version: 66.06
glider: 139
mission: 8
dive: 640
start: 10 9 110 19 51 58
data:
$ID,139
$MISSION,8
$DIVE,640
$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,-2164569.5
$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,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
$GPS1,194516,2107.381,-15749.904,15,3.3,34,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.0
$GPS2,195140,2107.376,-15749.922,13,3.4,32,9.8
$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,93.6,12443,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,424,1555,2755,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.6,-3.6,12,110,12.68,2.30,-6.50,0.000,4,0.133,0.057,2785,230,3108,0,0,0,0,0,0
$GC,132,-0.31,-116.8,17.2,-28.3,20,139,0.88,2.20,0.00,0.000,6,0.076,0.019,2979,1600,3109,0,0,0,0,0,0
$GC,335,-0.56,-116.8,28.3,-4.8,66,342,0.22,2.40,0.00,0.000,4,0.041,0.043,2909,234,3111,0,0,0,0,0,0
$GC,387,-0.68,-116.8,32.5,-8.3,73,394,0.00,2.08,0.00,0.000,6,0.000,0.018,2909,1553,3111,0,0,0,0,0,0
$GC,648,-0.77,-116.8,50.1,-6.9,94,652,0.12,2.22,0.00,0.000,4,0.062,0.021,2862,2910,3112,0,0,0,0,0,0
$GC,680,-0.84,-116.8,52.6,-8.4,96,684,0.00,2.28,0.00,0.000,6,0.000,0.031,2861,1550,3112,0,0,0,0,0,0
$GC,945,-0.84,-116.8,76.3,-9.1,117,949,0.00,2.25,0.00,0.000,4,0.000,0.044,2861,230,3113,0,0,0,0,0,0
$GC,970,-0.80,-116.8,78.7,-10.0,118,976,0.00,2.08,0.00,0.000,6,0.000,0.018,2861,1550,3112,0,0,0,0,0,0
$GC,1233,-0.84,-116.8,100.5,-7.6,139,1237,0.00,2.28,0.00,0.000,4,0.000,0.046,2861,230,3113,0,0,0,0,0,0
$GC,1315,-0.91,-116.8,108.3,-9.8,145,1319,0.00,2.03,0.00,0.000,6,0.000,0.018,2861,1551,3113,0,0,0,0,0,0
$GC,1585,-0.97,-116.8,129.0,-6.9,166,1586,0.10,0.00,0.00,0.000,6,0.072,0.000,2821,1556,3113,0,0,0,0,0,0
$GC,1836,-0.97,-116.8,150.0,-8.1,186,1840,0.00,2.28,0.00,0.000,4,0.000,0.045,2821,233,3114,0,0,0,0,0,0
$GC,1882,-0.97,-116.8,154.3,-9.6,189,1888,0.00,2.03,0.00,0.000,6,0.000,0.019,2821,1555,3114,0,0,0,0,0,0
$GC,2141,-0.97,-116.8,176.3,-9.2,210,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1556,3114,0,0,0,0,0,0
$GC,2395,-0.97,-116.8,201.1,-10.0,230,2399,0.00,2.25,0.00,0.000,4,0.000,0.046,2821,231,3114,0,0,0,0,0,0
$GC,2417,-0.94,-116.8,203.4,-10.8,231,2421,0.12,2.05,0.00,0.000,6,0.093,0.020,2847,1543,3114,0,0,0,0,0,0
$GC,2752,-1.02,-116.8,227.4,-6.0,247,2755,0.00,2.25,0.00,0.000,4,0.000,0.047,2847,237,3114,0,0,0,0,0,0
$GC,2794,-1.09,-116.8,230.5,-7.0,248,2800,0.12,2.08,0.00,0.000,6,0.030,0.020,2797,1554,3114,0,0,0,0,0,0
$GC,3110,-1.09,-116.8,257.6,-8.9,264,3115,0.00,2.25,0.00,0.000,4,0.000,0.048,2797,235,3113,0,0,0,0,0,0
$GC,3143,-1.04,-116.8,260.8,-9.0,265,3148,0.12,2.05,0.00,0.000,6,0.092,0.021,2824,1545,3114,0,0,0,0,0,0
$GC,3467,-1.08,-116.8,285.4,-7.9,281,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1549,3113,0,0,0,0,0,0
$GC,3772,-1.13,-116.8,310.8,-8.0,293,3776,0.00,2.28,0.00,0.000,4,0.000,0.051,2824,238,3112,0,0,0,0,0,0
$GC,3824,-1.20,-116.8,315.5,-8.8,294,3828,0.15,2.08,0.00,0.000,6,0.057,0.022,2774,1549,3112,0,0,0,0,0,0
$GC,4150,-1.13,-116.8,347.7,-10.1,302,4155,0.12,2.28,0.00,0.000,4,0.096,0.028,2801,2921,3110,0,0,0,0,0,0
$GC,4207,-1.21,-116.8,353.0,-8.8,303,4211,0.00,2.33,0.00,0.000,6,0.000,0.036,2800,1552,3109,0,0,0,0,0,0
$GC,4522,-1.21,-116.8,379.0,-8.2,311,4526,0.00,2.30,0.00,0.000,4,0.000,0.053,2800,228,3107,0,0,0,0,0,0
$GC,4569,-1.21,-116.8,383.2,-9.1,312,4573,0.00,2.10,0.00,0.000,6,0.000,0.023,2800,1552,3108,0,0,0,0,0,0
$GC,4896,-1.21,-116.8,408.7,-7.9,320,4901,0.00,2.30,0.00,0.000,4,0.000,0.054,2800,231,3105,0,0,0,0,0,0
$GC,4916,-1.21,-116.8,410.4,-8.2,320,4920,0.00,2.10,0.00,0.000,6,0.000,0.025,2800,1549,3105,0,0,0,0,0,0
$GC,5261,-1.21,-116.8,438.5,-7.8,329,5265,0.00,2.30,0.00,0.000,4,0.000,0.054,2800,229,3103,0,0,0,0,0,0
$GC,5289,-1.21,-116.8,440.9,-8.4,329,5293,0.00,2.10,0.00,0.000,6,0.000,0.025,2801,1546,3103,0,0,0,0,0,0
$STATE,5419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5419,begin apogee
$GC,5426,-0.31,0.0,451.3,7.9,333,5526,0.82,0.00,96.68,0.827,6,0.065,0.000,2979,1550,2630,0,0,0,0,0,0
$STATE,5527,end apogee,CONTROL_FINISHED_OK
$STATE,5527,begin climb
$GC,5529,1.18,116.8,453.2,0.0,335,5643,1.42,2.42,101.57,0.810,4,0.038,0.031,3310,2929,2151,0,0,0,0,0,0
$GC,5774,1.00,116.8,442.9,8.0,340,5779,0.20,2.40,0.00,0.000,6,0.097,0.041,3271,1549,2147,0,0,0,0,0,0
$GC,6121,0.91,139.8,417.6,6.9,349,6147,0.12,2.40,19.55,0.762,4,0.107,0.058,3246,229,2059,0,0,0,0,0,0
$GC,6209,0.77,139.8,411.2,8.1,351,6214,0.15,2.15,0.00,0.000,6,0.107,0.027,3218,1544,2055,0,0,0,0,0,0
$GC,6539,0.84,196.6,393.0,5.3,359,6595,0.00,2.42,51.08,0.792,4,0.000,0.058,3217,227,1828,0,0,0,0,0,0
$GC,6619,0.79,196.6,387.4,8.4,360,6624,0.00,2.20,0.00,0.000,6,0.000,0.027,3218,1552,1824,0,0,0,0,0,0
$GC,6952,0.82,197.0,361.7,7.9,369,6956,0.00,2.35,0.00,0.000,4,0.000,0.058,3218,228,1820,0,0,0,0,0,0
$GC,7012,0.79,197.0,355.8,9.9,370,7017,0.00,2.15,0.00,0.000,6,0.000,0.028,3218,1547,1817,0,0,0,0,0,0
$GC,7362,0.86,227.5,331.4,6.5,379,7395,0.00,2.42,26.62,0.748,4,0.000,0.030,3218,2937,1701,0,0,0,0,0,0
$GC,7441,0.99,240.0,326.2,7.3,380,7462,0.20,2.45,12.82,0.696,6,0.052,0.043,3272,1545,1650,0,0,0,0,0,0
$GC,7788,0.92,240.0,292.7,9.7,390,7792,0.00,2.35,0.00,0.000,4,0.000,0.058,3272,228,1645,0,0,0,0,0,0
$GC,7848,0.79,240.0,286.3,10.3,392,7857,0.22,2.20,0.00,0.000,6,0.082,0.028,3223,1556,1643,0,0,0,0,0,0
$GC,8164,0.89,271.5,265.7,6.5,408,8198,0.00,2.45,27.25,0.706,4,0.000,0.057,3223,234,1522,0,0,0,0,0,0
$GC,8262,0.92,271.5,257.9,8.3,412,8267,0.12,2.15,0.00,0.000,6,0.071,0.027,3257,1548,1518,0,0,0,0,0,0
$GC,8588,0.92,271.5,229.0,8.1,428,8592,0.00,2.35,0.00,0.000,4,0.000,0.056,3258,229,1517,0,0,0,0,0,0
$GC,8631,0.86,271.5,225.0,9.4,430,8635,0.00,2.15,0.00,0.000,6,0.000,0.027,3257,1553,1515,0,0,0,0,0,0
$GC,8961,0.87,284.7,199.5,7.3,446,8978,0.00,2.40,11.73,0.613,4,0.000,0.054,3258,238,1469,0,0,0,0,0,0
$GC,9027,0.83,284.7,194.0,9.5,450,9034,0.10,2.17,0.00,0.000,6,0.081,0.025,3234,1551,1466,0,0,0,0,0,0
$GC,9289,0.93,302.1,175.5,7.1,471,9310,0.00,2.35,16.45,0.612,4,0.000,0.053,3233,234,1397,0,0,0,0,0,0
$GC,9341,0.93,302.1,171.3,7.9,474,9345,0.00,2.15,0.00,0.000,6,0.000,0.025,3233,1552,1395,0,0,0,0,0,0
$GC,9612,1.05,321.8,151.5,7.0,495,9640,0.20,2.40,17.95,0.591,4,0.051,0.052,3290,238,1317,0,0,0,0,0,0
$GC,9673,0.93,321.8,145.0,12.5,499,9678,0.17,2.12,0.00,0.000,6,0.091,0.024,3255,1557,1314,0,0,0,0,0,0
$GC,9943,0.98,321.8,120.8,9.2,520,9947,0.00,2.33,0.00,0.000,4,0.000,0.051,3254,233,1314,0,0,0,0,0,0
$GC,10010,0.98,321.8,113.5,11.3,524,10016,0.00,2.15,0.00,0.000,6,0.000,0.022,3254,1557,1312,0,0,0,0,0,0
$GC,10272,1.08,341.4,91.8,7.0,545,10300,0.12,2.33,17.70,0.540,4,0.065,0.049,3296,233,1236,0,0,0,0,0,0
$GC,10374,1.02,341.4,80.1,12.5,552,10379,0.12,2.12,0.00,0.000,6,0.094,0.021,3269,1552,1234,0,0,0,0,0,0
$GC,10641,1.12,341.4,58.2,8.1,573,10646,0.10,2.33,0.00,0.000,4,0.074,0.050,3306,232,1234,0,0,0,0,0,0
$GC,10715,1.12,341.4,50.3,11.0,578,10719,0.00,2.10,0.00,0.000,6,0.000,0.021,3307,1566,1233,0,0,0,0,0,0
$GC,10978,1.12,341.4,28.4,8.4,600,10985,0.00,2.35,0.00,0.000,4,0.000,0.048,3307,237,1232,0,0,0,0,0,0
$GC,11015,1.09,341.4,24.9,9.2,607,11022,0.00,2.10,0.00,0.000,6,0.000,0.021,3307,1557,1232,0,0,0,0,0,0
$GC,11218,1.16,351.3,7.2,7.4,653,11238,0.00,2.38,9.48,0.434,4,0.000,0.051,3307,233,1196,0,0,0,0,0,0
$STATE,11260,end climb,SURFACE_DEPTH_REACHED
$STATE,11261,begin surface coast
$FINISH,1.0,1.023062
$STATE,11293,end surface coast,CONTROL_FINISHED_OK
$STATE,11293,begin surface
$SM_CCo,11318,36.53,0.478,0,0,957,410.14
$SM_GC,1.89,0.00,0.00,36.53,0.000,0.000,0.478,426,1550,957,-12.07,0.00,410.14
$IRIDIUM_FIX,2059.45,-15750.89,030100,161654
$TT8_MAMPS,0.029146
$HUMID,59.92
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.3,59.132
$10V_AH,10.0,48.307
$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,31.175,134.400,408.875,36.525,0.000,26.227,32.348,172.560,4.750,0.000,33.548,1301.741,7356.833,482.993,2037.484,554.401,0.000,1406.636,0.000,1993.943,0.000,29.252,0.000
$DEVICE_MAMPS,132.691,58.292,826.826,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.183,433.253,1006.754,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38119,668
$CAP_FILE_SIZE,131361,0
$CFSIZE,260165632,178548736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091010,230254,2107.173,-15749.273,44,0.9,62,9.8