version: 66.06
glider: 139
mission: 8
dive: 715
start: 10 19 110 19 19 33
data:
$ID,139
$MISSION,8
$DIVE,715
$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,-2166239.8
$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
$GPS1,191252,2112.508,-15759.890,14,3.3,33,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-74.3
$GPS2,191915,2112.504,-15759.938,15,3.4,34,9.8
$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,103.0,31913,-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,-116.8,0.0,0.0,0,83,0.00,0.00,-64.57,0.000,2,0.000,0.000,430,1532,2759,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.6,12,111,12.60,2.25,-6.57,0.000,4,0.131,0.057,2784,234,3108,0,0,0,0,0,0
$GC,158,-0.89,-116.8,21.2,-19.0,26,165,0.30,2.15,0.00,0.000,6,0.078,0.020,2852,1584,3109,0,0,0,0,0,0
$GC,364,-0.82,-116.8,46.6,-11.9,51,368,0.00,2.33,0.00,0.000,4,0.000,0.045,2851,230,3111,0,0,0,0,0,0
$GC,405,-0.78,-116.8,51.4,-11.5,54,409,0.12,2.15,0.00,0.000,6,0.094,0.019,2879,1593,3111,0,0,0,0,0,0
$GC,673,-0.84,-116.8,71.9,-5.7,75,677,0.00,2.35,0.00,0.000,4,0.000,0.045,2878,235,3112,0,0,0,0,0,0
$GC,719,-0.92,-116.8,75.0,-6.4,78,724,0.12,2.12,0.00,0.000,6,0.061,0.018,2832,1593,3112,0,0,0,0,0,0
$GC,984,-0.92,-116.8,97.9,-9.2,99,988,0.00,2.22,0.00,0.000,4,0.000,0.021,2832,2960,3113,0,0,0,0,0,0
$GC,1012,-0.98,-116.8,100.5,-8.6,101,1016,0.00,2.42,0.00,0.000,6,0.000,0.031,2832,1527,3113,0,0,0,0,0,0
$GC,1276,-0.98,-116.8,124.1,-8.9,122,1280,0.00,2.22,0.00,0.000,4,0.000,0.046,2832,228,3114,0,0,0,0,0,0
$GC,1345,-0.98,-116.8,131.0,-9.4,127,1349,0.00,2.12,0.00,0.000,6,0.000,0.018,2832,1591,3113,0,0,0,0,0,0
$GC,1609,-0.98,-116.8,151.9,-7.8,147,1613,0.00,2.35,0.00,0.000,4,0.000,0.045,2832,232,3114,0,0,0,0,0,0
$GC,1664,-0.98,-116.8,156.6,-7.1,151,1668,0.00,2.12,0.00,0.000,6,0.000,0.019,2832,1592,3114,0,0,0,0,0,0
$GC,1928,-1.01,-116.8,174.4,-6.9,171,1932,0.00,2.35,0.00,0.000,4,0.000,0.046,2832,232,3114,0,0,0,0,0,0
$GC,1971,-1.05,-116.8,178.0,-7.8,174,1975,0.00,2.12,0.00,0.000,6,0.000,0.019,2832,1588,3114,0,0,0,0,0,0
$GC,2239,-1.08,-116.8,197.6,-7.9,195,2244,0.00,2.33,0.00,0.000,4,0.000,0.046,2832,232,3114,0,0,0,0,0,0
$GC,2265,-1.08,-116.8,200.0,-8.5,197,2270,0.00,2.12,0.00,0.000,6,0.000,0.020,2832,1589,3114,0,0,0,0,0,0
$GC,2529,-1.12,-116.8,219.3,-6.7,210,2534,0.12,2.35,0.00,0.000,4,0.062,0.048,2788,230,3114,0,0,0,0,0,0
$GC,2591,-1.05,-116.8,224.8,-8.6,212,2596,0.15,2.12,0.00,0.000,6,0.085,0.020,2821,1579,3114,0,0,0,0,0,0
$GC,2910,-1.05,-116.8,247.6,-5.6,227,2914,0.00,2.30,0.00,0.000,4,0.000,0.048,2821,238,3113,0,0,0,0,0,0
$GC,2967,-1.05,-116.8,251.5,-6.8,229,2971,0.00,2.03,0.00,0.000,6,0.000,0.021,2821,1523,3113,0,0,0,0,0,0
$GC,3289,-1.09,-116.8,274.1,-6.8,245,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1538,3112,0,0,0,0,0,0
$GC,3599,-1.14,-116.8,300.7,-7.8,260,3603,0.00,2.22,0.00,0.000,4,0.000,0.050,2821,238,3112,0,0,0,0,0,0
$GC,3636,-1.18,-116.8,304.2,-9.1,260,3642,0.12,2.05,0.00,0.000,6,0.063,0.022,2778,1540,3112,0,0,0,0,0,0
$GC,3967,-1.13,-116.8,335.7,-9.0,269,3969,0.12,0.00,0.00,0.000,6,0.094,0.000,2805,1540,3110,0,0,0,0,0,0
$GC,4294,-1.13,-116.8,359.5,-7.7,277,4298,0.00,2.25,0.00,0.000,4,0.000,0.052,2805,237,3109,0,0,0,0,0,0
$GC,4332,-1.13,-116.8,362.5,-7.3,277,4336,0.00,2.03,0.00,0.000,6,0.000,0.024,2805,1522,3108,0,0,0,0,0,0
$GC,4664,-1.13,-116.8,383.9,-7.1,285,4668,0.00,2.22,0.00,0.000,4,0.000,0.052,2805,235,3106,0,0,0,0,0,0
$GC,4702,-1.13,-116.8,386.3,-6.3,285,4707,0.00,2.05,0.00,0.000,6,0.000,0.025,2805,1536,3106,0,0,0,0,0,0
$GC,5034,-1.17,-116.8,409.9,-7.8,294,5038,0.00,2.28,0.00,0.000,4,0.000,0.029,2805,2904,3104,0,0,0,0,0,0
$GC,5050,-1.21,-116.8,411.2,-7.7,294,5054,0.00,2.38,0.00,0.000,6,0.000,0.040,2805,1524,3103,0,0,0,0,0,0
$GC,5364,-1.25,-116.8,436.2,-7.7,302,5369,0.12,2.25,0.00,0.000,4,0.065,0.056,2765,237,3102,0,0,0,0,0,0
$GC,5417,-1.18,-116.8,441.5,-10.1,303,5421,0.12,2.05,0.00,0.000,6,0.098,0.025,2791,1526,3102,0,0,0,0,0,0
$STATE,5530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5530,begin apogee
$GC,5537,-0.31,0.0,450.3,7.4,306,5637,0.88,0.00,96.60,0.834,6,0.064,0.000,2982,1530,2630,0,0,0,0,0,0
$STATE,5638,end apogee,CONTROL_FINISHED_OK
$STATE,5638,begin climb
$GC,5641,1.18,116.8,452.5,0.0,308,5754,1.40,2.38,102.22,0.817,4,0.033,0.054,3311,229,2152,0,0,0,0,0,0
$GC,5880,0.85,116.8,445.2,8.9,313,5885,0.38,2.08,0.00,0.000,6,0.094,0.026,3238,1504,2142,0,0,0,0,0,0
$GC,6232,0.83,148.1,422.9,6.5,322,6264,0.00,2.35,26.62,0.791,4,0.000,0.056,3237,234,2026,0,0,0,0,0,0
$GC,6284,0.73,174.3,419.2,6.7,323,6318,0.15,2.08,24.65,0.778,6,0.108,0.028,3210,1504,1919,0,0,0,0,0,0
$GC,6646,0.81,208.9,397.1,6.3,332,6683,0.00,2.40,30.98,0.786,4,0.000,0.031,3210,2876,1778,0,0,0,0,0,0
$GC,6703,0.92,240.9,392.8,6.5,333,6740,0.17,2.45,29.77,0.773,6,0.055,0.043,3258,1494,1647,0,0,0,0,0,0
$GC,7063,0.88,240.9,353.2,10.9,342,7067,0.00,2.25,0.00,0.000,4,0.000,0.059,3258,233,1640,0,0,0,0,0,0
$GC,7202,0.75,240.9,338.3,9.5,345,7207,0.22,2.08,0.00,0.000,6,0.094,0.028,3214,1494,1635,0,0,0,0,0,0
$GC,7535,0.80,240.9,312.6,8.0,353,7539,0.00,2.25,0.00,0.000,4,0.000,0.059,3213,232,1635,0,0,0,0,0,0
$GC,7579,0.80,240.9,308.6,9.6,354,7583,0.00,2.08,0.00,0.000,6,0.000,0.028,3213,1508,1633,0,0,0,0,0,0
$GC,7912,0.93,288.9,289.1,5.7,366,7959,0.17,2.33,40.75,0.737,4,0.058,0.058,3261,231,1451,0,0,0,0,0,0
$GC,8002,0.85,288.9,279.9,11.2,370,8006,0.12,2.08,0.00,0.000,6,0.106,0.028,3238,1497,1446,0,0,0,0,0,0
$GC,8335,0.90,288.9,250.4,9.3,386,8339,0.00,2.25,0.00,0.000,4,0.000,0.059,3237,232,1445,0,0,0,0,0,0
$GC,8404,0.90,288.9,243.6,9.6,389,8408,0.00,2.08,0.00,0.000,6,0.000,0.028,3237,1506,1442,0,0,0,0,0,0
$GC,8732,1.02,330.9,222.2,6.0,405,8776,0.15,2.33,36.33,0.680,4,0.060,0.055,3281,226,1280,0,0,0,0,0,0
$GC,8826,0.94,330.9,213.8,10.4,409,8830,0.12,2.10,0.00,0.000,6,0.100,0.027,3257,1506,1276,0,0,0,0,0,0
$GC,9149,0.98,332.9,191.3,7.8,428,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1510,1274,0,0,0,0,0,0
$GC,9399,1.02,332.9,170.1,8.5,448,9403,0.00,2.22,0.00,0.000,4,0.000,0.053,3257,232,1274,0,0,0,0,0,0
$GC,9470,1.02,332.9,163.6,8.9,453,9474,0.00,2.05,0.00,0.000,6,0.000,0.025,3257,1517,1272,0,0,0,0,0,0
$GC,9735,1.08,332.9,142.4,8.4,474,9740,0.12,2.28,0.00,0.000,4,0.065,0.054,3297,227,1272,0,0,0,0,0,0
$GC,9787,1.00,332.9,136.8,11.6,477,9794,0.15,2.03,0.00,0.000,6,0.094,0.024,3266,1504,1271,0,0,0,0,0,0
$GC,10048,1.05,332.9,116.6,8.4,498,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1504,1270,0,0,0,0,0,0
$GC,10300,1.14,346.6,96.7,7.3,518,10320,0.15,2.28,13.60,0.528,4,0.058,0.022,3313,2878,1216,0,0,0,0,0,0
$GC,10355,1.14,346.6,92.2,8.2,522,10359,0.00,2.38,0.00,0.000,6,0.000,0.037,3313,1492,1216,0,0,0,0,0,0
$GC,10621,1.14,346.6,68.0,8.4,543,10625,0.00,2.17,0.00,0.000,4,0.000,0.051,3313,228,1215,0,0,0,0,0,0
$GC,10671,1.08,346.6,63.3,8.7,546,10678,0.10,2.05,0.00,0.000,6,0.072,0.022,3288,1505,1213,0,0,0,0,0,0
$GC,10934,1.22,399.0,48.5,5.5,567,10990,0.12,2.25,44.80,0.515,4,0.062,0.048,3331,231,1001,0,0,0,0,0,0
$GC,11013,1.16,399.0,41.5,10.4,572,11020,0.12,2.05,0.00,0.000,6,0.067,0.021,3300,1506,999,0,0,0,0,0,0
$GC,11278,1.22,399.0,21.1,8.4,609,11285,0.00,2.22,0.00,0.000,4,0.000,0.048,3301,242,998,0,0,0,0,0,0
$GC,11309,1.22,399.0,18.1,9.2,615,11316,0.00,2.00,0.00,0.000,6,0.000,0.021,3300,1503,997,0,0,0,0,0,0
$STATE,11485,end climb,SURFACE_DEPTH_REACHED
$STATE,11485,begin surface coast
$FINISH,0.8,0.999224
$STATE,11525,end surface coast,CONTROL_FINISHED_OK
$STATE,11525,begin surface
$SM_CCo,11547,9.23,0.416,0,0,958,410.14
$SM_GC,1.53,0.00,0.00,9.23,0.000,0.000,0.416,426,1503,958,-12.07,-0.76,410.14
$IRIDIUM_FIX,2104.07,-15758.18,130100,161613
$TT8_MAMPS,0.029146
$HUMID,61.77
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.0,56.7
$24V_AH,23.3,67.402
$10V_AH,10.0,54.608
$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,30.875,127.825,446.325,9.225,0.000,24.755,39.199,164.305,4.750,0.000,35.165,1298.876,7573.096,480.315,2018.186,565.502,0.000,1385.137,0.000,1976.747,0.000,32.274,0.000
$DEVICE_MAMPS,131.157,59.059,834.496,415.714,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.522,427.964,977.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38010,664
$CAP_FILE_SIZE,131639,0
$CFSIZE,260165632,174059520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191010,223331,2112.354,-15759.731,41,1.4,41,9.8