version: 66.06
glider: 139
mission: 8
dive: 585
start: 10 2 110 11 11 57
data:
$ID,139
$MISSION,8
$DIVE,585
$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,-2163249.5
$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,1650
$C_ROLL_CLIMB,1650
$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
$GPS1,110536,2108.464,-15801.416,37,0.8,37,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-72.7
$GPS2,111138,2108.470,-15801.407,15,1.3,15,9.8
$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,89.0,32323,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,424,1665,2736,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.5,12,116,12.68,2.55,-6.95,0.000,4,0.133,0.060,2784,245,3110,0,0,0,0,0,0
$GC,133,-0.25,-116.8,17.6,-29.3,20,140,0.95,2.35,0.00,0.000,6,0.077,0.019,2993,1685,3112,0,0,0,0,0,0
$GC,336,-0.53,-116.8,29.2,-4.0,66,344,0.25,2.55,0.00,0.000,4,0.038,0.044,2913,242,3112,0,0,0,0,0,0
$GC,383,-0.65,-116.8,32.7,-7.6,71,387,0.00,2.25,0.00,0.000,6,0.000,0.018,2913,1672,3113,0,0,0,0,0,0
$GC,652,-0.74,-116.8,54.2,-7.8,92,657,0.10,2.47,0.00,0.000,4,0.073,0.046,2872,246,3113,0,0,0,0,0,0
$GC,705,-0.74,-116.8,60.2,-11.5,96,709,0.00,2.20,0.00,0.000,6,0.000,0.018,2872,1655,3113,0,0,0,0,0,0
$GC,970,-0.74,-116.8,86.0,-9.1,117,974,0.00,2.45,0.00,0.000,4,0.000,0.045,2872,245,3114,0,0,0,0,0,0
$GC,1031,-0.74,-116.8,92.6,-10.5,121,1036,0.00,2.20,0.00,0.000,6,0.000,0.018,2872,1652,3114,0,0,0,0,0,0
$GC,1292,-0.79,-116.8,116.5,-7.8,142,1296,0.00,2.42,0.00,0.000,4,0.000,0.045,2872,238,3115,0,0,0,0,0,0
$GC,1362,-0.87,-116.8,122.9,-8.2,147,1366,0.00,2.20,0.00,0.000,6,0.000,0.018,2872,1654,3115,0,0,0,0,0,0
$GC,1634,-0.98,-116.8,143.9,-7.7,168,1639,0.15,2.42,0.00,0.000,4,0.054,0.045,2818,245,3115,0,0,0,0,0,0
$GC,1710,-0.94,-116.8,152.9,-12.2,173,1717,0.12,2.20,0.00,0.000,6,0.093,0.018,2844,1643,3115,0,0,0,0,0,0
$GC,1971,-0.99,-116.8,179.0,-9.4,194,1975,0.00,2.40,0.00,0.000,4,0.000,0.046,2844,242,3116,0,0,0,0,0,0
$GC,2022,-1.04,-116.8,183.8,-9.0,197,2028,0.00,2.22,0.00,0.000,6,0.000,0.018,2844,1650,3116,0,0,0,0,0,0
$GC,2296,-1.10,-116.8,204.9,-6.7,217,2301,0.15,2.42,0.00,0.000,4,0.054,0.047,2792,246,3116,0,0,0,0,0,0
$GC,2336,-1.01,-116.8,208.5,-9.5,218,2343,0.12,2.25,0.00,0.000,6,0.067,0.020,2824,1646,3116,0,0,0,0,0,0
$GC,2651,-1.01,-116.8,228.8,-5.7,234,2655,0.00,2.42,0.00,0.000,4,0.000,0.048,2824,247,3116,0,0,0,0,0,0
$GC,2679,-1.01,-116.8,230.7,-7.4,235,2683,0.00,2.20,0.00,0.000,6,0.000,0.020,2824,1653,3116,0,0,0,0,0,0
$GC,3002,-1.05,-116.8,254.7,-8.3,251,3006,0.00,2.45,0.00,0.000,4,0.000,0.048,2824,245,3115,0,0,0,0,0,0
$GC,3092,-1.08,-116.8,262.9,-9.0,255,3096,0.00,2.22,0.00,0.000,6,0.000,0.021,2824,1649,3115,0,0,0,0,0,0
$GC,3426,-1.14,-116.8,289.2,-7.6,271,3431,0.10,2.45,0.00,0.000,4,0.074,0.049,2786,239,3114,0,0,0,0,0,0
$GC,3487,-1.10,-116.8,295.3,-9.4,273,3494,0.08,2.25,0.00,0.000,6,0.073,0.021,2808,1656,3113,0,0,0,0,0,0
$GC,3801,-1.10,-116.8,316.5,-6.7,283,3805,0.00,2.45,0.00,0.000,4,0.000,0.050,2808,247,3113,0,0,0,0,0,0
$GC,3844,-1.10,-116.8,319.7,-7.9,284,3849,0.00,2.25,0.00,0.000,6,0.000,0.022,2808,1649,3113,0,0,0,0,0,0
$GC,4179,-1.10,-116.8,344.2,-7.5,292,4183,0.00,2.42,0.00,0.000,4,0.000,0.051,2808,247,3110,0,0,0,0,0,0
$GC,4213,-1.10,-116.8,347.5,-9.5,292,4217,0.00,2.28,0.00,0.000,6,0.000,0.023,2808,1654,3111,0,0,0,0,0,0
$GC,4546,-1.13,-116.8,374.1,-8.0,300,4550,0.00,2.45,0.00,0.000,4,0.000,0.054,2808,247,3108,0,0,0,0,0,0
$GC,4580,-1.13,-116.8,376.9,-8.1,300,4584,0.00,2.28,0.00,0.000,6,0.000,0.024,2808,1649,3108,0,0,0,0,0,0
$GC,4916,-1.17,-116.8,398.5,-6.6,309,4920,0.00,2.47,0.00,0.000,4,0.000,0.054,2808,239,3106,0,0,0,0,0,0
$GC,4977,-1.17,-116.8,402.5,-6.1,310,4981,0.00,2.30,0.00,0.000,6,0.000,0.025,2808,1654,3105,0,0,0,0,0,0
$GC,5328,-1.21,-116.8,428.6,-8.2,319,5332,0.00,2.50,0.00,0.000,4,0.000,0.056,2807,241,3103,0,0,0,0,0,0
$GC,5407,-1.21,-116.8,434.4,-6.5,320,5411,0.00,2.30,0.00,0.000,6,0.000,0.025,2808,1645,3102,0,0,0,0,0,0
$STATE,5654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5654,begin apogee
$GC,5662,-0.31,0.0,452.4,7.7,326,5762,0.80,0.00,97.28,0.832,6,0.065,0.000,2982,1649,2630,0,0,0,0,0,0
$STATE,5763,end apogee,CONTROL_FINISHED_OK
$STATE,5763,begin climb
$GC,5766,1.18,116.8,454.0,0.0,328,5877,1.42,2.40,102.15,0.814,4,0.039,0.031,3310,3036,2153,0,0,0,0,0,0
$GC,5899,1.08,182.0,453.2,5.0,331,5965,0.12,2.40,57.80,0.796,6,0.112,0.039,3286,1654,1888,0,0,0,0,0,0
$GC,6307,0.95,182.0,407.9,12.0,341,6312,0.15,2.53,0.00,0.000,4,0.107,0.058,3258,242,1879,0,0,0,0,0,0
$GC,6336,0.78,182.0,404.2,12.2,341,6341,0.17,2.35,0.00,0.000,6,0.104,0.027,3224,1652,1876,0,0,0,0,0,0
$GC,6673,0.78,182.0,376.6,8.0,350,6677,0.00,2.55,0.00,0.000,4,0.000,0.058,3223,235,1874,0,0,0,0,0,0
$GC,6718,0.74,190.8,373.4,7.5,351,6730,0.00,2.35,6.45,0.621,6,0.000,0.028,3223,1662,1852,0,0,0,0,0,0
$GC,7049,0.77,216.3,350.4,6.7,359,7081,0.00,2.58,24.50,0.754,4,0.000,0.057,3224,242,1747,0,0,0,0,0,0
$GC,7142,0.74,216.3,342.8,9.5,361,7146,0.00,2.35,0.00,0.000,6,0.000,0.028,3224,1649,1743,0,0,0,0,0,0
$GC,7470,0.78,222.7,317.5,7.6,369,7482,0.00,2.58,6.22,0.596,4,0.000,0.058,3224,249,1721,0,0,0,0,0,0
$GC,7559,0.78,222.7,310.0,8.9,370,7565,0.00,2.30,0.00,0.000,6,0.000,0.028,3223,1653,1718,0,0,0,0,0,0
$GC,7873,0.84,233.6,286.5,7.4,382,7889,0.00,2.58,10.90,0.665,4,0.000,0.058,3224,234,1677,0,0,0,0,0,0
$GC,7950,0.84,233.6,279.5,9.4,385,7954,0.00,2.35,0.00,0.000,6,0.000,0.027,3224,1648,1673,0,0,0,0,0,0
$GC,8276,0.91,233.6,253.3,8.2,401,8281,0.10,2.55,0.00,0.000,4,0.080,0.057,3254,234,1672,0,0,0,0,0,0
$GC,8377,0.86,233.6,243.6,9.2,405,8381,0.00,2.35,0.00,0.000,6,0.000,0.027,3254,1655,1670,0,0,0,0,0,0
$GC,8699,0.88,247.1,219.7,7.3,421,8720,0.00,2.53,12.55,0.635,4,0.000,0.054,3254,242,1621,0,0,0,0,0,0
$GC,8746,0.81,247.1,216.0,8.8,423,8751,0.15,2.33,0.00,0.000,6,0.104,0.025,3226,1657,1619,0,0,0,0,0,0
$GC,9069,0.94,293.6,196.5,5.8,440,9117,0.12,2.60,41.60,0.657,4,0.068,0.054,3263,246,1432,0,0,0,0,0,0
$GC,9209,0.89,293.6,181.6,12.3,450,9213,0.00,2.33,0.00,0.000,6,0.000,0.024,3263,1660,1427,0,0,0,0,0,0
$GC,9473,0.89,293.6,157.0,8.6,471,9478,0.00,2.53,0.00,0.000,4,0.000,0.052,3263,238,1426,0,0,0,0,0,0
$GC,9555,0.89,293.6,149.4,9.8,477,9559,0.00,2.33,0.00,0.000,6,0.000,0.023,3263,1659,1424,0,0,0,0,0,0
$GC,9820,0.96,307.8,130.1,7.3,498,9838,0.00,2.58,12.50,0.550,4,0.000,0.052,3263,246,1374,0,0,0,0,0,0
$GC,9909,0.96,307.8,121.8,9.9,504,9913,0.00,2.28,0.00,0.000,6,0.000,0.021,3263,1652,1370,0,0,0,0,0,0
$GC,10170,1.09,329.8,102.1,6.9,524,10198,0.10,2.58,19.73,0.548,4,0.074,0.050,3298,237,1284,0,0,0,0,0,0
$GC,10258,1.06,329.8,93.5,12.2,530,10262,0.00,2.30,0.00,0.000,6,0.000,0.021,3298,1658,1281,0,0,0,0,0,0
$GC,10529,1.12,329.8,66.1,8.6,551,10534,0.00,2.50,0.00,0.000,4,0.000,0.048,3298,239,1281,0,0,0,0,0,0
$GC,10645,1.12,329.8,55.3,10.1,559,10652,0.00,2.30,0.00,0.000,6,0.000,0.020,3298,1659,1280,0,0,0,0,0,0
$GC,10905,1.17,329.8,35.9,8.3,580,10910,0.00,2.47,0.00,0.000,4,0.000,0.049,3298,233,1280,0,0,0,0,0,0
$GC,10938,1.17,329.8,32.7,10.1,582,10945,0.00,2.28,0.00,0.000,6,0.000,0.019,3298,1659,1279,0,0,0,0,0,0
$GC,11203,1.27,370.6,12.2,6.1,639,11244,0.12,2.50,35.12,0.477,4,0.062,0.046,3342,240,1117,0,0,0,0,0,0
$STATE,11280,end climb,SURFACE_DEPTH_REACHED
$STATE,11281,begin surface coast
$FINISH,0.8,1.023060
$STATE,11305,end surface coast,CONTROL_FINISHED_OK
$STATE,11305,begin surface
$SM_CCo,11330,26.10,0.462,0,0,957,410.14
$SM_GC,1.62,0.00,0.00,26.10,0.000,0.000,0.462,427,1627,957,-12.07,-0.65,410.14
$IRIDIUM_FIX,2101.76,-15801.19,271299,080859
$TT8_MAMPS,0.029146
$HUMID,57.52
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,23.3,52.886
$10V_AH,10.1,43.656
$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,30.450,148.150,426.800,26.100,0.000,27.431,32.538,169.063,4.750,0.000,15.296,1293.224,7338.247,485.038,2051.952,547.711,0.000,1424.158,0.000,2024.238,0.000,29.262,0.000
$DEVICE_MAMPS,133.458,59.826,832.195,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,442.455,426.586,989.904,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,38111,659
$CAP_FILE_SIZE,132117,0
$CFSIZE,260165632,181850112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021010,142230,2108.574,-15759.668,37,1.6,37,9.8