version: 66.06
glider: 139
mission: 8
dive: 418
start: 9 11 110 8 12 1
data:
$ID,139
$MISSION,8
$DIVE,418
$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,80
$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,-2159714.8
$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,1700
$C_ROLL_CLIMB,1700
$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
$GPS1,080537,2056.041,-15755.556,42,1.0,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.9
$GPS2,081144,2055.938,-15755.666,15,1.4,15,9.8
$SPEED_LIMITS,0.137,0.183
$TGT_NAME,C_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,40.5,28631,-20.5,-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,-1.38,-77.9,0.0,0.0,0,82,0.00,0.00,-64.15,0.000,2,0.000,0.000,426,1714,2718,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.1,-2.8,12,110,12.38,2.35,-4.50,0.000,4,0.131,0.036,2742,3104,2949,0,0,0,0,0,0
$GC,132,-0.62,-77.9,15.8,-27.2,20,139,0.75,2.42,0.00,0.000,6,0.077,0.033,2911,1697,2950,0,0,0,0,0,0
$GC,343,-0.83,-77.9,32.7,-7.0,62,347,0.17,2.42,0.00,0.000,4,0.050,0.046,2852,292,2951,0,0,0,0,0,0
$GC,396,-0.87,-77.9,38.4,-11.0,66,400,0.00,2.33,0.00,0.000,6,0.000,0.018,2852,1738,2951,0,0,0,0,0,0
$GC,662,-0.94,-77.9,66.3,-10.9,87,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1738,2952,0,0,0,0,0,0
$GC,916,-1.08,-77.9,89.8,-7.8,107,917,0.17,0.00,0.00,0.000,6,0.049,0.000,2794,1739,2952,0,0,0,0,0,0
$GC,1166,-1.08,-77.9,115.1,-9.0,127,1171,0.10,2.47,0.00,0.000,4,0.107,0.044,2814,295,2953,0,0,0,0,0,0
$GC,1214,-1.08,-77.9,119.6,-9.6,130,1221,0.00,2.28,0.00,0.000,6,0.000,0.018,2815,1715,2953,0,0,0,0,0,0
$GC,1476,-1.16,-77.9,139.3,-7.0,151,1481,0.00,2.42,0.00,0.000,4,0.000,0.045,2815,295,2954,0,0,0,0,0,0
$GC,1509,-1.19,-77.9,142.2,-8.5,153,1515,0.12,2.22,0.00,0.000,6,0.064,0.018,2771,1705,2954,0,0,0,0,0,0
$GC,1769,-1.19,-77.9,171.5,-12.0,174,1774,0.00,2.40,0.00,0.000,4,0.000,0.044,2771,294,2954,0,0,0,0,0,0
$GC,1797,-1.12,-77.9,175.5,-13.9,176,1802,0.15,2.20,0.00,0.000,6,0.094,0.019,2803,1706,2954,0,0,0,0,0,0
$GC,2067,-1.19,-77.9,202.7,-10.0,196,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1711,2954,0,0,0,0,0,0
$GC,2376,-1.28,-77.9,227.9,-6.1,211,2381,0.15,2.25,0.00,0.000,4,0.056,0.025,2755,3068,2954,0,0,0,0,0,0
$GC,2393,-1.36,-77.9,229.4,-6.8,211,2398,0.00,2.33,0.00,0.000,6,0.000,0.034,2755,1689,2955,0,0,0,0,0,0
$GC,2709,-1.36,-77.9,263.0,-13.0,227,2713,0.00,2.28,0.00,0.000,4,0.000,0.025,2755,3065,2954,0,0,0,0,0,0
$GC,2798,-1.43,-77.9,275.1,-13.4,230,2805,0.00,2.33,0.00,0.000,6,0.000,0.035,2755,1702,2954,0,0,0,0,0,0
$GC,3132,-1.43,-77.9,314.9,-11.1,244,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1702,2953,0,0,0,0,0,0
$GC,3457,-1.43,-77.9,348.3,-9.6,252,3461,0.00,2.28,0.00,0.000,4,0.000,0.028,2754,3065,2952,0,0,0,0,0,0
$GC,3472,-1.43,-77.9,349.6,-8.8,252,3476,0.00,2.33,0.00,0.000,6,0.000,0.036,2754,1698,2952,0,0,0,0,0,0
$GC,3822,-1.43,-77.9,377.3,-7.6,261,3826,0.00,2.42,0.00,0.000,4,0.000,0.053,2755,293,2950,0,0,0,0,0,0
$GC,3865,-1.40,-77.9,380.9,-8.1,262,3869,0.00,2.25,0.00,0.000,6,0.000,0.024,2755,1683,2950,0,0,0,0,0,0
$GC,4193,-1.40,-77.9,403.4,-7.2,270,4197,0.00,2.33,0.00,0.000,4,0.000,0.030,2755,3078,2948,0,0,0,0,0,0
$GC,4226,-1.48,-77.9,406.2,-8.0,270,4231,0.12,2.35,0.00,0.000,6,0.066,0.040,2717,1695,2947,0,0,0,0,0,0
$GC,4558,-1.43,-77.9,435.4,-8.8,278,4563,0.10,2.33,0.00,0.000,4,0.114,0.031,2736,3078,2945,0,0,0,0,0,0
$GC,4627,-1.48,-77.9,440.5,-6.7,279,4631,0.00,2.35,0.00,0.000,6,0.000,0.041,2736,1692,2944,0,0,0,0,0,0
$STATE,4766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4766,begin apogee
$GC,4773,-0.31,0.0,451.8,8.0,283,4841,1.15,0.00,64.18,0.837,6,0.074,0.000,2980,1692,2630,0,0,0,0,0,0
$STATE,4842,end apogee,CONTROL_FINISHED_OK
$STATE,4842,begin climb
$GC,4844,1.38,77.9,453.3,0.0,284,4923,1.62,2.40,67.10,0.820,4,0.041,0.029,3350,3080,2311,0,0,0,0,0,0
$GC,4962,1.30,148.4,453.3,3.1,286,5031,0.00,2.40,62.15,0.813,6,0.000,0.038,3350,1694,2025,0,0,0,0,0,0
$GC,5347,1.14,148.4,417.2,10.3,296,5352,0.25,2.50,0.00,0.000,4,0.100,0.056,3299,293,2015,0,0,0,0,0,0
$GC,5382,0.98,148.4,413.7,9.8,296,5387,0.17,2.33,0.00,0.000,6,0.108,0.027,3265,1699,2012,0,0,0,0,0,0
$GC,5714,1.02,148.4,385.5,9.5,304,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1704,2010,0,0,0,0,0,0
$GC,6039,1.05,148.4,354.9,9.9,312,6043,0.00,2.50,0.00,0.000,4,0.000,0.058,3265,288,2007,0,0,0,0,0,0
$GC,6142,1.01,148.4,342.0,11.0,314,6146,0.00,2.33,0.00,0.000,6,0.000,0.028,3265,1704,2005,0,0,0,0,0,0
$GC,6456,1.06,151.8,315.3,7.7,322,6460,0.00,2.50,0.00,0.000,4,0.000,0.056,3265,287,2005,0,0,0,0,0,0
$GC,6486,1.02,155.8,313.3,7.6,322,6490,0.00,2.30,0.00,0.000,6,0.000,0.027,3265,1704,2003,0,0,0,0,0,0
$GC,6804,1.08,167.1,288.4,7.1,334,6826,0.00,0.00,14.20,0.709,6,0.000,0.000,3264,1710,1948,0,0,0,0,0,0
$GC,7134,1.20,209.8,270.6,5.0,350,7181,0.20,2.60,38.90,0.736,4,0.053,0.054,3319,297,1773,0,0,0,0,0,0
$GC,7214,1.06,209.8,262.7,13.4,353,7219,0.20,2.33,0.00,0.000,6,0.097,0.026,3280,1700,1770,0,0,0,0,0,0
$GC,7531,1.10,209.8,226.2,11.9,368,7535,0.00,2.47,0.00,0.000,4,0.000,0.054,3280,294,1766,0,0,0,0,0,0
$GC,7620,1.10,209.8,214.0,13.5,372,7624,0.00,2.30,0.00,0.000,6,0.000,0.025,3280,1704,1764,0,0,0,0,0,0
$GC,7952,1.17,209.8,185.3,8.4,393,7957,0.10,2.50,0.00,0.000,4,0.075,0.051,3312,289,1764,0,0,0,0,0,0
$GC,8056,1.08,209.8,173.1,12.3,400,8063,0.10,2.33,0.00,0.000,6,0.081,0.023,3289,1704,1761,0,0,0,0,0,0
$GC,8319,1.19,243.4,151.7,5.6,421,8353,0.00,2.58,28.23,0.630,4,0.000,0.051,3288,291,1637,0,0,0,0,0,0
$GC,8516,1.19,243.4,135.8,10.0,435,8520,0.00,2.28,0.00,0.000,6,0.000,0.021,3289,1710,1631,0,0,0,0,0,0
$GC,8777,1.28,243.4,112.0,9.2,455,8782,0.17,2.28,0.00,0.000,4,0.051,0.024,3343,3080,1631,0,0,0,0,0,0
$GC,8797,1.33,243.4,109.8,9.2,456,8804,0.00,2.38,0.00,0.000,6,0.000,0.033,3342,1696,1630,0,0,0,0,0,0
$GC,9058,1.35,261.6,90.3,6.7,477,9080,0.00,2.45,16.35,0.545,4,0.000,0.046,3342,291,1562,0,0,0,0,0,0
$GC,9109,1.28,261.6,85.8,9.5,480,9113,0.00,2.28,0.00,0.000,6,0.000,0.020,3342,1710,1559,0,0,0,0,0,0
$GC,9380,1.28,261.6,54.4,11.8,501,9384,0.00,2.45,0.00,0.000,4,0.000,0.046,3342,297,1558,0,0,0,0,0,0
$GC,9502,1.22,261.6,39.9,12.0,510,9507,0.12,2.22,0.00,0.000,6,0.100,0.018,3318,1705,1557,0,0,0,0,0,0
$GC,9768,1.31,261.6,15.0,8.7,556,9774,0.00,2.47,0.00,0.000,4,0.000,0.045,3318,292,1556,0,0,0,0,0,0
$GC,9821,1.31,261.6,9.1,11.6,567,9827,0.00,2.25,0.00,0.000,6,0.000,0.018,3317,1695,1556,0,0,0,0,0,0
$STATE,9878,end climb,SURFACE_DEPTH_REACHED
$STATE,9878,begin surface coast
$FINISH,1.1,1.023300
$STATE,9912,end surface coast,CONTROL_FINISHED_OK
$STATE,9912,begin surface
$SM_CCo,9934,80.75,0.486,0,0,958,410.14
$SM_GC,1.57,0.00,0.00,80.75,0.000,0.000,0.486,428,1700,958,-12.06,0.00,410.14
$IRIDIUM_FIX,2050.21,-15749.62,061299,050500
$TT8_MAMPS,0.029146
$HUMID,55.47
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,36.065
$10V_AH,10.2,30.165
$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,30.700,108.725,291.100,80.750,0.000,29.746,32.882,178.568,4.750,0.000,15.928,1132.005,6582.436,429.934,1723.242,511.137,0.000,1192.210,0.000,1707.320,0.000,32.079,0.000
$DEVICE_MAMPS,131.157,57.525,836.797,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,395.053,387.218,877.546,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,31689,587
$CAP_FILE_SIZE,110591,0
$CFSIZE,260165632,191709184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110910,110004,2055.841,-15755.312,10,2.2,29,9.8