version: 66.06
glider: 139
mission: 8
dive: 343
start: 9 2 110 18 17 24
data:
$ID,139
$MISSION,8
$DIVE,343
$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,534.75397
$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,-2158069.2
$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
$GPS1,180437,2102.348,-15753.506,38,0.9,38,9.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-73.6
$GPS2,181707,2102.163,-15753.435,13,1.3,13,9.8
$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,59.8,19388,-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,13,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.07,0.000,2,0.000,0.000,423,1713,2737,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.3,-3.6,12,111,12.48,2.38,-2.50,0.000,4,0.134,0.037,2752,3116,2871,0,0,0,0,0,0
$GC,136,-1.06,-58.4,18.9,-30.3,21,143,0.50,2.42,0.00,0.000,6,0.082,0.035,2867,1701,2872,0,0,0,0,0,0
$GC,338,-1.25,-58.4,42.0,-10.2,49,343,0.17,2.42,0.00,0.000,4,0.051,0.046,2811,293,2874,0,0,0,0,0,0
$GC,448,-1.25,-58.4,59.2,-16.8,57,453,0.00,2.30,0.00,0.000,6,0.000,0.018,2812,1737,2874,0,0,0,0,0,0
$GC,709,-1.32,-58.4,95.9,-13.2,77,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1737,2874,0,0,0,0,0,0
$GC,961,-1.43,-58.4,126.3,-11.1,97,963,0.10,0.00,0.00,0.000,6,0.074,0.000,2774,1739,2875,0,0,0,0,0,0
$GC,1215,-1.51,-58.4,154.2,-9.5,117,1219,0.00,2.50,0.00,0.000,4,0.000,0.045,2774,286,2875,0,0,0,0,0,0
$GC,1316,-1.51,-58.4,166.4,-10.9,124,1322,0.00,2.28,0.00,0.000,6,0.000,0.018,2774,1705,2875,0,0,0,0,0,0
$GC,1578,-1.59,-58.4,194.1,-11.0,145,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1710,2875,0,0,0,0,0,0
$GC,1833,-1.69,-58.4,221.8,-11.0,159,1838,0.20,2.42,0.00,0.000,4,0.048,0.045,2715,290,2875,0,0,0,0,0,0
$GC,1909,-1.59,-58.4,232.8,-13.7,162,1914,0.17,2.22,0.00,0.000,6,0.097,0.019,2750,1702,2875,0,0,0,0,0,0
$GC,2231,-1.65,-58.4,264.7,-8.6,178,2235,0.00,2.25,0.00,0.000,4,0.000,0.025,2750,3074,2875,0,0,0,0,0,0
$GC,2282,-1.75,-58.4,268.7,-8.2,180,2287,0.15,2.30,0.00,0.000,6,0.059,0.032,2705,1697,2875,0,0,0,0,0,0
$GC,2625,-1.75,-58.4,305.6,-10.5,196,2630,0.00,2.28,0.00,0.000,4,0.000,0.025,2705,3080,2875,0,0,0,0,0,0
$GC,2677,-1.79,-58.4,310.6,-8.8,197,2681,0.00,2.33,0.00,0.000,6,0.000,0.034,2705,1700,2875,0,0,0,0,0,0
$GC,2998,-1.79,-58.4,340.8,-10.2,205,3002,0.00,2.30,0.00,0.000,4,0.000,0.027,2704,3080,2874,0,0,0,0,0,0
$GC,3087,-1.84,-58.4,351.2,-11.0,207,3092,0.00,2.35,0.00,0.000,6,0.000,0.036,2705,1696,2874,0,0,0,0,0,0
$GC,3416,-1.84,-58.4,389.9,-11.6,215,3420,0.00,2.30,0.00,0.000,4,0.000,0.028,2705,3081,2871,0,0,0,0,0,0
$GC,3533,-1.90,-58.4,403.2,-10.9,217,3537,0.00,2.35,0.00,0.000,6,0.000,0.038,2704,1699,2870,0,0,0,0,0,0
$GC,3875,-1.90,-58.4,441.0,-10.6,226,3879,0.00,2.30,0.00,0.000,4,0.000,0.031,2705,3078,2868,0,0,0,0,0,0
$GC,3912,-1.97,-58.4,445.3,-10.6,226,3918,0.15,2.35,0.00,0.000,6,0.062,0.041,2662,1702,2867,0,0,0,0,0,0
$STATE,3956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3956,begin apogee
$GC,3962,-0.31,0.0,451.0,12.1,228,4015,1.77,0.00,48.62,0.817,6,0.085,0.000,3031,1702,2630,0,0,0,0,0,0
$STATE,4015,end apogee,CONTROL_FINISHED_OK
$STATE,4016,begin climb
$GC,4019,1.56,58.4,452.5,0.0,229,4074,1.77,0.00,50.55,0.802,6,0.028,0.000,3452,1701,2391,0,0,0,0,0,0
$GC,4365,1.30,95.7,441.2,4.5,238,4407,0.32,2.55,32.30,0.798,4,0.106,0.053,3385,293,2236,0,0,0,0,0,0
$GC,4421,1.08,105.9,438.3,7.0,239,4438,0.25,2.33,10.18,0.704,6,0.106,0.026,3337,1692,2197,0,0,0,0,0,0
$GC,4785,1.02,105.9,405.8,8.3,248,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,1692,2190,0,0,0,0,0,0
$GC,5108,1.00,127.5,383.8,5.9,256,5133,0.00,2.58,18.58,0.768,4,0.000,0.055,3337,292,2110,0,0,0,0,0,0
$GC,5176,0.86,127.5,378.8,9.1,257,5181,0.25,2.35,0.00,0.000,6,0.102,0.028,3289,1698,2106,0,0,0,0,0,0
$GC,5523,0.94,135.0,355.6,7.2,266,5534,0.00,0.00,7.35,0.657,6,0.000,0.000,3290,1703,2079,0,0,0,0,0,0
$GC,5854,1.02,135.0,328.6,8.2,274,5859,0.15,2.35,0.00,0.000,4,0.064,0.031,3330,3086,2076,0,0,0,0,0,0
$GC,5934,1.02,135.0,320.9,10.1,275,5938,0.00,2.40,0.00,0.000,6,0.000,0.039,3329,1699,2076,0,0,0,0,0,0
$GC,6247,1.04,154.1,296.7,6.2,283,6269,0.00,2.45,17.70,0.732,4,0.000,0.030,3330,3086,2001,0,0,0,0,0,0
$GC,6285,1.11,174.8,294.2,6.0,284,6310,0.00,2.42,20.15,0.723,6,0.000,0.038,3330,1696,1916,0,0,0,0,0,0
$GC,6630,1.11,174.8,265.5,8.6,301,6634,0.00,2.33,0.00,0.000,4,0.000,0.028,3330,3085,1911,0,0,0,0,0,0
$GC,6681,1.19,177.1,260.9,7.7,303,6686,0.12,2.40,0.00,0.000,6,0.069,0.038,3365,1693,1910,0,0,0,0,0,0
$GC,7003,1.19,177.1,228.7,9.5,319,7007,0.00,2.42,0.00,0.000,4,0.000,0.051,3365,298,1908,0,0,0,0,0,0
$GC,7024,1.09,177.1,226.5,10.0,320,7029,0.15,2.33,0.00,0.000,6,0.109,0.024,3337,1717,1906,0,0,0,0,0,0
$GC,7354,1.12,177.1,194.9,10.5,337,7359,0.00,2.47,0.00,0.000,4,0.000,0.049,3337,290,1906,0,0,0,0,0,0
$GC,7421,1.06,177.1,187.4,11.4,342,7425,0.00,2.30,0.00,0.000,6,0.000,0.022,3337,1712,1904,0,0,0,0,0,0
$GC,7688,1.10,178.6,164.3,7.8,363,7692,0.00,2.47,0.00,0.000,4,0.000,0.048,3337,290,1904,0,0,0,0,0,0
$GC,7771,1.06,178.6,156.3,8.8,369,7775,0.00,2.25,0.00,0.000,6,0.000,0.021,3337,1708,1903,0,0,0,0,0,0
$GC,8037,1.15,201.1,138.1,5.9,390,8065,0.00,2.50,22.08,0.597,4,0.000,0.046,3337,291,1809,0,0,0,0,0,0
$GC,8099,1.15,201.1,133.0,9.8,394,8103,0.00,2.28,0.00,0.000,6,0.000,0.021,3337,1699,1807,0,0,0,0,0,0
$GC,8365,1.24,205.5,112.5,7.5,415,8379,0.15,2.45,4.95,0.426,4,0.058,0.044,3381,296,1791,0,0,0,0,0,0
$GC,8386,1.24,205.5,110.4,9.0,416,8390,0.00,2.22,0.00,0.000,6,0.000,0.020,3382,1710,1791,0,0,0,0,0,0
$GC,8644,1.24,205.5,86.2,9.9,436,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1716,1790,0,0,0,0,0,0
$GC,8898,1.24,205.5,62.3,9.3,456,8902,0.00,2.45,0.00,0.000,4,0.000,0.044,3382,293,1790,0,0,0,0,0,0
$GC,8918,1.20,205.5,60.3,10.1,457,8924,0.00,2.25,0.00,0.000,6,0.000,0.019,3382,1706,1789,0,0,0,0,0,0
$GC,9180,1.26,215.3,40.3,7.0,478,9195,0.00,2.45,10.18,0.464,4,0.000,0.042,3382,294,1750,0,0,0,0,0,0
$GC,9416,1.21,215.3,18.8,10.1,513,9423,0.00,2.22,0.00,0.000,6,0.000,0.018,3382,1702,1748,0,0,0,0,0,0
$STATE,9591,end climb,SURFACE_DEPTH_REACHED
$STATE,9591,begin surface coast
$FINISH,1.0,1.023033
$STATE,9626,end surface coast,CONTROL_FINISHED_OK
$STATE,9627,begin surface
$SM_CCo,9649,184.30,0.479,0,0,449,534.75
$SM_GC,1.49,0.00,0.00,184.30,0.000,0.000,0.479,429,1702,449,-12.29,0.06,534.75
$IRIDIUM_FIX,2052.52,-15754.77,271199,151538
$TT8_MAMPS,0.029913
$HUMID,51.92
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.5,29.666
$10V_AH,10.4,24.686
$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,31.550,99.275,242.625,184.300,0.000,162.892,145.928,69.482,4.500,0.000,13.434,1089.502,6700.711,505.028,1649.809,638.056,0.000,1216.344,0.000,1629.089,0.000,29.257,0.000
$DEVICE_MAMPS,134.225,55.224,816.855,478.608,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,377.628,356.986,827.579,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,31788,561
$CAP_FILE_SIZE,106569,0
$CFSIZE,260165632,195571712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020910,210225,2101.904,-15753.338,11,1.9,28,9.8