version: 66.06
glider: 139
mission: 8
dive: 612
start: 10 6 110 2 18 50
data:
$ID,139
$MISSION,8
$DIVE,612
$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,-2163955.5
$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,1550
$C_ROLL_CLIMB,1550
$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
$GPS1,015405,2105.170,-15753.671,13,2.3,32,9.8
$_CALLS,5
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.7
$GPS2,021830,2105.277,-15753.954,72,1.0,72,9.8
$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,77.2,19094,-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,16,-1.18,-116.8,0.0,0.0,0,78,0.00,0.00,-58.97,0.000,2,0.000,0.000,424,1561,2604,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.1,-3.4,11,110,12.65,0.00,-9.82,0.000,6,0.132,0.000,2787,1562,3110,0,0,0,0,0,0
$GC,306,-0.95,-116.8,42.0,-15.3,49,311,0.25,2.30,0.00,0.000,4,0.088,0.019,2843,2974,3111,0,0,0,0,0,0
$GC,347,-0.95,-116.8,47.3,-10.7,52,351,0.00,2.42,0.00,0.000,6,0.000,0.033,2842,1549,3111,0,0,0,0,0,0
$GC,612,-0.90,-116.8,78.4,-12.0,73,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1548,3111,0,0,0,0,0,0
$GC,865,-0.90,-116.8,105.3,-9.5,93,869,0.00,2.33,0.00,0.000,4,0.000,0.021,2843,2980,3111,0,0,0,0,0,0
$GC,879,-0.90,-116.8,106.9,-9.0,94,883,0.00,2.38,0.00,0.000,6,0.000,0.031,2842,1550,3112,0,0,0,0,0,0
$GC,1137,-0.90,-116.8,133.3,-10.0,114,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1550,3112,0,0,0,0,0,0
$GC,1390,-0.95,-116.8,155.1,-7.3,134,1394,0.00,2.25,0.00,0.000,4,0.000,0.046,2843,231,3112,0,0,0,0,0,0
$GC,1465,-0.98,-116.8,160.7,-7.1,139,1469,0.00,2.12,0.00,0.000,6,0.000,0.018,2842,1608,3112,0,0,0,0,0,0
$GC,1728,-1.04,-116.8,177.7,-7.4,159,1732,0.00,2.35,0.00,0.000,4,0.000,0.046,2842,234,3112,0,0,0,0,0,0
$GC,1770,-1.08,-116.8,181.6,-9.2,162,1775,0.12,2.15,0.00,0.000,6,0.061,0.019,2797,1609,3111,0,0,0,0,0,0
$GC,2039,-1.03,-116.8,209.0,-10.1,180,2044,0.12,2.22,0.00,0.000,4,0.091,0.023,2825,2978,3111,0,0,0,0,0,0
$GC,2061,-1.03,-116.8,211.3,-9.3,181,2065,0.00,2.40,0.00,0.000,6,0.000,0.034,2825,1548,3111,0,0,0,0,0,0
$GC,2393,-1.03,-116.8,235.9,-6.9,197,2397,0.00,2.22,0.00,0.000,4,0.000,0.047,2825,238,3110,0,0,0,0,0,0
$GC,2459,-1.03,-116.8,241.3,-8.3,200,2463,0.00,2.15,0.00,0.000,6,0.000,0.020,2825,1601,3110,0,0,0,0,0,0
$GC,2789,-1.06,-116.8,270.6,-9.9,216,2793,0.00,2.35,0.00,0.000,4,0.000,0.048,2825,234,3109,0,0,0,0,0,0
$GC,2826,-1.06,-116.8,274.9,-11.4,217,2832,0.00,2.15,0.00,0.000,6,0.000,0.021,2826,1605,3109,0,0,0,0,0,0
$GC,3146,-1.10,-116.8,300.6,-7.4,233,3150,0.00,2.35,0.00,0.000,4,0.000,0.049,2825,235,3107,0,0,0,0,0,0
$GC,3193,-1.14,-116.8,304.3,-7.7,234,3198,0.10,2.17,0.00,0.000,6,0.073,0.021,2788,1602,3106,0,0,0,0,0,0
$GC,3519,-1.10,-116.8,326.0,-6.7,242,3524,0.10,2.25,0.00,0.000,4,0.102,0.025,2810,2967,3105,0,0,0,0,0,0
$GC,3545,-1.16,-116.8,327.7,-6.0,242,3549,0.00,2.40,0.00,0.000,6,0.000,0.035,2810,1543,3105,0,0,0,0,0,0
$GC,3890,-1.16,-116.8,353.3,-8.4,251,3894,0.00,2.25,0.00,0.000,4,0.000,0.051,2810,237,3103,0,0,0,0,0,0
$GC,3931,-1.16,-116.8,357.9,-10.5,251,3937,0.00,2.17,0.00,0.000,6,0.000,0.023,2810,1596,3102,0,0,0,0,0,0
$GC,4265,-1.16,-116.8,391.1,-10.0,260,4269,0.00,2.38,0.00,0.000,4,0.000,0.053,2809,228,3100,0,0,0,0,0,0
$GC,4340,-1.16,-116.8,397.9,-7.7,261,4344,0.00,2.12,0.00,0.000,6,0.000,0.024,2809,1553,3100,0,0,0,0,0,0
$GC,4677,-1.19,-116.8,417.7,-5.1,270,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1557,3097,0,0,0,0,0,0
$GC,5001,-1.23,-116.8,434.4,-5.6,278,5003,0.12,0.00,0.00,0.000,6,0.067,0.000,2770,1557,3096,0,0,0,0,0,0
$STATE,5200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5200,begin apogee
$GC,5207,-0.31,0.0,451.4,8.6,283,5306,0.98,0.00,95.55,0.831,6,0.068,0.000,2980,1556,2629,0,0,0,0,0,0
$STATE,5306,end apogee,CONTROL_FINISHED_OK
$STATE,5306,begin climb
$GC,5310,1.18,116.8,453.8,0.0,285,5422,1.42,2.38,101.32,0.816,4,0.038,0.030,3310,2922,2152,0,0,0,0,0,0
$GC,5482,1.04,156.6,453.4,6.1,288,5523,0.17,2.38,35.45,0.792,6,0.104,0.041,3277,1553,1991,0,0,0,0,0,0
$GC,5855,0.93,167.3,427.3,7.4,298,5872,0.12,2.38,9.35,0.696,4,0.111,0.029,3253,2931,1947,0,0,0,0,0,0
$GC,5941,0.95,183.2,421.1,7.2,299,5962,0.00,2.40,15.60,0.751,6,0.000,0.043,3253,1550,1883,0,0,0,0,0,0
$GC,6282,0.90,183.2,388.4,10.2,308,6286,0.00,2.35,0.00,0.000,4,0.000,0.031,3254,2926,1877,0,0,0,0,0,0
$GC,6298,0.87,183.2,386.6,10.5,308,6302,0.00,2.40,0.00,0.000,6,0.000,0.042,3253,1550,1877,0,0,0,0,0,0
$GC,6612,0.82,183.2,355.6,9.5,316,6617,0.12,2.38,0.00,0.000,4,0.107,0.059,3229,226,1875,0,0,0,0,0,0
$GC,6673,0.78,183.2,349.5,9.6,317,6677,0.00,2.15,0.00,0.000,6,0.000,0.028,3229,1540,1871,0,0,0,0,0,0
$GC,6988,0.79,195.9,325.7,7.3,325,7004,0.00,2.40,10.85,0.687,4,0.000,0.058,3229,238,1831,0,0,0,0,0,0
$GC,7047,0.75,195.9,320.9,8.0,326,7051,0.00,2.17,0.00,0.000,6,0.000,0.028,3229,1552,1828,0,0,0,0,0,0
$GC,7362,0.80,205.9,298.7,7.4,334,7379,0.00,2.38,10.07,0.670,4,0.000,0.030,3229,2929,1790,0,0,0,0,0,0
$GC,7398,0.88,205.9,295.6,8.4,335,7402,0.00,2.40,0.00,0.000,6,0.000,0.042,3229,1550,1789,0,0,0,0,0,0
$GC,7715,0.95,229.6,272.4,6.8,350,7745,0.12,2.40,22.45,0.708,4,0.068,0.028,3265,2942,1694,0,0,0,0,0,0
$GC,7765,0.96,237.0,268.3,7.6,352,7780,0.00,2.45,8.55,0.617,6,0.000,0.041,3265,1549,1661,0,0,0,0,0,0
$GC,8088,0.96,237.0,242.6,8.5,368,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1549,1657,0,0,0,0,0,0
$GC,8400,0.96,237.0,216.9,8.1,383,8404,0.00,2.33,0.00,0.000,4,0.000,0.056,3265,233,1656,0,0,0,0,0,0
$GC,8490,0.89,237.0,208.6,9.3,387,8494,0.00,2.15,0.00,0.000,6,0.000,0.025,3264,1562,1652,0,0,0,0,0,0
$GC,8825,0.92,257.5,184.3,7.0,409,8852,0.00,2.40,17.65,0.621,4,0.000,0.052,3264,230,1578,0,0,0,0,0,0
$GC,8876,0.85,257.5,179.8,9.2,412,8883,0.12,2.17,0.00,0.000,6,0.077,0.025,3235,1554,1576,0,0,0,0,0,0
$GC,9140,0.93,265.9,160.8,7.5,433,9154,0.00,2.33,8.27,0.538,4,0.000,0.051,3235,232,1545,0,0,0,0,0,0
$GC,9175,0.96,265.9,157.5,8.5,435,9179,0.10,2.10,0.00,0.000,6,0.078,0.024,3267,1550,1543,0,0,0,0,0,0
$GC,9438,0.96,265.9,133.2,9.0,455,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1552,1543,0,0,0,0,0,0
$GC,9687,0.98,281.2,113.0,7.2,475,9707,0.00,2.38,14.25,0.545,4,0.000,0.051,3267,238,1483,0,0,0,0,0,0
$GC,9771,0.98,281.2,105.8,9.4,481,9775,0.00,2.10,0.00,0.000,6,0.000,0.022,3267,1554,1479,0,0,0,0,0,0
$GC,10039,1.04,281.2,84.1,8.1,502,10043,0.00,2.30,0.00,0.000,4,0.000,0.048,3267,232,1479,0,0,0,0,0,0
$GC,10094,1.04,281.2,79.6,8.4,506,10098,0.00,2.10,0.00,0.000,6,0.000,0.021,3267,1565,1478,0,0,0,0,0,0
$GC,10367,1.25,343.7,63.9,5.1,527,10423,0.22,0.00,53.92,0.533,6,0.044,0.000,3336,1570,1228,0,0,0,0,0,0
$GC,10676,1.22,343.7,36.1,9.0,552,10680,0.00,2.35,0.00,0.000,4,0.000,0.048,3336,225,1224,0,0,0,0,0,0
$GC,10728,1.08,343.7,31.0,9.7,556,10733,0.25,2.10,0.00,0.000,6,0.081,0.021,3283,1558,1221,0,0,0,0,0,0
$GC,10996,1.17,352.8,10.7,7.5,616,11009,0.00,2.40,8.27,0.416,4,0.000,0.048,3284,227,1190,0,0,0,0,0,0
$GC,11038,1.20,352.8,6.7,8.9,624,11045,0.08,2.10,0.00,0.000,6,0.037,0.020,3321,1552,1188,0,0,0,0,0,0
$STATE,11071,end climb,SURFACE_DEPTH_REACHED
$STATE,11072,begin surface coast
$FINISH,0.8,1.023412
$STATE,11099,end surface coast,CONTROL_FINISHED_OK
$STATE,11099,begin surface
$SM_CCo,11122,33.78,0.465,0,0,957,410.14
$SM_GC,1.73,0.00,0.00,33.78,0.000,0.000,0.465,426,1551,957,-12.07,0.06,410.14
$IRIDIUM_FIX,2057.14,-15753.90,311299,020210
$TT8_MAMPS,0.029146
$HUMID,58.82
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.3,56.057
$10V_AH,10.0,45.961
$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,29.650,114.200,411.575,33.775,0.000,136.463,168.317,699.316,4.750,0.000,73.919,1219.541,7692.196,473.806,1898.717,1335.670,0.000,1303.225,0.000,1820.833,0.000,29.256,0.000
$DEVICE_MAMPS,131.924,59.059,831.428,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,428.666,409.189,927.854,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355816
$DATA_FILE_SIZE,34932,637
$CAP_FILE_SIZE,134610,0
$CFSIZE,260165632,180219904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,052604,2105.396,-15753.742,19,5.5,38,9.8