version: 66.06
glider: 139
mission: 8
dive: 341
start: 9 2 110 12 41 37
data:
$ID,139
$MISSION,8
$DIVE,341
$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,-2158016.2
$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
$GPS1,123607,2102.901,-15753.989,32,1.1,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.5
$GPS2,124120,2102.858,-15753.971,17,1.7,17,9.8
$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,64.2,19866,-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,-64.47,0.000,2,0.000,0.000,427,1713,2764,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-3.9,12,110,12.50,2.38,-1.98,0.000,4,0.134,0.037,2755,3115,2872,0,0,0,0,0,0
$GC,140,-1.22,-58.4,19.7,-27.5,22,147,0.35,2.45,0.00,0.000,6,0.081,0.038,2831,1701,2872,0,0,0,0,0,0
$GC,351,-1.33,-58.4,47.7,-12.3,48,355,0.00,2.42,0.00,0.000,4,0.000,0.046,2831,294,2873,0,0,0,0,0,0
$GC,438,-1.39,-58.4,60.0,-13.7,54,445,0.12,2.33,0.00,0.000,6,0.032,0.018,2785,1735,2874,0,0,0,0,0,0
$GC,700,-1.44,-58.4,98.2,-12.5,75,704,0.00,2.17,0.00,0.000,4,0.000,0.022,2785,3082,2874,0,0,0,0,0,0
$GC,728,-1.57,-58.4,101.6,-10.9,77,733,0.12,2.30,0.00,0.000,6,0.063,0.031,2744,1695,2875,0,0,0,0,0,0
$GC,989,-1.57,-58.4,136.8,-13.8,97,993,0.00,2.25,0.00,0.000,4,0.000,0.021,2744,3080,2876,0,0,0,0,0,0
$GC,1164,-1.65,-58.4,163.0,-15.2,110,1168,0.00,2.30,0.00,0.000,6,0.000,0.032,2744,1702,2876,0,0,0,0,0,0
$GC,1430,-1.65,-58.4,198.6,-11.7,131,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1701,2876,0,0,0,0,0,0
$GC,1682,-1.69,-58.4,223.1,-8.1,144,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1702,2876,0,0,0,0,0,0
$GC,1990,-1.75,-58.4,251.5,-10.3,159,1995,0.12,2.42,0.00,0.000,4,0.064,0.047,2703,289,2877,0,0,0,0,0,0
$GC,2011,-1.71,-58.4,254.4,-12.6,160,2016,0.12,2.25,0.00,0.000,6,0.108,0.020,2727,1708,2877,0,0,0,0,0,0
$GC,2345,-1.71,-58.4,295.7,-11.0,176,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1713,2877,0,0,0,0,0,0
$GC,2647,-1.74,-58.4,325.3,-9.2,185,2651,0.00,2.42,0.00,0.000,4,0.000,0.049,2727,297,2876,0,0,0,0,0,0
$GC,2667,-1.74,-58.4,327.5,-11.3,185,2671,0.00,2.25,0.00,0.000,6,0.000,0.022,2727,1704,2875,0,0,0,0,0,0
$GC,3013,-1.78,-58.4,363.4,-10.2,194,3017,0.00,2.30,0.00,0.000,4,0.000,0.030,2727,3084,2874,0,0,0,0,0,0
$GC,3041,-1.87,-58.4,366.5,-10.6,194,3046,0.15,2.38,0.00,0.000,6,0.060,0.038,2684,1695,2875,0,0,0,0,0,0
$GC,3379,-1.82,-58.4,406.8,-12.3,203,3383,0.00,2.35,0.00,0.000,4,0.000,0.030,2684,3077,2872,0,0,0,0,0,0
$GC,3597,-1.82,-58.4,431.7,-10.6,207,3600,0.00,2.38,0.00,0.000,6,0.000,0.040,2684,1694,2870,0,0,0,0,0,0
$STATE,3767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3767,begin apogee
$GC,3773,-0.31,0.0,451.1,11.2,212,3826,1.65,0.00,48.97,0.821,6,0.084,0.000,3028,1694,2630,0,0,0,0,0,0
$STATE,3826,end apogee,CONTROL_FINISHED_OK
$STATE,3826,begin climb
$GC,3829,1.56,58.4,452.5,0.0,213,3884,1.80,0.00,50.67,0.805,6,0.029,0.000,3453,1694,2391,0,0,0,0,0,0
$GC,4175,1.31,104.0,444.1,3.8,222,4221,0.32,2.42,39.47,0.808,4,0.106,0.032,3387,3078,2206,0,0,0,0,0,0
$GC,4254,1.17,104.0,439.1,8.7,223,4260,0.17,2.40,0.00,0.000,6,0.113,0.041,3355,1692,2205,0,0,0,0,0,0
$GC,4587,1.08,106.0,411.5,7.7,232,4591,0.00,2.38,0.00,0.000,4,0.000,0.033,3355,3078,2198,0,0,0,0,0,0
$GC,4648,1.03,118.4,407.2,6.8,233,4668,0.15,2.38,12.65,0.740,6,0.121,0.040,3327,1699,2147,0,0,0,0,0,0
$GC,5001,1.05,135.1,383.4,6.4,242,5022,0.00,2.38,15.70,0.759,4,0.000,0.033,3327,3077,2079,0,0,0,0,0,0
$GC,5134,1.06,143.5,373.9,7.1,245,5150,0.00,2.40,8.95,0.691,6,0.000,0.041,3327,1699,2045,0,0,0,0,0,0
$GC,5465,1.06,147.7,349.0,7.5,253,5476,0.00,2.35,4.60,0.544,4,0.000,0.031,3328,3077,2027,0,0,0,0,0,0
$GC,5593,1.11,158.1,339.3,7.0,255,5609,0.00,2.40,11.12,0.713,6,0.000,0.041,3327,1697,1985,0,0,0,0,0,0
$GC,5935,1.11,158.1,309.8,9.0,264,5939,0.00,2.50,0.00,0.000,4,0.000,0.056,3327,289,1980,0,0,0,0,0,0
$GC,6014,1.02,158.1,302.1,10.3,265,6018,0.00,2.33,0.00,0.000,6,0.000,0.026,3327,1697,1978,0,0,0,0,0,0
$GC,6331,1.04,173.4,276.4,6.5,279,6353,0.00,2.55,13.70,0.700,4,0.000,0.053,3327,301,1922,0,0,0,0,0,0
$GC,6363,1.04,176.3,273.9,7.6,280,6372,0.00,2.30,4.10,0.478,6,0.000,0.026,3327,1708,1910,0,0,0,0,0,0
$GC,6685,1.05,182.1,249.4,7.4,295,6697,0.00,2.55,6.68,0.592,4,0.000,0.053,3327,298,1887,0,0,0,0,0,0
$GC,6802,1.00,182.1,237.7,11.7,300,6806,0.00,2.30,0.00,0.000,6,0.000,0.025,3327,1692,1883,0,0,0,0,0,0
$GC,7133,1.05,182.1,206.2,9.1,316,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1696,1883,0,0,0,0,0,0
$GC,7455,1.11,182.1,176.3,8.7,339,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1696,1882,0,0,0,0,0,0
$GC,7709,1.17,182.1,155.4,8.2,359,7714,0.12,2.45,0.00,0.000,4,0.067,0.049,3364,289,1882,0,0,0,0,0,0
$GC,7804,1.06,182.1,144.4,12.4,366,7809,0.17,2.28,0.00,0.000,6,0.100,0.021,3330,1719,1880,0,0,0,0,0,0
$GC,8073,1.13,182.1,122.8,9.1,387,8077,0.00,2.47,0.00,0.000,4,0.000,0.047,3330,293,1880,0,0,0,0,0,0
$GC,8092,1.13,182.1,120.7,8.8,388,8098,0.00,2.28,0.00,0.000,6,0.000,0.021,3330,1706,1880,0,0,0,0,0,0
$GC,8352,1.22,182.1,99.2,8.1,409,8356,0.15,2.45,0.00,0.000,4,0.059,0.047,3375,292,1880,0,0,0,0,0,0
$GC,8400,1.14,182.1,94.7,9.2,412,8406,0.10,2.25,0.00,0.000,6,0.084,0.021,3351,1701,1880,0,0,0,0,0,0
$GC,8662,1.26,220.5,80.7,4.4,433,8704,0.10,2.53,33.92,0.554,4,0.075,0.045,3384,290,1729,0,0,0,0,0,0
$GC,8795,1.20,220.5,68.9,10.0,442,8802,0.08,2.25,0.00,0.000,6,0.086,0.020,3365,1696,1725,0,0,0,0,0,0
$GC,9058,1.26,220.5,49.8,8.0,463,9062,0.00,2.40,0.00,0.000,4,0.000,0.045,3365,294,1725,0,0,0,0,0,0
$GC,9252,1.26,220.5,30.6,9.8,477,9259,0.00,2.25,0.00,0.000,6,0.000,0.019,3365,1711,1723,0,0,0,0,0,0
$GC,9515,1.34,220.5,9.7,9.1,536,9522,0.12,2.50,0.00,0.000,4,0.064,0.045,3405,289,1724,0,0,0,0,0,0
$GC,9561,1.24,220.5,4.5,12.0,545,9569,0.15,2.22,0.00,0.000,6,0.080,0.018,3371,1702,1723,0,0,0,0,0,0
$STATE,9575,end climb,SURFACE_DEPTH_REACHED
$STATE,9575,begin surface coast
$FINISH,0.9,1.019907
$STATE,9602,end surface coast,CONTROL_FINISHED_OK
$STATE,9602,begin surface
$SM_CCo,9625,105.05,0.482,0,0,957,410.14
$SM_GC,1.60,0.00,0.00,105.05,0.000,0.000,0.482,430,1702,957,-12.28,0.06,410.14
$IRIDIUM_FIX,2054.83,-15754.77,271199,101010
$TT8_MAMPS,0.029913
$HUMID,53.46
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,29.495
$10V_AH,10.3,24.538
$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,31.200,99.300,250.550,105.050,0.000,29.406,27.847,128.980,4.500,0.000,17.906,1101.760,6346.055,434.579,1715.488,444.172,0.000,1178.916,0.000,1692.311,0.000,29.253,0.000
$DEVICE_MAMPS,134.225,55.991,820.690,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,372.151,351.963,812.001,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,31742,553
$CAP_FILE_SIZE,106908,0
$CFSIZE,260165632,195694592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020910,152458,2102.698,-15753.765,12,6.3,31,9.8