version: 66.06
glider: 139
mission: 8
dive: 199
start: 8 17 110 5 33 56
data:
$ID,139
$MISSION,8
$DIVE,199
$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,-2154649.2
$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
$GPS1,052756,2106.108,-15748.919,14,1.9,14,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.6
$GPS2,053340,2106.143,-15748.952,16,2.7,35,9.8
$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,83.5,10444,-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,-64.55,0.000,2,0.000,0.000,422,1676,2784,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.0,12,104,12.55,2.45,-1.55,0.000,4,0.135,0.054,2754,286,2872,0,0,0,0,0,0
$GC,147,-1.33,-58.4,24.4,-27.5,24,154,0.22,2.35,0.00,0.000,6,0.086,0.018,2804,1736,2874,0,0,0,0,0,0
$GC,352,-1.38,-58.4,60.1,-16.7,43,355,0.00,2.20,0.00,0.000,4,0.000,0.021,2804,3082,2874,0,0,0,0,0,0
$GC,445,-1.56,-58.4,73.7,-12.1,50,450,0.20,2.35,0.00,0.000,6,0.047,0.031,2745,1689,2874,0,0,0,0,0,0
$GC,714,-1.56,-58.4,110.8,-13.5,71,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1689,2876,0,0,0,0,0,0
$GC,964,-1.56,-58.4,141.7,-12.2,91,968,0.00,2.30,0.00,0.000,4,0.000,0.023,2745,3076,2876,0,0,0,0,0,0
$GC,1050,-1.66,-58.4,152.1,-10.9,97,1054,0.00,2.33,0.00,0.000,6,0.000,0.033,2745,1696,2877,0,0,0,0,0,0
$GC,1313,-1.70,-58.4,184.2,-13.1,117,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1696,2876,0,0,0,0,0,0
$GC,1560,-1.74,-58.4,216.4,-12.8,133,1561,0.12,0.00,0.00,0.000,6,0.064,0.000,2703,1696,2877,0,0,0,0,0,0
$GC,1868,-1.74,-58.4,253.2,-12.0,148,1872,0.00,2.30,0.00,0.000,4,0.000,0.025,2703,3076,2878,0,0,0,0,0,0
$GC,2006,-1.74,-58.4,267.8,-10.1,154,2010,0.00,2.33,0.00,0.000,6,0.000,0.032,2703,1695,2877,0,0,0,0,0,0
$GC,2351,-1.74,-58.4,311.9,-13.1,169,2355,0.00,2.33,0.00,0.000,4,0.000,0.026,2703,3080,2877,0,0,0,0,0,0
$GC,2494,-1.78,-58.4,328.8,-10.7,172,2498,0.00,2.33,0.00,0.000,6,0.000,0.034,2703,1690,2877,0,0,0,0,0,0
$GC,2814,-1.78,-58.4,360.8,-9.8,180,2818,0.00,2.30,0.00,0.000,4,0.000,0.028,2703,3076,2876,0,0,0,0,0,0
$GC,2837,-1.82,-58.4,363.3,-9.8,180,2841,0.00,2.35,0.00,0.000,6,0.000,0.036,2703,1695,2876,0,0,0,0,0,0
$GC,3184,-1.82,-58.4,400.8,-11.5,189,3188,0.00,2.30,0.00,0.000,4,0.000,0.029,2703,3078,2874,0,0,0,0,0,0
$GC,3250,-1.87,-58.4,408.2,-9.9,190,3255,0.00,2.38,0.00,0.000,6,0.000,0.039,2703,1695,2874,0,0,0,0,0,0
$GC,3597,-1.87,-58.4,446.5,-10.8,199,3601,0.00,2.50,0.00,0.000,4,0.000,0.058,2703,289,2870,0,0,0,0,0,0
$STATE,3627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3627,begin apogee
$GC,3636,-0.31,0.0,450.5,11.8,199,3690,1.55,0.00,49.53,0.834,6,0.084,0.000,3029,1744,2630,0,0,0,0,0,0
$STATE,3691,end apogee,CONTROL_FINISHED_OK
$STATE,3691,begin climb
$GC,3693,1.56,58.4,451.9,0.0,201,3752,1.77,2.50,50.45,0.817,4,0.029,0.033,3452,3186,2390,0,0,0,0,0,0
$GC,3862,1.30,88.9,446.7,5.1,204,3896,0.35,2.47,27.05,0.796,6,0.105,0.038,3386,1763,2266,0,0,0,0,0,0
$GC,4241,1.14,88.9,412.5,9.2,214,4246,0.17,2.47,0.00,0.000,4,0.110,0.054,3352,354,2258,0,0,0,0,0,0
$GC,4313,0.94,88.9,405.7,9.6,215,4318,0.22,2.40,0.00,0.000,6,0.107,0.028,3309,1779,2255,0,0,0,0,0,0
$GC,4654,0.97,112.0,384.0,5.8,224,4678,0.00,2.42,19.40,0.782,4,0.000,0.035,3309,3178,2172,0,0,0,0,0,0
$GC,4739,1.04,135.8,379.8,5.8,225,4768,0.00,2.45,22.70,0.782,6,0.000,0.040,3309,1765,2075,0,0,0,0,0,0
$GC,5079,1.04,138.1,355.2,7.7,234,5083,0.00,2.50,0.00,0.000,4,0.000,0.056,3308,354,2069,0,0,0,0,0,0
$GC,5099,1.00,138.1,353.1,9.6,234,5103,0.00,2.38,0.00,0.000,6,0.000,0.028,3309,1776,2067,0,0,0,0,0,0
$GC,5444,1.04,138.1,322.9,8.6,243,5448,0.00,2.50,0.00,0.000,4,0.000,0.054,3309,352,2066,0,0,0,0,0,0
$GC,5459,1.04,138.1,321.5,8.4,243,5463,0.00,2.38,0.00,0.000,6,0.000,0.028,3309,1784,2064,0,0,0,0,0,0
$GC,5790,1.09,149.5,297.8,6.9,252,5809,0.12,0.00,11.52,0.709,6,0.071,0.000,3344,1789,2020,0,0,0,0,0,0
$GC,6117,1.09,149.5,268.4,8.9,268,6121,0.00,2.53,0.00,0.000,4,0.000,0.053,3344,352,2017,0,0,0,0,0,0
$GC,6186,0.98,149.5,262.1,9.8,271,6191,0.15,2.38,0.00,0.000,6,0.110,0.026,3316,1772,2015,0,0,0,0,0,0
$GC,6520,1.03,154.9,237.9,7.4,287,6532,0.00,2.50,5.53,0.562,4,0.000,0.050,3316,357,1997,0,0,0,0,0,0
$GC,6569,1.00,157.6,234.4,7.6,289,6578,0.00,2.35,3.80,0.449,6,0.000,0.025,3316,1787,1987,0,0,0,0,0,0
$GC,6902,1.06,157.6,209.3,8.1,305,6906,0.00,2.30,0.00,0.000,4,0.000,0.029,3316,3163,1986,0,0,0,0,0,0
$GC,6946,1.15,157.6,205.6,8.2,307,6951,0.15,2.38,0.00,0.000,6,0.061,0.035,3357,1764,1986,0,0,0,0,0,0
$GC,7268,1.15,157.6,179.3,8.4,330,7272,0.00,2.42,0.00,0.000,4,0.000,0.049,3357,361,1986,0,0,0,0,0,0
$GC,7385,1.04,157.6,169.2,7.9,338,7390,0.15,2.30,0.00,0.000,6,0.105,0.022,3329,1765,1984,0,0,0,0,0,0
$GC,7646,1.13,178.4,153.7,6.0,358,7674,0.00,2.53,19.80,0.622,4,0.000,0.047,3329,357,1901,0,0,0,0,0,0
$GC,7685,1.14,191.8,151.1,6.7,360,7704,0.00,2.38,13.05,0.588,6,0.000,0.021,3329,1786,1848,0,0,0,0,0,0
$GC,7957,1.23,191.8,128.2,8.8,382,7962,0.17,2.50,0.00,0.000,4,0.054,0.047,3379,355,1846,0,0,0,0,0,0
$GC,7977,1.17,191.8,125.9,11.2,383,7983,0.12,2.30,0.00,0.000,6,0.110,0.021,3355,1780,1844,0,0,0,0,0,0
$GC,8239,1.23,195.5,102.6,7.6,404,8253,0.00,2.45,4.60,0.418,4,0.000,0.044,3355,358,1831,0,0,0,0,0,0
$GC,8287,1.18,195.5,98.3,8.6,407,8291,0.00,2.30,0.00,0.000,6,0.000,0.020,3355,1776,1829,0,0,0,0,0,0
$GC,8551,1.25,195.5,79.1,7.9,428,8555,0.00,2.25,0.00,0.000,4,0.000,0.023,3355,3162,1830,0,0,0,0,0,0
$GC,8591,1.35,195.5,75.8,8.7,431,8596,0.17,2.33,0.00,0.000,6,0.053,0.029,3406,1766,1830,0,0,0,0,0,0
$GC,8861,1.32,198.9,54.5,7.6,452,8868,0.00,0.00,4.30,0.374,6,0.000,0.000,3406,1767,1819,0,0,0,0,0,0
$GC,9121,1.34,215.7,36.4,6.4,473,9143,0.00,2.45,16.40,0.499,4,0.000,0.044,3406,359,1749,0,0,0,0,0,0
$GC,9220,1.24,215.7,28.0,9.9,482,9227,0.15,2.30,0.00,0.000,6,0.082,0.018,3372,1776,1746,0,0,0,0,0,0
$GC,9424,1.32,215.7,9.5,9.3,528,9430,0.00,2.45,0.00,0.000,4,0.000,0.041,3372,359,1745,0,0,0,0,0,0
$STATE,9490,end climb,SURFACE_DEPTH_REACHED
$STATE,9490,begin surface coast
$FINISH,2.3,1.023030
$STATE,9496,end surface coast,CONTROL_FINISHED_OK
$STATE,9496,begin surface
$SM_CCo,9521,115.93,0.492,0,0,957,410.14
$SM_GC,1.46,0.00,0.00,115.93,0.000,0.000,0.492,429,1725,957,-12.29,0.85,410.14
$IRIDIUM_FIX,2059.45,-15750.89,111199,020209
$TT8_MAMPS,0.029146
$HUMID,51.57
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,17.588
$10V_AH,10.3,14.001
$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,31.050,109.550,248.125,115.925,0.000,23.808,33.175,140.717,4.500,0.000,36.546,1079.051,6337.933,424.133,1677.058,460.968,0.000,1163.604,0.000,1638.978,0.000,29.252,0.000
$DEVICE_MAMPS,134.992,57.525,833.729,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.370,348.192,787.758,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,28767,544
$CAP_FILE_SIZE,107253,0
$CFSIZE,260165632,203137024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170810,081555,2105.862,-15748.908,42,1.8,42,9.8