version: 66.06
glider: 139
mission: 8
dive: 613
start: 10 6 110 5 36 56
data:
$ID,139
$MISSION,8
$DIVE,613
$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,-2163976.5
$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,1550
$C_ROLL_CLIMB,1550
$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
$GPS1,052604,2105.396,-15753.742,19,5.5,38,9.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-69.6
$GPS2,053637,2105.388,-15753.799,14,1.2,19,9.8
$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,77.8,18818,-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,-64.28,0.000,2,0.000,0.000,425,1553,2757,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-4.0,12,110,12.65,2.35,-6.53,0.000,4,0.133,0.031,2785,2977,3108,0,0,0,0,0,0
$GC,167,-1.09,-116.8,22.1,-15.8,28,174,0.10,2.47,0.00,0.000,6,0.078,0.035,2810,1547,3110,0,0,0,0,0,0
$GC,377,-0.91,-116.8,53.0,-14.5,52,379,0.20,0.00,0.00,0.000,6,0.090,0.000,2852,1547,3111,0,0,0,0,0,0
$GC,628,-0.91,-116.8,78.8,-8.1,72,632,0.00,2.25,0.00,0.000,4,0.000,0.045,2852,236,3111,0,0,0,0,0,0
$GC,685,-0.91,-116.8,84.4,-9.7,76,689,0.00,2.15,0.00,0.000,6,0.000,0.018,2852,1611,3112,0,0,0,0,0,0
$GC,955,-0.95,-116.8,110.3,-10.4,97,959,0.00,2.38,0.00,0.000,4,0.000,0.044,2852,235,3112,0,0,0,0,0,0
$GC,1015,-0.95,-116.8,117.5,-10.9,101,1020,0.00,2.12,0.00,0.000,6,0.000,0.018,2852,1612,3112,0,0,0,0,0,0
$GC,1276,-1.01,-116.8,138.0,-6.6,122,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1616,3113,0,0,0,0,0,0
$GC,1528,-1.08,-116.8,153.6,-6.1,142,1533,0.17,2.40,0.00,0.000,4,0.050,0.047,2794,225,3113,0,0,0,0,0,0
$GC,1595,-0.98,-116.8,159.8,-9.6,147,1601,0.20,2.15,0.00,0.000,6,0.079,0.019,2838,1601,3112,0,0,0,0,0,0
$GC,1869,-1.02,-116.8,178.5,-7.4,168,1873,0.00,2.35,0.00,0.000,4,0.000,0.047,2838,230,3112,0,0,0,0,0,0
$GC,1892,-1.02,-116.8,180.8,-8.6,170,1896,0.00,2.15,0.00,0.000,6,0.000,0.020,2838,1613,3112,0,0,0,0,0,0
$GC,2168,-1.06,-116.8,201.8,-7.2,191,2172,0.00,2.38,0.00,0.000,4,0.000,0.047,2838,231,3113,0,0,0,0,0,0
$GC,2214,-1.09,-116.8,205.6,-8.1,193,2219,0.12,2.17,0.00,0.000,6,0.062,0.020,2793,1607,3112,0,0,0,0,0,0
$GC,2549,-1.04,-116.8,235.5,-8.4,209,2551,0.12,0.00,0.00,0.000,6,0.094,0.000,2821,1611,3112,0,0,0,0,0,0
$GC,2853,-1.04,-116.8,254.2,-6.4,224,2857,0.00,2.38,0.00,0.000,4,0.000,0.048,2821,227,3111,0,0,0,0,0,0
$GC,2927,-1.09,-116.8,259.8,-7.9,227,2931,0.00,2.17,0.00,0.000,6,0.000,0.021,2821,1596,3112,0,0,0,0,0,0
$GC,3264,-1.13,-116.8,287.4,-8.3,243,3269,0.00,2.38,0.00,0.000,4,0.000,0.050,2821,233,3110,0,0,0,0,0,0
$GC,3297,-1.13,-116.8,290.5,-8.3,244,3301,0.00,2.10,0.00,0.000,6,0.000,0.022,2821,1556,3110,0,0,0,0,0,0
$GC,3632,-1.17,-116.8,318.5,-8.4,255,3636,0.12,2.33,0.00,0.000,4,0.064,0.052,2779,235,3109,0,0,0,0,0,0
$GC,3656,-1.11,-116.8,321.4,-11.5,255,3660,0.12,2.08,0.00,0.000,6,0.094,0.023,2806,1537,3108,0,0,0,0,0,0
$GC,3998,-1.11,-116.8,348.6,-7.4,264,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1542,3106,0,0,0,0,0,0
$GC,4322,-1.11,-116.8,368.0,-5.8,272,4326,0.00,2.28,0.00,0.000,4,0.000,0.053,2805,235,3103,0,0,0,0,0,0
$GC,4373,-1.11,-116.8,371.4,-6.4,273,4377,0.00,2.10,0.00,0.000,6,0.000,0.024,2806,1563,3103,0,0,0,0,0,0
$GC,4692,-1.11,-116.8,393.9,-7.8,281,4696,0.00,2.33,0.00,0.000,4,0.000,0.054,2805,235,3101,0,0,0,0,0,0
$GC,4716,-1.11,-116.8,396.0,-8.3,281,4720,0.00,2.10,0.00,0.000,6,0.000,0.025,2806,1552,3101,0,0,0,0,0,0
$GC,5060,-1.11,-116.8,425.0,-8.7,290,5064,0.00,2.25,0.00,0.000,4,0.000,0.029,2806,2926,3099,0,0,0,0,0,0
$GC,5085,-1.17,-116.8,427.0,-8.3,290,5089,0.00,2.35,0.00,0.000,6,0.000,0.040,2806,1544,3099,0,0,0,0,0,0
$STATE,5382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5382,begin apogee
$GC,5388,-0.31,0.0,451.1,8.1,298,5488,0.80,0.00,96.30,0.833,6,0.065,0.000,2979,1544,2629,0,0,0,0,0,0
$STATE,5489,end apogee,CONTROL_FINISHED_OK
$STATE,5489,begin climb
$GC,5491,1.18,116.8,454.1,0.0,300,5604,1.42,2.42,101.65,0.819,4,0.037,0.029,3310,2927,2152,0,0,0,0,0,0
$GC,5737,1.01,128.7,449.1,7.4,305,5754,0.20,2.42,11.02,0.719,6,0.098,0.041,3272,1545,2104,0,0,0,0,0,0
$GC,6088,0.92,159.5,426.4,6.5,314,6121,0.00,2.40,27.85,0.790,4,0.000,0.030,3272,2927,1979,0,0,0,0,0,0
$GC,6225,0.87,174.4,416.7,7.2,317,6245,0.15,2.42,14.38,0.746,6,0.103,0.043,3242,1550,1918,0,0,0,0,0,0
$GC,6593,0.87,203.9,393.0,6.6,326,6622,0.00,0.00,27.25,0.782,6,0.000,0.000,3242,1550,1798,0,0,0,0,0,0
$GC,6917,0.88,212.5,369.2,7.5,334,6932,0.00,2.35,8.50,0.677,4,0.000,0.029,3242,2929,1762,0,0,0,0,0,0
$GC,6957,0.89,220.1,366.1,7.6,334,6970,0.00,2.45,8.48,0.672,6,0.000,0.044,3242,1544,1732,0,0,0,0,0,0
$GC,7290,0.89,220.1,339.2,8.3,343,7294,0.00,2.35,0.00,0.000,4,0.000,0.060,3242,229,1728,0,0,0,0,0,0
$GC,7345,0.82,220.1,334.1,9.1,344,7350,0.00,2.17,0.00,0.000,6,0.000,0.028,3242,1542,1725,0,0,0,0,0,0
$GC,7664,0.86,256.6,312.4,6.2,352,7705,0.00,2.38,32.55,0.749,4,0.000,0.029,3242,2935,1582,0,0,0,0,0,0
$GC,7726,0.90,256.6,307.9,8.0,353,7730,0.00,2.45,0.00,0.000,6,0.000,0.044,3243,1550,1582,0,0,0,0,0,0
$GC,8060,0.90,256.6,276.1,9.5,367,8064,0.00,2.35,0.00,0.000,4,0.000,0.060,3242,233,1578,0,0,0,0,0,0
$GC,8144,0.86,256.6,268.2,9.3,370,8151,0.00,2.20,0.00,0.000,6,0.000,0.028,3242,1555,1575,0,0,0,0,0,0
$GC,8460,0.86,256.6,243.1,8.6,386,8464,0.00,2.35,0.00,0.000,4,0.000,0.056,3242,233,1575,0,0,0,0,0,0
$GC,8507,0.86,256.6,238.5,10.3,388,8511,0.00,2.15,0.00,0.000,6,0.000,0.027,3242,1559,1573,0,0,0,0,0,0
$GC,8832,0.90,256.6,211.9,8.3,404,8836,0.00,2.35,0.00,0.000,4,0.000,0.055,3242,232,1573,0,0,0,0,0,0
$GC,8859,0.90,256.6,209.4,9.6,405,8863,0.00,2.12,0.00,0.000,6,0.000,0.027,3243,1554,1572,0,0,0,0,0,0
$GC,9182,0.95,256.6,184.8,8.2,426,9186,0.00,2.33,0.00,0.000,4,0.000,0.054,3242,233,1572,0,0,0,0,0,0
$GC,9226,0.95,256.6,180.7,9.9,429,9230,0.00,2.15,0.00,0.000,6,0.000,0.025,3243,1557,1571,0,0,0,0,0,0
$GC,9492,1.00,256.6,156.9,9.3,450,9497,0.10,2.33,0.00,0.000,4,0.077,0.053,3275,234,1571,0,0,0,0,0,0
$GC,9535,0.92,256.6,151.6,12.0,453,9539,0.12,2.12,0.00,0.000,6,0.101,0.024,3250,1562,1570,0,0,0,0,0,0
$GC,9798,1.01,288.7,131.3,6.4,473,9832,0.00,2.30,26.90,0.596,4,0.000,0.023,3250,2930,1452,0,0,0,0,0,0
$GC,9856,1.18,337.6,127.8,5.7,477,9906,0.25,2.40,42.90,0.596,6,0.044,0.038,3321,1547,1253,0,0,0,0,0,0
$GC,10158,1.12,337.6,91.8,14.4,501,10163,0.12,2.33,0.00,0.000,4,0.097,0.052,3295,232,1248,0,0,0,0,0,0
$GC,10204,1.12,337.6,84.9,14.2,504,10211,0.00,2.15,0.00,0.000,6,0.000,0.022,3295,1553,1245,0,0,0,0,0,0
$GC,10466,1.19,337.6,60.2,8.5,525,10470,0.00,2.30,0.00,0.000,4,0.000,0.050,3295,227,1245,0,0,0,0,0,0
$GC,10545,1.20,341.6,53.8,7.7,531,10549,0.00,2.10,0.00,0.000,6,0.000,0.021,3295,1561,1244,0,0,0,0,0,0
$GC,10813,1.25,341.6,34.8,8.0,552,10818,0.12,2.33,0.00,0.000,4,0.063,0.048,3338,227,1243,0,0,0,0,0,0
$GC,10846,1.12,341.6,30.9,11.5,554,10852,0.17,2.12,0.00,0.000,6,0.066,0.020,3296,1551,1243,0,0,0,0,0,0
$GC,11113,1.16,341.9,9.6,7.9,613,11119,0.00,2.33,0.00,0.000,4,0.000,0.048,3296,234,1243,0,0,0,0,0,0
$GC,11161,1.12,341.9,4.6,10.6,623,11167,0.00,2.10,0.00,0.000,6,0.000,0.020,3296,1557,1243,0,0,0,0,0,0
$STATE,11177,end climb,SURFACE_DEPTH_REACHED
$STATE,11177,begin surface coast
$FINISH,0.9,1.023223
$STATE,11204,end surface coast,CONTROL_FINISHED_OK
$STATE,11204,begin surface
$SM_CCo,11227,40.55,0.474,0,0,957,410.14
$SM_GC,1.46,0.00,0.00,40.55,0.000,0.000,0.474,428,1556,957,-12.07,0.17,410.14
$IRIDIUM_FIX,2059.45,-15753.90,311299,050500
$TT8_MAMPS,0.029146
$HUMID,58.97
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,56.172
$10V_AH,10.0,46.046
$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,29.675,122.875,397.775,40.550,0.000,58.312,69.117,295.106,4.500,0.000,20.229,1233.577,7570.319,475.230,1874.089,742.992,0.000,1324.993,0.000,1846.708,0.000,29.269,0.000
$DEVICE_MAMPS,132.691,59.826,832.962,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.122,401.984,902.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,34851,632
$CAP_FILE_SIZE,125995,0
$CFSIZE,260165632,180166656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061010,084607,2105.708,-15753.152,44,0.9,44,9.8