version: 66.09
glider: 127
mission: 8
dive: 27
start: 6 13 112 12 37 13
data:
$ID,127
$MISSION,8
$DIVE,27
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,4
$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,111
$T_MISSION,120
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51911
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,310
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-102208.23
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,10800
$PITCH_MIN,391
$PITCH_MAX,3672
$C_PITCH,2935
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2090
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,495
$VBD_MAX,3955
$C_VBD,1875
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-2.3478327
$PRESSURE_SLOPE,9.1981688e-05
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.75
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,55
$DEVICE3,37
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,0
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043778275
$SEABIRD_T_H,0.00064372126
$SEABIRD_T_I,2.4597961e-05
$SEABIRD_T_J,2.4457499e-06
$SEABIRD_C_G,-9.9928436
$SEABIRD_C_H,1.1249512
$SEABIRD_C_I,-0.0005112022
$SEABIRD_C_J,0.00011811146
$GPS1,130612,122835,4744.417,-12224.263,13,9.4,32,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-70.8
$GPS2,130612,123608,4744.435,-12224.229,13,1.3,13,18.2
$SPEED_LIMITS,0.104,0.245
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.081,-0.231
$KALMAN_X,-1364.3,-747.2,898.2,1892.8,678.0
$KALMAN_Y,-4195.9,482.0,202.5,6770.4,1633.1
$MHEAD_RNG_PITCHd_Wd,181.1,1219,-9.1,-6.006
$D_GRID,175
$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,-0.94,-195.4,0.0,0.0,0,47,0.00,0.00,-30.23,0.000,2,0.000,0.000,391,2075,1411,0,0,0,0,0,0
$GC,49,-0.94,-195.4,3.2,-5.0,4,110,13.88,2.65,-38.95,0.000,4,0.175,0.082,2725,3498,2672,0,0,0,0,0,0
$GC,137,-0.94,-195.4,14.9,-17.2,17,145,0.00,2.62,0.00,0.000,6,0.000,0.063,2725,2093,2672,0,0,0,0,0,0
$GC,208,-0.94,-195.4,25.4,-14.1,30,216,0.00,2.62,0.00,0.000,4,0.000,0.067,2725,3492,2673,0,0,0,0,0,0
$GC,223,-0.94,-195.4,27.9,-15.7,32,231,0.00,2.60,0.00,0.000,6,0.000,0.060,2725,2091,2673,0,0,0,0,0,0
$GC,294,-0.94,-195.4,39.8,-17.2,45,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2092,2673,0,0,0,0,0,0
$GC,363,-0.94,-195.4,52.2,-18.6,58,371,0.00,2.67,0.00,0.000,4,0.000,0.080,2725,676,2672,0,0,0,0,0,0
$GC,416,-0.94,-195.4,62.7,-20.5,67,423,0.00,2.55,0.00,0.000,6,0.000,0.057,2725,2102,2673,0,0,0,0,0,0
$GC,552,-0.94,-195.4,87.0,-18.6,92,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2102,2673,0,0,0,0,0,0
$GC,695,-0.94,-195.4,111.5,-15.9,117,701,0.00,2.65,0.00,0.000,4,0.000,0.080,2725,672,2673,0,0,0,0,0,0
$GC,708,-0.94,-195.4,113.7,-15.5,119,715,0.00,2.55,0.00,0.000,6,0.000,0.057,2725,2098,2673,0,0,0,0,0,0
$GC,845,-0.94,-195.4,133.1,-15.1,144,853,0.00,2.67,0.00,0.000,4,0.000,0.080,2725,676,2673,0,0,0,0,0,0
$GC,877,-0.94,-195.4,137.4,-14.5,149,884,0.00,2.53,0.00,0.000,6,0.000,0.059,2725,2089,2673,0,0,0,0,0,0
$GC,1014,-0.94,-195.4,156.5,-14.6,174,1022,0.00,2.65,0.00,0.000,4,0.000,0.068,2725,3497,2673,0,0,0,0,0,0
$GC,1045,-0.94,-195.4,161.0,-14.8,179,1052,0.00,2.58,0.00,0.000,6,0.000,0.060,2725,2085,2673,0,0,0,0,0,0
$STATE,1148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1149,begin apogee
$GC,1152,-0.38,0.0,175.3,13.3,198,1324,0.57,0.00,164.88,0.700,6,0.099,0.000,2842,2085,1875,0,0,0,0,0,0
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1325,begin climb
$GC,1326,0.94,195.4,186.9,0.0,224,1497,1.42,0.00,164.02,0.685,6,0.083,0.000,3131,2084,1078,0,0,0,0,0,0
$GC,1627,0.94,195.4,150.3,13.7,274,1635,0.00,2.62,0.00,0.000,4,0.000,0.070,3131,3482,1072,0,0,0,0,0,0
$GC,1673,0.94,195.4,143.6,14.3,282,1682,0.00,2.62,0.00,0.000,6,0.000,0.062,3131,2076,1071,0,0,0,0,0,0
$GC,1814,0.94,195.4,124.0,14.9,307,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2076,1071,0,0,0,0,0,0
$GC,1950,0.94,195.4,104.2,13.6,332,1958,0.00,2.67,0.00,0.000,4,0.000,0.083,3131,669,1070,0,0,0,0,0,0
$GC,1981,0.94,195.4,98.9,17.3,337,1988,0.00,2.53,0.00,0.000,6,0.000,0.062,3131,2083,1071,0,0,0,0,0,0
$GC,2117,0.94,195.4,77.8,15.3,362,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2083,1070,0,0,0,0,0,0
$GC,2256,0.94,195.4,57.0,14.6,387,2262,0.00,2.58,0.00,0.000,4,0.000,0.073,3131,3484,1070,0,0,0,0,0,0
$GC,2281,0.94,195.4,53.3,15.3,391,2288,0.00,2.60,0.00,0.000,6,0.000,0.063,3131,2075,1069,0,0,0,0,0,0
$GC,2415,0.94,195.4,34.5,13.0,416,2423,0.00,2.67,0.00,0.000,4,0.000,0.081,3131,662,1069,0,0,0,0,0,0
$GC,2460,0.94,195.4,28.3,13.2,424,2468,0.00,2.58,0.00,0.000,6,0.000,0.060,3131,2081,1069,0,0,0,0,0,0
$GC,2533,0.94,195.4,19.9,11.7,437,2541,0.00,2.62,0.00,0.000,4,0.000,0.068,3131,3483,1069,0,0,0,0,0,0
$GC,2594,0.94,195.4,13.6,9.8,448,2602,0.00,2.60,0.00,0.000,6,0.000,0.060,3131,2073,1069,0,0,0,0,0,0
$GC,2664,0.94,195.4,8.2,7.2,461,2672,0.00,2.67,0.00,0.000,4,0.000,0.081,3131,663,1069,0,0,0,0,0,0
$STATE,2760,end climb,SURFACE_DEPTH_REACHED
$STATE,2760,begin surface coast
$FINISH,0.8,1.018523
$STATE,2823,end surface coast,CONTROL_FINISHED_OK
$STATE,2823,begin surface
$SM_CCo,2844,105.78,0.581,2,0,611,310.05
$SM_GC,2.54,0.00,0.00,105.78,0.000,0.000,0.581,393,2091,611,-11.69,0.03,310.05,0,0,0,0,2,0
$RAFOS_CLK,135
$RAFOS,0,1339592944,13.166667,13.151111,45,43,43,0,0,0,350,90,684,0,0,0
$RAFOS,1,1339589941,12.333333,12.316944,46,41,41,0,0,0,851,63,91,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12225.08,130612,111136
$TT8_MAMPS,0.023968,0.023968
$HUMID,40.98
$INTERNAL_PRESSURE,8.87918
$TCM_TEMP,16.20
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,100.3,51.1
$24V_AH,23.6,2.821
$10V_AH,10.4,2.204
$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,28.475,62.725,328.900,105.775,0.000,28.974,29.125,302.899,2.000,0.000,14.259,1108.550,247.126,519.044,1499.671,59.576,33.315,1031.961,0.000,1137.751,960.000,5.858,0.000
$DEVICE_MAMPS,175.185,82.620,699.975,580.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.177,327.662,822.348,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319020
$DATA_FILE_SIZE,33794,491
$CAP_FILE_SIZE,65945,0
$CFSIZE,260280320,255287296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1484.0
$GPS,130612,132746,4744.380,-12224.354,11,2.3,30,18.2