version: 66.06
glider: 139
mission: 8
dive: 855
start: 11 8 110 6 51 45
data:
$ID,139
$MISSION,8
$DIVE,855
$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,-2169429
$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
$GPS1,064037,2105.612,-15749.214,42,0.9,42,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-70.4
$GPS2,065126,2105.590,-15749.179,13,1.5,13,9.8
$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,78.0,10825,-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,-116.8,0.0,0.0,0,77,0.00,0.00,-58.83,0.000,2,0.000,0.000,427,1423,2596,0,0,0,0,0,0
$GC,81,-1.18,-116.8,3.0,-2.8,11,111,12.68,2.08,-10.12,0.000,4,0.132,0.061,2785,235,3107,0,0,0,0,0,0
$GC,141,-0.85,-116.8,16.0,-17.7,22,148,0.32,2.03,0.00,0.000,6,0.076,0.019,2865,1510,3109,0,0,0,0,0,0
$GC,349,-0.85,-116.8,41.7,-9.4,52,353,0.00,2.20,0.00,0.000,4,0.000,0.044,2865,237,3110,0,0,0,0,0,0
$GC,387,-0.80,-116.8,46.1,-12.9,54,394,0.00,2.00,0.00,0.000,6,0.000,0.018,2865,1515,3110,0,0,0,0,0,0
$GC,647,-0.80,-116.8,70.3,-8.9,75,651,0.00,2.20,0.00,0.000,4,0.000,0.045,2865,237,3110,0,0,0,0,0,0
$GC,677,-0.75,-116.8,73.1,-9.6,77,681,0.00,1.98,0.00,0.000,6,0.000,0.019,2865,1508,3110,0,0,0,0,0,0
$GC,947,-0.80,-116.8,96.0,-9.1,98,950,0.00,2.20,0.00,0.000,4,0.000,0.042,2865,234,3111,0,0,0,0,0,0
$GC,1020,-0.87,-116.8,102.1,-7.6,103,1023,0.00,1.95,0.00,0.000,6,0.000,0.019,2865,1503,3112,0,0,0,0,0,0
$GC,1287,-1.06,-116.8,119.9,-8.0,124,1292,0.20,2.20,0.00,0.000,4,0.044,0.041,2799,227,3112,0,0,0,0,0,0
$GC,1366,-0.98,-116.8,128.1,-10.1,129,1372,0.17,2.00,0.00,0.000,6,0.081,0.018,2837,1520,3112,0,0,0,0,0,0
$GC,1628,-0.98,-116.8,148.7,-8.2,150,1632,0.00,2.20,0.00,0.000,4,0.000,0.044,2837,227,3112,0,0,0,0,0,0
$GC,1652,-0.98,-116.8,151.0,-8.0,152,1656,0.00,2.00,0.00,0.000,6,0.000,0.019,2837,1505,3112,0,0,0,0,0,0
$GC,1924,-0.98,-116.8,170.5,-7.2,173,1928,0.00,2.20,0.00,0.000,4,0.000,0.021,2837,2878,3112,0,0,0,0,0,0
$GC,1957,-1.09,-116.8,173.4,-7.2,175,1963,0.12,2.40,0.00,0.000,6,0.061,0.029,2787,1437,3113,0,0,0,0,0,0
$GC,2221,-1.01,-116.8,196.3,-8.8,195,2226,0.20,2.03,0.00,0.000,4,0.078,0.043,2831,240,3113,0,0,0,0,0,0
$GC,2266,-1.06,-116.8,200.6,-8.5,199,2270,0.00,2.00,0.00,0.000,6,0.000,0.019,2831,1535,3113,0,0,0,0,0,0
$GC,2605,-1.18,-116.8,227.7,-8.1,215,2610,0.17,2.17,0.00,0.000,4,0.050,0.022,2774,2876,3113,0,0,0,0,0,0
$GC,2653,-1.18,-116.8,232.9,-9.6,217,2658,0.00,2.40,0.00,0.000,6,0.000,0.031,2774,1442,3113,0,0,0,0,0,0
$GC,2982,-1.11,-116.8,262.4,-8.6,233,2987,0.15,2.38,0.00,0.000,4,0.088,0.022,2806,2874,3113,0,0,0,0,0,0
$GC,3004,-1.11,-116.8,264.3,-8.1,234,3008,0.00,2.42,0.00,0.000,6,0.000,0.032,2806,1442,3113,0,0,0,0,0,0
$GC,3334,-1.11,-116.8,292.5,-7.2,250,3338,0.00,2.08,0.00,0.000,4,0.000,0.048,2806,232,3112,0,0,0,0,0,0
$GC,3423,-1.11,-116.8,298.5,-6.6,253,3428,0.00,1.98,0.00,0.000,6,0.000,0.021,2806,1499,3111,0,0,0,0,0,0
$GC,3756,-1.22,-116.8,311.2,-3.5,263,3760,0.10,2.20,0.00,0.000,4,0.074,0.047,2769,233,3110,0,0,0,0,0,0
$GC,3862,-1.15,-116.8,317.9,-7.0,265,3867,0.10,1.92,0.00,0.000,6,0.067,0.022,2796,1439,3109,0,0,0,0,0,0
$GC,4182,-1.15,-116.8,340.9,-7.8,273,4186,0.00,2.28,0.00,0.000,4,0.000,0.025,2796,2834,3108,0,0,0,0,0,0
$GC,4226,-1.24,-116.8,344.6,-8.6,274,4230,0.00,2.35,0.00,0.000,6,0.000,0.034,2796,1440,3108,0,0,0,0,0,0
$GC,4556,-1.24,-116.8,371.3,-7.8,282,4560,0.00,2.08,0.00,0.000,4,0.000,0.051,2796,230,3105,0,0,0,0,0,0
$GC,4603,-1.24,-116.8,374.9,-6.5,283,4607,0.00,1.92,0.00,0.000,6,0.000,0.024,2796,1453,3105,0,0,0,0,0,0
$GC,4932,-1.24,-116.8,395.5,-6.4,291,4936,0.00,2.12,0.00,0.000,4,0.000,0.052,2796,234,3103,0,0,0,0,0,0
$GC,4956,-1.24,-116.8,397.2,-6.9,291,4959,0.00,1.92,0.00,0.000,6,0.000,0.024,2796,1447,3103,0,0,0,0,0,0
$GC,5300,-1.24,-116.8,419.6,-6.4,300,5305,0.00,2.28,0.00,0.000,4,0.000,0.026,2796,2836,3101,0,0,0,0,0,0
$GC,5369,-1.32,-116.8,423.8,-6.0,301,5373,0.15,2.38,0.00,0.000,6,0.058,0.037,2749,1448,3100,0,0,0,0,0,0
$STATE,5716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5716,begin apogee
$GC,5723,-0.31,0.0,451.7,8.2,310,5822,1.08,0.00,95.57,0.825,6,0.069,0.000,2979,1449,2630,0,0,0,0,0,0
$STATE,5823,end apogee,CONTROL_FINISHED_OK
$STATE,5823,begin climb
$GC,5827,1.18,116.8,454.3,0.0,312,5938,1.45,2.38,101.93,0.809,4,0.033,0.027,3316,2800,2152,0,0,0,0,0,0
$GC,5978,1.03,173.1,454.7,5.4,316,6036,0.20,2.42,49.53,0.792,6,0.099,0.040,3277,1424,1923,0,0,0,0,0,0
$GC,6380,0.89,173.1,422.3,8.5,326,6385,0.17,2.30,0.00,0.000,4,0.100,0.028,3242,2801,1914,0,0,0,0,0,0
$GC,6503,0.92,202.2,413.6,6.6,328,6533,0.00,2.40,24.98,0.769,6,0.000,0.041,3242,1420,1805,0,0,0,0,0,0
$GC,6850,0.95,258.5,392.1,5.4,337,6907,0.00,2.40,49.60,0.785,4,0.000,0.028,3242,2790,1575,0,0,0,0,0,0
$GC,6930,1.04,331.1,388.2,4.6,338,7002,0.15,2.40,63.20,0.778,6,0.061,0.042,3284,1422,1279,0,0,0,0,0,0
$GC,7312,0.94,331.1,351.0,11.0,348,7316,0.15,2.15,0.00,0.000,4,0.099,0.058,3254,228,1272,0,0,0,0,0,0
$GC,7376,0.86,331.1,343.0,12.9,349,7380,0.00,1.95,0.00,0.000,6,0.000,0.028,3254,1413,1269,0,0,0,0,0,0
$GC,7689,0.86,331.1,309.9,9.9,357,7693,0.00,2.10,0.00,0.000,4,0.000,0.058,3255,227,1269,0,0,0,0,0,0
$GC,7716,0.80,331.1,307.1,11.9,357,7720,0.15,1.98,0.00,0.000,6,0.103,0.028,3226,1430,1267,0,0,0,0,0,0
$GC,8042,0.88,335.5,278.6,7.7,371,8046,0.00,2.12,0.00,0.000,4,0.000,0.057,3225,233,1266,0,0,0,0,0,0
$GC,8070,0.91,335.5,276.2,8.0,372,8074,0.00,1.98,0.00,0.000,6,0.000,0.028,3225,1423,1265,0,0,0,0,0,0
$GC,8397,1.02,349.5,254.8,7.3,388,8421,0.20,2.17,14.75,0.663,4,0.054,0.055,3280,240,1204,0,0,0,0,0,0
$GC,8441,0.95,349.5,250.1,11.6,389,8447,0.12,1.95,0.00,0.000,6,0.102,0.028,3256,1434,1202,0,0,0,0,0,0
$GC,8759,0.98,349.5,220.6,8.9,405,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1434,1202,0,0,0,0,0,0
$GC,9067,1.07,369.6,194.4,7.0,422,9095,0.12,2.17,18.33,0.630,4,0.067,0.053,3294,228,1122,0,0,0,0,0,0
$GC,9116,0.99,369.6,190.0,9.9,425,9120,0.15,1.95,0.00,0.000,6,0.092,0.026,3263,1424,1119,0,0,0,0,0,0
$GC,9379,1.04,370.1,168.9,7.9,445,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,1425,1118,0,0,0,0,0,0
$GC,9630,1.12,370.1,149.4,8.3,465,9635,0.12,2.30,0.00,0.000,4,0.065,0.025,3302,2804,1118,0,0,0,0,0,0
$GC,9671,1.20,370.1,145.6,9.9,468,9675,0.00,2.40,0.00,0.000,6,0.000,0.038,3302,1417,1117,0,0,0,0,0,0
$GC,9937,1.20,370.1,120.2,10.5,489,9941,0.00,2.08,0.00,0.000,4,0.000,0.051,3302,227,1117,0,0,0,0,0,0
$GC,9993,1.13,370.1,113.6,11.5,493,9996,0.00,1.92,0.00,0.000,6,0.000,0.024,3302,1427,1116,0,0,0,0,0,0
$GC,10260,1.19,387.5,89.5,7.1,514,10281,0.00,2.15,15.55,0.527,4,0.000,0.049,3302,237,1050,0,0,0,0,0,0
$GC,10354,1.19,387.5,81.8,9.2,520,10361,0.00,1.92,0.00,0.000,6,0.000,0.023,3302,1425,1047,0,0,0,0,0,0
$GC,10618,1.28,403.8,63.0,7.2,541,10639,0.12,2.35,15.07,0.496,4,0.063,0.021,3344,2806,982,0,0,0,0,0,0
$GC,10656,1.28,403.8,59.4,9.2,544,10660,0.00,2.38,0.00,0.000,6,0.000,0.035,3345,1418,982,0,0,0,0,0,0
$GC,10923,1.25,409.4,33.3,7.6,565,10939,0.10,2.10,6.38,0.406,4,0.104,0.048,3323,237,959,0,0,0,0,0,0
$GC,10972,1.34,481.6,30.8,4.6,568,11039,0.00,1.90,59.62,0.499,6,0.000,0.021,3323,1443,665,0,0,0,0,0,0
$GC,11241,1.34,481.6,7.6,12.8,622,11247,0.00,2.22,0.00,0.000,4,0.000,0.020,3323,2794,662,0,0,0,0,0,0
$GC,11255,1.34,481.6,5.2,12.2,624,11262,0.00,2.40,0.00,0.000,6,0.000,0.035,3323,1417,662,0,0,0,0,0,0
$STATE,11271,end climb,SURFACE_DEPTH_REACHED
$STATE,11271,begin surface coast
$FINISH,0.9,1.010072
$STATE,11294,end surface coast,CONTROL_FINISHED_OK
$STATE,11294,begin surface
$SM_CCo,11379,0.00,0.000,0,0,658,483.49
$SM_GC,1.66,12.50,0.00,0.00,0.024,0.000,0.000,425,1415,658,-12.00,-0.96,483.49
$IRIDIUM_FIX,2059.45,-15750.89,020200,060639
$TT8_MAMPS,0.028379
$HUMID,64.01
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.40
$XPDR_PINGS,0
$24V_AH,23.3,83.924
$10V_AH,10.0,66.828
$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,31.175,129.475,514.500,0.000,0.000,59.576,69.719,303.262,4.500,0.000,13.689,1239.308,7539.386,530.215,1912.693,795.289,0.000,1428.636,0.000,1886.376,0.000,29.262,0.000
$DEVICE_MAMPS,131.924,60.593,825.292,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,424.076,401.343,902.219,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,34883,632
$CAP_FILE_SIZE,132450,0
$CFSIZE,260165632,165380096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081110,100237,2105.933,-15747.840,37,1.3,37,9.8