version: 66.06
glider: 139
mission: 8
dive: 358
start: 9 4 110 10 49 44
data:
$ID,139
$MISSION,8
$DIVE,358
$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,-2158419.8
$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
$GPS1,103920,2058.570,-15752.585,12,1.5,12,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.1
$GPS2,104925,2058.496,-15752.673,13,1.5,13,9.8
$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,41.4,21629,-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,14,-1.56,-58.4,0.0,0.0,0,97,0.00,0.00,-80.18,0.000,2,0.000,0.000,429,1691,2690,0,0,0,0,0,0
$GC,102,-1.56,-58.4,3.1,-3.0,15,126,12.43,2.42,-3.60,0.000,4,0.132,0.038,2753,3114,2871,0,0,0,0,0,0
$GC,176,-1.56,-58.4,20.3,-17.1,30,182,0.00,2.42,0.00,0.000,6,0.000,0.032,2753,1699,2872,0,0,0,0,0,0
$GC,385,-1.48,-58.4,56.5,-17.3,54,386,0.12,0.00,0.00,0.000,6,0.112,0.000,2776,1699,2873,0,0,0,0,0,0
$GC,634,-1.48,-58.4,96.8,-15.9,74,638,0.00,2.35,0.00,0.000,4,0.000,0.023,2776,3116,2873,0,0,0,0,0,0
$GC,736,-1.58,-58.4,109.6,-11.8,81,741,0.00,2.40,0.00,0.000,6,0.000,0.032,2776,1690,2873,0,0,0,0,0,0
$GC,995,-1.65,-58.4,136.8,-9.7,102,999,0.15,2.40,0.00,0.000,4,0.057,0.046,2730,291,2874,0,0,0,0,0,0
$GC,1028,-1.56,-58.4,141.0,-13.7,104,1035,0.10,2.33,0.00,0.000,6,0.079,0.018,2756,1731,2874,0,0,0,0,0,0
$GC,1293,-1.61,-58.4,171.0,-13.3,125,1297,0.00,2.20,0.00,0.000,4,0.000,0.021,2756,3090,2875,0,0,0,0,0,0
$GC,1358,-1.72,-58.4,179.9,-11.7,130,1363,0.12,2.35,0.00,0.000,6,0.064,0.031,2709,1691,2874,0,0,0,0,0,0
$GC,1629,-1.68,-58.4,216.3,-13.2,147,1634,0.12,2.33,0.00,0.000,4,0.105,0.023,2734,3090,2874,0,0,0,0,0,0
$GC,1649,-1.68,-58.4,219.0,-10.7,148,1653,0.00,2.33,0.00,0.000,6,0.000,0.032,2734,1695,2874,0,0,0,0,0,0
$GC,1979,-1.68,-58.4,249.8,-9.2,164,1983,0.00,2.28,0.00,0.000,4,0.000,0.024,2734,3082,2874,0,0,0,0,0,0
$GC,2111,-1.77,-58.4,261.6,-8.6,170,2116,0.00,2.33,0.00,0.000,6,0.000,0.032,2733,1699,2874,0,0,0,0,0,0
$GC,2442,-1.82,-58.4,298.7,-11.5,186,2444,0.12,0.00,0.00,0.000,6,0.064,0.000,2693,1698,2874,0,0,0,0,0,0
$GC,2747,-1.79,-58.4,336.2,-12.2,194,2751,0.00,2.35,0.00,0.000,4,0.000,0.028,2693,3087,2873,0,0,0,0,0,0
$GC,2941,-1.79,-58.4,356.3,-9.7,198,2945,0.00,2.38,0.00,0.000,6,0.000,0.036,2693,1692,2871,0,0,0,0,0,0
$GC,3255,-1.79,-58.4,391.5,-11.8,206,3259,0.00,2.35,0.00,0.000,4,0.000,0.029,2693,3088,2869,0,0,0,0,0,0
$GC,3345,-1.83,-58.4,402.5,-12.4,208,3349,0.00,2.40,0.00,0.000,6,0.000,0.040,2693,1692,2869,0,0,0,0,0,0
$GC,3674,-1.83,-58.4,441.6,-11.6,216,3678,0.00,2.33,0.00,0.000,4,0.000,0.031,2693,3082,2867,0,0,0,0,0,0
$STATE,3751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3751,begin apogee
$GC,3760,-0.31,0.0,450.3,10.6,217,3813,1.60,0.00,48.33,0.823,6,0.084,0.000,3028,1696,2630,0,0,0,0,0,0
$STATE,3814,end apogee,CONTROL_FINISHED_OK
$STATE,3814,begin climb
$GC,3816,1.56,58.4,451.9,0.0,219,3871,1.80,0.00,50.80,0.806,6,0.029,0.000,3453,1696,2391,0,0,0,0,0,0
$GC,4177,1.29,84.1,437.8,5.6,228,4206,0.35,2.58,21.90,0.785,4,0.106,0.054,3382,292,2286,0,0,0,0,0,0
$GC,4268,1.01,86.5,431.9,7.7,230,4274,0.30,2.33,0.00,0.000,6,0.104,0.027,3325,1703,2282,0,0,0,0,0,0
$GC,4600,1.01,113.7,412.4,5.4,238,4632,0.00,2.42,26.38,0.795,4,0.000,0.033,3325,3081,2165,0,0,0,0,0,0
$GC,4700,1.03,125.3,405.4,6.8,240,4716,0.00,2.40,11.65,0.729,6,0.000,0.040,3325,1693,2119,0,0,0,0,0,0
$GC,5058,1.03,127.5,377.0,7.7,249,5063,0.00,2.50,0.00,0.000,4,0.000,0.056,3324,287,2113,0,0,0,0,0,0
$GC,5082,0.93,127.5,374.8,9.2,249,5087,0.12,2.33,0.00,0.000,6,0.122,0.027,3302,1702,2111,0,0,0,0,0,0
$GC,5425,0.98,127.5,346.2,9.0,258,5429,0.00,2.47,0.00,0.000,4,0.000,0.054,3302,294,2109,0,0,0,0,0,0
$GC,5439,0.98,127.5,344.6,8.9,258,5443,0.00,2.33,0.00,0.000,6,0.000,0.027,3302,1708,2108,0,0,0,0,0,0
$GC,5789,1.03,127.5,315.8,8.2,267,5793,0.00,2.47,0.00,0.000,4,0.000,0.054,3302,294,2107,0,0,0,0,0,0
$GC,5803,1.03,127.5,314.4,8.3,267,5807,0.00,2.33,0.00,0.000,6,0.000,0.028,3302,1704,2105,0,0,0,0,0,0
$GC,6120,1.09,139.2,292.1,6.8,277,6138,0.15,2.53,11.43,0.701,4,0.064,0.054,3343,294,2061,0,0,0,0,0,0
$GC,6241,0.96,139.2,278.7,11.7,281,6246,0.17,2.30,0.00,0.000,6,0.107,0.027,3310,1694,2058,0,0,0,0,0,0
$GC,6566,1.09,190.4,262.9,3.3,297,6620,0.12,2.40,46.45,0.740,4,0.070,0.029,3345,3085,1852,0,0,0,0,0,0
$GC,6774,1.14,190.4,248.1,8.6,306,6778,0.00,2.40,0.00,0.000,6,0.000,0.038,3345,1690,1849,0,0,0,0,0,0
$GC,7099,1.14,190.4,216.9,10.0,322,7103,0.00,2.45,0.00,0.000,4,0.000,0.052,3345,294,1845,0,0,0,0,0,0
$GC,7240,1.06,190.4,199.6,13.0,328,7244,0.00,2.30,0.00,0.000,6,0.000,0.024,3345,1712,1841,0,0,0,0,0,0
$GC,7505,1.06,190.4,169.5,11.0,349,7510,0.00,2.47,0.00,0.000,4,0.000,0.051,3345,292,1842,0,0,0,0,0,0
$GC,7547,1.00,190.4,163.7,12.9,352,7552,0.15,2.28,0.00,0.000,6,0.107,0.022,3317,1708,1840,0,0,0,0,0,0
$GC,7808,1.11,190.4,141.4,8.3,372,7813,0.10,2.25,0.00,0.000,4,0.077,0.025,3349,3079,1840,0,0,0,0,0,0
$GC,7838,1.19,190.4,138.7,8.7,374,7843,0.00,2.35,0.00,0.000,6,0.000,0.033,3349,1693,1840,0,0,0,0,0,0
$GC,8109,1.24,190.4,117.1,8.2,395,8114,0.00,2.40,0.00,0.000,4,0.000,0.047,3349,291,1840,0,0,0,0,0,0
$GC,8129,1.24,190.4,115.1,8.7,396,8136,0.00,2.28,0.00,0.000,6,0.000,0.021,3350,1705,1839,0,0,0,0,0,0
$GC,8390,1.31,190.4,95.1,8.8,417,8395,0.15,2.42,0.00,0.000,4,0.058,0.045,3394,298,1839,0,0,0,0,0,0
$GC,8446,1.17,190.4,88.2,12.1,421,8451,0.20,2.22,0.00,0.000,6,0.097,0.020,3354,1719,1839,0,0,0,0,0,0
$GC,8709,1.27,211.7,68.6,6.0,441,8738,0.10,2.47,17.58,0.525,4,0.074,0.044,3387,299,1765,0,0,0,0,0,0
$GC,8810,1.19,211.7,58.4,11.1,448,8814,0.15,2.20,0.00,0.000,6,0.100,0.018,3358,1699,1763,0,0,0,0,0,0
$GC,9076,1.28,211.7,35.9,8.7,469,9078,0.10,0.00,0.00,0.000,6,0.075,0.000,3392,1705,1762,0,0,0,0,0,0
$GC,9329,1.28,211.7,12.8,9.1,519,9336,0.00,2.42,0.00,0.000,4,0.000,0.043,3392,304,1762,0,0,0,0,0,0
$GC,9373,1.19,211.7,7.8,12.1,528,9380,0.12,2.22,0.00,0.000,6,0.081,0.018,3362,1699,1762,0,0,0,0,0,0
$STATE,9414,end climb,SURFACE_DEPTH_REACHED
$STATE,9414,begin surface coast
$FINISH,0.8,1.012092
$STATE,9445,end surface coast,CONTROL_FINISHED_OK
$STATE,9445,begin surface
$SM_CCo,9468,106.90,0.483,0,0,957,410.14
$SM_GC,1.59,0.00,0.00,106.90,0.000,0.000,0.483,427,1702,957,-12.30,0.06,410.14
$IRIDIUM_FIX,2050.21,-15754.77,291199,080821
$TT8_MAMPS,0.029146
$HUMID,55.23
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,30.923
$10V_AH,10.3,25.766
$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,31.450,108.875,234.500,106.900,0.000,30.048,28.918,424.965,4.500,0.000,13.103,1093.162,6198.604,429.108,1705.356,755.461,0.000,1185.621,0.000,1695.376,0.000,29.261,0.000
$DEVICE_MAMPS,131.924,55.991,822.991,483.210,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.519,349.816,797.345,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,31764,543
$CAP_FILE_SIZE,113962,0
$CFSIZE,260165632,194826240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040910,133054,2058.254,-15752.876,39,1.4,57,9.8