version: 66.06
glider: 139
mission: 8
dive: 503
start: 9 21 110 18 48 11
data:
$ID,139
$MISSION,8
$DIVE,503
$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,-2161620
$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
$GPS1,184137,2104.908,-15749.899,29,1.4,29,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.3
$GPS2,184751,2104.913,-15749.897,12,1.5,13,9.8
$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,72.3,12174,-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,16,-1.18,-116.8,0.0,0.0,0,83,0.00,0.00,-64.12,0.000,2,0.000,0.000,426,1710,2746,0,0,0,0,0,0
$GC,86,-1.18,-116.8,3.4,-3.5,12,111,12.65,2.53,-6.72,0.000,4,0.133,0.056,2785,291,3109,0,0,0,0,0,0
$GC,129,-0.05,-116.8,16.6,-29.2,19,136,1.15,2.35,0.00,0.000,6,0.079,0.019,3034,1738,3110,0,0,0,0,0,0
$GC,340,-0.63,-116.8,34.2,-10.0,61,347,0.55,2.47,0.00,0.000,4,0.048,0.041,2903,293,3112,0,0,0,0,0,0
$GC,388,-0.79,-116.8,39.5,-9.8,64,396,0.08,2.28,0.00,0.000,6,0.037,0.018,2865,1714,3112,0,0,0,0,0,0
$GC,648,-0.79,-116.8,69.3,-11.3,85,652,0.00,2.42,0.00,0.000,4,0.000,0.044,2865,294,3113,0,0,0,0,0,0
$GC,675,-0.73,-116.8,72.3,-12.7,87,680,0.12,2.22,0.00,0.000,6,0.096,0.018,2892,1709,3113,0,0,0,0,0,0
$GC,941,-0.83,-116.8,96.5,-8.1,108,945,0.00,2.42,0.00,0.000,4,0.000,0.045,2891,294,3113,0,0,0,0,0,0
$GC,1069,-0.93,-116.8,107.1,-7.7,117,1074,0.20,2.20,0.00,0.000,6,0.045,0.018,2827,1694,3114,0,0,0,0,0,0
$GC,1335,-0.88,-116.8,134.5,-10.8,138,1340,0.15,2.45,0.00,0.000,4,0.084,0.047,2860,287,3114,0,0,0,0,0,0
$GC,1375,-0.88,-116.8,138.7,-9.8,141,1379,0.00,2.20,0.00,0.000,6,0.000,0.018,2860,1701,3114,0,0,0,0,0,0
$GC,1641,-0.96,-116.8,159.0,-6.6,162,1645,0.00,2.42,0.00,0.000,4,0.000,0.044,2860,294,3115,0,0,0,0,0,0
$GC,1667,-1.00,-116.8,160.9,-7.4,164,1672,0.12,2.20,0.00,0.000,6,0.063,0.018,2815,1703,3115,0,0,0,0,0,0
$GC,1934,-0.97,-116.8,182.1,-8.2,185,1939,0.10,2.45,0.00,0.000,4,0.100,0.048,2837,294,3115,0,0,0,0,0,0
$GC,1968,-0.97,-116.8,185.4,-9.2,187,1973,0.00,2.20,0.00,0.000,6,0.000,0.019,2837,1701,3115,0,0,0,0,0,0
$GC,2234,-1.01,-116.8,206.9,-8.2,206,2238,0.00,2.42,0.00,0.000,4,0.000,0.047,2837,287,3115,0,0,0,0,0,0
$GC,2277,-1.01,-116.8,210.7,-8.7,208,2282,0.00,2.22,0.00,0.000,6,0.000,0.019,2837,1701,3116,0,0,0,0,0,0
$GC,2610,-1.06,-116.8,236.7,-8.1,224,2614,0.00,2.42,0.00,0.000,4,0.000,0.048,2837,289,3115,0,0,0,0,0,0
$GC,2670,-1.10,-116.8,242.6,-8.7,226,2677,0.10,2.28,0.00,0.000,6,0.034,0.020,2793,1699,3115,0,0,0,0,0,0
$GC,2989,-1.07,-116.8,272.2,-9.0,242,2994,0.10,2.42,0.00,0.000,4,0.103,0.049,2815,295,3114,0,0,0,0,0,0
$GC,3027,-1.07,-116.8,276.2,-10.1,243,3032,0.00,2.22,0.00,0.000,6,0.000,0.021,2815,1704,3114,0,0,0,0,0,0
$GC,3345,-1.07,-116.8,298.2,-6.4,259,3349,0.00,2.42,0.00,0.000,4,0.000,0.049,2815,294,3113,0,0,0,0,0,0
$GC,3377,-1.07,-116.8,300.7,-8.2,260,3381,0.00,2.22,0.00,0.000,6,0.000,0.021,2815,1701,3113,0,0,0,0,0,0
$GC,3711,-1.11,-116.8,323.0,-7.4,268,3715,0.00,2.45,0.00,0.000,4,0.000,0.051,2815,296,3113,0,0,0,0,0,0
$GC,3759,-1.14,-116.8,327.5,-8.7,269,3763,0.00,2.25,0.00,0.000,6,0.000,0.022,2815,1705,3112,0,0,0,0,0,0
$GC,4082,-1.19,-116.8,355.6,-8.4,277,4087,0.10,2.47,0.00,0.000,4,0.075,0.053,2778,296,3111,0,0,0,0,0,0
$GC,4141,-1.14,-116.8,361.5,-10.0,278,4146,0.12,2.25,0.00,0.000,6,0.094,0.023,2806,1699,3110,0,0,0,0,0,0
$GC,4455,-1.14,-116.8,386.8,-7.8,286,4460,0.00,2.47,0.00,0.000,4,0.000,0.054,2806,291,3108,0,0,0,0,0,0
$GC,4512,-1.14,-116.8,391.6,-8.4,287,4516,0.00,2.28,0.00,0.000,6,0.000,0.024,2806,1700,3108,0,0,0,0,0,0
$GC,4830,-1.17,-116.8,419.3,-9.0,295,4835,0.00,2.47,0.00,0.000,4,0.000,0.056,2805,297,3105,0,0,0,0,0,0
$GC,4863,-1.17,-116.8,422.5,-10.4,295,4867,0.00,2.28,0.00,0.000,6,0.000,0.025,2805,1702,3105,0,0,0,0,0,0
$STATE,5193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5193,begin apogee
$GC,5200,-0.31,0.0,450.2,7.9,303,5299,0.80,0.00,95.70,0.838,6,0.065,0.000,2980,1707,2630,0,0,0,0,0,0
$STATE,5300,end apogee,CONTROL_FINISHED_OK
$STATE,5300,begin climb
$GC,5303,1.18,116.8,451.9,0.0,305,5416,1.42,2.45,100.22,0.818,4,0.039,0.033,3309,3088,2153,0,0,0,0,0,0
$GC,5668,1.01,116.8,428.4,8.5,313,5673,0.20,2.40,0.00,0.000,6,0.099,0.040,3270,1699,2146,0,0,0,0,0,0
$GC,5992,0.96,156.0,408.0,6.1,321,6031,0.00,0.00,34.05,0.798,6,0.000,0.000,3271,1699,1992,0,0,0,0,0,0
$GC,6357,0.87,156.0,380.6,8.1,330,6362,0.15,2.53,0.00,0.000,4,0.106,0.058,3241,294,1986,0,0,0,0,0,0
$GC,6404,0.77,156.0,376.1,9.5,331,6409,0.12,2.33,0.00,0.000,6,0.114,0.028,3218,1701,1982,0,0,0,0,0,0
$GC,6728,0.83,175.9,353.4,7.0,339,6752,0.00,2.55,17.05,0.750,4,0.000,0.056,3218,293,1911,0,0,0,0,0,0
$GC,6782,0.79,175.9,349.5,7.9,340,6786,0.00,2.38,0.00,0.000,6,0.000,0.027,3218,1710,1908,0,0,0,0,0,0
$GC,7101,0.90,228.7,330.6,5.5,348,7154,0.12,2.60,46.92,0.772,4,0.070,0.057,3253,297,1697,0,0,0,0,0,0
$GC,7299,0.81,228.7,312.3,10.9,352,7304,0.12,2.35,0.00,0.000,6,0.111,0.027,3230,1708,1690,0,0,0,0,0,0
$GC,7632,0.86,228.7,285.8,7.9,364,7637,0.00,2.53,0.00,0.000,4,0.000,0.055,3229,294,1688,0,0,0,0,0,0
$GC,7724,0.86,228.7,277.3,9.4,368,7728,0.00,2.30,0.00,0.000,6,0.000,0.026,3229,1701,1685,0,0,0,0,0,0
$GC,8052,0.96,259.1,254.8,6.5,384,8085,0.12,2.53,25.75,0.704,4,0.068,0.054,3266,297,1572,0,0,0,0,0,0
$GC,8220,0.86,259.1,237.9,10.8,391,8225,0.15,2.33,0.00,0.000,6,0.103,0.025,3237,1707,1567,0,0,0,0,0,0
$GC,8545,0.93,275.3,215.2,7.2,407,8567,0.00,2.58,14.10,0.635,4,0.000,0.054,3237,302,1506,0,0,0,0,0,0
$GC,8741,0.93,275.3,195.8,10.9,417,8745,0.00,2.30,0.00,0.000,6,0.000,0.024,3237,1708,1502,0,0,0,0,0,0
$GC,9010,1.00,275.3,170.2,8.8,438,9015,0.12,2.50,0.00,0.000,4,0.065,0.051,3277,293,1501,0,0,0,0,0,0
$GC,9115,0.88,275.3,158.0,12.6,445,9121,0.17,2.30,0.00,0.000,6,0.094,0.022,3242,1711,1500,0,0,0,0,0,0
$GC,9376,1.01,320.5,140.1,5.9,466,9423,0.12,2.55,39.05,0.606,4,0.067,0.051,3282,291,1322,0,0,0,0,0,0
$GC,9581,0.92,320.5,117.0,12.7,481,9586,0.17,2.28,0.00,0.000,6,0.092,0.021,3247,1706,1316,0,0,0,0,0,0
$GC,9849,1.04,333.6,95.2,7.3,502,9867,0.12,2.55,11.52,0.515,4,0.064,0.049,3289,292,1270,0,0,0,0,0,0
$GC,9976,0.99,333.6,82.6,9.8,511,9980,0.12,2.25,0.00,0.000,6,0.096,0.021,3263,1706,1266,0,0,0,0,0,0
$GC,10246,1.12,349.5,63.7,7.2,532,10268,0.12,2.50,14.70,0.502,4,0.062,0.047,3307,287,1203,0,0,0,0,0,0
$GC,10413,1.07,349.5,47.3,10.1,544,10418,0.12,2.28,0.00,0.000,6,0.095,0.019,3281,1711,1200,0,0,0,0,0,0
$GC,10676,1.15,349.5,26.1,8.1,570,10682,0.00,2.50,0.00,0.000,4,0.000,0.048,3281,292,1200,0,0,0,0,0,0
$GC,10833,1.15,349.5,9.8,10.1,605,10839,0.00,2.25,0.00,0.000,6,0.000,0.019,3281,1708,1199,0,0,0,0,0,0
$STATE,10899,end climb,SURFACE_DEPTH_REACHED
$STATE,10899,begin surface coast
$FINISH,1.0,1.023126
$STATE,10933,end surface coast,CONTROL_FINISHED_OK
$STATE,10933,begin surface
$SM_CCo,10955,35.65,0.472,0,0,958,410.14
$SM_GC,1.74,0.00,0.00,35.65,0.000,0.000,0.472,426,1713,958,-12.07,0.34,410.14
$IRIDIUM_FIX,2054.83,-15751.76,161299,151521
$TT8_MAMPS,0.029146
$HUMID,57.24
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.4,44.268
$10V_AH,10.2,36.800
$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,32.150,128.475,399.075,35.650,0.000,28.176,30.096,187.228,4.500,0.000,14.072,1269.382,6996.994,480.488,2064.641,551.744,0.000,1406.580,0.000,2036.794,0.000,29.252,0.000
$DEVICE_MAMPS,133.458,57.525,838.331,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,421.886,405.107,917.062,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,34958,627
$CAP_FILE_SIZE,128908,0
$CFSIZE,260165632,186843136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210910,215234,2104.796,-15749.469,14,2.7,33,9.8