version: 66.06
glider: 139
mission: 8
dive: 144
start: 8 10 110 23 38 38
data:
$ID,139
$MISSION,8
$DIVE,144
$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,-2153389.2
$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,1690
$C_ROLL_CLIMB,1830
$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
$GPS1,233216,2103.142,-15757.060,11,3.8,30,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-68.3
$GPS2,233822,2103.117,-15757.132,17,3.8,36,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_WEST
$TGT_LATLONG,2108.334,-15802.064
$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,308.8,12882,-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,-58.4,0.0,0.0,0,81,0.00,0.00,-64.22,0.000,2,0.000,0.000,432,1675,2757,0,0,0,0,0,0
$GC,84,-1.56,-58.4,3.2,-3.5,12,109,12.55,2.42,-2.10,0.000,4,0.138,0.037,2751,3101,2871,0,0,0,0,0,0
$GC,361,-1.59,-58.4,58.1,-15.9,48,365,0.00,2.40,0.00,0.000,6,0.000,0.035,2750,1689,2874,0,0,0,0,0,0
$GC,627,-1.59,-58.4,100.9,-15.6,69,630,0.00,2.33,0.00,0.000,4,0.000,0.022,2751,3106,2875,0,0,0,0,0,0
$GC,700,-1.67,-58.4,111.6,-14.2,74,704,0.00,2.38,0.00,0.000,6,0.000,0.031,2751,1688,2875,0,0,0,0,0,0
$GC,961,-1.67,-58.4,142.7,-12.0,94,965,0.00,2.35,0.00,0.000,4,0.000,0.022,2751,3109,2876,0,0,0,0,0,0
$GC,1035,-1.75,-58.4,151.8,-11.0,99,1041,0.15,2.40,0.00,0.000,6,0.059,0.031,2706,1684,2876,0,0,0,0,0,0
$GC,1297,-1.70,-58.4,189.4,-14.5,120,1299,0.12,0.00,0.00,0.000,6,0.107,0.000,2731,1684,2876,0,0,0,0,0,0
$GC,1548,-1.70,-58.4,223.0,-12.4,135,1552,0.00,2.33,0.00,0.000,4,0.000,0.025,2731,3101,2877,0,0,0,0,0,0
$GC,1614,-1.80,-58.4,230.6,-10.6,138,1619,0.10,2.40,0.00,0.000,6,0.077,0.034,2697,1684,2877,0,0,0,0,0,0
$GC,1946,-1.80,-58.4,270.8,-11.2,154,1950,0.00,2.33,0.00,0.000,4,0.000,0.025,2697,3099,2878,0,0,0,0,0,0
$GC,2061,-1.80,-58.4,282.1,-8.9,159,2066,0.00,2.40,0.00,0.000,6,0.000,0.034,2697,1681,2878,0,0,0,0,0,0
$GC,2390,-1.80,-58.4,324.9,-14.3,171,2394,0.00,2.35,0.00,0.000,4,0.000,0.028,2697,3098,2877,0,0,0,0,0,0
$GC,2538,-1.84,-58.4,344.3,-13.4,174,2543,0.00,2.40,0.00,0.000,6,0.000,0.038,2697,1692,2876,0,0,0,0,0,0
$GC,2852,-1.84,-58.4,382.3,-11.7,182,2856,0.00,2.38,0.00,0.000,4,0.000,0.031,2697,3104,2875,0,0,0,0,0,0
$GC,3088,-1.88,-58.4,408.7,-10.8,187,3092,0.00,2.42,0.00,0.000,6,0.000,0.038,2697,1689,2873,0,0,0,0,0,0
$GC,3411,-1.88,-58.4,447.2,-12.2,195,3415,0.00,2.38,0.00,0.000,4,0.000,0.034,2697,3099,2870,0,0,0,0,0,0
$STATE,3437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3438,begin apogee
$GC,3446,-0.31,0.0,450.5,11.0,195,3500,1.58,0.00,49.25,0.844,6,0.084,0.000,3027,1832,2630,0,0,0,0,0,0
$STATE,3501,end apogee,CONTROL_FINISHED_OK
$STATE,3501,begin climb
$GC,3504,1.56,58.4,452.6,0.0,197,3562,1.77,2.53,50.35,0.827,4,0.031,0.052,3447,421,2390,0,0,0,0,0,0
$GC,3762,1.19,92.4,446.4,4.8,202,3799,0.45,2.40,29.73,0.816,6,0.107,0.027,3361,1865,2253,0,0,0,0,0,0
$GC,4144,1.07,92.4,413.2,8.8,212,4149,0.15,2.30,0.00,0.000,4,0.115,0.037,3333,3218,2245,0,0,0,0,0,0
$GC,4215,1.03,94.4,407.4,7.7,213,4220,0.00,2.40,0.00,0.000,6,0.000,0.038,3333,1826,2244,0,0,0,0,0,0
$GC,4557,1.02,128.9,387.1,4.8,222,4594,0.00,2.53,31.90,0.815,4,0.000,0.056,3333,425,2104,0,0,0,0,0,0
$GC,4644,0.89,128.9,380.0,11.2,223,4649,0.20,2.35,0.00,0.000,6,0.114,0.028,3297,1834,2099,0,0,0,0,0,0
$GC,4976,0.95,135.4,356.9,7.3,231,4988,0.00,2.40,6.03,0.635,4,0.000,0.035,3297,3208,2077,0,0,0,0,0,0
$GC,5092,1.04,140.0,347.8,7.5,233,5105,0.12,2.40,5.93,0.627,6,0.072,0.040,3331,1826,2058,0,0,0,0,0,0
$GC,5442,1.04,140.0,315.6,9.2,242,5446,0.00,2.47,0.00,0.000,4,0.000,0.055,3331,424,2055,0,0,0,0,0,0
$GC,5461,0.95,140.0,313.5,10.2,242,5466,0.12,2.35,0.00,0.000,6,0.119,0.028,3309,1840,2053,0,0,0,0,0,0
$GC,5790,1.00,140.0,287.0,8.0,254,5794,0.00,2.50,0.00,0.000,4,0.000,0.053,3308,424,2052,0,0,0,0,0,0
$GC,5857,0.96,140.0,281.0,9.3,257,5861,0.00,2.30,0.00,0.000,6,0.000,0.028,3308,1829,2050,0,0,0,0,0,0
$GC,6189,1.01,144.4,256.9,7.5,273,6198,0.00,2.50,3.80,0.472,4,0.000,0.053,3308,416,2041,0,0,0,0,0,0
$GC,6209,1.03,156.1,255.3,6.8,274,6232,0.00,2.35,12.57,0.701,6,0.000,0.028,3308,1841,1993,0,0,0,0,0,0
$GC,6542,1.13,175.5,231.9,6.1,290,6566,0.17,2.60,18.50,0.708,4,0.058,0.051,3355,424,1913,0,0,0,0,0,0
$GC,6719,1.03,175.5,216.3,10.7,297,6724,0.15,2.33,0.00,0.000,6,0.108,0.026,3327,1835,1908,0,0,0,0,0,0
$GC,7040,1.09,175.5,185.8,10.1,316,7044,0.00,2.45,0.00,0.000,4,0.000,0.049,3326,423,1907,0,0,0,0,0,0
$GC,7108,1.06,175.5,178.2,12.3,321,7112,0.00,2.30,0.00,0.000,6,0.000,0.024,3327,1837,1906,0,0,0,0,0,0
$GC,7379,1.13,175.5,151.8,9.6,342,7383,0.00,2.45,0.00,0.000,4,0.000,0.048,3326,423,1906,0,0,0,0,0,0
$GC,7508,1.13,175.5,138.8,9.3,351,7513,0.00,2.28,0.00,0.000,6,0.000,0.022,3327,1833,1905,0,0,0,0,0,0
$GC,7769,1.22,186.1,120.4,6.9,372,7784,0.17,2.30,9.23,0.553,4,0.054,0.027,3376,3205,1870,0,0,0,0,0,0
$GC,7794,1.22,186.1,117.8,9.2,374,7798,0.00,2.35,0.00,0.000,6,0.000,0.031,3376,1826,1871,0,0,0,0,0,0
$GC,8053,1.22,186.1,94.6,9.2,394,8057,0.00,2.42,0.00,0.000,4,0.000,0.047,3376,418,1871,0,0,0,0,0,0
$GC,8071,1.15,186.1,92.5,10.7,395,8076,0.15,2.28,0.00,0.000,6,0.106,0.021,3348,1840,1870,0,0,0,0,0,0
$GC,8333,1.21,186.1,64.1,9.9,415,8337,0.00,2.42,0.00,0.000,4,0.000,0.044,3347,423,1870,0,0,0,0,0,0
$GC,8365,1.21,186.1,60.8,7.9,417,8372,0.00,2.28,0.00,0.000,6,0.000,0.020,3348,1833,1869,0,0,0,0,0,0
$GC,8626,1.38,237.1,50.6,3.3,438,8682,0.22,2.30,45.28,0.551,4,0.047,0.022,3411,3211,1661,0,0,0,0,0,0
$GC,8694,1.38,237.1,46.1,8.7,442,8701,0.00,2.38,0.00,0.000,6,0.000,0.029,3410,1828,1661,0,0,0,0,0,0
$GC,8956,1.38,237.1,15.1,12.1,481,8962,0.00,2.42,0.00,0.000,4,0.000,0.043,3410,427,1658,0,0,0,0,0,0
$GC,9034,1.25,237.1,5.0,12.7,498,9041,0.17,2.25,0.00,0.000,6,0.082,0.019,3371,1822,1655,0,0,0,0,0,0
$STATE,9046,end climb,SURFACE_DEPTH_REACHED
$STATE,9047,begin surface coast
$FINISH,0.7,1.023085
$STATE,9069,end surface coast,CONTROL_FINISHED_OK
$STATE,9069,begin surface
$SM_CCo,9093,96.53,0.505,0,0,957,410.14
$SM_GC,1.29,0.00,0.00,96.53,0.000,0.000,0.505,430,1671,957,-12.28,-0.54,410.14
$IRIDIUM_FIX,2052.52,-15756.91,041199,212109
$TT8_MAMPS,0.029146
$HUMID,52.52
$INTERNAL_PRESSURE,9.25471
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.5,13.150
$10V_AH,10.4,9.956
$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,30.950,109.675,262.550,96.525,0.000,31.067,30.381,160.988,4.500,0.000,37.386,1047.447,5873.759,410.106,1754.713,467.849,0.000,1198.802,0.000,1706.915,0.000,29.250,0.000
$DEVICE_MAMPS,138.060,55.991,843.700,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,340.066,320.062,729.888,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,28635,505
$CAP_FILE_SIZE,107652,0
$CFSIZE,260165632,206012416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110810,021306,2103.552,-15758.331,40,1.0,40,9.8