version: 66.06
glider: 139
mission: 8
dive: 78
start: 8 3 110 14 34 49
data:
$ID,139
$MISSION,8
$DIVE,78
$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,60
$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,-2151891.5
$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,3100
$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,1690
$C_ROLL_CLIMB,1850
$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,2690
$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
$GPS1,142901,2102.294,-15748.361,69,1.1,69,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-72.3
$GPS2,143432,2102.325,-15748.392,13,1.6,13,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,187.5,8547,-23.8,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,431,1675,2839,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-4.3,12,110,12.57,2.45,-1.62,0.000,4,0.138,0.054,2753,282,2932,0,0,0,0,0,0
$GC,220,-1.48,-58.4,38.2,-18.8,35,227,0.08,2.35,0.00,0.000,6,0.100,0.018,2771,1727,2934,0,0,0,0,0,0
$GC,480,-1.48,-58.4,75.9,-14.0,56,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1727,2935,0,0,0,0,0,0
$GC,732,-1.56,-58.4,110.7,-12.5,76,736,0.00,2.50,0.00,0.000,4,0.000,0.047,2770,279,2936,0,0,0,0,0,0
$GC,751,-1.56,-58.4,113.5,-13.4,77,757,0.00,2.25,0.00,0.000,6,0.000,0.019,2771,1714,2936,0,0,0,0,0,0
$GC,1012,-1.63,-58.4,149.0,-13.0,98,1014,0.12,0.00,0.00,0.000,6,0.066,0.000,2732,1720,2937,0,0,0,0,0,0
$GC,1262,-1.63,-58.4,183.5,-12.9,118,1266,0.00,2.17,0.00,0.000,4,0.000,0.024,2732,3054,2937,0,0,0,0,0,0
$GC,1349,-1.73,-58.4,194.4,-13.0,124,1353,0.00,2.30,0.00,0.000,6,0.000,0.033,2732,1689,2937,0,0,0,0,0,0
$GC,1612,-1.77,-58.4,228.5,-12.9,138,1616,0.00,2.22,0.00,0.000,4,0.000,0.025,2732,3052,2938,0,0,0,0,0,0
$GC,1635,-1.83,-58.4,231.4,-11.6,139,1640,0.15,2.30,0.00,0.000,6,0.059,0.033,2688,1686,2937,0,0,0,0,0,0
$GC,1966,-1.80,-58.4,277.4,-14.9,155,1970,0.00,2.42,0.00,0.000,4,0.000,0.048,2688,277,2937,0,0,0,0,0,0
$GC,1981,-1.73,-58.4,280.2,-13.7,155,1987,0.17,2.22,0.00,0.000,6,0.099,0.021,2723,1685,2937,0,0,0,0,0,0
$GC,2316,-1.77,-58.4,315.5,-10.9,169,2320,0.00,2.42,0.00,0.000,4,0.000,0.049,2722,279,2937,0,0,0,0,0,0
$GC,2344,-1.74,-58.4,319.5,-13.5,169,2349,0.00,2.25,0.00,0.000,6,0.000,0.021,2723,1688,2937,0,0,0,0,0,0
$GC,2686,-1.79,-58.4,358.6,-11.0,178,2690,0.00,2.28,0.00,0.000,4,0.000,0.029,2723,3069,2936,0,0,0,0,0,0
$GC,2794,-1.90,-58.4,369.3,-9.5,180,2799,0.17,2.33,0.00,0.000,6,0.058,0.038,2673,1690,2935,0,0,0,0,0,0
$GC,3110,-1.87,-58.4,408.4,-13.0,188,3114,0.00,2.35,0.00,0.000,4,0.000,0.033,2673,3066,2934,0,0,0,0,0,0
$GC,3188,-1.87,-58.4,418.0,-12.0,189,3193,0.00,2.35,0.00,0.000,6,0.000,0.040,2673,1688,2933,0,0,0,0,0,0
$STATE,3476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3476,begin apogee
$GC,3482,-0.31,0.0,451.7,11.3,196,3537,1.73,0.00,50.12,0.838,6,0.087,0.000,3029,1854,2690,0,0,0,0,0,0
$STATE,3537,end apogee,CONTROL_FINISHED_OK
$STATE,3538,begin climb
$GC,3541,1.56,58.4,452.5,0.0,197,3599,1.75,2.42,50.33,0.822,4,0.030,0.038,3450,3236,2451,0,0,0,0,0,0
$GC,3644,1.39,157.3,452.2,-1.0,199,3740,0.25,2.40,86.78,0.828,6,0.110,0.038,3403,1849,2048,0,0,0,0,0,0
$GC,4081,1.21,157.3,397.7,14.6,210,4086,0.20,2.53,0.00,0.000,4,0.113,0.055,3365,436,2037,0,0,0,0,0,0
$GC,4152,1.00,157.3,386.9,14.9,211,4158,0.25,2.35,0.00,0.000,6,0.104,0.028,3318,1852,2033,0,0,0,0,0,0
$GC,4493,1.00,157.3,352.7,9.2,220,4498,0.00,2.50,0.00,0.000,4,0.000,0.054,3318,442,2031,0,0,0,0,0,0
$GC,4532,0.92,157.3,348.9,10.0,220,4539,0.00,2.33,0.00,0.000,6,0.000,0.028,3318,1851,2029,0,0,0,0,0,0
$GC,4863,0.93,166.4,323.4,7.1,229,4871,0.00,0.00,5.72,0.607,6,0.000,0.000,3318,1856,2011,0,0,0,0,0,0
$GC,5169,0.93,166.4,297.3,9.1,237,5173,0.00,2.50,0.00,0.000,4,0.000,0.052,3318,438,2009,0,0,0,0,0,0
$GC,5244,0.87,166.4,289.5,10.3,240,5249,0.15,2.35,0.00,0.000,6,0.119,0.028,3291,1860,2007,0,0,0,0,0,0
$GC,5567,1.01,187.8,268.3,6.0,256,5593,0.12,2.58,19.90,0.726,4,0.071,0.051,3326,444,1923,0,0,0,0,0,0
$GC,5659,0.96,187.8,260.1,10.3,260,5663,0.00,2.33,0.00,0.000,6,0.000,0.026,3326,1852,1920,0,0,0,0,0,0
$GC,5989,1.00,187.8,227.0,9.8,276,5993,0.00,2.47,0.00,0.000,4,0.000,0.049,3325,438,1919,0,0,0,0,0,0
$GC,6057,0.96,187.8,220.4,11.2,279,6061,0.00,2.30,0.00,0.000,6,0.000,0.025,3326,1856,1917,0,0,0,0,0,0
$GC,6378,1.01,187.8,189.5,8.5,298,6382,0.00,2.47,0.00,0.000,4,0.000,0.048,3325,435,1917,0,0,0,0,0,0
$GC,6445,1.01,187.8,182.6,10.8,303,6449,0.00,2.30,0.00,0.000,6,0.000,0.024,3326,1857,1915,0,0,0,0,0,0
$GC,6716,1.08,191.7,163.2,7.5,324,6720,0.00,2.45,0.00,0.000,4,0.000,0.047,3326,439,1915,0,0,0,0,0,0
$GC,6795,1.08,191.7,155.3,10.9,330,6799,0.00,2.28,0.00,0.000,6,0.000,0.023,3326,1863,1914,0,0,0,0,0,0
$GC,7061,1.17,191.7,132.7,8.0,351,7066,0.12,2.47,0.00,0.000,4,0.067,0.045,3364,440,1914,0,0,0,0,0,0
$GC,7280,1.09,191.7,110.6,9.5,367,7285,0.12,2.28,0.00,0.000,6,0.109,0.021,3340,1861,1914,0,0,0,0,0,0
$GC,7543,1.20,218.1,94.0,5.5,387,7576,0.00,2.50,26.55,0.576,4,0.000,0.043,3339,440,1799,0,0,0,0,0,0
$GC,7605,1.20,218.1,89.8,8.1,391,7610,0.00,2.28,0.00,0.000,6,0.000,0.020,3340,1852,1797,0,0,0,0,0,0
$GC,7865,1.29,218.1,66.6,9.2,412,7870,0.17,2.47,0.00,0.000,4,0.054,0.044,3390,431,1796,0,0,0,0,0,0
$GC,7974,1.18,218.1,52.8,12.9,420,7979,0.17,2.28,0.00,0.000,6,0.100,0.020,3357,1862,1794,0,0,0,0,0,0
$GC,8242,1.28,231.1,31.1,6.7,441,8264,0.10,2.50,11.95,0.488,4,0.077,0.043,3390,441,1746,0,0,0,0,0,0
$GC,8512,1.24,231.1,5.1,9.4,500,8519,0.08,2.25,0.00,0.000,6,0.084,0.018,3371,1840,1743,0,0,0,0,0,0
$STATE,8537,end climb,SURFACE_DEPTH_REACHED
$STATE,8537,begin surface coast
$FINISH,0.4,1.012703
$STATE,8576,end surface coast,CONTROL_FINISHED_OK
$STATE,8578,begin surface
$SM_CCo,8601,104.78,0.502,0,0,1016,410.14
$SM_GC,1.23,0.00,0.00,104.78,0.000,0.000,0.502,430,1669,1016,-12.28,-0.62,410.14
$IRIDIUM_FIX,2054.83,-15746.61,281099,121202
$TT8_MAMPS,0.028379
$HUMID,51.45
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.4,7.710
$10V_AH,10.4,5.121
$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,31.100,95.250,251.350,104.775,0.000,30.186,41.449,143.796,4.500,0.000,13.983,1009.827,5627.087,409.643,1556.644,433.664,0.000,1097.727,0.000,1536.619,0.000,29.258,0.000
$DEVICE_MAMPS,138.060,55.224,837.564,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.155,334.287,770.246,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,28662,514
$CAP_FILE_SIZE,99009,0
$CFSIZE,260165632,209395712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030810,170050,2101.584,-15749.135,16,1.7,16,9.8