version: 66.06
glider: 139
mission: 8
dive: 699
start: 10 17 110 19 35 40
data:
$ID,139
$MISSION,8
$DIVE,699
$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,-2165868.5
$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,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
$GPS1,192924,2110.939,-15803.313,35,1.6,39,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.6
$GPS2,193520,2110.993,-15803.355,16,1.7,16,9.8
$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,95.4,36592,-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,-116.8,0.0,0.0,0,81,0.00,0.00,-64.18,0.000,2,0.000,0.000,429,1509,2764,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.8,-4.1,12,110,12.62,2.20,-6.38,0.000,4,0.132,0.057,2784,237,3108,0,0,0,0,0,0
$GC,131,-0.27,-116.8,17.3,-28.3,20,139,0.95,2.17,0.00,0.000,6,0.079,0.020,2985,1587,3110,0,0,0,0,0,0
$GC,334,-0.56,-116.8,33.7,-7.2,58,339,0.25,2.33,0.00,0.000,4,0.044,0.042,2912,231,3112,0,0,0,0,0,0
$GC,368,-0.74,-116.8,37.0,-9.3,60,376,0.08,2.15,0.00,0.000,6,0.035,0.020,2872,1587,3112,0,0,0,0,0,0
$GC,628,-0.77,-116.8,63.6,-9.7,81,632,0.00,2.30,0.00,0.000,4,0.000,0.044,2872,237,3112,0,0,0,0,0,0
$GC,696,-0.84,-116.8,70.1,-9.8,86,700,0.00,2.10,0.00,0.000,6,0.000,0.018,2872,1594,3112,0,0,0,0,0,0
$GC,960,-0.92,-116.8,95.4,-9.7,107,965,0.10,2.35,0.00,0.000,4,0.071,0.045,2832,233,3113,0,0,0,0,0,0
$GC,987,-0.92,-116.8,98.4,-11.4,109,991,0.00,2.10,0.00,0.000,6,0.000,0.018,2832,1590,3113,0,0,0,0,0,0
$GC,1253,-0.92,-116.8,126.0,-9.3,130,1257,0.00,2.20,0.00,0.000,4,0.000,0.022,2832,2957,3113,0,0,0,0,0,0
$GC,1300,-1.02,-116.8,129.9,-7.3,133,1306,0.00,2.38,0.00,0.000,6,0.000,0.031,2832,1531,3113,0,0,0,0,0,0
$GC,1560,-1.02,-116.8,149.5,-7.8,154,1564,0.00,2.20,0.00,0.000,4,0.000,0.045,2832,232,3114,0,0,0,0,0,0
$GC,1628,-1.02,-116.8,155.4,-8.6,159,1632,0.00,2.10,0.00,0.000,6,0.000,0.018,2832,1589,3114,0,0,0,0,0,0
$GC,1891,-1.02,-116.8,176.4,-7.7,179,1896,0.00,2.33,0.00,0.000,4,0.000,0.045,2832,231,3114,0,0,0,0,0,0
$GC,1945,-1.02,-116.8,180.8,-7.6,183,1949,0.00,2.12,0.00,0.000,6,0.000,0.019,2832,1599,3114,0,0,0,0,0,0
$GC,2209,-1.02,-116.8,198.2,-5.7,204,2213,0.00,2.33,0.00,0.000,4,0.000,0.046,2832,238,3114,0,0,0,0,0,0
$GC,2255,-1.02,-116.8,201.1,-6.6,208,2259,0.00,2.10,0.00,0.000,6,0.000,0.019,2832,1590,3114,0,0,0,0,0,0
$GC,2586,-1.06,-116.8,221.4,-6.3,224,2590,0.00,2.33,0.00,0.000,4,0.000,0.047,2832,234,3114,0,0,0,0,0,0
$GC,2637,-1.11,-116.8,226.1,-8.7,226,2642,0.12,2.10,0.00,0.000,6,0.062,0.019,2789,1582,3114,0,0,0,0,0,0
$GC,2960,-1.07,-116.8,258.8,-9.7,242,2964,0.12,2.25,0.00,0.000,4,0.093,0.024,2816,2948,3114,0,0,0,0,0,0
$GC,2990,-1.18,-116.8,261.4,-7.4,243,2994,0.00,2.40,0.00,0.000,6,0.000,0.034,2815,1527,3114,0,0,0,0,0,0
$GC,3312,-1.21,-116.8,282.3,-5.7,259,3316,0.12,2.25,0.00,0.000,4,0.064,0.049,2773,231,3113,0,0,0,0,0,0
$GC,3401,-1.13,-116.8,290.0,-7.9,262,3409,0.10,2.15,0.00,0.000,6,0.069,0.021,2799,1575,3113,0,0,0,0,0,0
$GC,3715,-1.13,-116.8,311.3,-7.0,274,3719,0.00,2.30,0.00,0.000,4,0.000,0.049,2799,237,3112,0,0,0,0,0,0
$GC,3744,-1.13,-116.8,313.5,-8.2,274,3747,0.00,2.05,0.00,0.000,6,0.000,0.022,2800,1533,3112,0,0,0,0,0,0
$GC,4086,-1.13,-116.8,340.2,-8.9,283,4090,0.00,2.22,0.00,0.000,4,0.000,0.050,2799,239,3110,0,0,0,0,0,0
$GC,4123,-1.13,-116.8,344.5,-11.4,283,4128,0.00,2.03,0.00,0.000,6,0.000,0.023,2800,1532,3110,0,0,0,0,0,0
$GC,4457,-1.13,-116.8,374.3,-8.3,292,4461,0.00,2.25,0.00,0.000,4,0.000,0.026,2800,2907,3108,0,0,0,0,0,0
$GC,4490,-1.22,-116.8,377.2,-7.8,292,4494,0.00,2.35,0.00,0.000,6,0.000,0.038,2799,1528,3108,0,0,0,0,0,0
$GC,4827,-1.22,-116.8,399.5,-6.3,301,4831,0.00,2.22,0.00,0.000,4,0.000,0.054,2799,235,3106,0,0,0,0,0,0
$GC,4880,-1.22,-116.8,403.7,-7.4,302,4884,0.00,2.05,0.00,0.000,6,0.000,0.024,2801,1529,3105,0,0,0,0,0,0
$GC,5197,-1.22,-116.8,429.0,-8.2,310,5201,0.00,2.28,0.00,0.000,4,0.000,0.028,2799,2904,3103,0,0,0,0,0,0
$GC,5242,-1.31,-116.8,432.6,-7.8,311,5247,0.15,2.38,0.00,0.000,6,0.056,0.040,2752,1525,3103,0,0,0,0,0,0
$STATE,5446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5446,begin apogee
$GC,5452,-0.31,0.0,453.9,10.5,316,5552,1.08,0.00,96.88,0.829,6,0.071,0.000,2982,1525,2630,0,0,0,0,0,0
$STATE,5553,end apogee,CONTROL_FINISHED_OK
$STATE,5553,begin climb
$GC,5556,1.18,116.8,457.3,0.0,318,5669,1.40,2.35,101.60,0.811,4,0.036,0.028,3310,2870,2153,0,0,0,0,0,0
$GC,5693,1.08,180.7,457.3,5.0,321,5758,0.12,2.40,56.30,0.796,6,0.105,0.038,3285,1499,1893,0,0,0,0,0,0
$GC,6097,0.94,180.7,420.7,9.9,331,6102,0.15,2.22,0.00,0.000,4,0.103,0.057,3256,231,1884,0,0,0,0,0,0
$GC,6122,0.79,180.7,418.1,11.2,331,6127,0.17,2.05,0.00,0.000,6,0.100,0.026,3222,1499,1881,0,0,0,0,0,0
$GC,6464,0.81,198.8,392.9,7.1,340,6484,0.00,2.35,15.18,0.736,4,0.000,0.028,3222,2884,1819,0,0,0,0,0,0
$GC,6500,0.87,208.7,389.9,7.4,340,6516,0.00,2.45,10.82,0.697,6,0.000,0.042,3222,1497,1778,0,0,0,0,0,0
$GC,6840,0.87,208.7,360.3,8.8,349,6844,0.00,2.25,0.00,0.000,4,0.000,0.058,3222,231,1773,0,0,0,0,0,0
$GC,6891,0.87,208.7,355.3,9.9,350,6895,0.00,2.08,0.00,0.000,6,0.000,0.027,3222,1497,1771,0,0,0,0,0,0
$GC,7214,0.91,245.8,333.4,6.2,358,7256,0.12,2.35,32.80,0.752,4,0.069,0.027,3259,2883,1627,0,0,0,0,0,0
$GC,7269,0.91,245.8,329.0,8.0,359,7273,0.00,2.42,0.00,0.000,6,0.000,0.043,3259,1501,1626,0,0,0,0,0,0
$GC,7587,0.88,245.8,302.1,8.7,367,7591,0.00,2.25,0.00,0.000,4,0.000,0.058,3259,233,1623,0,0,0,0,0,0
$GC,7678,0.79,245.8,293.5,9.6,370,7682,0.17,2.08,0.00,0.000,6,0.097,0.027,3225,1500,1619,0,0,0,0,0,0
$GC,8012,0.92,290.2,273.3,5.9,386,8056,0.10,2.38,38.78,0.716,4,0.077,0.057,3256,230,1445,0,0,0,0,0,0
$GC,8104,0.87,290.2,264.7,10.2,390,8109,0.00,2.08,0.00,0.000,6,0.000,0.027,3256,1504,1441,0,0,0,0,0,0
$GC,8434,0.88,297.6,237.3,7.6,406,8446,0.00,2.38,6.95,0.566,4,0.000,0.028,3256,2887,1416,0,0,0,0,0,0
$GC,8471,1.01,327.0,234.6,6.6,407,8503,0.00,2.45,26.85,0.672,6,0.000,0.041,3256,1490,1297,0,0,0,0,0,0
$GC,8811,1.01,327.0,207.1,9.1,424,8815,0.00,2.20,0.00,0.000,4,0.000,0.055,3256,235,1292,0,0,0,0,0,0
$GC,8895,1.01,327.0,197.6,12.1,428,8900,0.00,2.05,0.00,0.000,6,0.000,0.025,3256,1513,1290,0,0,0,0,0,0
$GC,9162,1.05,327.0,168.6,10.8,449,9164,0.10,0.00,0.00,0.000,6,0.075,0.000,3289,1514,1289,0,0,0,0,0,0
$GC,9413,1.02,327.0,139.4,11.7,469,9417,0.00,2.22,0.00,0.000,4,0.000,0.052,3289,235,1290,0,0,0,0,0,0
$GC,9478,0.96,327.0,131.2,13.2,474,9483,0.15,2.03,0.00,0.000,6,0.090,0.024,3258,1501,1287,0,0,0,0,0,0
$GC,9751,1.04,327.0,108.2,9.0,495,9755,0.00,2.25,0.00,0.000,4,0.000,0.024,3258,2882,1288,0,0,0,0,0,0
$GC,9770,1.14,327.0,106.1,8.4,496,9777,0.12,2.40,0.00,0.000,6,0.033,0.036,3306,1501,1287,0,0,0,0,0,0
$GC,10031,1.14,327.0,81.7,8.7,517,10035,0.00,2.17,0.00,0.000,4,0.000,0.050,3306,233,1288,0,0,0,0,0,0
$GC,10104,1.10,327.0,73.9,11.1,522,10111,0.00,2.05,0.00,0.000,6,0.000,0.022,3306,1512,1286,0,0,0,0,0,0
$GC,10368,1.16,346.0,52.4,7.0,543,10389,0.00,2.28,16.12,0.503,4,0.000,0.049,3306,241,1219,0,0,0,0,0,0
$GC,10454,1.16,346.0,45.4,8.6,549,10458,0.00,2.00,0.00,0.000,6,0.000,0.021,3306,1504,1215,0,0,0,0,0,0
$GC,10718,1.22,359.5,27.4,7.3,575,10736,0.00,0.00,12.65,0.466,6,0.000,0.000,3306,1507,1163,0,0,0,0,0,0
$GC,10932,1.26,359.5,10.9,8.2,623,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,1508,1162,0,0,0,0,0,0
$STATE,11052,end climb,SURFACE_DEPTH_REACHED
$STATE,11052,begin surface coast
$FINISH,0.9,1.023105
$STATE,11113,end surface coast,CONTROL_FINISHED_OK
$STATE,11113,begin surface
$SM_CCo,11135,34.90,0.471,0,0,957,410.14
$SM_GC,1.77,0.00,0.00,34.90,0.000,0.000,0.471,425,1507,957,-12.07,-0.65,410.14
$IRIDIUM_FIX,2104.07,-15802.47,110100,161621
$TT8_MAMPS,0.029146
$HUMID,60.04
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,2
$24V_AH,23.3,65.717
$10V_AH,10.0,53.285
$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,30.650,129.225,414.925,34.900,0.000,28.175,30.824,160.046,5.000,0.000,16.991,1287.837,7232.244,474.339,1999.361,529.446,0.000,1371.859,0.000,1968.609,0.000,29.247,0.000
$DEVICE_MAMPS,131.924,58.292,829.127,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,446.926,424.638,1007.554,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,38097,664
$CAP_FILE_SIZE,127510,0
$CFSIZE,260165632,175017984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171010,224307,2111.130,-15803.376,37,1.2,37,9.8