version: 66.06
glider: 139
mission: 8
dive: 293
start: 8 28 110 1 2 32
data:
$ID,139
$MISSION,8
$DIVE,293
$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,-2156922.8
$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
$GPS1,005026,2105.231,-15754.302,11,2.0,11,9.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.3
$GPS2,010216,2105.074,-15754.380,16,2.5,35,9.8
$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,76.2,19851,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.56,-58.4,0.0,0.0,0,79,0.00,0.00,-58.95,0.000,2,0.000,0.000,426,1725,2592,0,0,0,0,0,0
$GC,82,-1.56,-58.4,3.0,-2.8,11,107,12.55,2.47,-5.60,0.000,4,0.136,0.054,2755,294,2871,0,0,0,0,0,0
$GC,132,-1.01,-58.4,15.6,-24.7,20,139,0.55,2.35,0.00,0.000,6,0.091,0.019,2877,1745,2872,0,0,0,0,0,0
$GC,334,-1.21,-58.4,37.9,-9.9,54,339,0.17,2.53,0.00,0.000,4,0.051,0.045,2822,289,2873,0,0,0,0,0,0
$GC,400,-1.21,-58.4,46.2,-13.7,59,405,0.00,2.22,0.00,0.000,6,0.000,0.018,2822,1707,2873,0,0,0,0,0,0
$GC,667,-1.34,-58.4,78.1,-11.6,80,671,0.00,2.42,0.00,0.000,4,0.000,0.044,2822,292,2874,0,0,0,0,0,0
$GC,749,-1.43,-58.4,88.5,-12.0,86,754,0.15,2.20,0.00,0.000,6,0.056,0.018,2774,1707,2874,0,0,0,0,0,0
$GC,1011,-1.50,-58.4,124.4,-13.4,106,1015,0.00,2.42,0.00,0.000,4,0.000,0.046,2774,292,2875,0,0,0,0,0,0
$GC,1108,-1.53,-58.4,139.7,-14.5,113,1113,0.00,2.22,0.00,0.000,6,0.000,0.018,2774,1703,2875,0,0,0,0,0,0
$GC,1375,-1.63,-58.4,171.5,-10.5,134,1379,0.15,2.25,0.00,0.000,4,0.057,0.023,2728,3071,2876,0,0,0,0,0,0
$GC,1490,-1.68,-58.4,183.7,-8.6,142,1497,0.00,2.33,0.00,0.000,6,0.000,0.031,2728,1693,2876,0,0,0,0,0,0
$GC,1751,-1.68,-58.4,213.5,-12.9,160,1755,0.00,2.28,0.00,0.000,4,0.000,0.022,2728,3079,2876,0,0,0,0,0,0
$GC,1818,-1.76,-58.4,220.7,-11.0,163,1822,0.00,2.30,0.00,0.000,6,0.000,0.031,2728,1696,2876,0,0,0,0,0,0
$GC,2154,-1.76,-58.4,262.2,-12.7,179,2158,0.00,2.25,0.00,0.000,4,0.000,0.025,2728,3071,2876,0,0,0,0,0,0
$GC,2244,-1.84,-58.4,273.7,-12.4,183,2249,0.12,2.30,0.00,0.000,6,0.064,0.034,2688,1697,2876,0,0,0,0,0,0
$GC,2580,-1.80,-58.4,313.5,-10.5,196,2584,0.00,2.42,0.00,0.000,4,0.000,0.049,2688,291,2875,0,0,0,0,0,0
$GC,2599,-1.71,-58.4,315.8,-10.2,196,2604,0.20,2.22,0.00,0.000,6,0.096,0.022,2728,1691,2874,0,0,0,0,0,0
$GC,2946,-1.75,-58.4,344.6,-8.3,205,2950,0.00,2.33,0.00,0.000,4,0.000,0.029,2728,3078,2872,0,0,0,0,0,0
$GC,3053,-1.85,-58.4,354.5,-9.8,207,3058,0.12,2.33,0.00,0.000,6,0.067,0.036,2691,1693,2872,0,0,0,0,0,0
$GC,3368,-1.85,-58.4,390.7,-11.7,215,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1692,2870,0,0,0,0,0,0
$GC,3692,-1.85,-58.4,432.1,-12.9,223,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,1692,2867,0,0,0,0,0,0
$STATE,3852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3852,begin apogee
$GC,3858,-0.31,0.0,452.3,12.5,227,3910,1.62,0.00,48.78,0.829,6,0.084,0.000,3029,1692,2630,0,0,0,0,0,0
$STATE,3911,end apogee,CONTROL_FINISHED_OK
$STATE,3911,begin climb
$GC,3915,1.56,58.4,454.0,0.0,228,3973,1.77,2.45,50.22,0.814,4,0.030,0.053,3449,335,2390,0,0,0,0,0,0
$GC,4036,1.24,140.4,454.8,0.5,230,4120,0.43,2.30,72.35,0.818,6,0.107,0.025,3369,1727,2056,0,0,0,0,0,0
$GC,4457,1.12,140.4,418.2,9.4,241,4462,0.12,2.38,0.00,0.000,4,0.117,0.032,3346,3123,2046,0,0,0,0,0,0
$GC,4482,1.08,140.4,415.9,9.1,241,4486,0.00,2.40,0.00,0.000,6,0.000,0.040,3346,1744,2046,0,0,0,0,0,0
$GC,4823,1.02,140.4,386.3,9.0,250,4828,0.12,2.47,0.00,0.000,4,0.120,0.055,3324,330,2043,0,0,0,0,0,0
$GC,4949,0.91,140.4,373.5,9.4,252,4954,0.12,2.33,0.00,0.000,6,0.124,0.028,3302,1734,2038,0,0,0,0,0,0
$GC,5280,0.95,140.4,347.1,8.0,260,5284,0.00,2.38,0.00,0.000,4,0.000,0.032,3302,3139,2037,0,0,0,0,0,0
$GC,5433,1.04,140.4,333.6,8.9,263,5438,0.10,2.42,0.00,0.000,6,0.081,0.040,3330,1737,2037,0,0,0,0,0,0
$GC,5783,1.04,140.4,301.1,8.5,272,5787,0.00,2.47,0.00,0.000,4,0.000,0.054,3330,327,2035,0,0,0,0,0,0
$GC,5898,0.95,140.4,291.4,9.8,276,5903,0.12,2.33,0.00,0.000,6,0.116,0.026,3308,1741,2032,0,0,0,0,0,0
$GC,6230,1.01,145.4,266.6,7.4,292,6234,0.00,2.33,0.00,0.000,4,0.000,0.031,3308,3133,2032,0,0,0,0,0,0
$GC,6291,1.10,145.4,261.2,8.6,294,6296,0.15,2.38,0.00,0.000,6,0.063,0.037,3349,1738,2032,0,0,0,0,0,0
$GC,6608,1.12,164.9,236.0,6.1,309,6633,0.00,2.42,18.12,0.690,4,0.000,0.028,3349,3129,1957,0,0,0,0,0,0
$GC,6672,1.15,188.9,232.3,5.7,311,6700,0.00,2.38,22.80,0.686,6,0.000,0.036,3349,1738,1860,0,0,0,0,0,0
$GC,7011,1.15,188.9,200.4,12.3,328,7015,0.00,2.47,0.00,0.000,4,0.000,0.051,3349,325,1855,0,0,0,0,0,0
$GC,7067,1.06,188.9,192.2,14.9,332,7071,0.00,2.33,0.00,0.000,6,0.000,0.023,3349,1748,1852,0,0,0,0,0,0
$GC,7326,1.08,206.8,168.2,6.3,352,7348,0.00,2.38,16.23,0.621,4,0.000,0.027,3349,3125,1786,0,0,0,0,0,0
$GC,7372,1.15,208.8,164.6,7.7,355,7376,0.00,2.38,0.00,0.000,6,0.000,0.034,3349,1730,1785,0,0,0,0,0,0
$GC,7635,1.20,208.8,142.4,9.8,375,7639,0.00,2.40,0.00,0.000,4,0.000,0.048,3349,333,1784,0,0,0,0,0,0
$GC,7675,1.20,208.8,137.4,11.2,378,7680,0.00,2.30,0.00,0.000,6,0.000,0.021,3349,1752,1781,0,0,0,0,0,0
$GC,7937,1.26,208.8,116.6,8.0,398,7942,0.12,2.47,0.00,0.000,4,0.067,0.046,3387,334,1780,0,0,0,0,0,0
$GC,7990,1.15,208.8,110.4,12.1,402,7995,0.17,2.28,0.00,0.000,6,0.100,0.020,3353,1748,1779,0,0,0,0,0,0
$GC,8259,1.24,216.2,89.4,7.2,423,8274,0.00,2.45,9.07,0.500,4,0.000,0.044,3352,332,1747,0,0,0,0,0,0
$GC,8455,1.24,220.7,75.0,7.5,437,8470,0.00,2.22,5.10,0.412,6,0.000,0.019,3353,1746,1730,0,0,0,0,0,0
$GC,8727,1.35,220.7,54.8,8.2,458,8732,0.17,2.42,0.00,0.000,4,0.052,0.044,3404,334,1729,0,0,0,0,0,0
$GC,8910,1.23,220.7,33.5,14.8,471,8917,0.15,2.25,0.00,0.000,6,0.079,0.018,3370,1745,1728,0,0,0,0,0,0
$GC,9172,1.30,220.7,7.1,10.8,528,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,1750,1728,0,0,0,0,0,0
$STATE,9204,end climb,SURFACE_DEPTH_REACHED
$STATE,9204,begin surface coast
$FINISH,0.7,1.001593
$STATE,9231,end surface coast,CONTROL_FINISHED_OK
$STATE,9231,begin surface
$SM_CCo,9254,107.93,0.483,0,0,957,410.14
$SM_GC,1.53,0.00,0.00,107.93,0.000,0.000,0.483,429,1664,957,-12.29,-1.02,410.14
$IRIDIUM_FIX,2057.14,-15753.90,221199,010107
$TT8_MAMPS,0.029146
$HUMID,52.99
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,25.682
$10V_AH,10.4,21.014
$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,31.875,103.700,242.675,107.925,0.000,92.044,143.999,197.754,4.750,0.000,36.379,1095.178,6088.364,407.341,1775.428,704.842,0.000,1174.904,0.000,1732.219,0.000,32.001,0.000
$DEVICE_MAMPS,135.759,99.710,829.127,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.384,348.079,814.995,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,28635,541
$CAP_FILE_SIZE,111038,0
$CFSIZE,260165632,198217728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280810,033955,2104.944,-15754.551,41,1.3,41,9.8