version: 66.06
glider: 139
mission: 8
dive: 427
start: 9 12 110 9 12 55
data:
$ID,139
$MISSION,8
$DIVE,427
$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,-2159920.5
$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,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
$GPS1,090644,2053.020,-15753.135,12,1.8,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.6
$GPS2,091238,2052.891,-15753.164,16,1.8,16,9.8
$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,26.7,29769,-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,-64.18,0.000,2,0.000,0.000,426,1719,2740,0,0,0,0,0,0
$GC,86,-1.38,-77.9,3.3,-3.2,12,110,12.43,2.35,-3.95,0.000,4,0.133,0.037,2742,3108,2951,0,0,0,0,0,0
$GC,247,-1.31,-77.9,37.5,-16.1,40,253,0.08,2.40,0.00,0.000,6,0.091,0.033,2760,1704,2952,0,0,0,0,0,0
$GC,509,-1.17,-77.9,82.0,-16.3,61,511,0.17,0.00,0.00,0.000,6,0.099,0.000,2795,1704,2954,0,0,0,0,0,0
$GC,758,-1.17,-77.9,114.1,-10.6,81,763,0.00,2.33,0.00,0.000,4,0.000,0.022,2794,3122,2955,0,0,0,0,0,0
$GC,799,-1.27,-77.9,117.7,-8.0,84,803,0.00,2.38,0.00,0.000,6,0.000,0.031,2794,1697,2955,0,0,0,0,0,0
$GC,1066,-1.27,-77.9,143.3,-9.9,105,1070,0.00,2.38,0.00,0.000,4,0.000,0.045,2794,298,2956,0,0,0,0,0,0
$GC,1107,-1.27,-77.9,148.3,-11.0,108,1111,0.00,2.28,0.00,0.000,6,0.000,0.018,2795,1735,2956,0,0,0,0,0,0
$GC,1375,-1.32,-77.9,178.6,-12.2,129,1380,0.15,2.50,0.00,0.000,4,0.057,0.045,2747,297,2957,0,0,0,0,0,0
$GC,1440,-1.22,-77.9,188.9,-16.1,134,1445,0.17,2.22,0.00,0.000,6,0.089,0.019,2784,1707,2957,0,0,0,0,0,0
$GC,1718,-1.25,-77.9,221.0,-9.9,150,1722,0.00,2.25,0.00,0.000,4,0.000,0.024,2784,3078,2957,0,0,0,0,0,0
$GC,1785,-1.36,-77.9,227.7,-8.9,153,1790,0.12,2.30,0.00,0.000,6,0.062,0.032,2742,1699,2957,0,0,0,0,0,0
$GC,2121,-1.32,-77.9,260.8,-8.9,169,2125,0.00,2.40,0.00,0.000,4,0.000,0.047,2742,292,2957,0,0,0,0,0,0
$GC,2149,-1.22,-77.9,264.3,-10.3,170,2154,0.20,2.25,0.00,0.000,6,0.089,0.021,2784,1714,2957,0,0,0,0,0,0
$GC,2473,-1.28,-77.9,295.6,-10.4,186,2477,0.00,2.47,0.00,0.000,4,0.000,0.049,2783,292,2956,0,0,0,0,0,0
$GC,2556,-1.28,-77.9,305.5,-10.3,188,2562,0.00,2.28,0.00,0.000,6,0.000,0.021,2784,1705,2956,0,0,0,0,0,0
$GC,2887,-1.36,-77.9,333.5,-8.1,197,2892,0.12,2.28,0.00,0.000,4,0.064,0.028,2744,3078,2954,0,0,0,0,0,0
$GC,2908,-1.41,-77.9,335.2,-8.6,197,2912,0.00,2.35,0.00,0.000,6,0.000,0.037,2743,1701,2954,0,0,0,0,0,0
$GC,3257,-1.41,-77.9,366.5,-9.1,206,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1700,2953,0,0,0,0,0,0
$GC,3582,-1.41,-77.9,395.4,-8.9,214,3586,0.00,2.33,0.00,0.000,4,0.000,0.029,2743,3080,2951,0,0,0,0,0,0
$GC,3597,-1.41,-77.9,396.8,-9.3,214,3602,0.00,2.35,0.00,0.000,6,0.000,0.038,2743,1694,2951,0,0,0,0,0,0
$GC,3947,-1.41,-77.9,430.5,-9.9,223,3951,0.00,2.33,0.00,0.000,4,0.000,0.031,2743,3072,2949,0,0,0,0,0,0
$GC,3975,-1.47,-77.9,433.5,-10.2,223,3979,0.00,2.35,0.00,0.000,6,0.000,0.041,2743,1696,2949,0,0,0,0,0,0
$STATE,4145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4145,begin apogee
$GC,4152,-0.31,0.0,451.7,10.5,228,4221,1.12,0.00,64.95,0.832,6,0.075,0.000,2981,1696,2630,0,0,0,0,0,0
$STATE,4222,end apogee,CONTROL_FINISHED_OK
$STATE,4222,begin climb
$GC,4224,1.38,77.9,453.5,0.0,229,4304,1.62,2.38,67.10,0.816,4,0.040,0.029,3353,3073,2311,0,0,0,0,0,0
$GC,4357,1.28,136.2,453.0,3.9,232,4415,0.12,2.40,51.67,0.808,6,0.120,0.038,3331,1695,2074,0,0,0,0,0,0
$GC,4728,1.15,136.2,416.8,10.6,241,4733,0.15,2.50,0.00,0.000,4,0.114,0.056,3303,292,2064,0,0,0,0,0,0
$GC,4752,0.99,136.2,414.1,9.9,241,4757,0.17,2.30,0.00,0.000,6,0.108,0.025,3269,1692,2061,0,0,0,0,0,0
$GC,5093,1.00,140.4,387.7,7.6,250,5098,0.00,2.33,0.00,0.000,4,0.000,0.031,3269,3079,2059,0,0,0,0,0,0
$GC,5118,1.06,154.9,386.1,6.9,250,5139,0.00,2.38,15.40,0.750,6,0.000,0.040,3269,1700,1998,0,0,0,0,0,0
$GC,5468,1.10,183.3,362.6,6.0,259,5501,0.00,2.42,26.17,0.778,4,0.000,0.031,3269,3077,1882,0,0,0,0,0,0
$GC,5522,1.22,215.3,359.7,5.7,260,5559,0.20,2.40,29.85,0.771,6,0.053,0.041,3322,1701,1752,0,0,0,0,0,0
$GC,5887,1.16,215.3,315.7,13.5,269,5891,0.00,2.53,0.00,0.000,4,0.000,0.058,3321,290,1745,0,0,0,0,0,0
$GC,5916,0.98,215.3,311.0,16.5,269,5921,0.30,2.35,0.00,0.000,6,0.094,0.027,3262,1704,1742,0,0,0,0,0,0
$GC,6235,1.05,215.3,280.5,8.3,282,6240,0.00,2.53,0.00,0.000,4,0.000,0.055,3262,290,1740,0,0,0,0,0,0
$GC,6269,1.05,215.3,277.2,10.1,283,6273,0.00,2.33,0.00,0.000,6,0.000,0.026,3262,1707,1739,0,0,0,0,0,0
$GC,6585,1.17,240.2,252.5,6.2,298,6612,0.20,2.58,21.00,0.701,4,0.051,0.055,3317,297,1650,0,0,0,0,0,0
$GC,6761,1.06,240.2,228.6,15.0,305,6767,0.17,2.30,0.00,0.000,6,0.100,0.025,3283,1704,1644,0,0,0,0,0,0
$GC,7079,1.12,240.2,191.7,11.9,323,7083,0.00,2.50,0.00,0.000,4,0.000,0.052,3283,293,1644,0,0,0,0,0,0
$GC,7194,1.12,240.2,178.3,11.9,331,7200,0.00,2.30,0.00,0.000,6,0.000,0.023,3283,1713,1641,0,0,0,0,0,0
$GC,7453,1.20,240.2,151.5,9.5,352,7458,0.12,2.50,0.00,0.000,4,0.064,0.051,3321,293,1641,0,0,0,0,0,0
$GC,7603,1.12,240.2,131.8,13.0,363,7608,0.15,2.28,0.00,0.000,6,0.099,0.022,3292,1711,1640,0,0,0,0,0,0
$GC,7870,1.22,255.9,110.2,6.8,384,7891,0.10,2.50,13.62,0.560,4,0.074,0.048,3326,292,1585,0,0,0,0,0,0
$GC,7955,1.17,255.9,102.5,8.9,390,7960,0.12,2.30,0.00,0.000,6,0.100,0.021,3302,1715,1582,0,0,0,0,0,0
$GC,8228,1.27,255.9,80.8,8.7,411,8233,0.10,2.47,0.00,0.000,4,0.073,0.048,3337,295,1581,0,0,0,0,0,0
$GC,8296,1.21,255.9,73.4,11.8,416,8301,0.12,2.22,0.00,0.000,6,0.099,0.020,3313,1711,1581,0,0,0,0,0,0
$GC,8566,1.29,255.9,50.1,8.4,437,8570,0.00,2.47,0.00,0.000,4,0.000,0.047,3312,289,1581,0,0,0,0,0,0
$GC,8685,1.29,255.9,38.8,8.5,446,8689,0.00,2.20,0.00,0.000,6,0.000,0.018,3312,1705,1581,0,0,0,0,0,0
$GC,8950,1.39,255.9,18.3,8.0,488,8957,0.17,2.50,0.00,0.000,4,0.049,0.047,3368,290,1581,0,0,0,0,0,0
$GC,9061,1.24,255.9,5.3,14.6,512,9067,0.20,2.22,0.00,0.000,6,0.069,0.018,3314,1695,1581,0,0,0,0,0,0
$STATE,9077,end climb,SURFACE_DEPTH_REACHED
$STATE,9077,begin surface coast
$FINISH,0.9,1.009121
$STATE,9100,end surface coast,CONTROL_FINISHED_OK
$STATE,9100,begin surface
$SM_CCo,9122,87.00,0.487,0,0,958,410.14
$SM_GC,1.68,0.00,0.00,87.00,0.000,0.000,0.487,428,1701,958,-12.06,0.06,410.14
$IRIDIUM_FIX,2045.60,-15751.36,071299,060618
$TT8_MAMPS,0.029146
$HUMID,56.02
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,36.861
$10V_AH,10.2,30.816
$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,30.900,108.925,289.775,87.000,0.000,23.083,29.651,176.410,4.500,0.000,16.305,1038.141,6009.852,424.487,1600.453,488.351,0.000,1148.778,0.000,1581.279,0.000,29.253,0.000
$DEVICE_MAMPS,133.458,57.525,832.195,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.493,334.819,752.093,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,28691,520
$CAP_FILE_SIZE,106144,0
$CFSIZE,260165632,191225856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120910,114737,2052.952,-15752.356,35,1.2,35,9.8