version: 66.06
glider: 139
mission: 8
dive: 536
start: 9 26 110 1 53 4
data:
$ID,139
$MISSION,8
$DIVE,536
$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,-2162320.5
$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,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
$GPS1,014552,2102.872,-15752.640,11,3.0,30,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.2
$GPS2,015246,2102.810,-15752.692,17,3.0,36,9.8
$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,62.0,17781,-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,-64.32,0.000,2,0.000,0.000,426,1688,2760,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.6,-3.9,12,110,12.60,2.42,-6.25,0.000,4,0.131,0.055,2783,289,3108,0,0,0,0,0,0
$GC,128,-0.13,-116.8,17.5,-31.2,19,135,1.08,2.35,0.00,0.000,6,0.077,0.018,3018,1732,3110,0,0,0,0,0,0
$GC,331,-0.68,-116.8,30.0,-7.6,65,338,0.50,2.47,0.00,0.000,4,0.050,0.039,2898,290,3112,0,0,0,0,0,0
$GC,385,-0.74,-116.8,34.9,-8.9,69,391,0.00,2.28,0.00,0.000,6,0.000,0.018,2898,1708,3112,0,0,0,0,0,0
$GC,646,-0.80,-116.8,58.6,-8.2,90,650,0.00,2.45,0.00,0.000,4,0.000,0.046,2898,293,3112,0,0,0,0,0,0
$GC,705,-0.90,-116.8,64.2,-7.6,94,710,0.20,2.20,0.00,0.000,6,0.045,0.018,2834,1701,3112,0,0,0,0,0,0
$GC,966,-0.86,-116.8,92.8,-12.4,114,971,0.12,2.45,0.00,0.000,4,0.091,0.045,2861,295,3113,0,0,0,0,0,0
$GC,1088,-0.91,-116.8,104.0,-6.9,123,1092,0.00,2.20,0.00,0.000,6,0.000,0.018,2861,1701,3113,0,0,0,0,0,0
$GC,1355,-0.99,-116.8,124.2,-8.0,144,1359,0.12,2.25,0.00,0.000,4,0.061,0.023,2814,3071,3114,0,0,0,0,0,0
$GC,1369,-1.06,-116.8,125.8,-8.2,145,1374,0.00,2.28,0.00,0.000,6,0.000,0.029,2814,1693,3114,0,0,0,0,0,0
$GC,1629,-1.06,-116.8,152.1,-10.4,165,1633,0.00,2.38,0.00,0.000,4,0.000,0.046,2814,296,3114,0,0,0,0,0,0
$GC,1668,-0.99,-116.8,156.4,-11.1,168,1672,0.00,2.20,0.00,0.000,6,0.000,0.018,2814,1705,3114,0,0,0,0,0,0
$GC,1934,-0.99,-116.8,182.7,-9.9,189,1938,0.00,2.42,0.00,0.000,4,0.000,0.045,2814,299,3114,0,0,0,0,0,0
$GC,1968,-0.94,-116.8,186.8,-11.2,191,1974,0.15,2.17,0.00,0.000,6,0.088,0.019,2846,1702,3114,0,0,0,0,0,0
$GC,2241,-1.00,-116.8,212.8,-9.6,209,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1707,3114,0,0,0,0,0,0
$GC,2548,-1.10,-116.8,239.7,-7.0,224,2555,0.15,2.40,0.00,0.000,4,0.054,0.048,2794,304,3114,0,0,0,0,0,0
$GC,2593,-1.03,-116.8,243.8,-9.6,225,2599,0.15,2.20,0.00,0.000,6,0.089,0.020,2825,1692,3114,0,0,0,0,0,0
$GC,2914,-1.08,-116.8,268.7,-8.5,241,2918,0.00,2.40,0.00,0.000,4,0.000,0.048,2825,295,3113,0,0,0,0,0,0
$GC,2965,-1.08,-116.8,274.1,-9.3,243,2969,0.00,2.22,0.00,0.000,6,0.000,0.021,2825,1700,3113,0,0,0,0,0,0
$GC,3288,-1.13,-116.8,298.0,-6.8,259,3292,0.00,2.40,0.00,0.000,4,0.000,0.049,2825,302,3112,0,0,0,0,0,0
$GC,3378,-1.13,-116.8,305.3,-8.2,262,3382,0.00,2.22,0.00,0.000,6,0.000,0.021,2825,1703,3112,0,0,0,0,0,0
$GC,3711,-1.19,-116.8,329.9,-7.7,270,3716,0.15,2.45,0.00,0.000,4,0.057,0.051,2777,296,3110,0,0,0,0,0,0
$GC,3769,-1.14,-116.8,336.3,-11.1,271,3774,0.12,2.22,0.00,0.000,6,0.094,0.022,2804,1693,3110,0,0,0,0,0,0
$GC,4086,-1.14,-116.8,360.4,-7.0,279,4090,0.00,2.42,0.00,0.000,4,0.000,0.051,2803,293,3108,0,0,0,0,0,0
$GC,4130,-1.14,-116.8,363.8,-8.1,280,4134,0.00,2.25,0.00,0.000,6,0.000,0.023,2803,1703,3107,0,0,0,0,0,0
$GC,4457,-1.14,-116.8,387.2,-7.4,288,4462,0.00,2.45,0.00,0.000,4,0.000,0.054,2803,293,3105,0,0,0,0,0,0
$GC,4508,-1.14,-116.8,391.4,-8.7,289,4513,0.00,2.25,0.00,0.000,6,0.000,0.024,2803,1699,3105,0,0,0,0,0,0
$GC,4830,-1.14,-116.8,415.8,-7.4,297,4834,0.00,2.42,0.00,0.000,4,0.000,0.054,2804,303,3103,0,0,0,0,0,0
$GC,4877,-1.14,-116.8,420.3,-8.7,298,4881,0.00,2.25,0.00,0.000,6,0.000,0.025,2803,1695,3103,0,0,0,0,0,0
$GC,5202,-1.14,-116.8,442.8,-6.5,306,5206,0.00,2.45,0.00,0.000,4,0.000,0.056,2803,303,3100,0,0,0,0,0,0
$GC,5239,-1.14,-116.8,446.2,-9.4,306,5243,0.00,2.25,0.00,0.000,6,0.000,0.025,2803,1696,3100,0,0,0,0,0,0
$STATE,5323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5324,begin apogee
$GC,5329,-0.31,0.0,452.6,7.6,308,5429,0.82,0.00,96.18,0.840,6,0.066,0.000,2982,1700,2630,0,0,0,0,0,0
$STATE,5430,end apogee,CONTROL_FINISHED_OK
$STATE,5430,begin climb
$GC,5434,1.18,116.8,454.8,0.0,310,5545,1.40,2.38,101.38,0.821,4,0.038,0.033,3308,3078,2153,0,0,0,0,0,0
$GC,5584,1.11,209.4,456.4,3.7,313,5676,0.00,2.38,81.15,0.814,6,0.000,0.039,3307,1706,1776,0,0,0,0,0,0
$GC,6017,0.92,209.4,415.4,11.3,324,6022,0.25,2.38,0.00,0.000,4,0.094,0.031,3254,3085,1767,0,0,0,0,0,0
$GC,6051,0.92,209.4,411.8,10.3,324,6056,0.00,2.42,0.00,0.000,6,0.000,0.043,3254,1700,1767,0,0,0,0,0,0
$GC,6383,0.87,209.4,384.9,8.1,332,6387,0.00,2.50,0.00,0.000,4,0.000,0.059,3254,292,1764,0,0,0,0,0,0
$GC,6521,0.75,209.4,370.7,11.7,335,6526,0.20,2.33,0.00,0.000,6,0.100,0.028,3216,1703,1760,0,0,0,0,0,0
$GC,6850,0.81,209.4,342.9,8.2,343,6854,0.00,2.53,0.00,0.000,4,0.000,0.058,3215,287,1759,0,0,0,0,0,0
$GC,6901,0.81,209.4,338.4,9.1,344,6905,0.00,2.33,0.00,0.000,6,0.000,0.027,3214,1706,1757,0,0,0,0,0,0
$GC,7221,0.92,246.7,316.7,6.2,352,7258,0.15,2.60,30.95,0.758,4,0.064,0.057,3256,293,1623,0,0,0,0,0,0
$GC,7348,0.84,246.7,304.9,11.0,354,7352,0.12,2.35,0.00,0.000,6,0.109,0.027,3233,1701,1618,0,0,0,0,0,0
$GC,7663,0.88,246.7,278.6,8.3,367,7668,0.00,2.53,0.00,0.000,4,0.000,0.057,3233,290,1617,0,0,0,0,0,0
$GC,7769,0.88,246.7,269.1,8.4,371,7775,0.00,2.35,0.00,0.000,6,0.000,0.026,3233,1707,1614,0,0,0,0,0,0
$GC,8089,0.99,286.5,249.8,6.1,387,8133,0.15,2.60,34.75,0.703,4,0.061,0.055,3276,296,1460,0,0,0,0,0,0
$GC,8223,0.88,286.5,234.1,13.0,392,8230,0.12,2.35,0.00,0.000,6,0.078,0.025,3246,1703,1456,0,0,0,0,0,0
$GC,8538,0.92,286.5,205.8,8.2,408,8543,0.00,2.47,0.00,0.000,4,0.000,0.053,3246,293,1454,0,0,0,0,0,0
$GC,8677,0.92,286.5,192.7,8.7,416,8681,0.00,2.30,0.00,0.000,6,0.000,0.024,3246,1707,1452,0,0,0,0,0,0
$GC,8938,0.98,295.1,173.3,7.5,436,8953,0.00,2.55,7.53,0.528,4,0.000,0.051,3246,296,1426,0,0,0,0,0,0
$GC,9059,0.98,295.1,160.8,10.6,444,9066,0.00,2.30,0.00,0.000,6,0.000,0.022,3246,1698,1424,0,0,0,0,0,0
$GC,9319,1.04,295.1,137.0,8.7,465,9324,0.15,2.50,0.00,0.000,4,0.058,0.051,3292,290,1424,0,0,0,0,0,0
$GC,9424,0.95,295.1,124.3,12.2,472,9430,0.15,2.30,0.00,0.000,6,0.071,0.021,3257,1700,1423,0,0,0,0,0,0
$GC,9686,1.03,295.1,100.7,8.7,493,9690,0.00,2.47,0.00,0.000,4,0.000,0.049,3256,289,1423,0,0,0,0,0,0
$GC,9762,1.03,299.6,94.0,7.7,498,9772,0.00,2.30,5.03,0.418,6,0.000,0.021,3256,1708,1408,0,0,0,0,0,0
$GC,10034,1.18,331.2,75.7,6.5,520,10070,0.22,2.55,28.52,0.538,4,0.044,0.048,3324,293,1278,0,0,0,0,0,0
$GC,10146,1.09,331.2,63.0,15.4,528,10151,0.17,2.28,0.00,0.000,6,0.087,0.020,3288,1704,1275,0,0,0,0,0,0
$GC,10416,1.17,331.2,35.7,8.5,549,10420,0.00,2.47,0.00,0.000,4,0.000,0.047,3288,288,1274,0,0,0,0,0,0
$GC,10519,1.17,331.2,26.1,9.3,563,10525,0.00,2.28,0.00,0.000,6,0.000,0.019,3288,1702,1273,0,0,0,0,0,0
$GC,10722,1.24,331.2,8.9,10.3,609,10730,0.12,2.47,0.00,0.000,4,0.062,0.042,3332,290,1273,0,0,0,0,0,0
$STATE,10773,end climb,SURFACE_DEPTH_REACHED
$STATE,10773,begin surface coast
$FINISH,1.6,1.023010
$STATE,10801,end surface coast,CONTROL_FINISHED_OK
$STATE,10801,begin surface
$SM_CCo,10827,43.38,0.473,0,0,957,410.14
$SM_GC,1.69,0.00,0.00,43.38,0.000,0.000,0.473,429,1705,957,-12.06,0.14,410.14
$IRIDIUM_FIX,2054.83,-15753.90,201299,222253
$TT8_MAMPS,0.028379
$HUMID,57.71
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,47.719
$10V_AH,10.1,39.577
$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,31.875,137.325,385.475,43.375,0.000,24.208,36.412,198.606,4.500,0.000,37.402,1259.804,6915.600,476.754,2056.423,571.117,0.000,1396.193,0.000,2009.806,0.000,29.263,0.000
$DEVICE_MAMPS,131.157,59.059,839.865,473.239,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,420.981,407.424,937.275,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,34886,626
$CAP_FILE_SIZE,128779,0
$CFSIZE,260165632,184836096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260910,045531,2102.757,-15752.926,37,1.7,37,9.8