version: 66.06
glider: 139
mission: 8
dive: 777
start: 10 28 110 11 11 6
data:
$ID,139
$MISSION,8
$DIVE,777
$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,-2167746
$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,1450
$C_ROLL_CLIMB,1420
$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
$GPS1,110407,2108.725,-15801.229,51,0.8,51,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-68.1
$GPS2,111044,2108.692,-15801.284,16,0.9,16,9.8
$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,89.7,32179,-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,-116.8,0.0,0.0,0,77,0.00,0.00,-59.15,0.000,2,0.000,0.000,429,1433,2595,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.0,-2.8,11,111,12.60,2.42,-10.35,0.000,4,0.131,0.039,2784,2872,3108,0,0,0,0,0,0
$GC,132,-0.60,-116.8,12.8,-16.8,20,139,0.57,2.45,0.00,0.000,6,0.067,0.035,2920,1459,3109,0,0,0,0,0,0
$GC,335,-0.70,-116.8,29.7,-8.3,66,342,0.00,2.12,0.00,0.000,4,0.000,0.046,2920,234,3111,0,0,0,0,0,0
$GC,368,-0.81,-116.8,32.6,-9.8,69,373,0.20,2.00,0.00,0.000,6,0.044,0.019,2855,1518,3111,0,0,0,0,0,0
$GC,638,-0.78,-116.8,63.5,-12.3,90,643,0.12,2.22,0.00,0.000,4,0.092,0.045,2882,224,3111,0,0,0,0,0,0
$GC,657,-0.78,-116.8,66.6,-12.3,91,664,0.00,2.03,0.00,0.000,6,0.000,0.019,2882,1515,3111,0,0,0,0,0,0
$GC,916,-0.81,-116.8,93.0,-8.4,112,920,0.00,2.20,0.00,0.000,4,0.000,0.044,2882,224,3112,0,0,0,0,0,0
$GC,954,-0.87,-116.8,96.2,-8.8,114,963,0.08,2.03,0.00,0.000,6,0.035,0.019,2841,1519,3112,0,0,0,0,0,0
$GC,1216,-0.87,-116.8,114.4,-6.8,135,1220,0.00,2.25,0.00,0.000,4,0.000,0.020,2841,2888,3112,0,0,0,0,0,0
$GC,1246,-0.96,-116.8,116.4,-6.3,137,1250,0.00,2.42,0.00,0.000,6,0.000,0.031,2841,1444,3112,0,0,0,0,0,0
$GC,1509,-0.96,-116.8,136.8,-8.7,158,1512,0.00,2.03,0.00,0.000,4,0.000,0.044,2841,237,3113,0,0,0,0,0,0
$GC,1531,-0.96,-116.8,139.1,-9.4,159,1536,0.00,1.98,0.00,0.000,6,0.000,0.018,2841,1527,3113,0,0,0,0,0,0
$GC,1794,-1.01,-116.8,159.0,-6.6,180,1798,0.00,2.20,0.00,0.000,4,0.000,0.044,2841,230,3114,0,0,0,0,0,0
$GC,1876,-1.05,-116.8,166.3,-8.7,186,1880,0.00,1.98,0.00,0.000,6,0.000,0.019,2841,1513,3114,0,0,0,0,0,0
$GC,2144,-1.12,-116.8,188.6,-7.4,207,2149,0.15,2.20,0.00,0.000,4,0.052,0.044,2787,235,3114,0,0,0,0,0,0
$GC,2198,-1.05,-116.8,193.5,-8.9,211,2203,0.15,1.95,0.00,0.000,6,0.086,0.019,2820,1514,3114,0,0,0,0,0,0
$GC,2460,-1.08,-116.8,209.2,-6.0,227,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1518,3114,0,0,0,0,0,0
$GC,2764,-1.12,-116.8,230.0,-8.1,242,2768,0.00,2.17,0.00,0.000,4,0.000,0.046,2820,238,3114,0,0,0,0,0,0
$GC,2812,-1.17,-116.8,234.3,-8.9,244,2816,0.10,1.95,0.00,0.000,6,0.071,0.021,2780,1507,3114,0,0,0,0,0,0
$GC,3139,-1.12,-116.8,263.0,-8.3,260,3144,0.12,2.25,0.00,0.000,4,0.091,0.024,2807,2873,3113,0,0,0,0,0,0
$GC,3189,-1.21,-116.8,266.9,-6.9,262,3193,0.00,2.38,0.00,0.000,6,0.000,0.034,2807,1450,3113,0,0,0,0,0,0
$GC,3514,-1.21,-116.8,289.0,-6.8,278,3517,0.00,2.10,0.00,0.000,4,0.000,0.050,2807,240,3112,0,0,0,0,0,0
$GC,3568,-1.21,-116.8,294.1,-9.4,280,3572,0.00,2.00,0.00,0.000,6,0.000,0.022,2807,1504,3112,0,0,0,0,0,0
$GC,3912,-1.24,-116.8,317.7,-6.5,291,3916,0.12,2.20,0.00,0.000,4,0.062,0.051,2764,240,3110,0,0,0,0,0,0
$GC,3956,-1.16,-116.8,321.7,-9.7,292,3960,0.15,2.00,0.00,0.000,6,0.087,0.023,2796,1493,3110,0,0,0,0,0,0
$GC,4289,-1.16,-116.8,343.4,-6.0,300,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1497,3107,0,0,0,0,0,0
$GC,4610,-1.16,-116.8,364.9,-7.0,308,4614,0.00,2.17,0.00,0.000,4,0.000,0.026,2796,2830,3105,0,0,0,0,0,0
$GC,4630,-1.22,-116.8,366.4,-7.2,308,4634,0.00,2.38,0.00,0.000,6,0.000,0.039,2796,1446,3105,0,0,0,0,0,0
$GC,4976,-1.22,-116.8,394.9,-8.6,317,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1446,3103,0,0,0,0,0,0
$GC,5300,-1.22,-116.8,419.7,-7.1,325,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1446,3100,0,0,0,0,0,0
$GC,5627,-1.22,-116.8,440.3,-6.0,333,5631,0.00,2.10,0.00,0.000,4,0.000,0.057,2796,232,3098,0,0,0,0,0,0
$GC,5652,-1.22,-116.8,442.1,-7.2,333,5656,0.00,1.95,0.00,0.000,6,0.000,0.026,2796,1447,3098,0,0,0,0,0,0
$STATE,5791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5791,begin apogee
$GC,5797,-0.31,0.0,450.9,6.1,337,5896,0.85,0.00,95.50,0.842,6,0.064,0.000,2981,1447,2630,0,0,0,0,0,0
$STATE,5897,end apogee,CONTROL_FINISHED_OK
$STATE,5897,begin climb
$GC,5899,1.18,116.8,452.2,0.0,339,6009,1.45,2.22,101.62,0.823,4,0.032,0.055,3316,238,2153,0,0,0,0,0,0
$GC,6037,0.82,116.8,450.0,8.9,342,6043,0.43,1.92,0.00,0.000,6,0.092,0.026,3233,1422,2148,0,0,0,0,0,0
$GC,6368,0.78,137.7,427.3,7.0,351,6388,0.00,0.00,18.02,0.770,6,0.000,0.000,3233,1422,2068,0,0,0,0,0,0
$GC,6695,0.79,181.8,404.9,5.9,359,6740,0.00,2.38,39.60,0.802,4,0.000,0.030,3233,2803,1888,0,0,0,0,0,0
$GC,6814,0.82,205.7,396.8,6.8,361,6843,0.00,2.42,22.42,0.769,6,0.000,0.043,3232,1419,1790,0,0,0,0,0,0
$GC,7155,0.84,219.6,373.1,7.3,370,7170,0.00,0.00,12.62,0.724,6,0.000,0.000,3233,1419,1734,0,0,0,0,0,0
$GC,7477,0.87,248.4,349.6,6.6,378,7509,0.00,2.42,26.08,0.765,4,0.000,0.030,3233,2796,1616,0,0,0,0,0,0
$GC,7572,1.05,333.2,345.4,4.1,380,7657,0.20,2.42,74.10,0.779,6,0.051,0.044,3288,1415,1270,0,0,0,0,0,0
$GC,7982,0.95,333.2,305.5,11.1,390,7987,0.15,2.10,0.00,0.000,4,0.094,0.060,3257,233,1262,0,0,0,0,0,0
$GC,8104,0.90,333.2,291.0,10.9,393,8108,0.00,1.92,0.00,0.000,6,0.000,0.029,3257,1416,1259,0,0,0,0,0,0
$GC,8431,0.90,333.2,258.2,9.6,409,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1417,1258,0,0,0,0,0,0
$GC,8738,0.91,345.0,236.7,7.4,424,8754,0.00,2.12,9.32,0.624,4,0.000,0.056,3257,233,1222,0,0,0,0,0,0
$GC,8786,0.91,345.0,232.4,9.4,426,8790,0.00,1.98,0.00,0.000,6,0.000,0.028,3257,1417,1220,0,0,0,0,0,0
$GC,9115,0.95,345.0,204.4,9.5,442,9119,0.00,2.08,0.00,0.000,4,0.000,0.056,3257,232,1219,0,0,0,0,0,0
$GC,9157,0.95,345.0,199.8,11.4,443,9162,0.00,1.92,0.00,0.000,6,0.000,0.028,3257,1425,1217,0,0,0,0,0,0
$GC,9483,0.99,345.0,170.4,8.3,469,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1426,1218,0,0,0,0,0,0
$GC,9742,1.05,345.0,146.7,8.3,490,9746,0.00,2.08,0.00,0.000,4,0.000,0.053,3257,232,1217,0,0,0,0,0,0
$GC,9787,1.05,345.0,142.9,9.3,493,9791,0.00,1.90,0.00,0.000,6,0.000,0.025,3257,1429,1216,0,0,0,0,0,0
$GC,10057,1.12,345.0,120.3,8.5,514,10061,0.15,2.10,0.00,0.000,4,0.058,0.052,3304,230,1216,0,0,0,0,0,0
$GC,10082,1.06,345.0,117.6,11.2,516,10086,0.12,1.90,0.00,0.000,6,0.095,0.025,3279,1429,1216,0,0,0,0,0,0
$GC,10355,1.15,361.6,94.1,7.1,537,10377,0.10,2.33,14.88,0.539,4,0.074,0.025,3315,2798,1154,0,0,0,0,0,0
$GC,10432,1.24,374.2,88.1,7.3,542,10450,0.00,2.38,12.23,0.518,6,0.000,0.035,3315,1411,1102,0,0,0,0,0,0
$GC,10710,1.24,374.2,64.0,9.6,564,10714,0.00,2.03,0.00,0.000,4,0.000,0.049,3315,231,1100,0,0,0,0,0,0
$GC,10810,1.24,374.2,53.6,10.5,571,10813,0.00,1.90,0.00,0.000,6,0.000,0.022,3315,1426,1098,0,0,0,0,0,0
$GC,11078,1.24,374.2,29.5,8.4,592,11084,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1429,1098,0,0,0,0,0,0
$GC,11281,1.24,374.2,11.9,9.2,638,11287,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1429,1098,0,0,0,0,0,0
$STATE,11382,end climb,SURFACE_DEPTH_REACHED
$STATE,11382,begin surface coast
$FINISH,0.9,1.020051
$STATE,11419,end surface coast,CONTROL_FINISHED_OK
$STATE,11419,begin surface
$SM_CCo,11443,29.67,0.476,0,0,957,410.14
$SM_GC,1.50,0.00,0.00,29.67,0.000,0.000,0.476,428,1429,957,-12.07,-0.59,410.14
$IRIDIUM_FIX,2059.45,-15801.19,220100,070753
$TT8_MAMPS,0.029146
$HUMID,63.30
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.50
$XPDR_PINGS,1
$24V_AH,23.3,74.674
$10V_AH,9.9,60.022
$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,30.100,102.650,426.400,29.675,0.000,29.511,33.067,191.685,4.750,0.000,16.314,1265.686,7632.342,496.826,1888.884,582.625,0.000,1326.529,0.000,1873.661,0.000,29.246,0.000
$DEVICE_MAMPS,131.157,59.826,842.166,476.307,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.848,432.623,980.251,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,38094,669
$CAP_FILE_SIZE,120108,0
$CFSIZE,260165632,170225664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281010,142401,2109.025,-15800.280,63,0.9,63,9.8