version: 66.06
glider: 139
mission: 8
dive: 295
start: 8 28 110 6 36 11
data:
$ID,139
$MISSION,8
$DIVE,295
$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,-2156961.8
$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
$GPS1,063030,2104.925,-15754.853,40,1.3,45,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-72.1
$GPS2,063555,2104.884,-15754.917,17,1.9,22,9.8
$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,75.5,20804,-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,-64.65,0.000,2,0.000,0.000,428,1668,2763,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-3.9,12,104,12.45,0.00,-2.00,0.000,6,0.133,0.000,2752,1668,2871,0,0,0,0,0,0
$GC,301,-1.48,-58.4,49.2,-17.2,43,306,0.12,2.38,0.00,0.000,4,0.114,0.048,2775,295,2874,0,0,0,0,0,0
$GC,320,-1.37,-58.4,53.2,-18.1,44,327,0.08,2.33,0.00,0.000,6,0.094,0.019,2794,1738,2874,0,0,0,0,0,0
$GC,583,-1.43,-58.4,85.9,-12.9,65,587,0.00,2.15,0.00,0.000,4,0.000,0.021,2794,3074,2875,0,0,0,0,0,0
$GC,610,-1.54,-58.4,89.6,-12.2,67,615,0.12,2.30,0.00,0.000,6,0.063,0.031,2753,1693,2875,0,0,0,0,0,0
$GC,873,-1.54,-58.4,129.6,-16.7,88,877,0.00,2.40,0.00,0.000,4,0.000,0.044,2752,292,2876,0,0,0,0,0,0
$GC,892,-1.48,-58.4,132.7,-15.8,89,898,0.12,2.20,0.00,0.000,6,0.105,0.018,2777,1713,2876,0,0,0,0,0,0
$GC,1153,-1.55,-58.4,165.4,-11.9,110,1158,0.00,2.42,0.00,0.000,4,0.000,0.045,2776,293,2877,0,0,0,0,0,0
$GC,1194,-1.55,-58.4,170.6,-13.5,113,1198,0.00,2.17,0.00,0.000,6,0.000,0.018,2777,1693,2877,0,0,0,0,0,0
$GC,1460,-1.64,-58.4,200.1,-9.6,134,1465,0.15,2.25,0.00,0.000,4,0.057,0.023,2731,3071,2877,0,0,0,0,0,0
$GC,1528,-1.70,-58.4,207.6,-10.9,137,1533,0.00,2.30,0.00,0.000,6,0.000,0.033,2730,1692,2877,0,0,0,0,0,0
$GC,1860,-1.70,-58.4,246.4,-10.5,153,1864,0.00,2.25,0.00,0.000,4,0.000,0.023,2731,3070,2878,0,0,0,0,0,0
$GC,1881,-1.76,-58.4,248.7,-10.1,154,1885,0.00,2.30,0.00,0.000,6,0.000,0.033,2731,1692,2878,0,0,0,0,0,0
$GC,2212,-1.79,-58.4,285.4,-10.6,170,2216,0.00,2.28,0.00,0.000,4,0.000,0.025,2731,3067,2878,0,0,0,0,0,0
$GC,2250,-1.88,-58.4,289.7,-11.2,171,2257,0.17,2.30,0.00,0.000,6,0.053,0.034,2680,1690,2878,0,0,0,0,0,0
$GC,2583,-1.82,-58.4,335.0,-13.9,182,2588,0.12,2.30,0.00,0.000,4,0.109,0.026,2704,3065,2877,0,0,0,0,0,0
$GC,2668,-1.85,-58.4,344.5,-10.5,183,2674,0.00,2.33,0.00,0.000,6,0.000,0.035,2704,1690,2877,0,0,0,0,0,0
$GC,3000,-1.85,-58.4,376.5,-8.4,192,3004,0.00,2.28,0.00,0.000,4,0.000,0.028,2704,3065,2875,0,0,0,0,0,0
$GC,3256,-1.90,-58.4,399.9,-9.9,197,3261,0.00,2.33,0.00,0.000,6,0.000,0.038,2704,1702,2874,0,0,0,0,0,0
$GC,3601,-1.90,-58.4,439.3,-11.4,206,3605,0.00,2.30,0.00,0.000,4,0.000,0.031,2704,3059,2871,0,0,0,0,0,0
$GC,3663,-1.97,-58.4,446.3,-11.9,207,3668,0.15,2.30,0.00,0.000,6,0.063,0.041,2661,1701,2871,0,0,0,0,0,0
$STATE,3730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3731,begin apogee
$GC,3736,-0.31,0.0,454.9,12.3,209,3790,1.77,0.00,49.40,0.829,6,0.085,0.000,3029,1701,2630,0,0,0,0,0,0
$STATE,3791,end apogee,CONTROL_FINISHED_OK
$STATE,3791,begin climb
$GC,3793,1.56,58.4,456.1,0.0,210,3854,1.77,2.47,50.25,0.813,4,0.028,0.032,3449,3098,2391,0,0,0,0,0,0
$GC,3915,1.33,103.2,453.6,3.9,213,3961,0.30,2.35,39.45,0.807,6,0.104,0.038,3392,1731,2209,0,0,0,0,0,0
$GC,4270,1.17,103.2,421.3,9.9,222,4275,0.20,2.35,0.00,0.000,4,0.109,0.031,3355,3099,2200,0,0,0,0,0,0
$GC,4285,1.04,103.2,419.6,10.0,222,4290,0.15,2.35,0.00,0.000,6,0.120,0.040,3328,1738,2200,0,0,0,0,0,0
$GC,4636,1.06,113.4,393.8,7.0,231,4649,0.00,2.35,8.35,0.696,4,0.000,0.031,3328,3103,2166,0,0,0,0,0,0
$GC,4825,1.06,117.6,379.2,7.5,235,4837,0.00,2.35,5.00,0.581,6,0.000,0.039,3328,1731,2150,0,0,0,0,0,0
$GC,5147,1.06,117.6,353.5,8.2,243,5151,0.00,2.33,0.00,0.000,4,0.000,0.032,3328,3103,2146,0,0,0,0,0,0
$GC,5240,1.06,117.6,345.7,8.2,245,5244,0.00,2.38,0.00,0.000,6,0.000,0.039,3328,1734,2146,0,0,0,0,0,0
$GC,5562,1.09,140.6,324.2,5.8,253,5590,0.00,2.38,21.05,0.761,4,0.000,0.029,3328,3107,2055,0,0,0,0,0,0
$GC,5611,1.15,159.7,321.1,6.2,254,5636,0.00,2.38,18.52,0.740,6,0.000,0.039,3328,1742,1978,0,0,0,0,0,0
$GC,5960,1.15,159.7,290.1,9.4,265,5964,0.00,2.50,0.00,0.000,4,0.000,0.054,3328,325,1973,0,0,0,0,0,0
$GC,6027,1.08,159.7,282.9,10.6,268,6031,0.00,2.30,0.00,0.000,6,0.000,0.026,3328,1718,1970,0,0,0,0,0,0
$GC,6356,1.08,159.7,250.9,9.6,284,6360,0.00,2.38,0.00,0.000,4,0.000,0.030,3328,3129,1969,0,0,0,0,0,0
$GC,6404,1.14,159.7,246.7,9.2,286,6408,0.00,2.40,0.00,0.000,6,0.000,0.036,3328,1730,1969,0,0,0,0,0,0
$GC,6729,1.18,159.7,217.0,8.5,302,6734,0.12,2.42,0.00,0.000,4,0.070,0.052,3363,335,1967,0,0,0,0,0,0
$GC,6859,1.05,159.7,203.0,10.5,307,6865,0.17,2.30,0.00,0.000,6,0.104,0.024,3330,1740,1965,0,0,0,0,0,0
$GC,7186,1.11,177.3,181.1,6.3,332,7207,0.00,2.35,14.52,0.632,4,0.000,0.026,3330,3125,1907,0,0,0,0,0,0
$GC,7258,1.22,180.9,175.6,7.6,337,7272,0.15,2.38,4.95,0.479,6,0.060,0.034,3372,1736,1892,0,0,0,0,0,0
$GC,7524,1.22,180.9,149.8,10.7,358,7528,0.00,2.40,0.00,0.000,4,0.000,0.047,3372,335,1890,0,0,0,0,0,0
$GC,7591,1.11,180.9,143.1,10.4,363,7596,0.15,2.30,0.00,0.000,6,0.104,0.021,3343,1751,1888,0,0,0,0,0,0
$GC,7857,1.22,216.6,125.7,4.7,384,7899,0.00,2.55,32.10,0.600,4,0.000,0.046,3342,335,1745,0,0,0,0,0,0
$GC,7953,1.22,216.6,118.0,10.7,390,7960,0.00,2.30,0.00,0.000,6,0.000,0.021,3343,1741,1742,0,0,0,0,0,0
$GC,8214,1.33,216.6,87.8,11.0,411,8216,0.20,0.00,0.00,0.000,6,0.048,0.000,3400,1741,1741,0,0,0,0,0,0
$GC,8466,1.33,216.6,63.2,9.1,431,8471,0.00,2.42,0.00,0.000,4,0.000,0.044,3399,334,1742,0,0,0,0,0,0
$GC,8697,1.24,216.6,39.7,12.3,448,8702,0.15,2.22,0.00,0.000,6,0.104,0.018,3371,1744,1739,0,0,0,0,0,0
$GC,8961,1.30,219.8,17.1,7.6,490,8968,0.00,2.45,0.00,0.000,4,0.000,0.043,3371,329,1739,0,0,0,0,0,0
$GC,8983,1.30,219.8,15.0,8.0,494,8990,0.00,2.28,0.00,0.000,6,0.000,0.018,3371,1749,1740,0,0,0,0,0,0
$STATE,9115,end climb,SURFACE_DEPTH_REACHED
$STATE,9115,begin surface coast
$FINISH,0.8,1.023160
$STATE,9154,end surface coast,CONTROL_FINISHED_OK
$STATE,9154,begin surface
$SM_CCo,9178,109.85,0.486,0,0,958,410.14
$SM_GC,1.55,0.00,0.00,109.85,0.000,0.000,0.486,427,1675,958,-12.30,-0.71,410.14
$IRIDIUM_FIX,2057.14,-15756.04,221199,030338
$TT8_MAMPS,0.029146
$HUMID,52.67
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,25.839
$10V_AH,10.3,21.164
$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,31.200,107.575,243.600,109.850,0.000,29.881,29.128,138.034,4.500,0.000,22.689,1077.866,5917.513,427.160,1738.376,449.257,0.000,1191.653,0.000,1709.424,0.000,29.267,0.000
$DEVICE_MAMPS,133.458,87.438,829.127,485.511,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,358.558,341.319,784.955,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,28646,533
$CAP_FILE_SIZE,108687,0
$CFSIZE,260165632,198115328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280810,091210,2104.925,-15754.538,12,5.6,31,9.8