version: 66.06
glider: 139
mission: 8
dive: 621
start: 10 7 110 6 54 8
data:
$ID,139
$MISSION,8
$DIVE,621
$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,-2164169.2
$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,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
$GPS1,064737,2106.117,-15753.198,39,0.9,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-71.5
$GPS2,065349,2106.118,-15753.247,11,1.0,16,9.8
$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,82.0,17856,-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,-116.8,0.0,0.0,0,77,0.00,0.00,-59.28,0.000,2,0.000,0.000,428,1534,2593,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.0,-2.8,11,111,12.62,2.40,-10.23,0.000,4,0.131,0.035,2786,2970,3107,0,0,0,0,0,0
$GC,128,-0.34,-116.8,14.1,-22.9,19,136,0.82,2.45,0.00,0.000,6,0.070,0.033,2973,1549,3109,0,0,0,0,0,0
$GC,332,-0.55,-116.8,27.7,-6.1,65,339,0.20,2.30,0.00,0.000,4,0.044,0.044,2910,235,3110,0,0,0,0,0,0
$GC,370,-0.65,-116.8,31.2,-9.7,71,377,0.00,2.17,0.00,0.000,6,0.000,0.018,2910,1611,3110,0,0,0,0,0,0
$GC,630,-0.74,-116.8,58.1,-11.1,92,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1611,3110,0,0,0,0,0,0
$GC,884,-0.88,-116.8,79.2,-7.1,112,889,0.22,2.38,0.00,0.000,4,0.042,0.044,2839,225,3111,0,0,0,0,0,0
$GC,953,-0.88,-116.8,85.7,-9.9,117,957,0.00,2.17,0.00,0.000,6,0.000,0.018,2839,1608,3111,0,0,0,0,0,0
$GC,1217,-0.88,-116.8,108.6,-8.2,138,1221,0.00,2.35,0.00,0.000,4,0.000,0.044,2838,234,3112,0,0,0,0,0,0
$GC,1297,-0.92,-116.8,115.6,-8.9,144,1301,0.00,2.12,0.00,0.000,6,0.000,0.018,2839,1605,3112,0,0,0,0,0,0
$GC,1562,-0.92,-116.8,138.3,-8.3,165,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1609,3113,0,0,0,0,0,0
$GC,1814,-0.95,-116.8,157.7,-7.5,185,1818,0.00,2.38,0.00,0.000,4,0.000,0.046,2838,231,3113,0,0,0,0,0,0
$GC,1847,-0.95,-116.8,160.4,-7.7,187,1852,0.00,2.15,0.00,0.000,6,0.000,0.019,2838,1613,3113,0,0,0,0,0,0
$GC,2107,-1.00,-116.8,179.7,-8.1,208,2112,0.00,2.38,0.00,0.000,4,0.000,0.046,2839,227,3113,0,0,0,0,0,0
$GC,2172,-1.00,-116.8,186.1,-9.8,212,2178,0.00,2.20,0.00,0.000,6,0.000,0.020,2838,1607,3113,0,0,0,0,0,0
$GC,2442,-1.05,-116.8,213.7,-10.3,230,2446,0.00,2.35,0.00,0.000,4,0.000,0.046,2838,235,3113,0,0,0,0,0,0
$GC,2483,-1.09,-116.8,217.8,-8.7,231,2490,0.12,2.15,0.00,0.000,6,0.062,0.020,2794,1600,3113,0,0,0,0,0,0
$GC,2804,-1.05,-116.8,244.0,-7.8,247,2808,0.12,2.17,0.00,0.000,4,0.094,0.024,2821,2928,3113,0,0,0,0,0,0
$GC,2838,-1.15,-116.8,246.8,-6.6,248,2842,0.00,2.30,0.00,0.000,6,0.000,0.034,2821,1548,3113,0,0,0,0,0,0
$GC,3162,-1.18,-116.8,272.1,-7.8,264,3166,0.12,2.28,0.00,0.000,4,0.064,0.049,2778,238,3112,0,0,0,0,0,0
$GC,3227,-1.12,-116.8,278.8,-10.1,266,3234,0.08,2.10,0.00,0.000,6,0.072,0.021,2800,1556,3112,0,0,0,0,0,0
$GC,3562,-1.12,-116.8,307.2,-8.0,281,3566,0.00,2.28,0.00,0.000,4,0.000,0.050,2800,231,3111,0,0,0,0,0,0
$GC,3577,-1.12,-116.8,308.4,-8.3,281,3581,0.00,2.08,0.00,0.000,6,0.000,0.022,2800,1549,3111,0,0,0,0,0,0
$GC,3891,-1.12,-116.8,334.6,-8.3,289,3895,0.00,2.28,0.00,0.000,4,0.000,0.051,2800,233,3109,0,0,0,0,0,0
$GC,3910,-1.12,-116.8,336.6,-9.6,289,3914,0.00,2.10,0.00,0.000,6,0.000,0.023,2800,1552,3109,0,0,0,0,0,0
$GC,4257,-1.12,-116.8,366.6,-8.5,298,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1556,3107,0,0,0,0,0,0
$GC,4579,-1.12,-116.8,391.7,-7.9,306,4583,0.00,2.28,0.00,0.000,4,0.000,0.053,2800,239,3105,0,0,0,0,0,0
$GC,4602,-1.12,-116.8,393.7,-8.8,306,4607,0.00,2.08,0.00,0.000,6,0.000,0.025,2800,1552,3105,0,0,0,0,0,0
$GC,4949,-1.12,-116.8,417.0,-6.4,315,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1556,3103,0,0,0,0,0,0
$GC,5273,-1.12,-116.8,441.5,-8.2,323,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1556,3101,0,0,0,0,0,0
$STATE,5391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5391,begin apogee
$GC,5397,-0.31,0.0,452.5,8.8,326,5498,0.82,0.00,96.93,0.830,6,0.067,0.000,2979,1556,2630,0,0,0,0,0,0
$STATE,5498,end apogee,CONTROL_FINISHED_OK
$STATE,5498,begin climb
$GC,5502,1.18,116.8,456.5,0.0,328,5616,1.45,2.40,101.93,0.818,4,0.038,0.030,3310,2927,2153,0,0,0,0,0,0
$GC,5660,1.09,191.4,460.7,4.5,332,5736,0.12,2.40,66.00,0.805,6,0.108,0.041,3287,1551,1848,0,0,0,0,0,0
$GC,6060,0.96,191.4,430.1,8.9,342,6065,0.15,2.33,0.00,0.000,4,0.104,0.030,3258,2931,1840,0,0,0,0,0,0
$GC,6105,0.96,191.4,426.3,8.2,343,6109,0.00,2.42,0.00,0.000,6,0.000,0.044,3258,1543,1840,0,0,0,0,0,0
$GC,6432,0.89,191.4,395.1,9.8,351,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,1543,1837,0,0,0,0,0,0
$GC,6757,0.83,191.4,365.2,9.1,359,6759,0.15,0.00,0.00,0.000,6,0.102,0.000,3228,1543,1835,0,0,0,0,0,0
$GC,7084,0.84,203.3,341.6,7.4,367,7099,0.00,2.35,9.10,0.674,4,0.000,0.058,3228,228,1801,0,0,0,0,0,0
$GC,7129,0.80,203.3,337.6,8.9,368,7133,0.00,2.15,0.00,0.000,6,0.000,0.028,3228,1541,1798,0,0,0,0,0,0
$GC,7458,0.84,203.3,309.8,8.7,376,7462,0.00,2.35,0.00,0.000,4,0.000,0.029,3228,2942,1798,0,0,0,0,0,0
$GC,7481,0.91,203.3,307.8,8.2,376,7486,0.00,2.42,0.00,0.000,6,0.000,0.041,3228,1549,1797,0,0,0,0,0,0
$GC,7811,0.97,225.3,283.5,6.9,389,7838,0.15,2.42,20.40,0.707,4,0.062,0.057,3270,230,1711,0,0,0,0,0,0
$GC,7897,0.86,225.3,276.1,9.2,392,7902,0.15,2.17,0.00,0.000,6,0.100,0.027,3240,1558,1706,0,0,0,0,0,0
$GC,8214,0.90,257.0,255.3,6.5,407,8250,0.00,2.40,28.83,0.697,4,0.000,0.055,3240,232,1581,0,0,0,0,0,0
$GC,8325,0.90,257.0,245.0,9.5,412,8329,0.00,2.17,0.00,0.000,6,0.000,0.026,3240,1551,1576,0,0,0,0,0,0
$GC,8656,0.94,257.0,217.4,8.5,428,8660,0.00,2.33,0.00,0.000,4,0.000,0.054,3240,232,1575,0,0,0,0,0,0
$GC,8692,0.94,257.0,213.5,10.7,429,8696,0.00,2.17,0.00,0.000,6,0.000,0.025,3240,1562,1574,0,0,0,0,0,0
$GC,9022,1.01,270.5,184.5,7.3,450,9040,0.12,2.35,11.73,0.596,4,0.067,0.025,3279,2934,1527,0,0,0,0,0,0
$GC,9056,1.01,270.5,181.5,7.9,452,9060,0.00,2.42,0.00,0.000,6,0.000,0.038,3279,1545,1527,0,0,0,0,0,0
$GC,9317,0.98,272.8,161.1,7.8,472,9321,0.00,2.30,0.00,0.000,4,0.000,0.053,3279,232,1525,0,0,0,0,0,0
$GC,9391,0.89,272.8,154.3,9.2,477,9396,0.17,2.15,0.00,0.000,6,0.090,0.023,3243,1564,1523,0,0,0,0,0,0
$GC,9654,0.98,294.2,138.9,6.9,497,9680,0.00,0.00,21.98,0.590,6,0.000,0.000,3243,1570,1429,0,0,0,0,0,0
$GC,9938,1.07,313.1,118.9,7.0,519,9965,0.17,2.40,17.35,0.561,4,0.054,0.050,3294,228,1351,0,0,0,0,0,0
$GC,9997,0.95,313.1,112.6,12.2,523,10001,0.17,2.12,0.00,0.000,6,0.087,0.022,3258,1553,1350,0,0,0,0,0,0
$GC,10269,1.08,373.0,95.5,5.2,544,10329,0.12,2.38,51.70,0.562,4,0.064,0.048,3299,231,1106,0,0,0,0,0,0
$GC,10383,1.00,373.0,84.7,10.4,552,10388,0.15,2.15,0.00,0.000,6,0.087,0.021,3267,1560,1102,0,0,0,0,0,0
$GC,10647,1.10,386.0,66.1,7.3,572,10666,0.10,2.38,11.20,0.483,4,0.074,0.048,3303,240,1055,0,0,0,0,0,0
$GC,10761,1.10,386.0,55.4,8.8,580,10765,0.00,2.08,0.00,0.000,6,0.000,0.021,3303,1561,1051,0,0,0,0,0,0
$GC,11023,1.16,386.0,35.8,8.1,600,11024,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1565,1051,0,0,0,0,0,0
$GC,11276,1.21,386.0,12.4,8.6,648,11283,0.00,2.35,0.00,0.000,4,0.000,0.049,3303,233,1051,0,0,0,0,0,0
$GC,11357,1.21,386.0,5.1,11.3,665,11363,0.00,2.10,0.00,0.000,6,0.000,0.020,3303,1554,1051,0,0,0,0,0,0
$STATE,11372,end climb,SURFACE_DEPTH_REACHED
$STATE,11372,begin surface coast
$FINISH,0.9,0.997950
$STATE,11399,end surface coast,CONTROL_FINISHED_OK
$STATE,11400,begin surface
$SM_CCo,11422,16.40,0.449,0,0,957,410.14
$SM_GC,1.67,0.00,0.00,16.40,0.000,0.000,0.449,428,1552,957,-12.06,0.06,410.14
$IRIDIUM_FIX,2057.14,-15756.04,010100,030328
$TT8_MAMPS,0.028379
$HUMID,60.00
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.90
$XPDR_PINGS,1
$24V_AH,23.3,57.033
$10V_AH,10.1,46.716
$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,30.725,113.550,437.125,16.400,0.000,27.847,34.773,174.567,4.750,0.000,16.887,1274.216,7588.522,471.749,1931.046,542.413,0.000,1343.487,0.000,1907.879,0.000,29.262,0.000
$DEVICE_MAMPS,131.157,57.525,829.894,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.463,431.337,1002.795,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,38091,674
$CAP_FILE_SIZE,122290,0
$CFSIZE,260165632,179695616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071010,100606,2106.420,-15752.435,41,1.0,41,9.8