version: 66.06
glider: 139
mission: 8
dive: 532
start: 9 25 110 12 59 40
data:
$ID,139
$MISSION,8
$DIVE,532
$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,-2162225.2
$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
$GPS1,125237,2102.577,-15753.044,36,1.3,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.7
$GPS2,125922,2102.537,-15753.096,12,2.6,31,9.8
$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,61.2,18604,-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,16,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.53,0.000,2,0.000,0.000,430,1708,2761,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.5,-3.9,12,111,12.57,2.35,-6.38,0.000,4,0.133,0.033,2783,3121,3108,0,0,0,0,0,0
$GC,137,-0.54,-116.8,18.2,-28.4,21,144,0.62,2.45,0.00,0.000,6,0.068,0.034,2930,1695,3110,0,0,0,0,0,0
$GC,345,-0.68,-116.8,38.3,-8.7,55,350,0.12,2.42,0.00,0.000,4,0.061,0.046,2885,292,3111,0,0,0,0,0,0
$GC,399,-0.68,-116.8,44.2,-11.8,59,404,0.00,2.30,0.00,0.000,6,0.000,0.018,2885,1738,3111,0,0,0,0,0,0
$GC,665,-0.73,-116.8,70.2,-9.4,80,669,0.00,2.50,0.00,0.000,4,0.000,0.044,2885,290,3112,0,0,0,0,0,0
$GC,761,-0.78,-116.8,79.9,-10.2,87,765,0.00,2.22,0.00,0.000,6,0.000,0.018,2885,1711,3112,0,0,0,0,0,0
$GC,1023,-0.87,-116.8,103.4,-9.4,107,1028,0.12,2.45,0.00,0.000,4,0.061,0.045,2837,292,3113,0,0,0,0,0,0
$GC,1080,-0.87,-116.8,111.0,-14.2,111,1085,0.10,2.20,0.00,0.000,6,0.104,0.018,2857,1703,3113,0,0,0,0,0,0
$GC,1342,-0.92,-116.8,133.8,-7.4,131,1347,0.00,2.42,0.00,0.000,4,0.000,0.045,2858,288,3113,0,0,0,0,0,0
$GC,1382,-0.92,-116.8,137.3,-8.0,134,1386,0.00,2.20,0.00,0.000,6,0.000,0.018,2857,1700,3114,0,0,0,0,0,0
$GC,1648,-1.00,-116.8,155.0,-5.9,155,1653,0.12,2.22,0.00,0.000,4,0.061,0.023,2810,3067,3114,0,0,0,0,0,0
$GC,1692,-1.05,-116.8,158.6,-8.0,158,1696,0.00,2.30,0.00,0.000,6,0.000,0.031,2810,1696,3113,0,0,0,0,0,0
$GC,1955,-1.05,-116.8,180.9,-8.5,178,1959,0.00,2.38,0.00,0.000,4,0.000,0.046,2810,299,3114,0,0,0,0,0,0
$GC,2009,-1.05,-116.8,186.8,-9.5,182,2013,0.00,2.20,0.00,0.000,6,0.000,0.018,2810,1700,3114,0,0,0,0,0,0
$GC,2272,-1.05,-116.8,210.4,-9.4,199,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1704,3113,0,0,0,0,0,0
$GC,2579,-1.05,-116.8,239.2,-9.2,214,2583,0.00,2.40,0.00,0.000,4,0.000,0.047,2810,299,3113,0,0,0,0,0,0
$GC,2640,-1.05,-116.8,244.8,-8.9,216,2647,0.00,2.25,0.00,0.000,6,0.000,0.021,2810,1699,3113,0,0,0,0,0,0
$GC,2956,-1.05,-116.8,268.2,-7.0,232,2960,0.00,2.42,0.00,0.000,4,0.000,0.048,2810,300,3113,0,0,0,0,0,0
$GC,3002,-1.05,-116.8,272.1,-8.9,234,3006,0.00,2.22,0.00,0.000,6,0.000,0.021,2810,1702,3112,0,0,0,0,0,0
$GC,3348,-1.05,-116.8,305.2,-10.8,250,3352,0.00,2.45,0.00,0.000,4,0.000,0.050,2809,295,3112,0,0,0,0,0,0
$GC,3376,-1.01,-116.8,308.7,-11.9,250,3380,0.00,2.25,0.00,0.000,6,0.000,0.021,2810,1700,3111,0,0,0,0,0,0
$GC,3720,-1.05,-116.8,340.7,-8.8,259,3724,0.00,2.45,0.00,0.000,4,0.000,0.051,2809,297,3110,0,0,0,0,0,0
$GC,3753,-1.05,-116.8,344.3,-10.1,259,3757,0.00,2.22,0.00,0.000,6,0.000,0.022,2809,1695,3110,0,0,0,0,0,0
$GC,4086,-1.09,-116.8,370.4,-7.2,267,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1701,3108,0,0,0,0,0,0
$GC,4410,-1.13,-116.8,395.6,-8.2,275,4414,0.00,2.47,0.00,0.000,4,0.000,0.054,2810,297,3106,0,0,0,0,0,0
$GC,4459,-1.16,-116.8,400.0,-9.4,276,4463,0.00,2.28,0.00,0.000,6,0.000,0.024,2810,1703,3105,0,0,0,0,0,0
$GC,4784,-1.21,-116.8,425.0,-7.5,284,4789,0.10,2.50,0.00,0.000,4,0.077,0.055,2775,295,3103,0,0,0,0,0,0
$GC,4876,-1.15,-116.8,432.8,-8.0,286,4881,0.10,2.28,0.00,0.000,6,0.108,0.025,2796,1701,3103,0,0,0,0,0,0
$STATE,5161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5161,begin apogee
$GC,5168,-0.31,0.0,451.7,6.6,293,5267,0.85,0.00,95.90,0.836,6,0.064,0.000,2981,1706,2630,0,0,0,0,0,0
$STATE,5268,end apogee,CONTROL_FINISHED_OK
$STATE,5268,begin climb
$GC,5271,1.18,116.8,453.4,0.0,295,5382,1.42,2.40,100.97,0.818,4,0.037,0.033,3312,3081,2152,0,0,0,0,0,0
$GC,5570,1.00,116.8,437.7,8.9,301,5575,0.22,2.40,0.00,0.000,6,0.106,0.040,3269,1705,2147,0,0,0,0,0,0
$GC,5908,0.90,131.4,411.3,7.2,310,5928,0.12,2.38,12.30,0.739,4,0.111,0.031,3245,3082,2093,0,0,0,0,0,0
$GC,5966,0.96,175.5,408.0,5.9,311,6011,0.00,2.42,40.08,0.800,6,0.000,0.041,3245,1696,1914,0,0,0,0,0,0
$GC,6321,0.94,194.9,384.1,7.0,320,6346,0.00,2.55,17.40,0.756,4,0.000,0.059,3246,291,1834,0,0,0,0,0,0
$GC,6384,0.84,194.9,377.9,11.3,321,6388,0.00,2.38,0.00,0.000,6,0.000,0.027,3245,1707,1830,0,0,0,0,0,0
$GC,6734,0.84,194.9,346.6,8.5,330,6739,0.00,2.55,0.00,0.000,4,0.000,0.058,3245,289,1828,0,0,0,0,0,0
$GC,6809,0.76,194.9,339.4,9.7,331,6814,0.15,2.35,0.00,0.000,6,0.108,0.028,3217,1702,1825,0,0,0,0,0,0
$GC,7147,0.82,204.1,314.5,7.5,340,7160,0.00,2.55,7.72,0.646,4,0.000,0.058,3216,289,1798,0,0,0,0,0,0
$GC,7259,0.82,204.1,305.7,8.0,342,7264,0.00,2.33,0.00,0.000,6,0.000,0.027,3217,1703,1794,0,0,0,0,0,0
$GC,7589,0.93,235.9,285.4,6.5,356,7625,0.15,2.58,29.20,0.732,4,0.064,0.055,3259,294,1668,0,0,0,0,0,0
$GC,7685,0.83,235.9,276.5,9.5,360,7690,0.15,2.33,0.00,0.000,6,0.104,0.026,3230,1704,1663,0,0,0,0,0,0
$GC,8009,0.90,259.4,254.3,6.8,376,8035,0.00,2.55,20.95,0.692,4,0.000,0.055,3230,295,1572,0,0,0,0,0,0
$GC,8170,0.90,259.4,240.4,9.3,383,8174,0.00,2.33,0.00,0.000,6,0.000,0.025,3230,1705,1566,0,0,0,0,0,0
$GC,8498,0.97,269.7,215.2,7.4,399,8515,0.15,2.58,9.35,0.601,4,0.061,0.053,3274,294,1530,0,0,0,0,0,0
$GC,8610,0.87,269.7,202.4,12.0,403,8617,0.17,2.33,0.00,0.000,6,0.095,0.024,3240,1713,1526,0,0,0,0,0,0
$GC,8941,0.93,269.7,174.1,8.1,429,8946,0.00,2.53,0.00,0.000,4,0.000,0.052,3239,286,1525,0,0,0,0,0,0
$GC,9083,0.93,269.7,158.3,11.2,439,9087,0.00,2.28,0.00,0.000,6,0.000,0.022,3239,1704,1524,0,0,0,0,0,0
$GC,9345,1.04,293.8,136.0,6.8,459,9373,0.17,2.53,21.77,0.587,4,0.054,0.048,3291,292,1431,0,0,0,0,0,0
$GC,9436,0.93,293.8,127.2,11.2,465,9441,0.20,2.28,0.00,0.000,6,0.087,0.021,3250,1708,1428,0,0,0,0,0,0
$GC,9698,1.10,352.7,111.6,5.2,485,9755,0.17,2.55,50.62,0.577,4,0.053,0.051,3303,294,1191,0,0,0,0,0,0
$GC,9939,1.01,352.7,78.1,15.4,502,9946,0.12,2.30,0.00,0.000,6,0.068,0.021,3272,1708,1185,0,0,0,0,0,0
$GC,10203,1.12,352.7,52.7,8.1,523,10208,0.10,2.47,0.00,0.000,4,0.071,0.049,3309,293,1185,0,0,0,0,0,0
$GC,10400,1.07,352.7,30.8,11.9,537,10407,0.10,2.28,0.00,0.000,6,0.069,0.019,3283,1702,1183,0,0,0,0,0,0
$GC,10663,1.14,352.7,10.0,8.4,596,10669,0.00,2.47,0.00,0.000,4,0.000,0.048,3281,297,1183,0,0,0,0,0,0
$STATE,10725,end climb,SURFACE_DEPTH_REACHED
$STATE,10725,begin surface coast
$FINISH,0.8,1.022998
$STATE,10754,end surface coast,CONTROL_FINISHED_OK
$STATE,10754,begin surface
$SM_CCo,10779,31.75,0.469,0,0,958,410.14
$SM_GC,1.62,0.00,0.00,31.75,0.000,0.000,0.469,429,1710,958,-12.06,0.28,410.14
$IRIDIUM_FIX,2054.83,-15751.76,201299,090958
$TT8_MAMPS,0.029146
$HUMID,57.20
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.4,47.298
$10V_AH,10.1,39.225
$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,30.425,123.750,406.275,31.750,0.000,30.886,34.053,191.600,4.750,0.000,32.369,1236.841,6931.910,459.886,2025.287,558.044,0.000,1365.420,0.000,1983.576,0.000,29.256,0.000
$DEVICE_MAMPS,132.691,59.059,836.030,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.887,398.620,899.983,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,34996,616
$CAP_FILE_SIZE,123867,0
$CFSIZE,260165632,185090048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250910,160107,2102.644,-15753.315,37,1.2,37,9.8