version: 66.06
glider: 139
mission: 8
dive: 284
start: 8 27 110 0 8 24
data:
$ID,139
$MISSION,8
$DIVE,284
$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,-2156661.8
$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,1700
$C_ROLL_CLIMB,1740
$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
$GPS1,235921,2105.372,-15754.688,10,2.1,29,9.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.8
$GPS2,000807,2105.300,-15754.766,43,0.9,43,9.8
$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,77.5,20494,-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,-64.18,0.000,2,0.000,0.000,427,1725,2779,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.8,-4.4,12,106,12.50,2.45,-1.62,0.000,4,0.135,0.049,2753,293,2870,0,0,0,0,0,0
$GC,118,-0.29,-58.4,17.0,-29.7,17,125,1.33,2.35,0.00,0.000,6,0.091,0.019,3031,1739,2871,0,0,0,0,0,0
$GC,321,-0.95,-58.4,30.0,-5.6,63,328,0.60,2.53,0.00,0.000,4,0.040,0.040,2883,289,2873,0,0,0,0,0,0
$GC,408,-1.16,-58.4,37.9,-10.1,70,413,0.15,2.22,0.00,0.000,6,0.056,0.018,2835,1713,2873,0,0,0,0,0,0
$GC,677,-1.26,-58.4,69.1,-11.7,91,681,0.00,2.45,0.00,0.000,4,0.000,0.047,2834,296,2874,0,0,0,0,0,0
$GC,696,-1.33,-58.4,71.9,-11.5,92,703,0.08,2.22,0.00,0.000,6,0.039,0.018,2799,1706,2874,0,0,0,0,0,0
$GC,960,-1.41,-58.4,101.5,-11.8,113,965,0.00,2.42,0.00,0.000,4,0.000,0.044,2798,294,2874,0,0,0,0,0,0
$GC,1102,-1.48,-58.4,120.9,-12.2,123,1107,0.00,2.20,0.00,0.000,6,0.000,0.018,2798,1686,2875,0,0,0,0,0,0
$GC,1363,-1.62,-58.4,148.0,-7.5,144,1368,0.22,2.25,0.00,0.000,4,0.044,0.021,2733,3078,2876,0,0,0,0,0,0
$GC,1501,-1.69,-58.4,161.7,-10.2,154,1505,0.00,2.33,0.00,0.000,6,0.000,0.031,2733,1692,2876,0,0,0,0,0,0
$GC,1760,-1.69,-58.4,193.6,-13.4,174,1764,0.00,2.38,0.00,0.000,4,0.000,0.044,2732,289,2876,0,0,0,0,0,0
$GC,1773,-1.69,-58.4,195.2,-13.7,175,1777,0.00,2.22,0.00,0.000,6,0.000,0.019,2732,1707,2876,0,0,0,0,0,0
$GC,2039,-1.69,-58.4,228.3,-11.3,189,2043,0.00,2.20,0.00,0.000,4,0.000,0.024,2733,3059,2876,0,0,0,0,0,0
$GC,2090,-1.78,-58.4,234.2,-10.5,191,2094,0.00,2.28,0.00,0.000,6,0.000,0.033,2733,1694,2876,0,0,0,0,0,0
$GC,2416,-1.81,-58.4,267.1,-10.8,207,2421,0.12,2.42,0.00,0.000,4,0.065,0.047,2692,290,2876,0,0,0,0,0,0
$GC,2437,-1.76,-58.4,270.4,-12.7,208,2441,0.12,2.20,0.00,0.000,6,0.109,0.021,2717,1685,2876,0,0,0,0,0,0
$GC,2774,-1.76,-58.4,305.6,-9.4,223,2778,0.00,2.30,0.00,0.000,4,0.000,0.026,2716,3078,2876,0,0,0,0,0,0
$GC,2888,-1.84,-58.4,318.7,-11.6,225,2892,0.00,2.35,0.00,0.000,6,0.000,0.037,2716,1697,2875,0,0,0,0,0,0
$GC,3232,-1.84,-58.4,359.0,-11.8,234,3236,0.00,2.30,0.00,0.000,4,0.000,0.028,2716,3072,2874,0,0,0,0,0,0
$GC,3298,-1.91,-58.4,366.5,-11.4,235,3303,0.15,2.35,0.00,0.000,6,0.061,0.038,2673,1696,2873,0,0,0,0,0,0
$GC,3650,-1.86,-58.4,411.6,-12.3,244,3655,0.10,2.30,0.00,0.000,4,0.119,0.029,2692,3070,2871,0,0,0,0,0,0
$GC,3685,-1.91,-58.4,416.2,-11.5,244,3689,0.00,2.35,0.00,0.000,6,0.000,0.040,2692,1692,2870,0,0,0,0,0,0
$STATE,4018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4018,begin apogee
$GC,4024,-0.31,0.0,451.2,10.4,253,4077,1.62,0.00,49.15,0.827,6,0.083,0.000,3031,1691,2630,0,0,0,0,0,0
$STATE,4078,end apogee,CONTROL_FINISHED_OK
$STATE,4078,begin climb
$GC,4080,1.56,58.4,452.5,0.0,254,4138,1.75,2.45,50.20,0.811,4,0.029,0.052,3449,330,2391,0,0,0,0,0,0
$GC,4300,1.21,119.9,449.0,2.4,258,4362,0.45,2.30,53.90,0.815,6,0.107,0.025,3363,1729,2140,0,0,0,0,0,0
$GC,4679,1.10,119.9,422.2,8.2,268,4683,0.12,2.38,0.00,0.000,4,0.117,0.033,3341,3126,2131,0,0,0,0,0,0
$GC,4770,1.11,124.6,415.0,7.5,270,4779,0.00,2.40,4.03,0.508,6,0.000,0.040,3340,1738,2121,0,0,0,0,0,0
$GC,5097,1.05,124.6,386.9,9.5,278,5101,0.00,2.35,0.00,0.000,4,0.000,0.032,3341,3126,2117,0,0,0,0,0,0
$GC,5112,0.99,124.6,385.2,9.9,278,5116,0.12,2.38,0.00,0.000,6,0.121,0.039,3318,1739,2117,0,0,0,0,0,0
$GC,5427,0.99,124.6,357.7,8.5,286,5431,0.00,2.35,0.00,0.000,4,0.000,0.032,3318,3126,2115,0,0,0,0,0,0
$GC,5473,1.03,124.6,353.3,9.1,287,5478,0.00,2.40,0.00,0.000,6,0.000,0.039,3318,1740,2115,0,0,0,0,0,0
$GC,5797,1.03,124.6,322.2,9.4,295,5801,0.00,2.45,0.00,0.000,4,0.000,0.054,3318,334,2112,0,0,0,0,0,0
$GC,5848,0.95,124.6,317.2,9.7,296,5853,0.00,2.33,0.00,0.000,6,0.000,0.027,3318,1737,2110,0,0,0,0,0,0
$GC,6173,0.99,157.1,297.0,5.0,305,6207,0.00,2.42,28.38,0.753,4,0.000,0.031,3318,3134,1988,0,0,0,0,0,0
$GC,6352,1.06,161.3,285.8,7.5,313,6364,0.00,2.40,5.15,0.554,6,0.000,0.038,3318,1740,1972,0,0,0,0,0,0
$GC,6690,1.11,161.3,256.8,8.9,329,6691,0.10,0.00,0.00,0.000,6,0.080,0.000,3347,1739,1968,0,0,0,0,0,0
$GC,6994,1.11,161.3,229.7,8.3,344,6998,0.00,2.47,0.00,0.000,4,0.000,0.051,3347,323,1966,0,0,0,0,0,0
$GC,7110,1.00,161.3,218.4,10.3,349,7115,0.15,2.35,0.00,0.000,6,0.108,0.024,3319,1748,1963,0,0,0,0,0,0
$GC,7438,1.06,165.3,194.2,7.5,367,7442,0.00,2.28,0.00,0.000,4,0.000,0.028,3319,3129,1964,0,0,0,0,0,0
$GC,7576,1.17,165.3,180.2,10.8,377,7581,0.15,2.35,0.00,0.000,6,0.061,0.035,3361,1735,1963,0,0,0,0,0,0
$GC,7841,1.17,166.3,154.9,7.8,398,7851,0.00,2.45,4.40,0.442,4,0.000,0.047,3361,328,1951,0,0,0,0,0,0
$GC,7971,1.11,186.3,143.8,6.1,406,7997,0.00,2.33,19.20,0.606,6,0.000,0.021,3361,1749,1869,0,0,0,0,0,0
$GC,8258,1.13,202.3,129.5,6.5,429,8280,0.00,0.00,15.32,0.577,6,0.000,0.000,3361,1749,1804,0,0,0,0,0,0
$GC,8534,1.17,202.3,107.8,8.7,451,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1749,1802,0,0,0,0,0,0
$GC,8787,1.25,216.7,89.3,6.6,471,8808,0.00,2.53,13.68,0.528,4,0.000,0.045,3361,334,1745,0,0,0,0,0,0
$GC,8968,1.25,216.7,72.2,9.0,484,8972,0.00,2.28,0.00,0.000,6,0.000,0.019,3362,1748,1742,0,0,0,0,0,0
$GC,9231,1.36,230.4,55.3,6.7,504,9249,0.15,2.30,12.77,0.492,4,0.057,0.023,3407,3126,1690,0,0,0,0,0,0
$GC,9263,1.36,230.4,52.1,9.0,506,9268,0.00,2.35,0.00,0.000,6,0.000,0.029,3407,1738,1690,0,0,0,0,0,0
$GC,9526,1.32,230.4,26.2,10.3,530,9533,0.00,2.30,0.00,0.000,4,0.000,0.023,3407,3114,1689,0,0,0,0,0,0
$GC,9557,1.32,230.4,22.0,12.8,536,9564,0.00,2.35,0.00,0.000,6,0.000,0.029,3407,1731,1689,0,0,0,0,0,0
$STATE,9732,end climb,SURFACE_DEPTH_REACHED
$STATE,9732,begin surface coast
$FINISH,1.2,1.023077
$STATE,9763,end surface coast,CONTROL_FINISHED_OK
$STATE,9763,begin surface
$SM_CCo,9786,100.18,0.482,0,0,956,410.14
$SM_GC,1.37,0.00,0.00,100.18,0.000,0.000,0.482,430,1722,956,-12.28,0.62,410.14
$IRIDIUM_FIX,2057.14,-15753.90,201199,212140
$TT8_MAMPS,0.029146
$HUMID,52.83
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,24.914
$10V_AH,10.3,20.349
$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,32.825,108.000,256.175,100.175,0.000,60.255,106.598,145.693,4.500,0.000,43.946,1163.477,6347.774,412.347,1893.592,591.551,0.000,1224.051,0.000,1850.722,0.000,29.255,0.000
$DEVICE_MAMPS,134.992,54.457,826.826,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,392.449,379.471,879.578,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,31790,583
$CAP_FILE_SIZE,113867,0
$CFSIZE,260165632,198684672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270810,025430,2105.243,-15755.189,36,1.3,42,9.8