version: 66.06
glider: 139
mission: 8
dive: 654
start: 10 11 110 17 46 22
data:
$ID,139
$MISSION,8
$DIVE,654
$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,-2164903
$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
$GPS1,173937,2106.278,-15747.226,36,0.9,36,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.8
$GPS2,174602,2106.333,-15747.248,14,1.6,14,9.8
$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,87.5,7542,-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,-64.57,0.000,2,0.000,0.000,426,1561,2754,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.4,-3.5,12,110,12.60,2.35,-6.78,0.000,4,0.131,0.058,2783,237,3109,0,0,0,0,0,0
$GC,157,-0.88,-116.8,21.6,-20.9,26,164,0.32,2.20,0.00,0.000,6,0.081,0.019,2855,1595,3111,0,0,0,0,0,0
$GC,359,-0.81,-116.8,45.8,-11.2,50,363,0.00,2.38,0.00,0.000,4,0.000,0.048,2855,234,3112,0,0,0,0,0,0
$GC,392,-0.71,-116.8,50.2,-12.6,52,399,0.15,2.12,0.00,0.000,6,0.069,0.018,2891,1564,3112,0,0,0,0,0,0
$GC,654,-0.74,-116.8,74.2,-8.0,73,658,0.00,2.20,0.00,0.000,4,0.000,0.021,2891,2928,3112,0,0,0,0,0,0
$GC,684,-0.84,-116.8,77.0,-8.7,75,689,0.12,2.33,0.00,0.000,6,0.060,0.031,2841,1549,3112,0,0,0,0,0,0
$GC,951,-0.80,-116.8,108.9,-11.7,96,956,0.15,2.25,0.00,0.000,4,0.084,0.044,2875,230,3113,0,0,0,0,0,0
$GC,1003,-0.87,-116.8,114.6,-10.3,100,1007,0.00,2.05,0.00,0.000,6,0.000,0.018,2874,1571,3113,0,0,0,0,0,0
$GC,1271,-0.95,-116.8,137.2,-8.8,121,1276,0.15,2.17,0.00,0.000,4,0.054,0.021,2822,2909,3114,0,0,0,0,0,0
$GC,1310,-1.01,-116.8,141.3,-10.0,124,1314,0.00,2.28,0.00,0.000,6,0.000,0.032,2822,1547,3114,0,0,0,0,0,0
$GC,1577,-0.98,-116.8,166.5,-8.4,145,1581,0.00,2.25,0.00,0.000,4,0.000,0.044,2822,227,3115,0,0,0,0,0,0
$GC,1609,-0.93,-116.8,169.7,-9.0,147,1616,0.12,2.05,0.00,0.000,6,0.092,0.018,2848,1554,3115,0,0,0,0,0,0
$GC,1872,-1.00,-116.8,185.8,-5.4,168,1876,0.00,2.28,0.00,0.000,4,0.000,0.045,2849,230,3115,0,0,0,0,0,0
$GC,1905,-1.06,-116.8,188.1,-6.7,170,1910,0.12,2.03,0.00,0.000,6,0.061,0.019,2801,1549,3116,0,0,0,0,0,0
$GC,2178,-1.02,-116.8,212.7,-10.3,187,2183,0.12,2.28,0.00,0.000,4,0.093,0.047,2829,228,3115,0,0,0,0,0,0
$GC,2202,-1.02,-116.8,215.7,-9.8,188,2206,0.00,2.05,0.00,0.000,6,0.000,0.019,2828,1555,3115,0,0,0,0,0,0
$GC,2531,-1.06,-116.8,241.0,-6.6,204,2535,0.00,2.25,0.00,0.000,4,0.000,0.047,2829,238,3115,0,0,0,0,0,0
$GC,2563,-1.06,-116.8,243.3,-6.3,205,2567,0.00,2.03,0.00,0.000,6,0.000,0.020,2829,1547,3115,0,0,0,0,0,0
$GC,2880,-1.11,-116.8,263.8,-7.4,220,2884,0.00,2.25,0.00,0.000,4,0.000,0.048,2829,238,3114,0,0,0,0,0,0
$GC,2903,-1.15,-116.8,265.4,-8.0,221,2907,0.12,2.08,0.00,0.000,6,0.062,0.021,2784,1552,3114,0,0,0,0,0,0
$GC,3236,-1.11,-116.8,297.5,-9.8,237,3238,0.12,0.00,0.00,0.000,6,0.094,0.000,2812,1556,3114,0,0,0,0,0,0
$GC,3559,-1.11,-116.8,324.8,-8.4,246,3563,0.00,2.28,0.00,0.000,4,0.000,0.051,2811,235,3112,0,0,0,0,0,0
$GC,3602,-1.11,-116.8,328.6,-8.5,247,3606,0.00,2.10,0.00,0.000,6,0.000,0.023,2811,1550,3112,0,0,0,0,0,0
$GC,3931,-1.11,-116.8,351.6,-6.9,255,3932,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1554,3109,0,0,0,0,0,0
$GC,4256,-1.11,-116.8,372.9,-6.5,263,4260,0.00,2.25,0.00,0.000,4,0.000,0.028,2812,2925,3107,0,0,0,0,0,0
$GC,4279,-1.18,-116.8,374.6,-6.6,263,4284,0.00,2.33,0.00,0.000,6,0.000,0.038,2811,1552,3107,0,0,0,0,0,0
$GC,4625,-1.18,-116.8,398.2,-7.3,272,4629,0.00,2.28,0.00,0.000,4,0.000,0.054,2811,235,3104,0,0,0,0,0,0
$GC,4654,-1.18,-116.8,400.6,-8.8,272,4658,0.00,2.10,0.00,0.000,6,0.000,0.025,2811,1551,3104,0,0,0,0,0,0
$GC,4990,-1.21,-116.8,428.7,-8.5,281,4992,0.12,0.00,0.00,0.000,6,0.065,0.000,2771,1556,3102,0,0,0,0,0,0
$STATE,5232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5232,begin apogee
$GC,5239,-0.31,0.0,451.2,9.0,287,5339,0.98,0.00,96.78,0.836,6,0.067,0.000,2981,1556,2630,0,0,0,0,0,0
$STATE,5340,end apogee,CONTROL_FINISHED_OK
$STATE,5340,begin climb
$GC,5343,1.18,116.8,453.5,0.0,289,5455,1.42,2.38,101.82,0.817,4,0.036,0.031,3313,2936,2152,0,0,0,0,0,0
$GC,5519,1.00,123.5,450.5,7.6,293,5532,0.22,2.42,6.93,0.640,6,0.094,0.041,3269,1548,2126,0,0,0,0,0,0
$GC,5853,0.92,152.3,427.5,6.6,301,5880,0.00,0.00,25.95,0.783,6,0.000,0.000,3268,1548,2009,0,0,0,0,0,0
$GC,6177,0.83,162.7,403.9,7.4,309,6194,0.17,2.40,9.90,0.704,4,0.101,0.030,3233,2922,1966,0,0,0,0,0,0
$GC,6257,0.88,200.2,398.8,6.2,310,6297,0.00,2.40,34.88,0.788,6,0.000,0.042,3233,1546,1813,0,0,0,0,0,0
$GC,6641,0.91,226.2,372.7,6.7,320,6670,0.00,2.40,23.45,0.765,4,0.000,0.060,3233,234,1707,0,0,0,0,0,0
$GC,6704,0.84,226.2,367.4,9.2,321,6708,0.00,2.15,0.00,0.000,6,0.000,0.028,3233,1545,1703,0,0,0,0,0,0
$GC,7050,0.84,226.2,338.3,9.3,330,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1550,1700,0,0,0,0,0,0
$GC,7373,0.84,226.2,309.2,8.4,338,7377,0.00,2.35,0.00,0.000,4,0.000,0.058,3233,233,1699,0,0,0,0,0,0
$GC,7477,0.80,226.2,299.9,8.6,340,7481,0.00,2.17,0.00,0.000,6,0.000,0.028,3233,1552,1696,0,0,0,0,0,0
$GC,7797,0.87,253.8,279.1,6.7,355,7826,0.00,2.42,23.95,0.721,4,0.000,0.058,3233,233,1595,0,0,0,0,0,0
$GC,7909,0.87,253.8,269.3,9.8,360,7913,0.00,2.17,0.00,0.000,6,0.000,0.028,3233,1559,1590,0,0,0,0,0,0
$GC,8235,0.95,276.1,244.6,6.9,376,8262,0.10,2.45,20.10,0.686,4,0.078,0.057,3262,236,1503,0,0,0,0,0,0
$GC,8329,0.88,276.1,236.4,9.2,380,8334,0.12,2.15,0.00,0.000,6,0.104,0.028,3240,1556,1499,0,0,0,0,0,0
$GC,8661,0.95,289.1,215.1,7.3,396,8678,0.00,2.40,12.10,0.627,4,0.000,0.054,3239,226,1450,0,0,0,0,0,0
$GC,8745,0.95,289.1,207.1,11.0,398,8752,0.00,2.20,0.00,0.000,6,0.000,0.026,3239,1559,1447,0,0,0,0,0,0
$GC,9075,1.05,310.9,182.6,6.9,422,9104,0.17,2.42,20.15,0.630,4,0.054,0.054,3289,234,1361,0,0,0,0,0,0
$GC,9215,0.95,310.9,165.9,12.4,432,9220,0.15,2.12,0.00,0.000,6,0.095,0.025,3259,1553,1357,0,0,0,0,0,0
$GC,9484,1.03,328.4,145.9,7.1,453,9505,0.00,2.40,15.70,0.581,4,0.000,0.052,3259,228,1291,0,0,0,0,0,0
$GC,9553,1.03,328.4,139.5,9.5,458,9557,0.00,2.15,0.00,0.000,6,0.000,0.023,3259,1564,1288,0,0,0,0,0,0
$GC,9821,1.13,328.4,115.2,9.9,479,9826,0.15,0.00,0.00,0.000,6,0.058,0.000,3306,1569,1287,0,0,0,0,0,0
$GC,10080,1.14,333.9,89.7,7.6,500,10095,0.00,2.40,6.12,0.447,4,0.000,0.049,3306,231,1267,0,0,0,0,0,0
$GC,10126,1.07,333.9,85.9,9.2,503,10131,0.10,2.12,0.00,0.000,6,0.104,0.022,3285,1563,1266,0,0,0,0,0,0
$GC,10400,1.14,333.9,66.2,8.0,524,10405,0.00,2.33,0.00,0.000,4,0.000,0.048,3285,231,1265,0,0,0,0,0,0
$GC,10459,1.18,333.9,60.1,9.7,528,10466,0.00,2.12,0.00,0.000,6,0.000,0.021,3284,1564,1265,0,0,0,0,0,0
$GC,10721,1.26,333.9,40.0,8.1,549,10722,0.17,0.00,0.00,0.000,6,0.049,0.000,3341,1564,1264,0,0,0,0,0,0
$GC,10975,1.20,333.9,15.9,9.0,591,10982,0.15,2.35,0.00,0.000,4,0.090,0.045,3310,227,1265,0,0,0,0,0,0
$GC,11013,1.16,333.9,12.2,9.5,598,11019,0.00,2.10,0.00,0.000,6,0.000,0.019,3310,1549,1264,0,0,0,0,0,0
$STATE,11104,end climb,SURFACE_DEPTH_REACHED
$STATE,11104,begin surface coast
$FINISH,0.9,1.022134
$STATE,11138,end surface coast,CONTROL_FINISHED_OK
$STATE,11138,begin surface
$SM_CCo,11161,43.78,0.472,0,0,957,410.14
$SM_GC,1.49,0.00,0.00,43.78,0.000,0.000,0.472,427,1551,957,-12.07,0.03,410.14
$IRIDIUM_FIX,2059.45,-15743.60,050100,141442
$TT8_MAMPS,0.029146
$HUMID,59.45
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.3,60.706
$10V_AH,10.1,49.503
$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,30.525,112.175,397.825,43.775,0.000,29.282,36.204,182.719,4.750,0.000,14.827,1215.947,7514.728,476.596,1818.021,561.005,0.000,1300.868,0.000,1795.719,0.000,29.256,0.000
$DEVICE_MAMPS,131.157,59.826,836.030,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.666,399.708,897.820,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34929,626
$CAP_FILE_SIZE,121220,0
$CFSIZE,260165632,177709056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111010,205425,2106.573,-15746.519,40,2.0,40,9.8