version: 66.06
glider: 139
mission: 8
dive: 562
start: 9 29 110 11 30 34
data:
$ID,139
$MISSION,8
$DIVE,562
$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,-2162831.8
$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
$GPS1,112049,2104.824,-15745.000,10,1.8,10,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-73.8
$GPS2,113014,2104.845,-15744.916,14,1.8,14,9.8
$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,52.7,3890,-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,-116.8,0.0,0.0,0,81,0.00,0.00,-64.20,0.000,2,0.000,0.000,427,1713,2729,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.0,-2.7,12,111,12.60,2.38,-7.12,0.000,4,0.131,0.035,2785,3113,3110,0,0,0,0,0,0
$GC,201,-1.10,-116.8,27.7,-15.0,36,208,0.08,2.42,0.00,0.000,6,0.087,0.034,2805,1703,3113,0,0,0,0,0,0
$GC,410,-0.92,-116.8,58.5,-14.9,54,415,0.20,2.42,0.00,0.000,4,0.092,0.044,2845,292,3113,0,0,0,0,0,0
$GC,451,-0.77,-116.8,64.6,-14.0,57,456,0.17,2.33,0.00,0.000,6,0.091,0.018,2881,1737,3113,0,0,0,0,0,0
$GC,719,-0.82,-116.8,91.0,-8.1,78,723,0.00,2.50,0.00,0.000,4,0.000,0.044,2881,289,3114,0,0,0,0,0,0
$GC,792,-0.82,-116.8,98.0,-9.4,83,797,0.00,2.28,0.00,0.000,6,0.000,0.018,2881,1718,3114,0,0,0,0,0,0
$GC,1054,-0.91,-116.8,118.7,-6.8,104,1059,0.15,2.47,0.00,0.000,4,0.054,0.044,2829,295,3115,0,0,0,0,0,0
$GC,1159,-0.91,-116.8,129.3,-10.4,111,1165,0.10,2.20,0.00,0.000,6,0.101,0.018,2850,1704,3115,0,0,0,0,0,0
$GC,1421,-0.97,-116.8,153.8,-9.6,132,1425,0.00,2.42,0.00,0.000,4,0.000,0.044,2850,286,3115,0,0,0,0,0,0
$GC,1490,-1.01,-116.8,161.0,-9.9,137,1494,0.00,2.22,0.00,0.000,6,0.000,0.018,2850,1702,3116,0,0,0,0,0,0
$GC,1754,-1.08,-116.8,181.3,-7.5,157,1759,0.15,2.45,0.00,0.000,4,0.055,0.046,2798,292,3116,0,0,0,0,0,0
$GC,1853,-1.00,-116.8,192.7,-11.6,164,1858,0.15,2.25,0.00,0.000,6,0.087,0.019,2831,1704,3116,0,0,0,0,0,0
$GC,2125,-1.04,-116.8,217.0,-7.7,179,2130,0.00,2.42,0.00,0.000,4,0.000,0.046,2831,289,3116,0,0,0,0,0,0
$GC,2191,-1.04,-116.8,222.7,-8.0,182,2195,0.00,2.25,0.00,0.000,6,0.000,0.019,2831,1703,3116,0,0,0,0,0,0
$GC,2524,-1.08,-116.8,248.7,-7.8,198,2528,0.00,2.42,0.00,0.000,4,0.000,0.047,2831,292,3116,0,0,0,0,0,0
$GC,2570,-1.08,-116.8,252.9,-8.2,200,2574,0.00,2.25,0.00,0.000,6,0.000,0.020,2831,1697,3115,0,0,0,0,0,0
$GC,2899,-1.14,-116.8,279.0,-7.6,216,2903,0.15,2.30,0.00,0.000,4,0.056,0.026,2780,3079,3114,0,0,0,0,0,0
$GC,2918,-1.14,-116.8,281.1,-8.5,216,2926,0.00,2.35,0.00,0.000,6,0.000,0.034,2780,1698,3114,0,0,0,0,0,0
$GC,3232,-1.10,-116.8,311.8,-9.5,229,3237,0.15,2.42,0.00,0.000,4,0.089,0.049,2812,292,3113,0,0,0,0,0,0
$GC,3280,-1.10,-116.8,316.0,-8.3,230,3284,0.00,2.25,0.00,0.000,6,0.000,0.021,2813,1699,3113,0,0,0,0,0,0
$GC,3603,-1.13,-116.8,338.5,-6.8,238,3608,0.00,2.42,0.00,0.000,4,0.000,0.051,2812,296,3112,0,0,0,0,0,0
$GC,3624,-1.13,-116.8,340.1,-7.9,238,3628,0.00,2.28,0.00,0.000,6,0.000,0.023,2812,1706,3112,0,0,0,0,0,0
$GC,3974,-1.17,-116.8,367.2,-7.8,247,3979,0.00,2.45,0.00,0.000,4,0.000,0.052,2813,296,3110,0,0,0,0,0,0
$GC,4035,-1.17,-116.8,372.7,-8.4,248,4039,0.00,2.28,0.00,0.000,6,0.000,0.024,2813,1704,3109,0,0,0,0,0,0
$GC,4388,-1.22,-116.8,402.4,-8.2,257,4393,0.12,2.47,0.00,0.000,4,0.066,0.054,2772,296,3107,0,0,0,0,0,0
$GC,4454,-1.13,-116.8,409.0,-9.3,258,4459,0.15,2.30,0.00,0.000,6,0.092,0.025,2804,1704,3106,0,0,0,0,0,0
$GC,4802,-1.17,-116.8,435.8,-8.5,267,4806,0.00,2.47,0.00,0.000,4,0.000,0.055,2804,299,3104,0,0,0,0,0,0
$GC,4862,-1.17,-116.8,441.6,-9.4,268,4866,0.00,2.30,0.00,0.000,6,0.000,0.025,2804,1701,3103,0,0,0,0,0,0
$STATE,5005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5005,begin apogee
$GC,5013,-0.31,0.0,452.2,7.2,272,5113,0.82,0.00,96.50,0.834,6,0.065,0.000,2983,1704,2629,0,0,0,0,0,0
$STATE,5113,end apogee,CONTROL_FINISHED_OK
$STATE,5113,begin climb
$GC,5116,1.18,116.8,453.5,0.0,274,5228,1.40,2.38,101.22,0.815,4,0.037,0.031,3309,3081,2152,0,0,0,0,0,0
$GC,5320,1.01,116.8,445.5,8.5,278,5325,0.20,2.42,0.00,0.000,6,0.099,0.040,3270,1699,2149,0,0,0,0,0,0
$GC,5662,0.93,149.1,421.3,6.4,287,5692,0.00,0.00,28.17,0.785,6,0.000,0.000,3270,1699,2022,0,0,0,0,0,0
$GC,5988,0.82,149.1,393.5,8.7,295,5990,0.20,0.00,0.00,0.000,6,0.097,0.000,3230,1698,2015,0,0,0,0,0,0
$GC,6312,0.89,207.0,374.7,5.3,303,6368,0.00,2.58,51.15,0.792,4,0.000,0.059,3230,296,1786,0,0,0,0,0,0
$GC,6472,0.82,207.0,363.0,8.3,306,6476,0.00,2.33,0.00,0.000,6,0.000,0.028,3230,1699,1779,0,0,0,0,0,0
$GC,6816,0.88,255.0,340.6,5.7,315,6865,0.00,2.60,42.08,0.770,4,0.000,0.058,3230,300,1589,0,0,0,0,0,0
$GC,6931,0.85,255.0,331.6,8.4,317,6935,0.00,2.35,0.00,0.000,6,0.000,0.028,3230,1703,1584,0,0,0,0,0,0
$GC,7272,0.89,255.0,302.1,9.2,326,7276,0.00,2.50,0.00,0.000,4,0.000,0.058,3230,296,1581,0,0,0,0,0,0
$GC,7424,0.89,255.0,287.3,9.5,331,7428,0.00,2.35,0.00,0.000,6,0.000,0.027,3230,1713,1577,0,0,0,0,0,0
$GC,7740,0.98,286.4,265.1,6.5,346,7774,0.15,2.60,26.58,0.709,4,0.061,0.055,3274,279,1461,0,0,0,0,0,0
$GC,7844,0.88,286.4,254.2,11.0,350,7849,0.15,2.35,0.00,0.000,6,0.102,0.025,3243,1705,1457,0,0,0,0,0,0
$GC,8162,0.91,286.4,230.3,8.0,365,8166,0.00,2.53,0.00,0.000,4,0.000,0.054,3243,289,1456,0,0,0,0,0,0
$GC,8309,0.88,286.4,215.3,10.6,371,8313,0.00,2.33,0.00,0.000,6,0.000,0.025,3243,1708,1453,0,0,0,0,0,0
$GC,8635,0.92,286.6,188.6,7.9,391,8639,0.00,2.50,0.00,0.000,4,0.000,0.052,3243,293,1453,0,0,0,0,0,0
$GC,8758,0.92,286.6,177.2,9.3,400,8762,0.00,2.28,0.00,0.000,6,0.000,0.023,3243,1704,1452,0,0,0,0,0,0
$GC,9026,0.98,286.6,154.5,8.6,421,9030,0.00,2.47,0.00,0.000,4,0.000,0.051,3243,287,1451,0,0,0,0,0,0
$GC,9156,0.98,286.6,140.3,10.8,430,9163,0.00,2.30,0.00,0.000,6,0.000,0.022,3243,1698,1452,0,0,0,0,0,0
$GC,9418,1.08,300.0,121.2,7.3,451,9436,0.17,2.50,11.65,0.539,4,0.052,0.050,3297,294,1407,0,0,0,0,0,0
$GC,9532,0.99,300.0,108.4,11.8,459,9538,0.15,2.28,0.00,0.000,6,0.090,0.021,3264,1713,1404,0,0,0,0,0,0
$GC,9794,1.07,300.0,86.8,8.0,480,9798,0.00,2.47,0.00,0.000,4,0.000,0.048,3264,292,1404,0,0,0,0,0,0
$GC,9979,1.14,317.3,70.3,7.1,493,10001,0.10,2.28,16.10,0.515,6,0.033,0.021,3312,1710,1336,0,0,0,0,0,0
$GC,10252,1.14,317.3,48.3,8.4,515,10257,0.00,2.45,0.00,0.000,4,0.000,0.048,3312,292,1334,0,0,0,0,0,0
$GC,10326,1.10,317.3,40.5,10.3,520,10333,0.08,2.25,0.00,0.000,6,0.074,0.020,3290,1695,1332,0,0,0,0,0,0
$GC,10589,1.17,326.4,20.9,7.5,561,10607,0.00,2.47,8.90,0.434,4,0.000,0.045,3290,299,1297,0,0,0,0,0,0
$GC,10675,1.17,326.4,12.4,10.9,579,10682,0.00,2.25,0.00,0.000,6,0.000,0.019,3290,1701,1296,0,0,0,0,0,0
$STATE,10791,end climb,SURFACE_DEPTH_REACHED
$STATE,10791,begin surface coast
$FINISH,0.8,0.999042
$STATE,10839,end surface coast,CONTROL_FINISHED_OK
$STATE,10839,begin surface
$SM_CCo,10862,47.70,0.472,0,0,957,410.14
$SM_GC,1.57,0.00,0.00,47.70,0.000,0.000,0.472,426,1706,957,-12.07,0.17,410.14
$IRIDIUM_FIX,2059.45,-15748.75,241299,111142
$TT8_MAMPS,0.029146
$HUMID,57.63
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,50.452
$10V_AH,10.1,41.745
$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,29.875,123.800,382.350,47.700,0.000,54.439,70.274,238.716,4.500,0.000,14.344,1228.623,7089.790,473.909,1980.954,698.934,0.000,1364.276,0.000,1964.991,0.000,29.251,0.000
$DEVICE_MAMPS,131.157,59.059,833.729,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,414.569,394.666,889.928,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,35003,616
$CAP_FILE_SIZE,124865,0
$CFSIZE,260165632,183259136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290910,143337,2105.051,-15744.418,34,1.0,34,9.8