version: 66.06
glider: 139
mission: 8
dive: 853
start: 11 7 110 23 52 58
data:
$ID,139
$MISSION,8
$DIVE,853
$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,-2169397.5
$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
$GPS1,233826,2106.133,-15749.143,15,1.7,15,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.1
$GPS2,235238,2106.114,-15749.170,16,1.6,16,9.8
$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,83.1,10817,-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,17,-1.18,-116.8,0.0,0.0,0,89,0.00,0.00,-69.70,0.000,2,0.000,0.000,427,1438,2818,0,0,0,0,0,0
$GC,92,-1.18,-116.8,3.9,-4.3,13,117,12.70,2.40,-5.38,0.000,4,0.133,0.034,2784,2880,3108,0,0,0,0,0,0
$GC,125,0.16,-116.8,13.8,-24.6,18,132,1.35,2.47,0.00,0.000,6,0.067,0.033,3082,1449,3109,0,0,0,0,0,0
$GC,333,-0.41,-116.8,31.4,-10.5,63,340,0.52,2.35,0.00,0.000,4,0.044,0.018,2955,2888,3111,0,0,0,0,0,0
$GC,355,-0.81,-116.8,33.9,-11.0,64,362,0.32,2.45,0.00,0.000,6,0.031,0.028,2864,1447,3111,0,0,0,0,0,0
$GC,619,-0.86,-116.8,57.4,-9.0,85,623,0.00,2.33,0.00,0.000,4,0.000,0.021,2864,2877,3111,0,0,0,0,0,0
$GC,658,-0.95,-116.8,61.3,-9.3,88,662,0.00,2.40,0.00,0.000,6,0.000,0.028,2864,1443,3111,0,0,0,0,0,0
$GC,924,-0.95,-116.8,86.7,-8.7,109,928,0.00,2.05,0.00,0.000,4,0.000,0.044,2864,231,3111,0,0,0,0,0,0
$GC,994,-1.01,-116.8,92.3,-6.6,114,998,0.15,1.98,0.00,0.000,6,0.054,0.018,2814,1520,3111,0,0,0,0,0,0
$GC,1256,-1.01,-116.8,111.0,-8.8,134,1260,0.00,2.22,0.00,0.000,4,0.000,0.020,2813,2889,3112,0,0,0,0,0,0
$GC,1269,-1.01,-116.8,112.7,-8.8,135,1274,0.00,2.40,0.00,0.000,6,0.000,0.031,2813,1452,3111,0,0,0,0,0,0
$GC,1529,-1.01,-116.8,136.3,-8.8,155,1534,0.00,2.33,0.00,0.000,4,0.000,0.020,2814,2888,3112,0,0,0,0,0,0
$GC,1545,-1.01,-116.8,137.7,-8.4,156,1549,0.00,2.40,0.00,0.000,6,0.000,0.031,2814,1450,3112,0,0,0,0,0,0
$GC,1806,-1.01,-116.8,158.6,-7.5,176,1809,0.00,2.08,0.00,0.000,4,0.000,0.046,2813,237,3112,0,0,0,0,0,0
$GC,1843,-1.01,-116.8,161.7,-8.0,178,1850,0.00,2.00,0.00,0.000,6,0.000,0.018,2814,1516,3112,0,0,0,0,0,0
$GC,2104,-1.01,-116.8,182.2,-8.1,199,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1516,3113,0,0,0,0,0,0
$GC,2371,-1.01,-116.8,203.8,-8.1,219,2375,0.00,2.17,0.00,0.000,4,0.000,0.045,2814,237,3112,0,0,0,0,0,0
$GC,2417,-1.01,-116.8,207.6,-8.9,221,2421,0.00,2.00,0.00,0.000,6,0.000,0.020,2814,1511,3112,0,0,0,0,0,0
$GC,2752,-1.01,-116.8,236.3,-8.2,237,2756,0.00,2.20,0.00,0.000,4,0.000,0.046,2814,234,3112,0,0,0,0,0,0
$GC,2786,-1.01,-116.8,239.3,-8.9,238,2790,0.00,1.95,0.00,0.000,6,0.000,0.020,2814,1500,3112,0,0,0,0,0,0
$GC,3109,-1.01,-116.8,264.2,-7.4,254,3113,0.00,2.17,0.00,0.000,4,0.000,0.048,2814,238,3111,0,0,0,0,0,0
$GC,3183,-1.01,-116.8,270.3,-7.3,257,3187,0.00,1.88,0.00,0.000,6,0.000,0.021,2814,1451,3111,0,0,0,0,0,0
$GC,3512,-1.01,-116.8,291.9,-6.5,273,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1452,3110,0,0,0,0,0,0
$GC,3816,-1.05,-116.8,310.5,-6.2,284,3820,0.00,2.10,0.00,0.000,4,0.000,0.049,2814,237,3108,0,0,0,0,0,0
$GC,3892,-1.09,-116.8,316.0,-7.5,285,3896,0.00,1.88,0.00,0.000,6,0.000,0.022,2814,1449,3108,0,0,0,0,0,0
$GC,4235,-1.13,-116.8,341.6,-7.6,294,4239,0.00,2.08,0.00,0.000,4,0.000,0.051,2814,240,3106,0,0,0,0,0,0
$GC,4279,-1.17,-116.8,345.0,-7.8,295,4282,0.00,1.90,0.00,0.000,6,0.000,0.023,2814,1446,3106,0,0,0,0,0,0
$GC,4613,-1.31,-116.8,369.4,-7.6,303,4618,0.22,2.30,0.00,0.000,4,0.045,0.024,2747,2837,3104,0,0,0,0,0,0
$GC,4711,-1.31,-116.8,379.2,-10.0,305,4715,0.00,2.33,0.00,0.000,6,0.000,0.036,2747,1452,3103,0,0,0,0,0,0
$GC,5031,-1.21,-116.8,409.7,-9.4,313,5036,0.17,2.10,0.00,0.000,4,0.090,0.053,2784,237,3102,0,0,0,0,0,0
$GC,5056,-1.16,-116.8,412.0,-8.5,313,5060,0.00,1.95,0.00,0.000,6,0.000,0.024,2784,1450,3102,0,0,0,0,0,0
$GC,5403,-1.16,-116.8,440.6,-8.4,322,5407,0.00,2.28,0.00,0.000,4,0.000,0.027,2784,2834,3099,0,0,0,0,0,0
$GC,5468,-1.22,-116.8,445.9,-8.4,323,5472,0.00,2.38,0.00,0.000,6,0.000,0.038,2784,1449,3099,0,0,0,0,0,0
$STATE,5530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5530,begin apogee
$GC,5537,-0.31,0.0,450.9,7.7,325,5636,0.90,0.00,95.57,0.821,6,0.066,0.000,2980,1449,2629,0,0,0,0,0,0
$STATE,5637,end apogee,CONTROL_FINISHED_OK
$STATE,5637,begin climb
$GC,5641,1.18,116.8,454.2,0.0,327,5753,1.40,2.35,100.88,0.806,4,0.031,0.027,3310,2798,2152,0,0,0,0,0,0
$GC,5789,1.04,173.7,455.4,5.3,330,5847,0.17,2.40,49.95,0.788,6,0.100,0.040,3276,1421,1921,0,0,0,0,0,0
$GC,6185,0.90,173.7,424.5,8.0,340,6190,0.15,2.30,0.00,0.000,4,0.104,0.028,3246,2799,1911,0,0,0,0,0,0
$GC,6234,0.92,183.1,421.0,7.5,341,6247,0.00,2.40,7.80,0.655,6,0.000,0.040,3246,1414,1884,0,0,0,0,0,0
$GC,6557,0.88,197.4,398.5,7.2,349,6578,0.00,2.40,13.73,0.727,4,0.000,0.028,3246,2795,1825,0,0,0,0,0,0
$GC,6599,0.90,214.6,395.4,7.1,349,6622,0.00,2.40,16.88,0.739,6,0.000,0.041,3247,1418,1755,0,0,0,0,0,0
$GC,6934,0.86,214.6,369.1,8.0,358,6938,0.00,2.33,0.00,0.000,4,0.000,0.028,3247,2798,1749,0,0,0,0,0,0
$GC,6958,0.86,214.6,366.9,8.0,358,6962,0.00,2.42,0.00,0.000,6,0.000,0.042,3246,1416,1749,0,0,0,0,0,0
$GC,7300,0.91,255.3,344.2,6.1,367,7342,0.00,2.38,35.53,0.759,4,0.000,0.029,3246,2799,1589,0,0,0,0,0,0
$GC,7388,1.00,279.0,338.7,6.8,368,7417,0.00,2.40,22.10,0.728,6,0.000,0.041,3247,1419,1491,0,0,0,0,0,0
$GC,7768,1.03,310.6,314.6,6.5,378,7801,0.12,2.15,27.75,0.726,4,0.069,0.057,3282,235,1363,0,0,0,0,0,0
$GC,7818,0.92,310.6,309.8,9.1,379,7823,0.15,1.95,0.00,0.000,6,0.099,0.027,3252,1422,1359,0,0,0,0,0,0
$GC,8142,0.92,310.6,279.7,8.9,392,8146,0.00,2.30,0.00,0.000,4,0.000,0.028,3252,2805,1357,0,0,0,0,0,0
$GC,8156,0.92,310.6,278.3,8.8,392,8162,0.00,2.45,0.00,0.000,6,0.000,0.041,3252,1421,1357,0,0,0,0,0,0
$GC,8473,0.97,350.1,256.1,6.1,408,8516,0.00,2.15,34.20,0.696,4,0.000,0.055,3252,234,1200,0,0,0,0,0,0
$GC,8576,0.97,350.1,248.2,8.3,412,8580,0.00,1.92,0.00,0.000,6,0.000,0.026,3252,1428,1196,0,0,0,0,0,0
$GC,8898,1.01,353.6,223.1,7.7,428,8902,0.00,2.30,0.00,0.000,4,0.000,0.027,3252,2807,1196,0,0,0,0,0,0
$GC,8932,1.16,356.8,220.5,7.8,429,8947,0.22,2.42,6.38,0.535,6,0.048,0.039,3314,1419,1174,0,0,0,0,0,0
$GC,9264,1.07,356.8,190.0,10.2,448,9268,0.15,2.10,0.00,0.000,4,0.094,0.055,3283,235,1173,0,0,0,0,0,0
$GC,9310,1.00,356.8,185.0,9.7,451,9314,0.00,1.90,0.00,0.000,6,0.000,0.025,3283,1424,1171,0,0,0,0,0,0
$GC,9573,1.00,356.8,161.6,8.9,472,9577,0.00,2.28,0.00,0.000,4,0.000,0.025,3283,2805,1171,0,0,0,0,0,0
$GC,9598,1.08,356.8,159.5,8.9,474,9603,0.00,2.40,0.00,0.000,6,0.000,0.038,3283,1418,1171,0,0,0,0,0,0
$GC,9863,1.08,356.8,136.3,8.9,495,9867,0.00,2.05,0.00,0.000,4,0.000,0.053,3283,232,1171,0,0,0,0,0,0
$GC,9911,1.08,356.8,131.3,11.1,498,9917,0.00,1.92,0.00,0.000,6,0.000,0.024,3283,1421,1169,0,0,0,0,0,0
$GC,10171,1.13,370.4,110.8,7.3,519,10189,0.00,2.30,12.40,0.533,4,0.000,0.022,3283,2807,1118,0,0,0,0,0,0
$GC,10232,1.26,370.4,106.0,8.2,523,10238,0.17,2.40,0.00,0.000,6,0.052,0.034,3336,1415,1118,0,0,0,0,0,0
$GC,10491,1.26,370.4,80.8,9.5,544,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1415,1117,0,0,0,0,0,0
$GC,10745,1.27,378.8,61.4,7.5,564,10756,0.00,0.00,8.52,0.462,6,0.000,0.000,3336,1415,1085,0,0,0,0,0,0
$GC,11011,1.27,383.1,40.9,7.7,585,11020,0.00,0.00,5.20,0.387,6,0.000,0.000,3336,1415,1067,0,0,0,0,0,0
$GC,11277,1.27,383.1,19.5,9.5,628,11283,0.00,2.33,0.00,0.000,4,0.000,0.021,3336,2816,1066,0,0,0,0,0,0
$GC,11312,1.32,383.1,15.5,11.1,635,11319,0.00,2.42,0.00,0.000,6,0.000,0.034,3336,1416,1066,0,0,0,0,0,0
$STATE,11497,end climb,SURFACE_DEPTH_REACHED
$STATE,11497,begin surface coast
$FINISH,1.1,1.016061
$STATE,11528,end surface coast,CONTROL_FINISHED_OK
$STATE,11528,begin surface
$SM_CCo,11551,22.75,0.464,0,0,958,410.14
$SM_GC,1.55,0.00,0.00,22.75,0.000,0.000,0.464,428,1411,958,-12.06,-1.10,410.14
$IRIDIUM_FIX,2059.45,-15750.89,010200,232326
$TT8_MAMPS,0.029146
$HUMID,63.90
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,20.50
$XPDR_PINGS,0
$24V_AH,23.3,83.650
$10V_AH,9.9,66.649
$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,31.400,129.025,436.875,22.750,0.000,77.130,114.310,378.572,4.500,0.000,16.571,1308.941,7677.961,484.945,2021.181,928.188,0.000,1397.591,0.000,1994.233,0.000,29.255,0.000
$DEVICE_MAMPS,133.458,56.758,820.690,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,460.398,446.494,1030.348,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,38076,684
$CAP_FILE_SIZE,134227,0
$CFSIZE,260165632,165502976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,030706,2105.778,-15749.481,35,2.0,35,9.8