version: 66.06
glider: 139
mission: 8
dive: 718
start: 10 20 110 4 53 39
data:
$ID,139
$MISSION,8
$DIVE,718
$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,-2166283.8
$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
$GPS1,044707,2112.204,-15759.218,35,1.1,35,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-72.8
$GPS2,045319,2112.189,-15759.246,9,1.1,14,9.8
$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,102.9,30584,-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,-116.8,0.0,0.0,0,76,0.00,0.00,-59.22,0.000,2,0.000,0.000,429,1535,2599,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.2,-3.1,11,110,12.62,2.28,-10.25,0.000,4,0.132,0.059,2783,232,3108,0,0,0,0,0,0
$GC,149,-0.90,-116.8,17.4,-17.5,24,156,0.28,2.17,0.00,0.000,6,0.077,0.019,2845,1580,3110,0,0,0,0,0,0
$GC,349,-0.82,-116.8,42.5,-12.3,54,351,0.12,0.00,0.00,0.000,6,0.102,0.000,2871,1585,3111,0,0,0,0,0,0
$GC,602,-0.82,-116.8,68.1,-8.8,74,606,0.00,2.33,0.00,0.000,4,0.000,0.044,2871,235,3111,0,0,0,0,0,0
$GC,635,-0.86,-116.8,71.2,-9.2,76,642,0.00,2.05,0.00,0.000,6,0.000,0.019,2871,1547,3112,0,0,0,0,0,0
$GC,897,-0.89,-116.8,91.2,-8.3,97,901,0.00,2.25,0.00,0.000,4,0.000,0.045,2871,227,3112,0,0,0,0,0,0
$GC,929,-0.95,-116.8,94.0,-7.5,99,935,0.12,2.03,0.00,0.000,6,0.061,0.019,2823,1534,3112,0,0,0,0,0,0
$GC,1192,-0.92,-116.8,111.9,-5.5,120,1196,0.12,2.25,0.00,0.000,4,0.093,0.045,2850,234,3113,0,0,0,0,0,0
$GC,1252,-0.97,-116.8,115.7,-6.0,124,1256,0.00,2.03,0.00,0.000,6,0.000,0.018,2850,1527,3113,0,0,0,0,0,0
$GC,1520,-1.03,-116.8,132.2,-6.7,145,1525,0.12,2.22,0.00,0.000,4,0.061,0.046,2802,236,3114,0,0,0,0,0,0
$GC,1587,-0.96,-116.8,138.2,-8.5,150,1592,0.17,2.00,0.00,0.000,6,0.080,0.019,2841,1525,3114,0,0,0,0,0,0
$GC,1854,-1.00,-116.8,157.0,-7.7,171,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1530,3114,0,0,0,0,0,0
$GC,2105,-1.04,-116.8,177.6,-8.2,191,2109,0.00,2.22,0.00,0.000,4,0.000,0.048,2841,238,3114,0,0,0,0,0,0
$GC,2147,-1.08,-116.8,182.0,-10.1,194,2152,0.12,2.03,0.00,0.000,6,0.061,0.019,2795,1539,3115,0,0,0,0,0,0
$GC,2424,-1.02,-116.8,212.6,-11.1,212,2429,0.15,2.22,0.00,0.000,4,0.087,0.023,2828,2894,3114,0,0,0,0,0,0
$GC,2439,-1.02,-116.8,214.5,-10.6,212,2446,0.00,2.33,0.00,0.000,6,0.000,0.034,2828,1534,3114,0,0,0,0,0,0
$GC,2756,-1.05,-116.8,239.1,-7.9,228,2760,0.00,2.20,0.00,0.000,4,0.000,0.047,2828,236,3114,0,0,0,0,0,0
$GC,2827,-1.09,-116.8,245.4,-8.8,231,2830,0.00,2.03,0.00,0.000,6,0.000,0.020,2828,1525,3114,0,0,0,0,0,0
$GC,3160,-1.13,-116.8,272.3,-9.5,247,3165,0.12,2.28,0.00,0.000,4,0.062,0.048,2782,231,3113,0,0,0,0,0,0
$GC,3212,-1.04,-116.8,278.4,-11.1,249,3216,0.20,2.05,0.00,0.000,6,0.078,0.021,2826,1537,3113,0,0,0,0,0,0
$GC,3555,-1.09,-116.8,307.0,-8.7,264,3559,0.00,2.25,0.00,0.000,4,0.000,0.050,2826,231,3112,0,0,0,0,0,0
$GC,3625,-1.12,-116.8,313.0,-7.7,265,3629,0.00,2.03,0.00,0.000,6,0.000,0.022,2826,1529,3112,0,0,0,0,0,0
$GC,3967,-1.18,-116.8,330.0,-5.6,274,3972,0.15,2.25,0.00,0.000,4,0.056,0.025,2776,2906,3110,0,0,0,0,0,0
$GC,3978,-1.22,-116.8,330.9,-5.1,274,3982,0.00,2.35,0.00,0.000,6,0.000,0.035,2776,1525,3110,0,0,0,0,0,0
$GC,4293,-1.22,-116.8,361.3,-9.7,282,4297,0.00,2.20,0.00,0.000,4,0.000,0.050,2776,237,3108,0,0,0,0,0,0
$GC,4337,-1.22,-116.8,367.3,-14.9,283,4341,0.00,2.03,0.00,0.000,6,0.000,0.023,2775,1517,3108,0,0,0,0,0,0
$GC,4667,-1.06,-116.8,401.0,-10.4,291,4671,0.20,2.30,0.00,0.000,4,0.087,0.027,2818,2916,3106,0,0,0,0,0,0
$GC,4697,-1.22,-116.8,408.9,-23.3,291,4702,0.15,2.35,0.00,0.000,6,0.056,0.029,2767,1517,3106,0,0,0,0,0,0
$GC,5036,-1.07,-116.8,435.5,-6.0,300,5041,0.22,2.20,0.00,0.000,4,0.084,0.053,2815,241,3104,0,0,0,0,0,0
$GC,5130,-1.12,-116.8,443.1,-5.2,302,5134,0.00,2.08,0.00,0.000,6,0.000,0.025,2815,1534,3104,0,0,0,0,0,0
$STATE,5413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5414,begin apogee
$GC,5420,-0.31,0.0,450.8,4.1,309,5520,0.77,0.00,96.90,0.828,6,0.068,0.000,2982,1495,2630,0,0,0,0,0,0
$STATE,5521,end apogee,CONTROL_FINISHED_OK
$STATE,5521,begin climb
$GC,5524,1.18,116.8,453.3,0.0,311,5637,1.40,2.28,101.50,0.811,4,0.032,0.054,3312,250,2151,0,0,0,0,0,0
$GC,5890,0.88,120.3,432.3,7.7,319,5895,0.35,2.03,0.00,0.000,6,0.094,0.026,3243,1508,2140,0,0,0,0,0,0
$GC,6214,0.88,171.7,417.7,5.6,327,6263,0.00,0.00,47.75,0.795,6,0.000,0.000,3243,1508,1930,0,0,0,0,0,0
$GC,6580,0.87,215.9,398.9,5.9,336,6622,0.00,0.00,39.80,0.784,6,0.000,0.000,3243,1508,1749,0,0,0,0,0,0
$GC,6950,0.83,215.9,367.2,9.7,345,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1508,1743,0,0,0,0,0,0
$GC,7274,0.85,237.0,341.2,6.9,353,7298,0.00,2.33,18.62,0.734,4,0.000,0.057,3243,245,1662,0,0,0,0,0,0
$GC,7396,0.79,237.0,330.6,8.1,355,7400,0.00,2.05,0.00,0.000,6,0.000,0.028,3243,1500,1658,0,0,0,0,0,0
$GC,7731,0.79,237.0,305.9,8.0,364,7735,0.00,2.22,0.00,0.000,4,0.000,0.057,3243,239,1657,0,0,0,0,0,0
$GC,7784,0.74,237.0,300.8,9.5,365,7788,0.15,2.08,0.00,0.000,6,0.102,0.028,3213,1506,1655,0,0,0,0,0,0
$GC,8114,0.84,249.9,277.6,7.3,380,8130,0.00,2.28,11.35,0.664,4,0.000,0.057,3213,244,1611,0,0,0,0,0,0
$GC,8186,0.89,260.9,272.6,7.4,383,8202,0.15,2.05,11.23,0.657,6,0.064,0.028,3254,1511,1565,0,0,0,0,0,0
$GC,8523,0.94,301.9,251.6,6.0,399,8566,0.00,2.33,36.67,0.701,4,0.000,0.028,3254,2881,1398,0,0,0,0,0,0
$GC,8577,1.04,342.1,247.8,6.1,401,8620,0.10,2.42,35.95,0.687,6,0.074,0.041,3286,1502,1235,0,0,0,0,0,0
$GC,8946,1.04,342.1,209.9,10.7,419,8950,0.00,2.22,0.00,0.000,4,0.000,0.056,3286,235,1229,0,0,0,0,0,0
$GC,9024,0.97,342.1,199.9,13.4,422,9029,0.12,2.05,0.00,0.000,6,0.100,0.025,3261,1507,1226,0,0,0,0,0,0
$GC,9348,1.01,345.5,169.3,7.7,447,9352,0.00,2.25,0.00,0.000,4,0.000,0.053,3261,234,1226,0,0,0,0,0,0
$GC,9422,1.01,345.5,162.7,8.5,452,9429,0.00,2.08,0.00,0.000,6,0.000,0.025,3261,1504,1224,0,0,0,0,0,0
$GC,9684,1.02,359.5,144.2,7.3,473,9704,0.00,2.35,14.55,0.571,4,0.000,0.025,3261,2876,1163,0,0,0,0,0,0
$GC,9728,1.14,359.5,140.3,8.9,476,9733,0.17,2.40,0.00,0.000,6,0.052,0.038,3312,1496,1163,0,0,0,0,0,0
$GC,9990,1.09,359.5,111.2,12.0,496,9995,0.12,2.20,0.00,0.000,4,0.097,0.053,3287,234,1162,0,0,0,0,0,0
$GC,10057,1.09,359.5,102.6,12.5,501,10061,0.00,2.05,0.00,0.000,6,0.000,0.023,3287,1497,1160,0,0,0,0,0,0
$GC,10329,1.16,365.8,79.7,7.6,522,10344,0.00,2.33,6.53,0.448,4,0.000,0.024,3287,2880,1137,0,0,0,0,0,0
$GC,10355,1.27,377.2,77.4,7.4,523,10376,0.12,2.42,11.38,0.501,6,0.033,0.036,3336,1493,1091,0,0,0,0,0,0
$GC,10630,1.23,380.0,53.0,7.8,545,10639,0.00,2.20,3.85,0.338,4,0.000,0.051,3336,232,1079,0,0,0,0,0,0
$GC,10712,1.17,380.0,44.8,9.5,550,10717,0.15,2.00,0.00,0.000,6,0.088,0.021,3305,1506,1077,0,0,0,0,0,0
$GC,10977,1.23,380.0,22.7,8.3,582,10982,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1510,1077,0,0,0,0,0,0
$GC,11180,1.29,380.0,5.8,8.3,628,11187,0.12,2.25,0.00,0.000,4,0.062,0.048,3348,237,1077,0,0,0,0,0,0
$GC,11204,1.29,380.0,3.0,9.8,632,11210,0.00,2.03,0.00,0.000,6,0.000,0.021,3349,1515,1077,0,0,0,0,0,0
$STATE,11215,end climb,SURFACE_DEPTH_REACHED
$STATE,11216,begin surface coast
$FINISH,0.9,1.022965
$STATE,11242,end surface coast,CONTROL_FINISHED_OK
$STATE,11243,begin surface
$SM_CCo,11265,25.17,0.471,0,0,957,410.14
$SM_GC,1.59,0.00,0.00,25.17,0.000,0.000,0.471,425,1515,957,-12.08,-0.42,410.14
$IRIDIUM_FIX,2104.07,-15820.07,140100,010145
$TT8_MAMPS,0.029146
$HUMID,62.36
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.3,67.739
$10V_AH,10.0,54.853
$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,31.225,113.900,436.075,25.175,0.000,29.462,40.545,165.926,4.750,0.000,14.975,1268.797,7394.299,491.090,1942.307,564.160,0.000,1374.765,0.000,1923.704,0.000,29.251,0.000
$DEVICE_MAMPS,131.924,148.031,828.360,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.922,411.236,925.282,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355752
$DATA_FILE_SIZE,34948,640
$CAP_FILE_SIZE,127858,0
$CFSIZE,260165632,173883392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201010,080307,2112.124,-15758.553,37,1.0,37,9.8