version: 66.09
glider: 122
mission: 8
dive: 7
start: 9 8 111 1 57 2
data:
$ID,122
$MISSION,8
$DIVE,7
$N_DIVES,9
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,50
$D_BOOST,20
$T_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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,50963
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.25
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$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,-36684.484
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,84
$PITCH_MAX,3900
$C_PITCH,3075
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.050000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,4045
$ROLL_DEG,40
$C_ROLL_DIVE,2360
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,300
$VBD_MAX,3824
$C_VBD,2757
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,600
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-24.434319
$PRESSURE_SLOPE,0.0001162797
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,-1
$DEVICE4,101
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043208366
$SEABIRD_T_H,0.00062347745
$SEABIRD_T_I,2.2670058e-05
$SEABIRD_T_J,2.2826241e-06
$SEABIRD_C_G,-10.179777
$SEABIRD_C_H,1.1536758
$SEABIRD_C_I,-0.0015873691
$SEABIRD_C_J,0.00021656453
$GPS1,080911,015231,4808.070,-12224.051,12,1.1,12,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-78.9
$GPS2,080911,015637,4808.064,-12224.056,21,1.5,21,16.7
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,100.000
$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,133.2,137,-27.2,-10.000
$D_GRID,103
$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,15,-0.79,-63.7,0.0,0.0,0,104,0.00,0.00,-81.72,0.000,6,0.000,0.000,79,2353,3019,0,0,0,0,0,0
$GC,108,-0.84,-98.1,4.1,-6.4,12,132,12.62,2.45,-2.67,0.000,4,0.407,0.095,2793,943,3160,0,0,0,0,0,0
$GC,371,-0.78,-98.1,51.1,-18.1,60,380,0.12,2.55,0.00,0.000,6,0.266,0.083,2817,2351,3164,0,0,0,0,0,0
$GC,506,-0.78,-98.1,72.6,-16.6,85,514,0.00,2.47,0.00,0.000,4,0.000,0.076,2817,955,3164,0,0,0,0,0,0
$GC,659,-0.87,-98.1,97.7,-16.4,113,667,0.00,2.55,0.00,0.000,6,0.000,0.083,2808,2362,3165,0,0,0,0,0,0
$STATE,691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,691,begin apogee
$GC,697,-0.12,0.0,103.5,-16.9,118,791,0.80,0.00,87.12,1.175,6,0.240,0.000,3026,2403,2757,0,0,0,0,0,0
$STATE,792,end apogee,CONTROL_FINISHED_OK
$STATE,792,begin climb
$GC,794,0.84,98.1,108.9,0.0,131,896,1.00,0.00,94.25,1.221,6,0.133,0.000,3342,2403,2356,0,0,0,0,0,0
$GC,1022,0.77,98.1,90.7,11.4,169,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2403,2347,0,0,0,0,0,0
$GC,1156,0.70,98.1,75.5,11.4,194,1164,0.17,0.00,0.00,0.000,6,0.287,0.000,3304,2403,2345,0,0,0,0,0,0
$GC,1290,0.83,99.7,62.4,9.8,219,1299,0.12,2.53,0.00,0.000,4,0.150,0.091,3348,3804,2343,0,0,0,0,0,0
$GC,1409,0.60,99.7,48.1,12.1,240,1418,0.32,2.47,0.00,0.000,6,0.288,0.064,3276,2396,2342,0,0,0,0,0,0
$GC,1546,0.90,126.5,37.2,7.2,265,1583,0.28,2.60,25.95,1.099,4,0.106,0.093,3377,3809,2239,0,0,0,0,0,0
$GC,1669,0.63,126.5,21.0,14.3,286,1678,0.40,2.47,0.00,0.000,6,0.298,0.065,3287,2405,2234,0,0,0,0,0,0
$GC,1808,0.98,151.3,8.2,7.4,311,1824,0.30,0.00,11.43,0.122,6,0.100,0.000,3394,2404,2138,0,0,0,0,0,0
$STATE,1861,end climb,SURFACE_DEPTH_REACHED
$STATE,1861,begin surface coast
$FINISH,1.1,1.018556
$STATE,1879,end surface coast,CONTROL_FINISHED_OK
$STATE,1879,begin surface
$SM_CCo,1898,132.93,0.097,0,0,922,450.13
$SM_GC,0.98,0.00,0.00,132.93,0.000,0.000,0.097,84,2350,922,-9.35,-0.28,450.13,0,0,0,0,0,0
$IRIDIUM_FIX,4748.51,-12221.84,080911,010155
$TT8_MAMPS,0.025466,0.025466
$HUMID,55.59
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,13.7,3.375
$10V_AH,13.6,0.000
$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,26.300,20.250,218.750,132.925,0.000,0.000,0.000,0.000,0.500,0.000,22.855,722.553,6.539,383.110,928.674,73.243,0.000,748.596,0.000,937.949,0.000,5.353,0.000
$DEVICE_MAMPS,406.980,188.190,1220.940,97.155,0.000,0.000,0.000,0.000,420.000,0.000,20.220,18.210,2.190,18.210,35.440,40.680,0.000,9.500,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,219.216,856.175,0.000,875.269,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,72.650,80.890,0.000,42.690,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323692
$DATA_FILE_SIZE,20374,323
$CAP_FILE_SIZE,66653,0
$CFSIZE,260165632,257552384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080911,023154,4807.920,-12223.891,24,1.1,24,16.7