version: 66.06
glider: 139
mission: 8
dive: 680
start: 10 15 110 6 22 16
data:
$ID,139
$MISSION,8
$DIVE,680
$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,-2165507.8
$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
$GPS1,061537,2102.269,-15757.054,61,1.1,61,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-73.4
$GPS2,062156,2102.302,-15757.122,16,1.7,16,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,312.8,14060,-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,-64.25,0.000,2,0.000,0.000,424,1498,2772,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.8,-4.4,12,110,12.65,2.40,-6.10,0.000,4,0.132,0.032,2785,2951,3109,0,0,0,0,0,0
$GC,192,-1.08,-116.8,25.4,-13.1,34,199,0.10,2.45,0.00,0.000,6,0.085,0.035,2809,1534,3110,0,0,0,0,0,0
$GC,394,-0.92,-116.8,56.1,-15.1,54,398,0.20,2.25,0.00,0.000,4,0.091,0.044,2851,232,3111,0,0,0,0,0,0
$GC,436,-0.86,-116.8,61.9,-11.5,57,440,0.00,2.10,0.00,0.000,6,0.000,0.018,2851,1584,3112,0,0,0,0,0,0
$GC,696,-0.86,-116.8,86.5,-8.9,77,700,0.00,2.33,0.00,0.000,4,0.000,0.044,2851,226,3112,0,0,0,0,0,0
$GC,739,-0.86,-116.8,90.5,-9.5,80,743,0.00,2.10,0.00,0.000,6,0.000,0.018,2851,1588,3113,0,0,0,0,0,0
$GC,998,-0.86,-116.8,111.2,-7.4,100,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1593,3113,0,0,0,0,0,0
$GC,1252,-0.90,-116.8,130.9,-7.5,120,1256,0.00,2.33,0.00,0.000,4,0.000,0.045,2851,229,3114,0,0,0,0,0,0
$GC,1304,-0.95,-116.8,135.4,-9.1,124,1308,0.00,2.12,0.00,0.000,6,0.000,0.018,2851,1590,3114,0,0,0,0,0,0
$GC,1570,-1.01,-116.8,155.9,-8.1,145,1574,0.00,2.33,0.00,0.000,4,0.000,0.045,2851,232,3114,0,0,0,0,0,0
$GC,1624,-1.06,-116.8,160.8,-9.2,149,1629,0.15,2.12,0.00,0.000,6,0.054,0.018,2798,1591,3114,0,0,0,0,0,0
$GC,1890,-1.01,-116.8,184.3,-8.5,170,1895,0.15,2.35,0.00,0.000,4,0.088,0.046,2831,231,3114,0,0,0,0,0,0
$GC,1933,-1.01,-116.8,188.4,-9.7,173,1937,0.00,2.12,0.00,0.000,6,0.000,0.019,2831,1590,3114,0,0,0,0,0,0
$GC,2202,-1.01,-116.8,209.5,-6.9,190,2207,0.00,2.33,0.00,0.000,4,0.000,0.046,2830,234,3114,0,0,0,0,0,0
$GC,2250,-1.01,-116.8,212.4,-6.3,192,2254,0.00,2.12,0.00,0.000,6,0.000,0.019,2831,1590,3114,0,0,0,0,0,0
$GC,2577,-1.04,-116.8,233.3,-7.7,208,2581,0.00,2.33,0.00,0.000,4,0.000,0.046,2831,234,3113,0,0,0,0,0,0
$GC,2629,-1.04,-116.8,237.7,-7.9,210,2632,0.00,2.12,0.00,0.000,6,0.000,0.020,2831,1582,3114,0,0,0,0,0,0
$GC,2956,-1.09,-116.8,260.2,-6.9,226,2960,0.00,2.33,0.00,0.000,4,0.000,0.048,2831,228,3113,0,0,0,0,0,0
$GC,3004,-1.14,-116.8,264.6,-9.6,228,3009,0.12,2.12,0.00,0.000,6,0.062,0.021,2786,1581,3113,0,0,0,0,0,0
$GC,3333,-1.10,-116.8,300.8,-10.3,244,3335,0.12,0.00,0.00,0.000,6,0.094,0.000,2814,1585,3113,0,0,0,0,0,0
$GC,3655,-1.13,-116.8,323.7,-6.9,252,3659,0.00,2.35,0.00,0.000,4,0.000,0.050,2813,235,3111,0,0,0,0,0,0
$GC,3684,-1.13,-116.8,326.2,-8.8,252,3688,0.00,2.12,0.00,0.000,6,0.000,0.022,2813,1580,3111,0,0,0,0,0,0
$GC,4020,-1.17,-116.8,353.7,-8.2,261,4024,0.00,2.33,0.00,0.000,4,0.000,0.051,2813,235,3110,0,0,0,0,0,0
$GC,4063,-1.17,-116.8,357.2,-8.4,262,4067,0.00,2.08,0.00,0.000,6,0.000,0.023,2814,1534,3109,0,0,0,0,0,0
$GC,4392,-1.20,-116.8,375.3,-5.0,270,4394,0.12,0.00,0.00,0.000,6,0.065,0.000,2771,1539,3107,0,0,0,0,0,0
$GC,4716,-1.14,-116.8,403.2,-9.3,278,4718,0.15,0.00,0.00,0.000,6,0.087,0.000,2804,1539,3105,0,0,0,0,0,0
$GC,5041,-1.14,-116.8,427.4,-7.0,286,5045,0.00,2.28,0.00,0.000,4,0.000,0.055,2803,230,3103,0,0,0,0,0,0
$GC,5088,-1.14,-116.8,430.9,-6.8,287,5092,0.00,2.10,0.00,0.000,6,0.000,0.025,2803,1532,3102,0,0,0,0,0,0
$STATE,5410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5410,begin apogee
$GC,5418,-0.31,0.0,453.6,7.6,295,5518,0.82,0.00,96.68,0.836,6,0.065,0.000,2982,1488,2630,0,0,0,0,0,0
$STATE,5519,end apogee,CONTROL_FINISHED_OK
$STATE,5519,begin climb
$GC,5521,1.18,116.8,457.5,0.0,297,5633,1.42,2.22,101.32,0.820,4,0.035,0.054,3313,248,2152,0,0,0,0,0,0
$GC,5687,0.89,153.8,458.7,6.2,300,5728,0.35,2.08,33.22,0.792,6,0.096,0.025,3245,1521,2001,0,0,0,0,0,0
$GC,6065,0.88,195.8,436.6,6.0,310,6107,0.00,2.33,37.35,0.800,4,0.000,0.028,3246,2875,1830,0,0,0,0,0,0
$GC,6188,0.91,217.4,427.8,6.9,312,6214,0.00,2.40,20.08,0.768,6,0.000,0.043,3245,1508,1743,0,0,0,0,0,0
$GC,6533,0.86,217.4,399.1,9.0,321,6537,0.00,2.25,0.00,0.000,4,0.000,0.058,3245,235,1737,0,0,0,0,0,0
$GC,6589,0.76,217.4,393.3,9.4,322,6594,0.15,2.08,0.00,0.000,6,0.104,0.028,3216,1496,1734,0,0,0,0,0,0
$GC,6905,0.83,250.3,372.3,6.4,330,6937,0.00,0.00,29.15,0.776,6,0.000,0.000,3216,1497,1608,0,0,0,0,0,0
$GC,7274,0.88,250.3,341.6,8.3,339,7278,0.12,2.28,0.00,0.000,4,0.070,0.059,3252,232,1603,0,0,0,0,0,0
$GC,7370,0.79,250.3,332.2,9.6,341,7375,0.15,2.10,0.00,0.000,6,0.104,0.028,3223,1511,1600,0,0,0,0,0,0
$GC,7694,0.90,304.9,312.4,5.4,349,7748,0.10,2.30,47.85,0.752,4,0.081,0.057,3254,235,1385,0,0,0,0,0,0
$GC,7771,0.83,304.9,305.8,9.8,350,7776,0.12,2.10,0.00,0.000,6,0.106,0.028,3230,1504,1383,0,0,0,0,0,0
$GC,8087,0.88,304.9,280.2,8.0,363,8091,0.00,2.28,0.00,0.000,4,0.000,0.058,3230,230,1380,0,0,0,0,0,0
$GC,8147,0.88,304.9,274.3,9.3,365,8152,0.00,2.08,0.00,0.000,6,0.000,0.028,3230,1507,1378,0,0,0,0,0,0
$GC,8465,0.99,343.3,253.6,6.2,381,8504,0.15,2.30,33.12,0.699,4,0.061,0.057,3273,235,1230,0,0,0,0,0,0
$GC,8559,0.90,343.3,244.4,11.0,385,8564,0.15,2.08,0.00,0.000,6,0.097,0.027,3244,1496,1226,0,0,0,0,0,0
$GC,8892,0.96,343.3,212.3,10.2,401,8896,0.00,2.22,0.00,0.000,4,0.000,0.055,3243,228,1225,0,0,0,0,0,0
$GC,8985,0.96,343.3,200.7,11.8,405,8989,0.00,2.08,0.00,0.000,6,0.000,0.025,3243,1510,1222,0,0,0,0,0,0
$GC,9310,1.01,343.3,168.7,8.9,430,9315,0.12,2.25,0.00,0.000,4,0.067,0.054,3282,234,1221,0,0,0,0,0,0
$GC,9403,0.96,343.3,156.9,12.7,436,9410,0.08,2.08,0.00,0.000,6,0.076,0.024,3261,1505,1220,0,0,0,0,0,0
$GC,9665,0.99,343.3,133.1,8.5,457,9669,0.00,2.22,0.00,0.000,4,0.000,0.052,3261,226,1221,0,0,0,0,0,0
$GC,9726,0.99,343.3,126.8,10.1,461,9731,0.00,2.05,0.00,0.000,6,0.000,0.024,3261,1509,1220,0,0,0,0,0,0
$GC,9987,1.13,402.7,109.9,5.2,482,10044,0.15,2.33,49.90,0.582,4,0.058,0.051,3307,234,987,0,0,0,0,0,0
$GC,10101,1.05,402.7,99.0,11.5,490,10105,0.15,2.05,0.00,0.000,6,0.089,0.022,3276,1495,984,0,0,0,0,0,0
$GC,10368,1.15,417.2,79.3,7.2,511,10386,0.10,2.22,12.95,0.508,4,0.073,0.051,3311,234,929,0,0,0,0,0,0
$GC,10431,1.11,417.2,72.4,13.5,515,10435,0.00,2.00,0.00,0.000,6,0.000,0.022,3311,1493,926,0,0,0,0,0,0
$GC,10697,1.14,417.2,45.7,10.1,536,10701,0.00,2.20,0.00,0.000,4,0.000,0.048,3311,232,926,0,0,0,0,0,0
$GC,10724,1.14,417.2,42.8,11.4,538,10727,0.00,2.03,0.00,0.000,6,0.000,0.021,3312,1500,925,0,0,0,0,0,0
$GC,10986,1.17,417.2,18.1,9.5,577,10993,0.00,2.25,0.00,0.000,4,0.000,0.049,3311,240,925,0,0,0,0,0,0
$GC,11044,1.12,417.2,12.6,9.4,589,11050,0.00,2.03,0.00,0.000,6,0.000,0.021,3311,1511,924,0,0,0,0,0,0
$STATE,11156,end climb,SURFACE_DEPTH_REACHED
$STATE,11156,begin surface coast
$FINISH,1.0,1.023124
$STATE,11191,end surface coast,CONTROL_FINISHED_OK
$STATE,11191,begin surface
$SM_CCo,11275,0.00,0.000,0,0,921,419.22
$SM_GC,1.76,12.38,0.00,0.00,0.025,0.000,0.000,428,1511,921,-11.98,-0.57,419.22
$IRIDIUM_FIX,2054.83,-15756.91,090100,030300
$TT8_MAMPS,0.028379
$HUMID,61.45
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,63.641
$10V_AH,10.0,51.694
$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,30.300,114.525,461.625,0.000,0.000,27.616,37.924,176.692,4.500,0.000,16.931,1216.361,7529.820,454.193,1876.068,570.521,0.000,1325.363,0.000,1855.824,0.000,29.248,0.000
$DEVICE_MAMPS,131.924,106.613,836.030,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.971,399.666,871.638,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34942,622
$CAP_FILE_SIZE,123901,0
$CFSIZE,260165632,176152576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151010,093122,2103.476,-15759.071,16,2.1,35,9.8