version: 66.06
glider: 139
mission: 8
dive: 470
start: 9 17 110 12 46 46
data:
$ID,139
$MISSION,8
$DIVE,470
$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,-2160919
$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
$GPS1,124037,2100.208,-15800.261,40,1.6,40,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.3
$GPS2,124626,2100.165,-15800.280,12,1.7,12,9.8
$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,338.7,15439,-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,12,begin dive
$GC,15,-1.18,-116.8,0.0,0.0,0,82,0.00,0.00,-64.53,0.000,2,0.000,0.000,425,1711,2748,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.3,-3.5,12,110,12.62,2.40,-6.75,0.000,4,0.132,0.038,2785,3112,3108,0,0,0,0,0,0
$GC,153,-1.06,-116.8,20.7,-17.7,25,160,0.12,2.45,0.00,0.000,6,0.078,0.035,2815,1695,3109,0,0,0,0,0,0
$GC,364,-0.90,-116.8,52.2,-16.0,51,369,0.17,2.45,0.00,0.000,4,0.091,0.046,2852,289,3110,0,0,0,0,0,0
$GC,405,-0.77,-116.8,59.5,-18.0,54,410,0.15,2.30,0.00,0.000,6,0.091,0.018,2883,1740,3110,0,0,0,0,0,0
$GC,673,-0.83,-116.8,88.1,-9.0,75,677,0.00,2.47,0.00,0.000,4,0.000,0.045,2883,294,3112,0,0,0,0,0,0
$GC,713,-0.90,-116.8,92.3,-9.6,78,718,0.15,2.25,0.00,0.000,6,0.054,0.018,2830,1714,3112,0,0,0,0,0,0
$GC,978,-0.86,-116.8,122.5,-11.9,99,983,0.15,2.47,0.00,0.000,4,0.087,0.045,2863,293,3112,0,0,0,0,0,0
$GC,1026,-0.86,-116.8,128.0,-10.3,102,1032,0.00,2.25,0.00,0.000,6,0.000,0.018,2864,1707,3113,0,0,0,0,0,0
$GC,1288,-0.93,-116.8,151.4,-8.5,123,1292,0.00,2.45,0.00,0.000,4,0.000,0.045,2864,286,3113,0,0,0,0,0,0
$GC,1353,-1.00,-116.8,157.1,-8.0,128,1358,0.15,2.22,0.00,0.000,6,0.054,0.018,2815,1706,3113,0,0,0,0,0,0
$GC,1623,-0.96,-116.8,186.7,-11.4,149,1625,0.12,0.00,0.00,0.000,6,0.093,0.000,2840,1710,3113,0,0,0,0,0,0
$GC,1877,-1.02,-116.8,208.8,-8.1,166,1881,0.00,2.42,0.00,0.000,4,0.000,0.046,2840,290,3113,0,0,0,0,0,0
$GC,1945,-1.02,-116.8,214.8,-9.3,169,1949,0.00,2.20,0.00,0.000,6,0.000,0.020,2841,1695,3113,0,0,0,0,0,0
$GC,2277,-1.08,-116.8,243.5,-8.8,185,2279,0.10,0.00,0.00,0.000,6,0.073,0.000,2800,1701,3113,0,0,0,0,0,0
$GC,2584,-1.08,-116.8,269.8,-7.2,200,2589,0.00,2.42,0.00,0.000,4,0.000,0.048,2800,294,3113,0,0,0,0,0,0
$GC,2677,-1.08,-116.8,278.4,-8.8,204,2681,0.00,2.25,0.00,0.000,6,0.000,0.021,2800,1696,3112,0,0,0,0,0,0
$GC,3022,-1.08,-116.8,307.7,-8.5,219,3026,0.00,2.42,0.00,0.000,4,0.000,0.050,2800,290,3112,0,0,0,0,0,0
$GC,3068,-1.08,-116.8,311.8,-8.1,220,3072,0.00,2.25,0.00,0.000,6,0.000,0.022,2800,1700,3112,0,0,0,0,0,0
$GC,3392,-1.08,-116.8,337.8,-8.1,228,3396,0.00,2.45,0.00,0.000,4,0.000,0.052,2800,296,3110,0,0,0,0,0,0
$GC,3443,-1.08,-116.8,342.4,-9.3,229,3447,0.00,2.25,0.00,0.000,6,0.000,0.023,2800,1697,3110,0,0,0,0,0,0
$GC,3765,-1.08,-116.8,369.8,-8.8,237,3769,0.00,2.45,0.00,0.000,4,0.000,0.054,2800,292,3108,0,0,0,0,0,0
$GC,3790,-1.04,-116.8,372.2,-10.4,237,3795,0.10,2.28,0.00,0.000,6,0.105,0.025,2822,1701,3109,0,0,0,0,0,0
$GC,4132,-1.09,-116.8,396.7,-6.6,246,4136,0.00,2.47,0.00,0.000,4,0.000,0.055,2822,296,3105,0,0,0,0,0,0
$GC,4181,-1.09,-116.8,400.1,-7.2,247,4185,0.00,2.28,0.00,0.000,6,0.000,0.025,2822,1697,3105,0,0,0,0,0,0
$GC,4509,-1.16,-116.8,421.3,-6.5,255,4514,0.12,2.50,0.00,0.000,4,0.066,0.057,2781,296,3103,0,0,0,0,0,0
$GC,4571,-1.10,-116.8,427.1,-10.4,256,4576,0.15,2.30,0.00,0.000,6,0.090,0.026,2813,1706,3102,0,0,0,0,0,0
$STATE,4920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4920,begin apogee
$GC,4927,-0.31,0.0,450.8,6.6,265,5026,0.77,0.00,95.38,0.838,6,0.065,0.000,2980,1711,2630,0,0,0,0,0,0
$STATE,5027,end apogee,CONTROL_FINISHED_OK
$STATE,5027,begin climb
$GC,5029,1.18,116.8,452.7,0.0,267,5142,1.42,2.42,100.53,0.818,4,0.038,0.033,3310,3083,2152,0,0,0,0,0,0
$GC,5325,1.02,117.5,439.4,7.9,273,5330,0.17,2.42,0.00,0.000,6,0.098,0.041,3275,1694,2147,0,0,0,0,0,0
$GC,5667,0.92,138.7,415.7,6.9,282,5692,0.12,2.58,18.52,0.767,4,0.110,0.058,3250,295,2063,0,0,0,0,0,0
$GC,5742,0.79,157.4,410.7,7.0,283,5767,0.15,2.35,17.58,0.759,6,0.108,0.027,3222,1711,1988,0,0,0,0,0,0
$GC,6091,0.87,218.4,391.0,5.1,292,6151,0.00,2.65,54.38,0.798,4,0.000,0.058,3222,290,1738,0,0,0,0,0,0
$GC,6236,0.83,218.4,380.4,9.0,295,6240,0.00,2.35,0.00,0.000,6,0.000,0.027,3222,1705,1732,0,0,0,0,0,0
$GC,6549,0.83,220.7,356.9,7.8,303,6554,0.00,2.53,0.00,0.000,4,0.000,0.058,3222,290,1729,0,0,0,0,0,0
$GC,6716,0.83,220.7,340.4,9.3,306,6721,0.00,2.35,0.00,0.000,6,0.000,0.027,3222,1711,1725,0,0,0,0,0,0
$GC,7052,0.87,220.7,313.8,8.1,315,7057,0.00,2.53,0.00,0.000,4,0.000,0.058,3222,288,1725,0,0,0,0,0,0
$GC,7185,0.87,220.7,301.0,8.8,317,7191,0.00,2.33,0.00,0.000,6,0.000,0.027,3222,1702,1723,0,0,0,0,0,0
$GC,7500,0.94,235.9,277.8,7.2,332,7524,0.15,2.58,13.82,0.693,4,0.061,0.055,3265,298,1667,0,0,0,0,0,0
$GC,7632,0.85,235.9,264.4,10.3,337,7637,0.15,2.33,0.00,0.000,6,0.101,0.026,3236,1704,1664,0,0,0,0,0,0
$GC,7951,0.94,271.3,244.0,6.3,352,7988,0.00,2.60,31.60,0.703,4,0.000,0.054,3236,294,1522,0,0,0,0,0,0
$GC,8117,0.94,271.3,229.4,9.2,359,8122,0.00,2.30,0.00,0.000,6,0.000,0.025,3236,1708,1516,0,0,0,0,0,0
$GC,8440,0.99,271.3,203.4,7.9,375,8445,0.12,2.50,0.00,0.000,4,0.064,0.053,3277,293,1516,0,0,0,0,0,0
$GC,8590,0.88,271.3,186.1,13.7,385,8595,0.17,2.30,0.00,0.000,6,0.092,0.023,3242,1705,1514,0,0,0,0,0,0
$GC,8857,0.95,271.3,163.4,8.7,406,8861,0.00,2.47,0.00,0.000,4,0.000,0.051,3242,287,1513,0,0,0,0,0,0
$GC,8993,0.95,271.3,150.6,8.5,416,8997,0.00,2.30,0.00,0.000,6,0.000,0.021,3242,1712,1513,0,0,0,0,0,0
$GC,9264,1.09,315.0,133.2,5.9,437,9307,0.20,2.55,37.10,0.594,4,0.047,0.051,3302,293,1344,0,0,0,0,0,0
$GC,9479,0.97,315.0,105.4,13.1,453,9484,0.20,2.28,0.00,0.000,6,0.083,0.020,3261,1700,1339,0,0,0,0,0,0
$GC,9746,1.07,315.0,80.8,9.2,474,9751,0.10,2.50,0.00,0.000,4,0.072,0.050,3300,286,1339,0,0,0,0,0,0
$GC,9827,1.02,315.0,71.2,12.2,480,9832,0.12,2.25,0.00,0.000,6,0.093,0.020,3274,1705,1337,0,0,0,0,0,0
$GC,10095,1.10,315.0,48.4,9.1,501,10099,0.00,2.45,0.00,0.000,4,0.000,0.048,3273,287,1337,0,0,0,0,0,0
$GC,10250,1.10,315.0,32.4,10.3,512,10257,0.00,2.28,0.00,0.000,6,0.000,0.019,3273,1708,1337,0,0,0,0,0,0
$GC,10514,1.22,339.6,12.5,6.8,569,10544,0.17,2.55,21.05,0.472,4,0.048,0.048,3333,290,1244,0,0,0,0,0,0
$STATE,10598,end climb,SURFACE_DEPTH_REACHED
$STATE,10598,begin surface coast
$FINISH,0.9,1.023148
$STATE,10621,end surface coast,CONTROL_FINISHED_OK
$STATE,10621,begin surface
$SM_CCo,10646,40.83,0.472,0,0,957,410.14
$SM_GC,1.56,0.00,0.00,40.83,0.000,0.000,0.472,429,1698,957,-12.06,-0.06,410.14
$IRIDIUM_FIX,2050.21,-15759.92,121299,090915
$TT8_MAMPS,0.028379
$HUMID,55.67
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.4,40.858
$10V_AH,10.2,34.084
$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,30.600,119.675,389.950,40.825,0.000,23.803,36.668,154.976,4.500,0.000,12.994,1200.973,6866.298,456.533,2003.582,505.414,0.000,1366.115,0.000,1973.606,0.000,30.954,0.000
$DEVICE_MAMPS,131.924,58.292,838.331,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.545,375.628,842.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31827,591
$CAP_FILE_SIZE,122133,0
$CFSIZE,260165632,188821504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170910,154544,2100.794,-15800.317,13,1.3,13,9.8