version: 66.06
glider: 139
mission: 8
dive: 505
start: 9 22 110 1 11 4
data:
$ID,139
$MISSION,8
$DIVE,505
$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,-2161652.2
$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,1700
$C_ROLL_CLIMB,1700
$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
$GPS1,010454,2104.274,-15749.870,42,1.3,42,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.6
$GPS2,011044,2104.224,-15749.979,16,1.6,16,9.8
$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,66.6,12552,-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,-116.8,0.0,0.0,0,76,0.00,0.00,-59.38,0.000,2,0.000,0.000,424,1709,2602,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.1,-3.3,11,110,12.65,2.35,-10.02,0.000,4,0.132,0.035,2787,3117,3109,0,0,0,0,0,0
$GC,123,-0.16,-116.8,13.6,-23.0,18,130,1.00,2.42,0.00,0.000,6,0.069,0.031,3010,1697,3110,0,0,0,0,0,0
$GC,326,-0.48,-116.8,23.3,-3.5,64,333,0.28,2.45,0.00,0.000,4,0.037,0.044,2924,297,3111,0,0,0,0,0,0
$GC,375,-0.61,-116.8,26.5,-7.1,74,382,0.00,2.33,0.00,0.000,6,0.000,0.018,2924,1737,3111,0,0,0,0,0,0
$GC,576,-0.73,-116.8,42.4,-8.5,96,581,0.15,2.50,0.00,0.000,4,0.055,0.044,2871,297,3111,0,0,0,0,0,0
$GC,619,-0.67,-116.8,47.7,-13.9,99,624,0.15,2.20,0.00,0.000,6,0.091,0.018,2903,1708,3112,0,0,0,0,0,0
$GC,881,-0.76,-116.8,73.0,-8.2,119,885,0.00,2.42,0.00,0.000,4,0.000,0.044,2903,298,3111,0,0,0,0,0,0
$GC,948,-0.89,-116.8,78.7,-8.1,124,953,0.20,2.17,0.00,0.000,6,0.045,0.018,2838,1703,3112,0,0,0,0,0,0
$GC,1216,-0.89,-116.8,105.5,-8.9,145,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1708,3112,0,0,0,0,0,0
$GC,1468,-0.89,-116.8,125.4,-7.5,165,1472,0.00,2.40,0.00,0.000,4,0.000,0.044,2838,296,3113,0,0,0,0,0,0
$GC,1534,-0.89,-116.8,130.9,-7.9,170,1538,0.00,2.20,0.00,0.000,6,0.000,0.018,2838,1697,3113,0,0,0,0,0,0
$GC,1802,-0.93,-116.8,153.8,-8.6,191,1806,0.00,2.40,0.00,0.000,4,0.000,0.045,2838,292,3114,0,0,0,0,0,0
$GC,1847,-0.93,-116.8,158.8,-9.6,194,1854,0.00,2.25,0.00,0.000,6,0.000,0.019,2838,1700,3114,0,0,0,0,0,0
$GC,2112,-0.97,-116.8,180.5,-8.1,215,2116,0.00,2.42,0.00,0.000,4,0.000,0.045,2838,293,3114,0,0,0,0,0,0
$GC,2153,-0.97,-116.8,184.9,-9.2,218,2157,0.00,2.20,0.00,0.000,6,0.000,0.019,2838,1701,3114,0,0,0,0,0,0
$GC,2410,-1.01,-116.8,207.6,-8.5,236,2414,0.00,2.40,0.00,0.000,4,0.000,0.047,2838,298,3114,0,0,0,0,0,0
$GC,2462,-1.01,-116.8,212.1,-8.9,238,2466,0.00,2.22,0.00,0.000,6,0.000,0.019,2838,1703,3114,0,0,0,0,0,0
$GC,2783,-1.07,-116.8,239.2,-8.6,254,2787,0.00,2.42,0.00,0.000,4,0.000,0.047,2838,297,3114,0,0,0,0,0,0
$GC,2810,-1.07,-116.8,241.4,-9.2,255,2814,0.00,2.25,0.00,0.000,6,0.000,0.020,2838,1707,3114,0,0,0,0,0,0
$GC,3144,-1.15,-116.8,271.8,-8.8,271,3149,0.17,2.45,0.00,0.000,4,0.051,0.048,2781,293,3113,0,0,0,0,0,0
$GC,3230,-1.05,-116.8,282.5,-12.8,274,3238,0.15,2.28,0.00,0.000,6,0.067,0.021,2819,1693,3113,0,0,0,0,0,0
$GC,3567,-1.09,-116.8,309.8,-7.2,288,3571,0.00,2.42,0.00,0.000,4,0.000,0.049,2819,293,3112,0,0,0,0,0,0
$GC,3595,-1.09,-116.8,312.0,-7.8,288,3599,0.00,2.25,0.00,0.000,6,0.000,0.021,2819,1707,3112,0,0,0,0,0,0
$GC,3937,-1.13,-116.8,334.4,-6.8,297,3941,0.00,2.42,0.00,0.000,4,0.000,0.051,2819,300,3110,0,0,0,0,0,0
$GC,3999,-1.17,-116.8,339.6,-8.9,298,4005,0.10,2.22,0.00,0.000,6,0.074,0.022,2784,1702,3110,0,0,0,0,0,0
$GC,4315,-1.17,-116.8,367.8,-9.0,306,4319,0.00,2.45,0.00,0.000,4,0.000,0.052,2783,300,3108,0,0,0,0,0,0
$GC,4339,-1.10,-116.8,370.3,-10.5,306,4344,0.12,2.25,0.00,0.000,6,0.097,0.024,2810,1701,3108,0,0,0,0,0,0
$GC,4681,-1.14,-116.8,402.2,-9.5,315,4685,0.00,2.47,0.00,0.000,4,0.000,0.055,2810,294,3106,0,0,0,0,0,0
$GC,4733,-1.14,-116.8,407.5,-10.7,316,4738,0.00,2.28,0.00,0.000,6,0.000,0.025,2811,1702,3106,0,0,0,0,0,0
$GC,5053,-1.19,-116.8,435.6,-8.9,324,5058,0.00,2.45,0.00,0.000,4,0.000,0.057,2810,300,3104,0,0,0,0,0,0
$GC,5102,-1.19,-116.8,440.2,-9.4,325,5106,0.00,2.28,0.00,0.000,6,0.000,0.025,2810,1704,3104,0,0,0,0,0,0
$STATE,5219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5219,begin apogee
$GC,5225,-0.31,0.0,450.0,8.0,328,5324,0.77,0.00,95.95,0.822,6,0.065,0.000,2980,1708,2630,0,0,0,0,0,0
$STATE,5325,end apogee,CONTROL_FINISHED_OK
$STATE,5325,begin climb
$GC,5327,1.18,116.8,452.3,0.0,330,5441,1.42,2.42,100.25,0.808,4,0.038,0.032,3309,3080,2152,0,0,0,0,0,0
$GC,5623,1.02,116.8,435.9,9.7,336,5628,0.17,2.38,0.00,0.000,6,0.100,0.040,3275,1704,2147,0,0,0,0,0,0
$GC,5965,0.91,122.8,408.9,7.6,345,5977,0.12,2.38,4.62,0.541,4,0.114,0.031,3252,3092,2128,0,0,0,0,0,0
$GC,5992,0.92,166.4,407.2,5.9,345,6037,0.00,2.42,39.90,0.786,6,0.000,0.039,3251,1698,1951,0,0,0,0,0,0
$GC,6374,0.88,166.4,374.4,8.9,355,6378,0.00,2.50,0.00,0.000,4,0.000,0.057,3251,294,1944,0,0,0,0,0,0
$GC,6471,0.75,166.4,364.5,10.6,357,6477,0.20,2.35,0.00,0.000,6,0.103,0.026,3213,1709,1939,0,0,0,0,0,0
$GC,6792,0.84,194.3,343.3,6.6,365,6822,0.00,2.58,24.02,0.752,4,0.000,0.055,3213,295,1836,0,0,0,0,0,0
$GC,6889,0.84,194.3,335.6,8.4,367,6894,0.00,2.33,0.00,0.000,6,0.000,0.027,3213,1700,1832,0,0,0,0,0,0
$GC,7208,0.91,194.3,309.6,8.5,375,7213,0.15,2.50,0.00,0.000,4,0.064,0.056,3254,295,1831,0,0,0,0,0,0
$GC,7370,0.82,194.3,293.7,9.7,379,7375,0.12,2.33,0.00,0.000,6,0.111,0.027,3231,1702,1827,0,0,0,0,0,0
$GC,7705,0.92,237.4,271.9,6.0,395,7749,0.00,2.55,37.15,0.723,4,0.000,0.054,3231,295,1662,0,0,0,0,0,0
$GC,7802,0.92,237.4,263.8,9.9,399,7806,0.00,2.33,0.00,0.000,6,0.000,0.026,3231,1710,1658,0,0,0,0,0,0
$GC,8133,0.99,240.3,236.0,7.8,415,8138,0.15,2.50,0.00,0.000,4,0.062,0.054,3273,296,1655,0,0,0,0,0,0
$GC,8265,0.88,240.3,222.6,10.7,420,8272,0.12,2.33,0.00,0.000,6,0.081,0.025,3244,1696,1653,0,0,0,0,0,0
$GC,8581,0.92,241.3,198.3,7.9,436,8585,0.00,2.47,0.00,0.000,4,0.000,0.051,3244,291,1652,0,0,0,0,0,0
$GC,8665,0.92,241.3,191.0,9.1,442,8669,0.00,2.30,0.00,0.000,6,0.000,0.023,3244,1714,1651,0,0,0,0,0,0
$GC,8925,1.01,285.8,174.0,5.9,462,8973,0.12,2.60,41.08,0.632,4,0.066,0.051,3283,292,1463,0,0,0,0,0,0
$GC,9039,0.89,285.8,164.0,10.9,470,9044,0.20,2.30,0.00,0.000,6,0.090,0.021,3243,1706,1459,0,0,0,0,0,0
$GC,9301,1.01,326.5,147.8,6.1,490,9343,0.12,2.53,34.95,0.597,4,0.066,0.048,3283,294,1297,0,0,0,0,0,0
$GC,9471,0.94,326.5,127.5,13.5,502,9476,0.15,2.28,0.00,0.000,6,0.093,0.021,3252,1698,1291,0,0,0,0,0,0
$GC,9733,1.04,326.5,98.5,11.4,522,9738,0.10,2.47,0.00,0.000,4,0.074,0.049,3288,290,1291,0,0,0,0,0,0
$GC,9859,0.98,326.5,82.7,11.7,531,9863,0.12,2.28,0.00,0.000,6,0.094,0.020,3262,1715,1290,0,0,0,0,0,0
$GC,10126,1.13,365.3,64.0,6.1,552,10169,0.15,2.58,32.38,0.521,4,0.055,0.048,3311,291,1138,0,0,0,0,0,0
$GC,10270,1.07,365.3,48.3,11.6,562,10275,0.12,2.22,0.00,0.000,6,0.095,0.019,3286,1702,1135,0,0,0,0,0,0
$GC,10533,1.15,365.3,23.6,8.7,592,10540,0.00,2.47,0.00,0.000,4,0.000,0.047,3285,297,1135,0,0,0,0,0,0
$GC,10685,1.15,365.3,7.8,11.2,626,10692,0.00,2.22,0.00,0.000,6,0.000,0.019,3285,1702,1133,0,0,0,0,0,0
$STATE,10726,end climb,SURFACE_DEPTH_REACHED
$STATE,10726,begin surface coast
$FINISH,1.2,1.023128
$STATE,10753,end surface coast,CONTROL_FINISHED_OK
$STATE,10754,begin surface
$SM_CCo,10777,25.85,0.461,0,0,957,410.14
$SM_GC,1.69,0.00,0.00,25.85,0.000,0.000,0.461,430,1707,957,-12.06,0.20,410.14
$IRIDIUM_FIX,2057.14,-15753.90,161299,222240
$TT8_MAMPS,0.029146
$HUMID,57.12
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,44.473
$10V_AH,10.2,36.974
$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,31.575,132.850,410.300,25.850,0.000,30.840,27.395,161.259,4.500,0.000,16.302,1280.053,6789.919,465.026,2074.788,540.625,0.000,1402.891,0.000,2053.210,0.000,29.264,0.000
$DEVICE_MAMPS,131.924,56.758,822.224,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,430.668,418.980,979.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,34869,641
$CAP_FILE_SIZE,129143,0
$CFSIZE,260165632,186720256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220910,041231,2104.157,-15750.208,46,1.8,46,9.8