version: 66.06
glider: 139
mission: 8
dive: 390
start: 9 8 110 3 5 49
data:
$ID,139
$MISSION,8
$DIVE,390
$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,-2159123.2
$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
$GPS1,025924,2059.250,-15748.603,26,1.2,43,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.3
$GPS2,030532,2059.241,-15748.658,17,1.4,17,9.8
$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,29.4,15702,-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,-58.4,0.0,0.0,0,77,0.00,0.00,-59.40,0.000,2,0.000,0.000,425,1698,2610,0,0,0,0,0,0
$GC,80,-1.56,-58.4,3.2,-3.2,11,104,12.43,0.00,-5.22,0.000,6,0.131,0.000,2753,1698,2871,0,0,0,0,0,0
$GC,299,-1.47,-58.4,47.0,-17.8,46,304,0.12,2.38,0.00,0.000,4,0.116,0.022,2776,3118,2872,0,0,0,0,0,0
$GC,346,-1.54,-58.4,54.6,-14.0,49,352,0.00,2.42,0.00,0.000,6,0.000,0.033,2775,1696,2873,0,0,0,0,0,0
$GC,605,-1.57,-58.4,95.7,-15.5,70,609,0.00,2.35,0.00,0.000,4,0.000,0.023,2776,3113,2873,0,0,0,0,0,0
$GC,690,-1.69,-58.4,106.1,-11.8,76,695,0.20,2.38,0.00,0.000,6,0.048,0.031,2718,1698,2874,0,0,0,0,0,0
$GC,955,-1.63,-58.4,143.1,-14.4,97,960,0.12,2.40,0.00,0.000,4,0.106,0.044,2742,297,2875,0,0,0,0,0,0
$GC,970,-1.57,-58.4,145.4,-13.2,98,974,0.00,2.28,0.00,0.000,6,0.000,0.018,2742,1735,2875,0,0,0,0,0,0
$GC,1230,-1.57,-58.4,179.0,-12.7,118,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1735,2876,0,0,0,0,0,0
$GC,1496,-1.57,-58.4,214.6,-13.5,136,1500,0.00,2.20,0.00,0.000,4,0.000,0.024,2742,3087,2876,0,0,0,0,0,0
$GC,1585,-1.66,-58.4,224.4,-10.5,140,1589,0.00,2.33,0.00,0.000,6,0.000,0.034,2742,1701,2876,0,0,0,0,0,0
$GC,1916,-1.72,-58.4,263.0,-10.4,156,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1700,2875,0,0,0,0,0,0
$GC,2227,-1.78,-58.4,293.1,-9.6,171,2232,0.15,2.30,0.00,0.000,4,0.058,0.026,2697,3081,2875,0,0,0,0,0,0
$GC,2346,-1.78,-58.4,305.3,-9.5,175,2350,0.00,2.33,0.00,0.000,6,0.000,0.035,2696,1696,2875,0,0,0,0,0,0
$GC,2683,-1.78,-58.4,342.6,-11.6,184,2687,0.00,2.33,0.00,0.000,4,0.000,0.028,2696,3076,2874,0,0,0,0,0,0
$GC,2739,-1.82,-58.4,349.1,-9.8,185,2743,0.00,2.35,0.00,0.000,6,0.000,0.036,2696,1693,2873,0,0,0,0,0,0
$GC,3058,-1.82,-58.4,383.0,-10.1,193,3062,0.00,2.33,0.00,0.000,4,0.000,0.029,2696,3076,2871,0,0,0,0,0,0
$GC,3186,-1.85,-58.4,394.3,-8.4,195,3190,0.00,2.35,0.00,0.000,6,0.000,0.040,2696,1701,2871,0,0,0,0,0,0
$GC,3521,-1.85,-58.4,427.7,-9.9,204,3525,0.00,2.33,0.00,0.000,4,0.000,0.031,2696,3077,2869,0,0,0,0,0,0
$GC,3541,-1.85,-58.4,429.7,-9.7,204,3545,0.00,2.35,0.00,0.000,6,0.000,0.039,2696,1700,2869,0,0,0,0,0,0
$STATE,3765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3766,begin apogee
$GC,3771,-0.31,0.0,452.7,10.1,210,3824,1.60,0.00,48.83,0.828,6,0.081,0.000,3031,1701,2630,0,0,0,0,0,0
$STATE,3825,end apogee,CONTROL_FINISHED_OK
$STATE,3825,begin climb
$GC,3828,1.56,58.4,454.1,0.0,211,3886,1.75,2.42,50.33,0.813,4,0.029,0.032,3447,3081,2391,0,0,0,0,0,0
$GC,4033,1.35,109.5,450.7,3.3,215,4086,0.28,2.38,45.00,0.813,6,0.109,0.038,3396,1698,2182,0,0,0,0,0,0
$GC,4418,1.16,109.5,415.5,10.1,225,4423,0.20,2.50,0.00,0.000,4,0.107,0.056,3358,298,2174,0,0,0,0,0,0
$GC,4462,0.96,109.5,410.9,10.8,226,4468,0.25,2.30,0.00,0.000,6,0.102,0.028,3310,1691,2171,0,0,0,0,0,0
$GC,4793,0.97,124.3,387.5,6.6,234,4807,0.00,0.00,12.07,0.736,6,0.000,0.000,3310,1696,2123,0,0,0,0,0,0
$GC,5116,0.97,125.0,362.8,7.8,242,5120,0.00,2.38,0.00,0.000,4,0.000,0.033,3309,3089,2119,0,0,0,0,0,0
$GC,5160,1.04,135.4,359.9,7.0,243,5177,0.00,2.42,11.00,0.721,6,0.000,0.041,3309,1694,2078,0,0,0,0,0,0
$GC,5493,1.09,139.7,336.5,7.5,251,5500,0.12,0.00,4.72,0.552,6,0.070,0.000,3345,1694,2060,0,0,0,0,0,0
$GC,5816,1.06,139.7,309.3,8.5,259,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1694,2058,0,0,0,0,0,0
$GC,6126,1.02,139.7,280.5,9.1,271,6131,0.10,2.38,0.00,0.000,4,0.117,0.031,3325,3095,2056,0,0,0,0,0,0
$GC,6177,1.07,139.7,275.8,8.3,273,6182,0.00,2.38,0.00,0.000,6,0.000,0.038,3325,1699,2056,0,0,0,0,0,0
$GC,6500,1.09,152.0,249.8,6.8,289,6516,0.00,2.38,11.57,0.671,4,0.000,0.030,3325,3090,2010,0,0,0,0,0,0
$GC,6542,1.14,152.0,246.4,8.7,290,6547,0.10,2.40,0.00,0.000,6,0.078,0.038,3354,1692,2010,0,0,0,0,0,0
$GC,6873,1.15,160.5,216.8,7.1,306,6889,0.00,2.50,9.35,0.624,4,0.000,0.051,3354,287,1974,0,0,0,0,0,0
$GC,6927,1.03,160.5,212.5,7.9,308,6932,0.15,2.33,0.00,0.000,6,0.107,0.025,3326,1714,1972,0,0,0,0,0,0
$GC,7260,1.08,160.5,186.0,9.0,329,7264,0.00,2.50,0.00,0.000,4,0.000,0.050,3326,290,1970,0,0,0,0,0,0
$GC,7376,1.04,160.5,175.9,8.5,337,7382,0.00,2.30,0.00,0.000,6,0.000,0.023,3326,1697,1968,0,0,0,0,0,0
$GC,7636,1.10,160.5,153.5,8.5,358,7640,0.00,2.42,0.00,0.000,4,0.000,0.048,3326,294,1968,0,0,0,0,0,0
$GC,7711,1.07,160.5,146.1,10.0,363,7716,0.00,2.28,0.00,0.000,6,0.000,0.022,3326,1716,1967,0,0,0,0,0,0
$GC,7973,1.15,173.0,126.6,6.8,384,7989,0.10,2.25,11.45,0.564,4,0.076,0.025,3359,3074,1923,0,0,0,0,0,0
$GC,7999,1.15,173.0,124.1,8.2,386,8003,0.00,2.33,0.00,0.000,6,0.000,0.032,3358,1694,1923,0,0,0,0,0,0
$GC,8258,1.15,173.2,100.2,7.9,406,8262,0.00,2.28,0.00,0.000,4,0.000,0.025,3359,3079,1923,0,0,0,0,0,0
$GC,8363,1.23,187.2,93.6,6.6,413,8383,0.00,2.30,13.88,0.546,6,0.000,0.031,3359,1698,1866,0,0,0,0,0,0
$GC,8637,1.34,210.9,72.1,5.8,435,8667,0.15,2.50,21.73,0.543,4,0.058,0.045,3403,295,1769,0,0,0,0,0,0
$GC,8716,1.23,210.9,64.6,11.4,440,8721,0.17,2.28,0.00,0.000,6,0.097,0.020,3369,1707,1766,0,0,0,0,0,0
$GC,8979,1.29,210.9,44.4,8.0,460,8983,0.00,2.45,0.00,0.000,4,0.000,0.045,3369,299,1765,0,0,0,0,0,0
$GC,9031,1.29,210.9,39.5,9.3,464,9035,0.00,2.22,0.00,0.000,6,0.000,0.019,3369,1715,1763,0,0,0,0,0,0
$GC,9294,1.35,210.9,18.8,8.5,506,9302,0.10,2.50,0.00,0.000,4,0.074,0.045,3403,298,1763,0,0,0,0,0,0
$GC,9311,1.38,210.9,17.2,8.7,508,9318,0.00,2.22,0.00,0.000,6,0.000,0.018,3404,1696,1763,0,0,0,0,0,0
$STATE,9446,end climb,SURFACE_DEPTH_REACHED
$STATE,9447,begin surface coast
$FINISH,0.8,1.023331
$STATE,9479,end surface coast,CONTROL_FINISHED_OK
$STATE,9479,begin surface
$SM_CCo,9503,109.68,0.486,0,0,957,410.14
$SM_GC,1.51,0.00,0.00,109.68,0.000,0.000,0.486,427,1696,957,-12.30,-0.11,410.14
$IRIDIUM_FIX,2050.21,-15749.62,031299,000014
$TT8_MAMPS,0.029146
$HUMID,54.56
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,423.6,63.4
$24V_AH,23.5,33.636
$10V_AH,10.3,28.136
$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,30.725,98.950,239.925,109.675,0.000,29.702,27.230,180.288,4.500,0.000,17.307,1079.951,6330.715,410.436,1652.870,505.426,0.000,1132.384,0.000,1634.279,0.000,33.596,0.000
$DEVICE_MAMPS,131.157,55.991,828.360,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,368.221,351.257,802.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,31761,546
$CAP_FILE_SIZE,105219,0
$CFSIZE,260165632,193167360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080910,054710,2059.968,-15748.269,10,3.0,29,9.8