version: 66.06
glider: 139
mission: 8
dive: 508
start: 9 22 110 10 32 3
data:
$ID,139
$MISSION,8
$DIVE,508
$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,-2161742.2
$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
$GPS1,102606,2103.934,-15749.688,39,1.3,44,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.3
$GPS2,103143,2103.917,-15749.727,12,1.5,17,9.8
$SPEED_LIMITS,0.137,0.221
$TGT_NAME,D_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,63.6,12278,-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,-64.38,0.000,2,0.000,0.000,424,1715,2751,0,0,0,0,0,0
$GC,85,-1.18,-116.8,3.5,-3.7,12,110,12.68,2.47,-6.60,0.000,4,0.134,0.054,2784,290,3109,0,0,0,0,0,0
$GC,136,-0.43,-116.8,19.6,-31.2,21,143,0.75,2.38,0.00,0.000,6,0.079,0.019,2953,1739,3110,0,0,0,0,0,0
$GC,345,-0.61,-116.8,37.0,-5.7,51,350,0.17,2.50,0.00,0.000,4,0.048,0.044,2894,294,3112,0,0,0,0,0,0
$GC,413,-0.67,-116.8,43.3,-10.1,56,417,0.00,2.22,0.00,0.000,6,0.000,0.018,2894,1707,3112,0,0,0,0,0,0
$GC,679,-0.74,-116.8,67.6,-9.7,77,683,0.00,2.45,0.00,0.000,4,0.000,0.044,2894,287,3113,0,0,0,0,0,0
$GC,706,-0.79,-116.8,70.0,-9.1,79,710,0.00,2.22,0.00,0.000,6,0.000,0.018,2895,1714,3113,0,0,0,0,0,0
$GC,969,-0.90,-116.8,93.7,-9.4,100,974,0.17,2.47,0.00,0.000,4,0.048,0.045,2835,293,3113,0,0,0,0,0,0
$GC,1074,-0.86,-116.8,105.6,-11.5,107,1080,0.12,2.22,0.00,0.000,6,0.092,0.018,2862,1705,3114,0,0,0,0,0,0
$GC,1335,-0.92,-116.8,127.4,-7.6,128,1339,0.00,2.45,0.00,0.000,4,0.000,0.044,2862,286,3114,0,0,0,0,0,0
$GC,1416,-0.99,-116.8,134.2,-8.6,134,1421,0.12,2.20,0.00,0.000,6,0.062,0.018,2817,1698,3114,0,0,0,0,0,0
$GC,1684,-0.99,-116.8,160.9,-9.8,155,1688,0.00,2.40,0.00,0.000,4,0.000,0.046,2816,295,3115,0,0,0,0,0,0
$GC,1713,-0.92,-116.8,164.2,-11.1,157,1718,0.15,2.20,0.00,0.000,6,0.087,0.019,2849,1701,3115,0,0,0,0,0,0
$GC,1975,-0.98,-116.8,182.6,-7.2,177,1979,0.00,2.40,0.00,0.000,4,0.000,0.046,2849,296,3115,0,0,0,0,0,0
$GC,2036,-1.04,-116.8,187.9,-8.6,181,2042,0.12,2.22,0.00,0.000,6,0.062,0.019,2805,1700,3115,0,0,0,0,0,0
$GC,2300,-1.04,-116.8,218.9,-12.3,198,2304,0.00,2.40,0.00,0.000,4,0.000,0.047,2804,294,3115,0,0,0,0,0,0
$GC,2346,-0.98,-116.8,225.0,-12.8,200,2351,0.15,2.20,0.00,0.000,6,0.088,0.019,2837,1696,3115,0,0,0,0,0,0
$GC,2675,-1.04,-116.8,253.1,-6.3,216,2679,0.00,2.40,0.00,0.000,4,0.000,0.047,2837,294,3115,0,0,0,0,0,0
$GC,2718,-1.04,-116.8,255.8,-6.3,218,2722,0.00,2.25,0.00,0.000,6,0.000,0.021,2837,1705,3115,0,0,0,0,0,0
$GC,3055,-1.11,-116.8,273.0,-6.5,234,3060,0.12,2.47,0.00,0.000,4,0.063,0.049,2794,290,3114,0,0,0,0,0,0
$GC,3107,-1.06,-116.8,278.6,-10.9,236,3112,0.12,2.25,0.00,0.000,6,0.094,0.021,2820,1699,3114,0,0,0,0,0,0
$GC,3450,-1.10,-116.8,311.5,-9.3,250,3454,0.00,2.45,0.00,0.000,4,0.000,0.050,2821,292,3113,0,0,0,0,0,0
$GC,3510,-1.10,-116.8,317.8,-9.7,251,3514,0.00,2.22,0.00,0.000,6,0.000,0.022,2821,1699,3113,0,0,0,0,0,0
$GC,3861,-1.15,-116.8,344.7,-7.5,260,3865,0.00,2.45,0.00,0.000,4,0.000,0.051,2821,296,3112,0,0,0,0,0,0
$GC,3951,-1.19,-116.8,352.4,-8.4,262,3956,0.12,2.25,0.00,0.000,6,0.065,0.023,2780,1698,3111,0,0,0,0,0,0
$GC,4284,-1.15,-116.8,381.7,-8.8,270,4288,0.00,2.45,0.00,0.000,4,0.000,0.054,2779,290,3109,0,0,0,0,0,0
$GC,4340,-1.08,-116.8,388.1,-10.9,271,4345,0.15,2.30,0.00,0.000,6,0.090,0.024,2811,1701,3108,0,0,0,0,0,0
$GC,4656,-1.12,-116.8,415.2,-9.1,279,4660,0.00,2.47,0.00,0.000,4,0.000,0.054,2812,294,3106,0,0,0,0,0,0
$GC,4693,-1.12,-116.8,419.2,-9.9,279,4697,0.00,2.28,0.00,0.000,6,0.000,0.025,2812,1702,3106,0,0,0,0,0,0
$STATE,5021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5021,begin apogee
$GC,5027,-0.31,0.0,451.7,9.6,287,5127,0.77,0.00,96.25,0.830,6,0.064,0.000,2981,1707,2630,0,0,0,0,0,0
$STATE,5128,end apogee,CONTROL_FINISHED_OK
$STATE,5128,begin climb
$GC,5131,1.18,116.8,455.0,0.0,289,5243,1.42,2.38,100.78,0.815,4,0.037,0.033,3312,3079,2153,0,0,0,0,0,0
$GC,5375,1.00,116.8,446.6,8.6,294,5380,0.22,2.40,0.00,0.000,6,0.097,0.040,3268,1701,2148,0,0,0,0,0,0
$GC,5721,0.91,122.1,419.4,7.7,303,5727,0.00,0.00,3.88,0.485,6,0.000,0.000,3268,1700,2131,0,0,0,0,0,0
$GC,6047,0.83,137.0,394.4,7.2,311,6068,0.17,2.42,14.50,0.746,4,0.102,0.032,3233,3077,2071,0,0,0,0,0,0
$GC,6088,0.90,197.4,391.9,5.2,311,6149,0.00,2.40,54.62,0.792,6,0.000,0.040,3233,1696,1824,0,0,0,0,0,0
$GC,6463,0.95,233.7,368.3,6.3,321,6501,0.10,2.58,31.83,0.769,4,0.079,0.059,3262,292,1677,0,0,0,0,0,0
$GC,6598,0.82,233.7,353.9,12.4,323,6603,0.17,2.35,0.00,0.000,6,0.104,0.027,3229,1700,1670,0,0,0,0,0,0
$GC,6924,0.87,249.1,330.8,7.2,331,6944,0.00,2.60,13.48,0.703,4,0.000,0.057,3229,291,1614,0,0,0,0,0,0
$GC,7062,0.83,249.1,318.2,9.0,334,7066,0.00,2.35,0.00,0.000,6,0.000,0.026,3228,1702,1609,0,0,0,0,0,0
$GC,7391,0.90,269.1,293.0,7.0,344,7415,0.00,2.55,18.02,0.709,4,0.000,0.055,3229,294,1532,0,0,0,0,0,0
$GC,7608,0.90,269.1,266.3,14.0,353,7612,0.00,2.35,0.00,0.000,6,0.000,0.025,3229,1712,1526,0,0,0,0,0,0
$GC,7930,0.97,270.2,235.9,7.8,369,7935,0.15,2.53,0.00,0.000,4,0.060,0.055,3273,293,1525,0,0,0,0,0,0
$GC,8078,0.86,270.2,218.2,11.8,375,8083,0.17,2.33,0.00,0.000,6,0.100,0.025,3239,1708,1523,0,0,0,0,0,0
$GC,8404,0.93,279.0,191.5,7.5,393,8419,0.00,2.53,8.73,0.578,4,0.000,0.051,3238,293,1491,0,0,0,0,0,0
$GC,8567,0.93,279.0,177.2,8.5,404,8573,0.00,2.33,0.00,0.000,6,0.000,0.023,3239,1699,1488,0,0,0,0,0,0
$GC,8828,0.99,279.0,157.7,8.3,425,8833,0.12,2.47,0.00,0.000,4,0.065,0.051,3278,292,1488,0,0,0,0,0,0
$GC,8954,0.89,279.0,142.2,13.4,434,8959,0.17,2.30,0.00,0.000,6,0.092,0.021,3243,1712,1487,0,0,0,0,0,0
$GC,9216,1.00,313.6,120.6,6.3,454,9257,0.12,2.58,30.80,0.587,4,0.065,0.050,3284,294,1350,0,0,0,0,0,0
$GC,9410,0.96,313.6,98.9,13.3,468,9415,0.12,2.28,0.00,0.000,6,0.097,0.021,3259,1709,1345,0,0,0,0,0,0
$GC,9678,1.12,337.5,78.0,6.8,489,9707,0.15,2.55,20.55,0.533,4,0.057,0.048,3308,298,1253,0,0,0,0,0,0
$GC,9807,1.04,337.5,63.8,12.7,498,9812,0.15,2.25,0.00,0.000,6,0.091,0.020,3277,1702,1250,0,0,0,0,0,0
$GC,10077,1.17,357.4,42.1,7.0,519,10106,0.12,2.47,17.83,0.492,4,0.062,0.046,3321,292,1171,0,0,0,0,0,0
$GC,10221,1.05,357.4,22.9,14.0,536,10228,0.17,2.28,0.00,0.000,6,0.070,0.019,3280,1703,1168,0,0,0,0,0,0
$GC,10424,1.11,357.4,3.2,9.5,582,10430,0.00,2.50,0.00,0.000,4,0.000,0.048,3280,287,1167,0,0,0,0,0,0
$STATE,10435,end climb,SURFACE_DEPTH_REACHED
$STATE,10435,begin surface coast
$FINISH,0.9,1.023114
$STATE,10467,end surface coast,CONTROL_FINISHED_OK
$STATE,10467,begin surface
$SM_CCo,10493,31.38,0.471,0,0,957,410.14
$SM_GC,1.64,0.00,0.00,31.38,0.000,0.000,0.471,427,1708,957,-12.07,0.23,410.14
$IRIDIUM_FIX,2054.83,-15751.76,171299,070738
$TT8_MAMPS,0.028379
$HUMID,57.48
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.4,44.787
$10V_AH,10.1,37.226
$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,31.575,123.725,411.250,31.375,0.000,28.251,28.676,149.676,4.500,0.000,17.936,1214.614,6676.972,472.747,1999.719,495.592,0.000,1378.962,0.000,1965.302,0.000,29.256,0.000
$DEVICE_MAMPS,134.225,59.059,829.894,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.478,381.191,864.542,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31844,591
$CAP_FILE_SIZE,125215,0
$CFSIZE,260165632,186544128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220910,132836,2103.530,-15750.263,14,0.8,30,9.8