version: 66.06
glider: 139
mission: 8
dive: 762
start: 10 26 110 7 30 39
data:
$ID,139
$MISSION,8
$DIVE,762
$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,-2167380.2
$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
$GPS1,072224,2101.114,-15747.148,41,1.5,41,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.0
$GPS2,073019,2101.172,-15747.211,9,1.5,14,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,207.4,7571,-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,14,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,89,0.00,0.00,-69.65,0.000,2,0.000,0.000,425,1440,2809,0,0,0,0,0,0
$GC,93,-1.18,-116.8,3.9,-4.4,13,117,12.65,2.10,-5.45,0.000,4,0.132,0.057,2785,228,3107,0,0,0,0,0,0
$GC,211,-0.95,-116.8,27.5,-13.1,38,218,0.20,2.12,0.00,0.000,6,0.072,0.019,2840,1555,3109,0,0,0,0,0,0
$GC,412,-0.87,-116.8,48.4,-10.7,56,416,0.00,2.28,0.00,0.000,4,0.000,0.044,2840,237,3110,0,0,0,0,0,0
$GC,429,-0.79,-116.8,50.4,-11.0,57,433,0.17,2.08,0.00,0.000,6,0.087,0.020,2877,1562,3110,0,0,0,0,0,0
$GC,698,-0.83,-116.8,76.4,-10.2,78,702,0.00,2.30,0.00,0.000,4,0.000,0.044,2877,228,3110,0,0,0,0,0,0
$GC,781,-0.91,-116.8,85.2,-8.9,84,785,0.12,2.08,0.00,0.000,6,0.061,0.018,2830,1566,3110,0,0,0,0,0,0
$GC,1041,-0.91,-116.8,107.2,-8.5,104,1046,0.10,2.30,0.00,0.000,4,0.100,0.044,2853,230,3111,0,0,0,0,0,0
$GC,1085,-0.94,-116.8,110.5,-7.7,107,1089,0.00,2.08,0.00,0.000,6,0.000,0.018,2852,1565,3111,0,0,0,0,0,0
$GC,1350,-0.99,-116.8,130.5,-8.3,128,1354,0.00,2.28,0.00,0.000,4,0.000,0.044,2853,237,3112,0,0,0,0,0,0
$GC,1397,-1.04,-116.8,134.5,-8.5,131,1401,0.12,2.08,0.00,0.000,6,0.060,0.018,2806,1574,3112,0,0,0,0,0,0
$GC,1659,-0.98,-116.8,158.5,-8.5,151,1663,0.15,2.33,0.00,0.000,4,0.084,0.045,2840,237,3112,0,0,0,0,0,0
$GC,1686,-0.98,-116.8,160.8,-8.1,153,1690,0.00,2.08,0.00,0.000,6,0.000,0.019,2840,1565,3112,0,0,0,0,0,0
$GC,1956,-1.01,-116.8,179.9,-7.1,174,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1569,3112,0,0,0,0,0,0
$GC,2208,-1.07,-116.8,196.5,-5.8,194,2213,0.10,2.33,0.00,0.000,4,0.072,0.045,2800,227,3113,0,0,0,0,0,0
$GC,2277,-1.03,-116.8,201.9,-8.5,199,2282,0.12,2.10,0.00,0.000,6,0.090,0.019,2828,1563,3112,0,0,0,0,0,0
$GC,2612,-1.08,-116.8,226.5,-8.4,215,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1568,3112,0,0,0,0,0,0
$GC,2917,-1.13,-116.8,251.6,-7.1,230,2922,0.12,2.33,0.00,0.000,4,0.062,0.048,2783,231,3112,0,0,0,0,0,0
$GC,2967,-1.07,-116.8,255.4,-8.1,232,2971,0.15,2.10,0.00,0.000,6,0.085,0.021,2816,1556,3112,0,0,0,0,0,0
$GC,3299,-1.10,-116.8,268.9,-3.7,248,3303,0.00,2.28,0.00,0.000,4,0.000,0.048,2816,233,3111,0,0,0,0,0,0
$GC,3352,-1.14,-116.8,271.6,-4.6,250,3356,0.00,2.10,0.00,0.000,6,0.000,0.022,2816,1557,3111,0,0,0,0,0,0
$GC,3672,-1.18,-116.8,289.8,-6.0,266,3676,0.00,2.30,0.00,0.000,4,0.000,0.050,2816,237,3109,0,0,0,0,0,0
$GC,3700,-1.18,-116.8,291.7,-6.7,267,3704,0.00,2.10,0.00,0.000,6,0.000,0.023,2816,1554,3109,0,0,0,0,0,0
$GC,4021,-1.21,-116.8,309.3,-5.3,279,4026,0.15,2.28,0.00,0.000,4,0.057,0.026,2767,2921,3107,0,0,0,0,0,0
$GC,4031,-1.21,-116.8,310.3,-5.6,279,4036,0.00,2.40,0.00,0.000,6,0.000,0.035,2767,1504,3107,0,0,0,0,0,0
$GC,4349,-1.14,-116.8,340.9,-10.6,287,4351,0.15,0.00,0.00,0.000,6,0.092,0.000,2799,1503,3105,0,0,0,0,0,0
$GC,4671,-1.14,-116.8,370.7,-9.0,295,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1504,3103,0,0,0,0,0,0
$GC,4995,-1.14,-116.8,399.8,-9.3,303,5000,0.00,2.35,0.00,0.000,4,0.000,0.027,2799,2918,3101,0,0,0,0,0,0
$GC,5045,-1.23,-116.8,405.0,-10.4,304,5049,0.00,2.42,0.00,0.000,6,0.000,0.038,2798,1494,3101,0,0,0,0,0,0
$GC,5372,-1.23,-116.8,435.0,-8.9,312,5376,0.00,2.20,0.00,0.000,4,0.000,0.056,2798,234,3099,0,0,0,0,0,0
$GC,5424,-1.23,-116.8,439.4,-8.7,313,5428,0.00,2.10,0.00,0.000,6,0.000,0.025,2799,1535,3098,0,0,0,0,0,0
$STATE,5581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5581,begin apogee
$GC,5589,-0.31,0.0,450.6,6.7,317,5688,0.85,0.00,95.93,0.834,6,0.064,0.000,2985,1434,2630,0,0,0,0,0,0
$STATE,5689,end apogee,CONTROL_FINISHED_OK
$STATE,5689,begin climb
$GC,5692,1.18,116.8,452.0,0.0,319,5805,1.40,2.20,101.22,0.817,4,0.032,0.054,3314,238,2152,0,0,0,0,0,0
$GC,5863,0.84,116.8,445.7,9.7,322,5870,0.40,2.00,0.00,0.000,6,0.094,0.025,3235,1465,2145,0,0,0,0,0,0
$GC,6196,0.86,184.8,426.9,4.8,331,6263,0.00,2.40,59.20,0.804,4,0.000,0.028,3235,2827,1875,0,0,0,0,0,0
$GC,6316,0.90,215.3,420.2,6.5,333,6349,0.00,2.42,27.83,0.776,6,0.000,0.041,3235,1453,1752,0,0,0,0,0,0
$GC,6696,0.92,230.8,394.4,7.2,343,6716,0.00,2.22,14.00,0.732,4,0.000,0.058,3235,241,1688,0,0,0,0,0,0
$GC,6749,0.84,230.8,389.3,10.8,344,6753,0.00,1.95,0.00,0.000,6,0.000,0.026,3235,1443,1684,0,0,0,0,0,0
$GC,7073,0.87,251.7,365.8,7.0,352,7097,0.00,2.40,19.08,0.750,4,0.000,0.028,3235,2845,1603,0,0,0,0,0,0
$GC,7118,0.92,261.7,362.3,7.4,353,7135,0.00,2.45,10.38,0.690,6,0.000,0.044,3235,1452,1562,0,0,0,0,0,0
$GC,7450,0.92,261.7,335.8,7.9,361,7454,0.00,2.17,0.00,0.000,4,0.000,0.058,3235,226,1558,0,0,0,0,0,0
$GC,7538,0.87,261.7,327.0,10.1,362,7544,0.00,2.00,0.00,0.000,6,0.000,0.028,3235,1456,1554,0,0,0,0,0,0
$GC,7869,0.91,291.9,303.6,6.5,371,7902,0.00,2.25,26.70,0.738,4,0.000,0.058,3235,239,1438,0,0,0,0,0,0
$GC,7947,0.91,291.9,297.4,9.0,372,7950,0.00,1.95,0.00,0.000,6,0.000,0.028,3235,1442,1435,0,0,0,0,0,0
$GC,8271,0.96,291.9,269.6,9.0,388,8276,0.10,2.17,0.00,0.000,4,0.077,0.058,3266,232,1433,0,0,0,0,0,0
$GC,8297,0.90,291.9,267.0,11.2,389,8300,0.00,1.98,0.00,0.000,6,0.000,0.028,3266,1449,1432,0,0,0,0,0,0
$GC,8627,0.90,292.2,239.3,7.9,405,8631,0.00,2.33,0.00,0.000,4,0.000,0.028,3266,2841,1432,0,0,0,0,0,0
$GC,8664,1.00,306.7,236.3,7.2,406,8683,0.00,2.45,13.18,0.655,6,0.000,0.042,3266,1453,1379,0,0,0,0,0,0
$GC,9008,1.00,307.9,211.0,7.8,423,9012,0.00,2.15,0.00,0.000,4,0.000,0.055,3266,234,1376,0,0,0,0,0,0
$GC,9041,0.97,307.9,207.8,9.4,424,9044,0.00,2.00,0.00,0.000,6,0.000,0.026,3266,1461,1374,0,0,0,0,0,0
$GC,9373,1.02,351.6,184.2,5.9,447,9415,0.00,0.00,39.35,0.651,6,0.000,0.000,3265,1464,1196,0,0,0,0,0,0
$GC,9682,1.06,351.6,159.5,10.1,471,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1464,1192,0,0,0,0,0,0
$GC,9934,1.11,351.6,136.1,8.4,491,9938,0.12,2.30,0.00,0.000,4,0.064,0.025,3305,2839,1191,0,0,0,0,0,0
$GC,9967,1.14,351.6,132.8,8.6,493,9972,0.00,2.42,0.00,0.000,6,0.000,0.040,3305,1448,1191,0,0,0,0,0,0
$GC,10227,1.11,351.6,108.5,9.2,514,10231,0.00,2.10,0.00,0.000,4,0.000,0.051,3305,229,1191,0,0,0,0,0,0
$GC,10273,1.04,351.6,103.3,11.3,517,10278,0.15,1.98,0.00,0.000,6,0.092,0.023,3275,1464,1189,0,0,0,0,0,0
$GC,10537,1.13,370.4,84.4,7.0,537,10560,0.10,2.22,16.48,0.531,4,0.073,0.050,3309,232,1118,0,0,0,0,0,0
$GC,10574,1.09,370.4,80.8,9.2,540,10579,0.12,1.95,0.00,0.000,6,0.095,0.023,3284,1455,1116,0,0,0,0,0,0
$GC,10838,1.16,374.4,61.1,7.7,560,10847,0.00,2.12,4.72,0.386,4,0.000,0.048,3284,234,1101,0,0,0,0,0,0
$GC,10871,1.19,374.4,58.0,8.5,561,10878,0.08,1.98,0.00,0.000,6,0.038,0.022,3321,1453,1101,0,0,0,0,0,0
$GC,11134,1.19,374.4,35.7,8.4,582,11138,0.00,2.25,0.00,0.000,4,0.000,0.021,3320,2837,1101,0,0,0,0,0,0
$GC,11160,1.26,374.4,33.3,8.3,584,11164,0.00,2.40,0.00,0.000,6,0.000,0.035,3320,1441,1101,0,0,0,0,0,0
$GC,11425,1.30,407.7,12.6,6.4,638,11460,0.00,2.33,28.92,0.482,4,0.000,0.020,3320,2833,966,0,0,0,0,0,0
$GC,11545,1.47,434.0,3.2,6.7,662,11553,0.17,2.40,2.55,0.203,2,0.028,0.035,3380,1454,958,0,0,0,0,0,0
$STATE,11554,end climb,SURFACE_DEPTH_REACHED
$STATE,11554,begin surface coast
$FINISH,0.9,1.011984
$STATE,11608,end surface coast,CONTROL_FINISHED_OK
$STATE,11608,begin surface
$SM_CCo,11691,0.00,0.000,0,0,953,411.12
$SM_GC,1.78,12.75,0.00,0.00,0.025,0.000,0.000,429,1451,953,-11.98,-1.39,411.12
$IRIDIUM_FIX,2054.83,-15744.48,200100,040447
$TT8_MAMPS,0.029146
$HUMID,62.87
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,420.6,74.7
$24V_AH,23.3,72.747
$10V_AH,10.0,58.665
$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,30.575,123.575,459.525,0.000,0.000,30.715,33.090,269.407,4.500,0.000,15.008,1304.627,7766.311,459.778,1958.155,669.740,0.000,1355.714,0.000,1937.829,0.000,30.744,0.000
$DEVICE_MAMPS,131.924,67.496,834.496,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.914,439.424,987.869,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,38217,675
$CAP_FILE_SIZE,130645,0
$CFSIZE,260165632,171163648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261010,104636,2101.015,-15747.436,31,1.1,31,9.8