version: 66.06
glider: 139
mission: 8
dive: 636
start: 10 9 110 7 5 10
data:
$ID,139
$MISSION,8
$DIVE,636
$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,-2164490.5
$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
$GPS1,065831,2106.680,-15751.018,39,2.0,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.9
$GPS2,070450,2106.706,-15751.025,14,1.7,14,9.8
$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,86.9,14105,-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,-64.65,0.000,2,0.000,0.000,425,1539,2783,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.8,-4.5,12,109,12.65,2.28,-5.90,0.000,4,0.132,0.056,2785,232,3110,0,0,0,0,0,0
$GC,127,-0.12,-116.8,16.9,-30.0,19,134,1.08,2.20,0.00,0.000,6,0.077,0.020,3020,1600,3111,0,0,0,0,0,0
$GC,330,-0.66,-116.8,29.9,-9.1,65,337,0.50,2.38,0.00,0.000,4,0.043,0.041,2896,227,3112,0,0,0,0,0,0
$GC,352,-1.05,-116.8,32.5,-10.2,67,357,0.32,2.08,0.00,0.000,6,0.034,0.018,2800,1563,3113,0,0,0,0,0,0
$GC,613,-0.89,-116.8,65.9,-12.8,87,618,0.25,2.17,0.00,0.000,4,0.081,0.020,2857,2908,3112,0,0,0,0,0,0
$GC,642,-0.89,-116.8,69.0,-10.2,89,646,0.00,2.30,0.00,0.000,6,0.000,0.032,2857,1550,3113,0,0,0,0,0,0
$GC,905,-0.89,-116.8,94.6,-8.8,110,909,0.00,2.25,0.00,0.000,4,0.000,0.045,2857,234,3113,0,0,0,0,0,0
$GC,999,-0.95,-116.8,102.8,-8.6,117,1003,0.00,2.03,0.00,0.000,6,0.000,0.018,2857,1551,3114,0,0,0,0,0,0
$GC,1264,-1.00,-116.8,122.2,-7.7,138,1269,0.12,2.28,0.00,0.000,4,0.061,0.045,2812,233,3114,0,0,0,0,0,0
$GC,1291,-0.93,-116.8,124.8,-10.5,140,1295,0.15,2.05,0.00,0.000,6,0.087,0.018,2844,1547,3114,0,0,0,0,0,0
$GC,1559,-0.98,-116.8,147.1,-8.3,161,1563,0.00,2.28,0.00,0.000,4,0.000,0.046,2844,230,3115,0,0,0,0,0,0
$GC,1607,-1.01,-116.8,151.5,-8.8,164,1614,0.00,2.08,0.00,0.000,6,0.000,0.018,2844,1553,3115,0,0,0,0,0,0
$GC,1869,-1.05,-116.8,171.0,-6.5,185,1874,0.10,2.22,0.00,0.000,4,0.072,0.022,2804,2909,3115,0,0,0,0,0,0
$GC,1925,-1.12,-116.8,175.2,-7.8,189,1929,0.00,2.28,0.00,0.000,6,0.000,0.032,2804,1548,3115,0,0,0,0,0,0
$GC,2190,-1.09,-116.8,198.9,-9.6,210,2194,0.00,2.25,0.00,0.000,4,0.000,0.046,2804,234,3115,0,0,0,0,0,0
$GC,2245,-1.02,-116.8,205.4,-11.8,213,2250,0.10,2.05,0.00,0.000,6,0.100,0.019,2826,1541,3115,0,0,0,0,0,0
$GC,2568,-1.02,-116.8,236.9,-9.2,229,2572,0.00,2.22,0.00,0.000,4,0.000,0.047,2826,238,3115,0,0,0,0,0,0
$GC,2602,-1.02,-116.8,240.4,-10.2,230,2606,0.00,2.08,0.00,0.000,6,0.000,0.020,2826,1556,3115,0,0,0,0,0,0
$GC,2922,-1.07,-116.8,266.3,-7.5,245,2926,0.00,2.28,0.00,0.000,4,0.000,0.048,2826,231,3114,0,0,0,0,0,0
$GC,2973,-1.12,-116.8,270.8,-8.3,247,2977,0.00,2.08,0.00,0.000,6,0.000,0.021,2826,1551,3114,0,0,0,0,0,0
$GC,3296,-1.17,-116.8,292.0,-6.9,263,3300,0.15,2.28,0.00,0.000,4,0.055,0.049,2775,238,3113,0,0,0,0,0,0
$GC,3366,-1.10,-116.8,299.6,-10.4,266,3371,0.15,2.05,0.00,0.000,6,0.089,0.021,2808,1552,3113,0,0,0,0,0,0
$GC,3713,-1.10,-116.8,329.6,-8.6,275,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1556,3112,0,0,0,0,0,0
$GC,4038,-1.10,-116.8,355.6,-7.9,283,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1556,3110,0,0,0,0,0,0
$GC,4363,-1.10,-116.8,387.5,-10.5,291,4367,0.00,2.30,0.00,0.000,4,0.000,0.053,2808,239,3108,0,0,0,0,0,0
$GC,4428,-1.10,-116.8,394.9,-10.9,292,4432,0.00,2.08,0.00,0.000,6,0.000,0.024,2808,1549,3108,0,0,0,0,0,0
$GC,4774,-1.13,-116.8,424.4,-8.0,301,4778,0.00,2.28,0.00,0.000,4,0.000,0.028,2808,2924,3105,0,0,0,0,0,0
$GC,4822,-1.24,-116.8,427.9,-7.3,302,4827,0.12,2.35,0.00,0.000,6,0.063,0.039,2765,1550,3104,0,0,0,0,0,0
$STATE,5107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5107,begin apogee
$GC,5115,-0.31,0.0,450.8,8.0,309,5215,1.00,0.00,96.85,0.828,6,0.070,0.000,2980,1551,2630,0,0,0,0,0,0
$STATE,5216,end apogee,CONTROL_FINISHED_OK
$STATE,5216,begin climb
$GC,5218,1.18,116.8,452.7,0.0,311,5331,1.42,2.38,101.72,0.809,4,0.036,0.030,3312,2927,2153,0,0,0,0,0,0
$GC,5413,1.02,135.2,448.2,7.1,315,5440,0.20,2.40,17.10,0.748,6,0.099,0.039,3273,1546,2078,0,0,0,0,0,0
$GC,5768,0.96,186.9,426.4,5.6,324,5821,0.00,2.45,45.50,0.795,4,0.000,0.030,3273,2928,1868,0,0,0,0,0,0
$GC,5856,0.93,203.3,421.1,7.2,326,5877,0.00,2.42,16.17,0.743,6,0.000,0.043,3273,1544,1800,0,0,0,0,0,0
$GC,6224,0.83,203.3,388.0,10.2,335,6229,0.20,2.33,0.00,0.000,4,0.097,0.028,3234,2925,1793,0,0,0,0,0,0
$GC,6253,0.88,203.3,384.7,9.3,335,6258,0.00,2.40,0.00,0.000,6,0.000,0.043,3234,1547,1793,0,0,0,0,0,0
$GC,6590,0.88,203.3,353.8,9.0,344,6594,0.00,2.30,0.00,0.000,4,0.000,0.056,3234,233,1791,0,0,0,0,0,0
$GC,6646,0.83,203.3,348.3,9.4,345,6650,0.00,2.15,0.00,0.000,6,0.000,0.028,3234,1543,1788,0,0,0,0,0,0
$GC,6964,0.87,240.9,326.4,6.2,353,7005,0.00,2.38,32.33,0.751,4,0.000,0.056,3234,233,1646,0,0,0,0,0,0
$GC,7017,0.86,256.3,322.9,7.2,354,7038,0.00,2.17,14.82,0.701,6,0.000,0.028,3234,1556,1584,0,0,0,0,0,0
$GC,7362,0.90,256.3,297.3,8.1,363,7366,0.00,2.35,0.00,0.000,4,0.000,0.056,3234,232,1579,0,0,0,0,0,0
$GC,7423,0.90,256.3,291.5,9.7,365,7427,0.00,2.15,0.00,0.000,6,0.000,0.028,3233,1550,1576,0,0,0,0,0,0
$GC,7739,0.95,270.2,266.3,7.3,380,7757,0.10,2.38,12.27,0.660,4,0.079,0.054,3264,234,1527,0,0,0,0,0,0
$GC,7826,0.87,270.2,257.8,10.3,382,7834,0.10,2.20,0.00,0.000,6,0.080,0.027,3240,1554,1524,0,0,0,0,0,0
$GC,8142,0.91,270.2,230.0,8.8,398,8146,0.00,2.35,0.00,0.000,4,0.000,0.054,3240,226,1522,0,0,0,0,0,0
$GC,8203,0.91,270.2,223.9,10.5,400,8210,0.00,2.20,0.00,0.000,6,0.000,0.026,3240,1555,1521,0,0,0,0,0,0
$GC,8519,0.98,278.1,199.0,7.5,416,8536,0.10,2.38,7.40,0.555,4,0.077,0.053,3273,239,1495,0,0,0,0,0,0
$GC,8604,0.89,278.1,190.5,11.1,421,8610,0.15,2.15,0.00,0.000,6,0.098,0.025,3243,1561,1493,0,0,0,0,0,0
$GC,8865,0.94,282.8,169.5,7.7,442,8880,0.00,2.35,5.38,0.480,4,0.000,0.051,3243,225,1477,0,0,0,0,0,0
$GC,8912,0.94,282.8,165.3,9.8,445,8916,0.00,2.12,0.00,0.000,6,0.000,0.024,3243,1548,1475,0,0,0,0,0,0
$GC,9182,1.03,308.6,145.2,6.7,466,9212,0.15,2.35,24.15,0.595,4,0.058,0.051,3288,232,1370,0,0,0,0,0,0
$GC,9228,0.94,308.6,140.9,10.5,469,9234,0.17,2.15,0.00,0.000,6,0.090,0.023,3253,1557,1368,0,0,0,0,0,0
$GC,9489,0.99,316.8,120.7,7.5,490,9504,0.00,2.38,8.18,0.503,4,0.000,0.050,3253,233,1337,0,0,0,0,0,0
$GC,9543,0.99,316.8,115.7,9.9,493,9548,0.00,2.10,0.00,0.000,6,0.000,0.022,3253,1560,1335,0,0,0,0,0,0
$GC,9803,1.04,316.8,92.7,9.4,514,9807,0.10,2.33,0.00,0.000,4,0.074,0.050,3288,232,1335,0,0,0,0,0,0
$GC,9911,0.97,316.8,80.6,10.1,521,9918,0.12,2.10,0.00,0.000,6,0.096,0.021,3262,1551,1333,0,0,0,0,0,0
$GC,10174,1.10,356.7,62.4,6.1,542,10217,0.12,2.38,35.00,0.530,4,0.063,0.047,3305,235,1173,0,0,0,0,0,0
$GC,10261,1.06,356.7,53.9,11.1,548,10266,0.12,2.10,0.00,0.000,6,0.093,0.021,3279,1554,1170,0,0,0,0,0,0
$GC,10529,1.15,362.1,32.9,7.6,569,10544,0.00,2.35,5.38,0.387,4,0.000,0.047,3279,225,1151,0,0,0,0,0,0
$GC,10623,1.20,362.1,23.7,10.4,585,10631,0.10,2.12,0.00,0.000,6,0.033,0.021,3325,1556,1149,0,0,0,0,0,0
$GC,10828,1.20,362.1,4.5,8.2,631,10834,0.00,2.25,0.00,0.000,4,0.000,0.021,3325,2921,1149,0,0,0,0,0,0
$STATE,10843,end climb,SURFACE_DEPTH_REACHED
$STATE,10844,begin surface coast
$FINISH,1.9,1.022973
$STATE,10854,end surface coast,CONTROL_FINISHED_OK
$STATE,10854,begin surface
$SM_CCo,10879,30.33,0.472,0,0,957,410.14
$SM_GC,1.79,0.00,0.00,30.33,0.000,0.000,0.472,429,1540,957,-12.06,-0.28,410.14
$IRIDIUM_FIX,2059.45,-15753.90,030100,030358
$TT8_MAMPS,0.028379
$HUMID,60.47
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,21.10
$XPDR_PINGS,0
$24V_AH,23.3,58.704
$10V_AH,10.1,47.964
$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,32.375,130.100,422.250,30.325,0.000,29.794,40.358,175.897,4.500,0.000,14.440,1240.401,7096.650,492.592,1893.282,563.826,0.000,1369.902,0.000,1875.526,0.000,29.261,0.000
$DEVICE_MAMPS,131.924,55.991,828.360,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.640,413.876,941.787,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,34931,636
$CAP_FILE_SIZE,126616,0
$CFSIZE,260165632,178802688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091010,100807,2107.077,-15750.327,28,1.7,28,9.8