version: 66.06
glider: 139
mission: 8
dive: 254
start: 8 23 110 13 49 43
data:
$ID,139
$MISSION,8
$DIVE,254
$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,-2155886.8
$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
$GPS1,133936,2106.624,-15755.639,14,1.9,24,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-70.4
$GPS2,134925,2106.645,-15755.717,15,1.9,32,9.8
$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,84.2,22169,-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,-64.05,0.000,2,0.000,0.000,429,1730,2750,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.8,12,110,12.43,2.53,-2.30,0.000,4,0.133,0.054,2752,292,2872,0,0,0,0,0,0
$GC,119,-0.34,-58.4,14.7,-25.3,17,126,1.27,2.35,0.00,0.000,6,0.087,0.019,3023,1739,2874,0,0,0,0,0,0
$GC,321,-0.90,-58.4,26.7,-4.5,63,328,0.50,2.50,0.00,0.000,4,0.029,0.041,2886,287,2874,0,0,0,0,0,0
$GC,395,-1.13,-58.4,34.2,-11.2,74,400,0.15,2.22,0.00,0.000,6,0.055,0.018,2837,1697,2874,0,0,0,0,0,0
$GC,657,-1.27,-58.4,67.2,-12.1,94,661,0.00,2.45,0.00,0.000,4,0.000,0.045,2837,284,2875,0,0,0,0,0,0
$GC,672,-1.38,-58.4,69.5,-12.4,95,677,0.17,2.20,0.00,0.000,6,0.050,0.018,2782,1703,2875,0,0,0,0,0,0
$GC,934,-1.46,-58.4,102.3,-12.8,115,938,0.00,2.20,0.00,0.000,4,0.000,0.021,2782,3064,2876,0,0,0,0,0,0
$GC,992,-1.61,-58.4,109.5,-11.8,119,997,0.15,2.30,0.00,0.000,6,0.054,0.031,2735,1683,2876,0,0,0,0,0,0
$GC,1255,-1.61,-58.4,148.5,-15.0,140,1259,0.00,2.25,0.00,0.000,4,0.000,0.021,2735,3058,2877,0,0,0,0,0,0
$GC,1339,-1.67,-58.4,159.0,-12.5,146,1343,0.00,2.28,0.00,0.000,6,0.000,0.031,2735,1687,2877,0,0,0,0,0,0
$GC,1599,-1.67,-58.4,191.3,-12.5,166,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1688,2877,0,0,0,0,0,0
$GC,1860,-1.67,-58.4,221.4,-11.2,181,1864,0.00,2.22,0.00,0.000,4,0.000,0.022,2735,3059,2877,0,0,0,0,0,0
$GC,1889,-1.75,-58.4,225.2,-12.6,182,1894,0.00,2.28,0.00,0.000,6,0.000,0.032,2735,1692,2877,0,0,0,0,0,0
$GC,2216,-1.79,-58.4,264.1,-10.5,198,2221,0.12,2.25,0.00,0.000,4,0.064,0.024,2694,3061,2877,0,0,0,0,0,0
$GC,2268,-1.79,-58.4,270.7,-12.3,200,2273,0.00,2.28,0.00,0.000,6,0.000,0.034,2694,1692,2877,0,0,0,0,0,0
$GC,2608,-1.79,-58.4,311.8,-12.1,215,2612,0.00,2.25,0.00,0.000,4,0.000,0.025,2693,3055,2877,0,0,0,0,0,0
$GC,2651,-1.85,-58.4,317.0,-12.5,216,2655,0.00,2.30,0.00,0.000,6,0.000,0.035,2694,1697,2877,0,0,0,0,0,0
$GC,2979,-1.85,-58.4,352.6,-10.4,224,2983,0.00,2.28,0.00,0.000,4,0.000,0.028,2693,3054,2875,0,0,0,0,0,0
$GC,3039,-1.85,-58.4,358.4,-9.8,225,3043,0.00,2.30,0.00,0.000,6,0.000,0.037,2694,1691,2875,0,0,0,0,0,0
$GC,3389,-1.85,-58.4,395.5,-10.8,234,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1691,2873,0,0,0,0,0,0
$GC,3714,-1.85,-58.4,432.5,-11.8,242,3719,0.00,2.30,0.00,0.000,4,0.000,0.031,2694,3058,2870,0,0,0,0,0,0
$STATE,3879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3879,begin apogee
$GC,3887,-0.31,0.0,450.4,10.7,245,3941,1.60,0.00,49.12,0.827,6,0.085,0.000,3029,1776,2630,0,0,0,0,0,0
$STATE,3941,end apogee,CONTROL_FINISHED_OK
$STATE,3941,begin climb
$GC,3944,1.56,58.4,451.7,0.0,247,3999,1.80,0.00,50.67,0.813,6,0.030,0.000,3454,1776,2391,0,0,0,0,0,0
$GC,4307,1.32,111.7,443.5,3.1,256,4360,0.30,2.60,46.45,0.820,4,0.108,0.054,3393,355,2173,0,0,0,0,0,0
$GC,4375,1.06,111.7,439.6,8.6,257,4380,0.30,2.33,0.00,0.000,6,0.105,0.027,3335,1733,2169,0,0,0,0,0,0
$GC,4718,1.00,113.2,411.7,7.8,266,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1733,2164,0,0,0,0,0,0
$GC,5042,0.99,140.6,391.2,5.4,274,5074,0.00,2.50,25.00,0.792,4,0.000,0.033,3335,3174,2055,0,0,0,0,0,0
$GC,5343,0.99,141.5,368.5,7.8,280,5347,0.00,2.42,0.00,0.000,6,0.000,0.040,3335,1769,2053,0,0,0,0,0,0
$GC,5687,0.99,141.5,337.3,9.2,289,5691,0.00,2.38,0.00,0.000,4,0.000,0.032,3335,3181,2048,0,0,0,0,0,0
$GC,5725,0.99,141.5,333.6,9.0,289,5731,0.00,2.42,0.00,0.000,6,0.000,0.039,3335,1769,2049,0,0,0,0,0,0
$GC,6056,0.99,141.5,305.4,8.7,298,6060,0.00,2.47,0.00,0.000,4,0.000,0.054,3334,358,2046,0,0,0,0,0,0
$GC,6126,0.88,141.5,299.2,7.9,299,6131,0.20,2.35,0.00,0.000,6,0.111,0.027,3297,1765,2043,0,0,0,0,0,0
$GC,6456,0.99,160.5,279.7,6.2,315,6479,0.00,2.53,16.85,0.720,4,0.000,0.051,3297,349,1975,0,0,0,0,0,0
$GC,6518,1.00,163.8,274.9,7.6,317,6528,0.00,2.38,4.20,0.489,6,0.000,0.026,3297,1782,1962,0,0,0,0,0,0
$GC,6840,1.10,163.8,245.2,10.0,333,6845,0.20,2.33,0.00,0.000,4,0.054,0.029,3350,3171,1960,0,0,0,0,0,0
$GC,6900,1.10,163.8,238.3,11.3,335,6906,0.00,2.40,0.00,0.000,6,0.000,0.037,3350,1765,1960,0,0,0,0,0,0
$GC,7218,1.10,163.8,205.5,10.7,351,7222,0.00,2.45,0.00,0.000,4,0.000,0.050,3350,354,1958,0,0,0,0,0,0
$GC,7269,1.01,163.8,198.9,12.4,353,7273,0.15,2.30,0.00,0.000,6,0.110,0.023,3322,1769,1956,0,0,0,0,0,0
$GC,7597,1.07,163.8,172.0,8.4,379,7601,0.00,2.42,0.00,0.000,4,0.000,0.048,3321,358,1955,0,0,0,0,0,0
$GC,7712,1.07,163.8,160.6,8.4,387,7718,0.00,2.33,0.00,0.000,6,0.000,0.021,3322,1782,1954,0,0,0,0,0,0
$GC,7974,1.18,188.0,143.6,5.7,408,8002,0.15,2.53,21.92,0.607,4,0.061,0.045,3366,355,1862,0,0,0,0,0,0
$GC,8049,1.06,188.0,137.2,10.4,413,8054,0.17,2.30,0.00,0.000,6,0.100,0.021,3332,1768,1859,0,0,0,0,0,0
$GC,8316,1.14,188.0,114.8,7.9,434,8320,0.00,2.45,0.00,0.000,4,0.000,0.046,3332,354,1858,0,0,0,0,0,0
$GC,8378,1.14,188.0,109.3,8.8,438,8384,0.00,2.33,0.00,0.000,6,0.000,0.020,3333,1769,1857,0,0,0,0,0,0
$GC,8639,1.27,218.3,95.5,5.2,459,8670,0.20,0.00,27.42,0.560,6,0.049,0.000,3389,1775,1738,0,0,0,0,0,0
$GC,8919,1.27,218.3,68.5,11.2,481,8923,0.00,2.45,0.00,0.000,4,0.000,0.044,3388,354,1736,0,0,0,0,0,0
$GC,9015,1.21,218.3,57.1,12.4,488,9020,0.12,2.28,0.00,0.000,6,0.106,0.019,3365,1781,1733,0,0,0,0,0,0
$GC,9284,1.31,235.5,36.6,6.4,509,9304,0.00,0.00,15.10,0.490,6,0.000,0.000,3365,1786,1670,0,0,0,0,0,0
$GC,9560,1.40,235.5,14.5,10.0,559,9567,0.17,2.50,0.00,0.000,4,0.052,0.044,3416,354,1669,0,0,0,0,0,0
$GC,9631,1.27,235.5,5.1,14.1,574,9637,0.17,2.30,0.00,0.000,6,0.081,0.018,3377,1773,1667,0,0,0,0,0,0
$STATE,9647,end climb,SURFACE_DEPTH_REACHED
$STATE,9647,begin surface coast
$FINISH,0.8,1.023061
$STATE,9670,end surface coast,CONTROL_FINISHED_OK
$STATE,9670,begin surface
$SM_CCo,9693,93.40,0.484,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,93.40,0.000,0.000,0.484,429,1671,957,-12.29,-0.71,410.14
$IRIDIUM_FIX,2057.14,-15756.04,171199,111125
$TT8_MAMPS,0.028379
$HUMID,53.42
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,22.427
$10V_AH,10.3,18.135
$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,32.925,103.850,256.750,93.400,0.000,30.465,30.844,389.478,4.500,0.000,32.350,1129.267,6340.968,430.068,1754.940,719.676,0.000,1172.774,0.000,1728.415,0.000,29.251,0.000
$DEVICE_MAMPS,132.691,69.797,826.826,483.977,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,391.285,374.551,882.388,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,31828,582
$CAP_FILE_SIZE,110611,0
$CFSIZE,260165632,200265728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230810,163408,2106.460,-15755.756,39,1.5,39,9.8