version: 66.06
glider: 139
mission: 8
dive: 704
start: 10 18 110 11 42 10
data:
$ID,139
$MISSION,8
$DIVE,704
$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,-2165971
$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
$GPS1,113536,2111.563,-15802.771,20,2.0,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-74.0
$GPS2,114152,2111.566,-15802.792,15,2.1,34,9.8
$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,97.4,35955,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.43,0.000,2,0.000,0.000,428,1507,2761,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.7,-4.0,12,111,12.62,2.20,-6.40,0.000,4,0.132,0.056,2784,237,3108,0,0,0,0,0,0
$GC,128,-0.11,-116.8,16.3,-28.3,19,135,1.10,2.17,0.00,0.000,6,0.077,0.020,3024,1589,3109,0,0,0,0,0,0
$GC,339,-0.67,-116.8,33.9,-10.1,61,341,0.55,0.00,0.00,0.000,6,0.043,0.000,2894,1590,3112,0,0,0,0,0,0
$GC,593,-0.87,-116.8,54.9,-7.3,81,597,0.15,2.33,0.00,0.000,4,0.053,0.044,2839,237,3112,0,0,0,0,0,0
$GC,647,-0.87,-116.8,59.5,-8.5,85,651,0.00,2.12,0.00,0.000,6,0.000,0.018,2839,1583,3112,0,0,0,0,0,0
$GC,913,-0.87,-116.8,79.6,-7.6,106,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1587,3113,0,0,0,0,0,0
$GC,1162,-0.87,-116.8,103.6,-11.0,126,1166,0.00,2.33,0.00,0.000,4,0.000,0.044,2839,231,3114,0,0,0,0,0,0
$GC,1234,-0.87,-116.8,112.4,-12.6,131,1238,0.00,2.10,0.00,0.000,6,0.000,0.018,2839,1590,3113,0,0,0,0,0,0
$GC,1497,-0.87,-116.8,139.7,-9.4,152,1501,0.00,2.33,0.00,0.000,4,0.000,0.045,2840,230,3114,0,0,0,0,0,0
$GC,1570,-0.91,-116.8,145.9,-8.9,157,1574,0.00,2.12,0.00,0.000,6,0.000,0.018,2839,1590,3115,0,0,0,0,0,0
$GC,1840,-0.94,-116.8,161.6,-5.2,178,1844,0.00,2.33,0.00,0.000,4,0.000,0.045,2839,237,3115,0,0,0,0,0,0
$GC,1863,-0.94,-116.8,163.0,-5.8,179,1868,0.00,2.10,0.00,0.000,6,0.000,0.019,2839,1592,3115,0,0,0,0,0,0
$GC,2125,-1.00,-116.8,178.3,-5.4,200,2129,0.00,2.33,0.00,0.000,4,0.000,0.046,2839,233,3115,0,0,0,0,0,0
$GC,2178,-1.06,-116.8,181.9,-6.2,204,2182,0.00,2.12,0.00,0.000,6,0.000,0.019,2839,1591,3115,0,0,0,0,0,0
$GC,2446,-1.12,-116.8,199.2,-7.1,225,2452,0.15,0.00,0.00,0.000,6,0.054,0.000,2787,1595,3115,0,0,0,0,0,0
$GC,2700,-1.07,-116.8,217.6,-6.9,238,2705,0.15,2.35,0.00,0.000,4,0.086,0.048,2820,238,3115,0,0,0,0,0,0
$GC,2772,-1.07,-116.8,222.5,-6.6,241,2775,0.00,2.12,0.00,0.000,6,0.000,0.020,2820,1584,3115,0,0,0,0,0,0
$GC,3098,-1.07,-116.8,250.8,-10.0,257,3103,0.00,2.30,0.00,0.000,4,0.000,0.047,2820,238,3114,0,0,0,0,0,0
$GC,3150,-1.07,-116.8,257.5,-12.2,259,3154,0.00,2.12,0.00,0.000,6,0.000,0.021,2820,1581,3114,0,0,0,0,0,0
$GC,3474,-1.11,-116.8,285.7,-7.8,275,3478,0.00,2.25,0.00,0.000,4,0.000,0.025,2820,2953,3113,0,0,0,0,0,0
$GC,3504,-1.22,-116.8,288.4,-7.6,276,3509,0.17,2.40,0.00,0.000,6,0.048,0.035,2762,1527,3113,0,0,0,0,0,0
$GC,3849,-1.13,-116.8,312.1,-6.6,289,3853,0.20,2.22,0.00,0.000,4,0.083,0.048,2803,238,3112,0,0,0,0,0,0
$GC,3896,-1.13,-116.8,315.4,-6.0,290,3900,0.00,2.15,0.00,0.000,6,0.000,0.021,2804,1586,3112,0,0,0,0,0,0
$GC,4220,-1.13,-116.8,337.4,-7.4,298,4224,0.00,2.33,0.00,0.000,4,0.000,0.051,2803,238,3110,0,0,0,0,0,0
$GC,4244,-1.13,-116.8,339.4,-7.8,298,4248,0.00,2.12,0.00,0.000,6,0.000,0.023,2803,1580,3110,0,0,0,0,0,0
$GC,4584,-1.13,-116.8,369.9,-9.3,307,4588,0.00,2.33,0.00,0.000,4,0.000,0.051,2803,238,3108,0,0,0,0,0,0
$GC,4632,-1.13,-116.8,373.3,-6.9,308,4636,0.00,2.08,0.00,0.000,6,0.000,0.023,2804,1534,3108,0,0,0,0,0,0
$GC,4956,-1.13,-116.8,396.1,-7.5,316,4960,0.00,2.25,0.00,0.000,4,0.000,0.028,2804,2906,3105,0,0,0,0,0,0
$GC,4986,-1.23,-116.8,398.0,-6.4,316,4990,0.00,2.33,0.00,0.000,6,0.000,0.037,2804,1534,3105,0,0,0,0,0,0
$GC,5327,-1.23,-116.8,422.0,-7.1,325,5331,0.00,2.25,0.00,0.000,4,0.000,0.054,2803,231,3104,0,0,0,0,0,0
$GC,5360,-1.26,-116.8,424.8,-7.5,325,5365,0.12,2.10,0.00,0.000,6,0.066,0.024,2764,1530,3103,0,0,0,0,0,0
$STATE,5690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5690,begin apogee
$GC,5697,-0.31,0.0,453.5,8.6,333,5797,1.02,0.00,96.68,0.828,6,0.069,0.000,2983,1486,2630,0,0,0,0,0,0
$STATE,5798,end apogee,CONTROL_FINISHED_OK
$STATE,5798,begin climb
$GC,5801,1.18,116.8,457.7,0.0,335,5914,1.40,2.42,101.55,0.813,4,0.035,0.030,3311,2886,2152,0,0,0,0,0,0
$GC,6030,1.00,116.8,449.0,9.4,340,6035,0.22,2.42,0.00,0.000,6,0.095,0.041,3266,1505,2149,0,0,0,0,0,0
$GC,6351,0.88,116.8,420.7,8.7,348,6353,0.12,0.00,0.00,0.000,6,0.110,0.000,3243,1505,2142,0,0,0,0,0,0
$GC,6675,0.85,142.7,397.1,6.7,356,6703,0.00,2.35,21.65,0.768,4,0.000,0.057,3243,234,2047,0,0,0,0,0,0
$GC,6885,0.81,204.8,382.5,5.1,360,6946,0.00,2.05,55.72,0.785,6,0.000,0.027,3243,1505,1794,0,0,0,0,0,0
$GC,7274,0.93,300.9,366.4,3.6,370,7365,0.00,2.35,83.72,0.779,4,0.000,0.058,3243,242,1402,0,0,0,0,0,0
$GC,7389,0.84,300.9,360.0,8.7,372,7393,0.00,2.08,0.00,0.000,6,0.000,0.028,3243,1493,1399,0,0,0,0,0,0
$GC,7721,0.84,300.9,332.3,8.3,380,7725,0.00,2.25,0.00,0.000,4,0.000,0.059,3243,235,1394,0,0,0,0,0,0
$GC,7819,0.78,300.9,321.5,11.3,382,7823,0.12,2.08,0.00,0.000,6,0.107,0.028,3219,1505,1392,0,0,0,0,0,0
$GC,8139,0.85,300.9,294.9,8.7,391,8143,0.00,2.28,0.00,0.000,4,0.000,0.058,3219,230,1391,0,0,0,0,0,0
$GC,8219,0.85,300.9,286.1,12.2,394,8223,0.00,2.08,0.00,0.000,6,0.000,0.028,3219,1501,1389,0,0,0,0,0,0
$GC,8539,0.93,300.9,256.4,9.2,410,8544,0.15,2.22,0.00,0.000,4,0.061,0.057,3263,234,1389,0,0,0,0,0,0
$GC,8601,0.87,300.9,249.4,11.9,412,8609,0.10,2.10,0.00,0.000,6,0.078,0.027,3239,1502,1387,0,0,0,0,0,0
$GC,8917,0.93,300.9,223.5,8.1,428,8921,0.00,2.25,0.00,0.000,4,0.000,0.055,3239,230,1387,0,0,0,0,0,0
$GC,8978,0.93,300.9,217.5,10.1,430,8985,0.00,2.10,0.00,0.000,6,0.000,0.026,3239,1510,1386,0,0,0,0,0,0
$GC,9303,1.05,343.2,196.9,6.0,448,9347,0.17,2.28,35.60,0.654,4,0.054,0.053,3289,235,1228,0,0,0,0,0,0
$GC,9358,0.97,343.2,192.2,9.7,452,9363,0.15,2.05,0.00,0.000,6,0.092,0.026,3259,1496,1226,0,0,0,0,0,0
$GC,9619,1.01,343.2,168.2,10.1,472,9623,0.00,2.22,0.00,0.000,4,0.000,0.053,3259,233,1224,0,0,0,0,0,0
$GC,9635,1.01,343.2,166.4,10.2,473,9639,0.00,2.05,0.00,0.000,6,0.000,0.026,3259,1504,1223,0,0,0,0,0,0
$GC,9901,1.04,343.2,138.0,10.8,494,9905,0.00,2.22,0.00,0.000,4,0.000,0.052,3259,228,1223,0,0,0,0,0,0
$GC,9940,1.04,343.2,132.9,13.6,497,9944,0.00,2.08,0.00,0.000,6,0.000,0.024,3259,1514,1221,0,0,0,0,0,0
$GC,10211,1.11,343.2,105.7,8.3,518,10216,0.15,2.25,0.00,0.000,4,0.058,0.051,3305,234,1221,0,0,0,0,0,0
$GC,10249,1.00,343.2,101.8,10.5,520,10255,0.15,2.05,0.00,0.000,6,0.071,0.023,3269,1504,1221,0,0,0,0,0,0
$GC,10513,1.12,381.3,85.1,6.2,541,10553,0.10,2.30,32.08,0.552,4,0.074,0.051,3304,234,1074,0,0,0,0,0,0
$GC,10612,1.12,381.3,75.6,10.3,548,10616,0.00,2.00,0.00,0.000,6,0.000,0.021,3304,1487,1070,0,0,0,0,0,0
$GC,10879,1.17,381.3,51.8,8.9,569,10883,0.00,2.22,0.00,0.000,4,0.000,0.049,3304,231,1070,0,0,0,0,0,0
$GC,10922,1.17,381.3,47.5,9.4,572,10926,0.00,2.03,0.00,0.000,6,0.000,0.021,3304,1521,1069,0,0,0,0,0,0
$GC,11186,1.24,390.0,27.7,7.5,596,11200,0.00,2.28,8.07,0.432,4,0.000,0.047,3304,227,1039,0,0,0,0,0,0
$GC,11216,1.28,390.0,24.8,8.4,601,11223,0.08,2.05,0.00,0.000,6,0.037,0.021,3341,1511,1037,0,0,0,0,0,0
$GC,11419,1.25,390.0,4.5,9.2,647,11426,0.00,2.25,0.00,0.000,4,0.000,0.051,3340,238,1037,0,0,0,0,0,0
$STATE,11432,end climb,SURFACE_DEPTH_REACHED
$STATE,11432,begin surface coast
$FINISH,2.3,1.023116
$STATE,11438,end surface coast,CONTROL_FINISHED_OK
$STATE,11438,begin surface
$SM_CCo,11463,17.30,0.459,0,0,957,410.14
$SM_GC,1.85,0.00,0.00,17.30,0.000,0.000,0.459,428,1531,957,-12.07,0.03,410.14
$IRIDIUM_FIX,2101.76,-15800.33,120100,080857
$TT8_MAMPS,0.029146
$HUMID,61.77
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,442.9,61.0
$24V_AH,23.3,66.262
$10V_AH,10.0,53.713
$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,31.725,127.775,435.075,17.300,0.000,24.039,39.014,158.372,5.250,0.000,35.355,1275.085,7570.231,503.688,1977.257,527.412,0.000,1380.414,0.000,1930.318,0.000,32.283,0.000
$DEVICE_MAMPS,131.924,106.613,827.593,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,437.426,413.680,943.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,34913,650
$CAP_FILE_SIZE,127571,0
$CFSIZE,260165632,174706688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181010,145437,2111.661,-15802.528,26,1.9,26,9.8