version: 66.06
glider: 139
mission: 8
dive: 312
start: 8 30 110 5 5 55
data:
$ID,139
$MISSION,8
$DIVE,312
$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,-2157380.2
$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
$GPS1,050032,2102.905,-15754.312,16,1.9,16,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.0
$GPS2,050538,2102.838,-15754.386,15,1.8,15,9.8
$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,64.7,20567,-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,-64.38,0.000,2,0.000,0.000,425,1693,2773,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.6,-4.0,12,103,12.48,0.00,-1.85,0.000,6,0.133,0.000,2752,1693,2871,0,0,0,0,0,0
$GC,300,-1.49,-58.4,48.2,-16.5,45,302,0.12,0.00,0.00,0.000,6,0.112,0.000,2776,1694,2874,0,0,0,0,0,0
$GC,552,-1.49,-58.4,86.0,-14.6,65,556,0.00,2.42,0.00,0.000,4,0.000,0.046,2776,290,2874,0,0,0,0,0,0
$GC,586,-1.38,-58.4,91.4,-17.1,67,592,0.10,2.30,0.00,0.000,6,0.120,0.018,2795,1740,2875,0,0,0,0,0,0
$GC,848,-1.45,-58.4,121.0,-9.8,88,852,0.00,2.50,0.00,0.000,4,0.000,0.044,2795,289,2876,0,0,0,0,0,0
$GC,888,-1.45,-58.4,125.1,-10.3,91,892,0.00,2.25,0.00,0.000,6,0.000,0.018,2795,1718,2876,0,0,0,0,0,0
$GC,1158,-1.56,-58.4,157.1,-12.2,112,1159,0.15,0.00,0.00,0.000,6,0.057,0.000,2747,1723,2876,0,0,0,0,0,0
$GC,1411,-1.60,-58.4,194.8,-14.1,132,1415,0.00,2.45,0.00,0.000,4,0.000,0.045,2746,294,2877,0,0,0,0,0,0
$GC,1429,-1.60,-58.4,198.0,-14.0,133,1435,0.00,2.22,0.00,0.000,6,0.000,0.019,2747,1708,2877,0,0,0,0,0,0
$GC,1697,-1.64,-58.4,226.9,-9.6,147,1701,0.00,2.20,0.00,0.000,4,0.000,0.024,2748,3068,2877,0,0,0,0,0,0
$GC,1755,-1.74,-58.4,231.4,-8.0,149,1760,0.12,2.30,0.00,0.000,6,0.065,0.031,2705,1696,2878,0,0,0,0,0,0
$GC,2072,-1.74,-58.4,268.3,-12.8,164,2076,0.00,2.25,0.00,0.000,4,0.000,0.024,2706,3060,2878,0,0,0,0,0,0
$GC,2246,-1.78,-58.4,289.2,-10.1,171,2251,0.00,2.28,0.00,0.000,6,0.000,0.033,2705,1700,2878,0,0,0,0,0,0
$GC,2579,-1.78,-58.4,319.2,-9.2,183,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1700,2877,0,0,0,0,0,0
$GC,2905,-1.78,-58.4,349.6,-9.6,191,2909,0.00,2.28,0.00,0.000,4,0.000,0.028,2706,3062,2876,0,0,0,0,0,0
$GC,2951,-1.85,-58.4,354.5,-10.3,192,2956,0.00,2.33,0.00,0.000,6,0.000,0.037,2706,1698,2876,0,0,0,0,0,0
$GC,3274,-1.85,-58.4,387.3,-10.6,200,3278,0.00,2.28,0.00,0.000,4,0.000,0.028,2705,3057,2873,0,0,0,0,0,0
$GC,3312,-1.91,-58.4,391.5,-10.8,200,3318,0.00,2.33,0.00,0.000,6,0.000,0.038,2705,1695,2873,0,0,0,0,0,0
$GC,3643,-1.91,-58.4,424.6,-9.3,209,3647,0.00,2.30,0.00,0.000,4,0.000,0.030,2706,3062,2871,0,0,0,0,0,0
$GC,3723,-1.97,-58.4,431.3,-8.5,210,3728,0.15,2.33,0.00,0.000,6,0.063,0.040,2664,1695,2870,0,0,0,0,0,0
$STATE,3929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3930,begin apogee
$GC,3935,-0.31,0.0,453.2,10.7,215,3988,1.77,0.00,48.83,0.836,6,0.087,0.000,3031,1695,2630,0,0,0,0,0,0
$STATE,3989,end apogee,CONTROL_FINISHED_OK
$STATE,3989,begin climb
$GC,3992,1.56,58.4,454.1,0.0,216,4050,1.75,2.45,50.20,0.815,4,0.031,0.032,3450,3094,2391,0,0,0,0,0,0
$GC,4090,1.34,113.0,452.0,3.0,218,4146,0.30,2.35,48.17,0.811,6,0.108,0.037,3393,1729,2169,0,0,0,0,0,0
$GC,4488,1.17,113.0,408.7,12.2,228,4493,0.20,2.47,0.00,0.000,4,0.110,0.054,3356,329,2158,0,0,0,0,0,0
$GC,4512,0.98,113.0,405.9,10.9,228,4517,0.22,2.30,0.00,0.000,6,0.105,0.027,3313,1711,2155,0,0,0,0,0,0
$GC,4853,1.00,134.2,383.7,6.0,237,4878,0.00,2.47,17.65,0.767,4,0.000,0.033,3313,3116,2082,0,0,0,0,0,0
$GC,4956,1.05,145.3,376.8,6.9,239,4972,0.00,2.40,11.32,0.722,6,0.000,0.039,3313,1734,2036,0,0,0,0,0,0
$GC,5318,1.05,145.3,347.1,8.3,248,5323,0.00,2.45,0.00,0.000,4,0.000,0.054,3313,334,2031,0,0,0,0,0,0
$GC,5342,0.99,145.3,344.9,8.5,248,5346,0.00,2.35,0.00,0.000,6,0.000,0.028,3313,1737,2028,0,0,0,0,0,0
$GC,5683,0.99,146.1,317.7,7.8,257,5687,0.00,2.50,0.00,0.000,4,0.000,0.054,3312,325,2028,0,0,0,0,0,0
$GC,5735,0.93,146.1,313.5,8.6,258,5739,0.00,2.35,0.00,0.000,6,0.000,0.028,3313,1739,2025,0,0,0,0,0,0
$GC,6057,0.97,146.1,289.4,8.6,269,6061,0.00,2.47,0.00,0.000,4,0.000,0.054,3312,334,2025,0,0,0,0,0,0
$GC,6080,0.92,146.1,286.7,11.1,270,6084,0.00,2.33,0.00,0.000,6,0.000,0.027,3313,1745,2024,0,0,0,0,0,0
$GC,6406,0.97,146.6,255.6,7.8,286,6410,0.00,2.33,0.00,0.000,4,0.000,0.031,3313,3139,2024,0,0,0,0,0,0
$GC,6450,1.08,176.5,253.1,5.2,288,6484,0.10,2.40,26.85,0.723,6,0.081,0.037,3342,1728,1909,0,0,0,0,0,0
$GC,6806,1.08,176.5,220.3,8.3,305,6810,0.00,2.38,0.00,0.000,4,0.000,0.029,3342,3131,1905,0,0,0,0,0,0
$GC,6923,1.15,176.5,209.5,9.7,310,6927,0.00,2.40,0.00,0.000,6,0.000,0.037,3342,1740,1905,0,0,0,0,0,0
$GC,7244,1.15,176.5,179.9,8.9,332,7248,0.00,2.45,0.00,0.000,4,0.000,0.050,3341,332,1903,0,0,0,0,0,0
$GC,7273,1.06,176.5,177.0,11.0,334,7277,0.00,2.33,0.00,0.000,6,0.000,0.023,3342,1748,1900,0,0,0,0,0,0
$GC,7535,1.11,177.8,153.4,7.8,354,7539,0.00,2.45,0.00,0.000,4,0.000,0.047,3342,328,1900,0,0,0,0,0,0
$GC,7740,1.10,193.2,140.7,6.5,369,7763,0.00,2.33,14.43,0.590,6,0.000,0.021,3342,1754,1841,0,0,0,0,0,0
$GC,8016,1.17,193.2,117.8,10.3,391,8020,0.00,2.45,0.00,0.000,4,0.000,0.046,3342,329,1840,0,0,0,0,0,0
$GC,8085,1.17,193.2,109.1,12.7,396,8089,0.00,2.30,0.00,0.000,6,0.000,0.020,3342,1749,1837,0,0,0,0,0,0
$GC,8346,1.25,201.6,85.8,7.1,416,8362,0.15,2.47,8.73,0.499,4,0.058,0.043,3386,327,1807,0,0,0,0,0,0
$GC,8493,1.17,201.6,72.5,8.3,426,8498,0.15,2.28,0.00,0.000,6,0.102,0.019,3357,1753,1805,0,0,0,0,0,0
$GC,8757,1.25,201.6,53.6,8.8,446,8761,0.00,2.45,0.00,0.000,4,0.000,0.043,3356,328,1805,0,0,0,0,0,0
$GC,8885,1.25,201.6,41.1,8.9,455,8892,0.00,2.28,0.00,0.000,6,0.000,0.018,3357,1747,1805,0,0,0,0,0,0
$GC,9147,1.36,215.4,22.8,6.7,492,9166,0.17,2.45,13.38,0.471,4,0.054,0.040,3408,326,1751,0,0,0,0,0,0
$GC,9244,1.23,215.4,12.3,13.3,512,9251,0.17,2.28,0.00,0.000,6,0.081,0.018,3369,1744,1749,0,0,0,0,0,0
$STATE,9332,end climb,SURFACE_DEPTH_REACHED
$STATE,9332,begin surface coast
$FINISH,0.8,1.023241
$STATE,9374,end surface coast,CONTROL_FINISHED_OK
$STATE,9374,begin surface
$SM_CCo,9397,106.82,0.483,0,0,956,410.14
$SM_GC,1.61,0.00,0.00,106.82,0.000,0.000,0.483,429,1679,956,-12.29,-0.59,410.14
$IRIDIUM_FIX,2057.14,-15756.04,241199,020245
$TT8_MAMPS,0.029146
$HUMID,53.58
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.5,27.192
$10V_AH,10.4,22.405
$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,30.650,103.975,239.550,106.825,0.000,22.678,28.499,133.952,4.750,0.000,15.262,1072.290,6226.059,405.944,1673.149,431.133,0.000,1144.689,0.000,1647.408,0.000,29.255,0.000
$DEVICE_MAMPS,133.458,102.011,836.030,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,364.011,344.473,797.751,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,28552,541
$CAP_FILE_SIZE,105493,0
$CFSIZE,260165632,197230592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300810,074537,2102.702,-15754.488,39,1.1,39,9.8