version: 66.06
glider: 139
mission: 8
dive: 827
start: 11 4 110 8 58 51
data:
$ID,139
$MISSION,8
$DIVE,827
$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,-2168820.5
$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
$GPS1,085154,2104.064,-15757.813,26,1.0,43,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.4
$GPS2,085831,2104.058,-15757.811,12,1.0,16,9.8
$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,307.3,10802,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.18,0.000,2,0.000,0.000,428,1430,2687,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.3,-3.5,12,117,12.62,2.42,-8.50,0.000,4,0.131,0.034,2784,2879,3109,0,0,0,0,0,0
$GC,175,-1.09,-116.8,17.1,-10.7,29,182,0.10,2.47,0.00,0.000,6,0.087,0.031,2807,1444,3110,0,0,0,0,0,0
$GC,380,-0.92,-116.8,44.7,-13.6,58,385,0.20,2.10,0.00,0.000,4,0.091,0.044,2848,227,3111,0,0,0,0,0,0
$GC,445,-0.87,-116.8,52.9,-11.8,62,451,0.00,2.03,0.00,0.000,6,0.000,0.018,2848,1513,3111,0,0,0,0,0,0
$GC,707,-0.80,-116.8,74.9,-7.4,83,711,0.12,2.20,0.00,0.000,4,0.094,0.044,2875,236,3112,0,0,0,0,0,0
$GC,751,-0.85,-116.8,78.8,-8.6,86,755,0.00,1.98,0.00,0.000,6,0.000,0.019,2875,1510,3112,0,0,0,0,0,0
$GC,1022,-1.03,-116.8,103.7,-10.0,107,1027,0.22,2.22,0.00,0.000,4,0.041,0.041,2803,230,3113,0,0,0,0,0,0
$GC,1108,-0.96,-116.8,113.3,-11.0,113,1113,0.17,2.03,0.00,0.000,6,0.081,0.018,2841,1535,3113,0,0,0,0,0,0
$GC,1375,-0.99,-116.8,131.2,-5.1,134,1379,0.00,2.17,0.00,0.000,4,0.000,0.021,2841,2880,3114,0,0,0,0,0,0
$GC,1395,-1.07,-116.8,132.5,-5.9,135,1400,0.10,2.40,0.00,0.000,6,0.072,0.030,2798,1441,3113,0,0,0,0,0,0
$GC,1657,-1.00,-116.8,154.8,-10.3,155,1662,0.15,2.05,0.00,0.000,4,0.087,0.044,2830,235,3114,0,0,0,0,0,0
$GC,1729,-1.00,-116.8,161.8,-8.6,160,1732,0.00,1.98,0.00,0.000,6,0.000,0.018,2830,1508,3115,0,0,0,0,0,0
$GC,1996,-1.03,-116.8,180.7,-6.2,181,1999,0.00,2.20,0.00,0.000,4,0.000,0.044,2830,235,3115,0,0,0,0,0,0
$GC,2050,-1.03,-116.8,184.1,-5.7,185,2054,0.00,1.98,0.00,0.000,6,0.000,0.019,2830,1506,3115,0,0,0,0,0,0
$GC,2320,-1.07,-116.8,199.8,-7.0,206,2325,0.00,2.20,0.00,0.000,4,0.000,0.045,2830,235,3115,0,0,0,0,0,0
$GC,2371,-1.10,-116.8,204.1,-8.9,209,2374,0.00,1.98,0.00,0.000,6,0.000,0.020,2831,1510,3115,0,0,0,0,0,0
$GC,2708,-1.24,-116.8,231.1,-6.8,225,2713,0.22,2.22,0.00,0.000,4,0.042,0.021,2759,2875,3115,0,0,0,0,0,0
$GC,2757,-1.20,-116.8,234.5,-6.9,227,2762,0.15,2.42,0.00,0.000,6,0.087,0.032,2791,1443,3115,0,0,0,0,0,0
$GC,3091,-1.20,-116.8,259.4,-7.8,243,3096,0.00,2.08,0.00,0.000,4,0.000,0.048,2791,233,3115,0,0,0,0,0,0
$GC,3133,-1.20,-116.8,263.6,-9.3,244,3140,0.00,2.03,0.00,0.000,6,0.000,0.021,2791,1512,3115,0,0,0,0,0,0
$GC,3451,-1.20,-116.8,290.8,-7.9,260,3455,0.00,2.22,0.00,0.000,4,0.000,0.024,2791,2882,3114,0,0,0,0,0,0
$GC,3484,-1.27,-116.8,293.5,-8.0,261,3488,0.00,2.42,0.00,0.000,6,0.000,0.033,2791,1441,3114,0,0,0,0,0,0
$GC,3798,-1.27,-116.8,316.6,-7.6,271,3802,0.00,2.08,0.00,0.000,4,0.000,0.049,2791,234,3113,0,0,0,0,0,0
$GC,3836,-1.27,-116.8,319.6,-7.6,271,3842,0.00,2.00,0.00,0.000,6,0.000,0.022,2792,1505,3112,0,0,0,0,0,0
$GC,4168,-1.27,-116.8,344.6,-7.6,280,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,1506,3110,0,0,0,0,0,0
$GC,4496,-1.27,-116.8,371.6,-7.8,288,4500,0.00,2.17,0.00,0.000,4,0.000,0.051,2792,240,3108,0,0,0,0,0,0
$GC,4547,-1.27,-116.8,375.8,-8.3,289,4550,0.00,1.98,0.00,0.000,6,0.000,0.024,2792,1490,3108,0,0,0,0,0,0
$GC,4869,-1.27,-116.8,400.0,-7.9,297,4876,0.00,2.20,0.00,0.000,4,0.000,0.053,2792,237,3106,0,0,0,0,0,0
$GC,4906,-1.27,-116.8,403.2,-9.4,297,4909,0.00,1.95,0.00,0.000,6,0.000,0.025,2792,1456,3106,0,0,0,0,0,0
$GC,5246,-1.27,-116.8,434.6,-9.6,306,5250,0.00,2.28,0.00,0.000,4,0.000,0.028,2792,2832,3104,0,0,0,0,0,0
$GC,5307,-1.34,-116.8,440.3,-9.3,307,5312,0.15,2.38,0.00,0.000,6,0.057,0.039,2746,1444,3103,0,0,0,0,0,0
$STATE,5416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5416,begin apogee
$GC,5423,-0.31,0.0,452.0,10.6,310,5524,1.10,0.00,96.75,0.826,6,0.070,0.000,2981,1443,2630,0,0,0,0,0,0
$STATE,5525,end apogee,CONTROL_FINISHED_OK
$STATE,5525,begin climb
$GC,5527,1.18,116.8,456.1,0.0,312,5641,1.40,2.38,101.43,0.810,4,0.031,0.028,3313,2798,2153,0,0,0,0,0,0
$GC,5652,1.04,182.6,458.2,4.9,314,5717,0.17,2.45,58.03,0.794,6,0.098,0.040,3279,1413,1884,0,0,0,0,0,0
$GC,6031,0.89,182.6,425.0,8.8,324,6036,0.17,2.35,0.00,0.000,4,0.097,0.028,3244,2801,1875,0,0,0,0,0,0
$GC,6106,0.91,205.2,419.3,6.9,325,6130,0.00,2.40,19.33,0.749,6,0.000,0.041,3244,1421,1793,0,0,0,0,0,0
$GC,6455,0.87,210.1,392.6,7.7,334,6466,0.00,2.35,5.07,0.561,4,0.000,0.027,3244,2797,1773,0,0,0,0,0,0
$GC,6528,0.89,224.0,387.0,7.3,335,6548,0.00,2.42,14.18,0.726,6,0.000,0.042,3244,1419,1715,0,0,0,0,0,0
$GC,6880,0.86,228.0,361.0,7.7,344,6888,0.00,0.00,4.03,0.487,6,0.000,0.000,3244,1419,1700,0,0,0,0,0,0
$GC,7212,0.84,234.5,336.5,7.6,352,7221,0.00,0.00,7.47,0.635,6,0.000,0.000,3244,1419,1673,0,0,0,0,0,0
$GC,7538,0.87,262.2,313.9,6.6,360,7570,0.00,2.42,25.58,0.730,4,0.000,0.028,3244,2799,1560,0,0,0,0,0,0
$GC,7585,0.90,286.6,310.4,6.8,361,7613,0.00,2.45,22.85,0.715,6,0.000,0.043,3244,1416,1460,0,0,0,0,0,0
$GC,7937,0.91,293.7,282.9,7.6,374,7949,0.00,2.40,6.90,0.591,4,0.000,0.028,3244,2800,1432,0,0,0,0,0,0
$GC,7973,1.01,298.8,279.8,7.7,375,7986,0.12,2.42,6.43,0.575,6,0.067,0.041,3282,1420,1410,0,0,0,0,0,0
$GC,8318,0.97,298.8,247.3,9.0,392,8322,0.00,2.10,0.00,0.000,4,0.000,0.058,3282,235,1407,0,0,0,0,0,0
$GC,8341,0.87,298.8,245.0,9.4,393,8346,0.20,1.92,0.00,0.000,6,0.090,0.028,3242,1410,1405,0,0,0,0,0,0
$GC,8671,0.97,334.7,225.5,6.3,409,8708,0.00,2.40,31.23,0.676,4,0.000,0.028,3241,2808,1264,0,0,0,0,0,0
$GC,8718,1.10,357.9,221.9,6.8,411,8747,0.22,2.45,21.77,0.651,6,0.048,0.040,3302,1419,1170,0,0,0,0,0,0
$GC,9071,1.05,357.9,187.0,9.7,432,9075,0.12,2.10,0.00,0.000,4,0.097,0.054,3277,234,1165,0,0,0,0,0,0
$GC,9131,1.01,357.9,180.7,10.3,436,9138,0.00,1.95,0.00,0.000,6,0.000,0.025,3277,1423,1162,0,0,0,0,0,0
$GC,9393,1.01,357.9,157.4,8.5,457,9397,0.00,2.28,0.00,0.000,4,0.000,0.025,3277,2804,1162,0,0,0,0,0,0
$GC,9419,1.09,357.9,155.1,8.3,459,9423,0.00,2.40,0.00,0.000,6,0.000,0.038,3277,1419,1162,0,0,0,0,0,0
$GC,9686,1.14,357.9,131.6,8.3,480,9689,0.00,2.05,0.00,0.000,4,0.000,0.052,3277,232,1161,0,0,0,0,0,0
$GC,9704,1.14,357.9,129.6,8.3,481,9710,0.00,1.90,0.00,0.000,6,0.000,0.025,3277,1427,1160,0,0,0,0,0,0
$GC,9965,1.25,383.2,112.4,6.8,502,9993,0.20,2.33,21.15,0.558,4,0.049,0.021,3335,2811,1066,0,0,0,0,0,0
$GC,10001,1.19,383.2,108.8,9.9,504,10006,0.12,2.42,0.00,0.000,6,0.097,0.038,3310,1412,1067,0,0,0,0,0,0
$GC,10262,1.19,383.2,87.5,8.0,524,10266,0.00,2.05,0.00,0.000,4,0.000,0.048,3311,228,1065,0,0,0,0,0,0
$GC,10346,1.19,383.2,79.2,9.2,530,10350,0.00,1.90,0.00,0.000,6,0.000,0.022,3311,1425,1062,0,0,0,0,0,0
$GC,10617,1.29,422.7,60.2,6.1,551,10659,0.00,2.33,33.75,0.520,4,0.000,0.021,3311,2796,905,0,0,0,0,0,0
$GC,10672,1.43,452.7,56.5,6.5,554,10707,0.17,2.42,26.00,0.507,6,0.028,0.035,3373,1414,783,0,0,0,0,0,0
$GC,10959,1.34,452.7,29.2,9.7,577,10966,0.15,2.10,0.00,0.000,4,0.090,0.048,3341,231,780,0,0,0,0,0,0
$GC,11001,1.28,452.7,24.4,11.5,585,11008,0.00,1.92,0.00,0.000,6,0.000,0.021,3342,1442,778,0,0,0,0,0,0
$STATE,11193,end climb,SURFACE_DEPTH_REACHED
$STATE,11193,begin surface coast
$FINISH,1.1,1.023346
$STATE,11220,end surface coast,CONTROL_FINISHED_OK
$STATE,11220,begin surface
$SM_CCo,11305,0.00,0.000,0,0,775,455.28
$SM_GC,1.71,12.57,0.00,0.00,0.025,0.000,0.000,430,1442,775,-11.98,-0.23,455.28
$IRIDIUM_FIX,2054.83,-15756.91,290100,050538
$TT8_MAMPS,0.028379
$HUMID,63.30
$INTERNAL_PRESSURE,9.23518
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,23.3,80.456
$10V_AH,9.9,64.333
$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,30.975,127.900,501.925,0.000,0.000,27.352,30.091,194.741,4.500,0.000,16.125,1240.588,7443.192,504.211,1904.769,600.304,0.000,1409.459,0.000,1875.449,0.000,29.278,0.000
$DEVICE_MAMPS,131.157,57.525,826.059,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,426.886,411.698,907.421,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,34900,635
$CAP_FILE_SIZE,128947,0
$CFSIZE,260165632,167161856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041110,120831,2104.199,-15758.231,39,1.6,39,9.8