version: 66.06
glider: 139
mission: 8
dive: 198
start: 8 17 110 2 46 19
data:
$ID,139
$MISSION,8
$DIVE,198
$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,-2154612
$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
$GPS1,024037,2106.270,-15748.902,18,1.3,29,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.6
$GPS2,024604,2106.255,-15748.889,16,2.9,35,9.8
$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,84.7,10348,-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,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.18,0.000,2,0.000,0.000,429,1735,2779,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.7,12,110,12.50,2.58,-1.65,0.000,4,0.136,0.054,2751,279,2873,0,0,0,0,0,0
$GC,119,-0.29,-58.4,16.6,-29.3,17,126,1.33,2.38,0.00,0.000,6,0.091,0.019,3031,1735,2874,0,0,0,0,0,0
$GC,322,-1.11,-58.4,29.2,-6.1,63,329,0.75,2.50,0.00,0.000,4,0.041,0.042,2849,288,2876,0,0,0,0,0,0
$GC,368,-1.23,-58.4,33.4,-9.5,68,372,0.00,2.22,0.00,0.000,6,0.000,0.018,2849,1697,2875,0,0,0,0,0,0
$GC,633,-1.44,-58.4,59.6,-8.5,89,638,0.25,2.22,0.00,0.000,4,0.041,0.020,2772,3073,2876,0,0,0,0,0,0
$GC,707,-1.53,-58.4,67.8,-11.3,94,714,0.00,2.35,0.00,0.000,6,0.000,0.031,2772,1687,2876,0,0,0,0,0,0
$GC,968,-1.60,-58.4,101.1,-13.3,115,972,0.00,2.38,0.00,0.000,4,0.000,0.046,2771,293,2877,0,0,0,0,0,0
$GC,1077,-1.60,-58.4,116.5,-14.4,123,1081,0.00,2.22,0.00,0.000,6,0.000,0.018,2771,1705,2877,0,0,0,0,0,0
$GC,1346,-1.68,-58.4,150.3,-11.7,144,1348,0.17,0.00,0.00,0.000,6,0.051,0.000,2719,1710,2877,0,0,0,0,0,0
$GC,1597,-1.68,-58.4,185.2,-13.2,164,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1711,2878,0,0,0,0,0,0
$GC,1846,-1.68,-58.4,216.3,-12.9,180,1850,0.00,2.20,0.00,0.000,4,0.000,0.024,2719,3063,2878,0,0,0,0,0,0
$GC,1907,-1.74,-58.4,223.9,-12.3,182,1911,0.00,2.28,0.00,0.000,6,0.000,0.034,2718,1696,2878,0,0,0,0,0,0
$GC,2223,-1.74,-58.4,265.3,-14.1,197,2227,0.00,2.28,0.00,0.000,4,0.000,0.025,2718,3062,2878,0,0,0,0,0,0
$GC,2238,-1.77,-58.4,267.2,-12.5,197,2242,0.00,2.28,0.00,0.000,6,0.000,0.031,2718,1692,2878,0,0,0,0,0,0
$GC,2574,-1.81,-58.4,304.9,-10.1,212,2578,0.00,2.28,0.00,0.000,4,0.000,0.025,2719,3065,2878,0,0,0,0,0,0
$GC,2683,-1.87,-58.4,313.7,-7.0,214,2688,0.12,2.30,0.00,0.000,6,0.066,0.035,2681,1691,2878,0,0,0,0,0,0
$GC,3035,-1.83,-58.4,350.4,-11.2,223,3040,0.10,2.28,0.00,0.000,4,0.114,0.028,2700,3059,2877,0,0,0,0,0,0
$GC,3055,-1.83,-58.4,352.8,-10.5,223,3059,0.00,2.30,0.00,0.000,6,0.000,0.036,2700,1694,2877,0,0,0,0,0,0
$GC,3405,-1.83,-58.4,394.7,-12.2,232,3409,0.00,2.28,0.00,0.000,4,0.000,0.029,2700,3061,2875,0,0,0,0,0,0
$GC,3576,-1.90,-58.4,413.8,-10.9,235,3581,0.00,2.33,0.00,0.000,6,0.000,0.040,2700,1697,2873,0,0,0,0,0,0
$STATE,3909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3910,begin apogee
$GC,3916,-0.31,0.0,450.6,10.6,244,3970,1.58,0.00,49.75,0.837,6,0.082,0.000,3029,1695,2630,0,0,0,0,0,0
$STATE,3971,end apogee,CONTROL_FINISHED_OK
$STATE,3971,begin climb
$GC,3973,1.56,58.4,452.1,0.0,245,4032,1.77,2.53,50.33,0.820,4,0.030,0.032,3450,3136,2391,0,0,0,0,0,0
$GC,4124,1.34,114.0,450.3,2.9,248,4181,0.30,2.40,49.05,0.819,6,0.105,0.038,3394,1761,2165,0,0,0,0,0,0
$GC,4518,1.16,114.0,412.5,10.8,258,4523,0.20,2.50,0.00,0.000,4,0.107,0.054,3356,355,2155,0,0,0,0,0,0
$GC,4543,0.97,114.0,409.7,10.5,258,4548,0.22,2.30,0.00,0.000,6,0.104,0.028,3313,1741,2152,0,0,0,0,0,0
$GC,4884,0.97,114.0,379.6,9.0,267,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1741,2151,0,0,0,0,0,0
$GC,5210,0.98,124.7,356.9,6.9,275,5223,0.00,2.45,7.78,0.683,4,0.000,0.035,3313,3178,2121,0,0,0,0,0,0
$GC,5325,1.05,138.2,348.4,6.7,277,5345,0.00,2.45,13.85,0.749,6,0.000,0.038,3313,1765,2065,0,0,0,0,0,0
$GC,5676,1.05,138.2,321.1,8.4,286,5680,0.00,2.45,0.00,0.000,4,0.000,0.054,3313,361,2061,0,0,0,0,0,0
$GC,5824,0.98,138.2,307.1,10.3,289,5829,0.00,2.33,0.00,0.000,6,0.000,0.027,3313,1769,2057,0,0,0,0,0,0
$GC,6142,1.02,145.2,284.7,7.3,302,6155,0.00,2.53,6.03,0.607,4,0.000,0.052,3313,368,2038,0,0,0,0,0,0
$GC,6291,0.99,154.7,272.8,7.0,308,6307,0.00,2.35,10.20,0.681,6,0.000,0.026,3313,1783,1999,0,0,0,0,0,0
$GC,6616,1.05,154.7,246.2,8.6,324,6620,0.00,2.33,0.00,0.000,4,0.000,0.030,3313,3168,1996,0,0,0,0,0,0
$GC,6723,1.14,154.7,235.7,9.7,328,6728,0.15,2.40,0.00,0.000,6,0.061,0.036,3354,1761,1996,0,0,0,0,0,0
$GC,7040,1.14,154.7,207.1,8.5,343,7044,0.00,2.33,0.00,0.000,4,0.000,0.028,3355,3168,1995,0,0,0,0,0,0
$GC,7060,1.14,155.8,205.3,7.8,344,7064,0.00,2.40,0.00,0.000,6,0.000,0.034,3355,1763,1995,0,0,0,0,0,0
$GC,7386,1.14,156.8,179.9,7.8,367,7390,0.00,2.42,0.00,0.000,4,0.000,0.047,3355,355,1995,0,0,0,0,0,0
$GC,7404,1.07,156.8,177.8,8.9,368,7411,0.00,2.35,0.00,0.000,6,0.000,0.022,3355,1773,1992,0,0,0,0,0,0
$GC,7665,1.08,164.5,156.6,7.2,389,7679,0.00,0.00,9.48,0.574,6,0.000,0.000,3355,1779,1958,0,0,0,0,0,0
$GC,7932,1.08,164.5,133.3,8.4,410,7936,0.00,2.45,0.00,0.000,4,0.000,0.044,3354,354,1957,0,0,0,0,0,0
$GC,7946,1.05,164.5,131.9,8.6,411,7951,0.12,2.30,0.00,0.000,6,0.110,0.021,3331,1786,1955,0,0,0,0,0,0
$GC,8209,1.14,186.5,113.9,5.9,431,8238,0.00,2.50,20.65,0.584,4,0.000,0.044,3330,360,1867,0,0,0,0,0,0
$GC,8254,1.17,208.3,111.1,5.9,434,8282,0.10,2.33,20.48,0.573,6,0.076,0.020,3364,1787,1779,0,0,0,0,0,0
$GC,8534,1.17,208.3,86.1,9.9,456,8538,0.00,2.47,0.00,0.000,4,0.000,0.045,3363,357,1777,0,0,0,0,0,0
$GC,8684,1.13,208.3,68.2,9.7,467,8688,0.00,2.28,0.00,0.000,6,0.000,0.019,3364,1762,1773,0,0,0,0,0,0
$GC,8951,1.20,209.9,49.6,7.8,488,8955,0.00,2.30,0.00,0.000,4,0.000,0.024,3364,3164,1774,0,0,0,0,0,0
$GC,8978,1.31,224.6,47.7,6.6,490,8999,0.00,2.38,14.52,0.505,6,0.000,0.029,3364,1757,1712,0,0,0,0,0,0
$GC,9257,1.40,224.6,25.6,7.9,519,9265,0.17,2.42,0.00,0.000,4,0.051,0.044,3415,366,1712,0,0,0,0,0,0
$GC,9324,1.27,224.6,19.5,10.2,533,9331,0.15,2.30,0.00,0.000,6,0.081,0.018,3380,1796,1710,0,0,0,0,0,0
$STATE,9486,end climb,SURFACE_DEPTH_REACHED
$STATE,9486,begin surface coast
$FINISH,0.9,1.023437
$STATE,9517,end surface coast,CONTROL_FINISHED_OK
$STATE,9517,begin surface
$SM_CCo,9541,103.55,0.492,0,0,957,410.14
$SM_GC,1.34,0.00,0.00,103.55,0.000,0.000,0.492,422,1675,957,-12.32,-0.54,410.14
$IRIDIUM_FIX,2057.14,-15748.75,111199,000006
$TT8_MAMPS,0.029146
$HUMID,52.08
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,17.508
$10V_AH,10.3,13.928
$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,32.550,104.025,252.100,103.550,0.000,22.756,28.504,135.926,4.500,0.000,36.669,1125.988,6176.098,412.638,1810.770,443.071,0.000,1191.182,0.000,1774.434,0.000,29.256,0.000
$DEVICE_MAMPS,135.759,64.428,836.797,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.443,377.063,895.328,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31748,577
$CAP_FILE_SIZE,108794,0
$CFSIZE,260165632,203194368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170810,052756,2106.108,-15748.919,14,1.9,14,9.8