version: 66.06
glider: 139
mission: 8
dive: 329
start: 9 1 110 3 19 22
data:
$ID,139
$MISSION,8
$DIVE,329
$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,-2157778.2
$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,1700
$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
$GPS1,031321,2107.174,-15759.736,12,2.3,31,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-72.3
$GPS2,031906,2107.151,-15759.720,40,1.1,56,9.8
$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,85.1,29137,-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,-64.78,0.000,2,0.000,0.000,430,1687,2768,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.4,-3.6,12,110,12.48,2.42,-1.88,0.000,4,0.134,0.035,2754,3112,2872,0,0,0,0,0,0
$GC,200,-1.56,-58.4,30.0,-15.2,36,204,0.00,2.38,0.00,0.000,6,0.000,0.032,2754,1698,2874,0,0,0,0,0,0
$GC,465,-1.50,-58.4,80.7,-19.4,57,468,0.00,2.33,0.00,0.000,4,0.000,0.023,2754,3115,2874,0,0,0,0,0,0
$GC,523,-1.56,-58.4,90.6,-15.2,61,527,0.00,2.38,0.00,0.000,6,0.000,0.033,2754,1699,2875,0,0,0,0,0,0
$GC,787,-1.56,-58.4,125.4,-12.6,82,791,0.00,2.40,0.00,0.000,4,0.000,0.044,2753,293,2876,0,0,0,0,0,0
$GC,856,-1.56,-58.4,134.9,-13.6,87,860,0.00,2.28,0.00,0.000,6,0.000,0.018,2754,1734,2877,0,0,0,0,0,0
$GC,1117,-1.60,-58.4,169.0,-14.5,107,1121,0.00,2.20,0.00,0.000,4,0.000,0.023,2754,3081,2877,0,0,0,0,0,0
$GC,1178,-1.72,-58.4,177.2,-12.0,111,1184,0.12,2.30,0.00,0.000,6,0.064,0.031,2714,1698,2877,0,0,0,0,0,0
$GC,1454,-1.72,-58.4,213.7,-12.2,130,1458,0.00,2.40,0.00,0.000,4,0.000,0.045,2714,298,2877,0,0,0,0,0,0
$GC,1491,-1.61,-58.4,219.3,-14.3,131,1498,0.17,2.25,0.00,0.000,6,0.097,0.019,2749,1713,2877,0,0,0,0,0,0
$GC,1811,-1.66,-58.4,253.5,-11.5,147,1815,0.00,2.20,0.00,0.000,4,0.000,0.024,2749,3069,2877,0,0,0,0,0,0
$GC,1831,-1.75,-58.4,256.3,-11.7,148,1835,0.15,2.30,0.00,0.000,6,0.058,0.033,2703,1701,2877,0,0,0,0,0,0
$GC,2163,-1.75,-58.4,296.8,-12.0,164,2167,0.00,2.28,0.00,0.000,4,0.000,0.025,2703,3069,2877,0,0,0,0,0,0
$GC,2356,-1.81,-58.4,317.6,-11.2,169,2361,0.00,2.30,0.00,0.000,6,0.000,0.035,2703,1698,2877,0,0,0,0,0,0
$GC,2675,-1.81,-58.4,351.9,-10.9,177,2679,0.00,2.28,0.00,0.000,4,0.000,0.027,2703,3068,2876,0,0,0,0,0,0
$GC,2750,-1.87,-58.4,360.1,-10.3,178,2754,0.00,2.30,0.00,0.000,6,0.000,0.037,2703,1701,2875,0,0,0,0,0,0
$GC,3086,-1.87,-58.4,394.8,-10.2,187,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,1701,2874,0,0,0,0,0,0
$GC,3410,-1.87,-58.4,430.1,-11.3,195,3414,0.00,2.30,0.00,0.000,4,0.000,0.031,2703,3066,2872,0,0,0,0,0,0
$GC,3466,-1.92,-58.4,436.1,-10.4,196,3470,0.00,2.33,0.00,0.000,6,0.000,0.040,2703,1700,2871,0,0,0,0,0,0
$STATE,3614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3614,begin apogee
$GC,3621,-0.31,0.0,452.5,11.0,200,3674,1.58,0.00,49.35,0.828,6,0.081,0.000,3032,1700,2630,0,0,0,0,0,0
$STATE,3675,end apogee,CONTROL_FINISHED_OK
$STATE,3675,begin climb
$GC,3678,1.56,58.4,453.9,0.0,201,3736,1.75,2.53,50.25,0.811,4,0.031,0.053,3448,294,2390,0,0,0,0,0,0
$GC,3805,1.21,123.6,453.8,2.0,203,3872,0.43,2.30,57.20,0.812,6,0.107,0.026,3367,1699,2126,0,0,0,0,0,0
$GC,4183,1.09,123.6,422.0,9.8,213,4188,0.15,2.35,0.00,0.000,4,0.110,0.032,3339,3079,2116,0,0,0,0,0,0
$GC,4276,1.09,123.6,413.5,8.6,215,4280,0.00,2.38,0.00,0.000,6,0.000,0.040,3340,1697,2116,0,0,0,0,0,0
$GC,4600,1.03,123.6,385.0,9.1,223,4604,0.00,2.47,0.00,0.000,4,0.000,0.056,3339,292,2112,0,0,0,0,0,0
$GC,4615,0.93,123.6,383.4,9.0,223,4620,0.17,2.33,0.00,0.000,6,0.113,0.028,3307,1694,2110,0,0,0,0,0,0
$GC,4965,0.94,131.9,358.3,7.1,232,4977,0.00,2.42,5.55,0.604,4,0.000,0.032,3307,3087,2092,0,0,0,0,0,0
$GC,5031,1.02,144.9,353.8,6.7,233,5051,0.00,2.40,13.38,0.741,6,0.000,0.040,3307,1693,2039,0,0,0,0,0,0
$GC,5383,1.07,151.3,327.4,7.3,242,5395,0.12,2.55,6.50,0.630,4,0.071,0.055,3341,292,2013,0,0,0,0,0,0
$GC,5425,0.93,151.3,323.2,10.1,242,5431,0.20,2.35,0.00,0.000,6,0.105,0.027,3304,1702,2011,0,0,0,0,0,0
$GC,5757,1.01,162.3,298.9,6.9,251,5773,0.00,2.40,11.07,0.699,4,0.000,0.031,3304,3084,1968,0,0,0,0,0,0
$GC,5794,1.11,174.0,296.4,6.8,252,5813,0.17,2.40,12.38,0.703,6,0.058,0.038,3350,1698,1919,0,0,0,0,0,0
$GC,6139,1.11,174.0,264.0,8.6,269,6143,0.00,2.45,0.00,0.000,4,0.000,0.054,3350,298,1915,0,0,0,0,0,0
$GC,6172,0.99,174.0,260.8,9.7,270,6177,0.17,2.33,0.00,0.000,6,0.105,0.025,3317,1709,1913,0,0,0,0,0,0
$GC,6490,1.05,174.0,235.8,8.1,285,6494,0.00,2.47,0.00,0.000,4,0.000,0.052,3317,295,1912,0,0,0,0,0,0
$GC,6518,1.01,174.0,233.0,9.5,286,6522,0.00,2.28,0.00,0.000,6,0.000,0.024,3317,1701,1910,0,0,0,0,0,0
$GC,6839,1.09,177.6,207.4,7.6,302,6843,0.00,2.47,0.00,0.000,4,0.000,0.050,3317,292,1910,0,0,0,0,0,0
$GC,6976,1.09,177.6,194.7,9.6,310,6980,0.00,2.28,0.00,0.000,6,0.000,0.022,3317,1710,1909,0,0,0,0,0,0
$GC,7243,1.16,177.6,173.0,8.0,331,7248,0.15,2.50,0.00,0.000,4,0.061,0.049,3360,289,1909,0,0,0,0,0,0
$GC,7277,1.04,177.6,169.4,10.3,333,7283,0.17,2.28,0.00,0.000,6,0.102,0.021,3326,1697,1909,0,0,0,0,0,0
$GC,7538,1.11,179.9,149.4,7.7,354,7553,0.00,2.28,4.72,0.451,4,0.000,0.023,3326,3082,1896,0,0,0,0,0,0
$GC,7604,1.22,181.6,144.2,7.7,358,7611,0.15,2.38,0.00,0.000,6,0.033,0.033,3375,1699,1896,0,0,0,0,0,0
$GC,7867,1.18,181.6,120.0,9.0,379,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1698,1896,0,0,0,0,0,0
$GC,8117,1.18,181.6,99.1,9.0,399,8121,0.00,2.40,0.00,0.000,4,0.000,0.047,3375,292,1896,0,0,0,0,0,0
$GC,8156,1.06,181.6,95.0,10.5,402,8161,0.22,2.25,0.00,0.000,6,0.095,0.020,3331,1721,1895,0,0,0,0,0,0
$GC,8425,1.21,209.3,71.2,5.4,423,8458,0.15,2.55,27.27,0.547,4,0.058,0.044,3378,282,1775,0,0,0,0,0,0
$GC,8507,1.13,209.3,65.8,8.1,428,8514,0.12,2.30,0.00,0.000,6,0.081,0.019,3349,1711,1772,0,0,0,0,0,0
$GC,8769,1.30,256.0,53.3,3.7,449,8815,0.15,2.50,40.25,0.531,4,0.057,0.044,3395,293,1585,0,0,0,0,0,0
$GC,8870,1.23,256.0,44.9,11.1,456,8877,0.10,2.25,0.00,0.000,6,0.081,0.019,3371,1699,1581,0,0,0,0,0,0
$GC,9133,1.29,256.0,17.4,11.2,493,9140,0.00,2.25,0.00,0.000,4,0.000,0.021,3371,3053,1580,0,0,0,0,0,0
$GC,9152,1.37,256.0,15.3,10.7,496,9159,0.08,2.33,0.00,0.000,6,0.039,0.031,3405,1691,1580,0,0,0,0,0,0
$STATE,9258,end climb,SURFACE_DEPTH_REACHED
$STATE,9258,begin surface coast
$FINISH,0.9,1.023092
$STATE,9281,end surface coast,CONTROL_FINISHED_OK
$STATE,9281,begin surface
$SM_CCo,9304,87.43,0.485,0,0,958,410.14
$SM_GC,1.47,0.00,0.00,87.43,0.000,0.000,0.485,425,1687,958,-12.31,-0.37,410.14
$IRIDIUM_FIX,2101.76,-15800.33,261199,000024
$TT8_MAMPS,0.029146
$HUMID,54.29
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,28.543
$10V_AH,10.3,23.646
$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,31.725,113.000,277.925,87.425,0.000,28.638,27.153,122.280,4.500,0.000,57.004,1051.735,6168.851,417.730,1661.997,434.002,0.000,1167.283,0.000,1597.194,0.000,29.259,0.000
$DEVICE_MAMPS,134.225,55.991,827.593,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.052,335.178,757.748,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28576,525
$CAP_FILE_SIZE,108383,0
$CFSIZE,260165632,196345856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010910,055704,2107.084,-15759.276,12,2.3,31,9.8