version: 66.06
glider: 139
mission: 8
dive: 188
start: 8 15 110 23 22 13
data:
$ID,139
$MISSION,8
$DIVE,188
$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,-2154392
$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,1695
$C_ROLL_CLIMB,1770
$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
$GPS1,231636,2106.062,-15751.245,15,1.0,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-70.5
$GPS2,232156,2106.074,-15751.232,17,1.3,17,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_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,82.1,14373,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.80,0.000,2,0.000,0.000,428,1680,2798,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.8,-4.7,12,106,12.48,2.40,-1.33,0.000,4,0.134,0.051,2752,281,2871,0,0,0,0,0,0
$GC,135,-0.95,-58.4,20.7,-33.6,21,143,0.62,2.35,0.00,0.000,6,0.087,0.018,2891,1725,2873,0,0,0,0,0,0
$GC,337,-1.18,-58.4,44.5,-10.1,45,342,0.22,2.22,0.00,0.000,4,0.042,0.020,2823,3082,2873,0,0,0,0,0,0
$GC,397,-1.37,-58.4,50.9,-9.1,49,404,0.00,2.38,0.00,0.000,6,0.000,0.032,2823,1687,2873,0,0,0,0,0,0
$GC,657,-1.51,-58.4,78.7,-10.5,70,662,0.22,2.42,0.00,0.000,4,0.044,0.044,2755,282,2875,0,0,0,0,0,0
$GC,686,-1.43,-58.4,83.3,-15.9,72,691,0.15,2.22,0.00,0.000,6,0.102,0.018,2785,1715,2874,0,0,0,0,0,0
$GC,948,-1.52,-58.4,121.2,-12.9,92,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1721,2875,0,0,0,0,0,0
$GC,1198,-1.61,-58.4,150.3,-10.5,112,1203,0.17,2.45,0.00,0.000,4,0.051,0.046,2730,290,2876,0,0,0,0,0,0
$GC,1246,-1.54,-58.4,156.8,-13.5,115,1253,0.15,2.17,0.00,0.000,6,0.101,0.018,2760,1686,2876,0,0,0,0,0,0
$GC,1509,-1.62,-58.4,184.4,-10.4,136,1513,0.00,2.40,0.00,0.000,4,0.000,0.046,2760,282,2877,0,0,0,0,0,0
$GC,1582,-1.62,-58.4,193.5,-12.4,141,1587,0.00,2.22,0.00,0.000,6,0.000,0.019,2760,1699,2877,0,0,0,0,0,0
$GC,1845,-1.70,-58.4,222.6,-10.1,156,1850,0.15,2.25,0.00,0.000,4,0.058,0.025,2714,3068,2877,0,0,0,0,0,0
$GC,1883,-1.76,-58.4,227.0,-12.2,157,1889,0.00,2.33,0.00,0.000,6,0.000,0.033,2714,1687,2877,0,0,0,0,0,0
$GC,2201,-1.76,-58.4,260.3,-9.9,173,2205,0.00,2.25,0.00,0.000,4,0.000,0.025,2714,3068,2877,0,0,0,0,0,0
$GC,2243,-1.82,-58.4,264.7,-10.0,174,2250,0.00,2.35,0.00,0.000,6,0.000,0.034,2714,1689,2877,0,0,0,0,0,0
$GC,2559,-1.82,-58.4,296.0,-9.7,190,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1689,2876,0,0,0,0,0,0
$GC,2884,-1.82,-58.4,331.4,-10.9,199,2888,0.00,2.28,0.00,0.000,4,0.000,0.027,2714,3068,2876,0,0,0,0,0,0
$GC,2979,-1.89,-58.4,342.3,-11.8,201,2984,0.12,2.33,0.00,0.000,6,0.066,0.036,2675,1687,2875,0,0,0,0,0,0
$GC,3310,-1.85,-58.4,381.7,-11.1,209,3314,0.10,2.33,0.00,0.000,4,0.117,0.029,2695,3068,2873,0,0,0,0,0,0
$GC,3385,-1.89,-58.4,389.3,-8.8,210,3390,0.00,2.35,0.00,0.000,6,0.000,0.038,2694,1692,2873,0,0,0,0,0,0
$GC,3722,-1.89,-58.4,422.1,-9.7,219,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1690,2871,0,0,0,0,0,0
$STATE,4003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4003,begin apogee
$GC,4010,-0.31,0.0,451.2,10.2,226,4063,1.60,0.00,49.22,0.838,6,0.084,0.000,3027,1761,2630,0,0,0,0,0,0
$STATE,4064,end apogee,CONTROL_FINISHED_OK
$STATE,4064,begin climb
$GC,4067,1.56,58.4,452.0,0.0,227,4127,1.77,2.53,50.50,0.821,4,0.031,0.051,3448,352,2389,0,0,0,0,0,0
$GC,4136,1.33,147.3,451.0,-0.1,228,4224,0.30,2.40,78.43,0.823,6,0.105,0.026,3392,1773,2028,0,0,0,0,0,0
$GC,4565,1.17,147.3,402.6,12.7,239,4570,0.20,2.53,0.00,0.000,4,0.105,0.056,3354,363,2018,0,0,0,0,0,0
$GC,4666,0.99,147.3,390.2,12.2,241,4671,0.20,2.38,0.00,0.000,6,0.106,0.028,3316,1773,2013,0,0,0,0,0,0
$GC,4985,0.99,147.3,361.2,9.2,249,4989,0.00,2.50,0.00,0.000,4,0.000,0.055,3316,359,2012,0,0,0,0,0,0
$GC,5046,0.91,147.3,354.8,10.7,250,5050,0.00,2.38,0.00,0.000,6,0.000,0.028,3316,1770,2009,0,0,0,0,0,0
$GC,5395,0.91,147.3,322.1,9.4,259,5400,0.00,2.47,0.00,0.000,4,0.000,0.054,3316,360,2008,0,0,0,0,0,0
$GC,5509,0.84,147.3,311.7,8.2,261,5514,0.17,2.35,0.00,0.000,6,0.110,0.028,3283,1777,2006,0,0,0,0,0,0
$GC,5837,0.98,180.0,296.2,5.0,271,5870,0.12,2.60,26.02,0.754,4,0.069,0.054,3318,362,1895,0,0,0,0,0,0
$GC,5975,0.93,180.0,282.4,12.3,277,5979,0.00,2.35,0.00,0.000,6,0.000,0.027,3319,1770,1890,0,0,0,0,0,0
$GC,6305,0.97,180.0,244.8,12.1,293,6310,0.00,2.47,0.00,0.000,4,0.000,0.052,3318,354,1889,0,0,0,0,0,0
$GC,6344,0.92,180.0,239.7,12.7,294,6351,0.00,2.38,0.00,0.000,6,0.000,0.026,3319,1766,1887,0,0,0,0,0,0
$GC,6659,0.98,180.0,209.7,8.1,310,6664,0.00,2.47,0.00,0.000,4,0.000,0.051,3318,358,1887,0,0,0,0,0,0
$GC,6757,0.98,180.0,200.5,9.2,314,6761,0.00,2.33,0.00,0.000,6,0.000,0.025,3319,1776,1884,0,0,0,0,0,0
$GC,7085,1.05,180.0,178.1,8.0,340,7089,0.00,2.45,0.00,0.000,4,0.000,0.050,3319,361,1884,0,0,0,0,0,0
$GC,7172,1.05,180.0,168.2,12.1,346,7179,0.00,2.35,0.00,0.000,6,0.000,0.023,3319,1777,1883,0,0,0,0,0,0
$GC,7432,1.13,180.0,140.1,11.5,367,7437,0.12,2.47,0.00,0.000,4,0.066,0.048,3357,351,1883,0,0,0,0,0,0
$GC,7532,1.04,180.0,126.3,13.5,374,7537,0.15,2.33,0.00,0.000,6,0.103,0.021,3329,1794,1883,0,0,0,0,0,0
$GC,7792,1.13,188.1,103.7,7.2,394,7808,0.00,2.53,6.40,0.489,4,0.000,0.047,3328,365,1863,0,0,0,0,0,0
$GC,7948,1.13,188.6,91.4,7.8,405,7952,0.00,2.28,0.00,0.000,6,0.000,0.021,3328,1779,1861,0,0,0,0,0,0
$GC,8214,1.23,188.6,73.0,8.4,426,8216,0.17,0.00,0.00,0.000,6,0.052,0.000,3382,1785,1861,0,0,0,0,0,0
$GC,8465,1.24,198.6,48.0,7.0,446,8478,0.00,0.00,11.12,0.499,6,0.000,0.000,3381,1785,1819,0,0,0,0,0,0
$GC,8729,1.27,224.2,33.1,5.6,467,8758,0.00,2.50,23.58,0.516,4,0.000,0.043,3381,351,1714,0,0,0,0,0,0
$GC,8769,1.30,246.6,31.0,5.9,469,8795,0.00,2.35,20.05,0.503,6,0.000,0.019,3382,1790,1623,0,0,0,0,0,0
$GC,8990,1.35,246.6,9.7,10.6,517,8997,0.00,2.50,0.00,0.000,4,0.000,0.045,3381,356,1621,0,0,0,0,0,0
$GC,9021,1.35,246.6,6.3,10.5,523,9028,0.00,2.30,0.00,0.000,6,0.000,0.019,3382,1775,1620,0,0,0,0,0,0
$STATE,9045,end climb,SURFACE_DEPTH_REACHED
$STATE,9045,begin surface coast
$FINISH,0.7,1.011551
$STATE,9072,end surface coast,CONTROL_FINISHED_OK
$STATE,9072,begin surface
$SM_CCo,9096,92.18,0.495,0,0,958,410.14
$SM_GC,1.42,0.00,0.00,92.18,0.000,0.000,0.495,429,1671,958,-12.29,-0.65,410.14
$IRIDIUM_FIX,2057.14,-15748.75,091199,202035
$TT8_MAMPS,0.029146
$HUMID,52.52
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,16.708
$10V_AH,10.3,13.186
$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,31.825,100.100,265.325,92.175,0.000,31.475,31.468,134.336,4.750,0.000,17.629,1043.133,5985.112,410.675,1640.045,427.471,0.000,1139.084,0.000,1611.667,0.000,34.631,0.000
$DEVICE_MAMPS,134.225,90.506,837.564,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.053,342.534,802.772,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,28659,534
$CAP_FILE_SIZE,103406,0
$CFSIZE,260165632,203739136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160810,015634,2105.909,-15750.605,14,2.5,33,9.8