.485,42,8.5,61,9.8