version: 66.06
glider: 139
mission: 8
dive: 207
start: 8 18 110 3 47 30
data:
$ID,139
$MISSION,8
$DIVE,207
$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,-2154817
$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
$GPS1,034137,2105.879,-15745.585,30,1.3,30,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.8
$GPS2,034714,2105.855,-15745.582,18,1.3,18,9.8
$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,81.2,4604,-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,-64.45,0.000,2,0.000,0.000,425,1657,2779,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.7,-4.4,12,105,12.55,2.42,-1.62,0.000,4,0.136,0.054,2753,281,2871,0,0,0,0,0,0
$GC,164,-1.42,-58.4,27.3,-22.8,28,171,0.15,2.35,0.00,0.000,6,0.092,0.018,2786,1726,2873,0,0,0,0,0,0
$GC,368,-1.42,-58.4,62.4,-14.8,45,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1731,2874,0,0,0,0,0,0
$GC,622,-1.50,-58.4,97.8,-14.6,65,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1731,2874,0,0,0,0,0,0
$GC,874,-1.58,-58.4,134.3,-13.5,85,879,0.15,2.50,0.00,0.000,4,0.057,0.046,2740,289,2876,0,0,0,0,0,0
$GC,936,-1.50,-58.4,145.0,-16.5,89,942,0.15,2.22,0.00,0.000,6,0.101,0.018,2770,1711,2876,0,0,0,0,0,0
$GC,1196,-1.57,-58.4,174.7,-10.2,110,1200,0.00,2.42,0.00,0.000,4,0.000,0.045,2770,289,2876,0,0,0,0,0,0
$GC,1235,-1.57,-58.4,179.2,-10.8,113,1240,0.00,2.22,0.00,0.000,6,0.000,0.019,2770,1695,2876,0,0,0,0,0,0
$GC,1497,-1.67,-58.4,204.4,-9.6,132,1502,0.15,2.22,0.00,0.000,4,0.058,0.023,2723,3064,2876,0,0,0,0,0,0
$GC,1512,-1.75,-58.4,206.4,-9.9,132,1519,0.00,2.33,0.00,0.000,6,0.000,0.031,2722,1689,2876,0,0,0,0,0,0
$GC,1829,-1.75,-58.4,245.6,-12.7,148,1833,0.00,2.28,0.00,0.000,4,0.000,0.024,2723,3068,2877,0,0,0,0,0,0
$GC,1913,-1.81,-58.4,255.8,-12.5,151,1918,0.00,2.33,0.00,0.000,6,0.000,0.032,2723,1689,2876,0,0,0,0,0,0
$GC,2230,-1.84,-58.4,292.0,-10.6,167,2235,0.10,2.30,0.00,0.000,4,0.077,0.025,2688,3067,2876,0,0,0,0,0,0
$GC,2276,-1.84,-58.4,297.2,-11.4,169,2281,0.00,2.30,0.00,0.000,6,0.000,0.034,2688,1694,2876,0,0,0,0,0,0
$GC,2602,-1.81,-58.4,333.9,-11.4,178,2606,0.00,2.28,0.00,0.000,4,0.000,0.027,2688,3062,2875,0,0,0,0,0,0
$GC,2645,-1.81,-58.4,339.0,-11.4,179,2649,0.00,2.30,0.00,0.000,6,0.000,0.035,2688,1689,2875,0,0,0,0,0,0
$GC,2972,-1.81,-58.4,378.3,-12.5,187,2976,0.00,2.28,0.00,0.000,4,0.000,0.028,2687,3065,2874,0,0,0,0,0,0
$GC,3095,-1.86,-58.4,392.0,-11.5,189,3099,0.00,2.33,0.00,0.000,6,0.000,0.039,2688,1697,2873,0,0,0,0,0,0
$GC,3431,-1.86,-58.4,430.2,-11.2,198,3435,0.00,2.28,0.00,0.000,4,0.000,0.031,2688,3057,2871,0,0,0,0,0,0
$GC,3450,-1.86,-58.4,432.5,-11.5,198,3454,0.00,2.33,0.00,0.000,6,0.000,0.040,2688,1692,2871,0,0,0,0,0,0
$STATE,3634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3634,begin apogee
$GC,3640,-0.31,0.0,454.5,11.8,203,3693,1.65,0.00,49.30,0.836,6,0.084,0.000,3031,1691,2630,0,0,0,0,0,0
$STATE,3694,end apogee,CONTROL_FINISHED_OK
$STATE,3694,begin climb
$GC,3697,1.56,58.4,455.8,0.0,204,3755,1.75,2.38,50.30,0.819,4,0.030,0.053,3449,362,2391,0,0,0,0,0,0
$GC,3989,1.19,97.7,446.7,4.4,210,4030,0.45,2.30,34.47,0.815,6,0.107,0.026,3362,1744,2230,0,0,0,0,0,0
$GC,4341,1.07,100.0,421.3,7.7,219,4343,0.15,0.00,0.00,0.000,6,0.113,0.000,3334,1744,2223,0,0,0,0,0,0
$GC,4665,1.05,119.5,400.2,6.1,227,4686,0.00,0.00,18.65,0.787,6,0.000,0.000,3334,1744,2143,0,0,0,0,0,0
$GC,4991,1.01,119.5,374.9,8.1,235,4995,0.00,2.42,0.00,0.000,4,0.000,0.054,3334,362,2137,0,0,0,0,0,0
$GC,5037,0.87,119.5,370.3,9.2,236,5042,0.22,2.35,0.00,0.000,6,0.110,0.028,3292,1773,2135,0,0,0,0,0,0
$GC,5362,0.94,132.1,347.6,6.8,244,5376,0.00,0.00,11.62,0.734,6,0.000,0.000,3292,1777,2091,0,0,0,0,0,0
$GC,5686,1.01,133.8,321.7,7.7,252,5691,0.12,2.38,0.00,0.000,4,0.071,0.033,3326,3182,2087,0,0,0,0,0,0
$GC,5771,1.01,140.0,315.3,7.3,253,5784,0.00,2.45,8.15,0.675,6,0.000,0.039,3326,1768,2059,0,0,0,0,0,0
$GC,6106,1.02,143.1,291.4,7.6,264,6115,0.00,2.50,4.05,0.479,4,0.000,0.054,3326,359,2046,0,0,0,0,0,0
$GC,6186,0.93,143.1,284.6,8.6,267,6191,0.12,2.35,0.00,0.000,6,0.117,0.027,3303,1773,2043,0,0,0,0,0,0
$GC,6503,1.03,157.7,263.3,6.6,282,6527,0.00,2.58,14.40,0.709,4,0.000,0.053,3303,358,1985,0,0,0,0,0,0
$GC,6579,1.03,157.7,257.6,8.1,285,6583,0.00,2.38,0.00,0.000,6,0.000,0.026,3303,1778,1982,0,0,0,0,0,0
$GC,6905,1.11,157.7,231.5,7.9,301,6910,0.17,2.35,0.00,0.000,4,0.058,0.030,3351,3170,1982,0,0,0,0,0,0
$GC,7023,1.11,157.7,221.3,8.4,306,7027,0.00,2.40,0.00,0.000,6,0.000,0.035,3351,1758,1982,0,0,0,0,0,0
$GC,7349,1.11,157.7,193.0,9.1,324,7353,0.00,2.42,0.00,0.000,4,0.000,0.049,3351,355,1981,0,0,0,0,0,0
$GC,7388,1.02,157.7,189.0,10.6,327,7393,0.15,2.33,0.00,0.000,6,0.108,0.023,3323,1789,1979,0,0,0,0,0,0
$GC,7655,1.08,157.7,166.8,9.4,348,7659,0.00,2.47,0.00,0.000,4,0.000,0.048,3323,351,1979,0,0,0,0,0,0
$GC,7737,1.08,157.7,159.1,8.7,354,7741,0.00,2.30,0.00,0.000,6,0.000,0.021,3323,1770,1978,0,0,0,0,0,0
$GC,7999,1.18,177.2,141.5,6.1,374,8023,0.15,2.53,17.45,0.606,4,0.060,0.046,3368,355,1907,0,0,0,0,0,0
$GC,8066,1.08,177.2,136.3,8.7,378,8073,0.12,2.35,0.00,0.000,6,0.085,0.021,3339,1779,1904,0,0,0,0,0,0
$GC,8330,1.16,187.1,117.5,7.0,399,8346,0.00,2.55,9.70,0.539,4,0.000,0.046,3338,355,1866,0,0,0,0,0,0
$GC,8428,1.16,187.1,108.8,8.7,406,8432,0.00,2.33,0.00,0.000,6,0.000,0.020,3339,1784,1864,0,0,0,0,0,0
$GC,8696,1.24,187.1,87.4,9.0,427,8701,0.12,0.00,0.00,0.000,6,0.065,0.000,3379,1790,1864,0,0,0,0,0,0
$GC,8955,1.24,187.1,64.0,9.3,448,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1790,1864,0,0,0,0,0,0
$GC,9209,1.26,201.0,45.4,6.6,468,9228,0.00,2.30,13.75,0.502,4,0.000,0.022,3379,3170,1808,0,0,0,0,0,0
$GC,9269,1.34,220.1,41.8,6.2,472,9293,0.00,2.40,18.02,0.506,6,0.000,0.029,3378,1763,1730,0,0,0,0,0,0
$GC,9552,1.39,220.1,17.2,9.7,515,9560,0.10,2.42,0.00,0.000,4,0.074,0.044,3412,369,1729,0,0,0,0,0,0
$GC,9593,1.31,220.1,12.8,11.0,523,9601,0.10,2.28,0.00,0.000,6,0.086,0.018,3389,1772,1726,0,0,0,0,0,0
$STATE,9691,end climb,SURFACE_DEPTH_REACHED
$STATE,9693,begin surface coast
$FINISH,0.8,1.002136
$STATE,9724,end surface coast,CONTROL_FINISHED_OK
$STATE,9724,begin surface
$SM_CCo,9747,106.47,0.493,0,0,957,410.14
$SM_GC,1.40,0.00,0.00,106.47,0.000,0.000,0.493,429,1681,957,-12.29,-0.40,410.14
$IRIDIUM_FIX,2057.14,-15746.61,121199,010128
$TT8_MAMPS,0.029913
$HUMID,52.87
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,18.218
$10V_AH,10.4,14.597
$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,31.350,99.300,249.875,106.475,0.000,23.726,33.542,153.842,4.500,0.000,18.940,1088.549,6544.034,422.285,1676.699,455.769,0.000,1159.704,0.000,1651.996,0.000,29.262,0.000
$DEVICE_MAMPS,135.759,76.700,836.030,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,371.802,347.956,795.006,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31794,552
$CAP_FILE_SIZE,107541,0
$CFSIZE,260165632,202715136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180810,063325,2105.776,-15745.491,62,1.4,62,9.8