version: 66.06
glider: 139
mission: 8
dive: 311
start: 8 30 110 2 25 59
data:
$ID,139
$MISSION,8
$DIVE,311
$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,-2157364.2
$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
$GPS1,021955,2103.122,-15753.777,73,1.5,73,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.9
$GPS2,022543,2103.034,-15753.833,15,1.5,32,9.8
$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,64.9,19549,-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,-58.4,0.0,0.0,0,76,0.00,0.00,-59.30,0.000,2,0.000,0.000,429,1687,2613,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.0,-3.1,11,104,12.43,0.00,-5.10,0.000,6,0.133,0.000,2754,1688,2870,0,0,0,0,0,0
$GC,296,-1.50,-58.4,48.2,-17.3,44,300,0.00,2.42,0.00,0.000,4,0.000,0.047,2754,290,2872,0,0,0,0,0,0
$GC,349,-1.34,-58.4,58.6,-21.6,48,354,0.25,2.30,0.00,0.000,6,0.099,0.018,2804,1736,2872,0,0,0,0,0,0
$GC,617,-1.43,-58.4,99.7,-14.0,69,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1737,2874,0,0,0,0,0,0
$GC,869,-1.55,-58.4,129.7,-10.7,89,874,0.20,2.50,0.00,0.000,4,0.048,0.043,2744,291,2875,0,0,0,0,0,0
$GC,924,-1.48,-58.4,137.0,-14.0,93,929,0.15,2.22,0.00,0.000,6,0.100,0.018,2774,1713,2874,0,0,0,0,0,0
$GC,1193,-1.57,-58.4,169.0,-11.0,114,1197,0.00,2.42,0.00,0.000,4,0.000,0.044,2774,293,2875,0,0,0,0,0,0
$GC,1226,-1.61,-58.4,173.0,-12.2,116,1233,0.08,2.25,0.00,0.000,6,0.040,0.019,2740,1702,2875,0,0,0,0,0,0
$GC,1504,-1.64,-58.4,205.2,-12.0,137,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1707,2876,0,0,0,0,0,0
$GC,1811,-1.69,-58.4,239.1,-11.9,152,1815,0.00,2.28,0.00,0.000,4,0.000,0.025,2739,3072,2876,0,0,0,0,0,0
$GC,1895,-1.79,-58.4,249.3,-11.3,155,1901,0.12,2.30,0.00,0.000,6,0.066,0.033,2699,1687,2876,0,0,0,0,0,0
$GC,2213,-1.79,-58.4,291.6,-12.8,171,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1686,2875,0,0,0,0,0,0
$GC,2537,-1.79,-58.4,331.1,-12.2,181,2541,0.00,2.33,0.00,0.000,4,0.000,0.027,2699,3067,2875,0,0,0,0,0,0
$GC,2750,-1.85,-58.4,358.9,-12.6,185,2754,0.00,2.33,0.00,0.000,6,0.000,0.037,2699,1702,2874,0,0,0,0,0,0
$GC,3086,-1.85,-58.4,399.5,-11.9,194,3090,0.00,2.30,0.00,0.000,4,0.000,0.029,2699,3067,2872,0,0,0,0,0,0
$GC,3162,-1.89,-58.4,408.0,-10.7,195,3166,0.00,2.35,0.00,0.000,6,0.000,0.038,2699,1695,2871,0,0,0,0,0,0
$GC,3504,-1.89,-58.4,443.4,-10.4,204,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1693,2869,0,0,0,0,0,0
$STATE,3581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3581,begin apogee
$GC,3586,-0.31,0.0,450.9,9.7,206,3639,1.58,0.00,49.05,0.828,6,0.082,0.000,3029,1693,2630,0,0,0,0,0,0
$STATE,3640,end apogee,CONTROL_FINISHED_OK
$STATE,3640,begin climb
$GC,3644,1.56,58.4,451.6,0.0,207,3704,1.80,2.50,50.28,0.814,4,0.030,0.032,3454,3102,2391,0,0,0,0,0,0
$GC,3761,1.35,119.3,449.7,2.4,210,3822,0.30,2.38,53.62,0.812,6,0.109,0.038,3397,1736,2143,0,0,0,0,0,0
$GC,4166,1.16,119.3,407.1,12.2,220,4171,0.22,2.35,0.00,0.000,4,0.107,0.031,3355,3102,2132,0,0,0,0,0,0
$GC,4199,1.11,119.3,403.3,10.6,220,4204,0.00,2.38,0.00,0.000,6,0.000,0.040,3354,1736,2132,0,0,0,0,0,0
$GC,4532,1.03,119.3,372.6,8.7,228,4537,0.15,2.33,0.00,0.000,4,0.116,0.032,3326,3101,2128,0,0,0,0,0,0
$GC,4708,1.05,132.4,359.1,6.7,231,4725,0.00,2.38,10.25,0.704,6,0.000,0.041,3327,1736,2089,0,0,0,0,0,0
$GC,5044,1.05,132.4,332.1,8.6,240,5049,0.00,2.47,0.00,0.000,4,0.000,0.055,3326,325,2085,0,0,0,0,0,0
$GC,5059,1.00,132.4,330.8,8.6,240,5063,0.00,2.28,0.00,0.000,6,0.000,0.026,3326,1720,2083,0,0,0,0,0,0
$GC,5409,1.00,132.4,302.9,8.3,249,5413,0.00,2.35,0.00,0.000,4,0.000,0.032,3326,3122,2082,0,0,0,0,0,0
$GC,5452,1.04,132.4,299.0,8.5,250,5457,0.00,2.38,0.00,0.000,6,0.000,0.038,3326,1730,2082,0,0,0,0,0,0
$GC,5782,1.07,156.7,274.7,5.7,266,5808,0.00,2.53,21.25,0.729,4,0.000,0.054,3326,331,1991,0,0,0,0,0,0
$GC,5916,1.00,156.7,263.1,9.8,272,5921,0.00,2.33,0.00,0.000,6,0.000,0.026,3326,1739,1986,0,0,0,0,0,0
$GC,6245,1.00,156.7,238.9,8.5,288,6250,0.00,2.33,0.00,0.000,4,0.000,0.030,3326,3136,1985,0,0,0,0,0,0
$GC,6284,1.07,164.7,235.9,7.2,289,6297,0.00,2.38,7.82,0.604,6,0.000,0.035,3326,1736,1958,0,0,0,0,0,0
$GC,6620,1.12,169.8,210.2,7.4,306,6632,0.00,2.40,5.78,0.539,4,0.000,0.027,3326,3132,1937,0,0,0,0,0,0
$GC,6760,1.22,181.1,200.6,6.9,312,6778,0.17,2.40,11.82,0.626,6,0.057,0.035,3373,1733,1891,0,0,0,0,0,0
$GC,7096,1.19,181.1,167.3,11.3,337,7100,0.00,2.42,0.00,0.000,4,0.000,0.048,3373,326,1888,0,0,0,0,0,0
$GC,7110,1.13,181.1,165.4,11.0,338,7115,0.15,2.33,0.00,0.000,6,0.109,0.022,3345,1749,1886,0,0,0,0,0,0
$GC,7372,1.18,182.9,145.3,7.7,358,7376,0.00,2.45,0.00,0.000,4,0.000,0.047,3345,327,1886,0,0,0,0,0,0
$GC,7418,1.14,182.9,141.1,9.0,361,7424,0.00,2.30,0.00,0.000,6,0.000,0.021,3345,1745,1885,0,0,0,0,0,0
$GC,7680,1.21,185.2,122.2,7.7,382,7689,0.00,0.00,4.35,0.413,6,0.000,0.000,3345,1746,1873,0,0,0,0,0,0
$GC,7943,1.33,211.3,107.3,5.6,403,7974,0.20,2.53,24.33,0.571,4,0.051,0.045,3400,322,1767,0,0,0,0,0,0
$GC,8074,1.23,211.3,94.1,11.5,412,8079,0.17,2.30,0.00,0.000,6,0.101,0.019,3366,1747,1763,0,0,0,0,0,0
$GC,8337,1.29,211.3,71.3,8.6,432,8341,0.00,2.42,0.00,0.000,4,0.000,0.044,3366,328,1763,0,0,0,0,0,0
$GC,8417,1.29,211.3,63.4,10.1,438,8421,0.00,2.28,0.00,0.000,6,0.000,0.018,3367,1751,1762,0,0,0,0,0,0
$GC,8684,1.34,211.3,39.5,9.7,459,8689,0.10,2.47,0.00,0.000,4,0.076,0.044,3400,325,1763,0,0,0,0,0,0
$GC,8934,1.23,211.3,12.7,13.7,500,8942,0.12,2.28,0.00,0.000,6,0.083,0.018,3371,1744,1762,0,0,0,0,0,0
$STATE,9041,end climb,SURFACE_DEPTH_REACHED
$STATE,9042,begin surface coast
$FINISH,0.8,1.023053
$STATE,9081,end surface coast,CONTROL_FINISHED_OK
$STATE,9081,begin surface
$SM_CCo,9104,113.97,0.482,0,0,957,410.14
$SM_GC,1.58,0.00,0.00,113.97,0.000,0.000,0.482,426,1689,957,-12.31,-0.34,410.14
$IRIDIUM_FIX,2054.83,-15754.77,231199,232324
$TT8_MAMPS,0.028379
$HUMID,52.75
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,23.5,27.115
$10V_AH,10.3,22.333
$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,30.800,89.975,238.550,113.975,0.000,23.564,41.802,143.617,4.500,0.000,32.254,1055.572,5969.171,411.283,1669.089,458.360,0.000,1127.085,0.000,1637.668,0.000,29.260,0.000
$DEVICE_MAMPS,132.691,108.147,828.360,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,358.919,347.625,782.854,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,28582,533
$CAP_FILE_SIZE,101865,0
$CFSIZE,260165632,197283840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300810,050032,2102.905,-15754.312,16,1.9,16,9.8