version: 66.06
glider: 139
mission: 8
dive: 212
start: 8 18 110 17 35 31
data:
$ID,139
$MISSION,8
$DIVE,212
$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,-2154918
$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
$GPS1,173001,2105.802,-15744.001,46,1.4,46,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-73.5
$GPS2,173514,2105.808,-15744.023,11,1.6,11,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$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,204.8,17761,-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,-64.40,0.000,2,0.000,0.000,429,1703,2766,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-3.9,12,110,12.50,2.50,-1.90,0.000,4,0.135,0.052,2753,273,2872,0,0,0,0,0,0
$GC,253,-1.42,-58.4,46.1,-19.9,37,258,0.17,2.35,0.00,0.000,6,0.107,0.018,2787,1732,2873,0,0,0,0,0,0
$GC,519,-1.47,-58.4,83.3,-12.5,58,523,0.00,2.20,0.00,0.000,4,0.000,0.021,2786,3081,2874,0,0,0,0,0,0
$GC,543,-1.57,-58.4,86.8,-12.9,60,548,0.12,2.33,0.00,0.000,6,0.063,0.031,2745,1691,2874,0,0,0,0,0,0
$GC,809,-1.57,-58.4,128.5,-16.7,81,813,0.00,2.28,0.00,0.000,4,0.000,0.021,2745,3079,2875,0,0,0,0,0,0
$GC,879,-1.63,-58.4,137.8,-12.2,86,883,0.00,2.30,0.00,0.000,6,0.000,0.031,2745,1689,2875,0,0,0,0,0,0
$GC,1139,-1.66,-58.4,170.2,-13.3,106,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1689,2876,0,0,0,0,0,0
$GC,1393,-1.70,-58.4,201.1,-11.0,126,1397,0.00,2.28,0.00,0.000,4,0.000,0.023,2745,3077,2876,0,0,0,0,0,0
$GC,1417,-1.78,-58.4,204.1,-11.1,127,1421,0.15,2.30,0.00,0.000,6,0.058,0.031,2699,1691,2876,0,0,0,0,0,0
$GC,1746,-1.74,-58.4,245.0,-12.5,143,1751,0.10,2.30,0.00,0.000,4,0.117,0.024,2718,3075,2876,0,0,0,0,0,0
$GC,1791,-1.81,-58.4,251.3,-13.8,145,1795,0.00,2.33,0.00,0.000,6,0.000,0.034,2718,1689,2876,0,0,0,0,0,0
$GC,2124,-1.81,-58.4,292.9,-12.8,161,2128,0.00,2.28,0.00,0.000,4,0.000,0.025,2718,3076,2876,0,0,0,0,0,0
$GC,2245,-1.88,-58.4,306.6,-10.1,165,2250,0.12,2.33,0.00,0.000,6,0.065,0.034,2679,1688,2876,0,0,0,0,0,0
$GC,2583,-1.83,-58.4,348.7,-13.0,174,2587,0.10,2.33,0.00,0.000,4,0.115,0.028,2698,3074,2875,0,0,0,0,0,0
$GC,2662,-1.89,-58.4,359.6,-12.9,175,2667,0.00,2.35,0.00,0.000,6,0.000,0.036,2698,1693,2874,0,0,0,0,0,0
$GC,3004,-1.89,-58.4,397.7,-10.1,184,3008,0.00,2.45,0.00,0.000,4,0.000,0.054,2697,290,2873,0,0,0,0,0,0
$GC,3032,-1.81,-58.4,400.9,-11.1,184,3036,0.00,2.28,0.00,0.000,6,0.000,0.024,2697,1689,2873,0,0,0,0,0,0
$GC,3368,-1.81,-58.4,435.5,-10.7,193,3372,0.00,2.30,0.00,0.000,4,0.000,0.031,2697,3077,2870,0,0,0,0,0,0
$GC,3495,-1.87,-58.4,448.8,-9.8,195,3499,0.00,2.38,0.00,0.000,6,0.000,0.041,2698,1689,2870,0,0,0,0,0,0
$STATE,3503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3503,begin apogee
$GC,3509,-0.31,0.0,450.0,9.5,196,3563,1.60,0.00,49.22,0.830,6,0.082,0.000,3032,1780,2630,0,0,0,0,0,0
$STATE,3563,end apogee,CONTROL_FINISHED_OK
$STATE,3564,begin climb
$GC,3567,1.56,58.4,451.1,0.0,197,3625,1.77,0.00,50.78,0.815,6,0.028,0.000,3454,1781,2390,0,0,0,0,0,0
$GC,3951,1.29,95.9,439.1,4.5,207,3990,0.38,0.00,32.58,0.814,6,0.105,0.000,3382,1780,2239,0,0,0,0,0,0
$GC,4316,1.14,101.7,413.5,7.4,216,4324,0.17,0.00,5.47,0.613,6,0.117,0.000,3350,1781,2215,0,0,0,0,0,0
$GC,4642,1.09,121.1,392.4,6.1,224,4662,0.00,0.00,18.38,0.786,6,0.000,0.000,3350,1781,2136,0,0,0,0,0,0
$GC,4965,1.02,121.1,364.6,8.5,232,4971,0.15,2.55,0.00,0.000,4,0.114,0.056,3322,354,2131,0,0,0,0,0,0
$GC,5059,0.93,128.0,357.4,7.3,234,5071,0.00,2.33,6.70,0.655,6,0.000,0.028,3322,1751,2108,0,0,0,0,0,0
$GC,5390,0.95,144.2,335.8,6.4,242,5411,0.00,2.47,15.73,0.755,4,0.000,0.034,3322,3182,2041,0,0,0,0,0,0
$GC,5520,0.99,145.4,326.5,7.8,244,5526,0.00,2.45,0.00,0.000,6,0.000,0.039,3322,1774,2041,0,0,0,0,0,0
$GC,5851,0.99,145.4,301.0,7.9,253,5855,0.00,2.50,0.00,0.000,4,0.000,0.054,3321,352,2038,0,0,0,0,0,0
$GC,5995,0.92,145.4,288.0,10.1,258,6000,0.12,2.35,0.00,0.000,6,0.119,0.026,3300,1772,2034,0,0,0,0,0,0
$GC,6318,1.02,171.7,267.0,5.5,274,6349,0.10,2.58,24.90,0.733,4,0.079,0.054,3328,355,1929,0,0,0,0,0,0
$GC,6387,0.95,171.7,261.6,10.1,277,6392,0.00,2.38,0.00,0.000,6,0.000,0.025,3329,1783,1925,0,0,0,0,0,0
$GC,6723,0.99,171.7,231.6,9.4,293,6727,0.00,2.50,0.00,0.000,4,0.000,0.050,3328,356,1924,0,0,0,0,0,0
$GC,6770,0.93,171.7,226.7,10.2,295,6775,0.12,2.35,0.00,0.000,6,0.114,0.025,3306,1770,1922,0,0,0,0,0,0
$GC,7099,1.02,171.7,199.5,8.9,311,7103,0.00,2.47,0.00,0.000,4,0.000,0.050,3306,352,1922,0,0,0,0,0,0
$GC,7238,1.02,171.7,186.6,8.0,321,7242,0.00,2.33,0.00,0.000,6,0.000,0.023,3306,1780,1920,0,0,0,0,0,0
$GC,7503,1.13,172.6,168.9,7.8,342,7505,0.17,0.00,0.00,0.000,6,0.056,0.000,3355,1786,1919,0,0,0,0,0,0
$GC,7754,1.13,172.6,144.7,8.5,362,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1786,1920,0,0,0,0,0,0
$GC,8006,1.17,172.6,120.2,8.4,382,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,1786,1920,0,0,0,0,0,0
$GC,8260,1.22,192.5,102.2,6.1,402,8281,0.00,0.00,18.17,0.568,6,0.000,0.000,3355,1786,1844,0,0,0,0,0,0
$GC,8535,1.30,192.5,80.4,8.5,424,8540,0.12,2.47,0.00,0.000,4,0.064,0.045,3394,354,1843,0,0,0,0,0,0
$GC,8697,1.20,192.5,64.7,8.1,436,8702,0.17,2.30,0.00,0.000,6,0.099,0.019,3360,1783,1840,0,0,0,0,0,0
$GC,8965,1.33,227.4,50.9,4.7,457,9007,0.12,2.50,31.10,0.528,4,0.065,0.043,3399,349,1700,0,0,0,0,0,0
$GC,9266,1.25,227.4,19.7,11.9,491,9274,0.10,2.30,0.00,0.000,6,0.082,0.018,3375,1769,1697,0,0,0,0,0,0
$STATE,9444,end climb,SURFACE_DEPTH_REACHED
$STATE,9444,begin surface coast
$FINISH,0.8,1.023004
$STATE,9480,end surface coast,CONTROL_FINISHED_OK
$STATE,9480,begin surface
$SM_CCo,9504,107.68,0.490,0,0,958,410.14
$SM_GC,1.36,0.00,0.00,107.68,0.000,0.000,0.490,426,1663,958,-12.30,-0.88,410.14
$IRIDIUM_FIX,2059.45,-15743.60,121199,151553
$TT8_MAMPS,0.028379
$HUMID,52.08
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,18.615
$10V_AH,10.4,14.972
$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,31.050,80.900,253.025,107.675,0.000,31.014,31.446,135.001,4.500,0.000,11.956,1066.321,6358.624,446.602,1614.146,437.396,0.000,1130.065,0.000,1603.428,0.000,29.264,0.000
$DEVICE_MAMPS,134.992,72.098,829.894,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.047,345.223,777.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,28589,540
$CAP_FILE_SIZE,100237,0
$CFSIZE,260165632,202461184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180810,201701,2105.321,-15745.079,40,1.5,40,9.8