version: 66.06
glider: 139
mission: 8
dive: 698
start: 10 17 110 16 25 58
data:
$ID,139
$MISSION,8
$DIVE,698
$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,-2165850.8
$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
$GPS1,161930,2110.963,-15803.547,46,1.2,46,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.6
$GPS2,162538,2110.972,-15803.616,14,1.2,14,9.8
$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,95.2,37017,-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,-64.57,0.000,2,0.000,0.000,427,1495,2779,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.7,-4.2,12,110,12.70,2.17,-6.03,0.000,4,0.133,0.056,2786,237,3108,0,0,0,0,0,0
$GC,128,-0.11,-116.8,16.6,-29.1,19,135,1.08,2.17,0.00,0.000,6,0.075,0.019,3022,1581,3110,0,0,0,0,0,0
$GC,338,-0.67,-116.8,32.2,-8.4,63,343,0.50,2.25,0.00,0.000,4,0.042,0.021,2900,2962,3112,0,0,0,0,0,0
$GC,393,-0.91,-116.8,36.5,-6.8,67,398,0.20,2.42,0.00,0.000,6,0.044,0.028,2836,1527,3111,0,0,0,0,0,0
$GC,662,-0.84,-116.8,62.8,-10.3,88,666,0.15,2.22,0.00,0.000,4,0.086,0.045,2868,234,3112,0,0,0,0,0,0
$GC,709,-0.88,-116.8,67.8,-9.7,91,713,0.00,2.12,0.00,0.000,6,0.000,0.018,2868,1594,3112,0,0,0,0,0,0
$GC,969,-0.88,-116.8,87.6,-8.1,111,973,0.00,2.22,0.00,0.000,4,0.000,0.021,2868,2955,3113,0,0,0,0,0,0
$GC,996,-0.99,-116.8,89.7,-8.4,113,1001,0.15,2.40,0.00,0.000,6,0.053,0.031,2813,1524,3113,0,0,0,0,0,0
$GC,1262,-0.94,-116.8,116.2,-10.1,134,1267,0.15,2.20,0.00,0.000,4,0.087,0.045,2845,235,3114,0,0,0,0,0,0
$GC,1291,-0.94,-116.8,119.4,-10.3,136,1295,0.00,2.12,0.00,0.000,6,0.000,0.018,2846,1596,3113,0,0,0,0,0,0
$GC,1553,-0.98,-116.8,141.3,-8.4,156,1557,0.00,2.35,0.00,0.000,4,0.000,0.044,2845,233,3114,0,0,0,0,0,0
$GC,1605,-1.03,-116.8,145.9,-8.6,160,1608,0.00,2.10,0.00,0.000,6,0.000,0.018,2845,1597,3114,0,0,0,0,0,0
$GC,1873,-1.09,-116.8,166.3,-6.9,181,1877,0.15,2.35,0.00,0.000,4,0.054,0.046,2794,235,3114,0,0,0,0,0,0
$GC,1962,-1.01,-116.8,174.5,-8.8,187,1968,0.17,2.12,0.00,0.000,6,0.084,0.019,2831,1590,3115,0,0,0,0,0,0
$GC,2224,-1.05,-116.8,195.1,-8.6,208,2228,0.00,2.33,0.00,0.000,4,0.000,0.045,2832,231,3115,0,0,0,0,0,0
$GC,2264,-1.08,-116.8,199.1,-10.0,211,2268,0.00,2.12,0.00,0.000,6,0.000,0.020,2832,1592,3115,0,0,0,0,0,0
$GC,2528,-1.13,-116.8,222.0,-8.2,224,2533,0.12,2.35,0.00,0.000,4,0.063,0.047,2787,231,3115,0,0,0,0,0,0
$GC,2557,-1.03,-116.8,224.8,-9.2,225,2562,0.17,2.12,0.00,0.000,6,0.084,0.020,2825,1582,3114,0,0,0,0,0,0
$GC,2883,-1.06,-116.8,250.0,-7.7,241,2887,0.00,2.33,0.00,0.000,4,0.000,0.047,2825,238,3114,0,0,0,0,0,0
$GC,2928,-1.10,-116.8,254.1,-8.5,243,2931,0.00,2.10,0.00,0.000,6,0.000,0.021,2825,1582,3114,0,0,0,0,0,0
$GC,3262,-1.14,-116.8,281.7,-8.5,259,3267,0.12,2.35,0.00,0.000,4,0.063,0.049,2782,238,3114,0,0,0,0,0,0
$GC,3282,-1.10,-116.8,284.0,-8.7,259,3288,0.12,2.10,0.00,0.000,6,0.094,0.021,2808,1581,3114,0,0,0,0,0,0
$GC,3595,-1.10,-116.8,310.2,-8.2,272,3599,0.00,2.33,0.00,0.000,4,0.000,0.049,2808,239,3113,0,0,0,0,0,0
$GC,3671,-1.10,-116.8,316.9,-8.7,273,3675,0.00,2.10,0.00,0.000,6,0.000,0.021,2808,1576,3113,0,0,0,0,0,0
$GC,4012,-1.14,-116.8,340.9,-6.5,282,4016,0.00,2.33,0.00,0.000,4,0.000,0.051,2808,232,3111,0,0,0,0,0,0
$GC,4070,-1.18,-116.8,345.3,-7.4,283,4074,0.00,2.10,0.00,0.000,6,0.000,0.022,2808,1553,3111,0,0,0,0,0,0
$GC,4388,-1.21,-116.8,369.6,-7.9,291,4392,0.00,2.22,0.00,0.000,4,0.000,0.026,2808,2907,3108,0,0,0,0,0,0
$GC,4431,-1.32,-116.8,373.1,-7.9,292,4437,0.20,2.35,0.00,0.000,6,0.046,0.038,2747,1534,3108,0,0,0,0,0,0
$GC,4763,-1.22,-116.8,408.6,-11.2,300,4765,0.17,0.00,0.00,0.000,6,0.089,0.000,2783,1534,3106,0,0,0,0,0,0
$GC,5085,-1.22,-116.8,443.3,-10.6,308,5090,0.00,2.28,0.00,0.000,4,0.000,0.028,2784,2908,3104,0,0,0,0,0,0
$GC,5149,-1.28,-116.8,449.0,-9.2,309,5153,0.00,2.38,0.00,0.000,6,0.000,0.040,2783,1532,3103,0,0,0,0,0,0
$STATE,5161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5161,begin apogee
$GC,5167,-0.31,0.0,450.3,8.1,309,5268,0.90,0.00,96.68,0.825,6,0.068,0.000,2980,1486,2630,0,0,0,0,0,0
$STATE,5268,end apogee,CONTROL_FINISHED_OK
$STATE,5268,begin climb
$GC,5271,1.18,116.8,453.4,0.0,312,5380,1.42,0.00,101.15,0.810,6,0.036,0.000,3311,1486,2153,0,0,0,0,0,0
$GC,5680,0.98,133.8,431.9,7.1,322,5700,0.22,2.42,14.57,0.740,4,0.095,0.029,3266,2871,2083,0,0,0,0,0,0
$GC,5851,0.94,158.8,421.6,6.8,325,5880,0.00,2.38,23.30,0.772,6,0.000,0.042,3265,1512,1982,0,0,0,0,0,0
$GC,6198,0.88,186.9,397.9,6.6,334,6231,0.12,2.33,25.17,0.772,4,0.108,0.057,3241,232,1867,0,0,0,0,0,0
$GC,6252,0.78,186.9,393.6,8.2,335,6257,0.12,2.08,0.00,0.000,6,0.111,0.027,3219,1500,1864,0,0,0,0,0,0
$GC,6573,0.81,216.1,372.3,6.6,343,6605,0.00,2.40,26.23,0.765,4,0.000,0.030,3218,2880,1749,0,0,0,0,0,0
$GC,6620,0.93,265.8,369.2,5.7,344,6673,0.15,2.42,44.85,0.769,6,0.059,0.043,3261,1496,1545,0,0,0,0,0,0
$GC,6988,0.88,265.8,336.1,9.1,353,6992,0.00,2.25,0.00,0.000,4,0.000,0.060,3261,235,1539,0,0,0,0,0,0
$GC,7030,0.77,265.8,331.9,9.7,353,7036,0.20,2.08,0.00,0.000,6,0.095,0.028,3222,1508,1536,0,0,0,0,0,0
$GC,7362,0.86,297.9,310.0,6.4,362,7394,0.00,2.35,27.52,0.735,4,0.000,0.059,3222,231,1414,0,0,0,0,0,0
$GC,7467,0.86,297.9,300.7,8.8,364,7470,0.00,2.08,0.00,0.000,6,0.000,0.028,3221,1500,1410,0,0,0,0,0,0
$GC,7802,0.97,322.7,277.5,6.8,380,7832,0.17,2.30,22.20,0.704,4,0.057,0.057,3270,235,1312,0,0,0,0,0,0
$GC,7944,0.89,322.7,261.0,12.2,386,7949,0.12,2.08,0.00,0.000,6,0.102,0.027,3245,1500,1308,0,0,0,0,0,0
$GC,8273,0.95,322.7,229.2,9.8,402,8277,0.00,2.22,0.00,0.000,4,0.000,0.056,3246,234,1307,0,0,0,0,0,0
$GC,8324,0.95,322.7,223.5,11.3,404,8328,0.00,2.05,0.00,0.000,6,0.000,0.026,3245,1505,1304,0,0,0,0,0,0
$GC,8652,1.00,322.7,197.0,7.9,421,8656,0.10,2.25,0.00,0.000,4,0.076,0.054,3277,232,1305,0,0,0,0,0,0
$GC,8685,0.92,322.7,193.2,11.3,423,8691,0.12,2.05,0.00,0.000,6,0.100,0.025,3251,1505,1304,0,0,0,0,0,0
$GC,8948,1.01,353.0,173.6,6.5,444,8980,0.00,0.00,26.02,0.626,6,0.000,0.000,3252,1505,1190,0,0,0,0,0,0
$GC,9236,1.08,361.9,152.2,7.5,467,9251,0.15,2.25,8.90,0.537,4,0.059,0.051,3297,232,1153,0,0,0,0,0,0
$GC,9327,1.00,361.9,141.5,12.9,473,9331,0.15,2.05,0.00,0.000,6,0.092,0.023,3266,1504,1150,0,0,0,0,0,0
$GC,9593,1.06,375.1,119.9,7.3,494,9607,0.00,0.00,12.48,0.539,6,0.000,0.000,3267,1509,1099,0,0,0,0,0,0
$GC,9860,1.15,397.6,102.3,6.9,515,9888,0.15,2.30,20.05,0.547,4,0.058,0.050,3312,236,1008,0,0,0,0,0,0
$GC,9920,1.02,397.6,95.9,13.3,519,9924,0.20,2.05,0.00,0.000,6,0.087,0.022,3272,1498,1006,0,0,0,0,0,0
$GC,10193,1.11,397.6,72.6,9.3,540,10197,0.00,2.22,0.00,0.000,4,0.000,0.049,3272,226,1006,0,0,0,0,0,0
$GC,10233,1.18,397.6,67.9,12.3,543,10238,0.15,2.03,0.00,0.000,6,0.055,0.021,3321,1514,1005,0,0,0,0,0,0
$GC,10503,1.18,397.6,38.5,9.0,564,10507,0.00,2.22,0.00,0.000,4,0.000,0.049,3322,231,1005,0,0,0,0,0,0
$GC,10582,1.18,397.6,29.5,10.7,570,10589,0.00,2.03,0.00,0.000,6,0.000,0.021,3322,1509,1004,0,0,0,0,0,0
$GC,10786,1.18,397.6,10.1,10.0,616,10792,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,1509,1004,0,0,0,0,0,0
$STATE,10860,end climb,SURFACE_DEPTH_REACHED
$STATE,10860,begin surface coast
$FINISH,1.0,1.009736
$STATE,10893,end surface coast,CONTROL_FINISHED_OK
$STATE,10893,begin surface
$SM_CCo,10917,10.95,0.436,0,0,957,410.14
$SM_GC,1.81,0.00,0.00,10.95,0.000,0.000,0.436,429,1508,957,-12.06,-0.62,410.14
$IRIDIUM_FIX,2104.07,-15805.48,110100,131322
$TT8_MAMPS,0.028379
$HUMID,62.71
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.3,65.610
$10V_AH,10.0,53.197
$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,33.100,120.050,449.125,10.950,0.000,25.197,33.157,173.147,4.500,0.000,14.530,1262.280,7027.005,484.916,1944.278,573.302,0.000,1365.426,0.000,1930.797,0.000,29.247,0.000
$DEVICE_MAMPS,133.458,153.400,824.525,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.848,413.047,942.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,34870,640
$CAP_FILE_SIZE,128318,0
$CFSIZE,260165632,175083520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171010,192924,2110.939,-15803.313,35,1.6,39,9.8