version: 66.06
glider: 139
mission: 8
dive: 710
start: 10 19 110 6 20 21
data:
$ID,139
$MISSION,8
$DIVE,710
$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,-2166102
$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
$GPS1,061400,2111.973,-15801.345,37,1.1,43,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.3
$GPS2,062001,2112.016,-15801.367,12,1.9,12,9.8
$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,100.0,33883,-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,-64.60,0.000,2,0.000,0.000,426,1487,2662,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.5,12,115,12.65,2.22,-8.60,0.000,4,0.132,0.061,2786,235,3110,0,0,0,0,0,0
$GC,124,0.03,-116.8,13.8,-23.8,18,131,1.23,2.15,0.00,0.000,6,0.076,0.020,3053,1584,3111,0,0,0,0,0,0
$GC,335,-0.52,-116.8,32.4,-9.3,62,340,0.50,2.25,0.00,0.000,4,0.041,0.021,2929,2961,3112,0,0,0,0,0,0
$GC,382,-0.94,-116.8,36.4,-7.1,65,390,0.32,2.45,0.00,0.000,6,0.026,0.029,2832,1523,3112,0,0,0,0,0,0
$GC,644,-0.87,-116.8,61.9,-9.0,86,649,0.12,2.20,0.00,0.000,4,0.092,0.045,2859,239,3113,0,0,0,0,0,0
$GC,703,-0.87,-116.8,67.3,-9.1,90,707,0.00,2.12,0.00,0.000,6,0.000,0.018,2859,1595,3113,0,0,0,0,0,0
$GC,967,-0.92,-116.8,93.5,-9.5,111,972,0.00,2.33,0.00,0.000,4,0.000,0.044,2859,239,3114,0,0,0,0,0,0
$GC,1001,-0.96,-116.8,96.7,-9.0,113,1007,0.00,2.12,0.00,0.000,6,0.000,0.018,2859,1606,3114,0,0,0,0,0,0
$GC,1262,-1.02,-116.8,115.8,-6.2,134,1264,0.15,0.00,0.00,0.000,6,0.054,0.000,2807,1606,3114,0,0,0,0,0,0
$GC,1516,-0.99,-116.8,133.8,-7.3,154,1521,0.12,2.35,0.00,0.000,4,0.090,0.045,2834,240,3115,0,0,0,0,0,0
$GC,1541,-0.99,-116.8,136.0,-7.3,156,1545,0.00,2.10,0.00,0.000,6,0.000,0.019,2835,1593,3115,0,0,0,0,0,0
$GC,1809,-1.03,-116.8,156.7,-8.0,177,1813,0.00,2.33,0.00,0.000,4,0.000,0.046,2834,234,3115,0,0,0,0,0,0
$GC,1862,-1.08,-116.8,161.6,-8.9,181,1866,0.00,2.12,0.00,0.000,6,0.000,0.019,2834,1590,3116,0,0,0,0,0,0
$GC,2127,-1.13,-116.8,184.4,-9.0,202,2132,0.15,2.33,0.00,0.000,4,0.054,0.047,2783,241,3115,0,0,0,0,0,0
$GC,2169,-1.03,-116.8,188.9,-12.0,205,2174,0.20,2.10,0.00,0.000,6,0.081,0.020,2826,1590,3116,0,0,0,0,0,0
$GC,2427,-1.03,-116.8,213.1,-8.8,221,2431,0.00,2.33,0.00,0.000,4,0.000,0.047,2826,235,3116,0,0,0,0,0,0
$GC,2488,-1.03,-116.8,218.4,-7.9,223,2493,0.00,2.12,0.00,0.000,6,0.000,0.020,2826,1583,3116,0,0,0,0,0,0
$GC,2805,-1.07,-116.8,238.7,-7.1,239,2810,0.00,2.30,0.00,0.000,4,0.000,0.048,2826,241,3115,0,0,0,0,0,0
$GC,2863,-1.11,-116.8,243.7,-8.5,241,2867,0.00,2.12,0.00,0.000,6,0.000,0.021,2826,1588,3115,0,0,0,0,0,0
$GC,3178,-1.16,-116.8,269.0,-7.9,256,3183,0.12,2.33,0.00,0.000,4,0.063,0.048,2783,241,3115,0,0,0,0,0,0
$GC,3200,-1.12,-116.8,270.9,-9.3,257,3205,0.10,2.12,0.00,0.000,6,0.104,0.021,2805,1581,3114,0,0,0,0,0,0
$GC,3534,-1.12,-116.8,297.1,-8.0,273,3538,0.00,2.30,0.00,0.000,4,0.000,0.049,2805,241,3113,0,0,0,0,0,0
$GC,3609,-1.12,-116.8,303.9,-8.2,275,3613,0.00,2.12,0.00,0.000,6,0.000,0.021,2805,1568,3112,0,0,0,0,0,0
$GC,3951,-1.12,-116.8,334.7,-9.3,284,3955,0.00,2.30,0.00,0.000,4,0.000,0.051,2805,235,3111,0,0,0,0,0,0
$GC,3993,-1.12,-116.8,338.7,-8.9,285,3997,0.00,2.08,0.00,0.000,6,0.000,0.023,2805,1539,3111,0,0,0,0,0,0
$GC,4321,-1.12,-116.8,363.1,-6.8,293,4325,0.00,2.25,0.00,0.000,4,0.000,0.051,2805,242,3109,0,0,0,0,0,0
$STATE,4328,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4328,begin apogee
$GC,4338,-0.31,0.0,363.7,7.0,293,4437,0.80,0.00,95.65,0.745,6,0.067,0.000,2981,1507,2630,0,0,0,0,0,0
$STATE,4438,end apogee,CONTROL_FINISHED_OK
$STATE,4438,begin climb
$GC,4440,1.18,116.8,365.1,0.0,295,4551,1.42,2.38,99.05,0.729,4,0.030,0.027,3316,2882,2152,0,0,0,0,0,0
$GC,4656,1.03,145.9,359.6,6.6,300,4689,0.20,2.38,25.48,0.698,6,0.093,0.037,3277,1504,2035,0,0,0,0,0,0
$GC,5005,0.93,164.9,333.4,7.0,309,5030,0.12,2.25,16.95,0.675,4,0.107,0.052,3253,237,1956,0,0,0,0,0,0
$GC,5062,0.81,174.8,329.6,7.4,310,5079,0.12,2.03,9.77,0.625,6,0.107,0.025,3229,1509,1917,0,0,0,0,0,0
$GC,5427,0.85,205.5,306.4,6.5,319,5456,0.00,0.00,27.80,0.697,6,0.000,0.000,3229,1509,1791,0,0,0,0,0,0
$GC,5734,0.94,257.9,286.9,5.5,331,5788,0.12,2.28,46.08,0.700,4,0.066,0.053,3267,238,1576,0,0,0,0,0,0
$GC,5864,0.86,257.9,274.4,11.1,336,5871,0.12,2.08,0.00,0.000,6,0.075,0.025,3238,1501,1571,0,0,0,0,0,0
$GC,6181,0.90,257.9,243.9,9.8,352,6185,0.00,2.30,0.00,0.000,4,0.000,0.027,3238,2876,1569,0,0,0,0,0,0
$GC,6218,1.03,257.9,240.6,8.9,353,6224,0.15,2.40,0.00,0.000,6,0.058,0.040,3283,1498,1569,0,0,0,0,0,0
$GC,6537,1.01,289.8,218.0,6.5,369,6569,0.00,2.30,26.73,0.650,4,0.000,0.054,3283,239,1447,0,0,0,0,0,0
$GC,6584,0.91,291.5,214.3,7.8,371,6589,0.17,2.05,0.00,0.000,6,0.091,0.025,3248,1506,1446,0,0,0,0,0,0
$GC,6911,0.95,291.5,190.9,8.4,390,6915,0.00,2.22,0.00,0.000,4,0.000,0.054,3247,234,1443,0,0,0,0,0,0
$GC,6965,0.95,291.5,185.2,10.4,394,6969,0.00,2.03,0.00,0.000,6,0.000,0.025,3247,1503,1439,0,0,0,0,0,0
$GC,7226,1.02,305.6,165.3,7.3,414,7247,0.10,2.25,13.82,0.582,4,0.076,0.051,3282,235,1382,0,0,0,0,0,0
$GC,7259,0.97,305.6,162.2,10.3,416,7264,0.10,2.05,0.00,0.000,6,0.108,0.025,3262,1498,1381,0,0,0,0,0,0
$GC,7520,1.00,305.6,139.8,9.1,436,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1499,1381,0,0,0,0,0,0
$GC,7772,1.07,325.2,118.6,7.0,456,7795,0.00,2.33,17.58,0.558,4,0.000,0.025,3262,2888,1303,0,0,0,0,0,0
$GC,7819,1.25,367.6,115.4,6.0,458,7865,0.22,2.42,37.30,0.572,6,0.030,0.037,3332,1506,1130,0,0,0,0,0,0
$GC,8118,1.17,367.6,86.5,9.1,482,8122,0.15,2.25,0.00,0.000,4,0.090,0.051,3301,231,1126,0,0,0,0,0,0
$GC,8197,1.17,367.6,78.7,9.1,487,8204,0.00,2.08,0.00,0.000,6,0.000,0.021,3301,1519,1123,0,0,0,0,0,0
$GC,8457,1.21,367.6,55.2,8.3,508,8461,0.00,2.22,0.00,0.000,4,0.000,0.022,3301,2875,1123,0,0,0,0,0,0
$GC,8485,1.36,384.7,53.0,7.1,510,8510,0.20,2.35,14.45,0.493,6,0.047,0.035,3363,1499,1060,0,0,0,0,0,0
$GC,8764,1.27,384.7,27.1,8.9,536,8771,0.17,2.22,0.00,0.000,4,0.084,0.048,3326,238,1058,0,0,0,0,0,0
$GC,8792,1.19,384.7,24.3,9.5,541,8799,0.00,2.03,0.00,0.000,6,0.000,0.030,3326,1506,1057,0,0,0,0,0,0
$GC,8994,1.19,384.7,7.5,9.3,587,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1506,1056,0,0,0,0,0,0
$STATE,9046,end climb,SURFACE_DEPTH_REACHED
$STATE,9046,begin surface coast
$FINISH,1.0,1.018732
$STATE,9082,end surface coast,CONTROL_FINISHED_OK
$STATE,9082,begin surface
$SM_CCo,9105,20.90,0.465,0,0,958,410.14
$SM_GC,1.93,0.00,0.00,20.90,0.000,0.000,0.465,425,1506,958,-12.07,-0.68,410.14
$IRIDIUM_FIX,2104.07,-15803.33,130100,030314
$TT8_MAMPS,0.029146
$HUMID,61.22
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,323.7,69.6
$24V_AH,23.4,66.908
$10V_AH,10.0,54.209
$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,32.350,106.475,430.650,20.900,0.000,24.179,34.774,171.280,3.500,0.000,12.241,1144.027,5576.711,470.692,1773.969,520.598,0.000,1271.758,0.000,1759.685,0.000,22.881,0.000
$DEVICE_MAMPS,131.924,61.360,744.757,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.702,417.471,974.213,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34987,606
$CAP_FILE_SIZE,112471,0
$CFSIZE,260165632,174358528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191010,085340,2112.157,-15801.323,14,2.4,33,9.8