version: 66.06
glider: 139
mission: 8
dive: 678
start: 10 14 110 23 48 57
data:
$ID,139
$MISSION,8
$DIVE,678
$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,-2165463.8
$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,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
$GPS1,234235,2101.070,-15753.344,14,7.6,33,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.8
$GPS2,234837,2101.087,-15753.368,12,1.3,17,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,302.0,20144,-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,-116.8,0.0,0.0,0,76,0.00,0.00,-59.28,0.000,2,0.000,0.000,427,1512,2600,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.1,-3.2,11,110,12.65,2.40,-10.18,0.000,4,0.133,0.032,2783,2958,3108,0,0,0,0,0,0
$GC,181,-1.12,-116.8,20.6,-13.2,31,188,0.00,2.47,0.00,0.000,6,0.000,0.035,2783,1532,3110,0,0,0,0,0,0
$GC,383,-0.90,-116.8,53.5,-17.2,55,387,0.28,2.22,0.00,0.000,4,0.088,0.045,2844,234,3111,0,0,0,0,0,0
$GC,426,-0.83,-116.8,60.2,-12.8,58,430,0.12,2.12,0.00,0.000,6,0.097,0.018,2870,1590,3111,0,0,0,0,0,0
$GC,684,-0.83,-116.8,82.4,-8.6,78,688,0.00,2.35,0.00,0.000,4,0.000,0.044,2870,234,3112,0,0,0,0,0,0
$GC,740,-0.83,-116.8,87.9,-10.3,82,744,0.00,2.12,0.00,0.000,6,0.000,0.018,2870,1594,3111,0,0,0,0,0,0
$GC,1001,-0.90,-116.8,107.0,-6.1,102,1005,0.00,2.35,0.00,0.000,4,0.000,0.044,2870,234,3112,0,0,0,0,0,0
$GC,1085,-0.99,-116.8,113.3,-7.9,108,1090,0.15,2.12,0.00,0.000,6,0.054,0.018,2819,1596,3113,0,0,0,0,0,0
$GC,1346,-0.94,-116.8,139.2,-9.8,128,1351,0.12,2.20,0.00,0.000,4,0.091,0.021,2846,2955,3113,0,0,0,0,0,0
$GC,1372,-1.03,-116.8,141.9,-9.4,129,1377,0.00,2.40,0.00,0.000,6,0.000,0.033,2846,1526,3113,0,0,0,0,0,0
$GC,1634,-1.08,-116.8,161.4,-7.2,150,1639,0.15,2.20,0.00,0.000,4,0.055,0.045,2795,234,3114,0,0,0,0,0,0
$GC,1696,-1.02,-116.8,167.9,-10.3,154,1703,0.12,2.15,0.00,0.000,6,0.064,0.018,2828,1587,3114,0,0,0,0,0,0
$GC,1957,-1.02,-116.8,187.8,-8.3,175,1962,0.00,2.33,0.00,0.000,4,0.000,0.045,2828,234,3114,0,0,0,0,0,0
$GC,2010,-1.02,-116.8,192.4,-8.3,179,2014,0.00,2.12,0.00,0.000,6,0.000,0.019,2828,1586,3114,0,0,0,0,0,0
$GC,2268,-1.02,-116.8,212.3,-8.1,195,2272,0.00,2.33,0.00,0.000,4,0.000,0.046,2828,228,3114,0,0,0,0,0,0
$GC,2301,-1.02,-116.8,215.3,-8.2,196,2305,0.00,2.15,0.00,0.000,6,0.000,0.020,2828,1594,3114,0,0,0,0,0,0
$GC,2620,-1.05,-116.8,236.2,-6.0,211,2624,0.00,2.35,0.00,0.000,4,0.000,0.047,2829,235,3114,0,0,0,0,0,0
$GC,2671,-1.09,-116.8,240.4,-8.2,213,2675,0.00,2.12,0.00,0.000,6,0.000,0.020,2828,1590,3114,0,0,0,0,0,0
$GC,2998,-1.13,-116.8,266.4,-8.1,229,3003,0.12,2.25,0.00,0.000,4,0.063,0.024,2784,2954,3113,0,0,0,0,0,0
$GC,3027,-1.13,-116.8,269.3,-8.9,230,3031,0.00,2.42,0.00,0.000,6,0.000,0.035,2784,1528,3113,0,0,0,0,0,0
$GC,3352,-1.08,-116.8,297.8,-8.8,246,3356,0.15,2.22,0.00,0.000,4,0.089,0.049,2816,234,3113,0,0,0,0,0,0
$GC,3382,-1.08,-116.8,300.3,-8.7,247,3386,0.00,2.12,0.00,0.000,6,0.000,0.021,2816,1582,3112,0,0,0,0,0,0
$GC,3725,-1.12,-116.8,322.1,-6.1,256,3729,0.00,2.33,0.00,0.000,4,0.000,0.050,2816,235,3110,0,0,0,0,0,0
$GC,3772,-1.18,-116.8,325.7,-7.4,257,3776,0.00,2.12,0.00,0.000,6,0.000,0.022,2816,1580,3110,0,0,0,0,0,0
$GC,4097,-1.22,-116.8,346.8,-6.9,265,4101,0.15,2.38,0.00,0.000,4,0.058,0.051,2768,232,3108,0,0,0,0,0,0
$GC,4130,-1.11,-116.8,350.3,-10.4,265,4135,0.17,2.08,0.00,0.000,6,0.086,0.023,2805,1532,3108,0,0,0,0,0,0
$GC,4463,-1.11,-116.8,377.9,-8.4,273,4467,0.00,2.25,0.00,0.000,4,0.000,0.052,2805,227,3106,0,0,0,0,0,0
$GC,4483,-1.11,-116.8,379.5,-7.5,273,4488,0.00,2.08,0.00,0.000,6,0.000,0.024,2805,1543,3106,0,0,0,0,0,0
$GC,4834,-1.11,-116.8,403.4,-6.4,282,4838,0.00,2.25,0.00,0.000,4,0.000,0.027,2805,2909,3104,0,0,0,0,0,0
$GC,4873,-1.24,-116.8,405.9,-6.8,282,4879,0.12,2.35,0.00,0.000,6,0.064,0.039,2764,1528,3104,0,0,0,0,0,0
$GC,5205,-1.17,-116.8,432.6,-7.5,291,5209,0.15,2.28,0.00,0.000,4,0.091,0.055,2795,235,3101,0,0,0,0,0,0
$GC,5267,-1.17,-116.8,438.3,-8.7,292,5271,0.00,2.08,0.00,0.000,6,0.000,0.025,2795,1524,3101,0,0,0,0,0,0
$STATE,5415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5415,begin apogee
$GC,5421,-0.31,0.0,450.5,8.0,296,5521,0.85,0.00,96.18,0.838,6,0.066,0.000,2980,1528,2630,0,0,0,0,0,0
$STATE,5521,end apogee,CONTROL_FINISHED_OK
$STATE,5522,begin climb
$GC,5524,1.18,116.8,453.6,0.0,298,5637,1.42,2.35,102.22,0.820,4,0.037,0.054,3309,234,2152,0,0,0,0,0,0
$GC,5657,0.94,181.2,454.9,5.0,301,5725,0.28,2.08,56.70,0.803,6,0.099,0.025,3256,1506,1891,0,0,0,0,0,0
$GC,6066,0.87,181.2,418.5,9.4,311,6070,0.00,2.30,0.00,0.000,4,0.000,0.029,3256,2875,1881,0,0,0,0,0,0
$GC,6090,0.83,181.2,416.4,8.4,311,6095,0.12,2.42,0.00,0.000,6,0.104,0.043,3231,1497,1881,0,0,0,0,0,0
$GC,6432,0.88,221.5,394.6,6.1,320,6474,0.00,2.35,34.88,0.788,4,0.000,0.059,3231,231,1727,0,0,0,0,0,0
$GC,6496,0.83,231.5,390.2,7.4,321,6513,0.00,2.08,10.25,0.694,6,0.000,0.028,3231,1490,1685,0,0,0,0,0,0
$GC,6850,0.83,236.4,364.7,7.7,330,6857,0.00,0.00,4.80,0.552,6,0.000,0.000,3231,1490,1666,0,0,0,0,0,0
$GC,7174,0.83,237.6,338.6,7.8,338,7178,0.00,2.22,0.00,0.000,4,0.000,0.059,3231,232,1664,0,0,0,0,0,0
$GC,7248,0.80,237.6,331.8,8.9,339,7252,0.00,2.08,0.00,0.000,6,0.000,0.028,3231,1502,1661,0,0,0,0,0,0
$GC,7587,0.80,241.6,305.8,7.7,348,7594,0.00,0.00,5.68,0.580,6,0.000,0.000,3231,1504,1644,0,0,0,0,0,0
$GC,7895,0.85,249.8,282.8,7.5,361,7910,0.00,2.30,8.88,0.648,4,0.000,0.057,3231,230,1610,0,0,0,0,0,0
$GC,7920,0.85,249.8,280.4,8.5,362,7924,0.00,2.10,0.00,0.000,6,0.000,0.028,3231,1504,1609,0,0,0,0,0,0
$GC,8247,0.91,255.4,254.3,7.6,378,8255,0.00,0.00,6.18,0.571,6,0.000,0.000,3231,1505,1587,0,0,0,0,0,0
$GC,8556,0.97,258.0,231.4,7.8,393,8561,0.12,2.25,0.00,0.000,4,0.068,0.056,3269,233,1586,0,0,0,0,0,0
$GC,8582,0.92,258.0,228.9,9.7,394,8586,0.00,2.10,0.00,0.000,6,0.000,0.027,3269,1501,1584,0,0,0,0,0,0
$GC,8911,0.92,258.0,200.7,8.2,410,8915,0.00,2.22,0.00,0.000,4,0.000,0.054,3269,232,1584,0,0,0,0,0,0
$GC,8925,0.88,258.0,199.4,8.3,410,8930,0.12,2.05,0.00,0.000,6,0.103,0.026,3245,1506,1583,0,0,0,0,0,0
$GC,9249,0.96,274.1,175.4,7.2,435,9276,0.00,2.28,16.98,0.624,4,0.000,0.052,3244,226,1511,0,0,0,0,0,0
$GC,9301,0.96,274.1,170.9,9.7,438,9307,0.00,2.10,0.00,0.000,6,0.000,0.025,3245,1503,1509,0,0,0,0,0,0
$GC,9563,1.04,291.2,151.8,7.1,459,9585,0.12,2.25,15.98,0.594,4,0.066,0.051,3284,233,1441,0,0,0,0,0,0
$GC,9639,0.98,291.2,144.4,10.2,463,9645,0.10,2.05,0.00,0.000,6,0.107,0.023,3264,1509,1439,0,0,0,0,0,0
$GC,9900,1.07,313.8,126.5,6.9,484,9928,0.00,2.33,20.50,0.580,4,0.000,0.051,3264,233,1349,0,0,0,0,0,0
$GC,9959,1.07,313.8,121.9,8.0,488,9963,0.00,2.08,0.00,0.000,6,0.000,0.023,3264,1503,1347,0,0,0,0,0,0
$GC,10230,1.16,341.5,103.6,6.6,509,10261,0.17,2.30,24.58,0.560,4,0.052,0.051,3317,234,1236,0,0,0,0,0,0
$GC,10306,1.07,341.5,95.8,11.5,514,10311,0.17,2.05,0.00,0.000,6,0.086,0.021,3281,1509,1232,0,0,0,0,0,0
$GC,10568,1.15,352.5,76.7,7.4,534,10584,0.00,2.28,10.50,0.493,4,0.000,0.048,3281,225,1190,0,0,0,0,0,0
$GC,10674,1.15,352.5,68.4,8.4,541,10678,0.00,2.05,0.00,0.000,6,0.000,0.021,3281,1519,1187,0,0,0,0,0,0
$GC,10941,1.26,361.5,48.7,7.5,562,10956,0.20,0.00,8.52,0.452,6,0.046,0.000,3343,1520,1155,0,0,0,0,0,0
$GC,11215,1.22,361.5,20.6,9.9,595,11222,0.15,2.28,0.00,0.000,4,0.087,0.049,3312,235,1154,0,0,0,0,0,0
$GC,11295,1.22,361.5,12.3,10.3,612,11301,0.00,2.00,0.00,0.000,6,0.000,0.020,3312,1506,1152,0,0,0,0,0,0
$STATE,11409,end climb,SURFACE_DEPTH_REACHED
$STATE,11409,begin surface coast
$FINISH,0.9,1.023080
$STATE,11441,end surface coast,CONTROL_FINISHED_OK
$STATE,11441,begin surface
$SM_CCo,11463,30.95,0.471,0,0,957,410.14
$SM_GC,1.60,0.00,0.00,30.95,0.000,0.000,0.471,426,1506,957,-12.07,-0.68,410.14
$IRIDIUM_FIX,2050.21,-15752.63,080100,202023
$TT8_MAMPS,0.029146
$HUMID,60.51
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.80
$XPDR_PINGS,0
$24V_AH,23.3,63.418
$10V_AH,10.0,51.528
$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,30.775,128.650,422.800,30.950,0.000,27.369,30.983,166.634,4.500,0.000,17.584,1255.198,7701.676,499.917,1839.744,556.668,0.000,1343.131,0.000,1824.901,0.000,29.262,0.000
$DEVICE_MAMPS,132.691,59.059,837.564,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.503,414.762,917.793,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,34928,645
$CAP_FILE_SIZE,127591,0
$CFSIZE,260165632,176267264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151010,030200,2101.601,-15754.917,44,1.0,49,9.8