version: 66.06
glider: 139
mission: 8
dive: 671
start: 10 14 110 1 16 35
data:
$ID,139
$MISSION,8
$DIVE,671
$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,-2165333.8
$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,1530
$C_ROLL_CLIMB,1500
$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
$GPS1,010500,2103.275,-15747.062,41,1.5,47,9.8
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-73.4
$GPS2,011615,2103.275,-15747.116,13,1.2,13,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,195.8,10999,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,78,0.00,0.00,-58.92,0.000,2,0.000,0.000,430,1531,2589,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.0,-2.8,11,111,12.62,2.25,-10.48,0.000,4,0.132,0.058,2784,237,3109,0,0,0,0,0,0
$GC,250,-0.90,-116.8,35.6,-17.3,43,255,0.32,2.12,0.00,0.000,6,0.087,0.018,2850,1597,3111,0,0,0,0,0,0
$GC,518,-0.87,-116.8,63.2,-9.6,64,522,0.00,2.35,0.00,0.000,4,0.000,0.045,2850,233,3111,0,0,0,0,0,0
$GC,578,-0.82,-116.8,70.3,-11.5,68,582,0.10,2.10,0.00,0.000,6,0.107,0.019,2871,1598,3111,0,0,0,0,0,0
$GC,840,-0.89,-116.8,91.9,-8.5,88,844,0.00,2.35,0.00,0.000,4,0.000,0.044,2871,233,3113,0,0,0,0,0,0
$GC,905,-0.99,-116.8,97.6,-8.7,92,912,0.12,2.12,0.00,0.000,6,0.028,0.018,2818,1590,3113,0,0,0,0,0,0
$GC,1169,-0.99,-116.8,120.1,-8.2,113,1173,0.00,2.22,0.00,0.000,4,0.000,0.021,2819,2956,3113,0,0,0,0,0,0
$GC,1183,-0.99,-116.8,121.9,-8.6,114,1187,0.00,2.42,0.00,0.000,6,0.000,0.031,2818,1521,3113,0,0,0,0,0,0
$GC,1451,-0.99,-116.8,143.9,-7.7,135,1455,0.00,2.17,0.00,0.000,4,0.000,0.044,2818,237,3113,0,0,0,0,0,0
$GC,1471,-0.94,-116.8,145.8,-7.6,136,1478,0.10,2.15,0.00,0.000,6,0.067,0.019,2845,1594,3113,0,0,0,0,0,0
$GC,1734,-0.99,-116.8,162.8,-6.9,157,1738,0.00,2.33,0.00,0.000,4,0.000,0.045,2845,236,3114,0,0,0,0,0,0
$GC,1789,-1.04,-116.8,167.5,-8.5,161,1793,0.00,2.12,0.00,0.000,6,0.000,0.019,2845,1596,3113,0,0,0,0,0,0
$GC,2058,-1.09,-116.8,189.4,-8.3,182,2063,0.15,2.35,0.00,0.000,4,0.054,0.046,2794,235,3113,0,0,0,0,0,0
$GC,2102,-1.02,-116.8,194.1,-10.7,185,2107,0.15,2.12,0.00,0.000,6,0.086,0.020,2827,1584,3113,0,0,0,0,0,0
$GC,2359,-1.02,-116.8,213.6,-6.7,199,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1587,3113,0,0,0,0,0,0
$GC,2666,-1.02,-116.8,236.1,-8.0,214,2670,0.00,2.33,0.00,0.000,4,0.000,0.047,2827,230,3113,0,0,0,0,0,0
$GC,2711,-1.06,-116.8,239.9,-8.8,216,2718,0.00,2.15,0.00,0.000,6,0.000,0.021,2827,1592,3112,0,0,0,0,0,0
$GC,3050,-1.10,-116.8,266.6,-8.6,232,3054,0.00,2.35,0.00,0.000,4,0.000,0.048,2827,234,3112,0,0,0,0,0,0
$GC,3141,-1.14,-116.8,275.2,-9.7,236,3145,0.12,2.15,0.00,0.000,6,0.062,0.021,2783,1588,3111,0,0,0,0,0,0
$GC,3471,-1.09,-116.8,308.5,-10.2,250,3476,0.12,2.25,0.00,0.000,4,0.094,0.026,2810,2947,3110,0,0,0,0,0,0
$GC,3492,-1.09,-116.8,310.7,-9.5,250,3496,0.00,2.40,0.00,0.000,6,0.000,0.035,2809,1528,3110,0,0,0,0,0,0
$GC,3837,-1.12,-116.8,336.6,-7.1,259,3841,0.00,2.22,0.00,0.000,4,0.000,0.051,2809,230,3108,0,0,0,0,0,0
$GC,3866,-1.12,-116.8,338.7,-7.0,259,3870,0.00,2.15,0.00,0.000,6,0.000,0.022,2809,1580,3108,0,0,0,0,0,0
$GC,4207,-1.16,-116.8,364.5,-8.2,268,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1584,3106,0,0,0,0,0,0
$GC,4531,-1.20,-116.8,385.5,-6.5,276,4536,0.00,2.35,0.00,0.000,4,0.000,0.054,2810,231,3104,0,0,0,0,0,0
$GC,4574,-1.20,-116.8,388.9,-8.7,277,4578,0.00,2.05,0.00,0.000,6,0.000,0.025,2809,1529,3104,0,0,0,0,0,0
$GC,4902,-1.20,-116.8,415.4,-8.1,285,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1531,3102,0,0,0,0,0,0
$GC,5228,-1.23,-116.8,440.9,-7.8,293,5232,0.12,2.30,0.00,0.000,4,0.066,0.029,2770,2901,3099,0,0,0,0,0,0
$GC,5291,-1.23,-116.8,446.7,-9.7,294,5296,0.00,2.35,0.00,0.000,6,0.000,0.041,2770,1531,3099,0,0,0,0,0,0
$STATE,5354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5354,begin apogee
$GC,5361,-0.31,0.0,453.7,10.7,296,5461,0.98,0.00,96.22,0.837,6,0.068,0.000,2979,1485,2630,0,0,0,0,0,0
$STATE,5462,end apogee,CONTROL_FINISHED_OK
$STATE,5462,begin climb
$GC,5464,1.18,116.8,457.4,0.0,298,5574,1.42,0.00,101.82,0.821,6,0.036,0.000,3310,1485,2153,0,0,0,0,0,0
$GC,5873,0.97,119.0,438.3,7.8,308,5878,0.25,2.38,0.00,0.000,4,0.095,0.028,3256,2873,2142,0,0,0,0,0,0
$GC,5936,0.96,163.4,434.3,5.9,309,5984,0.00,2.40,40.65,0.801,6,0.000,0.041,3256,1505,1963,0,0,0,0,0,0
$GC,6330,0.92,190.5,406.6,6.7,319,6359,0.00,2.35,24.12,0.777,4,0.000,0.029,3257,2872,1853,0,0,0,0,0,0
$GC,6404,0.93,200.1,401.4,7.5,320,6421,0.00,2.42,10.18,0.702,6,0.000,0.044,3256,1503,1813,0,0,0,0,0,0
$GC,6751,0.86,200.1,370.6,9.4,329,6755,0.00,2.28,0.00,0.000,4,0.000,0.059,3256,228,1808,0,0,0,0,0,0
$GC,6827,0.74,200.1,363.6,8.8,330,6831,0.22,2.08,0.00,0.000,6,0.096,0.028,3212,1490,1805,0,0,0,0,0,0
$GC,7168,0.81,213.3,342.4,7.3,339,7185,0.00,2.38,11.65,0.707,4,0.000,0.030,3212,2889,1760,0,0,0,0,0,0
$GC,7206,0.93,233.8,339.7,7.0,339,7232,0.17,2.45,19.83,0.740,6,0.056,0.044,3261,1499,1677,0,0,0,0,0,0
$GC,7579,0.90,233.8,308.6,7.9,349,7583,0.00,2.25,0.00,0.000,4,0.000,0.058,3261,228,1672,0,0,0,0,0,0
$GC,7641,0.81,233.8,303.0,8.9,350,7646,0.17,2.08,0.00,0.000,6,0.100,0.028,3227,1502,1669,0,0,0,0,0,0
$GC,7961,0.92,276.5,282.1,6.0,364,8005,0.10,2.30,37.72,0.729,4,0.077,0.054,3257,228,1500,0,0,0,0,0,0
$GC,8029,0.84,276.5,276.8,8.9,366,8037,0.08,2.12,0.00,0.000,6,0.089,0.027,3239,1503,1497,0,0,0,0,0,0
$GC,8345,0.88,276.5,249.3,8.2,382,8349,0.00,2.25,0.00,0.000,4,0.000,0.056,3239,229,1494,0,0,0,0,0,0
$GC,8405,0.88,276.5,243.8,8.3,384,8409,0.00,2.08,0.00,0.000,6,0.000,0.026,3239,1502,1492,0,0,0,0,0,0
$GC,8722,0.99,317.4,222.5,6.1,399,8765,0.12,0.00,35.08,0.676,6,0.067,0.000,3277,1506,1335,0,0,0,0,0,0
$GC,9075,0.99,317.4,193.1,8.8,418,9079,0.00,2.28,0.00,0.000,4,0.000,0.054,3277,225,1331,0,0,0,0,0,0
$GC,9130,0.92,317.4,187.2,10.8,422,9135,0.12,2.08,0.00,0.000,6,0.101,0.025,3252,1504,1328,0,0,0,0,0,0
$GC,9393,0.98,317.4,164.7,8.9,442,9397,0.00,2.22,0.00,0.000,4,0.000,0.052,3252,231,1328,0,0,0,0,0,0
$GC,9425,0.98,317.4,161.1,10.2,444,9432,0.00,2.08,0.00,0.000,6,0.000,0.024,3252,1506,1327,0,0,0,0,0,0
$GC,9688,1.07,344.6,140.0,6.7,465,9718,0.12,2.33,23.45,0.592,4,0.066,0.051,3292,231,1224,0,0,0,0,0,0
$GC,9783,1.01,344.6,130.2,11.0,471,9789,0.12,2.05,0.00,0.000,6,0.099,0.023,3267,1507,1220,0,0,0,0,0,0
$GC,10046,1.11,356.7,109.3,7.3,492,10064,0.10,2.30,11.45,0.525,4,0.074,0.050,3303,232,1174,0,0,0,0,0,0
$GC,10136,1.05,356.7,100.5,10.8,498,10140,0.12,2.03,0.00,0.000,6,0.094,0.021,3277,1501,1171,0,0,0,0,0,0
$GC,10399,1.15,363.5,81.0,7.6,518,10415,0.10,2.28,6.70,0.449,4,0.073,0.050,3313,233,1147,0,0,0,0,0,0
$GC,10468,1.10,363.5,73.6,11.1,522,10475,0.10,2.03,0.00,0.000,6,0.070,0.021,3288,1498,1146,0,0,0,0,0,0
$GC,10733,1.18,368.3,54.3,7.7,543,10748,0.00,2.28,5.80,0.410,4,0.000,0.048,3287,226,1127,0,0,0,0,0,0
$GC,10837,1.24,368.3,45.6,8.3,550,10841,0.15,2.03,0.00,0.000,6,0.055,0.021,3339,1517,1125,0,0,0,0,0,0
$GC,11100,1.21,368.3,20.1,9.6,584,11107,0.12,2.28,0.00,0.000,4,0.092,0.048,3312,232,1125,0,0,0,0,0,0
$GC,11160,1.16,368.3,14.0,10.8,596,11167,0.00,2.00,0.00,0.000,6,0.000,0.019,3312,1506,1125,0,0,0,0,0,0
$STATE,11271,end climb,SURFACE_DEPTH_REACHED
$STATE,11271,begin surface coast
$FINISH,0.9,1.023027
$STATE,11298,end surface coast,CONTROL_FINISHED_OK
$STATE,11298,begin surface
$SM_CCo,11320,25.62,0.464,0,0,957,410.14
$SM_GC,1.75,0.00,0.00,25.62,0.000,0.000,0.464,426,1506,957,-12.07,-0.68,410.14
$IRIDIUM_FIX,2054.83,-15749.62,080100,010156
$TT8_MAMPS,0.028379
$HUMID,59.64
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.3,62.649
$10V_AH,10.0,50.950
$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,30.950,120.325,424.675,25.625,0.000,58.169,66.748,351.826,4.750,0.000,13.732,1240.031,7611.548,482.640,1869.026,816.585,0.000,1346.093,0.000,1848.283,0.000,29.266,0.000
$DEVICE_MAMPS,131.924,153.400,836.797,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.960,397.016,884.836,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34806,627
$CAP_FILE_SIZE,131769,0
$CFSIZE,260165632,176676864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141010,042737,2101.823,-15748.546,76,1.2,76,9.8