version: 66.06
glider: 139
mission: 8
dive: 788
start: 10 30 110 0 30 1
data:
$ID,139
$MISSION,8
$DIVE,788
$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,-2168004.5
$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
$GPS1,002306,2109.889,-15748.852,41,1.3,52,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.0
$GPS2,002943,2109.856,-15748.801,14,1.3,31,9.8
$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,116.6,12623,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.28,0.000,2,0.000,0.000,429,1431,2656,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.2,-3.3,12,116,12.57,2.42,-9.05,0.000,4,0.130,0.035,2786,2877,3110,0,0,0,0,0,0
$GC,125,0.01,-116.8,12.1,-20.8,18,132,1.17,2.47,0.00,0.000,6,0.065,0.033,3048,1449,3110,0,0,0,0,0,0
$GC,329,-0.55,-116.8,28.4,-9.0,64,335,0.50,0.00,0.00,0.000,6,0.045,0.000,2928,1449,3112,0,0,0,0,0,0
$GC,537,-0.86,-116.8,44.5,-7.1,82,542,0.25,2.08,0.00,0.000,4,0.039,0.043,2845,228,3112,0,0,0,0,0,0
$GC,621,-0.82,-116.8,52.9,-10.1,88,626,0.12,2.00,0.00,0.000,6,0.091,0.018,2872,1514,3112,0,0,0,0,0,0
$GC,882,-0.82,-116.8,75.3,-8.6,108,886,0.00,2.20,0.00,0.000,4,0.000,0.044,2872,237,3112,0,0,0,0,0,0
$GC,912,-0.82,-116.8,78.0,-9.0,110,916,0.00,1.98,0.00,0.000,6,0.000,0.019,2872,1509,3113,0,0,0,0,0,0
$GC,1183,-0.88,-116.8,99.3,-8.0,131,1187,0.00,2.20,0.00,0.000,4,0.000,0.044,2871,228,3113,0,0,0,0,0,0
$GC,1237,-0.97,-116.8,104.3,-8.9,135,1242,0.15,2.00,0.00,0.000,6,0.053,0.019,2820,1520,3113,0,0,0,0,0,0
$GC,1502,-0.97,-116.8,124.8,-7.3,155,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1521,3114,0,0,0,0,0,0
$GC,1763,-0.97,-116.8,143.5,-7.5,176,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1520,3115,0,0,0,0,0,0
$GC,2015,-0.97,-116.8,161.9,-7.7,196,2019,0.00,2.20,0.00,0.000,4,0.000,0.045,2820,227,3115,0,0,0,0,0,0
$GC,2060,-0.97,-116.8,166.2,-9.3,199,2066,0.00,2.00,0.00,0.000,6,0.000,0.019,2820,1517,3115,0,0,0,0,0,0
$GC,2319,-0.97,-116.8,189.0,-8.7,220,2323,0.00,2.17,0.00,0.000,4,0.000,0.045,2820,237,3115,0,0,0,0,0,0
$GC,2344,-0.97,-116.8,191.1,-9.1,222,2348,0.00,1.98,0.00,0.000,6,0.000,0.020,2820,1511,3115,0,0,0,0,0,0
$GC,2604,-0.97,-116.8,210.5,-6.8,238,2608,0.00,2.22,0.00,0.000,4,0.000,0.022,2820,2884,3115,0,0,0,0,0,0
$GC,2634,-1.06,-116.8,212.4,-6.7,239,2638,0.00,2.42,0.00,0.000,6,0.000,0.031,2820,1440,3115,0,0,0,0,0,0
$GC,2955,-1.06,-116.8,236.1,-8.2,255,2959,0.00,2.05,0.00,0.000,4,0.000,0.047,2820,230,3115,0,0,0,0,0,0
$GC,3007,-1.06,-116.8,241.0,-9.7,257,3010,0.00,2.00,0.00,0.000,6,0.000,0.020,2820,1498,3115,0,0,0,0,0,0
$GC,3336,-1.09,-116.8,265.6,-7.1,273,3340,0.00,2.17,0.00,0.000,4,0.000,0.048,2820,237,3114,0,0,0,0,0,0
$GC,3373,-1.09,-116.8,268.6,-7.8,274,3380,0.00,1.92,0.00,0.000,6,0.000,0.021,2820,1449,3114,0,0,0,0,0,0
$GC,3691,-1.14,-116.8,289.7,-6.8,290,3695,0.00,2.28,0.00,0.000,4,0.000,0.025,2820,2832,3113,0,0,0,0,0,0
$GC,3759,-1.25,-116.8,294.2,-6.5,293,3764,0.20,2.35,0.00,0.000,6,0.046,0.034,2758,1447,3113,0,0,0,0,0,0
$GC,4088,-1.16,-116.8,321.3,-8.2,303,4092,0.17,2.10,0.00,0.000,4,0.084,0.051,2795,230,3111,0,0,0,0,0,0
$GC,4126,-1.16,-116.8,324.0,-6.3,303,4131,0.00,1.92,0.00,0.000,6,0.000,0.022,2795,1449,3111,0,0,0,0,0,0
$GC,4457,-1.16,-116.8,344.9,-6.7,312,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1450,3109,0,0,0,0,0,0
$GC,4785,-1.16,-116.8,369.4,-7.5,320,4789,0.00,2.28,0.00,0.000,4,0.000,0.027,2795,2823,3107,0,0,0,0,0,0
$GC,4851,-1.25,-116.8,374.4,-7.3,321,4855,0.00,2.35,0.00,0.000,6,0.000,0.037,2795,1441,3106,0,0,0,0,0,0
$GC,5196,-1.25,-116.8,399.0,-7.1,330,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1441,3105,0,0,0,0,0,0
$GC,5522,-1.25,-116.8,423.6,-7.9,338,5526,0.00,2.10,0.00,0.000,4,0.000,0.055,2794,235,3103,0,0,0,0,0,0
$GC,5550,-1.25,-116.8,426.2,-8.9,338,5554,0.00,1.92,0.00,0.000,6,0.000,0.025,2795,1440,3102,0,0,0,0,0,0
$STATE,5851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5851,begin apogee
$GC,5859,-0.31,0.0,450.2,7.8,346,5958,0.85,0.00,96.05,0.832,6,0.064,0.000,2980,1441,2630,0,0,0,0,0,0
$STATE,5959,end apogee,CONTROL_FINISHED_OK
$STATE,5959,begin climb
$GC,5962,1.18,116.8,452.9,0.0,348,6074,1.42,2.17,100.68,0.815,4,0.034,0.053,3313,232,2152,0,0,0,0,0,0
$GC,6243,0.85,116.8,439.9,8.7,354,6248,0.40,1.90,0.00,0.000,6,0.093,0.026,3234,1417,2141,0,0,0,0,0,0
$GC,6559,0.85,172.2,421.9,5.4,362,6613,0.00,2.38,47.72,0.801,4,0.000,0.029,3234,2800,1927,0,0,0,0,0,0
$GC,6665,0.88,195.2,414.5,6.9,364,6694,0.00,2.42,21.35,0.765,6,0.000,0.041,3235,1421,1834,0,0,0,0,0,0
$GC,7020,0.93,231.8,391.0,6.2,373,7061,0.00,2.12,32.62,0.778,4,0.000,0.057,3234,238,1683,0,0,0,0,0,0
$GC,7115,0.85,238.2,384.2,7.6,375,7128,0.00,1.95,6.53,0.619,6,0.000,0.028,3234,1425,1657,0,0,0,0,0,0
$GC,7443,0.88,260.7,361.8,6.9,383,7471,0.00,2.15,20.65,0.750,4,0.000,0.057,3234,233,1566,0,0,0,0,0,0
$GC,7487,0.83,260.7,358.4,7.9,384,7490,0.00,1.95,0.00,0.000,6,0.000,0.029,3234,1419,1563,0,0,0,0,0,0
$GC,7818,0.83,260.7,332.2,8.2,392,7822,0.00,2.12,0.00,0.000,4,0.000,0.058,3234,230,1561,0,0,0,0,0,0
$GC,7865,0.77,260.7,327.5,9.8,393,7869,0.00,1.95,0.00,0.000,6,0.000,0.029,3234,1429,1559,0,0,0,0,0,0
$GC,8193,0.80,285.6,302.8,6.8,401,8222,0.00,2.22,21.77,0.729,4,0.000,0.058,3234,228,1464,0,0,0,0,0,0
$GC,8268,0.77,285.6,297.6,7.9,403,8271,0.00,1.98,0.00,0.000,6,0.000,0.028,3234,1427,1460,0,0,0,0,0,0
$GC,8598,0.83,303.1,274.1,7.1,419,8620,0.00,2.17,15.75,0.693,4,0.000,0.058,3234,235,1394,0,0,0,0,0,0
$GC,8632,0.85,322.6,271.5,7.0,420,8657,0.00,1.98,18.75,0.695,6,0.000,0.029,3234,1425,1314,0,0,0,0,0,0
$GC,8981,0.98,356.8,249.2,6.4,437,9019,0.12,2.17,30.25,0.697,4,0.068,0.056,3271,245,1174,0,0,0,0,0,0
$GC,9066,0.94,356.8,241.0,10.2,440,9075,0.00,1.98,0.00,0.000,6,0.000,0.028,3272,1428,1171,0,0,0,0,0,0
$GC,9382,0.94,356.8,212.0,9.3,456,9386,0.00,2.12,0.00,0.000,4,0.000,0.055,3271,230,1169,0,0,0,0,0,0
$GC,9416,0.89,356.8,208.4,11.3,457,9420,0.12,1.92,0.00,0.000,6,0.100,0.027,3247,1425,1167,0,0,0,0,0,0
$GC,9745,1.01,396.3,184.5,6.1,480,9787,0.10,2.17,33.67,0.644,4,0.076,0.054,3279,242,1013,0,0,0,0,0,0
$GC,9806,0.96,396.3,180.3,8.2,484,9810,0.00,1.95,0.00,0.000,6,0.000,0.026,3279,1427,1011,0,0,0,0,0,0
$GC,10075,0.96,396.3,157.7,9.3,505,10079,0.00,2.08,0.00,0.000,4,0.000,0.052,3279,236,1009,0,0,0,0,0,0
$GC,10129,0.96,396.3,151.5,12.0,509,10133,0.00,1.95,0.00,0.000,6,0.000,0.025,3279,1429,1008,0,0,0,0,0,0
$GC,10399,1.00,396.3,123.8,9.0,530,10403,0.00,2.10,0.00,0.000,4,0.000,0.051,3279,230,1008,0,0,0,0,0,0
$GC,10423,1.00,396.3,121.5,9.7,531,10429,0.00,1.90,0.00,0.000,6,0.000,0.025,3279,1423,1007,0,0,0,0,0,0
$GC,10684,1.09,408.4,103.3,7.3,552,10700,0.00,2.30,10.77,0.519,4,0.000,0.022,3279,2806,964,0,0,0,0,0,0
$GC,10733,1.29,429.6,99.4,6.9,555,10760,0.22,2.40,19.45,0.547,6,0.044,0.035,3346,1413,877,0,0,0,0,0,0
$GC,11025,1.24,429.6,66.5,11.0,578,11030,0.12,2.08,0.00,0.000,4,0.095,0.051,3319,232,874,0,0,0,0,0,0
$GC,11091,1.24,429.6,58.9,12.2,582,11097,0.00,1.92,0.00,0.000,6,0.000,0.022,3320,1426,872,0,0,0,0,0,0
$GC,11350,1.24,429.6,32.1,9.3,603,11354,0.00,2.25,0.00,0.000,4,0.000,0.022,3319,2803,873,0,0,0,0,0,0
$GC,11373,1.32,429.6,29.8,9.0,604,11380,0.00,2.40,0.00,0.000,6,0.000,0.035,3319,1421,872,0,0,0,0,0,0
$GC,11640,1.32,429.6,7.8,9.6,665,11647,0.00,2.08,0.00,0.000,4,0.000,0.048,3320,232,872,0,0,0,0,0,0
$STATE,11681,end climb,SURFACE_DEPTH_REACHED
$STATE,11681,begin surface coast
$FINISH,1.8,1.023226
$STATE,11692,end surface coast,CONTROL_FINISHED_OK
$STATE,11692,begin surface
$SM_CCo,11778,0.00,0.000,0,0,870,431.73
$SM_GC,1.63,12.40,0.00,0.00,0.024,0.000,0.000,425,1455,870,-11.99,0.11,431.73
$IRIDIUM_FIX,2101.76,-15748.75,230100,212159
$TT8_MAMPS,0.029146
$HUMID,64.92
$INTERNAL_PRESSURE,9.21564
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,23.3,75.998
$10V_AH,9.9,60.994
$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,30.925,123.025,476.025,0.000,0.000,25.773,35.316,180.279,4.500,0.000,31.478,1300.652,7754.879,487.401,2055.596,565.981,0.000,1425.825,0.000,2011.136,0.000,29.239,0.000
$DEVICE_MAMPS,130.390,58.292,832.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.824,432.408,990.133,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,38113,676
$CAP_FILE_SIZE,129279,0
$CFSIZE,260165632,169537536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301010,034736,2109.118,-15747.472,41,1.7,41,9.8