version: 66.06
glider: 139
mission: 8
dive: 764
start: 10 26 110 14 16 21
data:
$ID,139
$MISSION,8
$DIVE,764
$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,-2167421.2
$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
$GPS1,140801,2100.317,-15748.287,41,1.4,41,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.7
$GPS2,141601,2100.289,-15748.307,13,1.1,18,9.8
$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,201.7,5148,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,425,1457,2679,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.5,-3.8,12,117,12.70,2.17,-7.93,0.000,4,0.133,0.060,2784,233,3109,0,0,0,0,0,0
$GC,235,-1.01,-116.8,34.5,-15.5,40,241,0.17,2.10,0.00,0.000,6,0.074,0.019,2826,1555,3111,0,0,0,0,0,0
$GC,498,-0.94,-116.8,63.8,-9.7,61,502,0.00,2.28,0.00,0.000,4,0.000,0.044,2826,234,3111,0,0,0,0,0,0
$GC,582,-0.90,-116.8,72.8,-10.3,67,587,0.12,2.08,0.00,0.000,6,0.095,0.018,2853,1561,3111,0,0,0,0,0,0
$GC,849,-0.90,-116.8,95.4,-8.9,88,852,0.00,2.30,0.00,0.000,4,0.000,0.044,2853,231,3112,0,0,0,0,0,0
$GC,881,-0.90,-116.8,98.7,-10.0,90,885,0.00,2.08,0.00,0.000,6,0.000,0.018,2852,1564,3112,0,0,0,0,0,0
$GC,1145,-0.95,-116.8,120.5,-7.4,110,1150,0.00,2.28,0.00,0.000,4,0.000,0.044,2853,231,3113,0,0,0,0,0,0
$GC,1180,-1.00,-116.8,123.1,-6.8,112,1187,0.08,2.10,0.00,0.000,6,0.035,0.019,2812,1567,3112,0,0,0,0,0,0
$GC,1441,-1.00,-116.8,142.9,-8.7,133,1445,0.00,2.28,0.00,0.000,4,0.000,0.044,2812,232,3113,0,0,0,0,0,0
$GC,1469,-0.96,-116.8,145.6,-10.1,135,1473,0.12,2.08,0.00,0.000,6,0.089,0.019,2841,1561,3113,0,0,0,0,0,0
$GC,1734,-1.01,-116.8,167.9,-7.9,156,1738,0.00,2.28,0.00,0.000,4,0.000,0.044,2840,230,3113,0,0,0,0,0,0
$GC,1764,-1.04,-116.8,170.4,-8.6,158,1768,0.00,2.08,0.00,0.000,6,0.000,0.020,2841,1569,3113,0,0,0,0,0,0
$GC,2030,-1.09,-116.8,190.9,-8.4,179,2035,0.12,2.30,0.00,0.000,4,0.062,0.046,2796,237,3113,0,0,0,0,0,0
$GC,2071,-1.02,-116.8,195.2,-11.2,182,2076,0.15,2.08,0.00,0.000,6,0.084,0.020,2829,1554,3113,0,0,0,0,0,0
$GC,2341,-1.02,-116.8,216.2,-6.5,197,2345,0.00,2.25,0.00,0.000,4,0.000,0.046,2829,238,3113,0,0,0,0,0,0
$GC,2364,-1.02,-116.8,217.8,-6.2,198,2368,0.00,2.08,0.00,0.000,6,0.000,0.020,2830,1561,3113,0,0,0,0,0,0
$GC,2695,-1.02,-116.8,237.1,-7.0,214,2699,0.00,2.30,0.00,0.000,4,0.000,0.046,2829,231,3113,0,0,0,0,0,0
$GC,2767,-1.02,-116.8,243.0,-8.7,217,2771,0.00,2.10,0.00,0.000,6,0.000,0.021,2830,1564,3113,0,0,0,0,0,0
$GC,3101,-1.06,-116.8,268.1,-7.3,233,3105,0.00,2.28,0.00,0.000,4,0.000,0.048,2829,234,3112,0,0,0,0,0,0
$GC,3184,-1.06,-116.8,275.6,-8.7,236,3190,0.00,2.10,0.00,0.000,6,0.000,0.021,2829,1555,3112,0,0,0,0,0,0
$GC,3502,-1.11,-116.8,301.3,-8.3,252,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1555,3111,0,0,0,0,0,0
$GC,3825,-1.17,-116.8,327.2,-7.7,260,3830,0.15,2.30,0.00,0.000,4,0.055,0.050,2781,238,3109,0,0,0,0,0,0
$GC,3902,-1.11,-116.8,333.8,-8.7,261,3907,0.12,2.08,0.00,0.000,6,0.092,0.021,2809,1546,3109,0,0,0,0,0,0
$GC,4238,-1.11,-116.8,357.5,-7.1,270,4242,0.00,2.28,0.00,0.000,4,0.000,0.050,2809,230,3108,0,0,0,0,0,0
$GC,4281,-1.11,-116.8,361.3,-8.8,271,4285,0.00,2.05,0.00,0.000,6,0.000,0.023,2809,1499,3107,0,0,0,0,0,0
$GC,4614,-1.11,-116.8,389.0,-8.3,279,4619,0.00,2.28,0.00,0.000,4,0.000,0.026,2809,2877,3106,0,0,0,0,0,0
$GC,4634,-1.18,-116.8,390.6,-7.5,279,4638,0.00,2.35,0.00,0.000,6,0.000,0.037,2809,1503,3106,0,0,0,0,0,0
$GC,4981,-1.22,-116.8,414.6,-6.8,288,4986,0.10,2.22,0.00,0.000,4,0.074,0.054,2773,235,3104,0,0,0,0,0,0
$GC,5038,-1.16,-116.8,419.6,-8.6,289,5046,0.10,2.03,0.00,0.000,6,0.104,0.024,2795,1504,3103,0,0,0,0,0,0
$GC,5365,-1.16,-116.8,440.8,-6.3,297,5369,0.00,2.25,0.00,0.000,4,0.000,0.028,2795,2871,3101,0,0,0,0,0,0
$GC,5386,-1.21,-116.8,442.4,-6.4,297,5390,0.00,2.35,0.00,0.000,6,0.000,0.039,2795,1492,3101,0,0,0,0,0,0
$STATE,5525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5525,begin apogee
$GC,5531,-0.31,0.0,450.3,5.4,301,5631,0.85,0.00,96.20,0.827,6,0.064,0.000,2979,1439,2629,0,0,0,0,0,0
$STATE,5632,end apogee,CONTROL_FINISHED_OK
$STATE,5632,begin climb
$GC,5636,1.18,116.8,451.2,0.0,303,5748,1.42,2.38,101.10,0.808,4,0.034,0.028,3313,2826,2152,0,0,0,0,0,0
$GC,5889,1.04,166.4,441.5,5.7,308,5939,0.17,2.40,43.65,0.790,6,0.101,0.040,3279,1459,1950,0,0,0,0,0,0
$GC,6265,0.93,186.5,416.6,7.0,317,6286,0.12,0.00,17.65,0.750,6,0.107,0.000,3255,1459,1869,0,0,0,0,0,0
$GC,6592,0.85,186.5,390.0,8.7,325,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1459,1864,0,0,0,0,0,0
$GC,6915,0.80,187.6,362.5,7.8,333,6917,0.15,0.00,0.00,0.000,6,0.101,0.000,3225,1459,1862,0,0,0,0,0,0
$GC,7241,0.84,215.0,341.7,6.7,341,7274,0.00,2.20,25.35,0.753,4,0.000,0.057,3224,235,1752,0,0,0,0,0,0
$GC,7294,0.84,215.0,337.4,8.2,342,7298,0.00,1.95,0.00,0.000,6,0.000,0.028,3224,1434,1748,0,0,0,0,0,0
$GC,7617,0.93,241.0,313.8,6.7,350,7646,0.12,2.20,23.25,0.731,4,0.069,0.058,3261,232,1646,0,0,0,0,0,0
$GC,7667,0.87,241.0,309.6,9.3,351,7672,0.12,2.00,0.00,0.000,6,0.102,0.028,3237,1458,1643,0,0,0,0,0,0
$GC,7997,0.97,296.8,290.4,5.4,363,8052,0.12,2.40,48.70,0.729,4,0.067,0.029,3274,2834,1419,0,0,0,0,0,0
$GC,8079,1.02,296.8,283.3,9.1,366,8083,0.00,2.45,0.00,0.000,6,0.000,0.043,3274,1450,1419,0,0,0,0,0,0
$GC,8396,0.99,296.8,251.7,10.2,381,8400,0.00,2.15,0.00,0.000,4,0.000,0.054,3274,234,1414,0,0,0,0,0,0
$GC,8435,0.90,296.8,247.4,11.4,382,8444,0.10,2.00,0.00,0.000,6,0.074,0.026,3250,1449,1412,0,0,0,0,0,0
$GC,8751,0.94,296.8,218.2,9.6,398,8755,0.00,2.15,0.00,0.000,4,0.000,0.054,3249,231,1411,0,0,0,0,0,0
$GC,8769,0.94,296.8,216.3,9.9,398,8776,0.00,2.00,0.00,0.000,6,0.000,0.027,3249,1445,1410,0,0,0,0,0,0
$GC,9097,1.03,328.9,192.4,6.4,418,9132,0.12,2.40,27.10,0.640,4,0.066,0.026,3288,2833,1289,0,0,0,0,0,0
$GC,9155,1.09,331.8,188.1,7.8,422,9165,0.00,2.42,4.32,0.434,6,0.000,0.040,3288,1449,1277,0,0,0,0,0,0
$GC,9420,1.09,331.8,164.2,8.9,442,9424,0.00,2.12,0.00,0.000,4,0.000,0.052,3288,227,1273,0,0,0,0,0,0
$GC,9444,1.02,331.8,161.6,10.8,444,9448,0.00,2.00,0.00,0.000,6,0.000,0.025,3288,1458,1272,0,0,0,0,0,0
$GC,9714,1.02,331.8,139.3,8.0,465,9718,0.00,2.28,0.00,0.000,4,0.000,0.025,3288,2837,1272,0,0,0,0,0,0
$GC,9770,1.12,347.0,134.7,7.2,469,9794,0.00,2.40,13.90,0.563,6,0.000,0.038,3289,1447,1214,0,0,0,0,0,0
$GC,10046,1.13,353.9,113.5,7.6,491,10060,0.00,2.17,7.15,0.485,4,0.000,0.051,3288,236,1186,0,0,0,0,0,0
$GC,10090,1.09,353.9,110.2,7.9,494,10094,0.00,2.00,0.00,0.000,6,0.000,0.023,3289,1487,1185,0,0,0,0,0,0
$GC,10362,1.12,380.3,95.9,6.7,515,10392,0.00,2.28,23.50,0.546,4,0.000,0.022,3289,2822,1078,0,0,0,0,0,0
$GC,10421,1.24,380.3,90.5,8.7,519,10426,0.15,2.38,0.00,0.000,6,0.056,0.036,3337,1449,1078,0,0,0,0,0,0
$GC,10684,1.18,380.3,60.7,10.7,539,10689,0.15,2.28,0.00,0.000,4,0.089,0.022,3305,2829,1077,0,0,0,0,0,0
$GC,10704,1.21,380.3,58.5,8.2,540,10710,0.00,2.40,0.00,0.000,6,0.000,0.036,3305,1455,1077,0,0,0,0,0,0
$GC,10967,1.32,439.9,42.4,5.2,561,11024,0.15,2.15,50.10,0.513,4,0.056,0.048,3353,235,835,0,0,0,0,0,0
$GC,11054,1.21,439.9,34.1,12.4,567,11059,0.20,1.92,0.00,0.000,6,0.081,0.021,3311,1462,832,0,0,0,0,0,0
$GC,11320,1.28,439.9,12.1,11.4,621,11327,0.00,2.17,0.00,0.000,4,0.000,0.049,3311,234,830,0,0,0,0,0,0
$GC,11353,1.32,439.9,8.4,11.6,627,11360,0.08,1.95,0.00,0.000,6,0.037,0.020,3350,1459,829,0,0,0,0,0,0
$STATE,11403,end climb,SURFACE_DEPTH_REACHED
$STATE,11403,begin surface coast
$FINISH,1.0,1.010759
$STATE,11436,end surface coast,CONTROL_FINISHED_OK
$STATE,11436,begin surface
$SM_CCo,11519,0.00,0.000,0,0,827,442.28
$SM_GC,1.78,12.60,0.00,0.00,0.025,0.000,0.000,424,1459,827,-12.00,-1.16,442.28
$IRIDIUM_FIX,2052.52,-15724.76,200100,101035
$TT8_MAMPS,0.028379
$HUMID,63.27
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,440.8,55.2
$24V_AH,23.3,72.984
$10V_AH,9.9,58.838
$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,30.600,127.400,481.975,0.000,0.000,30.507,31.722,275.781,5.000,0.000,18.868,1250.106,7673.663,491.974,1898.664,676.564,0.000,1386.374,0.000,1872.298,0.000,32.256,0.000
$DEVICE_MAMPS,133.458,108.914,826.826,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,434.168,410.299,916.098,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,34928,645
$CAP_FILE_SIZE,130947,0
$CFSIZE,260165632,171040768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261010,172952,2059.774,-15749.152,36,2.9,55,9.8