version: 66.06
glider: 139
mission: 8
dive: 350
start: 9 3 110 13 14 37
data:
$ID,139
$MISSION,8
$DIVE,350
$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,-2158221
$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
$GPS1,130920,2100.519,-15753.203,15,1.3,15,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.9
$GPS2,131420,2100.487,-15753.187,15,1.3,15,9.8
$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,51.1,20301,-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,-64.47,0.000,2,0.000,0.000,431,1705,2735,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-2.9,12,104,12.48,0.00,-2.58,0.000,6,0.134,0.000,2752,1706,2871,0,0,0,0,0,0
$GC,296,-1.50,-58.4,47.3,-15.0,44,301,0.00,2.42,0.00,0.000,4,0.000,0.047,2752,294,2874,0,0,0,0,0,0
$GC,342,-1.36,-58.4,56.5,-19.5,47,349,0.20,2.33,0.00,0.000,6,0.084,0.018,2796,1730,2874,0,0,0,0,0,0
$GC,604,-1.43,-58.4,94.5,-14.0,68,608,0.00,2.20,0.00,0.000,4,0.000,0.021,2796,3086,2876,0,0,0,0,0,0
$GC,637,-1.58,-58.4,99.4,-12.5,70,642,0.17,2.33,0.00,0.000,6,0.051,0.031,2743,1687,2875,0,0,0,0,0,0
$GC,898,-1.58,-58.4,139.6,-13.8,90,902,0.00,2.28,0.00,0.000,4,0.000,0.021,2743,3084,2876,0,0,0,0,0,0
$GC,1019,-1.64,-58.4,154.0,-11.2,98,1026,0.00,2.35,0.00,0.000,6,0.000,0.031,2743,1699,2877,0,0,0,0,0,0
$GC,1280,-1.64,-58.4,185.4,-11.8,119,1284,0.00,2.38,0.00,0.000,4,0.000,0.044,2742,297,2877,0,0,0,0,0,0
$GC,1319,-1.60,-58.4,190.2,-12.3,122,1323,0.00,2.25,0.00,0.000,6,0.000,0.019,2743,1714,2877,0,0,0,0,0,0
$GC,1593,-1.64,-58.4,224.1,-13.1,138,1597,0.00,2.42,0.00,0.000,4,0.000,0.045,2743,294,2877,0,0,0,0,0,0
$GC,1644,-1.64,-58.4,231.9,-14.3,140,1648,0.00,2.22,0.00,0.000,6,0.000,0.019,2743,1703,2877,0,0,0,0,0,0
$GC,1964,-1.70,-58.4,271.0,-11.2,156,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1708,2877,0,0,0,0,0,0
$GC,2277,-1.77,-58.4,301.5,-9.3,171,2282,0.12,2.25,0.00,0.000,4,0.067,0.027,2704,3070,2877,0,0,0,0,0,0
$GC,2321,-1.81,-58.4,306.3,-11.2,172,2325,0.00,2.30,0.00,0.000,6,0.000,0.033,2704,1692,2878,0,0,0,0,0,0
$GC,2652,-1.81,-58.4,342.8,-11.2,180,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1691,2876,0,0,0,0,0,0
$GC,2973,-1.81,-58.4,376.0,-10.0,188,2977,0.00,2.30,0.00,0.000,4,0.000,0.028,2704,3074,2875,0,0,0,0,0,0
$GC,3125,-1.86,-58.4,390.3,-8.6,191,3129,0.00,2.33,0.00,0.000,6,0.000,0.038,2704,1700,2874,0,0,0,0,0,0
$GC,3440,-1.86,-58.4,422.2,-10.7,199,3445,0.00,2.47,0.00,0.000,4,0.000,0.055,2703,288,2872,0,0,0,0,0,0
$GC,3469,-1.79,-58.4,425.6,-11.8,199,3473,0.00,2.28,0.00,0.000,6,0.000,0.025,2703,1686,2871,0,0,0,0,0,0
$STATE,3722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3722,begin apogee
$GC,3729,-0.31,0.0,453.2,10.7,206,3782,1.55,0.00,49.10,0.825,6,0.079,0.000,3029,1691,2630,0,0,0,0,0,0
$STATE,3783,end apogee,CONTROL_FINISHED_OK
$STATE,3783,begin climb
$GC,3786,1.56,58.4,454.8,0.0,207,3844,1.77,2.50,50.15,0.811,4,0.031,0.052,3449,295,2390,0,0,0,0,0,0
$GC,3853,1.35,164.1,455.4,-1.6,208,3955,0.28,2.35,92.28,0.814,6,0.110,0.025,3397,1714,1960,0,0,0,0,0,0
$GC,4279,1.19,164.1,403.3,14.2,219,4284,0.20,2.55,0.00,0.000,4,0.107,0.055,3360,294,1951,0,0,0,0,0,0
$GC,4304,0.99,164.1,399.2,15.5,219,4310,0.22,2.35,0.00,0.000,6,0.106,0.027,3317,1699,1948,0,0,0,0,0,0
$GC,4645,0.99,164.1,358.4,11.9,228,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1705,1945,0,0,0,0,0,0
$GC,4970,0.99,164.1,325.1,9.4,236,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1705,1942,0,0,0,0,0,0
$GC,5277,0.99,164.1,295.9,10.2,244,5281,0.00,2.50,0.00,0.000,4,0.000,0.054,3317,293,1941,0,0,0,0,0,0
$GC,5373,0.93,164.1,284.4,10.9,248,5378,0.00,2.33,0.00,0.000,6,0.000,0.027,3317,1703,1938,0,0,0,0,0,0
$GC,5695,0.98,164.1,251.5,10.7,264,5699,0.00,2.50,0.00,0.000,4,0.000,0.053,3317,287,1937,0,0,0,0,0,0
$GC,5901,0.98,164.1,225.7,11.5,273,5905,0.00,2.30,0.00,0.000,6,0.000,0.025,3317,1708,1935,0,0,0,0,0,0
$GC,6229,1.08,184.8,203.0,6.0,289,6251,0.00,2.55,14.82,0.650,4,0.000,0.051,3317,297,1875,0,0,0,0,0,0
$GC,6361,1.08,184.8,188.8,11.6,297,6366,0.00,2.28,0.00,0.000,6,0.000,0.024,3317,1704,1871,0,0,0,0,0,0
$GC,6621,1.16,184.8,163.8,8.8,318,6623,0.15,0.00,0.00,0.000,6,0.061,0.000,3359,1710,1870,0,0,0,0,0,0
$GC,6872,1.17,195.8,143.3,6.9,338,6888,0.00,2.47,10.65,0.571,4,0.000,0.046,3359,294,1830,0,0,0,0,0,0
$GC,6936,1.08,195.8,136.8,12.1,342,6941,0.12,2.28,0.00,0.000,6,0.110,0.021,3336,1707,1827,0,0,0,0,0,0
$GC,7196,1.16,195.8,109.5,9.9,362,7200,0.00,2.45,0.00,0.000,4,0.000,0.046,3336,294,1827,0,0,0,0,0,0
$GC,7214,1.21,195.8,107.4,11.2,363,7219,0.12,2.25,0.00,0.000,6,0.067,0.021,3374,1709,1827,0,0,0,0,0,0
$GC,7479,1.23,207.7,82.3,6.8,384,7493,0.00,0.00,11.52,0.521,6,0.000,0.000,3373,1715,1782,0,0,0,0,0,0
$GC,7747,1.31,242.0,68.5,4.8,405,7782,0.00,2.53,30.42,0.542,4,0.000,0.047,3373,294,1643,0,0,0,0,0,0
$GC,7799,1.31,242.0,65.2,8.0,408,7803,0.00,2.28,0.00,0.000,6,0.000,0.019,3373,1715,1640,0,0,0,0,0,0
$GC,8067,1.35,242.0,42.7,11.3,429,8071,0.00,2.45,0.00,0.000,4,0.000,0.043,3373,286,1639,0,0,0,0,0,0
$GC,8223,1.32,242.0,23.6,12.5,448,8229,0.00,2.25,0.00,0.000,6,0.000,0.018,3374,1701,1637,0,0,0,0,0,0
$STATE,8422,end climb,SURFACE_DEPTH_REACHED
$STATE,8423,begin surface coast
$FINISH,0.9,1.011407
$STATE,8454,end surface coast,CONTROL_FINISHED_OK
$STATE,8454,begin surface
$SM_CCo,8476,91.18,0.483,0,0,957,410.14
$SM_GC,1.71,0.00,0.00,91.18,0.000,0.000,0.483,431,1701,957,-12.28,0.03,410.14
$IRIDIUM_FIX,2052.52,-15751.76,281199,101047
$TT8_MAMPS,0.028379
$HUMID,54.92
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.30
$XPDR_PINGS,0
$24V_AH,23.5,30.214
$10V_AH,10.3,25.181
$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,30.100,80.250,258.950,91.175,0.000,30.707,26.937,118.547,4.500,0.000,15.949,970.162,5591.789,387.048,1501.992,415.454,0.000,1047.235,0.000,1488.170,0.000,29.262,0.000
$DEVICE_MAMPS,134.225,55.224,825.292,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,337.294,325.139,752.748,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,28629,501
$CAP_FILE_SIZE,90991,0
$CFSIZE,260165632,195248128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030910,153837,2100.524,-15752.939,32,1.5,32,9.8