version: 66.06
glider: 139
mission: 8
dive: 430
start: 9 12 110 17 19 44
data:
$ID,139
$MISSION,8
$DIVE,430
$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,80
$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,-2159992
$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,3050
$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
$GPS1,171258,2052.968,-15751.880,13,2.7,32,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.0
$GPS2,171928,2052.868,-15751.853,14,2.8,33,9.8
$SPEED_LIMITS,0.137,0.183
$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,23.0,28516,-20.5,-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,-1.38,-77.9,0.0,0.0,0,87,0.00,0.00,-69.53,0.000,2,0.000,0.000,426,1701,2904,0,0,0,0,0,0
$GC,91,-1.38,-77.9,3.9,-4.2,13,110,12.43,2.38,-0.75,0.000,4,0.134,0.035,2741,3121,2948,0,0,0,0,0,0
$GC,165,-1.32,-77.9,24.8,-17.7,28,172,0.08,2.45,0.00,0.000,6,0.091,0.035,2759,1703,2950,0,0,0,0,0,0
$GC,374,-1.17,-77.9,58.2,-16.2,48,376,0.17,0.00,0.00,0.000,6,0.098,0.000,2793,1702,2950,0,0,0,0,0,0
$GC,626,-1.13,-77.9,90.7,-10.2,68,630,0.00,2.42,0.00,0.000,4,0.000,0.044,2793,292,2951,0,0,0,0,0,0
$GC,668,-1.01,-77.9,96.9,-14.6,71,673,0.17,2.30,0.00,0.000,6,0.094,0.018,2829,1743,2952,0,0,0,0,0,0
$GC,931,-1.11,-77.9,124.7,-9.5,91,935,0.00,2.50,0.00,0.000,4,0.000,0.044,2830,295,2952,0,0,0,0,0,0
$GC,996,-1.18,-77.9,132.2,-12.2,96,1001,0.17,2.22,0.00,0.000,6,0.049,0.018,2774,1713,2953,0,0,0,0,0,0
$GC,1262,-1.18,-77.9,167.2,-12.1,117,1266,0.00,2.22,0.00,0.000,4,0.000,0.022,2774,3072,2954,0,0,0,0,0,0
$GC,1288,-1.23,-77.9,170.3,-12.3,119,1292,0.00,2.30,0.00,0.000,6,0.000,0.032,2774,1695,2953,0,0,0,0,0,0
$GC,1562,-1.23,-77.9,202.5,-11.6,140,1566,0.00,2.40,0.00,0.000,4,0.000,0.045,2774,295,2953,0,0,0,0,0,0
$GC,1622,-1.18,-77.9,209.7,-11.1,142,1628,0.00,2.25,0.00,0.000,6,0.000,0.019,2774,1703,2953,0,0,0,0,0,0
$GC,1937,-1.18,-77.9,239.1,-9.0,158,1941,0.00,2.40,0.00,0.000,4,0.000,0.046,2774,297,2953,0,0,0,0,0,0
$GC,1966,-1.14,-77.9,242.0,-10.8,159,1971,0.12,2.22,0.00,0.000,6,0.100,0.020,2800,1693,2953,0,0,0,0,0,0
$GC,2290,-1.22,-77.9,269.4,-8.5,175,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1698,2953,0,0,0,0,0,0
$GC,2598,-1.31,-77.9,292.8,-6.4,190,2602,0.15,2.28,0.00,0.000,4,0.057,0.026,2753,3071,2952,0,0,0,0,0,0
$GC,2694,-1.38,-77.9,300.4,-8.7,194,2697,0.00,2.33,0.00,0.000,6,0.000,0.036,2753,1700,2952,0,0,0,0,0,0
$GC,3039,-1.38,-77.9,339.1,-12.5,203,3043,0.00,2.40,0.00,0.000,4,0.000,0.050,2753,298,2951,0,0,0,0,0,0
$GC,3067,-1.34,-77.9,343.2,-14.5,203,3072,0.00,2.25,0.00,0.000,6,0.000,0.022,2753,1706,2951,0,0,0,0,0,0
$GC,3404,-1.34,-77.9,380.6,-10.2,212,3408,0.00,2.25,0.00,0.000,4,0.000,0.028,2753,3075,2950,0,0,0,0,0,0
$GC,3451,-1.42,-77.9,385.3,-10.0,213,3456,0.00,2.33,0.00,0.000,6,0.000,0.038,2753,1698,2949,0,0,0,0,0,0
$GC,3774,-1.42,-77.9,415.8,-9.4,221,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1698,2948,0,0,0,0,0,0
$GC,4101,-1.42,-77.9,445.9,-9.6,229,4105,0.00,2.47,0.00,0.000,4,0.000,0.057,2753,292,2945,0,0,0,0,0,0
$STATE,4136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4136,begin apogee
$GC,4146,-0.31,0.0,450.3,11.9,229,4213,1.05,0.00,64.18,0.827,6,0.074,0.000,2979,1694,2630,0,0,0,0,0,0
$STATE,4214,end apogee,CONTROL_FINISHED_OK
$STATE,4214,begin climb
$GC,4217,1.38,77.9,452.6,0.0,231,4294,1.62,2.42,66.60,0.811,4,0.039,0.031,3351,3085,2311,0,0,0,0,0,0
$GC,4347,1.31,158.3,452.7,2.5,234,4424,0.00,2.42,70.82,0.806,6,0.000,0.038,3351,1693,1983,0,0,0,0,0,0
$GC,4759,1.15,158.3,412.5,11.0,244,4761,0.25,0.00,0.00,0.000,6,0.100,0.000,3303,1693,1974,0,0,0,0,0,0
$GC,5084,1.10,158.3,382.1,9.6,252,5088,0.00,2.47,0.00,0.000,4,0.000,0.057,3302,294,1971,0,0,0,0,0,0
$GC,5127,0.96,158.3,377.7,10.2,253,5132,0.22,2.33,0.00,0.000,6,0.103,0.027,3259,1703,1967,0,0,0,0,0,0
$GC,5459,1.03,171.2,352.4,7.0,261,5475,0.00,2.53,9.43,0.691,4,0.000,0.054,3259,294,1931,0,0,0,0,0,0
$GC,5485,1.03,174.5,350.2,7.7,261,5494,0.00,2.35,4.45,0.526,6,0.000,0.027,3259,1705,1918,0,0,0,0,0,0
$GC,5828,1.10,177.9,325.5,7.7,270,5836,0.15,0.00,4.55,0.532,6,0.062,0.000,3301,1708,1903,0,0,0,0,0,0
$GC,6160,1.10,177.9,288.3,12.1,280,6165,0.00,2.50,0.00,0.000,4,0.000,0.054,3301,289,1902,0,0,0,0,0,0
$GC,6315,1.02,177.9,269.1,10.8,286,6322,0.10,2.35,0.00,0.000,6,0.085,0.025,3277,1701,1899,0,0,0,0,0,0
$GC,6631,1.09,197.8,246.6,6.6,302,6654,0.00,2.35,18.12,0.691,4,0.000,0.026,3277,3079,1823,0,0,0,0,0,0
$GC,6681,1.21,220.9,243.3,6.3,304,6710,0.15,2.38,22.10,0.689,6,0.061,0.038,3320,1699,1729,0,0,0,0,0,0
$GC,7036,1.21,220.9,204.6,11.2,321,7041,0.00,2.45,0.00,0.000,4,0.000,0.052,3320,294,1724,0,0,0,0,0,0
$GC,7202,1.10,220.9,181.2,14.5,332,7207,0.15,2.30,0.00,0.000,6,0.104,0.023,3291,1711,1720,0,0,0,0,0,0
$GC,7463,1.15,220.9,153.6,9.3,352,7467,0.00,2.50,0.00,0.000,4,0.000,0.050,3291,290,1720,0,0,0,0,0,0
$GC,7588,1.15,220.9,140.2,10.6,361,7592,0.00,2.28,0.00,0.000,6,0.000,0.022,3291,1705,1718,0,0,0,0,0,0
$GC,7851,1.23,220.9,119.0,8.7,381,7856,0.12,2.47,0.00,0.000,4,0.065,0.049,3331,290,1718,0,0,0,0,0,0
$GC,7934,1.16,220.9,109.0,10.6,387,7939,0.15,2.28,0.00,0.000,6,0.097,0.021,3301,1718,1718,0,0,0,0,0,0
$GC,8197,1.27,225.9,88.2,7.6,407,8207,0.10,2.47,3.83,0.366,4,0.074,0.047,3336,293,1709,0,0,0,0,0,0
$GC,8307,1.20,225.9,76.8,10.9,414,8312,0.12,2.22,0.00,0.000,6,0.100,0.020,3312,1703,1708,0,0,0,0,0,0
$GC,8570,1.28,225.9,54.1,9.0,434,8574,0.00,2.45,0.00,0.000,4,0.000,0.046,3311,292,1708,0,0,0,0,0,0
$GC,8637,1.28,225.9,46.2,11.6,439,8641,0.00,2.22,0.00,0.000,6,0.000,0.019,3311,1711,1708,0,0,0,0,0,0
$GC,8900,1.38,225.9,23.7,8.3,471,8907,0.15,2.50,0.00,0.000,4,0.055,0.046,3360,295,1708,0,0,0,0,0,0
$GC,9024,1.27,225.9,10.4,11.5,498,9031,0.15,2.25,0.00,0.000,6,0.071,0.018,3325,1708,1708,0,0,0,0,0,0
$STATE,9104,end climb,SURFACE_DEPTH_REACHED
$STATE,9104,begin surface coast
$FINISH,1.2,1.023299
$STATE,9141,end surface coast,CONTROL_FINISHED_OK
$STATE,9141,begin surface
$SM_CCo,9163,104.30,0.488,0,0,958,410.14
$SM_GC,1.78,0.00,0.00,104.30,0.000,0.000,0.488,429,1710,958,-12.06,0.28,410.14
$IRIDIUM_FIX,2043.29,-15753.50,071299,141408
$TT8_MAMPS,0.028379
$HUMID,56.26
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,22.00
$XPDR_PINGS,0
$24V_AH,23.5,37.129
$10V_AH,10.3,31.031
$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,30.200,99.200,264.075,104.300,0.000,29.220,37.388,172.583,4.500,0.000,34.459,1036.624,6089.722,419.454,1612.680,496.497,0.000,1127.812,0.000,1570.375,0.000,29.250,0.000
$DEVICE_MAMPS,134.225,56.758,826.826,487.812,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.479,338.528,772.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,28639,524
$CAP_FILE_SIZE,102931,0
$CFSIZE,260165632,191074304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120910,195537,2053.321,-15751.601,46,0.9,46,9.8