version: 66.06
glider: 139
mission: 8
dive: 784
start: 10 29 110 11 2 16
data:
$ID,139
$MISSION,8
$DIVE,784
$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,-2167925.2
$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,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
$GPS1,105156,2110.602,-15755.202,46,1.1,46,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.6
$GPS2,110156,2110.590,-15755.168,15,1.2,15,9.8
$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,102.9,22940,-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,-116.8,0.0,0.0,0,76,0.00,0.00,-58.90,0.000,2,0.000,0.000,426,1435,2580,0,0,0,0,0,0
$GC,80,-1.18,-116.8,3.0,-2.6,11,109,12.62,2.08,-11.30,0.000,4,0.130,0.058,2785,236,3109,0,0,0,0,0,0
$GC,154,-0.97,-116.8,16.2,-17.0,25,162,0.20,2.03,0.00,0.000,6,0.067,0.019,2833,1516,3110,0,0,0,0,0,0
$GC,363,-0.88,-116.8,40.6,-11.4,59,365,0.12,0.00,0.00,0.000,6,0.097,0.000,2860,1517,3111,0,0,0,0,0,0
$GC,616,-0.88,-116.8,66.5,-10.5,79,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1517,3111,0,0,0,0,0,0
$GC,867,-0.88,-116.8,89.6,-8.4,99,871,0.00,2.17,0.00,0.000,4,0.000,0.044,2860,237,3112,0,0,0,0,0,0
$GC,907,-0.92,-116.8,93.3,-9.7,102,910,0.00,1.98,0.00,0.000,6,0.000,0.019,2860,1511,3111,0,0,0,0,0,0
$GC,1179,-0.96,-116.8,114.5,-5.2,123,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1528,3112,0,0,0,0,0,0
$GC,1438,-1.02,-116.8,130.6,-7.9,144,1443,0.15,2.22,0.00,0.000,4,0.054,0.045,2808,231,3112,0,0,0,0,0,0
$GC,1486,-0.97,-116.8,135.6,-10.9,147,1492,0.12,2.00,0.00,0.000,6,0.091,0.018,2836,1522,3113,0,0,0,0,0,0
$GC,1747,-0.97,-116.8,159.4,-8.5,168,1751,0.00,2.20,0.00,0.000,4,0.000,0.044,2836,237,3113,0,0,0,0,0,0
$GC,1786,-0.97,-116.8,163.1,-9.4,170,1792,0.00,2.00,0.00,0.000,6,0.000,0.019,2836,1518,3113,0,0,0,0,0,0
$GC,2048,-1.00,-116.8,177.6,-5.0,191,2052,0.00,2.17,0.00,0.000,4,0.000,0.045,2836,235,3113,0,0,0,0,0,0
$GC,2075,-1.00,-116.8,179.0,-5.5,193,2079,0.00,1.98,0.00,0.000,6,0.000,0.020,2836,1507,3113,0,0,0,0,0,0
$GC,2345,-1.04,-116.8,196.6,-7.2,214,2349,0.00,2.17,0.00,0.000,4,0.000,0.045,2836,237,3113,0,0,0,0,0,0
$GC,2376,-1.07,-116.8,198.9,-7.1,216,2379,0.00,1.98,0.00,0.000,6,0.000,0.020,2836,1505,3113,0,0,0,0,0,0
$GC,2642,-1.11,-116.8,218.3,-7.3,229,2646,0.12,2.20,0.00,0.000,4,0.062,0.047,2791,234,3113,0,0,0,0,0,0
$GC,2670,-1.02,-116.8,221.0,-9.4,230,2674,0.17,1.98,0.00,0.000,6,0.081,0.020,2830,1520,3113,0,0,0,0,0,0
$GC,2995,-1.02,-116.8,244.3,-7.2,246,2999,0.00,2.20,0.00,0.000,4,0.000,0.047,2830,234,3112,0,0,0,0,0,0
$GC,3063,-1.02,-116.8,249.8,-7.4,249,3067,0.00,1.98,0.00,0.000,6,0.000,0.021,2830,1505,3112,0,0,0,0,0,0
$GC,3402,-1.06,-116.8,271.4,-5.4,265,3406,0.00,2.20,0.00,0.000,4,0.000,0.048,2830,238,3111,0,0,0,0,0,0
$GC,3447,-1.11,-116.8,273.9,-5.4,267,3450,0.00,1.98,0.00,0.000,6,0.000,0.021,2830,1506,3111,0,0,0,0,0,0
$GC,3786,-1.18,-116.8,290.3,-5.5,283,3790,0.15,2.22,0.00,0.000,4,0.055,0.024,2780,2873,3110,0,0,0,0,0,0
$GC,3831,-1.21,-116.8,293.7,-7.3,285,3835,0.00,2.40,0.00,0.000,6,0.000,0.035,2780,1447,3110,0,0,0,0,0,0
$GC,4157,-1.17,-116.8,323.9,-9.6,295,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1447,3108,0,0,0,0,0,0
$GC,4483,-1.12,-116.8,351.8,-8.7,303,4488,0.12,2.38,0.00,0.000,4,0.094,0.025,2808,2878,3107,0,0,0,0,0,0
$GC,4545,-1.22,-116.8,356.5,-7.2,304,4550,0.10,2.42,0.00,0.000,6,0.072,0.035,2769,1449,3106,0,0,0,0,0,0
$GC,4902,-1.18,-116.8,380.2,-6.3,313,4907,0.10,2.10,0.00,0.000,4,0.103,0.052,2791,233,3104,0,0,0,0,0,0
$GC,4946,-1.18,-116.8,383.9,-7.1,314,4949,0.00,2.03,0.00,0.000,6,0.000,0.024,2791,1498,3104,0,0,0,0,0,0
$GC,5279,-1.18,-116.8,405.1,-6.2,322,5283,0.00,2.17,0.00,0.000,4,0.000,0.027,2791,2832,3102,0,0,0,0,0,0
$GC,5327,-1.26,-116.8,408.3,-6.5,323,5331,0.00,2.38,0.00,0.000,6,0.000,0.038,2791,1449,3102,0,0,0,0,0,0
$GC,5659,-1.26,-116.8,434.2,-8.1,331,5663,0.00,2.30,0.00,0.000,4,0.000,0.027,2791,2831,3100,0,0,0,0,0,0
$GC,5684,-1.32,-116.8,436.2,-8.3,331,5689,0.12,2.38,0.00,0.000,6,0.062,0.040,2749,1450,3099,0,0,0,0,0,0
$STATE,5860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5860,begin apogee
$GC,5866,-0.31,0.0,452.4,9.2,336,5965,1.08,0.00,95.30,0.830,6,0.069,0.000,2980,1449,2630,0,0,0,0,0,0
$STATE,5966,end apogee,CONTROL_FINISHED_OK
$STATE,5966,begin climb
$GC,5968,1.18,116.8,455.3,0.0,338,6082,1.40,2.35,100.93,0.811,4,0.033,0.028,3309,2795,2152,0,0,0,0,0,0
$GC,6174,1.04,157.5,451.2,6.1,342,6216,0.15,2.40,36.08,0.785,6,0.102,0.041,3281,1418,1987,0,0,0,0,0,0
$GC,6558,0.92,184.4,424.6,6.7,352,6587,0.15,2.38,23.30,0.772,4,0.104,0.028,3251,2800,1878,0,0,0,0,0,0
$GC,6624,0.92,184.4,419.3,8.7,353,6628,0.00,2.45,0.00,0.000,6,0.000,0.043,3251,1414,1877,0,0,0,0,0,0
$GC,6969,0.85,184.4,390.0,8.3,362,6973,0.00,2.35,0.00,0.000,4,0.000,0.028,3251,2802,1872,0,0,0,0,0,0
$GC,7006,0.87,195.2,387.2,7.4,362,7023,0.00,2.40,10.30,0.701,6,0.000,0.042,3251,1418,1833,0,0,0,0,0,0
$GC,7346,0.84,214.3,364.7,7.0,371,7370,0.00,2.42,17.75,0.741,4,0.000,0.029,3251,2800,1756,0,0,0,0,0,0
$GC,7394,0.84,214.3,360.2,8.0,372,7398,0.00,2.45,0.00,0.000,6,0.000,0.044,3251,1417,1755,0,0,0,0,0,0
$GC,7719,0.81,214.3,333.0,8.3,380,7723,0.12,2.10,0.00,0.000,4,0.104,0.058,3226,231,1751,0,0,0,0,0,0
$GC,7783,0.77,214.3,327.4,8.7,381,7787,0.00,1.95,0.00,0.000,6,0.000,0.028,3226,1421,1748,0,0,0,0,0,0
$GC,8098,0.78,221.4,304.2,7.6,389,8110,0.00,2.38,6.45,0.601,4,0.000,0.028,3226,2802,1727,0,0,0,0,0,0
$GC,8145,0.88,221.4,300.1,8.2,390,8149,0.00,2.42,0.00,0.000,6,0.000,0.042,3226,1418,1727,0,0,0,0,0,0
$GC,8482,0.97,252.3,277.3,6.5,405,8516,0.15,2.12,28.55,0.718,4,0.062,0.056,3269,232,1600,0,0,0,0,0,0
$GC,8591,0.88,252.3,266.3,10.7,410,8595,0.12,1.95,0.00,0.000,6,0.102,0.028,3243,1421,1596,0,0,0,0,0,0
$GC,8924,0.92,262.1,239.2,7.5,426,8940,0.00,2.35,9.00,0.613,4,0.000,0.026,3243,2818,1560,0,0,0,0,0,0
$GC,8955,1.04,287.6,236.7,6.7,427,8984,0.15,2.45,23.52,0.676,6,0.059,0.041,3286,1420,1457,0,0,0,0,0,0
$GC,9296,1.00,293.1,208.7,7.6,443,9308,0.00,2.17,5.88,0.526,4,0.000,0.055,3286,228,1433,0,0,0,0,0,0
$GC,9366,0.91,293.1,202.2,9.9,446,9370,0.20,1.95,0.00,0.000,6,0.089,0.027,3245,1434,1431,0,0,0,0,0,0
$GC,9699,0.96,297.0,177.1,7.7,471,9708,0.00,2.30,4.32,0.439,4,0.000,0.025,3246,2813,1419,0,0,0,0,0,0
$GC,9724,1.07,304.3,175.0,7.6,472,9740,0.17,2.42,8.40,0.555,6,0.054,0.038,3296,1419,1388,0,0,0,0,0,0
$GC,9993,1.03,304.3,151.0,8.2,493,9996,0.00,2.08,0.00,0.000,4,0.000,0.053,3296,233,1385,0,0,0,0,0,0
$GC,10025,0.92,304.3,148.0,8.7,495,10031,0.22,1.92,0.00,0.000,6,0.084,0.025,3250,1427,1384,0,0,0,0,0,0
$GC,10287,1.05,354.9,132.9,5.6,516,10340,0.12,2.12,43.72,0.601,4,0.065,0.050,3289,232,1182,0,0,0,0,0,0
$GC,10365,0.99,354.9,126.5,10.1,521,10371,0.12,1.92,0.00,0.000,6,0.094,0.024,3263,1424,1178,0,0,0,0,0,0
$GC,10626,1.12,384.7,107.3,6.5,542,10657,0.12,2.33,25.48,0.560,4,0.064,0.024,3304,2809,1060,0,0,0,0,0,0
$GC,10703,1.27,409.0,101.8,6.8,547,10730,0.00,2.42,21.50,0.545,6,0.000,0.035,3304,1410,962,0,0,0,0,0,0
$GC,10985,1.27,409.0,79.4,9.2,569,10989,0.10,2.05,0.00,0.000,4,0.073,0.051,3339,235,958,0,0,0,0,0,0
$GC,11041,1.15,409.0,72.6,11.2,573,11045,0.17,1.90,0.00,0.000,6,0.084,0.022,3302,1427,956,0,0,0,0,0,0
$GC,11305,1.24,423.9,52.1,7.2,593,11324,0.00,2.30,13.00,0.484,4,0.000,0.021,3302,2790,901,0,0,0,0,0,0
$GC,11354,1.43,455.1,48.8,6.5,596,11386,0.25,2.38,26.73,0.507,6,0.041,0.034,3374,1412,774,0,0,0,0,0,0
$GC,11644,1.32,455.1,15.0,13.0,636,11651,0.17,2.10,0.00,0.000,4,0.086,0.051,3337,234,770,0,0,0,0,0,0
$GC,11672,1.20,455.1,11.2,12.5,641,11680,0.10,1.90,0.00,0.000,6,0.071,0.021,3312,1420,769,0,0,0,0,0,0
$STATE,11766,end climb,SURFACE_DEPTH_REACHED
$STATE,11770,begin surface coast
$FINISH,1.0,1.021628
$STATE,11805,end surface coast,CONTROL_FINISHED_OK
$STATE,11805,begin surface
$SM_CCo,11888,0.00,0.000,0,0,766,456.99
$SM_GC,1.77,12.40,0.00,0.00,0.023,0.000,0.000,424,1420,766,-12.00,-0.82,456.99
$IRIDIUM_FIX,2101.76,-15753.90,230100,111101
$TT8_MAMPS,0.028379
$HUMID,64.49
$INTERNAL_PRESSURE,9.21564
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.3,75.534
$10V_AH,9.9,60.645
$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,31.625,131.475,500.200,0.000,0.000,55.425,65.983,261.854,4.750,0.000,15.944,1320.342,7892.438,496.274,2015.968,755.307,0.000,1440.766,0.000,1986.827,0.000,32.088,0.000
$DEVICE_MAMPS,130.390,58.292,829.894,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,450.723,432.334,949.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,38123,670
$CAP_FILE_SIZE,141542,0
$CFSIZE,260165632,169771008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291010,142137,2110.605,-15753.378,37,1.6,37,9.8