version: 66.06
glider: 139
mission: 8
dive: 379
start: 9 6 110 20 48 48
data:
$ID,139
$MISSION,8
$DIVE,379
$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,-2158879
$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
$GPS1,202909,2056.086,-15750.789,37,1.4,39,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-69.8
$GPS2,204831,2055.714,-15750.946,10,1.4,15,9.8
$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,26.8,23287,-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,16,-1.56,-58.4,0.0,0.0,0,83,0.00,0.00,-64.25,0.000,2,0.000,0.000,428,1677,2747,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.2,-3.4,12,111,12.43,2.42,-2.42,0.000,4,0.132,0.035,2751,3107,2872,0,0,0,0,0,0
$GC,228,-1.56,-58.4,31.6,-16.4,41,232,0.00,2.38,0.00,0.000,6,0.000,0.034,2751,1698,2873,0,0,0,0,0,0
$GC,492,-1.48,-58.4,78.2,-17.4,62,494,0.12,0.00,0.00,0.000,6,0.116,0.000,2774,1698,2874,0,0,0,0,0,0
$GC,743,-1.48,-58.4,117.4,-14.6,82,747,0.00,2.40,0.00,0.000,4,0.000,0.044,2774,296,2874,0,0,0,0,0,0
$GC,769,-1.42,-58.4,121.4,-15.9,84,773,0.00,2.30,0.00,0.000,6,0.000,0.018,2774,1742,2875,0,0,0,0,0,0
$GC,1040,-1.49,-58.4,150.8,-9.8,105,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1743,2875,0,0,0,0,0,0
$GC,1292,-1.57,-58.4,175.0,-9.3,125,1296,0.00,2.17,0.00,0.000,4,0.000,0.021,2774,3084,2876,0,0,0,0,0,0
$GC,1330,-1.73,-58.4,178.9,-10.7,128,1335,0.22,2.33,0.00,0.000,6,0.045,0.031,2709,1698,2875,0,0,0,0,0,0
$GC,1591,-1.68,-58.4,210.8,-12.3,146,1596,0.12,2.40,0.00,0.000,4,0.107,0.045,2733,294,2876,0,0,0,0,0,0
$GC,1607,-1.63,-58.4,213.8,-14.6,146,1613,0.00,2.28,0.00,0.000,6,0.000,0.020,2734,1708,2875,0,0,0,0,0,0
$GC,1922,-1.63,-58.4,254.1,-12.2,162,1926,0.00,2.25,0.00,0.000,4,0.000,0.025,2734,3078,2876,0,0,0,0,0,0
$GC,2061,-1.72,-58.4,269.8,-10.7,168,2065,0.00,2.30,0.00,0.000,6,0.000,0.033,2734,1698,2875,0,0,0,0,0,0
$GC,2389,-1.76,-58.4,301.0,-9.1,184,2393,0.00,2.38,0.00,0.000,4,0.000,0.048,2733,298,2874,0,0,0,0,0,0
$GC,2404,-1.76,-58.4,302.7,-9.0,184,2408,0.00,2.25,0.00,0.000,6,0.000,0.021,2733,1703,2874,0,0,0,0,0,0
$GC,2753,-1.81,-58.4,334.8,-9.5,193,2758,0.12,2.28,0.00,0.000,4,0.066,0.028,2694,3078,2873,0,0,0,0,0,0
$GC,2792,-1.81,-58.4,338.9,-11.0,193,2798,0.00,2.33,0.00,0.000,6,0.000,0.036,2694,1696,2873,0,0,0,0,0,0
$GC,3123,-1.81,-58.4,378.4,-11.9,202,3127,0.00,2.28,0.00,0.000,4,0.000,0.028,2694,3070,2871,0,0,0,0,0,0
$GC,3220,-1.81,-58.4,390.3,-12.3,204,3224,0.00,2.33,0.00,0.000,6,0.000,0.038,2694,1696,2870,0,0,0,0,0,0
$GC,3539,-1.81,-58.4,428.9,-11.7,212,3543,0.00,2.30,0.00,0.000,4,0.000,0.030,2694,3073,2868,0,0,0,0,0,0
$STATE,3643,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3643,begin apogee
$GC,3653,-0.31,0.0,440.4,10.6,214,3706,1.60,0.00,48.35,0.809,6,0.084,0.000,3030,1698,2630,0,0,0,0,0,0
$STATE,3707,end apogee,CONTROL_FINISHED_OK
$STATE,3707,begin climb
$GC,3709,1.56,58.4,442.6,0.0,215,3767,1.75,2.53,50.08,0.795,4,0.030,0.052,3446,293,2390,0,0,0,0,0,0
$GC,3777,1.35,155.2,443.1,-0.8,216,3871,0.28,2.33,84.45,0.798,6,0.105,0.025,3395,1697,1996,0,0,0,0,0,0
$GC,4203,1.19,155.2,396.3,12.7,227,4208,0.17,2.35,0.00,0.000,4,0.107,0.032,3362,3074,1987,0,0,0,0,0,0
$GC,4224,1.10,155.2,394.0,10.7,227,4229,0.12,2.40,0.00,0.000,6,0.123,0.041,3340,1698,1987,0,0,0,0,0,0
$GC,4570,1.06,155.2,364.7,8.6,236,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,1698,1983,0,0,0,0,0,0
$GC,4896,1.06,155.2,336.7,9.6,244,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,1697,1980,0,0,0,0,0,0
$GC,5219,1.06,155.2,306.0,8.7,252,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,1698,1978,0,0,0,0,0,0
$GC,5529,1.06,155.2,276.3,10.5,265,5533,0.00,2.47,0.00,0.000,4,0.000,0.054,3340,289,1976,0,0,0,0,0,0
$GC,5562,0.95,155.2,272.6,10.6,266,5567,0.15,2.30,0.00,0.000,6,0.111,0.025,3311,1706,1973,0,0,0,0,0,0
$GC,5880,1.02,155.2,245.8,8.2,281,5884,0.00,2.45,0.00,0.000,4,0.000,0.051,3311,293,1973,0,0,0,0,0,0
$GC,5903,1.02,155.2,243.4,9.4,282,5907,0.00,2.28,0.00,0.000,6,0.000,0.025,3311,1700,1971,0,0,0,0,0,0
$GC,6229,1.11,163.6,220.4,7.1,298,6231,0.12,0.00,0.00,0.000,6,0.067,0.000,3348,1705,1971,0,0,0,0,0,0
$GC,6549,1.11,163.6,187.9,10.1,317,6553,0.00,2.47,0.00,0.000,4,0.000,0.050,3348,284,1971,0,0,0,0,0,0
$GC,6818,1.02,164.2,159.6,7.8,336,6829,0.10,2.33,3.92,0.409,6,0.083,0.022,3325,1713,1960,0,0,0,0,0,0
$GC,7093,1.12,176.8,143.6,6.8,358,7111,0.00,2.28,12.98,0.574,4,0.000,0.025,3324,3074,1908,0,0,0,0,0,0
$GC,7173,1.25,179.4,137.7,7.7,363,7182,0.20,2.35,4.05,0.395,6,0.050,0.033,3380,1694,1898,0,0,0,0,0,0
$GC,7444,1.25,179.6,114.7,7.9,385,7448,0.00,2.28,0.00,0.000,4,0.000,0.024,3381,3082,1896,0,0,0,0,0,0
$GC,7463,1.26,187.4,113.1,7.2,386,7477,0.00,2.35,8.52,0.511,6,0.000,0.031,3380,1701,1865,0,0,0,0,0,0
$GC,7739,1.30,216.4,95.3,5.3,408,7772,0.00,2.45,26.35,0.555,4,0.000,0.045,3380,300,1745,0,0,0,0,0,0
$GC,7830,1.23,216.4,89.0,8.1,414,7837,0.00,2.28,0.00,0.000,6,0.000,0.020,3380,1704,1742,0,0,0,0,0,0
$GC,8091,1.26,216.4,67.1,9.7,435,8095,0.00,2.45,0.00,0.000,4,0.000,0.044,3380,293,1742,0,0,0,0,0,0
$GC,8144,1.20,216.4,61.1,12.3,439,8148,0.00,2.22,0.00,0.000,6,0.000,0.018,3380,1713,1740,0,0,0,0,0,0
$GC,8411,1.23,216.4,35.4,10.0,460,8415,0.00,2.42,0.00,0.000,4,0.000,0.044,3380,296,1740,0,0,0,0,0,0
$GC,8430,1.23,216.4,32.9,9.6,461,8437,0.00,2.22,0.00,0.000,6,0.000,0.018,3380,1706,1740,0,0,0,0,0,0
$GC,8693,1.26,216.4,7.7,9.7,516,8700,0.00,2.22,0.00,0.000,4,0.000,0.022,3381,3060,1740,0,0,0,0,0,0
$GC,8737,1.32,216.4,3.2,10.2,525,8744,0.00,2.30,0.00,0.000,6,0.000,0.028,3380,1695,1740,0,0,0,0,0,0
$STATE,8750,end climb,SURFACE_DEPTH_REACHED
$STATE,8750,begin surface coast
$FINISH,1.0,1.010833
$STATE,8781,end surface coast,CONTROL_FINISHED_OK
$STATE,8781,begin surface
$SM_CCo,8805,102.22,0.477,0,0,957,410.14
$SM_GC,1.47,0.00,0.00,102.22,0.000,0.000,0.477,430,1692,957,-12.28,-0.23,410.14
$IRIDIUM_FIX,2050.21,-15750.49,011299,202047
$TT8_MAMPS,0.029146
$HUMID,54.37
$INTERNAL_PRESSURE,9.30354
$TCM_TEMP,22.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,440.4,7.7
$24V_AH,23.5,32.750
$10V_AH,10.2,27.324
$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,30.150,93.475,238.700,102.225,0.000,85.920,98.218,712.211,4.750,0.000,15.832,1023.020,5943.327,385.844,1548.673,1165.593,0.000,1072.916,0.000,1532.536,0.000,32.128,0.000
$DEVICE_MAMPS,131.924,53.690,809.185,477.074,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,359.032,351.587,795.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355908
$DATA_FILE_SIZE,28633,534
$CAP_FILE_SIZE,108320,0
$CFSIZE,260165632,193736704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060910,231828,2055.744,-15750.641,14,3.7,33,9.8