version: 66.06
glider: 139
mission: 8
dive: 467
start: 9 17 110 3 37 40
data:
$ID,139
$MISSION,8
$DIVE,467
$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,-2160869
$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
$GPS1,033044,2058.579,-15759.708,8,1.3,8,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.3
$GPS2,033720,2058.521,-15759.777,47,1.3,47,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,337.9,18598,-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,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.40,0.000,2,0.000,0.000,425,1690,2773,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.9,-4.6,12,112,12.62,2.38,-5.88,0.000,4,0.133,0.033,2785,3115,3109,0,0,0,0,0,0
$GC,243,-1.09,-116.8,37.1,-15.2,39,248,0.12,2.40,0.00,0.000,6,0.107,0.031,2808,1696,3110,0,0,0,0,0,0
$GC,506,-0.95,-116.8,75.6,-14.7,59,511,0.15,2.42,0.00,0.000,4,0.099,0.046,2839,289,3111,0,0,0,0,0,0
$GC,533,-0.84,-116.8,79.7,-13.3,61,538,0.12,2.33,0.00,0.000,6,0.098,0.018,2865,1741,3112,0,0,0,0,0,0
$GC,802,-0.87,-116.8,103.1,-8.4,82,807,0.00,2.47,0.00,0.000,4,0.000,0.044,2865,295,3113,0,0,0,0,0,0
$GC,857,-0.87,-116.8,108.7,-9.8,86,861,0.00,2.22,0.00,0.000,6,0.000,0.018,2865,1719,3113,0,0,0,0,0,0
$GC,1119,-0.95,-116.8,133.6,-9.0,106,1123,0.00,2.45,0.00,0.000,4,0.000,0.044,2865,296,3113,0,0,0,0,0,0
$GC,1180,-1.00,-116.8,139.9,-9.4,110,1190,0.12,2.25,0.00,0.000,6,0.031,0.018,2815,1709,3114,0,0,0,0,0,0
$GC,1442,-0.97,-116.8,166.9,-11.0,131,1447,0.10,2.47,0.00,0.000,4,0.102,0.047,2836,289,3114,0,0,0,0,0,0
$GC,1489,-0.97,-116.8,172.8,-11.0,134,1496,0.00,2.25,0.00,0.000,6,0.000,0.019,2837,1697,3114,0,0,0,0,0,0
$GC,1751,-1.01,-116.8,193.0,-7.6,155,1756,0.00,2.42,0.00,0.000,4,0.000,0.047,2837,295,3114,0,0,0,0,0,0
$GC,1805,-1.01,-116.8,197.9,-9.0,159,1809,0.00,2.20,0.00,0.000,6,0.000,0.019,2836,1699,3114,0,0,0,0,0,0
$GC,2078,-1.06,-116.8,218.9,-7.5,173,2082,0.00,2.40,0.00,0.000,4,0.000,0.047,2837,296,3114,0,0,0,0,0,0
$GC,2135,-1.09,-116.8,224.2,-8.5,175,2140,0.12,2.20,0.00,0.000,6,0.061,0.020,2793,1696,3114,0,0,0,0,0,0
$GC,2452,-1.06,-116.8,257.9,-10.2,190,2454,0.12,0.00,0.00,0.000,6,0.094,0.000,2821,1702,3114,0,0,0,0,0,0
$GC,2762,-1.06,-116.8,286.2,-9.8,205,2766,0.00,2.42,0.00,0.000,4,0.000,0.048,2821,297,3113,0,0,0,0,0,0
$GC,2813,-1.06,-116.8,291.4,-10.1,207,2817,0.00,2.22,0.00,0.000,6,0.000,0.021,2821,1703,3113,0,0,0,0,0,0
$GC,3130,-1.10,-116.8,318.4,-8.4,218,3134,0.00,2.45,0.00,0.000,4,0.000,0.050,2821,297,3112,0,0,0,0,0,0
$GC,3195,-1.10,-116.8,324.6,-9.0,219,3200,0.00,2.28,0.00,0.000,6,0.000,0.023,2821,1706,3112,0,0,0,0,0,0
$GC,3545,-1.15,-116.8,351.7,-7.4,228,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1711,3110,0,0,0,0,0,0
$GC,3872,-1.21,-116.8,378.0,-8.2,236,3877,0.15,2.50,0.00,0.000,4,0.058,0.054,2774,294,3108,0,0,0,0,0,0
$GC,3971,-1.12,-116.8,389.1,-11.2,238,3976,0.15,2.25,0.00,0.000,6,0.091,0.025,2807,1692,3108,0,0,0,0,0,0
$GC,4294,-1.15,-116.8,412.9,-6.8,246,4298,0.00,2.45,0.00,0.000,4,0.000,0.056,2806,299,3106,0,0,0,0,0,0
$GC,4349,-1.15,-116.8,417.1,-6.7,247,4354,0.00,2.28,0.00,0.000,6,0.000,0.025,2806,1705,3105,0,0,0,0,0,0
$GC,4670,-1.19,-116.8,437.9,-6.5,255,4674,0.00,2.47,0.00,0.000,4,0.000,0.058,2806,298,3103,0,0,0,0,0,0
$STATE,4698,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4698,begin apogee
$GC,4707,-0.31,0.0,440.3,8.4,255,4806,0.77,0.00,95.80,0.825,6,0.068,0.000,2977,1707,2630,0,0,0,0,0,0
$STATE,4807,end apogee,CONTROL_FINISHED_OK
$STATE,4807,begin climb
$GC,4809,1.18,116.8,441.9,0.0,258,4922,1.42,2.42,100.32,0.807,4,0.038,0.033,3308,3082,2153,0,0,0,0,0,0
$GC,4947,1.02,125.7,438.7,7.5,261,4964,0.17,2.42,9.02,0.676,6,0.100,0.040,3274,1698,2117,0,0,0,0,0,0
$GC,5314,0.90,130.9,410.1,7.7,270,5326,0.15,2.38,4.70,0.545,4,0.107,0.031,3245,3084,2095,0,0,0,0,0,0
$GC,5384,0.93,157.1,404.9,6.7,271,5414,0.00,2.42,24.40,0.771,6,0.000,0.041,3245,1698,1989,0,0,0,0,0,0
$GC,5737,0.92,178.4,379.7,6.9,280,5762,0.00,2.55,19.35,0.756,4,0.000,0.058,3245,295,1901,0,0,0,0,0,0
$GC,5840,0.81,178.4,370.5,9.0,282,5844,0.00,2.35,0.00,0.000,6,0.000,0.027,3245,1701,1896,0,0,0,0,0,0
$GC,6158,0.81,178.4,342.8,8.5,290,6162,0.00,2.53,0.00,0.000,4,0.000,0.057,3245,293,1895,0,0,0,0,0,0
$GC,6232,0.72,178.4,335.9,9.4,291,6237,0.20,2.33,0.00,0.000,6,0.101,0.027,3206,1706,1892,0,0,0,0,0,0
$GC,6570,0.87,242.1,318.0,5.0,300,6632,0.15,2.58,55.30,0.765,4,0.064,0.057,3248,291,1643,0,0,0,0,0,0
$GC,6750,0.80,242.1,300.7,11.9,304,6755,0.12,2.35,0.00,0.000,6,0.111,0.026,3225,1700,1635,0,0,0,0,0,0
$GC,7086,0.85,242.1,271.3,8.4,319,7090,0.00,2.50,0.00,0.000,4,0.000,0.056,3224,292,1634,0,0,0,0,0,0
$GC,7183,0.85,242.1,261.4,10.2,323,7188,0.00,2.33,0.00,0.000,6,0.000,0.025,3224,1708,1631,0,0,0,0,0,0
$GC,7505,0.92,242.1,232.8,8.0,339,7510,0.12,2.53,0.00,0.000,4,0.067,0.055,3262,289,1631,0,0,0,0,0,0
$GC,7658,0.84,242.1,216.2,11.0,345,7664,0.15,2.33,0.00,0.000,6,0.103,0.025,3234,1701,1628,0,0,0,0,0,0
$GC,7987,0.92,254.9,191.5,7.3,365,8004,0.00,2.55,10.38,0.603,4,0.000,0.053,3233,299,1589,0,0,0,0,0,0
$GC,8144,0.92,254.9,177.1,9.1,376,8148,0.00,2.33,0.00,0.000,6,0.000,0.023,3233,1719,1586,0,0,0,0,0,0
$GC,8405,1.00,254.9,156.5,8.3,396,8410,0.15,2.53,0.00,0.000,4,0.058,0.051,3280,294,1586,0,0,0,0,0,0
$GC,8514,0.91,254.9,143.7,11.1,404,8519,0.15,2.30,0.00,0.000,6,0.095,0.022,3250,1709,1585,0,0,0,0,0,0
$GC,8783,1.03,291.3,125.9,6.3,425,8824,0.10,2.53,31.88,0.594,4,0.076,0.048,3285,292,1440,0,0,0,0,0,0
$GC,8861,0.94,291.3,118.5,10.3,430,8866,0.15,2.30,0.00,0.000,6,0.092,0.021,3255,1709,1438,0,0,0,0,0,0
$GC,9122,1.03,291.3,96.0,8.7,450,9127,0.00,2.47,0.00,0.000,4,0.000,0.049,3254,293,1437,0,0,0,0,0,0
$GC,9218,1.03,291.3,86.2,9.6,457,9222,0.00,2.28,0.00,0.000,6,0.000,0.020,3255,1710,1435,0,0,0,0,0,0
$GC,9481,1.14,314.7,65.7,6.8,477,9510,0.20,2.55,20.35,0.522,4,0.048,0.048,3316,295,1345,0,0,0,0,0,0
$GC,9732,1.04,314.7,39.1,12.7,495,9737,0.20,2.25,0.00,0.000,6,0.081,0.019,3275,1708,1341,0,0,0,0,0,0
$GC,9998,1.12,322.2,17.3,7.6,539,10011,0.00,2.47,7.35,0.418,4,0.000,0.045,3275,293,1314,0,0,0,0,0,0
$STATE,10144,end climb,SURFACE_DEPTH_REACHED
$STATE,10144,begin surface coast
$FINISH,1.4,1.023177
$STATE,10159,end surface coast,CONTROL_FINISHED_OK
$STATE,10159,begin surface
$SM_CCo,10185,50.95,0.479,0,0,958,410.14
$SM_GC,1.67,0.00,0.00,50.95,0.000,0.000,0.479,430,1679,958,-12.05,-0.59,410.14
$IRIDIUM_FIX,2052.52,-15404.30,121299,000014
$TT8_MAMPS,0.029146
$HUMID,56.30
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.3,7.7
$24V_AH,23.5,40.545
$10V_AH,10.2,33.841
$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,30.225,119.375,378.850,50.950,0.000,24.691,28.410,182.710,4.750,0.000,47.683,1172.295,6546.443,459.548,1924.507,527.490,0.000,1320.512,0.000,1862.549,0.000,32.140,0.000
$DEVICE_MAMPS,132.691,58.292,825.292,479.375,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,387.128,368.899,822.880,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31767,575
$CAP_FILE_SIZE,120068,0
$CFSIZE,260165632,189001728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170910,062936,2059.186,-15759.947,36,1.2,42,9.8