version: 66.06
glider: 139
mission: 8
dive: 688
start: 10 16 110 8 27 46
data:
$ID,139
$MISSION,8
$DIVE,688
$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,-2165679.5
$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,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
$GPS1,082101,2108.879,-15803.233,43,1.4,43,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-72.1
$GPS2,082726,2108.891,-15803.255,13,1.4,13,9.8
$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,106.9,2300,-18.4,-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,-1.27,-96.1,0.0,0.0,0,82,0.00,0.00,-64.53,0.000,2,0.000,0.000,423,1492,2782,0,0,0,0,0,0
$GC,85,-1.29,-116.8,3.8,-4.2,12,110,12.60,2.17,-5.90,0.000,4,0.134,0.056,2761,233,3107,0,0,0,0,0,0
$GC,153,-0.99,-116.8,22.0,-19.9,25,160,0.32,2.17,0.00,0.000,6,0.084,0.019,2831,1578,3110,0,0,0,0,0,0
$GC,364,-0.92,-116.8,50.3,-13.3,49,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1582,3111,0,0,0,0,0,0
$GC,615,-0.92,-116.8,79.1,-10.4,69,619,0.00,2.30,0.00,0.000,4,0.000,0.045,2831,237,3111,0,0,0,0,0,0
$GC,648,-0.88,-116.8,83.3,-12.0,71,654,0.12,2.05,0.00,0.000,6,0.096,0.018,2858,1558,3112,0,0,0,0,0,0
$GC,910,-0.96,-116.8,105.4,-8.7,92,914,0.00,2.28,0.00,0.000,4,0.000,0.045,2857,230,3112,0,0,0,0,0,0
$GC,977,-1.07,-116.8,111.5,-8.0,97,981,0.17,2.03,0.00,0.000,6,0.048,0.018,2798,1535,3113,0,0,0,0,0,0
$GC,1245,-1.07,-116.8,135.1,-9.0,118,1249,0.00,2.22,0.00,0.000,4,0.000,0.044,2798,230,3113,0,0,0,0,0,0
$GC,1284,-1.02,-116.8,139.5,-11.2,121,1292,0.12,2.03,0.00,0.000,6,0.091,0.019,2826,1536,3113,0,0,0,0,0,0
$GC,1557,-1.08,-116.8,164.7,-8.8,142,1561,0.00,2.22,0.00,0.000,4,0.000,0.045,2826,228,3114,0,0,0,0,0,0
$GC,1571,-1.12,-116.8,166.4,-9.2,143,1575,0.00,2.03,0.00,0.000,6,0.000,0.020,2826,1518,3114,0,0,0,0,0,0
$GC,1838,-1.19,-116.8,188.5,-7.8,164,1843,0.15,2.22,0.00,0.000,4,0.054,0.046,2774,237,3114,0,0,0,0,0,0
$GC,1868,-1.08,-116.8,191.7,-10.7,166,1873,0.17,2.03,0.00,0.000,6,0.085,0.019,2813,1538,3114,0,0,0,0,0,0
$GC,2142,-1.12,-116.8,213.0,-8.0,182,2146,0.00,2.22,0.00,0.000,4,0.000,0.046,2812,237,3114,0,0,0,0,0,0
$GC,2171,-1.12,-116.8,215.6,-9.4,183,2175,0.00,2.03,0.00,0.000,6,0.000,0.020,2813,1524,3114,0,0,0,0,0,0
$GC,2499,-1.17,-116.8,242.7,-9.2,199,2503,0.00,2.25,0.00,0.000,4,0.000,0.048,2813,235,3114,0,0,0,0,0,0
$GC,2518,-1.17,-116.8,244.8,-9.2,200,2522,0.00,2.05,0.00,0.000,6,0.000,0.021,2813,1526,3114,0,0,0,0,0,0
$GC,2855,-1.24,-116.8,273.5,-8.2,216,2860,0.15,2.25,0.00,0.000,4,0.056,0.049,2764,238,3112,0,0,0,0,0,0
$GC,2895,-1.16,-116.8,277.9,-11.5,217,2901,0.15,2.08,0.00,0.000,6,0.091,0.021,2795,1552,3113,0,0,0,0,0,0
$GC,3210,-1.16,-116.8,307.7,-9.4,231,3214,0.00,2.28,0.00,0.000,4,0.000,0.049,2795,231,3112,0,0,0,0,0,0
$GC,3238,-1.16,-116.8,310.6,-10.4,231,3242,0.00,2.05,0.00,0.000,6,0.000,0.022,2795,1537,3111,0,0,0,0,0,0
$GC,3574,-1.19,-116.8,340.0,-8.4,240,3578,0.00,2.25,0.00,0.000,4,0.000,0.051,2795,234,3110,0,0,0,0,0,0
$GC,3646,-1.22,-116.8,345.8,-7.4,241,3650,0.00,2.05,0.00,0.000,6,0.000,0.022,2795,1538,3110,0,0,0,0,0,0
$GC,3993,-1.27,-116.8,364.7,-5.0,250,3997,0.00,2.22,0.00,0.000,4,0.000,0.026,2795,2907,3108,0,0,0,0,0,0
$GC,4034,-1.39,-116.8,367.2,-6.8,250,4040,0.22,2.33,0.00,0.000,6,0.044,0.037,2729,1534,3108,0,0,0,0,0,0
$GC,4366,-1.28,-116.8,404.5,-12.1,259,4371,0.20,2.28,0.00,0.000,4,0.087,0.025,2770,2910,3105,0,0,0,0,0,0
$GC,4424,-1.34,-116.8,410.4,-9.1,260,4428,0.00,2.35,0.00,0.000,6,0.000,0.039,2770,1522,3105,0,0,0,0,0,0
$GC,4740,-1.34,-116.8,444.7,-11.8,268,4744,0.00,2.28,0.00,0.000,4,0.000,0.027,2771,2902,3103,0,0,0,0,0,0
$GC,4773,-1.43,-116.8,448.9,-11.8,268,4777,0.15,2.35,0.00,0.000,6,0.058,0.040,2725,1531,3103,0,0,0,0,0,0
$STATE,4817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4817,begin apogee
$GC,4825,-0.31,0.0,454.8,12.7,269,4925,1.20,0.00,97.00,0.822,6,0.073,0.000,2980,1487,2630,0,0,0,0,0,0
$STATE,4926,end apogee,CONTROL_FINISHED_OK
$STATE,4926,begin climb
$GC,4929,1.29,116.8,459.6,0.0,271,5042,1.52,2.42,101.28,0.809,4,0.035,0.028,3335,2875,2153,0,0,0,0,0,0
$GC,5062,1.15,156.8,461.7,5.7,274,5104,0.17,2.40,35.92,0.785,6,0.104,0.040,3302,1511,1990,0,0,0,0,0,0
$GC,5429,1.02,156.8,426.8,9.9,283,5430,0.15,0.00,0.00,0.000,6,0.106,0.000,3273,1511,1981,0,0,0,0,0,0
$GC,5752,0.96,156.8,396.1,9.7,291,5756,0.00,2.30,0.00,0.000,4,0.000,0.028,3273,2878,1978,0,0,0,0,0,0
$GC,5883,0.96,156.8,384.1,9.1,293,5888,0.00,2.42,0.00,0.000,6,0.000,0.042,3273,1493,1977,0,0,0,0,0,0
$GC,6216,0.92,156.8,353.7,8.9,301,6221,0.10,2.22,0.00,0.000,4,0.116,0.057,3253,231,1975,0,0,0,0,0,0
$GC,6231,0.86,156.8,352.4,8.3,301,6235,0.00,2.05,0.00,0.000,6,0.000,0.027,3254,1492,1973,0,0,0,0,0,0
$GC,6546,0.94,222.0,335.8,4.3,309,6607,0.00,2.38,55.58,0.762,4,0.000,0.029,3254,2884,1725,0,0,0,0,0,0
$GC,6632,1.08,268.0,331.5,5.4,311,6681,0.15,2.45,41.17,0.742,6,0.060,0.044,3297,1502,1537,0,0,0,0,0,0
$GC,7005,1.03,268.0,297.4,8.9,320,7010,0.10,2.25,0.00,0.000,4,0.111,0.058,3277,228,1529,0,0,0,0,0,0
$GC,7100,0.96,268.0,288.0,10.2,324,7104,0.00,2.10,0.00,0.000,6,0.000,0.026,3276,1508,1525,0,0,0,0,0,0
$GC,7426,0.96,268.0,258.6,9.3,340,7430,0.00,2.28,0.00,0.000,4,0.000,0.057,3277,233,1524,0,0,0,0,0,0
$GC,7469,0.89,268.0,253.6,11.4,341,7475,0.15,2.08,0.00,0.000,6,0.099,0.026,3246,1510,1523,0,0,0,0,0,0
$GC,7787,0.98,268.0,225.7,8.8,357,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1510,1522,0,0,0,0,0,0
$GC,8094,1.09,271.9,199.9,7.7,372,8099,0.17,2.25,0.00,0.000,4,0.055,0.054,3296,234,1522,0,0,0,0,0,0
$GC,8183,1.00,271.9,190.8,10.8,378,8187,0.12,2.05,0.00,0.000,6,0.100,0.025,3271,1505,1520,0,0,0,0,0,0
$GC,8450,1.11,313.5,173.0,5.6,399,8495,0.00,0.00,37.85,0.635,6,0.000,0.000,3271,1509,1350,0,0,0,0,0,0
$GC,8752,1.19,325.3,153.7,7.3,423,8766,0.17,0.00,10.98,0.552,6,0.054,0.000,3322,1509,1303,0,0,0,0,0,0
$GC,9014,1.19,325.3,124.1,12.9,444,9018,0.00,2.22,0.00,0.000,4,0.000,0.051,3321,231,1301,0,0,0,0,0,0
$GC,9082,1.12,325.3,115.1,13.5,449,9087,0.15,2.08,0.00,0.000,6,0.094,0.022,3291,1524,1298,0,0,0,0,0,0
$GC,9352,1.19,325.3,89.7,8.4,470,9356,0.00,2.25,0.00,0.000,4,0.000,0.048,3291,225,1298,0,0,0,0,0,0
$GC,9402,1.19,325.3,84.7,10.8,473,9407,0.00,2.05,0.00,0.000,6,0.000,0.023,3291,1506,1297,0,0,0,0,0,0
$GC,9664,1.31,344.6,65.8,6.8,494,9687,0.17,2.28,17.17,0.515,4,0.051,0.023,3345,2880,1224,0,0,0,0,0,0
$GC,9697,1.31,344.6,62.6,9.3,495,9703,0.00,2.42,0.00,0.000,6,0.000,0.036,3345,1496,1224,0,0,0,0,0,0
$GC,9958,1.32,358.2,41.4,7.2,516,9976,0.00,2.20,12.90,0.474,4,0.000,0.048,3345,235,1168,0,0,0,0,0,0
$GC,10017,1.28,358.2,36.0,10.0,520,10021,0.00,2.03,0.00,0.000,6,0.000,0.021,3345,1498,1165,0,0,0,0,0,0
$GC,10281,1.28,358.2,12.6,10.9,570,10288,0.00,2.25,0.00,0.000,4,0.000,0.047,3345,235,1165,0,0,0,0,0,0
$GC,10300,1.28,358.2,10.6,11.2,573,10306,0.00,2.03,0.00,0.000,6,0.000,0.021,3346,1516,1164,0,0,0,0,0,0
$STATE,10383,end climb,SURFACE_DEPTH_REACHED
$STATE,10383,begin surface coast
$FINISH,1.0,1.023155
$STATE,10419,end surface coast,CONTROL_FINISHED_OK
$STATE,10419,begin surface
$SM_CCo,10442,34.50,0.473,0,0,957,410.14
$SM_GC,1.63,0.00,0.00,34.50,0.000,0.000,0.473,424,1516,957,-12.08,-0.40,410.14
$IRIDIUM_FIX,2101.76,-15801.19,100100,050534
$TT8_MAMPS,0.029146
$HUMID,61.18
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.50
$XPDR_PINGS,1
$24V_AH,23.3,64.517
$10V_AH,10.0,52.365
$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,31.350,114.550,409.850,34.500,0.000,28.432,35.771,183.157,4.750,0.000,13.668,1172.765,6891.697,476.683,1756.765,559.253,0.000,1285.001,0.000,1739.577,0.000,29.259,0.000
$DEVICE_MAMPS,134.225,152.633,822.224,473.239,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.889,385.441,875.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34911,599
$CAP_FILE_SIZE,118524,0
$CFSIZE,260165632,175685632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161010,112314,2108.917,-15803.204,13,1.9,13,9.8