version: 66.06
glider: 139
mission: 8
dive: 445
start: 9 14 110 11 28 20
data:
$ID,139
$MISSION,8
$DIVE,445
$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,-2160292.5
$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
$GPS1,112222,2057.773,-15749.654,15,2.1,34,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-72.0
$GPS2,112804,2057.777,-15749.670,11,4.7,30,9.8
$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,28.3,18912,-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,-77.9,0.0,0.0,0,82,0.00,0.00,-64.20,0.000,2,0.000,0.000,429,1714,2777,0,0,0,0,0,0
$GC,85,-1.38,-77.9,3.7,-4.2,12,110,12.43,2.38,-3.17,0.000,4,0.133,0.038,2743,3114,2950,0,0,0,0,0,0
$GC,229,-1.29,-77.9,36.2,-16.9,38,234,0.12,2.38,0.00,0.000,6,0.110,0.034,2767,1699,2952,0,0,0,0,0,0
$GC,492,-1.16,-77.9,80.4,-17.9,58,497,0.15,2.33,0.00,0.000,4,0.106,0.021,2796,3113,2953,0,0,0,0,0,0
$GC,553,-1.27,-77.9,89.0,-10.8,62,559,0.00,2.40,0.00,0.000,6,0.000,0.031,2796,1700,2954,0,0,0,0,0,0
$GC,812,-1.27,-77.9,119.4,-11.5,83,819,0.00,2.40,0.00,0.000,4,0.000,0.045,2796,292,2955,0,0,0,0,0,0
$GC,873,-1.27,-77.9,126.9,-13.0,87,877,0.00,2.30,0.00,0.000,6,0.000,0.018,2796,1734,2955,0,0,0,0,0,0
$GC,1143,-1.30,-77.9,155.9,-9.9,108,1145,0.12,0.00,0.00,0.000,6,0.064,0.000,2754,1735,2956,0,0,0,0,0,0
$GC,1396,-1.25,-77.9,183.7,-11.3,128,1401,0.10,2.47,0.00,0.000,4,0.111,0.046,2775,297,2956,0,0,0,0,0,0
$GC,1411,-1.20,-77.9,185.8,-11.7,129,1415,0.00,2.25,0.00,0.000,6,0.000,0.020,2775,1720,2957,0,0,0,0,0,0
$GC,1669,-1.20,-77.9,213.6,-10.5,145,1674,0.00,2.45,0.00,0.000,4,0.000,0.046,2774,290,2956,0,0,0,0,0,0
$GC,1702,-1.14,-77.9,217.4,-10.8,146,1707,0.12,2.22,0.00,0.000,6,0.100,0.019,2800,1693,2957,0,0,0,0,0,0
$GC,2021,-1.21,-77.9,245.7,-8.9,161,2025,0.00,2.28,0.00,0.000,4,0.000,0.024,2800,3078,2957,0,0,0,0,0,0
$GC,2089,-1.33,-77.9,251.8,-7.9,164,2094,0.17,2.33,0.00,0.000,6,0.051,0.033,2747,1700,2957,0,0,0,0,0,0
$GC,2423,-1.29,-77.9,287.9,-11.0,180,2428,0.10,2.45,0.00,0.000,4,0.112,0.048,2767,291,2956,0,0,0,0,0,0
$GC,2448,-1.25,-77.9,290.2,-9.3,181,2452,0.00,2.28,0.00,0.000,6,0.000,0.021,2767,1714,2956,0,0,0,0,0,0
$GC,2794,-1.25,-77.9,324.4,-9.8,192,2798,0.00,2.47,0.00,0.000,4,0.000,0.050,2767,294,2955,0,0,0,0,0,0
$GC,2859,-1.25,-77.9,331.1,-10.4,193,2864,0.00,2.22,0.00,0.000,6,0.000,0.021,2767,1690,2954,0,0,0,0,0,0
$GC,3207,-1.28,-77.9,360.1,-8.0,202,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1696,2954,0,0,0,0,0,0
$GC,3530,-1.32,-77.9,387.7,-8.8,210,3534,0.00,2.42,0.00,0.000,4,0.000,0.053,2767,299,2953,0,0,0,0,0,0
$GC,3573,-1.32,-77.9,392.1,-10.5,211,3577,0.00,2.25,0.00,0.000,6,0.000,0.024,2767,1702,2953,0,0,0,0,0,0
$GC,3907,-1.36,-77.9,427.9,-10.9,219,3911,0.00,2.28,0.00,0.000,4,0.000,0.030,2767,3077,2951,0,0,0,0,0,0
$GC,3921,-1.42,-77.9,429.6,-11.0,219,3926,0.12,2.33,0.00,0.000,6,0.067,0.038,2729,1703,2951,0,0,0,0,0,0
$STATE,4106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4106,begin apogee
$GC,4113,-0.31,0.0,451.9,12.0,224,4182,1.17,0.00,65.22,0.815,6,0.075,0.000,2979,1702,2630,0,0,0,0,0,0
$STATE,4183,end apogee,CONTROL_FINISHED_OK
$STATE,4183,begin climb
$GC,4185,1.38,77.9,454.1,0.0,225,4265,1.62,2.53,66.88,0.800,4,0.041,0.053,3351,294,2310,0,0,0,0,0,0
$GC,4272,1.27,172.2,455.1,1.5,227,4363,0.12,2.33,82.88,0.796,6,0.114,0.025,3329,1712,1928,0,0,0,0,0,0
$GC,4688,1.17,172.2,406.3,14.2,237,4693,0.12,2.50,0.00,0.000,4,0.114,0.055,3305,295,1919,0,0,0,0,0,0
$GC,4703,1.05,172.2,403.6,14.8,237,4708,0.15,2.30,0.00,0.000,6,0.110,0.026,3278,1697,1916,0,0,0,0,0,0
$GC,5055,1.05,172.2,357.5,13.1,246,5059,0.00,2.50,0.00,0.000,4,0.000,0.055,3278,290,1914,0,0,0,0,0,0
$GC,5158,0.99,172.2,345.5,11.8,248,5163,0.00,2.30,0.00,0.000,6,0.000,0.026,3278,1692,1912,0,0,0,0,0,0
$GC,5474,1.06,205.6,323.2,5.6,256,5505,0.00,0.00,28.08,0.739,6,0.000,0.000,3277,1697,1790,0,0,0,0,0,0
$GC,5823,1.11,205.6,293.3,10.3,266,5827,0.00,2.50,0.00,0.000,4,0.000,0.055,3277,290,1784,0,0,0,0,0,0
$GC,6063,1.11,205.6,261.5,13.8,276,6067,0.00,2.30,0.00,0.000,6,0.000,0.025,3277,1708,1781,0,0,0,0,0,0
$GC,6379,1.18,205.6,226.4,11.5,291,6384,0.12,2.47,0.00,0.000,4,0.067,0.053,3314,294,1780,0,0,0,0,0,0
$GC,6405,1.10,205.6,222.5,15.0,292,6410,0.12,2.30,0.00,0.000,6,0.110,0.024,3290,1711,1779,0,0,0,0,0,0
$GC,6732,1.14,205.6,190.8,8.0,311,6736,0.00,2.50,0.00,0.000,4,0.000,0.051,3291,290,1779,0,0,0,0,0,0
$GC,6802,1.10,205.6,183.7,10.2,316,6806,0.00,2.28,0.00,0.000,6,0.000,0.023,3290,1706,1778,0,0,0,0,0,0
$GC,7066,1.14,205.6,157.3,10.9,337,7070,0.00,2.47,0.00,0.000,4,0.000,0.049,3290,294,1777,0,0,0,0,0,0
$GC,7106,1.10,205.6,152.5,12.7,340,7110,0.00,2.28,0.00,0.000,6,0.000,0.022,3291,1714,1777,0,0,0,0,0,0
$GC,7374,1.16,205.9,128.7,7.9,361,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,1720,1777,0,0,0,0,0,0
$GC,7633,1.27,217.3,109.3,7.1,382,7649,0.15,2.50,9.35,0.518,4,0.058,0.046,3336,288,1742,0,0,0,0,0,0
$GC,7744,1.19,217.3,98.7,10.3,389,7750,0.12,2.28,0.00,0.000,6,0.101,0.020,3312,1707,1740,0,0,0,0,0,0
$GC,8006,1.31,242.7,80.8,6.2,410,8035,0.10,2.50,23.12,0.543,4,0.074,0.045,3346,294,1638,0,0,0,0,0,0
$GC,8231,1.24,242.7,58.0,10.3,426,8236,0.12,2.25,0.00,0.000,6,0.098,0.020,3321,1713,1634,0,0,0,0,0,0
$GC,8501,1.35,264.8,40.6,6.4,447,8523,0.10,0.00,19.52,0.497,6,0.074,0.000,3358,1720,1550,0,0,0,0,0,0
$GC,8777,1.35,264.8,12.0,10.9,493,8783,0.00,2.50,0.00,0.000,4,0.000,0.046,3357,294,1548,0,0,0,0,0,0
$GC,8829,1.26,264.8,5.7,12.7,504,8836,0.12,2.25,0.00,0.000,6,0.070,0.018,3326,1699,1545,0,0,0,0,0,0
$STATE,8854,end climb,SURFACE_DEPTH_REACHED
$STATE,8854,begin surface coast
$FINISH,0.9,1.013916
$STATE,8881,end surface coast,CONTROL_FINISHED_OK
$STATE,8881,begin surface
$SM_CCo,8904,80.60,0.480,0,0,957,410.14
$SM_GC,1.61,0.00,0.00,80.60,0.000,0.000,0.480,430,1705,957,-12.05,0.14,410.14
$IRIDIUM_FIX,2050.21,-15752.63,091299,080834
$TT8_MAMPS,0.029146
$HUMID,55.98
$INTERNAL_PRESSURE,9.29377
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.5,38.457
$10V_AH,10.3,32.138
$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,30.100,94.700,295.050,80.600,0.000,22.913,26.075,151.852,4.750,0.000,31.919,1021.611,5851.916,418.148,1589.083,442.478,0.000,1124.148,0.000,1550.857,0.000,32.154,0.000
$DEVICE_MAMPS,133.458,55.224,814.554,480.142,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.561,335.155,748.829,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,28600,515
$CAP_FILE_SIZE,101142,0
$CFSIZE,260165632,190275584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140910,135930,2058.053,-15749.515,40,0.9,46,9.8