version: 66.06
glider: 139
mission: 8
dive: 783
start: 10 29 110 7 38 22
data:
$ID,139
$MISSION,8
$DIVE,783
$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,-2167908.5
$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,1450
$C_ROLL_CLIMB,1420
$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
$GPS1,073057,2110.445,-15756.494,9,3.1,28,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-69.2
$GPS2,073804,2110.462,-15756.518,15,3.1,34,9.8
$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,100.3,25025,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,89,0.00,0.00,-69.68,0.000,2,0.000,0.000,427,1436,2741,0,0,0,0,0,0
$GC,93,-1.18,-116.8,3.7,-3.9,13,123,12.65,2.45,-6.93,0.000,4,0.132,0.035,2783,2873,3109,0,0,0,0,0,0
$GC,172,-1.09,-116.8,19.0,-12.9,28,179,0.10,2.45,0.00,0.000,6,0.079,0.031,2809,1451,3111,0,0,0,0,0,0
$GC,381,-0.93,-116.8,46.3,-12.3,55,386,0.17,2.10,0.00,0.000,4,0.093,0.046,2845,231,3111,0,0,0,0,0,0
$GC,423,-0.84,-116.8,52.5,-12.6,58,427,0.10,2.00,0.00,0.000,6,0.103,0.018,2866,1518,3111,0,0,0,0,0,0
$GC,681,-0.84,-116.8,81.4,-10.8,78,685,0.00,2.22,0.00,0.000,4,0.000,0.044,2866,231,3112,0,0,0,0,0,0
$GC,721,-0.84,-116.8,85.3,-10.9,81,725,0.00,2.00,0.00,0.000,6,0.000,0.018,2866,1507,3112,0,0,0,0,0,0
$GC,991,-0.87,-116.8,107.3,-6.4,102,995,0.00,2.20,0.00,0.000,4,0.000,0.044,2866,228,3112,0,0,0,0,0,0
$GC,1025,-0.91,-116.8,109.6,-6.4,104,1032,0.00,2.03,0.00,0.000,6,0.000,0.019,2866,1518,3113,0,0,0,0,0,0
$GC,1288,-1.01,-116.8,128.1,-7.5,125,1293,0.15,2.20,0.00,0.000,4,0.054,0.044,2812,231,3113,0,0,0,0,0,0
$GC,1323,-0.96,-116.8,131.5,-10.0,127,1329,0.12,2.00,0.00,0.000,6,0.091,0.018,2839,1527,3113,0,0,0,0,0,0
$GC,1583,-0.96,-116.8,151.6,-7.5,148,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1528,3113,0,0,0,0,0,0
$GC,1836,-0.99,-116.8,168.3,-6.6,168,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1528,3114,0,0,0,0,0,0
$GC,2087,-1.03,-116.8,187.2,-7.9,188,2091,0.00,2.20,0.00,0.000,4,0.000,0.045,2839,234,3114,0,0,0,0,0,0
$GC,2160,-1.07,-116.8,193.8,-8.8,193,2166,0.10,1.98,0.00,0.000,6,0.071,0.019,2800,1517,3114,0,0,0,0,0,0
$GC,2417,-1.04,-116.8,219.0,-9.8,208,2421,0.10,2.22,0.00,0.000,4,0.102,0.022,2822,2882,3114,0,0,0,0,0,0
$GC,2433,-1.04,-116.8,220.5,-9.5,208,2439,0.00,2.45,0.00,0.000,6,0.000,0.033,2822,1449,3114,0,0,0,0,0,0
$GC,2750,-1.04,-116.8,245.5,-7.0,224,2754,0.00,2.05,0.00,0.000,4,0.000,0.046,2822,236,3114,0,0,0,0,0,0
$GC,2810,-1.04,-116.8,250.0,-6.7,226,2817,0.00,2.00,0.00,0.000,6,0.000,0.020,2822,1508,3114,0,0,0,0,0,0
$GC,3127,-1.04,-116.8,271.9,-7.6,242,3131,0.00,2.25,0.00,0.000,4,0.000,0.023,2822,2884,3114,0,0,0,0,0,0
$GC,3172,-1.14,-116.8,275.1,-8.2,244,3176,0.00,2.42,0.00,0.000,6,0.000,0.032,2822,1439,3114,0,0,0,0,0,0
$GC,3504,-1.18,-116.8,296.9,-6.2,260,3508,0.12,2.05,0.00,0.000,4,0.064,0.048,2779,240,3113,0,0,0,0,0,0
$GC,3529,-1.12,-116.8,299.0,-8.2,261,3534,0.12,2.00,0.00,0.000,6,0.091,0.021,2806,1512,3113,0,0,0,0,0,0
$GC,3871,-1.12,-116.8,321.3,-6.3,270,3875,0.00,2.20,0.00,0.000,4,0.000,0.048,2806,232,3112,0,0,0,0,0,0
$GC,3919,-1.12,-116.8,324.9,-7.9,271,3922,0.00,2.00,0.00,0.000,6,0.000,0.022,2805,1497,3112,0,0,0,0,0,0
$GC,4246,-1.12,-116.8,350.5,-8.1,279,4249,0.00,2.15,0.00,0.000,4,0.000,0.025,2806,2826,3110,0,0,0,0,0,0
$GC,4289,-1.22,-116.8,354.2,-8.5,280,4293,0.10,2.33,0.00,0.000,6,0.072,0.035,2768,1449,3110,0,0,0,0,0,0
$GC,4620,-1.16,-116.8,383.9,-8.9,288,4625,0.12,2.10,0.00,0.000,4,0.094,0.051,2795,240,3108,0,0,0,0,0,0
$GC,4676,-1.16,-116.8,389.5,-8.8,289,4680,0.00,1.90,0.00,0.000,6,0.000,0.024,2795,1450,3108,0,0,0,0,0,0
$GC,5000,-1.16,-116.8,411.0,-7.0,297,5004,0.00,2.30,0.00,0.000,4,0.000,0.027,2795,2836,3105,0,0,0,0,0,0
$GC,5034,-1.24,-116.8,413.7,-7.3,297,5038,0.00,2.38,0.00,0.000,6,0.000,0.038,2795,1453,3105,0,0,0,0,0,0
$GC,5366,-1.24,-116.8,442.8,-9.2,305,5370,0.00,2.28,0.00,0.000,4,0.000,0.028,2795,2827,3103,0,0,0,0,0,0
$GC,5419,-1.33,-116.8,447.5,-7.9,306,5424,0.15,2.35,0.00,0.000,6,0.056,0.039,2747,1452,3103,0,0,0,0,0,0
$STATE,5445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5445,begin apogee
$GC,5452,-0.31,0.0,450.2,9.1,306,5552,1.05,0.00,96.30,0.823,6,0.069,0.000,2975,1406,2630,0,0,0,0,0,0
$STATE,5552,end apogee,CONTROL_FINISHED_OK
$STATE,5552,begin climb
$GC,5557,1.18,116.8,453.4,0.0,309,5668,1.42,2.12,101.45,0.807,4,0.035,0.054,3310,248,2153,0,0,0,0,0,0
$GC,5726,0.85,116.8,448.8,8.8,312,5732,0.38,1.90,0.00,0.000,6,0.092,0.025,3235,1416,2146,0,0,0,0,0,0
$GC,6059,0.84,160.6,428.4,5.9,321,6104,0.00,2.42,37.53,0.789,4,0.000,0.028,3235,2799,1975,0,0,0,0,0,0
$GC,6185,0.89,206.1,421.6,5.8,323,6235,0.00,2.38,40.83,0.786,6,0.000,0.041,3236,1430,1789,0,0,0,0,0,0
$GC,6560,0.90,214.6,395.0,7.5,333,6573,0.00,2.33,7.60,0.656,4,0.000,0.028,3235,2800,1755,0,0,0,0,0,0
$GC,6592,0.91,221.9,392.2,7.6,333,6606,0.00,2.42,8.18,0.664,6,0.000,0.042,3235,1420,1724,0,0,0,0,0,0
$GC,6932,0.91,221.9,362.3,9.2,342,6936,0.00,2.12,0.00,0.000,4,0.000,0.058,3235,234,1720,0,0,0,0,0,0
$GC,6993,0.84,221.9,355.7,10.8,343,6997,0.00,1.95,0.00,0.000,6,0.000,0.028,3235,1404,1717,0,0,0,0,0,0
$GC,7308,0.84,225.6,328.8,7.7,351,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1404,1716,0,0,0,0,0,0
$GC,7631,0.89,265.1,308.7,6.1,359,7674,0.00,2.47,37.33,0.746,4,0.000,0.028,3235,2813,1548,0,0,0,0,0,0
$GC,7691,0.98,293.2,304.7,6.6,360,7724,0.12,2.47,25.88,0.718,6,0.066,0.042,3272,1416,1433,0,0,0,0,0,0
$GC,8057,0.95,293.2,274.7,8.2,376,8061,0.00,2.10,0.00,0.000,4,0.000,0.057,3272,232,1427,0,0,0,0,0,0
$GC,8132,0.89,293.2,268.0,8.8,379,8137,0.15,1.95,0.00,0.000,6,0.097,0.028,3242,1437,1423,0,0,0,0,0,0
$GC,8457,0.97,303.8,246.2,7.4,395,8472,0.00,2.15,8.65,0.608,4,0.000,0.054,3241,229,1390,0,0,0,0,0,0
$GC,8484,1.01,303.8,243.7,8.3,396,8488,0.12,1.98,0.00,0.000,6,0.069,0.028,3280,1427,1388,0,0,0,0,0,0
$GC,8809,1.01,303.8,214.4,8.1,412,8813,0.00,2.10,0.00,0.000,4,0.000,0.054,3279,232,1388,0,0,0,0,0,0
$GC,8823,0.98,307.5,213.2,7.7,412,8835,0.00,1.92,4.45,0.463,6,0.000,0.027,3279,1425,1376,0,0,0,0,0,0
$GC,9155,0.98,307.5,183.4,9.4,433,9159,0.00,2.28,0.00,0.000,4,0.000,0.026,3280,2808,1375,0,0,0,0,0,0
$GC,9174,1.01,307.5,181.3,8.8,434,9180,0.00,2.42,0.00,0.000,6,0.000,0.039,3280,1425,1375,0,0,0,0,0,0
$GC,9435,1.01,307.5,159.5,8.8,455,9439,0.00,2.08,0.00,0.000,4,0.000,0.051,3279,231,1375,0,0,0,0,0,0
$GC,9475,0.97,307.5,155.6,9.6,458,9478,0.00,1.92,0.00,0.000,6,0.000,0.025,3280,1433,1373,0,0,0,0,0,0
$GC,9744,0.97,311.1,132.6,7.7,479,9757,0.00,2.25,4.65,0.427,4,0.000,0.023,3280,2802,1359,0,0,0,0,0,0
$GC,9778,1.08,321.9,130.0,7.4,481,9794,0.00,2.40,10.95,0.543,6,0.000,0.038,3279,1415,1317,0,0,0,0,0,0
$GC,10055,1.14,322.9,110.7,7.9,503,10058,0.00,2.03,0.00,0.000,4,0.000,0.050,3280,235,1315,0,0,0,0,0,0
$GC,10113,1.14,322.9,105.0,10.2,507,10117,0.00,1.90,0.00,0.000,6,0.000,0.023,3280,1424,1312,0,0,0,0,0,0
$GC,10383,1.27,351.8,86.0,6.6,528,10417,0.20,0.00,26.50,0.543,6,0.048,0.000,3340,1425,1195,0,0,0,0,0,0
$GC,10673,1.23,351.8,60.5,8.8,551,10678,0.10,2.08,0.00,0.000,4,0.103,0.049,3319,232,1193,0,0,0,0,0,0
$GC,10713,1.17,351.8,56.7,9.1,554,10717,0.00,1.88,0.00,0.000,6,0.000,0.021,3319,1431,1191,0,0,0,0,0,0
$GC,10985,1.19,365.8,37.3,7.3,575,11004,0.00,0.00,12.73,0.467,6,0.000,0.000,3319,1436,1137,0,0,0,0,0,0
$GC,11263,1.24,410.6,16.0,5.9,625,11303,0.00,0.00,37.70,0.482,6,0.000,0.000,3319,1435,956,0,0,0,0,0,0
$STATE,11417,end climb,SURFACE_DEPTH_REACHED
$STATE,11417,begin surface coast
$FINISH,0.8,1.023385
$STATE,11448,end surface coast,CONTROL_FINISHED_OK
$STATE,11448,begin surface
$SM_CCo,11533,0.00,0.000,0,0,949,412.10
$SM_GC,1.71,12.55,0.00,0.00,0.028,0.000,0.000,427,1436,949,-12.00,-0.40,412.10
$IRIDIUM_FIX,2101.76,-15756.04,230100,040419
$TT8_MAMPS,0.029146
$HUMID,62.95
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.90
$XPDR_PINGS,1
$24V_AH,23.3,75.412
$10V_AH,9.9,60.554
$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,30.225,121.325,460.700,0.000,0.000,30.862,35.660,201.693,4.750,0.000,35.393,1270.060,7638.278,497.116,1943.844,600.025,0.000,1378.396,0.000,1905.121,0.000,29.240,0.000
$DEVICE_MAMPS,131.924,150.332,822.991,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.889,431.990,965.324,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,37969,665
$CAP_FILE_SIZE,128053,0
$CFSIZE,260165632,169848832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291010,105156,2110.602,-15755.202,46,1.1,46,9.8