version: 66.06
glider: 139
mission: 8
dive: 667
start: 10 13 110 12 18 41
data:
$ID,139
$MISSION,8
$DIVE,667
$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,-2165218.2
$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,1530
$C_ROLL_CLIMB,1500
$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
$GPS1,120807,2105.605,-15744.740,29,1.0,29,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-75.0
$GPS2,121820,2105.558,-15744.687,10,1.8,10,9.8
$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,71.4,3093,-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,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,428,1493,2748,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.7,12,110,12.60,2.25,-6.82,0.000,4,0.130,0.059,2785,234,3110,0,0,0,0,0,0
$GC,124,0.05,-116.8,14.5,-25.9,18,130,1.25,2.15,0.00,0.000,6,0.079,0.020,3056,1583,3111,0,0,0,0,0,0
$GC,325,-0.50,-116.8,30.0,-10.8,64,332,0.50,2.33,0.00,0.000,4,0.048,0.042,2935,233,3113,0,0,0,0,0,0
$GC,387,-0.93,-116.8,34.7,-5.5,69,392,0.40,2.10,0.00,0.000,6,0.030,0.018,2819,1601,3113,0,0,0,0,0,0
$GC,655,-0.82,-116.8,66.3,-11.9,90,660,0.25,2.35,0.00,0.000,4,0.077,0.044,2876,235,3113,0,0,0,0,0,0
$GC,683,-0.78,-116.8,69.4,-10.5,92,687,0.00,2.12,0.00,0.000,6,0.000,0.018,2876,1591,3113,0,0,0,0,0,0
$GC,948,-0.82,-116.8,92.9,-9.4,113,952,0.00,2.33,0.00,0.000,4,0.000,0.045,2876,234,3113,0,0,0,0,0,0
$GC,1046,-0.89,-116.8,103.8,-8.9,120,1050,0.00,2.10,0.00,0.000,6,0.000,0.018,2876,1594,3113,0,0,0,0,0,0
$GC,1307,-0.99,-116.8,124.5,-7.8,140,1312,0.17,2.35,0.00,0.000,4,0.048,0.046,2817,234,3114,0,0,0,0,0,0
$GC,1392,-0.93,-116.8,132.7,-9.7,146,1396,0.15,2.12,0.00,0.000,6,0.086,0.018,2850,1594,3114,0,0,0,0,0,0
$GC,1653,-1.00,-116.8,150.9,-6.4,166,1657,0.00,2.33,0.00,0.000,4,0.000,0.044,2850,234,3114,0,0,0,0,0,0
$GC,1696,-1.08,-116.8,154.1,-7.0,169,1701,0.15,2.12,0.00,0.000,6,0.054,0.018,2799,1599,3115,0,0,0,0,0,0
$GC,1959,-1.04,-116.8,176.9,-9.1,189,1963,0.12,2.35,0.00,0.000,4,0.091,0.046,2826,238,3115,0,0,0,0,0,0
$GC,2030,-1.04,-116.8,184.1,-9.3,194,2034,0.00,2.10,0.00,0.000,6,0.000,0.018,2826,1594,3115,0,0,0,0,0,0
$GC,2288,-1.04,-116.8,205.3,-7.3,212,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1598,3115,0,0,0,0,0,0
$GC,2600,-1.07,-116.8,226.3,-6.9,227,2604,0.00,2.33,0.00,0.000,4,0.000,0.047,2826,238,3114,0,0,0,0,0,0
$GC,2656,-1.11,-116.8,231.1,-8.4,229,2659,0.00,2.10,0.00,0.000,6,0.000,0.020,2826,1585,3114,0,0,0,0,0,0
$GC,2972,-1.14,-116.8,255.2,-7.7,244,2977,0.12,2.35,0.00,0.000,4,0.062,0.048,2782,227,3114,0,0,0,0,0,0
$GC,3030,-1.09,-116.8,260.8,-9.8,246,3035,0.12,2.15,0.00,0.000,6,0.091,0.021,2810,1580,3113,0,0,0,0,0,0
$GC,3353,-1.09,-116.8,285.6,-7.6,262,3356,0.00,2.15,0.00,0.000,4,0.000,0.024,2810,2913,3112,0,0,0,0,0,0
$GC,3391,-1.18,-116.8,288.6,-7.9,263,3397,0.00,2.35,0.00,0.000,6,0.000,0.035,2810,1530,3113,0,0,0,0,0,0
$GC,3704,-1.18,-116.8,315.1,-8.7,275,3708,0.00,2.22,0.00,0.000,4,0.000,0.050,2810,228,3111,0,0,0,0,0,0
$GC,3727,-1.18,-116.8,317.3,-9.6,275,3731,0.00,2.05,0.00,0.000,6,0.000,0.022,2810,1535,3110,0,0,0,0,0,0
$GC,4069,-1.22,-116.8,345.7,-7.9,284,4074,0.12,2.28,0.00,0.000,4,0.064,0.051,2768,228,3109,0,0,0,0,0,0
$GC,4121,-1.14,-116.8,350.7,-9.0,285,4126,0.15,2.05,0.00,0.000,6,0.088,0.023,2801,1528,3108,0,0,0,0,0,0
$GC,4443,-1.14,-116.8,370.9,-6.1,293,4447,0.00,2.25,0.00,0.000,4,0.000,0.026,2801,2910,3106,0,0,0,0,0,0
$GC,4471,-1.22,-116.8,372.8,-5.8,293,4475,0.00,2.35,0.00,0.000,6,0.000,0.038,2801,1528,3106,0,0,0,0,0,0
$GC,4815,-1.22,-116.8,392.4,-6.2,302,4819,0.00,2.22,0.00,0.000,4,0.000,0.053,2801,233,3104,0,0,0,0,0,0
$GC,4861,-1.22,-116.8,396.3,-8.7,303,4865,0.00,2.05,0.00,0.000,6,0.000,0.024,2801,1527,3103,0,0,0,0,0,0
$GC,5183,-1.22,-116.8,425.0,-9.4,311,5187,0.00,2.28,0.00,0.000,4,0.000,0.028,2801,2906,3101,0,0,0,0,0,0
$GC,5217,-1.31,-116.8,428.1,-9.4,311,5222,0.17,2.38,0.00,0.000,6,0.051,0.040,2747,1528,3101,0,0,0,0,0,0
$STATE,5429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5429,begin apogee
$GC,5435,-0.31,0.0,451.8,11.1,317,5535,1.10,0.00,96.12,0.835,6,0.071,0.000,2982,1528,2629,0,0,0,0,0,0
$STATE,5536,end apogee,CONTROL_FINISHED_OK
$STATE,5536,begin climb
$GC,5539,1.18,116.8,455.3,0.0,319,5652,1.40,2.35,101.00,0.821,4,0.036,0.029,3310,2870,2152,0,0,0,0,0,0
$GC,5757,1.03,140.6,451.7,6.8,323,5786,0.17,2.40,21.45,0.776,6,0.099,0.041,3276,1499,2056,0,0,0,0,0,0
$GC,6138,0.91,147.7,423.9,7.6,333,6151,0.15,2.30,6.20,0.630,4,0.107,0.057,3247,235,2027,0,0,0,0,0,0
$GC,6162,0.81,161.4,421.5,7.3,333,6184,0.00,2.08,13.75,0.742,6,0.000,0.027,3247,1497,1972,0,0,0,0,0,0
$GC,6511,0.76,161.4,393.0,8.5,342,6516,0.15,2.35,0.00,0.000,4,0.101,0.030,3217,2890,1967,0,0,0,0,0,0
$GC,6526,0.76,161.4,391.6,8.3,342,6530,0.00,2.45,0.00,0.000,6,0.000,0.042,3217,1492,1967,0,0,0,0,0,0
$GC,6876,0.76,161.4,364.2,8.1,351,6880,0.00,2.20,0.00,0.000,4,0.000,0.058,3217,233,1964,0,0,0,0,0,0
$GC,6909,0.72,161.4,361.2,8.4,351,6913,0.00,2.08,0.00,0.000,6,0.000,0.028,3217,1495,1962,0,0,0,0,0,0
$GC,7241,0.78,183.0,338.4,6.9,359,7265,0.00,2.42,18.83,0.749,4,0.000,0.031,3216,2887,1884,0,0,0,0,0,0
$GC,7310,0.88,203.6,333.9,7.0,360,7336,0.12,2.45,20.20,0.742,6,0.068,0.042,3253,1495,1799,0,0,0,0,0,0
$GC,7661,0.92,235.1,308.4,6.5,369,7691,0.00,0.00,28.55,0.742,6,0.000,0.000,3253,1495,1671,0,0,0,0,0,0
$GC,7971,0.92,235.1,283.6,9.2,381,7975,0.00,2.22,0.00,0.000,4,0.000,0.058,3253,232,1666,0,0,0,0,0,0
$GC,7994,0.85,235.1,281.1,9.9,382,7998,0.00,2.10,0.00,0.000,6,0.000,0.028,3253,1511,1663,0,0,0,0,0,0
$GC,8325,0.87,250.4,254.9,7.2,398,8348,0.00,2.40,13.48,0.667,4,0.000,0.028,3253,2888,1609,0,0,0,0,0,0
$GC,8358,0.89,268.7,252.4,7.1,399,8383,0.00,2.42,17.58,0.680,6,0.000,0.041,3253,1500,1533,0,0,0,0,0,0
$GC,8705,0.89,268.7,227.1,7.9,416,8709,0.00,2.25,0.00,0.000,4,0.000,0.057,3253,234,1529,0,0,0,0,0,0
$GC,8815,0.86,268.7,215.5,12.4,420,8821,0.00,2.10,0.00,0.000,6,0.000,0.026,3253,1505,1525,0,0,0,0,0,0
$GC,9142,0.87,278.7,185.6,7.4,442,9157,0.00,2.33,8.85,0.581,4,0.000,0.026,3253,2888,1492,0,0,0,0,0,0
$GC,9175,0.96,296.3,183.3,7.1,444,9197,0.00,2.42,16.67,0.625,6,0.000,0.038,3253,1496,1422,0,0,0,0,0,0
$GC,9456,1.01,296.3,161.5,8.1,466,9460,0.00,2.22,0.00,0.000,4,0.000,0.053,3253,231,1419,0,0,0,0,0,0
$GC,9563,1.01,296.3,150.6,10.5,474,9567,0.00,2.05,0.00,0.000,6,0.000,0.024,3253,1517,1416,0,0,0,0,0,0
$GC,9834,1.12,323.2,128.8,6.7,495,9862,0.17,0.00,23.60,0.591,6,0.054,0.000,3305,1521,1311,0,0,0,0,0,0
$GC,10114,1.12,323.5,106.6,7.9,517,10118,0.00,2.28,0.00,0.000,4,0.000,0.050,3305,227,1308,0,0,0,0,0,0
$GC,10181,1.07,323.5,99.2,12.3,522,10186,0.12,2.03,0.00,0.000,6,0.095,0.022,3279,1510,1306,0,0,0,0,0,0
$GC,10450,1.14,323.5,75.7,8.8,543,10454,0.00,2.25,0.00,0.000,4,0.000,0.049,3279,226,1306,0,0,0,0,0,0
$GC,10501,1.14,323.5,70.4,9.5,547,10505,0.00,2.03,0.00,0.000,6,0.000,0.021,3279,1490,1305,0,0,0,0,0,0
$GC,10773,1.24,330.1,49.2,7.6,568,10789,0.17,2.28,6.50,0.428,4,0.051,0.048,3334,229,1283,0,0,0,0,0,0
$GC,10864,1.16,330.1,40.4,10.6,574,10869,0.15,2.03,0.00,0.000,6,0.090,0.020,3303,1530,1281,0,0,0,0,0,0
$GC,11128,1.20,330.3,21.2,7.9,612,11134,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1535,1281,0,0,0,0,0,0
$GC,11331,1.20,330.3,5.4,9.2,658,11338,0.00,2.28,0.00,0.000,4,0.000,0.046,3303,229,1281,0,0,0,0,0,0
$STATE,11356,end climb,SURFACE_DEPTH_REACHED
$STATE,11356,begin surface coast
$FINISH,0.8,1.011618
$STATE,11378,end surface coast,CONTROL_FINISHED_OK
$STATE,11378,begin surface
$SM_CCo,11404,48.17,0.478,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,48.17,0.000,0.000,0.478,426,1533,957,-12.07,0.08,410.14
$IRIDIUM_FIX,2059.45,-15745.74,070100,121208
$TT8_MAMPS,0.029146
$HUMID,59.72
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.3,62.192
$10V_AH,10.0,50.620
$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,32.325,129.475,392.775,48.175,0.000,65.010,76.416,272.300,4.500,0.000,13.958,1305.177,7532.783,492.980,1981.963,750.212,0.000,1377.361,0.000,1965.186,0.000,29.257,0.000
$DEVICE_MAMPS,130.390,59.059,835.263,477.841,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,449.847,429.856,997.296,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38082,668
$CAP_FILE_SIZE,132913,0
$CFSIZE,260165632,176910336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131010,153040,2105.579,-15744.609,8,3.1,27,9.8