version: 66.06
glider: 139
mission: 8
dive: 230
start: 8 20 110 18 56 14
data:
$ID,139
$MISSION,8
$DIVE,230
$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,-2155421
$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
$GPS1,184916,2103.139,-15756.144,13,2.7,32,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.1
$GPS2,185558,2103.152,-15756.145,39,2.8,58,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,303.4,14024,-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,-64.38,0.000,2,0.000,0.000,428,1670,2782,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.2,12,105,12.48,2.45,-1.60,0.000,4,0.134,0.035,2752,3108,2871,0,0,0,0,0,0
$GC,241,-1.56,-58.4,39.0,-17.0,39,245,0.00,2.38,0.00,0.000,6,0.000,0.032,2752,1690,2873,0,0,0,0,0,0
$GC,502,-1.51,-58.4,88.0,-16.5,59,503,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1689,2873,0,0,0,0,0,0
$GC,753,-1.51,-58.4,125.9,-14.3,79,757,0.00,2.35,0.00,0.000,4,0.000,0.021,2753,3115,2875,0,0,0,0,0,0
$GC,773,-1.56,-58.4,128.8,-13.4,80,780,0.00,2.42,0.00,0.000,6,0.000,0.032,2752,1688,2874,0,0,0,0,0,0
$GC,1034,-1.56,-58.4,163.9,-13.5,101,1038,0.00,2.38,0.00,0.000,4,0.000,0.047,2752,292,2875,0,0,0,0,0,0
$GC,1093,-1.52,-58.4,171.9,-12.7,105,1099,0.00,2.28,0.00,0.000,6,0.000,0.018,2752,1737,2876,0,0,0,0,0,0
$GC,1355,-1.57,-58.4,199.4,-11.8,126,1360,0.00,2.50,0.00,0.000,4,0.000,0.045,2752,284,2876,0,0,0,0,0,0
$GC,1372,-1.57,-58.4,201.8,-12.1,127,1376,0.00,2.25,0.00,0.000,6,0.000,0.019,2752,1713,2876,0,0,0,0,0,0
$GC,1694,-1.64,-58.4,240.0,-11.4,143,1698,0.00,2.20,0.00,0.000,4,0.000,0.024,2753,3068,2876,0,0,0,0,0,0
$GC,1808,-1.79,-58.4,252.0,-9.3,148,1813,0.20,2.33,0.00,0.000,6,0.050,0.033,2696,1689,2876,0,0,0,0,0,0
$GC,2141,-1.75,-58.4,289.3,-11.3,164,2146,0.10,2.30,0.00,0.000,4,0.116,0.025,2715,3069,2875,0,0,0,0,0,0
$GC,2299,-1.81,-58.4,306.3,-9.1,170,2303,0.00,2.33,0.00,0.000,6,0.000,0.034,2715,1692,2875,0,0,0,0,0,0
$GC,2645,-1.81,-58.4,344.0,-11.8,179,2649,0.00,2.28,0.00,0.000,4,0.000,0.027,2715,3061,2874,0,0,0,0,0,0
$GC,2688,-1.88,-58.4,348.7,-10.7,180,2693,0.12,2.33,0.00,0.000,6,0.068,0.036,2678,1694,2874,0,0,0,0,0,0
$GC,3019,-1.83,-58.4,387.7,-11.7,188,3024,0.12,2.30,0.00,0.000,4,0.108,0.030,2702,3068,2872,0,0,0,0,0,0
$GC,3233,-1.87,-58.4,410.5,-9.4,192,3237,0.00,2.35,0.00,0.000,6,0.000,0.039,2702,1697,2870,0,0,0,0,0,0
$GC,3569,-1.87,-58.4,448.6,-11.9,201,3573,0.00,2.30,0.00,0.000,4,0.000,0.032,2702,3066,2868,0,0,0,0,0,0
$STATE,3581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3581,begin apogee
$GC,3589,-0.31,0.0,450.5,12.2,201,3642,1.55,0.00,48.58,0.831,6,0.084,0.000,3027,1770,2630,0,0,0,0,0,0
$STATE,3643,end apogee,CONTROL_FINISHED_OK
$STATE,3643,begin climb
$GC,3647,1.56,58.4,452.3,0.0,202,3705,1.77,2.53,50.25,0.815,4,0.030,0.052,3450,354,2390,0,0,0,0,0,0
$GC,3796,1.21,113.1,450.7,3.0,205,3852,0.45,2.33,48.05,0.812,6,0.107,0.026,3364,1742,2168,0,0,0,0,0,0
$GC,4191,1.09,113.1,413.9,10.5,215,4196,0.15,2.40,0.00,0.000,4,0.115,0.034,3336,3171,2158,0,0,0,0,0,0
$GC,4211,1.03,113.1,411.9,9.8,215,4215,0.00,2.45,0.00,0.000,6,0.000,0.040,3336,1768,2158,0,0,0,0,0,0
$GC,4558,1.00,124.9,385.4,6.8,224,4574,0.00,2.42,9.48,0.711,4,0.000,0.033,3336,3171,2119,0,0,0,0,0,0
$GC,4611,1.00,124.9,381.0,8.3,225,4615,0.00,2.45,0.00,0.000,6,0.000,0.039,3336,1770,2119,0,0,0,0,0,0
$GC,4931,0.96,124.9,352.8,8.8,233,4936,0.12,2.40,0.00,0.000,4,0.119,0.035,3313,3178,2116,0,0,0,0,0,0
$GC,5075,1.01,131.1,341.1,7.3,236,5088,0.00,2.42,6.47,0.638,6,0.000,0.038,3313,1770,2095,0,0,0,0,0,0
$GC,5398,1.01,131.1,314.6,8.5,244,5402,0.00,2.53,0.00,0.000,4,0.000,0.055,3313,350,2091,0,0,0,0,0,0
$GC,5472,0.95,131.1,306.8,10.0,245,5477,0.00,2.38,0.00,0.000,6,0.000,0.028,3313,1772,2088,0,0,0,0,0,0
$GC,5794,1.03,161.5,287.4,5.2,259,5827,0.00,2.55,27.52,0.749,4,0.000,0.054,3313,359,1971,0,0,0,0,0,0
$GC,5919,1.00,161.5,277.2,8.8,264,5926,0.00,2.40,0.00,0.000,6,0.000,0.027,3313,1771,1966,0,0,0,0,0,0
$GC,6236,1.06,161.5,251.2,8.9,280,6240,0.00,2.50,0.00,0.000,4,0.000,0.052,3313,352,1964,0,0,0,0,0,0
$GC,6273,1.06,161.5,247.7,9.5,281,6278,0.00,2.38,0.00,0.000,6,0.000,0.025,3313,1789,1962,0,0,0,0,0,0
$GC,6591,1.14,164.3,222.7,7.6,297,6596,0.15,2.33,0.00,0.000,4,0.063,0.029,3355,3169,1962,0,0,0,0,0,0
$GC,6612,1.18,169.3,221.0,7.4,298,6624,0.00,2.40,7.07,0.586,6,0.000,0.035,3355,1759,1938,0,0,0,0,0,0
$GC,6940,1.18,169.3,191.0,10.3,316,6944,0.00,2.42,0.00,0.000,4,0.000,0.050,3355,361,1937,0,0,0,0,0,0
$GC,6977,1.08,169.3,186.7,11.6,318,6984,0.00,2.35,0.00,0.000,6,0.000,0.023,3355,1775,1935,0,0,0,0,0,0
$GC,7237,1.08,169.3,162.6,8.3,339,7242,0.00,2.47,0.00,0.000,4,0.000,0.048,3355,352,1935,0,0,0,0,0,0
$GC,7368,0.99,169.3,148.8,11.8,348,7376,0.17,2.33,0.00,0.000,6,0.084,0.021,3316,1768,1933,0,0,0,0,0,0
$GC,7631,1.11,176.9,127.8,7.2,369,7646,0.10,2.47,7.50,0.522,4,0.077,0.044,3349,351,1908,0,0,0,0,0,0
$GC,7667,1.05,176.9,124.6,9.1,372,7671,0.00,2.33,0.00,0.000,6,0.000,0.021,3349,1781,1907,0,0,0,0,0,0
$GC,7933,1.13,204.7,105.7,5.4,393,7965,0.00,2.50,25.77,0.580,4,0.000,0.044,3349,359,1794,0,0,0,0,0,0
$GC,8014,1.13,204.7,98.5,10.3,399,8018,0.00,2.30,0.00,0.000,6,0.000,0.020,3349,1770,1791,0,0,0,0,0,0
$GC,8282,1.23,204.7,75.1,8.8,420,8286,0.00,2.42,0.00,0.000,4,0.000,0.045,3349,358,1791,0,0,0,0,0,0
$GC,8463,1.23,204.7,58.2,8.6,433,8467,0.00,2.30,0.00,0.000,6,0.000,0.019,3349,1790,1790,0,0,0,0,0,0
$GC,8730,1.37,219.6,40.7,6.6,454,8752,0.22,2.47,14.00,0.492,4,0.045,0.042,3412,355,1732,0,0,0,0,0,0
$GC,8861,1.25,219.6,26.5,12.5,467,8868,0.17,2.30,0.00,0.000,6,0.081,0.018,3373,1771,1729,0,0,0,0,0,0
$GC,9064,1.30,219.6,6.6,10.3,513,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1777,1729,0,0,0,0,0,0
$STATE,9113,end climb,SURFACE_DEPTH_REACHED
$STATE,9113,begin surface coast
$FINISH,0.8,1.011284
$STATE,9176,end surface coast,CONTROL_FINISHED_OK
$STATE,9176,begin surface
$SM_CCo,9199,108.38,0.488,0,0,957,410.14
$SM_GC,1.57,0.00,0.00,108.38,0.000,0.000,0.488,427,1665,957,-12.30,-0.85,410.14
$IRIDIUM_FIX,2054.83,-15753.90,141199,161615
$TT8_MAMPS,0.029146
$HUMID,52.63
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,20.059
$10V_AH,10.3,16.293
$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,30.450,109.650,244.700,108.375,0.000,23.650,38.820,172.839,4.500,0.000,59.966,1079.793,5923.860,403.719,1801.072,498.932,0.000,1188.042,0.000,1736.988,0.000,29.262,0.000
$DEVICE_MAMPS,134.225,66.729,830.661,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.104,347.711,797.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,28604,538
$CAP_FILE_SIZE,108945,0
$CFSIZE,260165632,201523200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200810,213300,2103.810,-15757.277,60,0.9,60,9.8