version: 66.06
glider: 139
mission: 8
dive: 860
start: 11 9 110 0 4 59
data:
$ID,139
$MISSION,8
$DIVE,860
$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,-2169584.5
$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
$GPS1,235658,2107.310,-15746.841,11,2.6,30,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.0
$GPS2,000439,2107.292,-15746.800,47,1.0,47,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,CLOSE
$TGT_LATLONG,2113.000,-15752.080
$TGT_RADIUS,1000.000
$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,309.4,13959,-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,13,begin dive
$GC,16,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-63.95,0.000,2,0.000,0.000,425,1434,2708,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.3,-3.3,12,117,12.70,2.42,-7.62,0.000,4,0.133,0.034,2786,2877,3109,0,0,0,0,0,0
$GC,147,-0.92,-116.8,16.2,-14.7,23,153,0.22,2.47,0.00,0.000,6,0.073,0.033,2846,1449,3110,0,0,0,0,0,0
$GC,351,-0.85,-116.8,40.6,-11.7,56,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1448,3111,0,0,0,0,0,0
$GC,603,-0.79,-116.8,68.0,-10.0,76,608,0.15,2.10,0.00,0.000,4,0.091,0.045,2878,234,3111,0,0,0,0,0,0
$GC,628,-0.79,-116.8,70.7,-9.5,77,634,0.00,2.00,0.00,0.000,6,0.000,0.019,2877,1512,3112,0,0,0,0,0,0
$GC,889,-0.85,-116.8,90.5,-8.1,98,892,0.00,2.17,0.00,0.000,4,0.000,0.042,2878,229,3112,0,0,0,0,0,0
$GC,956,-0.92,-116.8,95.9,-7.6,103,960,0.12,2.03,0.00,0.000,6,0.061,0.019,2832,1539,3113,0,0,0,0,0,0
$GC,1229,-0.92,-116.8,118.7,-8.3,124,1233,0.00,2.15,0.00,0.000,4,0.000,0.020,2832,2881,3113,0,0,0,0,0,0
$GC,1278,-0.99,-116.8,122.9,-7.6,127,1283,0.00,2.40,0.00,0.000,6,0.000,0.028,2832,1436,3113,0,0,0,0,0,0
$GC,1540,-0.99,-116.8,143.0,-8.0,148,1544,0.00,2.35,0.00,0.000,4,0.000,0.020,2832,2887,3114,0,0,0,0,0,0
$GC,1564,-1.07,-116.8,145.1,-7.9,150,1569,0.00,2.42,0.00,0.000,6,0.000,0.030,2832,1449,3113,0,0,0,0,0,0
$GC,1835,-1.10,-116.8,160.9,-6.0,171,1839,0.00,2.08,0.00,0.000,4,0.000,0.045,2832,233,3114,0,0,0,0,0,0
$GC,1900,-1.13,-116.8,165.8,-6.7,176,1905,0.12,1.98,0.00,0.000,6,0.062,0.019,2788,1518,3114,0,0,0,0,0,0
$GC,2170,-1.07,-116.8,188.7,-8.4,197,2174,0.15,2.20,0.00,0.000,4,0.087,0.021,2821,2877,3114,0,0,0,0,0,0
$GC,2217,-1.17,-116.8,193.0,-8.3,200,2225,0.08,2.42,0.00,0.000,6,0.035,0.030,2779,1454,3115,0,0,0,0,0,0
$GC,2479,-1.09,-116.8,216.1,-9.2,216,2483,0.15,2.10,0.00,0.000,4,0.087,0.047,2811,238,3115,0,0,0,0,0,0
$GC,2551,-1.09,-116.8,222.9,-9.0,219,2555,0.00,2.00,0.00,0.000,6,0.000,0.020,2811,1508,3115,0,0,0,0,0,0
$GC,2882,-1.09,-116.8,246.6,-7.0,235,2886,0.00,2.22,0.00,0.000,4,0.000,0.022,2811,2882,3114,0,0,0,0,0,0
$GC,2904,-1.13,-116.8,248.2,-7.7,236,2908,0.00,2.40,0.00,0.000,6,0.000,0.031,2811,1449,3114,0,0,0,0,0,0
$GC,3236,-1.25,-116.8,271.9,-6.0,252,3241,0.15,2.38,0.00,0.000,4,0.055,0.023,2761,2881,3113,0,0,0,0,0,0
$GC,3342,-1.25,-116.8,278.8,-6.7,256,3346,0.00,2.40,0.00,0.000,6,0.000,0.032,2761,1453,3113,0,0,0,0,0,0
$GC,3684,-1.17,-116.8,304.4,-8.6,272,3689,0.15,2.12,0.00,0.000,4,0.091,0.049,2793,228,3112,0,0,0,0,0,0
$GC,3742,-1.17,-116.8,309.7,-8.8,273,3746,0.00,2.03,0.00,0.000,6,0.000,0.021,2793,1496,3112,0,0,0,0,0,0
$GC,4060,-1.17,-116.8,337.4,-9.1,281,4064,0.00,2.15,0.00,0.000,4,0.000,0.025,2793,2825,3110,0,0,0,0,0,0
$GC,4108,-1.24,-116.8,341.4,-8.4,282,4112,0.00,2.33,0.00,0.000,6,0.000,0.034,2792,1447,3110,0,0,0,0,0,0
$GC,4431,-1.24,-116.8,365.5,-6.9,290,4435,0.00,2.10,0.00,0.000,4,0.000,0.051,2792,231,3109,0,0,0,0,0,0
$GC,4464,-1.24,-116.8,367.6,-7.2,290,4468,0.00,1.92,0.00,0.000,6,0.000,0.024,2793,1447,3108,0,0,0,0,0,0
$GC,4806,-1.24,-116.8,389.3,-6.4,299,4810,0.00,2.25,0.00,0.000,4,0.000,0.025,2793,2825,3106,0,0,0,0,0,0
$GC,4848,-1.32,-116.8,392.7,-8.3,299,4855,0.12,2.35,0.00,0.000,6,0.064,0.038,2751,1452,3105,0,0,0,0,0,0
$GC,5183,-1.24,-116.8,422.8,-9.3,308,5187,0.12,2.12,0.00,0.000,4,0.096,0.054,2777,231,3104,0,0,0,0,0,0
$GC,5209,-1.18,-116.8,425.3,-9.1,308,5213,0.00,1.98,0.00,0.000,6,0.000,0.025,2778,1448,3104,0,0,0,0,0,0
$STATE,5510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5510,begin apogee
$GC,5517,-0.31,0.0,451.3,8.6,316,5616,0.95,0.00,96.43,0.824,6,0.065,0.000,2983,1449,2629,0,0,0,0,0,0
$STATE,5617,end apogee,CONTROL_FINISHED_OK
$STATE,5617,begin climb
$GC,5622,1.18,116.8,455.0,0.0,318,5734,1.40,2.20,101.07,0.808,4,0.032,0.054,3314,233,2151,0,0,0,0,0,0
$GC,5740,1.02,211.6,457.7,3.6,320,5835,0.20,1.95,82.57,0.797,6,0.103,0.025,3276,1427,1766,0,0,0,0,0,0
$GC,6157,0.89,211.6,419.3,10.0,331,6162,0.15,2.30,0.00,0.000,4,0.102,0.028,3246,2801,1758,0,0,0,0,0,0
$GC,6178,0.83,211.6,417.6,8.1,331,6183,0.00,2.42,0.00,0.000,6,0.000,0.042,3246,1418,1757,0,0,0,0,0,0
$GC,6524,0.77,211.6,389.5,8.0,340,6529,0.12,2.08,0.00,0.000,4,0.104,0.057,3220,234,1755,0,0,0,0,0,0
$GC,6558,0.71,211.6,386.6,8.2,340,6561,0.00,1.92,0.00,0.000,6,0.000,0.027,3220,1416,1752,0,0,0,0,0,0
$GC,6895,0.74,237.0,364.4,6.7,349,6922,0.00,2.35,20.90,0.751,4,0.000,0.027,3220,2804,1662,0,0,0,0,0,0
$GC,6947,0.86,267.7,360.6,6.5,350,6981,0.00,2.45,28.23,0.754,6,0.000,0.041,3220,1416,1537,0,0,0,0,0,0
$GC,7311,0.93,287.3,335.2,7.0,359,7336,0.15,2.20,17.35,0.723,4,0.063,0.058,3262,231,1457,0,0,0,0,0,0
$GC,7385,0.83,287.3,327.4,10.9,360,7390,0.10,1.98,0.00,0.000,6,0.072,0.028,3230,1418,1454,0,0,0,0,0,0
$GC,7734,0.88,298.9,299.3,7.4,369,7751,0.00,2.40,10.90,0.667,4,0.000,0.028,3230,2806,1411,0,0,0,0,0,0
$GC,7793,1.06,334.5,295.4,6.3,371,7832,0.22,2.42,32.20,0.723,6,0.049,0.041,3291,1413,1266,0,0,0,0,0,0
$GC,8159,0.99,334.5,261.4,10.0,389,8163,0.12,2.12,0.00,0.000,4,0.100,0.058,3265,228,1261,0,0,0,0,0,0
$GC,8233,0.93,334.5,253.5,11.3,392,8237,0.00,1.95,0.00,0.000,6,0.000,0.028,3266,1421,1259,0,0,0,0,0,0
$GC,8559,0.93,334.5,225.3,8.4,408,8563,0.00,2.30,0.00,0.000,4,0.000,0.028,3266,2807,1258,0,0,0,0,0,0
$GC,8597,1.04,334.5,222.0,8.6,409,8602,0.00,2.42,0.00,0.000,6,0.000,0.040,3266,1419,1258,0,0,0,0,0,0
$GC,8916,1.04,334.5,193.1,9.4,427,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1419,1257,0,0,0,0,0,0
$GC,9167,1.04,334.5,170.7,8.4,447,9171,0.00,2.30,0.00,0.000,4,0.000,0.026,3266,2810,1257,0,0,0,0,0,0
$GC,9182,1.08,334.5,169.4,8.5,448,9186,0.00,2.40,0.00,0.000,6,0.000,0.039,3266,1419,1257,0,0,0,0,0,0
$GC,9442,1.12,366.3,150.7,6.5,468,9476,0.12,2.17,26.83,0.607,4,0.067,0.053,3304,234,1135,0,0,0,0,0,0
$GC,9516,1.01,366.3,144.1,9.8,473,9521,0.17,1.95,0.00,0.000,6,0.088,0.025,3268,1432,1132,0,0,0,0,0,0
$GC,9780,1.08,378.2,124.4,7.4,493,9797,0.00,2.35,10.90,0.531,4,0.000,0.025,3269,2803,1088,0,0,0,0,0,0
$GC,9837,1.25,378.2,119.6,8.4,497,9842,0.22,2.40,0.00,0.000,6,0.046,0.037,3335,1410,1087,0,0,0,0,0,0
$GC,10105,1.21,378.2,93.3,9.0,518,10108,0.00,2.03,0.00,0.000,4,0.000,0.051,3334,237,1087,0,0,0,0,0,0
$GC,10142,1.11,378.2,89.4,10.1,520,10149,0.17,1.92,0.00,0.000,6,0.069,0.023,3294,1420,1086,0,0,0,0,0,0
$GC,10406,1.20,391.7,70.5,7.3,541,10421,0.00,0.00,12.55,0.499,6,0.000,0.000,3294,1421,1033,0,0,0,0,0,0
$GC,10677,1.34,426.4,52.5,6.3,562,10713,0.20,2.10,30.20,0.512,4,0.047,0.048,3354,231,890,0,0,0,0,0,0
$GC,10731,1.26,426.4,47.4,10.0,565,10739,0.12,1.95,0.00,0.000,6,0.068,0.021,3324,1433,888,0,0,0,0,0,0
$GC,10995,1.28,447.0,26.2,7.0,592,11018,0.00,0.00,18.00,0.472,6,0.000,0.000,3324,1434,805,0,0,0,0,0,0
$GC,11215,1.31,467.8,6.6,7.0,641,11238,0.00,2.10,17.70,0.456,4,0.000,0.044,3324,235,721,0,0,0,0,0,0
$STATE,11247,end climb,SURFACE_DEPTH_REACHED
$STATE,11247,begin surface coast
$FINISH,1.0,1.023138
$STATE,11265,end surface coast,CONTROL_FINISHED_OK
$STATE,11265,begin surface
$SM_CCo,11352,0.00,0.000,0,0,717,469.50
$SM_GC,1.68,12.48,0.00,0.00,0.022,0.000,0.000,426,1459,717,-11.98,0.25,469.50
$IRIDIUM_FIX,2059.45,-15748.75,020200,202050
$TT8_MAMPS,0.029146
$HUMID,64.01
$INTERNAL_PRESSURE,9.22541
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,23.3,84.533
$10V_AH,9.9,67.275
$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,31.175,127.175,505.825,0.000,0.000,30.597,32.886,217.561,4.500,0.000,48.036,1246.795,7485.490,495.143,1931.264,644.756,0.000,1394.624,0.000,1878.992,0.000,31.205,0.000
$DEVICE_MAMPS,132.691,57.525,823.758,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,436.511,424.741,949.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,356068
$DATA_FILE_SIZE,38029,650
$CAP_FILE_SIZE,129280,0
$CFSIZE,260165632,165056512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,031516,2107.725,-15748.545,9,6.0,28,9.8