version: 66.06
glider: 139
mission: 8
dive: 72
start: 8 2 110 22 31 1
data:
$ID,139
$MISSION,8
$DIVE,72
$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,-2151783.5
$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,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,1690
$C_ROLL_CLIMB,1850
$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,2690
$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
$GPS1,222538,2106.016,-15745.318,33,1.4,33,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-72.8
$GPS2,223044,2106.030,-15745.323,12,1.3,12,9.8
$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,85.7,4175,-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,-64.70,0.000,2,0.000,0.000,430,1674,2859,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.5,-4.8,12,104,12.60,2.38,-1.23,0.000,4,0.139,0.049,2751,283,2929,0,0,0,0,0,0
$GC,143,-1.23,-58.4,23.4,-30.1,23,150,0.35,2.35,0.00,0.000,6,0.087,0.019,2826,1721,2931,0,0,0,0,0,0
$GC,343,-1.36,-58.4,54.6,-13.0,43,347,0.00,2.50,0.00,0.000,4,0.000,0.044,2826,281,2932,0,0,0,0,0,0
$GC,362,-1.45,-58.4,57.4,-12.9,44,370,0.15,2.30,0.00,0.000,6,0.032,0.018,2775,1709,2932,0,0,0,0,0,0
$GC,624,-1.49,-58.4,94.9,-13.6,65,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1714,2933,0,0,0,0,0,0
$GC,875,-1.56,-58.4,126.1,-12.0,85,879,0.00,2.22,0.00,0.000,4,0.000,0.023,2775,3068,2934,0,0,0,0,0,0
$GC,902,-1.67,-58.4,129.1,-11.9,87,907,0.17,2.30,0.00,0.000,6,0.052,0.032,2722,1688,2934,0,0,0,0,0,0
$GC,1166,-1.67,-58.4,167.3,-14.5,108,1170,0.00,2.40,0.00,0.000,4,0.000,0.046,2722,287,2934,0,0,0,0,0,0
$GC,1191,-1.59,-58.4,170.8,-15.4,110,1196,0.15,2.22,0.00,0.000,6,0.104,0.019,2751,1700,2934,0,0,0,0,0,0
$GC,1450,-1.65,-58.4,203.6,-13.1,130,1454,0.00,2.22,0.00,0.000,4,0.000,0.025,2751,3059,2935,0,0,0,0,0,0
$GC,1535,-1.79,-58.4,214.0,-11.1,133,1541,0.17,2.30,0.00,0.000,6,0.054,0.032,2699,1690,2935,0,0,0,0,0,0
$GC,1852,-1.79,-58.4,256.2,-13.7,149,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1689,2935,0,0,0,0,0,0
$GC,2161,-1.79,-58.4,296.8,-12.6,164,2165,0.00,2.42,0.00,0.000,4,0.000,0.049,2699,287,2935,0,0,0,0,0,0
$GC,2189,-1.72,-58.4,301.0,-15.2,165,2194,0.12,2.25,0.00,0.000,6,0.109,0.021,2724,1683,2935,0,0,0,0,0,0
$GC,2526,-1.78,-58.4,341.6,-11.9,174,2530,0.00,2.30,0.00,0.000,4,0.000,0.030,2724,3073,2934,0,0,0,0,0,0
$GC,2664,-1.89,-58.4,356.4,-10.5,177,2669,0.17,2.35,0.00,0.000,6,0.058,0.038,2674,1686,2933,0,0,0,0,0,0
$GC,2995,-1.86,-58.4,397.6,-12.4,185,3000,0.10,2.33,0.00,0.000,4,0.118,0.033,2693,3066,2931,0,0,0,0,0,0
$GC,3028,-1.92,-58.4,402.0,-11.8,185,3032,0.00,2.38,0.00,0.000,6,0.000,0.039,2693,1684,2931,0,0,0,0,0,0
$GC,3360,-1.92,-58.4,441.5,-12.3,193,3364,0.00,2.35,0.00,0.000,4,0.000,0.035,2693,3067,2929,0,0,0,0,0,0
$GC,3379,-1.92,-58.4,444.0,-12.6,193,3383,0.00,2.35,0.00,0.000,6,0.000,0.042,2693,1689,2929,0,0,0,0,0,0
$STATE,3437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3437,begin apogee
$GC,3444,-0.31,0.0,451.4,12.3,195,3497,1.62,0.00,49.60,0.842,6,0.086,0.000,3029,1853,2689,0,0,0,0,0,0
$STATE,3498,end apogee,CONTROL_FINISHED_OK
$STATE,3498,begin climb
$GC,3501,1.56,58.4,452.8,0.0,196,3561,1.80,2.45,50.50,0.827,4,0.030,0.039,3452,3232,2451,0,0,0,0,0,0
$GC,3574,1.44,180.8,454.2,-3.1,198,3689,0.20,2.42,106.85,0.834,6,0.117,0.038,3417,1847,1953,0,0,0,0,0,0
$GC,4015,1.23,180.8,395.1,16.6,209,4017,0.25,0.00,0.00,0.000,6,0.109,0.000,3369,1847,1943,0,0,0,0,0,0
$GC,4339,1.13,180.8,353.7,12.6,217,4344,0.12,2.50,0.00,0.000,4,0.122,0.057,3347,443,1939,0,0,0,0,0,0
$GC,4416,0.99,180.8,343.2,13.5,218,4421,0.15,2.33,0.00,0.000,6,0.118,0.029,3318,1847,1935,0,0,0,0,0,0
$GC,4753,0.99,180.8,311.7,8.8,227,4757,0.00,2.50,0.00,0.000,4,0.000,0.054,3318,439,1934,0,0,0,0,0,0
$GC,4813,0.92,180.8,305.6,9.8,228,4818,0.00,2.35,0.00,0.000,6,0.000,0.029,3318,1854,1932,0,0,0,0,0,0
$GC,5147,0.96,180.8,274.8,10.3,242,5151,0.00,2.47,0.00,0.000,4,0.000,0.053,3318,439,1931,0,0,0,0,0,0
$GC,5290,0.91,180.8,255.9,13.6,248,5294,0.00,2.33,0.00,0.000,6,0.000,0.028,3318,1858,1929,0,0,0,0,0,0
$GC,5611,0.97,180.8,223.0,10.1,264,5615,0.00,2.50,0.00,0.000,4,0.000,0.051,3318,433,1929,0,0,0,0,0,0
$GC,5679,0.94,180.8,216.3,9.6,267,5683,0.00,2.35,0.00,0.000,6,0.000,0.026,3318,1865,1926,0,0,0,0,0,0
$GC,6006,1.01,180.8,186.4,9.6,287,6011,0.00,2.47,0.00,0.000,4,0.000,0.048,3318,435,1926,0,0,0,0,0,0
$GC,6045,1.01,180.8,182.4,10.4,290,6050,0.00,2.30,0.00,0.000,6,0.000,0.025,3318,1856,1925,0,0,0,0,0,0
$GC,6313,1.08,180.8,158.9,9.7,311,6317,0.00,2.28,0.00,0.000,4,0.000,0.029,3318,3235,1925,0,0,0,0,0,0
$GC,6393,1.18,180.8,151.6,8.9,317,6399,0.17,2.35,0.00,0.000,6,0.057,0.033,3366,1846,1925,0,0,0,0,0,0
$GC,6660,1.18,180.8,129.1,8.3,338,6664,0.00,2.42,0.00,0.000,4,0.000,0.047,3366,435,1925,0,0,0,0,0,0
$GC,6789,1.10,185.9,117.9,7.4,347,6794,0.12,2.25,0.00,0.000,6,0.111,0.022,3342,1862,1925,0,0,0,0,0,0
$GC,7052,1.18,204.6,101.7,6.2,367,7072,0.00,0.00,16.95,0.578,6,0.000,0.000,3342,1867,1855,0,0,0,0,0,0
$GC,7334,1.27,217.2,83.9,6.8,389,7354,0.15,2.47,12.68,0.538,4,0.060,0.043,3386,438,1802,0,0,0,0,0,0
$GC,7421,1.18,217.2,74.6,12.9,395,7426,0.15,2.25,0.00,0.000,6,0.105,0.021,3357,1855,1799,0,0,0,0,0,0
$GC,7683,1.24,217.2,52.6,8.4,415,7688,0.00,2.45,0.00,0.000,4,0.000,0.043,3356,434,1799,0,0,0,0,0,0
$GC,7722,1.24,217.2,49.0,9.7,418,7726,0.00,2.25,0.00,0.000,6,0.000,0.020,3357,1857,1798,0,0,0,0,0,0
$GC,7989,1.34,234.5,30.8,6.3,439,8011,0.15,2.53,15.95,0.505,4,0.060,0.043,3402,440,1732,0,0,0,0,0,0
$GC,8122,1.24,234.5,17.1,12.0,466,8130,0.12,2.28,0.00,0.000,6,0.088,0.019,3374,1868,1729,0,0,0,0,0,0
$STATE,8246,end climb,SURFACE_DEPTH_REACHED
$STATE,8246,begin surface coast
$FINISH,0.5,1.023127
$STATE,8274,end surface coast,CONTROL_FINISHED_OK
$STATE,8274,begin surface
$SM_CCo,8297,98.47,0.505,0,0,1018,410.14
$SM_GC,1.01,0.00,0.00,98.47,0.000,0.000,0.505,426,1676,1018,-12.30,-0.40,410.14
$IRIDIUM_FIX,2059.45,-15743.60,271099,202031
$TT8_MAMPS,0.029146
$HUMID,51.92
$INTERNAL_PRESSURE,9.26447
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,7.171
$10V_AH,10.5,4.675
$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,31.725,94.950,252.525,98.475,0.000,28.162,29.992,136.974,4.500,0.000,13.096,983.221,5418.622,402.436,1483.075,414.582,0.000,1059.751,0.000,1466.268,0.000,29.249,0.000
$DEVICE_MAMPS,138.827,56.758,842.166,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,336.920,326.699,747.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,28613,500
$CAP_FILE_SIZE,97552,0
$CFSIZE,260165632,209702912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030810,005206,2105.940,-15744.161,32,1.6,32,9.8