version: 66.06
glider: 139
mission: 8
dive: 368
start: 9 5 110 15 9 1
data:
$ID,139
$MISSION,8
$DIVE,368
$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,-2158641.2
$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
$GPS1,145634,2056.697,-15752.721,14,4.1,33,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-71.4
$GPS2,150844,2056.534,-15752.796,16,0.9,16,9.8
$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,35.0,24222,-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,-64.43,0.000,2,0.000,0.000,426,1690,2738,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.2,-3.0,12,110,12.45,2.42,-2.58,0.000,4,0.133,0.038,2753,3112,2872,0,0,0,0,0,0
$GC,148,-1.50,-58.4,20.2,-22.6,24,155,0.00,2.42,0.00,0.000,6,0.000,0.034,2752,1697,2873,0,0,0,0,0,0
$GC,352,-1.41,-58.4,59.8,-18.3,47,357,0.20,2.35,0.00,0.000,4,0.100,0.020,2791,3113,2874,0,0,0,0,0,0
$GC,395,-1.50,-58.4,66.6,-13.8,50,399,0.00,2.38,0.00,0.000,6,0.000,0.032,2791,1690,2874,0,0,0,0,0,0
$GC,657,-1.55,-58.4,101.1,-12.3,70,662,0.12,2.35,0.00,0.000,4,0.063,0.022,2750,3112,2875,0,0,0,0,0,0
$GC,682,-1.55,-58.4,105.1,-14.1,72,686,0.00,2.38,0.00,0.000,6,0.000,0.031,2750,1698,2875,0,0,0,0,0,0
$GC,950,-1.55,-58.4,141.9,-13.6,93,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1697,2875,0,0,0,0,0,0
$GC,1209,-1.58,-58.4,174.5,-12.4,114,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1697,2876,0,0,0,0,0,0
$GC,1465,-1.64,-58.4,201.0,-11.3,134,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1697,2876,0,0,0,0,0,0
$GC,1772,-1.70,-58.4,233.3,-10.0,149,1776,0.00,2.33,0.00,0.000,4,0.000,0.024,2750,3112,2877,0,0,0,0,0,0
$GC,1811,-1.84,-58.4,236.9,-8.8,150,1818,0.20,2.40,0.00,0.000,6,0.029,0.035,2678,1705,2877,0,0,0,0,0,0
$GC,2128,-1.77,-58.4,279.4,-13.9,166,2136,0.17,2.33,0.00,0.000,4,0.097,0.025,2713,3113,2876,0,0,0,0,0,0
$GC,2293,-1.81,-58.4,297.6,-9.5,172,2299,0.00,2.42,0.00,0.000,6,0.000,0.035,2713,1692,2876,0,0,0,0,0,0
$GC,2604,-1.81,-58.4,328.1,-9.4,181,2608,0.00,2.40,0.00,0.000,4,0.000,0.027,2713,3109,2875,0,0,0,0,0,0
$GC,2667,-1.88,-58.4,333.8,-9.1,182,2672,0.10,2.40,0.00,0.000,6,0.077,0.036,2681,1697,2874,0,0,0,0,0,0
$GC,3019,-1.84,-58.4,371.1,-10.6,191,3023,0.00,2.38,0.00,0.000,4,0.000,0.029,2681,3108,2873,0,0,0,0,0,0
$GC,3038,-1.84,-58.4,373.5,-11.1,191,3042,0.00,2.38,0.00,0.000,6,0.000,0.038,2681,1699,2873,0,0,0,0,0,0
$GC,3384,-1.80,-58.4,412.9,-11.8,200,3389,0.12,2.40,0.00,0.000,4,0.107,0.031,2705,3107,2870,0,0,0,0,0,0
$GC,3622,-1.86,-58.4,440.1,-11.0,205,3626,0.00,2.40,0.00,0.000,6,0.000,0.040,2705,1697,2868,0,0,0,0,0,0
$STATE,3734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3734,begin apogee
$GC,3740,-0.31,0.0,453.6,11.7,208,3793,1.55,0.00,48.60,0.829,6,0.081,0.000,3030,1697,2630,0,0,0,0,0,0
$STATE,3794,end apogee,CONTROL_FINISHED_OK
$STATE,3794,begin climb
$GC,3796,1.56,58.4,455.0,0.0,209,3857,1.75,2.45,50.53,0.812,4,0.029,0.030,3450,3111,2390,0,0,0,0,0,0
$GC,4009,1.30,69.2,449.4,6.9,213,4026,0.32,2.45,9.95,0.715,6,0.103,0.037,3387,1697,2346,0,0,0,0,0,0
$GC,4357,1.16,90.7,428.8,6.0,222,4382,0.17,2.53,19.00,0.784,4,0.111,0.056,3354,296,2259,0,0,0,0,0,0
$GC,4490,0.95,90.7,418.7,8.0,224,4496,0.25,2.38,0.00,0.000,6,0.100,0.027,3306,1725,2254,0,0,0,0,0,0
$GC,4823,0.99,127.8,401.2,4.5,233,4860,0.00,0.00,33.72,0.803,6,0.000,0.000,3306,1725,2108,0,0,0,0,0,0
$GC,5186,1.01,143.1,377.6,6.5,242,5206,0.00,2.40,13.90,0.747,4,0.000,0.032,3306,3090,2046,0,0,0,0,0,0
$GC,5214,1.05,147.8,375.5,7.5,242,5227,0.10,2.45,6.10,0.617,6,0.078,0.041,3335,1696,2026,0,0,0,0,0,0
$GC,5558,1.05,147.8,344.9,8.4,251,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1696,2022,0,0,0,0,0,0
$GC,5884,1.05,147.8,314.3,10.0,259,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1696,2019,0,0,0,0,0,0
$GC,6190,1.05,147.8,281.9,10.4,270,6194,0.00,2.38,0.00,0.000,4,0.000,0.031,3335,3092,2018,0,0,0,0,0,0
$GC,6291,1.09,147.8,271.7,10.0,274,6296,0.00,2.38,0.00,0.000,6,0.000,0.039,3335,1699,2018,0,0,0,0,0,0
$GC,6609,1.09,147.8,245.4,8.8,289,6613,0.00,2.35,0.00,0.000,4,0.000,0.030,3335,3099,2016,0,0,0,0,0,0
$GC,6675,1.13,147.8,240.2,8.5,292,6679,0.00,2.40,0.00,0.000,6,0.000,0.037,3335,1695,2016,0,0,0,0,0,0
$GC,7006,1.14,154.0,215.7,7.3,308,7017,0.00,2.45,4.70,0.502,4,0.000,0.051,3335,292,2002,0,0,0,0,0,0
$GC,7123,1.07,154.0,206.4,8.1,313,7127,0.00,2.35,0.00,0.000,6,0.000,0.024,3335,1723,1999,0,0,0,0,0,0
$GC,7452,1.09,170.5,180.9,6.4,336,7474,0.00,2.58,16.08,0.634,4,0.000,0.048,3335,297,1933,0,0,0,0,0,0
$GC,7739,1.07,183.9,155.8,6.7,356,7758,0.00,2.33,12.62,0.593,6,0.000,0.022,3336,1719,1880,0,0,0,0,0,0
$GC,8011,1.16,190.0,137.6,7.3,378,8027,0.00,2.53,6.70,0.505,4,0.000,0.048,3335,303,1854,0,0,0,0,0,0
$GC,8228,1.16,190.0,113.9,12.0,393,8233,0.00,2.25,0.00,0.000,6,0.000,0.020,3335,1705,1851,0,0,0,0,0,0
$GC,8487,1.26,190.0,94.9,7.9,414,8492,0.17,2.45,0.00,0.000,4,0.051,0.046,3387,296,1851,0,0,0,0,0,0
$GC,8596,1.16,190.0,84.4,9.3,422,8601,0.17,2.25,0.00,0.000,6,0.096,0.019,3352,1710,1851,0,0,0,0,0,0
$GC,8865,1.29,222.5,70.1,5.0,443,8901,0.12,2.53,29.33,0.538,4,0.064,0.045,3392,301,1722,0,0,0,0,0,0
$GC,8957,1.21,222.5,61.5,11.2,449,8964,0.12,2.25,0.00,0.000,6,0.077,0.019,3363,1694,1718,0,0,0,0,0,0
$GC,9220,1.28,222.5,39.7,8.7,470,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,1698,1718,0,0,0,0,0,0
$GC,9473,1.34,222.5,17.5,8.5,512,9480,0.12,2.47,0.00,0.000,4,0.063,0.046,3406,291,1718,0,0,0,0,0,0
$GC,9496,1.34,222.5,14.9,9.4,516,9503,0.00,2.25,0.00,0.000,6,0.000,0.018,3406,1714,1718,0,0,0,0,0,0
$STATE,9604,end climb,SURFACE_DEPTH_REACHED
$STATE,9604,begin surface coast
$FINISH,0.8,1.023461
$STATE,9633,end surface coast,CONTROL_FINISHED_OK
$STATE,9633,begin surface
$SM_CCo,9657,101.72,0.480,0,0,957,410.14
$SM_GC,1.59,0.00,0.00,101.72,0.000,0.000,0.480,432,1715,957,-12.27,0.42,410.14
$IRIDIUM_FIX,2047.91,-15754.77,301199,151535
$TT8_MAMPS,0.029146
$HUMID,54.21
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.5,31.843
$10V_AH,10.3,26.523
$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,31.000,90.950,251.225,101.725,0.000,78.580,141.980,243.520,4.500,0.000,16.691,1094.574,6476.519,422.969,1751.989,740.662,0.000,1191.480,0.000,1727.124,0.000,29.262,0.000
$DEVICE_MAMPS,132.691,55.991,829.127,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,367.902,349.654,792.131,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,31911,547
$CAP_FILE_SIZE,108760,0
$CFSIZE,260165632,194306048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050910,175252,2056.478,-15752.337,14,3.0,33,9.8