version: 66.06
glider: 139
mission: 8
dive: 823
start: 11 3 110 19 45 22
data:
$ID,139
$MISSION,8
$DIVE,823
$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,-2168757
$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,1450
$C_ROLL_CLIMB,1420
$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
$GPS1,193837,2103.092,-15756.618,11,1.5,11,9.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-74.2
$GPS2,194502,2103.077,-15756.616,12,1.8,12,9.8
$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,306.2,13540,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-116.8,0.0,0.0,0,84,0.00,0.00,-64.50,0.000,2,0.000,0.000,427,1435,2781,0,0,0,0,0,0
$GC,87,-1.18,-116.8,3.9,-4.2,12,112,12.65,2.40,-6.12,0.000,4,0.132,0.031,2786,2881,3108,0,0,0,0,0,0
$GC,178,-1.12,-116.8,20.4,-12.0,30,185,0.00,2.47,0.00,0.000,6,0.000,0.032,2786,1448,3109,0,0,0,0,0,0
$GC,380,-0.88,-116.8,48.3,-13.8,56,385,0.30,2.10,0.00,0.000,4,0.085,0.044,2852,230,3110,0,0,0,0,0,0
$GC,436,-0.83,-116.8,55.2,-11.6,60,439,0.00,1.98,0.00,0.000,6,0.000,0.019,2852,1500,3111,0,0,0,0,0,0
$GC,706,-0.79,-116.8,82.8,-9.4,81,708,0.12,0.00,0.00,0.000,6,0.094,0.000,2879,1516,3112,0,0,0,0,0,0
$GC,963,-0.87,-116.8,100.3,-6.0,101,967,0.00,2.20,0.00,0.000,4,0.000,0.044,2878,231,3113,0,0,0,0,0,0
$GC,1021,-0.95,-116.8,104.4,-7.2,105,1026,0.10,1.92,0.00,0.000,6,0.031,0.019,2823,1457,3113,0,0,0,0,0,0
$GC,1293,-0.95,-116.8,128.8,-9.0,126,1297,0.00,2.10,0.00,0.000,4,0.000,0.044,2822,234,3113,0,0,0,0,0,0
$GC,1340,-0.95,-116.8,133.4,-10.0,129,1345,0.00,1.90,0.00,0.000,6,0.000,0.018,2823,1471,3114,0,0,0,0,0,0
$GC,1602,-0.95,-116.8,153.9,-7.0,150,1606,0.00,2.15,0.00,0.000,4,0.000,0.021,2822,2807,3114,0,0,0,0,0,0
$GC,1646,-1.03,-116.8,157.0,-6.8,153,1650,0.00,2.28,0.00,0.000,6,0.000,0.029,2823,1438,3113,0,0,0,0,0,0
$GC,1913,-1.03,-116.8,175.1,-7.3,174,1917,0.00,2.03,0.00,0.000,4,0.000,0.044,2822,236,3114,0,0,0,0,0,0
$GC,1974,-1.03,-116.8,180.4,-9.2,178,1978,0.00,1.85,0.00,0.000,6,0.000,0.019,2822,1448,3114,0,0,0,0,0,0
$GC,2239,-1.03,-116.8,199.5,-7.2,199,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1449,3114,0,0,0,0,0,0
$GC,2499,-1.03,-116.8,217.0,-6.9,212,2502,0.00,2.05,0.00,0.000,4,0.000,0.046,2823,240,3114,0,0,0,0,0,0
$GC,2540,-1.03,-116.8,220.3,-7.9,213,2546,0.00,1.88,0.00,0.000,6,0.000,0.020,2822,1449,3114,0,0,0,0,0,0
$GC,2859,-1.09,-116.8,246.0,-8.2,229,2863,0.00,2.08,0.00,0.000,4,0.000,0.046,2822,240,3114,0,0,0,0,0,0
$GC,2896,-1.09,-116.8,249.4,-8.8,230,2903,0.00,1.90,0.00,0.000,6,0.000,0.021,2823,1444,3114,0,0,0,0,0,0
$GC,3212,-1.15,-116.8,270.5,-6.2,246,3216,0.00,2.25,0.00,0.000,4,0.000,0.023,2823,2832,3113,0,0,0,0,0,0
$GC,3252,-1.27,-116.8,272.9,-6.2,247,3258,0.22,2.30,0.00,0.000,6,0.043,0.031,2753,1450,3113,0,0,0,0,0,0
$GC,3571,-1.16,-116.8,300.1,-9.0,263,3576,0.20,2.10,0.00,0.000,4,0.082,0.049,2796,235,3113,0,0,0,0,0,0
$GC,3615,-1.16,-116.8,304.6,-8.8,263,3621,0.00,1.90,0.00,0.000,6,0.000,0.022,2796,1452,3113,0,0,0,0,0,0
$GC,3946,-1.16,-116.8,332.8,-8.4,272,3950,0.00,2.22,0.00,0.000,4,0.000,0.025,2795,2821,3111,0,0,0,0,0,0
$GC,3970,-1.20,-116.8,334.6,-7.3,272,3975,0.00,2.33,0.00,0.000,6,0.000,0.035,2796,1445,3111,0,0,0,0,0,0
$GC,4317,-1.20,-116.8,357.9,-7.1,281,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1445,3109,0,0,0,0,0,0
$GC,4642,-1.20,-116.8,382.6,-7.2,289,4646,0.00,2.28,0.00,0.000,4,0.000,0.026,2796,2824,3107,0,0,0,0,0,0
$GC,4685,-1.31,-116.8,385.3,-6.4,290,4690,0.15,2.35,0.00,0.000,6,0.056,0.038,2748,1442,3107,0,0,0,0,0,0
$GC,5017,-1.20,-116.8,412.5,-8.6,298,5022,0.20,2.30,0.00,0.000,4,0.082,0.026,2790,2825,3105,0,0,0,0,0,0
$GC,5065,-1.30,-116.8,416.3,-7.0,299,5070,0.10,2.38,0.00,0.000,6,0.074,0.038,2755,1445,3104,0,0,0,0,0,0
$STATE,5224,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5224,begin apogee
$GC,5232,-0.31,0.0,429.8,8.7,303,5332,1.05,0.00,96.60,0.805,6,0.069,0.000,2980,1445,2630,0,0,0,0,0,0
$STATE,5333,end apogee,CONTROL_FINISHED_OK
$STATE,5333,begin climb
$GC,5336,1.18,116.8,432.9,0.0,305,5449,1.45,2.20,101.65,0.791,4,0.031,0.054,3317,242,2152,0,0,0,0,0,0
$GC,5493,0.85,141.5,431.8,6.8,309,5522,0.40,1.90,22.27,0.748,6,0.091,0.025,3238,1413,2052,0,0,0,0,0,0
$GC,5852,0.85,188.4,410.2,5.8,318,5900,0.00,2.38,41.00,0.775,4,0.000,0.027,3238,2806,1861,0,0,0,0,0,0
$GC,5926,0.91,238.4,406.0,5.6,319,5980,0.00,2.45,44.83,0.772,6,0.000,0.041,3238,1420,1657,0,0,0,0,0,0
$GC,6307,0.87,238.4,375.2,8.0,329,6311,0.00,2.35,0.00,0.000,4,0.000,0.028,3238,2807,1651,0,0,0,0,0,0
$GC,6321,0.87,238.4,373.7,8.3,329,6325,0.00,2.42,0.00,0.000,6,0.000,0.041,3238,1421,1650,0,0,0,0,0,0
$GC,6671,0.87,238.4,343.2,8.6,338,6675,0.00,2.33,0.00,0.000,4,0.000,0.028,3238,2800,1647,0,0,0,0,0,0
$GC,6710,0.96,238.4,339.8,9.6,338,6715,0.00,2.40,0.00,0.000,6,0.000,0.042,3238,1420,1647,0,0,0,0,0,0
$GC,7041,0.97,247.3,312.8,7.5,347,7051,0.10,0.00,7.10,0.615,6,0.077,0.000,3269,1421,1621,0,0,0,0,0,0
$GC,7350,0.93,253.9,288.6,7.6,358,7362,0.00,2.12,7.35,0.611,4,0.000,0.058,3268,231,1594,0,0,0,0,0,0
$GC,7401,0.83,253.9,283.9,9.7,360,7406,0.17,1.92,0.00,0.000,6,0.093,0.028,3233,1412,1591,0,0,0,0,0,0
$GC,7729,0.92,286.3,263.1,6.4,376,7763,0.00,2.38,28.92,0.703,4,0.000,0.028,3234,2807,1462,0,0,0,0,0,0
$GC,7831,1.05,286.3,255.3,8.1,380,7836,0.20,2.42,0.00,0.000,6,0.050,0.039,3288,1419,1461,0,0,0,0,0,0
$GC,8149,0.99,286.3,225.0,9.1,395,8154,0.12,2.10,0.00,0.000,4,0.097,0.057,3263,231,1458,0,0,0,0,0,0
$GC,8164,0.94,286.3,223.5,8.6,395,8170,0.00,1.95,0.00,0.000,6,0.000,0.027,3264,1424,1456,0,0,0,0,0,0
$GC,8482,0.99,326.5,202.1,6.1,411,8520,0.00,0.00,35.17,0.659,6,0.000,0.000,3263,1425,1299,0,0,0,0,0,0
$GC,8840,1.06,344.2,176.1,7.1,438,8858,0.00,0.00,16.25,0.604,6,0.000,0.000,3263,1425,1226,0,0,0,0,0,0
$GC,9111,1.13,372.5,157.1,6.6,459,9141,0.15,2.15,25.23,0.603,4,0.058,0.053,3307,234,1110,0,0,0,0,0,0
$GC,9158,1.03,372.5,152.7,9.4,462,9165,0.12,1.98,0.00,0.000,6,0.071,0.025,3278,1427,1108,0,0,0,0,0,0
$GC,9420,1.03,372.5,130.3,9.1,483,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1427,1107,0,0,0,0,0,0
$GC,9672,1.09,372.5,106.3,9.4,503,9676,0.00,2.08,0.00,0.000,4,0.000,0.051,3277,231,1106,0,0,0,0,0,0
$GC,9752,1.09,372.5,97.8,10.7,509,9756,0.00,1.92,0.00,0.000,6,0.000,0.023,3278,1434,1104,0,0,0,0,0,0
$GC,10025,1.31,393.5,77.8,6.9,530,10054,0.25,2.12,18.30,0.523,4,0.041,0.048,3352,227,1023,0,0,0,0,0,0
$GC,10110,1.21,393.5,68.9,12.1,535,10118,0.15,1.92,0.00,0.000,6,0.067,0.022,3316,1423,1021,0,0,0,0,0,0
$GC,10376,1.28,405.2,49.3,7.4,556,10391,0.00,2.28,10.65,0.468,4,0.000,0.020,3316,2799,977,0,0,0,0,0,0
$GC,10402,1.36,413.5,46.7,7.5,557,10416,0.10,2.40,8.55,0.445,6,0.033,0.035,3358,1423,944,0,0,0,0,0,0
$GC,10676,1.30,413.5,21.5,9.4,592,10685,0.12,2.10,0.00,0.000,4,0.092,0.049,3332,235,942,0,0,0,0,0,0
$GC,10716,1.25,413.5,17.9,9.9,599,10723,0.00,1.90,0.00,0.000,6,0.000,0.020,3332,1431,941,0,0,0,0,0,0
$STATE,10881,end climb,SURFACE_DEPTH_REACHED
$STATE,10881,begin surface coast
$FINISH,0.9,1.013083
$STATE,10917,end surface coast,CONTROL_FINISHED_OK
$STATE,10917,begin surface
$SM_CCo,11001,0.00,0.000,0,0,937,415.29
$SM_GC,1.87,12.52,0.00,0.00,0.026,0.000,0.000,427,1431,937,-11.99,-0.51,415.29
$IRIDIUM_FIX,2052.52,-15756.91,280100,161656
$TT8_MAMPS,0.028379
$HUMID,63.23
$INTERNAL_PRESSURE,9.24494
$TCM_TEMP,20.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.8,54.9
$24V_AH,23.3,79.996
$10V_AH,10.0,63.990
$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,30.975,107.850,463.875,0.000,0.000,25.045,31.020,190.018,4.250,0.000,12.807,1217.682,7273.759,497.478,1807.762,580.714,0.000,1315.081,0.000,1793.369,0.000,29.108,0.000
$DEVICE_MAMPS,131.924,58.292,804.583,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.244,423.569,940.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,34889,645
$CAP_FILE_SIZE,119501,0
$CFSIZE,260165632,167415808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031110,225001,2103.276,-15757.066,42,1.4,42,9.8