version: 66.06
glider: 139
mission: 8
dive: 768
start: 10 27 110 4 23 35
data:
$ID,139
$MISSION,8
$DIVE,768
$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,-2167514.8
$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,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
$GPS1,040830,2059.369,-15751.163,61,1.1,61,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-68.4
$GPS2,042313,2059.265,-15751.249,14,1.6,19,9.8
$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,302.2,25122,-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,-64.20,0.000,2,0.000,0.000,426,1449,2543,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.0,-2.9,12,115,12.62,2.45,-11.45,0.000,4,0.131,0.031,2785,2931,3108,0,0,0,0,0,0
$GC,202,-1.08,-116.8,21.7,-13.4,36,209,0.10,2.47,0.00,0.000,6,0.080,0.033,2810,1495,3110,0,0,0,0,0,0
$GC,408,-0.95,-116.8,49.8,-12.4,61,413,0.15,2.38,0.00,0.000,4,0.091,0.021,2842,2927,3109,0,0,0,0,0,0
$GC,435,-0.95,-116.8,53.0,-10.5,63,439,0.00,2.40,0.00,0.000,6,0.000,0.031,2842,1495,3110,0,0,0,0,0,0
$GC,701,-0.95,-116.8,75.2,-7.9,84,705,0.00,2.12,0.00,0.000,4,0.000,0.044,2842,237,3110,0,0,0,0,0,0
$GC,726,-0.95,-116.8,77.2,-8.3,86,730,0.00,2.05,0.00,0.000,6,0.000,0.018,2842,1566,3110,0,0,0,0,0,0
$GC,991,-0.95,-116.8,103.6,-10.1,107,995,0.00,2.30,0.00,0.000,4,0.000,0.044,2842,232,3111,0,0,0,0,0,0
$GC,1023,-0.95,-116.8,106.8,-10.4,109,1027,0.00,2.05,0.00,0.000,6,0.000,0.018,2842,1565,3111,0,0,0,0,0,0
$GC,1287,-0.95,-116.8,131.6,-8.8,130,1291,0.00,2.30,0.00,0.000,4,0.000,0.044,2842,228,3111,0,0,0,0,0,0
$GC,1333,-0.95,-116.8,135.7,-8.6,133,1338,0.00,2.08,0.00,0.000,6,0.000,0.018,2842,1567,3111,0,0,0,0,0,0
$GC,1592,-0.95,-116.8,150.7,-5.0,154,1596,0.00,2.28,0.00,0.000,4,0.000,0.042,2842,235,3111,0,0,0,0,0,0
$GC,1648,-0.95,-116.8,154.2,-6.4,158,1652,0.00,2.08,0.00,0.000,6,0.000,0.019,2842,1570,3112,0,0,0,0,0,0
$GC,1909,-0.98,-116.8,174.3,-9.1,178,1913,0.00,2.28,0.00,0.000,4,0.000,0.044,2842,237,3111,0,0,0,0,0,0
$GC,1943,-0.98,-116.8,177.7,-10.1,180,1949,0.00,2.08,0.00,0.000,6,0.000,0.019,2842,1563,3111,0,0,0,0,0,0
$GC,2205,-1.03,-116.8,196.0,-5.8,201,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1563,3111,0,0,0,0,0,0
$GC,2464,-1.09,-116.8,215.0,-8.3,216,2468,0.12,2.28,0.00,0.000,4,0.062,0.046,2795,236,3110,0,0,0,0,0,0
$GC,2538,-1.04,-116.8,222.6,-9.6,219,2543,0.12,2.08,0.00,0.000,6,0.090,0.020,2823,1558,3110,0,0,0,0,0,0
$GC,2863,-1.04,-116.8,248.3,-7.4,235,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1562,3109,0,0,0,0,0,0
$GC,3168,-1.04,-116.8,268.4,-6.4,250,3172,0.00,2.30,0.00,0.000,4,0.000,0.048,2823,230,3108,0,0,0,0,0,0
$GC,3224,-1.04,-116.8,272.4,-7.4,252,3228,0.00,2.10,0.00,0.000,6,0.000,0.021,2823,1563,3108,0,0,0,0,0,0
$GC,3542,-1.10,-116.8,294.2,-7.7,267,3547,0.00,2.28,0.00,0.000,4,0.000,0.048,2823,238,3107,0,0,0,0,0,0
$GC,3603,-1.14,-116.8,300.1,-9.7,269,3609,0.00,2.05,0.00,0.000,6,0.000,0.021,2823,1556,3107,0,0,0,0,0,0
$GC,3937,-1.19,-116.8,325.3,-6.4,278,3941,0.15,2.30,0.00,0.000,4,0.056,0.050,2773,231,3105,0,0,0,0,0,0
$GC,3956,-1.19,-116.8,327.0,-7.4,278,3960,0.00,2.10,0.00,0.000,6,0.000,0.022,2772,1549,3105,0,0,0,0,0,0
$GC,4301,-1.15,-116.8,355.0,-8.9,287,4303,0.12,0.00,0.00,0.000,6,0.093,0.000,2800,1554,3104,0,0,0,0,0,0
$GC,4628,-1.15,-116.8,380.5,-7.6,295,4632,0.00,2.30,0.00,0.000,4,0.000,0.052,2800,235,3102,0,0,0,0,0,0
$GC,4671,-1.15,-116.8,384.1,-8.7,296,4675,0.00,2.03,0.00,0.000,6,0.000,0.024,2800,1498,3102,0,0,0,0,0,0
$GC,5004,-1.15,-116.8,411.2,-8.9,304,5008,0.00,2.28,0.00,0.000,4,0.000,0.028,2800,2889,3100,0,0,0,0,0,0
$GC,5083,-1.25,-116.8,418.2,-8.1,305,5087,0.00,2.38,0.00,0.000,6,0.000,0.039,2800,1496,3099,0,0,0,0,0,0
$GC,5414,-1.25,-116.8,444.2,-8.0,313,5418,0.00,2.17,0.00,0.000,4,0.000,0.054,2800,235,3097,0,0,0,0,0,0
$GC,5443,-1.25,-116.8,446.7,-8.8,313,5447,0.00,2.03,0.00,0.000,6,0.000,0.025,2800,1508,3097,0,0,0,0,0,0
$STATE,5492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5492,begin apogee
$GC,5499,-0.31,0.0,451.0,8.4,315,5597,0.82,0.00,95.00,0.825,6,0.064,0.000,2980,1434,2630,0,0,0,0,0,0
$STATE,5598,end apogee,CONTROL_FINISHED_OK
$STATE,5598,begin climb
$GC,5600,1.18,116.8,453.9,0.0,317,5714,1.42,2.17,100.60,0.808,4,0.033,0.053,3314,245,2151,0,0,0,0,0,0
$GC,5730,0.91,155.5,453.1,6.1,320,5773,0.32,1.98,34.65,0.782,6,0.093,0.025,3250,1455,1994,0,0,0,0,0,0
$GC,6098,0.89,203.7,427.9,5.7,329,6146,0.00,2.40,41.50,0.789,4,0.000,0.028,3250,2829,1799,0,0,0,0,0,0
$GC,6207,0.95,248.1,420.9,5.9,331,6253,0.00,2.42,39.78,0.782,6,0.000,0.042,3250,1454,1617,0,0,0,0,0,0
$GC,6600,0.91,248.1,386.4,10.0,341,6604,0.00,2.17,0.00,0.000,4,0.000,0.058,3249,229,1609,0,0,0,0,0,0
$GC,6615,0.84,248.1,384.9,9.6,341,6618,0.00,2.00,0.00,0.000,6,0.000,0.028,3249,1439,1607,0,0,0,0,0,0
$GC,6929,0.81,248.1,358.7,8.0,349,6934,0.12,2.15,0.00,0.000,4,0.100,0.057,3224,232,1607,0,0,0,0,0,0
$GC,6958,0.81,248.1,355.9,8.5,349,6961,0.00,2.00,0.00,0.000,6,0.000,0.028,3224,1451,1604,0,0,0,0,0,0
$GC,7298,0.89,281.2,333.0,6.4,358,7331,0.00,2.40,27.55,0.752,4,0.000,0.028,3224,2843,1483,0,0,0,0,0,0
$GC,7348,1.01,303.2,329.7,6.9,359,7377,0.20,2.45,21.00,0.726,6,0.051,0.043,3280,1447,1392,0,0,0,0,0,0
$GC,7693,0.95,303.2,296.3,10.0,368,7698,0.10,2.15,0.00,0.000,4,0.107,0.058,3260,232,1387,0,0,0,0,0,0
$GC,7761,0.88,303.2,289.4,9.8,371,7764,0.00,2.00,0.00,0.000,6,0.000,0.028,3260,1453,1384,0,0,0,0,0,0
$GC,8095,0.88,303.2,261.9,8.5,387,8099,0.00,2.15,0.00,0.000,4,0.000,0.057,3260,231,1383,0,0,0,0,0,0
$GC,8147,0.85,303.2,257.0,9.6,389,8152,0.12,1.98,0.00,0.000,6,0.102,0.028,3235,1461,1381,0,0,0,0,0,0
$GC,8471,0.95,328.5,236.6,6.8,405,8498,0.00,2.25,21.42,0.672,4,0.000,0.055,3235,235,1290,0,0,0,0,0,0
$GC,8514,1.01,338.6,233.2,7.4,407,8533,0.15,1.98,10.27,0.611,6,0.062,0.028,3278,1447,1248,0,0,0,0,0,0
$GC,8845,1.01,338.6,200.9,9.1,423,8849,0.00,2.15,0.00,0.000,4,0.000,0.053,3278,231,1245,0,0,0,0,0,0
$GC,8866,0.96,338.6,199.1,8.0,424,8873,0.00,2.03,0.00,0.000,6,0.000,0.027,3279,1460,1244,0,0,0,0,0,0
$GC,9126,0.99,366.1,181.0,6.7,445,9156,0.00,2.38,24.30,0.626,4,0.000,0.026,3278,2836,1136,0,0,0,0,0,0
$GC,9169,1.03,397.4,178.2,6.5,448,9204,0.00,2.42,27.95,0.621,6,0.000,0.040,3279,1445,1009,0,0,0,0,0,0
$GC,9464,1.03,397.4,154.0,10.4,471,9467,0.00,2.10,0.00,0.000,4,0.000,0.053,3279,234,1006,0,0,0,0,0,0
$GC,9524,1.03,397.4,146.6,13.2,475,9530,0.00,1.98,0.00,0.000,6,0.000,0.025,3279,1459,1004,0,0,0,0,0,0
$GC,9782,1.03,397.4,121.6,8.7,496,9786,0.00,2.12,0.00,0.000,4,0.000,0.051,3279,234,1004,0,0,0,0,0,0
$GC,9848,1.03,397.4,114.6,10.8,501,9852,0.00,1.95,0.00,0.000,6,0.000,0.024,3279,1458,1003,0,0,0,0,0,0
$GC,10119,1.09,397.4,90.4,8.1,522,10123,0.00,2.12,0.00,0.000,4,0.000,0.050,3278,234,1002,0,0,0,0,0,0
$GC,10165,1.09,397.4,86.2,9.2,525,10170,0.00,1.92,0.00,0.000,6,0.000,0.023,3279,1454,1002,0,0,0,0,0,0
$GC,10428,1.16,397.4,63.3,8.5,546,10432,0.10,2.28,0.00,0.000,4,0.074,0.023,3314,2827,1002,0,0,0,0,0,0
$GC,10452,1.24,397.4,60.7,10.1,547,10458,0.00,2.40,0.00,0.000,6,0.000,0.036,3314,1449,1002,0,0,0,0,0,0
$GC,10713,1.24,397.4,36.7,9.6,568,10717,0.00,2.08,0.00,0.000,4,0.000,0.048,3314,232,1002,0,0,0,0,0,0
$GC,10771,1.24,397.4,30.1,10.6,572,10777,0.00,1.95,0.00,0.000,6,0.000,0.022,3314,1447,1002,0,0,0,0,0,0
$GC,11038,1.29,401.3,8.5,7.7,633,11044,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1448,1002,0,0,0,0,0,0
$STATE,11104,end climb,SURFACE_DEPTH_REACHED
$STATE,11104,begin surface coast
$FINISH,1.0,1.023821
$STATE,11143,end surface coast,CONTROL_FINISHED_OK
$STATE,11143,begin surface
$SM_CCo,11167,10.23,0.436,0,0,957,410.14
$SM_GC,1.56,0.00,0.00,10.23,0.000,0.000,0.436,425,1447,957,-12.07,-1.50,410.14
$IRIDIUM_FIX,2052.52,-15749.62,210100,040431
$TT8_MAMPS,0.029146
$HUMID,63.86
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.00
$XPDR_PINGS,1
$24V_AH,23.3,73.506
$10V_AH,10.0,59.204
$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,29.075,126.600,444.025,10.225,0.000,101.476,98.226,397.334,4.750,0.000,19.892,1253.267,7472.674,480.420,1909.711,940.718,0.000,1354.940,0.000,1878.157,0.000,29.254,0.000
$DEVICE_MAMPS,131.157,79.001,824.525,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,441.919,428.100,962.762,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355748
$DATA_FILE_SIZE,38180,656
$CAP_FILE_SIZE,132250,0
$CFSIZE,260165632,170786816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271010,073104,2100.640,-15752.412,13,2.8,32,9.8