version: 66.06
glider: 139
mission: 10
dive: 7
start: 5 22 112 0 13 48
data:
$ID,139
$MISSION,10
$DIVE,7
$D_SURF,2
$D_FLARE,3
$D_TGT,240
$D_ABORT,300
$D_NO_BLEED,500
$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,80
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51959
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,607.11749
$N_FILEKB,4
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2377363.2
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,355
$PITCH_MAX,3650
$C_PITCH,2964
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,235
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.30000001
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2925
$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,-14.664049
$PRESSURE_SLOPE,0.000115925
$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,0.0043016663
$SEABIRD_T_H,0.00062182697
$SEABIRD_T_I,2.2485125e-05
$SEABIRD_T_J,2.3191574e-06
$SEABIRD_C_G,-10.411542
$SEABIRD_C_H,1.1792051
$SEABIRD_C_I,-0.0019162094
$SEABIRD_C_J,0.00023985174
$GPS1,235525,2113.973,-15751.389,11,1.6,16,9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-72.4
$GPS2,001256,2113.886,-15751.423,18,1.9,18,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.159,-0.210
$KALMAN_X,761.7,374.8,79.7,2563.2,-4.8
$KALMAN_Y,-143.5,-293.9,-98.9,-2802.2,233.1
$MHEAD_RNG_PITCHd_Wd,133.0,20963,-18.1,-10.000
$D_GRID,240
$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,-1.31,-146.1,0.0,0.0,0,98,0.00,0.00,-80.15,0.000,2,0.000,0.000,344,2094,3333,0,0,0,0,0,0
$GC,102,-1.31,-146.1,3.9,-10.4,15,126,12.45,2.50,-3.28,0.000,4,0.136,0.055,2670,668,3524,0,0,0,0,0,0
$GC,262,-1.31,-146.1,40.8,-16.0,37,266,0.00,2.30,0.00,0.000,6,0.000,0.022,2670,2084,3525,0,0,0,0,0,0
$GC,524,-1.31,-146.1,78.1,-12.8,61,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2084,3525,0,0,0,0,0,0
$GC,779,-1.31,-146.1,108.5,-12.3,85,783,0.00,2.47,0.00,0.000,4,0.000,0.051,2670,669,3525,0,0,0,0,0,0
$GC,879,-1.31,-146.1,121.7,-12.6,93,884,0.00,2.30,0.00,0.000,6,0.000,0.022,2671,2083,3525,0,0,0,0,0,0
$GC,1142,-1.31,-146.1,151.1,-10.8,118,1146,0.00,2.45,0.00,0.000,4,0.000,0.051,2670,666,3525,0,0,0,0,0,0
$GC,1215,-1.31,-146.1,159.5,-11.0,124,1222,0.00,2.33,0.00,0.000,6,0.000,0.023,2670,2086,3525,0,0,0,0,0,0
$GC,1484,-1.31,-146.1,188.8,-10.6,149,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2086,3525,0,0,0,0,0,0
$GC,1734,-1.31,-146.1,214.1,-9.4,166,1738,0.00,2.45,0.00,0.000,4,0.000,0.052,2670,670,3525,0,0,0,0,0,0
$GC,1766,-1.31,-146.1,217.7,-11.0,167,1772,0.00,2.30,0.00,0.000,6,0.000,0.024,2670,2080,3524,0,0,0,0,0,0
$STATE,1999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1999,begin apogee
$GC,2005,-0.31,0.0,241.5,10.4,179,2123,1.02,0.00,114.85,0.625,6,0.067,0.000,2895,2081,2925,0,0,0,0,0,0
$STATE,2124,end apogee,CONTROL_FINISHED_OK
$STATE,2124,begin climb
$GC,2127,1.31,146.1,245.3,0.0,185,2254,1.52,2.58,117.60,0.617,4,0.029,0.052,3257,671,2327,0,0,0,0,0,0
$GC,2344,1.31,146.1,233.2,16.9,195,2348,0.00,2.38,0.00,0.000,6,0.000,0.026,3258,2086,2320,0,0,0,0,0,0
$GC,2663,1.31,146.1,188.6,11.2,215,2668,0.00,2.38,0.00,0.000,4,0.000,0.038,3258,3481,2319,0,0,0,0,0,0
$GC,2882,1.31,146.1,163.6,11.8,234,2886,0.00,2.42,0.00,0.000,6,0.000,0.039,3258,2075,2319,0,0,0,0,0,0
$GC,3145,1.32,155.8,135.8,9.6,258,3157,0.00,2.47,7.53,0.476,4,0.000,0.053,3258,671,2288,0,0,0,0,0,0
$GC,3182,1.32,155.8,131.7,10.9,261,3186,0.00,2.35,0.00,0.000,6,0.000,0.026,3258,2082,2286,0,0,0,0,0,0
$GC,3446,1.32,155.8,106.6,10.5,285,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2083,2286,0,0,0,0,0,0
$GC,3709,1.34,171.1,75.7,9.3,310,3732,0.00,2.53,13.75,0.497,4,0.000,0.050,3258,675,2225,0,0,0,0,0,0
$GC,3738,1.36,187.2,72.8,9.3,312,3758,0.00,2.35,15.23,0.495,6,0.000,0.025,3258,2077,2160,0,0,0,0,0,0
$GC,4022,1.37,193.7,42.5,9.7,339,4031,0.00,0.00,6.12,0.403,6,0.000,0.000,3257,2077,2135,0,0,0,0,0,0
$GC,4289,1.37,193.7,14.5,11.2,378,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2077,2133,0,0,0,0,0,0
$STATE,4391,end climb,SURFACE_DEPTH_REACHED
$STATE,4391,begin surface coast
$FINISH,0.2,1.023404
$STATE,4403,end surface coast,CONTROL_FINISHED_OK
$STATE,4403,begin surface
$SM_CCo,4426,201.23,0.463,0,0,450,607.12
$SM_GC,0.90,0.00,0.00,201.23,0.000,0.000,0.463,347,2082,450,-12.04,0.08,607.12
$IRIDIUM_FIX,2106.38,-15750.02,160801,000020
$TT8_MAMPS,0.029146
$HUMID,56.77
$INTERNAL_PRESSURE,9.93833
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.6,39.737
$10V_AH,10.3,40.522
$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,27.500,38.550,275.075,201.225,0.000,144.275,307.969,174.523,2.000,0.000,18.345,679.350,2573.936,527.752,1062.819,842.888,33.344,967.420,0.000,1054.817,0.000,13.573,0.000
$DEVICE_MAMPS,135.759,55.224,625.105,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,267.708,293.493,692.793,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,22367,399
$CAP_FILE_SIZE,58812,0
$CFSIZE,260165632,255770624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220512,013207,2113.556,-15751.159,33,1.2,33,9.8