version: 66.06
glider: 139
mission: 8
dive: 731
start: 10 22 110 0 0 55
data:
$ID,139
$MISSION,8
$DIVE,731
$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,-2166634.2
$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,1500
$C_ROLL_CLIMB,1450
$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
$GPS1,235428,2110.166,-15753.041,11,3.0,30,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.7
$GPS2,000037,2110.182,-15753.101,31,1.3,31,9.8
$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,104.9,19364,-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,13,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.30,0.000,2,0.000,0.000,427,1471,2734,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.2,-3.1,12,116,12.62,2.45,-7.40,0.000,4,0.131,0.035,2784,2920,3110,0,0,0,0,0,0
$GC,138,-0.57,-116.8,14.8,-20.3,21,145,0.62,2.47,0.00,0.000,6,0.067,0.035,2923,1499,3111,0,0,0,0,0,0
$GC,346,-0.69,-116.8,31.3,-7.5,66,351,0.10,2.17,0.00,0.000,4,0.074,0.046,2885,235,3112,0,0,0,0,0,0
$GC,390,-0.75,-116.8,35.1,-9.0,69,394,0.00,2.08,0.00,0.000,6,0.000,0.019,2885,1560,3112,0,0,0,0,0,0
$GC,656,-0.79,-116.8,57.6,-8.7,90,660,0.00,2.28,0.00,0.000,4,0.000,0.045,2885,234,3114,0,0,0,0,0,0
$GC,703,-0.84,-116.8,61.8,-7.9,93,709,0.00,2.10,0.00,0.000,6,0.000,0.018,2885,1570,3114,0,0,0,0,0,0
$GC,963,-0.94,-116.8,78.8,-5.2,114,968,0.17,2.33,0.00,0.000,4,0.050,0.045,2827,227,3114,0,0,0,0,0,0
$GC,1032,-0.91,-116.8,84.2,-8.9,119,1036,0.12,2.10,0.00,0.000,6,0.093,0.018,2854,1567,3114,0,0,0,0,0,0
$GC,1298,-0.94,-116.8,101.3,-6.1,140,1302,0.00,2.20,0.00,0.000,4,0.000,0.021,2854,2924,3115,0,0,0,0,0,0
$GC,1339,-1.09,-116.8,103.8,-6.5,143,1344,0.17,2.40,0.00,0.000,6,0.047,0.030,2792,1488,3115,0,0,0,0,0,0
$GC,1605,-1.00,-116.8,128.5,-9.6,164,1610,0.17,2.12,0.00,0.000,4,0.084,0.045,2830,238,3116,0,0,0,0,0,0
$GC,1667,-1.04,-116.8,134.1,-8.9,168,1673,0.00,2.08,0.00,0.000,6,0.000,0.018,2830,1561,3116,0,0,0,0,0,0
$GC,1927,-1.04,-116.8,155.4,-8.3,189,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1562,3116,0,0,0,0,0,0
$GC,2181,-1.04,-116.8,175.1,-7.5,209,2185,0.00,2.25,0.00,0.000,4,0.000,0.045,2830,238,3117,0,0,0,0,0,0
$GC,2235,-1.08,-116.8,179.2,-7.1,213,2239,0.00,2.08,0.00,0.000,6,0.000,0.019,2830,1564,3116,0,0,0,0,0,0
$GC,2506,-1.08,-116.8,197.5,-7.2,234,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1568,3117,0,0,0,0,0,0
$GC,2768,-1.11,-116.8,215.7,-6.6,248,2772,0.10,2.30,0.00,0.000,4,0.073,0.047,2793,238,3116,0,0,0,0,0,0
$GC,2833,-1.06,-116.8,222.2,-10.9,250,2840,0.08,2.10,0.00,0.000,6,0.072,0.020,2815,1561,3116,0,0,0,0,0,0
$GC,3150,-1.06,-116.8,253.7,-10.1,266,3154,0.00,2.22,0.00,0.000,4,0.000,0.025,2815,2920,3116,0,0,0,0,0,0
$GC,3164,-1.09,-116.8,255.1,-8.9,266,3169,0.00,2.42,0.00,0.000,6,0.000,0.035,2815,1496,3115,0,0,0,0,0,0
$GC,3483,-1.09,-116.8,279.3,-7.1,281,3487,0.00,2.17,0.00,0.000,4,0.000,0.048,2815,230,3115,0,0,0,0,0,0
$GC,3543,-1.09,-116.8,283.6,-6.3,283,3549,0.00,2.10,0.00,0.000,6,0.000,0.021,2815,1566,3115,0,0,0,0,0,0
$GC,3860,-1.13,-116.8,303.1,-6.8,298,3864,0.00,2.28,0.00,0.000,4,0.000,0.048,2815,237,3114,0,0,0,0,0,0
$GC,3907,-1.13,-116.8,306.8,-7.6,299,3911,0.00,2.08,0.00,0.000,6,0.000,0.021,2815,1551,3114,0,0,0,0,0,0
$GC,4231,-1.16,-116.8,331.1,-7.6,307,4235,0.00,2.28,0.00,0.000,4,0.000,0.049,2815,232,3113,0,0,0,0,0,0
$GC,4261,-1.16,-116.8,333.4,-7.9,307,4265,0.00,2.08,0.00,0.000,6,0.000,0.022,2815,1549,3113,0,0,0,0,0,0
$GC,4603,-1.21,-116.8,354.7,-6.0,316,4608,0.12,2.30,0.00,0.000,4,0.064,0.051,2773,230,3111,0,0,0,0,0,0
$GC,4632,-1.12,-116.8,357.2,-8.2,316,4637,0.15,2.00,0.00,0.000,6,0.089,0.023,2805,1499,3111,0,0,0,0,0,0
$GC,4974,-1.12,-116.8,377.6,-5.9,325,4978,0.00,2.17,0.00,0.000,4,0.000,0.051,2805,237,3109,0,0,0,0,0,0
$GC,5026,-1.12,-116.8,381.4,-7.6,326,5029,0.00,2.03,0.00,0.000,6,0.000,0.024,2805,1504,3109,0,0,0,0,0,0
$GC,5351,-1.12,-116.8,405.9,-8.1,334,5355,0.00,2.25,0.00,0.000,4,0.000,0.027,2805,2888,3107,0,0,0,0,0,0
$GC,5416,-1.22,-116.8,411.3,-7.7,335,5420,0.00,2.35,0.00,0.000,6,0.000,0.038,2805,1503,3106,0,0,0,0,0,0
$GC,5765,-1.25,-116.8,435.9,-7.1,344,5769,0.12,2.22,0.00,0.000,4,0.064,0.054,2765,227,3104,0,0,0,0,0,0
$GC,5821,-1.17,-116.8,441.4,-9.5,345,5826,0.15,2.03,0.00,0.000,6,0.091,0.025,2797,1505,3104,0,0,0,0,0,0
$STATE,5929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5930,begin apogee
$GC,5936,-0.31,0.0,450.0,7.7,348,6036,0.85,0.00,96.72,0.826,6,0.064,0.000,2982,1441,2630,0,0,0,0,0,0
$STATE,6037,end apogee,CONTROL_FINISHED_OK
$STATE,6037,begin climb
$GC,6041,1.18,116.8,453.3,0.0,350,6153,1.40,2.12,101.20,0.811,4,0.033,0.054,3312,248,2152,0,0,0,0,0,0
$GC,6250,0.85,116.8,449.7,8.3,354,6255,0.38,1.95,0.00,0.000,6,0.093,0.025,3237,1448,2144,0,0,0,0,0,0
$GC,6587,0.89,193.8,434.5,4.4,363,6661,0.00,2.22,67.30,0.805,4,0.000,0.055,3237,246,1840,0,0,0,0,0,0
$GC,6707,0.78,193.8,426.7,8.9,365,6711,0.00,2.00,0.00,0.000,6,0.000,0.027,3237,1447,1835,0,0,0,0,0,0
$GC,7042,0.74,193.8,398.8,8.7,374,7047,0.12,2.33,0.00,0.000,4,0.100,0.028,3213,2847,1831,0,0,0,0,0,0
$GC,7082,0.83,193.8,395.6,7.9,374,7088,0.00,2.45,0.00,0.000,6,0.000,0.041,3213,1452,1831,0,0,0,0,0,0
$GC,7413,0.86,193.8,367.3,8.3,383,7418,0.10,2.15,0.00,0.000,4,0.082,0.057,3243,231,1828,0,0,0,0,0,0
$GC,7481,0.76,193.8,360.9,10.1,384,7485,0.15,2.00,0.00,0.000,6,0.101,0.028,3214,1452,1826,0,0,0,0,0,0
$GC,7831,0.86,238.6,338.2,5.9,393,7876,0.10,2.25,38.45,0.762,4,0.081,0.058,3244,239,1657,0,0,0,0,0,0
$GC,7902,0.80,238.6,332.9,8.9,394,7906,0.00,2.00,0.00,0.000,6,0.000,0.028,3244,1451,1653,0,0,0,0,0,0
$GC,8248,0.85,283.9,310.7,5.9,403,8294,0.00,2.20,40.08,0.742,4,0.000,0.056,3244,235,1471,0,0,0,0,0,0
$GC,8324,0.80,283.9,304.9,9.3,404,8328,0.00,2.00,0.00,0.000,6,0.000,0.028,3244,1445,1468,0,0,0,0,0,0
$GC,8644,0.80,283.9,273.5,11.2,418,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,1450,1465,0,0,0,0,0,0
$GC,8953,0.84,283.9,242.3,8.1,433,8957,0.00,2.15,0.00,0.000,4,0.000,0.056,3244,235,1464,0,0,0,0,0,0
$GC,9037,0.84,283.9,235.2,8.7,436,9044,0.00,2.03,0.00,0.000,6,0.000,0.027,3244,1463,1460,0,0,0,0,0,0
$GC,9353,1.00,370.4,222.8,4.0,452,9435,0.10,2.25,74.18,0.678,4,0.076,0.055,3276,228,1118,0,0,0,0,0,0
$GC,9455,0.94,370.4,214.7,10.4,456,9462,0.00,2.03,0.00,0.000,6,0.000,0.026,3276,1443,1115,0,0,0,0,0,0
$GC,9783,0.94,370.4,179.7,11.3,478,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1444,1112,0,0,0,0,0,0
$GC,10035,0.94,370.4,154.4,8.3,498,10039,0.00,2.12,0.00,0.000,4,0.000,0.053,3276,226,1111,0,0,0,0,0,0
$GC,10077,0.94,370.4,150.6,10.6,501,10081,0.00,2.00,0.00,0.000,6,0.000,0.024,3276,1465,1108,0,0,0,0,0,0
$GC,10342,1.01,370.4,128.2,9.2,522,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,1473,1108,0,0,0,0,0,0
$GC,10594,1.10,376.7,106.4,7.6,542,10609,0.00,2.17,5.15,0.422,4,0.000,0.049,3276,226,1093,0,0,0,0,0,0
$GC,10642,1.14,376.7,102.8,8.6,545,10646,0.00,2.00,0.00,0.000,6,0.000,0.023,3276,1462,1091,0,0,0,0,0,0
$GC,10914,1.29,415.9,89.6,6.1,566,10955,0.25,2.28,33.90,0.540,4,0.042,0.021,3354,2829,933,0,0,0,0,0,0
$GC,10976,1.29,415.9,83.5,9.7,570,10980,0.00,2.40,0.00,0.000,6,0.000,0.037,3354,1449,933,0,0,0,0,0,0
$GC,11239,1.21,415.9,56.3,11.2,590,11244,0.20,2.10,0.00,0.000,4,0.084,0.048,3312,232,932,0,0,0,0,0,0
$GC,11299,1.21,415.9,49.1,11.2,594,11305,0.00,1.95,0.00,0.000,6,0.000,0.021,3312,1455,930,0,0,0,0,0,0
$GC,11562,1.21,415.9,23.5,9.3,625,11568,0.00,2.15,0.00,0.000,4,0.000,0.048,3312,232,930,0,0,0,0,0,0
$GC,11580,1.21,415.9,21.6,9.9,628,11587,0.00,1.92,0.00,0.000,6,0.000,0.021,3312,1447,930,0,0,0,0,0,0
$STATE,11768,end climb,SURFACE_DEPTH_REACHED
$STATE,11768,begin surface coast
$FINISH,0.8,1.022015
$STATE,11799,end surface coast,CONTROL_FINISHED_OK
$STATE,11799,begin surface
$SM_CCo,11883,0.00,0.000,0,0,926,417.99
$SM_GC,1.77,12.38,0.00,0.00,0.024,0.000,0.000,429,1447,926,-11.98,-1.50,417.99
$IRIDIUM_FIX,2101.76,-15753.03,150100,202034
$TT8_MAMPS,0.029146
$HUMID,61.61
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.3,69.175
$10V_AH,10.0,55.973
$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,30.750,125.800,456.975,0.000,0.000,22.998,38.761,154.552,4.750,0.000,31.932,1309.000,7894.239,493.626,2008.379,537.684,0.000,1396.955,0.000,1968.953,0.000,32.069,0.000
$DEVICE_MAMPS,131.157,90.506,826.059,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.778,430.611,987.281,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,38019,678
$CAP_FILE_SIZE,129655,0
$CFSIZE,260165632,173080576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221010,032006,2110.079,-15753.362,33,1.6,33,9.8