version: 66.06
glider: 139
mission: 8
dive: 682
start: 10 15 110 12 52 57
data:
$ID,139
$MISSION,8
$DIVE,682
$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,-2165536.8
$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
$GPS1,124625,2104.741,-15800.495,41,1.6,41,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.1
$GPS2,125238,2104.777,-15800.523,14,1.6,14,9.8
$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,328.2,7105,-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,-64.18,0.000,2,0.000,0.000,427,1509,2755,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.8,12,111,12.62,2.40,-6.62,0.000,4,0.132,0.032,2784,2959,3109,0,0,0,0,0,0
$GC,197,-1.12,-116.8,25.0,-12.3,35,204,0.00,2.47,0.00,0.000,6,0.000,0.034,2784,1529,3111,0,0,0,0,0,0
$GC,401,-0.91,-116.8,55.1,-14.1,56,406,0.28,2.22,0.00,0.000,4,0.085,0.044,2846,229,3112,0,0,0,0,0,0
$GC,512,-0.87,-116.8,68.2,-11.3,64,516,0.00,2.12,0.00,0.000,6,0.000,0.018,2846,1596,3112,0,0,0,0,0,0
$GC,777,-0.87,-116.8,95.6,-8.8,85,781,0.00,2.35,0.00,0.000,4,0.000,0.044,2846,227,3112,0,0,0,0,0,0
$GC,797,-0.83,-116.8,97.8,-10.3,86,805,0.08,2.15,0.00,0.000,6,0.075,0.018,2867,1591,3113,0,0,0,0,0,0
$GC,1060,-0.89,-116.8,117.7,-7.6,107,1064,0.00,2.33,0.00,0.000,4,0.000,0.044,2866,226,3114,0,0,0,0,0,0
$GC,1132,-0.98,-116.8,124.6,-9.0,112,1137,0.15,2.12,0.00,0.000,6,0.054,0.018,2815,1588,3114,0,0,0,0,0,0
$GC,1393,-0.95,-116.8,147.3,-8.2,132,1398,0.12,2.33,0.00,0.000,4,0.091,0.044,2843,235,3114,0,0,0,0,0,0
$GC,1422,-0.95,-116.8,149.9,-8.5,134,1426,0.00,2.10,0.00,0.000,6,0.000,0.018,2843,1593,3114,0,0,0,0,0,0
$GC,1683,-1.00,-116.8,173.4,-8.4,154,1687,0.00,2.17,0.00,0.000,4,0.000,0.021,2843,2951,3115,0,0,0,0,0,0
$GC,1723,-1.14,-116.8,176.5,-7.0,157,1728,0.17,2.38,0.00,0.000,6,0.048,0.031,2782,1527,3115,0,0,0,0,0,0
$GC,1989,-1.05,-116.8,201.3,-11.2,178,1994,0.17,2.20,0.00,0.000,4,0.084,0.046,2820,238,3115,0,0,0,0,0,0
$GC,2013,-0.99,-116.8,204.0,-11.5,179,2017,0.00,2.10,0.00,0.000,6,0.000,0.019,2820,1593,3115,0,0,0,0,0,0
$GC,2345,-0.99,-116.8,230.4,-5.7,195,2349,0.00,2.35,0.00,0.000,4,0.000,0.047,2820,235,3115,0,0,0,0,0,0
$GC,2423,-0.99,-116.8,236.7,-8.8,198,2427,0.00,2.10,0.00,0.000,6,0.000,0.020,2820,1584,3115,0,0,0,0,0,0
$GC,2744,-1.03,-116.8,265.0,-6.6,213,2748,0.00,2.33,0.00,0.000,4,0.000,0.048,2819,232,3115,0,0,0,0,0,0
$GC,2804,-1.08,-116.8,268.0,-5.0,215,2810,0.00,2.15,0.00,0.000,6,0.000,0.021,2820,1591,3115,0,0,0,0,0,0
$GC,3123,-1.13,-116.8,282.9,-6.0,231,3127,0.00,2.20,0.00,0.000,4,0.000,0.025,2820,2948,3113,0,0,0,0,0,0
$GC,3151,-1.24,-116.8,284.9,-5.7,232,3156,0.17,2.40,0.00,0.000,6,0.049,0.035,2761,1522,3113,0,0,0,0,0,0
$GC,3497,-1.16,-116.8,315.9,-9.3,245,3499,0.17,0.00,0.00,0.000,6,0.084,0.000,2798,1522,3112,0,0,0,0,0,0
$GC,3821,-1.16,-116.8,342.5,-8.1,253,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1522,3110,0,0,0,0,0,0
$GC,4145,-1.16,-116.8,366.1,-7.4,261,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1522,3108,0,0,0,0,0,0
$GC,4471,-1.16,-116.8,393.3,-8.3,269,4475,0.00,2.38,0.00,0.000,4,0.000,0.028,2798,2954,3105,0,0,0,0,0,0
$GC,4490,-1.21,-116.8,395.1,-8.2,269,4495,0.00,2.42,0.00,0.000,6,0.000,0.039,2797,1532,3105,0,0,0,0,0,0
$GC,4837,-1.21,-116.8,421.2,-8.2,278,4841,0.00,2.28,0.00,0.000,4,0.000,0.055,2798,231,3103,0,0,0,0,0,0
$GC,4862,-1.21,-116.8,423.2,-8.0,278,4866,0.00,2.12,0.00,0.000,6,0.000,0.025,2798,1565,3103,0,0,0,0,0,0
$GC,5208,-1.21,-116.8,448.0,-6.9,287,5213,0.00,2.33,0.00,0.000,4,0.000,0.057,2798,234,3100,0,0,0,0,0,0
$STATE,5229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5229,begin apogee
$GC,5237,-0.31,0.0,450.1,7.9,287,5337,0.82,0.00,96.45,0.839,6,0.067,0.000,2980,1512,2630,0,0,0,0,0,0
$STATE,5338,end apogee,CONTROL_FINISHED_OK
$STATE,5338,begin climb
$GC,5342,1.18,116.8,453.5,0.0,290,5454,1.42,2.35,101.72,0.822,4,0.038,0.030,3310,2884,2152,0,0,0,0,0,0
$GC,5480,1.07,189.5,454.1,4.6,293,5552,0.12,2.45,64.05,0.806,6,0.108,0.041,3286,1497,1856,0,0,0,0,0,0
$GC,5876,0.93,189.5,414.2,10.6,302,5881,0.17,2.33,0.00,0.000,4,0.098,0.029,3252,2883,1848,0,0,0,0,0,0
$GC,5948,0.93,189.5,407.3,9.2,303,5952,0.00,2.42,0.00,0.000,6,0.000,0.044,3252,1496,1847,0,0,0,0,0,0
$GC,6288,0.86,189.5,375.1,9.5,312,6292,0.00,2.35,0.00,0.000,4,0.000,0.029,3252,2883,1843,0,0,0,0,0,0
$GC,6350,0.86,189.5,369.4,8.3,313,6354,0.00,2.42,0.00,0.000,6,0.000,0.044,3252,1494,1844,0,0,0,0,0,0
$GC,6699,0.81,189.5,342.0,8.3,322,6704,0.12,2.35,0.00,0.000,4,0.104,0.030,3227,2892,1841,0,0,0,0,0,0
$GC,6744,0.89,206.1,339.2,7.1,323,6764,0.00,2.42,13.50,0.723,6,0.000,0.044,3227,1497,1789,0,0,0,0,0,0
$GC,7075,0.98,276.7,323.0,4.7,331,7147,0.15,2.33,63.08,0.769,4,0.062,0.061,3268,236,1500,0,0,0,0,0,0
$GC,7206,0.85,276.7,314.1,8.4,333,7212,0.15,2.10,0.00,0.000,6,0.097,0.028,3240,1507,1494,0,0,0,0,0,0
$GC,7518,0.85,276.7,287.6,9.8,344,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1507,1492,0,0,0,0,0,0
$GC,7830,0.90,291.5,259.8,7.2,359,7851,0.00,2.30,12.52,0.667,4,0.000,0.057,3238,229,1439,0,0,0,0,0,0
$GC,7880,0.91,299.3,256.2,7.5,361,7893,0.00,2.08,8.15,0.613,6,0.000,0.028,3239,1500,1409,0,0,0,0,0,0
$GC,8206,0.96,299.3,232.7,8.2,376,8210,0.00,2.28,0.00,0.000,4,0.000,0.058,3238,235,1405,0,0,0,0,0,0
$GC,8280,0.96,299.3,225.2,9.9,379,8284,0.00,2.05,0.00,0.000,6,0.000,0.026,3238,1500,1404,0,0,0,0,0,0
$GC,8606,1.02,311.2,199.3,7.4,395,8623,0.15,2.33,11.02,0.613,4,0.060,0.056,3283,233,1361,0,0,0,0,0,0
$GC,8682,0.91,311.2,191.2,12.5,400,8687,0.17,2.08,0.00,0.000,6,0.090,0.025,3247,1504,1358,0,0,0,0,0,0
$GC,8949,0.98,325.4,169.2,7.3,421,8970,0.00,2.30,13.52,0.603,4,0.000,0.053,3247,227,1302,0,0,0,0,0,0
$GC,8995,0.98,326.2,165.5,7.9,424,8999,0.00,2.08,0.00,0.000,6,0.000,0.025,3247,1513,1300,0,0,0,0,0,0
$GC,9261,1.04,326.2,143.4,9.7,445,9266,0.12,2.28,0.00,0.000,4,0.065,0.053,3287,232,1299,0,0,0,0,0,0
$GC,9316,0.97,326.2,136.5,13.7,449,9320,0.12,2.05,0.00,0.000,6,0.096,0.025,3261,1503,1298,0,0,0,0,0,0
$GC,9582,1.07,340.9,115.5,7.2,470,9603,0.00,2.28,14.32,0.558,4,0.000,0.051,3261,228,1238,0,0,0,0,0,0
$GC,9619,1.12,340.9,112.4,9.0,472,9626,0.10,2.08,0.00,0.000,6,0.036,0.024,3301,1503,1237,0,0,0,0,0,0
$GC,9881,1.13,356.2,89.4,7.2,493,9901,0.00,2.28,14.40,0.533,4,0.000,0.050,3301,239,1176,0,0,0,0,0,0
$GC,9967,1.10,356.2,81.8,9.4,499,9971,0.00,2.03,0.00,0.000,6,0.000,0.021,3302,1505,1173,0,0,0,0,0,0
$GC,10238,1.14,356.2,58.7,9.5,520,10242,0.00,2.25,0.00,0.000,4,0.000,0.021,3301,2885,1173,0,0,0,0,0,0
$GC,10292,1.30,356.2,53.4,9.8,524,10297,0.15,2.35,0.00,0.000,6,0.055,0.035,3351,1498,1173,0,0,0,0,0,0
$GC,10555,1.23,356.2,27.3,9.4,548,10563,0.15,2.22,0.00,0.000,4,0.087,0.048,3318,235,1173,0,0,0,0,0,0
$GC,10631,1.19,356.2,20.2,9.3,564,10637,0.00,2.03,0.00,0.000,6,0.000,0.021,3319,1513,1172,0,0,0,0,0,0
$STATE,10818,end climb,SURFACE_DEPTH_REACHED
$STATE,10818,begin surface coast
$FINISH,1.0,1.012310
$STATE,10850,end surface coast,CONTROL_FINISHED_OK
$STATE,10850,begin surface
$SM_CCo,10873,36.08,0.478,0,0,957,410.14
$SM_GC,1.81,0.00,0.00,36.08,0.000,0.000,0.478,428,1512,957,-12.07,-0.51,410.14
$IRIDIUM_FIX,2054.83,-15802.06,090100,090915
$TT8_MAMPS,0.029146
$HUMID,60.23
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.3,63.858
$10V_AH,10.0,51.858
$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,30.250,121.425,412.750,36.075,0.000,28.879,33.888,174.724,4.750,0.000,15.104,1192.243,7279.948,466.145,1797.852,541.532,0.000,1294.306,0.000,1776.072,0.000,29.250,0.000
$DEVICE_MAMPS,131.924,61.360,839.098,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.842,389.819,877.203,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,34956,614
$CAP_FILE_SIZE,120846,0
$CFSIZE,260165632,176041984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151010,155558,2105.805,-15801.638,13,3.8,32,9.8