version: 66.06
glider: 139
mission: 8
dive: 770
start: 10 27 110 11 9 28
data:
$ID,139
$MISSION,8
$DIVE,770
$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,-2167572
$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
$GPS1,105500,2101.947,-15752.807,46,1.4,46,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.9
$GPS2,110908,2102.047,-15752.928,14,1.3,14,9.8
$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,296.6,19613,-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,-64.28,0.000,2,0.000,0.000,425,1439,2703,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.2,-3.2,12,117,12.62,2.50,-7.55,0.000,4,0.130,0.033,2785,2925,3110,0,0,0,0,0,0
$GC,177,-1.12,-116.8,20.8,-11.5,30,185,0.05,2.45,0.00,0.000,6,0.089,0.032,2800,1502,3110,0,0,0,0,0,0
$GC,385,-0.96,-116.8,48.3,-11.6,55,390,0.17,2.20,0.00,0.000,4,0.091,0.045,2838,233,3111,0,0,0,0,0,0
$GC,465,-0.92,-116.8,57.5,-9.8,61,469,0.00,2.08,0.00,0.000,6,0.000,0.018,2839,1560,3111,0,0,0,0,0,0
$GC,732,-0.89,-116.8,80.5,-7.9,82,736,0.00,2.30,0.00,0.000,4,0.000,0.044,2838,229,3112,0,0,0,0,0,0
$GC,791,-0.89,-116.8,85.8,-8.1,86,795,0.00,2.08,0.00,0.000,6,0.000,0.018,2838,1562,3112,0,0,0,0,0,0
$GC,1057,-0.89,-116.8,108.1,-8.8,107,1061,0.00,2.28,0.00,0.000,4,0.000,0.044,2838,231,3113,0,0,0,0,0,0
$GC,1099,-0.89,-116.8,112.3,-9.5,110,1102,0.00,2.08,0.00,0.000,6,0.000,0.018,2838,1562,3112,0,0,0,0,0,0
$GC,1359,-0.89,-116.8,131.7,-7.1,130,1363,0.00,2.30,0.00,0.000,4,0.000,0.044,2838,228,3112,0,0,0,0,0,0
$GC,1427,-0.89,-116.8,137.2,-8.6,135,1431,0.00,2.08,0.00,0.000,6,0.000,0.019,2838,1566,3113,0,0,0,0,0,0
$GC,1695,-0.89,-116.8,159.4,-9.2,156,1699,0.00,2.28,0.00,0.000,4,0.000,0.044,2838,230,3112,0,0,0,0,0,0
$GC,1729,-0.89,-116.8,162.5,-9.6,158,1735,0.00,2.10,0.00,0.000,6,0.000,0.019,2838,1565,3112,0,0,0,0,0,0
$GC,1989,-0.89,-116.8,182.7,-9.0,179,1993,0.00,2.28,0.00,0.000,4,0.000,0.045,2838,227,3112,0,0,0,0,0,0
$GC,2021,-0.89,-116.8,186.1,-9.9,181,2026,0.00,2.10,0.00,0.000,6,0.000,0.019,2838,1568,3113,0,0,0,0,0,0
$GC,2298,-0.94,-116.8,207.5,-6.1,200,2302,0.00,2.28,0.00,0.000,4,0.000,0.045,2838,233,3113,0,0,0,0,0,0
$GC,2354,-0.98,-116.8,211.2,-6.2,202,2358,0.00,2.05,0.00,0.000,6,0.000,0.019,2838,1559,3112,0,0,0,0,0,0
$GC,2673,-1.04,-116.8,229.0,-7.1,217,2677,0.00,2.28,0.00,0.000,4,0.000,0.046,2838,228,3112,0,0,0,0,0,0
$GC,2710,-1.10,-116.8,232.5,-8.7,218,2717,0.10,2.10,0.00,0.000,6,0.031,0.021,2790,1557,3113,0,0,0,0,0,0
$GC,3027,-1.10,-116.8,255.1,-6.6,234,3031,0.00,2.22,0.00,0.000,4,0.000,0.023,2791,2927,3111,0,0,0,0,0,0
$GC,3070,-1.15,-116.8,258.6,-8.2,236,3075,0.00,2.40,0.00,0.000,6,0.000,0.031,2791,1495,3111,0,0,0,0,0,0
$GC,3403,-1.15,-116.8,284.5,-6.7,252,3407,0.00,2.15,0.00,0.000,4,0.000,0.048,2790,231,3110,0,0,0,0,0,0
$GC,3459,-1.15,-116.8,288.6,-7.2,254,3462,0.00,2.10,0.00,0.000,6,0.000,0.021,2791,1555,3110,0,0,0,0,0,0
$GC,3772,-1.15,-116.8,311.1,-8.5,266,3776,0.00,2.22,0.00,0.000,4,0.000,0.025,2791,2919,3108,0,0,0,0,0,0
$GC,3811,-1.21,-116.8,314.4,-9.4,266,3815,0.00,2.40,0.00,0.000,6,0.000,0.035,2791,1498,3108,0,0,0,0,0,0
$GC,4143,-1.21,-116.8,340.2,-7.4,274,4147,0.00,2.15,0.00,0.000,4,0.000,0.051,2790,237,3106,0,0,0,0,0,0
$GC,4208,-1.21,-116.8,345.7,-8.6,275,4212,0.00,2.10,0.00,0.000,6,0.000,0.023,2791,1551,3106,0,0,0,0,0,0
$GC,4554,-1.21,-116.8,373.3,-8.1,284,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1556,3104,0,0,0,0,0,0
$GC,4878,-1.21,-116.8,394.3,-6.3,292,4882,0.00,2.28,0.00,0.000,4,0.000,0.053,2790,238,3102,0,0,0,0,0,0
$GC,4940,-1.21,-116.8,398.5,-7.3,293,4944,0.00,2.08,0.00,0.000,6,0.000,0.025,2791,1546,3101,0,0,0,0,0,0
$GC,5292,-1.21,-116.8,422.7,-7.6,302,5296,0.00,2.20,0.00,0.000,4,0.000,0.028,2790,2887,3098,0,0,0,0,0,0
$GC,5349,-1.28,-116.8,427.3,-7.7,303,5353,0.00,2.35,0.00,0.000,6,0.000,0.039,2791,1503,3098,0,0,0,0,0,0
$STATE,5660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5660,begin apogee
$GC,5668,-0.31,0.0,452.9,8.3,311,5767,0.88,0.00,95.53,0.838,6,0.065,0.000,2980,1434,2630,0,0,0,0,0,0
$STATE,5768,end apogee,CONTROL_FINISHED_OK
$STATE,5768,begin climb
$GC,5770,1.18,116.8,456.2,0.0,313,5884,1.42,2.45,101.53,0.823,4,0.034,0.028,3313,2833,2152,0,0,0,0,0,0
$GC,5922,1.03,163.0,456.6,5.8,316,5971,0.20,2.45,41.22,0.798,6,0.105,0.041,3276,1448,1964,0,0,0,0,0,0
$GC,6313,0.90,163.0,425.4,8.6,326,6317,0.15,2.35,0.00,0.000,4,0.107,0.029,3247,2833,1955,0,0,0,0,0,0
$GC,6369,0.90,163.0,420.7,8.6,327,6373,0.00,2.45,0.00,0.000,6,0.000,0.043,3247,1445,1954,0,0,0,0,0,0
$GC,6685,0.84,171.1,396.6,7.5,335,6697,0.00,2.42,5.97,0.621,4,0.000,0.029,3247,2835,1932,0,0,0,0,0,0
$GC,6726,0.85,181.0,393.4,7.4,335,6742,0.00,2.45,10.73,0.716,6,0.000,0.044,3247,1448,1892,0,0,0,0,0,0
$GC,7065,0.82,198.2,370.3,7.1,344,7086,0.00,2.20,16.20,0.750,4,0.000,0.058,3246,232,1821,0,0,0,0,0,0
$GC,7101,0.72,198.2,366.9,8.0,344,7107,0.20,1.98,0.00,0.000,6,0.096,0.028,3207,1443,1819,0,0,0,0,0,0
$GC,7434,0.85,260.5,347.0,5.1,353,7496,0.12,2.42,55.53,0.782,4,0.071,0.030,3243,2844,1567,0,0,0,0,0,0
$GC,7513,0.88,284.6,342.3,6.8,354,7541,0.00,2.50,22.40,0.740,6,0.000,0.044,3243,1445,1468,0,0,0,0,0,0
$GC,7893,0.89,292.9,313.9,7.5,364,7905,0.00,2.17,7.55,0.631,4,0.000,0.061,3243,233,1435,0,0,0,0,0,0
$GC,7957,0.83,292.9,307.9,9.2,365,7961,0.00,2.03,0.00,0.000,6,0.000,0.028,3243,1448,1432,0,0,0,0,0,0
$GC,8275,0.83,292.9,280.5,8.6,378,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,1449,1430,0,0,0,0,0,0
$GC,8585,0.89,309.1,258.3,7.2,393,8607,0.00,2.25,14.48,0.679,4,0.000,0.059,3243,232,1369,0,0,0,0,0,0
$GC,8672,0.89,309.1,250.3,8.9,396,8678,0.00,2.03,0.00,0.000,6,0.000,0.028,3243,1448,1366,0,0,0,0,0,0
$GC,8989,0.95,309.1,225.6,8.4,412,8993,0.00,2.35,0.00,0.000,4,0.000,0.028,3243,2849,1365,0,0,0,0,0,0
$GC,9008,1.05,309.1,223.8,8.2,412,9015,0.12,2.47,0.00,0.000,6,0.037,0.041,3286,1451,1365,0,0,0,0,0,0
$GC,9332,1.05,337.8,197.4,6.6,429,9362,0.00,2.20,25.27,0.659,4,0.000,0.056,3286,232,1252,0,0,0,0,0,0
$GC,9397,0.97,337.8,192.2,9.0,434,9402,0.12,2.00,0.00,0.000,6,0.097,0.026,3261,1457,1249,0,0,0,0,0,0
$GC,9666,1.04,368.0,172.9,6.5,455,9700,0.00,2.28,26.88,0.632,4,0.000,0.054,3261,227,1127,0,0,0,0,0,0
$GC,9735,1.04,368.0,167.6,8.6,460,9739,0.00,2.00,0.00,0.000,6,0.000,0.026,3261,1448,1126,0,0,0,0,0,0
$GC,10008,1.10,368.0,142.8,11.1,481,10013,0.12,0.00,0.00,0.000,6,0.064,0.000,3301,1452,1124,0,0,0,0,0,0
$GC,10267,1.10,368.0,112.3,10.5,502,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1452,1124,0,0,0,0,0,0
$GC,10520,1.10,368.0,88.5,10.0,522,10524,0.00,2.15,0.00,0.000,4,0.000,0.051,3300,224,1124,0,0,0,0,0,0
$GC,10580,1.07,368.0,81.3,11.6,526,10587,0.00,2.00,0.00,0.000,6,0.000,0.023,3300,1459,1122,0,0,0,0,0,0
$GC,10841,1.07,368.0,58.3,9.1,547,10845,0.00,2.15,0.00,0.000,4,0.000,0.050,3300,225,1122,0,0,0,0,0,0
$GC,10891,1.07,368.0,52.3,11.4,550,10898,0.00,1.98,0.00,0.000,6,0.000,0.023,3300,1449,1122,0,0,0,0,0,0
$GC,11153,1.17,391.6,32.1,6.8,571,11182,0.00,2.20,19.95,0.497,4,0.000,0.050,3300,229,1031,0,0,0,0,0,0
$GC,11217,1.23,391.6,26.8,8.7,580,11224,0.00,1.98,0.00,0.000,6,0.000,0.022,3300,1448,1029,0,0,0,0,0,0
$GC,11422,1.29,393.3,12.9,7.8,626,11429,0.12,2.17,0.00,0.000,4,0.062,0.049,3344,227,1029,0,0,0,0,0,0
$GC,11437,1.32,393.3,10.9,9.2,628,11445,0.00,1.98,0.00,0.000,6,0.000,0.022,3344,1453,1029,0,0,0,0,0,0
$STATE,11529,end climb,SURFACE_DEPTH_REACHED
$STATE,11530,begin surface coast
$FINISH,0.9,1.023234
$STATE,11589,end surface coast,CONTROL_FINISHED_OK
$STATE,11589,begin surface
$SM_CCo,11614,15.40,0.459,0,0,957,410.14
$SM_GC,1.93,0.00,0.00,15.40,0.000,0.000,0.459,430,1452,957,-12.06,-1.36,410.14
$IRIDIUM_FIX,2054.83,-15751.76,210100,111124
$TT8_MAMPS,0.029146
$HUMID,64.72
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,23.3,73.767
$10V_AH,9.9,59.386
$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,29.025,128.575,443.225,15.400,0.000,78.356,111.557,370.158,4.500,0.000,14.774,1274.672,7843.045,484.905,1956.939,912.589,0.000,1391.407,0.000,1934.060,0.000,29.255,0.000
$DEVICE_MAMPS,130.390,92.040,837.564,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.494,426.694,967.212,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,38128,662
$CAP_FILE_SIZE,133318,0
$CFSIZE,260165632,170659840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271010,142438,2103.213,-15753.473,42,1.6,42,9.8