version: 66.06
glider: 139
mission: 8
dive: 637
start: 10 9 110 10 17 4
data:
$ID,139
$MISSION,8
$DIVE,637
$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,-2164506.8
$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,1550
$C_ROLL_CLIMB,1550
$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
$GPS1,100807,2107.077,-15750.327,28,1.7,28,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-76.1
$GPS2,101644,2107.065,-15750.355,15,1.7,15,9.8
$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,90.4,13059,-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,-116.8,0.0,0.0,0,78,0.00,0.00,-59.38,0.000,2,0.000,0.000,428,1540,2606,0,0,0,0,0,0
$GC,82,-1.18,-116.8,3.2,-3.3,11,112,12.68,2.38,-9.80,0.000,4,0.133,0.034,2787,2971,3108,0,0,0,0,0,0
$GC,146,-0.97,-116.8,16.6,-15.6,23,153,0.20,2.45,0.00,0.000,6,0.076,0.032,2833,1552,3110,0,0,0,0,0,0
$GC,356,-0.88,-116.8,40.0,-11.6,57,360,0.12,2.38,0.00,0.000,4,0.098,0.021,2860,2981,3111,0,0,0,0,0,0
$GC,382,-0.88,-116.8,43.2,-11.0,59,386,0.00,2.45,0.00,0.000,6,0.000,0.032,2859,1546,3111,0,0,0,0,0,0
$GC,647,-0.88,-116.8,71.4,-8.9,80,651,0.00,2.25,0.00,0.000,4,0.000,0.044,2860,230,3112,0,0,0,0,0,0
$GC,719,-0.94,-116.8,77.4,-8.0,85,723,0.00,2.15,0.00,0.000,6,0.000,0.018,2860,1612,3112,0,0,0,0,0,0
$GC,982,-1.02,-116.8,97.6,-8.3,106,987,0.15,2.40,0.00,0.000,4,0.054,0.045,2808,234,3112,0,0,0,0,0,0
$GC,1011,-0.93,-116.8,100.7,-11.7,108,1016,0.17,2.15,0.00,0.000,6,0.081,0.018,2846,1606,3112,0,0,0,0,0,0
$GC,1279,-0.98,-116.8,123.6,-7.4,129,1283,0.00,2.35,0.00,0.000,4,0.000,0.045,2846,234,3113,0,0,0,0,0,0
$GC,1312,-0.98,-116.8,126.7,-8.2,131,1318,0.00,2.15,0.00,0.000,6,0.000,0.019,2846,1614,3113,0,0,0,0,0,0
$GC,1573,-1.04,-116.8,147.5,-8.3,152,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1620,3113,0,0,0,0,0,0
$GC,1824,-1.09,-116.8,169.6,-8.0,172,1829,0.15,2.40,0.00,0.000,4,0.054,0.048,2795,230,3113,0,0,0,0,0,0
$GC,1877,-1.01,-116.8,174.4,-9.9,176,1882,0.15,2.15,0.00,0.000,6,0.085,0.020,2829,1601,3113,0,0,0,0,0,0
$GC,2144,-1.04,-116.8,195.7,-8.3,197,2148,0.00,2.35,0.00,0.000,4,0.000,0.047,2829,233,3113,0,0,0,0,0,0
$GC,2212,-1.04,-116.8,202.1,-10.2,202,2216,0.00,2.15,0.00,0.000,6,0.000,0.020,2829,1602,3113,0,0,0,0,0,0
$GC,2541,-1.04,-116.8,231.3,-8.8,218,2545,0.00,2.35,0.00,0.000,4,0.000,0.048,2829,234,3113,0,0,0,0,0,0
$GC,2567,-1.04,-116.8,233.5,-8.8,219,2571,0.00,2.15,0.00,0.000,6,0.000,0.021,2829,1601,3113,0,0,0,0,0,0
$GC,2895,-1.09,-116.8,261.6,-8.4,235,2900,0.00,2.38,0.00,0.000,4,0.000,0.049,2829,234,3112,0,0,0,0,0,0
$GC,2928,-1.09,-116.8,265.1,-9.6,236,2932,0.00,2.15,0.00,0.000,6,0.000,0.021,2829,1600,3112,0,0,0,0,0,0
$GC,3248,-1.15,-116.8,288.6,-7.0,251,3253,0.12,2.38,0.00,0.000,4,0.064,0.050,2785,234,3111,0,0,0,0,0,0
$GC,3316,-1.09,-116.8,295.1,-9.4,254,3321,0.12,2.08,0.00,0.000,6,0.092,0.021,2812,1556,3110,0,0,0,0,0,0
$GC,3644,-1.09,-116.8,318.8,-7.3,264,3648,0.00,2.25,0.00,0.000,4,0.000,0.025,2813,2930,3109,0,0,0,0,0,0
$GC,3659,-1.14,-116.8,320.0,-7.6,264,3666,0.00,2.33,0.00,0.000,6,0.000,0.035,2812,1543,3109,0,0,0,0,0,0
$GC,3977,-1.17,-116.8,345.1,-8.0,272,3981,0.00,2.25,0.00,0.000,4,0.000,0.051,2812,234,3107,0,0,0,0,0,0
$GC,4046,-1.17,-116.8,351.5,-9.0,273,4050,0.00,2.08,0.00,0.000,6,0.000,0.023,2813,1552,3107,0,0,0,0,0,0
$GC,4393,-1.20,-116.8,381.3,-9.1,282,4398,0.12,2.30,0.00,0.000,4,0.064,0.054,2771,237,3104,0,0,0,0,0,0
$GC,4414,-1.14,-116.8,383.6,-10.0,282,4419,0.15,2.10,0.00,0.000,6,0.091,0.024,2803,1549,3105,0,0,0,0,0,0
$GC,4760,-1.14,-116.8,414.1,-8.5,291,4764,0.00,2.30,0.00,0.000,4,0.000,0.055,2803,234,3103,0,0,0,0,0,0
$GC,4792,-1.14,-116.8,417.0,-9.0,291,4796,0.00,2.12,0.00,0.000,6,0.000,0.025,2803,1549,3102,0,0,0,0,0,0
$GC,5129,-1.14,-116.8,442.9,-7.3,300,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1554,3100,0,0,0,0,0,0
$STATE,5247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5247,begin apogee
$GC,5253,-0.31,0.0,451.1,6.8,303,5353,0.82,0.00,96.68,0.830,6,0.064,0.000,2982,1554,2630,0,0,0,0,0,0
$STATE,5353,end apogee,CONTROL_FINISHED_OK
$STATE,5353,begin climb
$GC,5356,1.18,116.8,452.9,0.0,305,5469,1.40,2.38,102.00,0.813,4,0.035,0.031,3310,2929,2153,0,0,0,0,0,0
$GC,5540,1.00,116.8,447.5,8.3,309,5545,0.20,2.42,0.00,0.000,6,0.095,0.042,3270,1547,2150,0,0,0,0,0,0
$GC,5861,0.88,117.4,422.2,7.9,317,5866,0.15,2.35,0.00,0.000,4,0.101,0.030,3241,2932,2142,0,0,0,0,0,0
$GC,5913,0.93,155.1,418.7,6.2,318,5953,0.00,2.42,33.55,0.787,6,0.000,0.041,3241,1546,1996,0,0,0,0,0,0
$GC,6277,0.91,170.4,393.9,7.2,327,6297,0.00,2.42,13.82,0.735,4,0.000,0.030,3241,2928,1934,0,0,0,0,0,0
$GC,6331,0.94,170.4,389.5,8.5,328,6335,0.00,2.42,0.00,0.000,6,0.000,0.043,3241,1542,1934,0,0,0,0,0,0
$GC,6650,0.95,174.1,364.6,7.7,336,6661,0.00,2.33,4.53,0.530,4,0.000,0.056,3241,232,1919,0,0,0,0,0,0
$GC,6727,0.84,174.1,357.5,9.2,337,6731,0.00,2.15,0.00,0.000,6,0.000,0.027,3241,1547,1916,0,0,0,0,0,0
$GC,7064,0.90,220.1,333.9,5.8,346,7113,0.00,2.42,41.70,0.765,4,0.000,0.030,3241,2934,1732,0,0,0,0,0,0
$GC,7143,0.95,220.1,326.8,9.1,347,7148,0.00,2.45,0.00,0.000,6,0.000,0.043,3240,1549,1731,0,0,0,0,0,0
$GC,7476,0.95,220.1,299.0,8.4,355,7480,0.00,2.33,0.00,0.000,4,0.000,0.059,3240,233,1727,0,0,0,0,0,0
$GC,7579,0.91,220.1,288.2,11.1,359,7583,0.00,2.17,0.00,0.000,6,0.000,0.028,3241,1557,1723,0,0,0,0,0,0
$GC,7896,0.92,232.7,265.3,7.3,374,7912,0.00,2.42,11.10,0.657,4,0.000,0.058,3241,225,1681,0,0,0,0,0,0
$GC,7945,0.89,232.7,261.4,8.0,376,7949,0.00,2.20,0.00,0.000,6,0.000,0.027,3240,1551,1678,0,0,0,0,0,0
$GC,8274,0.98,271.4,242.0,6.2,392,8319,0.10,2.45,34.67,0.695,4,0.079,0.054,3273,233,1522,0,0,0,0,0,0
$GC,8350,0.87,271.4,235.6,10.6,395,8355,0.15,2.20,0.00,0.000,6,0.100,0.027,3242,1561,1518,0,0,0,0,0,0
$GC,8685,0.92,279.4,209.1,7.5,411,8697,0.00,2.40,7.47,0.551,4,0.000,0.054,3242,233,1490,0,0,0,0,0,0
$GC,8739,0.92,279.4,204.4,8.7,413,8743,0.00,2.17,0.00,0.000,6,0.000,0.025,3242,1553,1487,0,0,0,0,0,0
$GC,9067,0.97,279.4,179.7,8.2,437,9071,0.00,2.35,0.00,0.000,4,0.000,0.053,3242,227,1486,0,0,0,0,0,0
$GC,9101,0.97,279.4,176.1,9.7,439,9106,0.00,2.15,0.00,0.000,6,0.000,0.025,3242,1564,1485,0,0,0,0,0,0
$GC,9359,1.04,279.4,153.3,9.1,460,9364,0.15,2.38,0.00,0.000,4,0.059,0.052,3287,225,1485,0,0,0,0,0,0
$GC,9386,0.96,279.4,150.7,11.7,462,9391,0.15,2.12,0.00,0.000,6,0.094,0.024,3257,1556,1485,0,0,0,0,0,0
$GC,9654,1.00,284.2,128.4,7.7,483,9667,0.00,2.33,5.03,0.439,4,0.000,0.051,3257,233,1470,0,0,0,0,0,0
$GC,9692,1.00,284.2,124.8,9.7,485,9697,0.00,2.10,0.00,0.000,6,0.000,0.023,3257,1556,1469,0,0,0,0,0,0
$GC,9953,1.17,360.2,110.2,4.5,506,10030,0.20,2.35,65.88,0.579,4,0.048,0.023,3316,2921,1159,0,0,0,0,0,0
$GC,10040,1.17,360.2,103.2,8.8,512,10044,0.00,2.40,0.00,0.000,6,0.000,0.036,3316,1545,1159,0,0,0,0,0,0
$GC,10300,1.17,360.2,78.9,8.8,532,10304,0.00,2.30,0.00,0.000,4,0.000,0.050,3316,229,1156,0,0,0,0,0,0
$GC,10426,1.12,360.2,65.3,11.2,541,10431,0.12,2.10,0.00,0.000,6,0.097,0.021,3291,1560,1152,0,0,0,0,0,0
$GC,10688,1.20,360.6,42.9,7.9,561,10689,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1564,1152,0,0,0,0,0,0
$GC,10944,1.31,379.2,25.2,7.1,591,10971,0.20,2.33,15.93,0.468,4,0.045,0.043,3354,232,1082,0,0,0,0,0,0
$GC,11028,1.16,379.2,15.7,13.7,607,11035,0.20,2.12,0.00,0.000,6,0.069,0.020,3307,1562,1080,0,0,0,0,0,0
$STATE,11148,end climb,SURFACE_DEPTH_REACHED
$STATE,11149,begin surface coast
$FINISH,0.8,1.023161
$STATE,11180,end surface coast,CONTROL_FINISHED_OK
$STATE,11180,begin surface
$SM_CCo,11202,20.67,0.457,0,0,957,410.14
$SM_GC,1.69,0.00,0.00,20.67,0.000,0.000,0.457,427,1561,957,-12.07,0.31,410.14
$IRIDIUM_FIX,2057.14,-15806.34,030100,070728
$TT8_MAMPS,0.028379
$HUMID,60.08
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.3,58.814
$10V_AH,10.1,48.050
$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,30.425,132.500,432.350,20.675,0.000,66.545,84.113,169.502,4.750,0.000,15.452,1253.634,7460.618,474.512,1908.113,640.033,0.000,1359.786,0.000,1886.386,0.000,29.259,0.000
$DEVICE_MAMPS,132.691,59.059,829.894,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,431.783,412.424,927.790,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,34960,641
$CAP_FILE_SIZE,127530,0
$CFSIZE,260165632,178737152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091010,132555,2107.116,-15750.365,68,1.1,68,9.8