version: 66.06
glider: 139
mission: 8
dive: 89
start: 8 4 110 19 28 43
data:
$ID,139
$MISSION,8
$DIVE,89
$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,-2152167.8
$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,1840
$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,2680
$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
$GPS1,192325,2102.504,-15755.167,42,1.1,42,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-71.2
$GPS2,192826,2102.524,-15755.201,15,1.8,15,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,302.4,16011,-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,-64.53,0.000,2,0.000,0.000,426,1709,2817,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.0,-3.6,12,110,12.95,2.38,-1.83,0.000,4,0.150,0.039,2752,3099,2922,0,0,0,0,0,0
$GC,254,-1.60,-58.4,42.2,-17.9,39,258,0.00,2.40,0.00,0.000,6,0.000,0.034,2752,1689,2924,0,0,0,0,0,0
$GC,517,-1.60,-58.4,86.9,-14.8,60,521,0.00,2.33,0.00,0.000,4,0.000,0.023,2752,3106,2924,0,0,0,0,0,0
$GC,619,-1.69,-58.4,100.6,-14.3,67,625,0.00,2.40,0.00,0.000,6,0.000,0.031,2751,1680,2924,0,0,0,0,0,0
$GC,877,-1.69,-58.4,138.7,-15.8,88,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1680,2925,0,0,0,0,0,0
$GC,1131,-1.75,-58.4,174.8,-13.7,108,1136,0.15,2.38,0.00,0.000,4,0.057,0.024,2704,3102,2926,0,0,0,0,0,0
$GC,1182,-1.75,-58.4,181.7,-12.9,112,1186,0.00,2.40,0.00,0.000,6,0.000,0.033,2704,1680,2925,0,0,0,0,0,0
$GC,1456,-1.71,-58.4,219.9,-14.6,130,1462,0.12,2.35,0.00,0.000,4,0.123,0.025,2727,3101,2926,0,0,0,0,0,0
$GC,1495,-1.80,-58.4,225.6,-12.5,131,1499,0.00,2.38,0.00,0.000,6,0.000,0.032,2726,1685,2926,0,0,0,0,0,0
$GC,1811,-1.84,-58.4,263.1,-11.7,146,1816,0.12,2.42,0.00,0.000,4,0.064,0.048,2686,279,2926,0,0,0,0,0,0
$GC,1844,-1.70,-58.4,267.8,-14.2,147,1850,0.22,2.33,0.00,0.000,6,0.107,0.020,2729,1718,2927,0,0,0,0,0,0
$GC,2162,-1.75,-58.4,305.6,-11.6,161,2166,0.00,2.22,0.00,0.000,4,0.000,0.027,2729,3079,2926,0,0,0,0,0,0
$GC,2374,-1.87,-58.4,329.7,-10.8,165,2379,0.15,2.35,0.00,0.000,6,0.058,0.036,2683,1689,2926,0,0,0,0,0,0
$GC,2711,-1.87,-58.4,369.9,-11.3,174,2715,0.00,2.33,0.00,0.000,4,0.000,0.029,2683,3076,2925,0,0,0,0,0,0
$GC,2786,-1.90,-58.4,378.0,-11.0,175,2790,0.00,2.38,0.00,0.000,6,0.000,0.038,2683,1688,2924,0,0,0,0,0,0
$GC,3122,-1.90,-58.4,416.3,-11.8,184,3127,0.00,2.33,0.00,0.000,4,0.000,0.032,2683,3075,2922,0,0,0,0,0,0
$GC,3289,-1.94,-58.4,437.4,-12.6,187,3293,0.00,2.40,0.00,0.000,6,0.000,0.041,2683,1682,2921,0,0,0,0,0,0
$STATE,3378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3378,begin apogee
$GC,3386,-0.31,0.0,450.9,14.9,190,3440,1.70,0.00,49.85,0.837,6,0.093,0.000,3029,1843,2680,0,0,0,0,0,0
$STATE,3440,end apogee,CONTROL_FINISHED_OK
$STATE,3440,begin climb
$GC,3443,1.56,58.4,453.1,0.0,191,3501,1.80,2.55,50.20,0.823,4,0.041,0.051,3440,432,2441,0,0,0,0,0,0
$GC,3562,1.34,204.6,457.8,-5.3,193,3698,0.25,2.35,127.78,0.834,6,0.120,0.026,3395,1851,1845,0,0,0,0,0,0
$GC,4025,1.19,204.6,395.1,17.7,205,4027,0.17,0.00,0.00,0.000,6,0.114,0.000,3362,1852,1836,0,0,0,0,0,0
$GC,4348,1.12,204.6,346.6,14.3,213,4352,0.00,2.50,0.00,0.000,4,0.000,0.055,3362,434,1832,0,0,0,0,0,0
$GC,4405,0.97,204.6,336.9,16.6,214,4410,0.25,2.33,0.00,0.000,6,0.104,0.028,3315,1832,1830,0,0,0,0,0,0
$GC,4719,1.01,204.6,299.1,11.2,222,4723,0.00,2.50,0.00,0.000,4,0.000,0.054,3314,426,1828,0,0,0,0,0,0
$GC,4811,1.01,204.6,288.1,11.5,226,4815,0.00,2.35,0.00,0.000,6,0.000,0.028,3314,1841,1826,0,0,0,0,0,0
$GC,5136,1.08,204.6,257.7,10.5,242,5141,0.00,2.47,0.00,0.000,4,0.000,0.053,3314,432,1825,0,0,0,0,0,0
$GC,5205,1.08,204.6,248.8,13.4,245,5209,0.00,2.33,0.00,0.000,6,0.000,0.027,3314,1845,1823,0,0,0,0,0,0
$GC,5532,1.17,204.6,216.4,8.6,261,5537,0.17,2.47,0.00,0.000,4,0.058,0.050,3361,431,1823,0,0,0,0,0,0
$GC,5713,1.06,204.6,191.4,13.5,270,5718,0.15,2.30,0.00,0.000,6,0.110,0.024,3334,1844,1821,0,0,0,0,0,0
$GC,5973,1.11,204.6,163.3,11.1,290,5978,0.00,2.45,0.00,0.000,4,0.000,0.048,3334,431,1821,0,0,0,0,0,0
$GC,6088,1.11,204.6,150.5,11.5,298,6095,0.00,2.30,0.00,0.000,6,0.000,0.023,3334,1840,1820,0,0,0,0,0,0
$GC,6348,1.19,204.6,125.5,9.5,319,6353,0.10,2.42,0.00,0.000,4,0.077,0.047,3366,431,1820,0,0,0,0,0,0
$GC,6367,1.19,204.6,123.3,10.5,320,6374,0.00,2.30,0.00,0.000,6,0.000,0.022,3366,1855,1820,0,0,0,0,0,0
$GC,6628,1.19,204.6,99.3,9.9,341,6632,0.00,2.45,0.00,0.000,4,0.000,0.044,3366,427,1820,0,0,0,0,0,0
$GC,6641,1.19,204.6,97.4,10.5,342,6646,0.00,2.25,0.00,0.000,6,0.000,0.021,3366,1841,1820,0,0,0,0,0,0
$GC,6904,1.25,204.6,74.9,8.8,362,6908,0.00,2.42,0.00,0.000,4,0.000,0.044,3366,426,1820,0,0,0,0,0,0
$GC,7047,1.26,213.6,64.0,7.1,372,7057,0.00,2.28,4.45,0.392,6,0.000,0.020,3367,1854,1808,0,0,0,0,0,0
$GC,7324,1.33,219.1,44.4,7.4,394,7340,0.10,2.47,6.93,0.449,4,0.075,0.042,3402,435,1786,0,0,0,0,0,0
$GC,7346,1.33,221.8,42.5,7.7,395,7357,0.00,2.22,4.12,0.359,6,0.000,0.019,3402,1842,1774,0,0,0,0,0,0
$GC,7613,1.33,221.8,18.1,9.4,434,7620,0.00,2.45,0.00,0.000,4,0.000,0.042,3402,424,1774,0,0,0,0,0,0
$GC,7682,1.23,221.8,10.9,11.2,449,7689,0.15,2.25,0.00,0.000,6,0.081,0.018,3368,1829,1773,0,0,0,0,0,0
$STATE,7766,end climb,SURFACE_DEPTH_REACHED
$STATE,7766,begin surface coast
$FINISH,0.5,1.010598
$STATE,7804,end surface coast,CONTROL_FINISHED_OK
$STATE,7804,begin surface
$SM_CCo,7827,108.70,0.499,0,0,1007,410.14
$SM_GC,1.03,0.00,0.00,108.70,0.000,0.000,0.499,424,1660,1007,-12.31,-0.85,410.14
$IRIDIUM_FIX,2054.83,-15751.76,291099,161625
$TT8_MAMPS,0.029146
$HUMID,51.41
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.4,8.642
$10V_AH,10.4,5.912
$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,31.225,90.650,243.325,108.700,0.000,30.328,28.470,124.359,4.500,0.000,15.560,956.196,4933.361,402.796,1548.780,395.582,0.000,1087.002,0.000,1526.182,0.000,29.262,0.000
$DEVICE_MAMPS,149.565,55.224,836.797,498.550,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,319.963,308.106,734.841,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,25421,476
$CAP_FILE_SIZE,94258,0
$CFSIZE,260165632,208859136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040810,214206,2103.234,-15756.075,12,1.5,28,9.8