version: 66.06
glider: 139
mission: 8
dive: 224
start: 8 20 110 2 17 49
data:
$ID,139
$MISSION,8
$DIVE,224
$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,-2155219.8
$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,1695
$C_ROLL_CLIMB,1770
$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
$GPS1,021101,2059.919,-15750.904,130,0.9,130,9.8
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,2
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-69.8
$GPS2,021732,2059.926,-15750.900,13,1.3,13,9.8
$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,299.1,24786,-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,-64.75,0.000,2,0.000,0.000,427,1677,2787,0,0,0,0,0,0
$GC,86,-1.56,-58.4,3.6,-3.9,12,106,12.55,2.38,-1.48,0.000,4,0.137,0.034,2752,3107,2870,0,0,0,0,0,0
$GC,328,-1.56,-58.4,54.0,-16.1,44,335,0.00,2.42,0.00,0.000,6,0.000,0.035,2752,1693,2872,0,0,0,0,0,0
$GC,588,-1.56,-58.4,95.6,-14.9,65,592,0.00,2.42,0.00,0.000,4,0.000,0.044,2751,283,2873,0,0,0,0,0,0
$GC,602,-1.51,-58.4,98.1,-14.6,66,606,0.00,2.33,0.00,0.000,6,0.000,0.018,2751,1735,2874,0,0,0,0,0,0
$GC,863,-1.51,-58.4,136.6,-13.5,86,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1739,2875,0,0,0,0,0,0
$GC,1113,-1.54,-58.4,169.1,-12.8,106,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1740,2875,0,0,0,0,0,0
$GC,1369,-1.59,-58.4,201.3,-12.9,126,1373,0.00,2.17,0.00,0.000,4,0.000,0.023,2752,3077,2876,0,0,0,0,0,0
$GC,1581,-1.69,-58.4,223.8,-9.3,135,1585,0.00,2.33,0.00,0.000,6,0.000,0.032,2751,1695,2876,0,0,0,0,0,0
$GC,1907,-1.76,-58.4,254.5,-9.0,151,1912,0.17,2.30,0.00,0.000,4,0.054,0.025,2701,3075,2876,0,0,0,0,0,0
$GC,2007,-1.79,-58.4,265.4,-11.1,155,2011,0.00,2.33,0.00,0.000,6,0.000,0.033,2700,1692,2875,0,0,0,0,0,0
$GC,2326,-1.79,-58.4,305.4,-12.8,170,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1692,2875,0,0,0,0,0,0
$GC,2654,-1.79,-58.4,344.9,-11.9,178,2658,0.00,2.28,0.00,0.000,4,0.000,0.027,2700,3072,2874,0,0,0,0,0,0
$GC,2768,-1.83,-58.4,358.5,-11.7,180,2772,0.00,2.35,0.00,0.000,6,0.000,0.038,2700,1697,2873,0,0,0,0,0,0
$GC,3112,-1.83,-58.4,398.9,-11.4,189,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1695,2871,0,0,0,0,0,0
$GC,3438,-1.83,-58.4,430.8,-9.3,197,3442,0.00,2.30,0.00,0.000,4,0.000,0.031,2700,3066,2869,0,0,0,0,0,0
$GC,3556,-1.89,-58.4,441.5,-9.2,199,3560,0.00,2.38,0.00,0.000,6,0.000,0.041,2700,1689,2868,0,0,0,0,0,0
$STATE,3649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3649,begin apogee
$GC,3657,-0.31,0.0,450.3,9.2,202,3710,1.58,0.00,48.80,0.835,6,0.081,0.000,3030,1764,2631,0,0,0,0,0,0
$STATE,3711,end apogee,CONTROL_FINISHED_OK
$STATE,3711,begin climb
$GC,3713,1.56,58.4,451.1,0.0,203,3772,1.80,0.00,50.97,0.818,6,0.029,0.000,3455,1764,2390,0,0,0,0,0,0
$GC,4098,1.30,96.0,436.9,4.5,213,4137,0.38,0.00,32.88,0.815,6,0.108,0.000,3383,1764,2237,0,0,0,0,0,0
$GC,4463,1.14,96.0,405.6,9.3,222,4465,0.17,0.00,0.00,0.000,6,0.116,0.000,3351,1764,2231,0,0,0,0,0,0
$GC,4788,1.06,107.7,380.9,6.8,230,4804,0.00,2.45,10.05,0.724,4,0.000,0.034,3351,3160,2190,0,0,0,0,0,0
$GC,4814,1.03,131.3,379.2,5.8,230,4843,0.15,2.42,22.85,0.785,6,0.121,0.039,3325,1774,2094,0,0,0,0,0,0
$GC,5162,1.03,131.6,352.6,7.9,239,5166,0.00,2.50,0.00,0.000,4,0.000,0.056,3324,357,2087,0,0,0,0,0,0
$GC,5200,0.92,131.6,349.2,9.4,239,5206,0.12,2.38,0.00,0.000,6,0.121,0.028,3302,1765,2084,0,0,0,0,0,0
$GC,5532,0.97,131.6,322.9,8.4,248,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1769,2084,0,0,0,0,0,0
$GC,5856,1.04,138.4,298.2,7.3,256,5869,0.12,2.45,5.50,0.594,4,0.072,0.032,3336,3175,2065,0,0,0,0,0,0
$GC,5898,1.04,138.4,294.6,9.1,257,5903,0.00,2.45,0.00,0.000,6,0.000,0.038,3336,1764,2065,0,0,0,0,0,0
$GC,6214,1.04,138.4,267.8,8.2,273,6218,0.00,2.38,0.00,0.000,4,0.000,0.031,3336,3176,2064,0,0,0,0,0,0
$GC,6228,1.04,138.4,266.5,8.5,273,6234,0.00,2.42,0.00,0.000,6,0.000,0.037,3336,1767,2064,0,0,0,0,0,0
$GC,6546,1.06,149.0,243.7,6.9,289,6562,0.00,0.00,10.75,0.670,6,0.000,0.000,3335,1767,2021,0,0,0,0,0,0
$GC,6874,1.06,155.0,218.4,7.4,305,6886,0.00,2.42,6.35,0.575,4,0.000,0.029,3335,3175,1997,0,0,0,0,0,0
$GC,6906,1.11,159.6,215.9,7.5,306,6921,0.00,2.42,6.28,0.568,6,0.000,0.035,3335,1768,1978,0,0,0,0,0,0
$GC,7243,1.13,176.5,192.3,6.4,326,7260,0.00,0.00,16.00,0.648,6,0.000,0.000,3336,1768,1910,0,0,0,0,0,0
$GC,7514,1.17,176.5,168.1,9.7,347,7518,0.00,2.35,0.00,0.000,4,0.000,0.026,3336,3180,1907,0,0,0,0,0,0
$GC,7560,1.26,176.5,163.0,9.7,350,7567,0.12,2.45,0.00,0.000,6,0.038,0.035,3378,1767,1907,0,0,0,0,0,0
$GC,7822,1.22,176.5,138.5,10.3,371,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1766,1907,0,0,0,0,0,0
$GC,8073,1.22,176.5,113.9,8.9,391,8077,0.00,2.40,0.00,0.000,4,0.000,0.047,3377,358,1907,0,0,0,0,0,0
$GC,8142,1.11,176.5,107.4,9.2,396,8147,0.17,2.33,0.00,0.000,6,0.102,0.021,3344,1803,1905,0,0,0,0,0,0
$GC,8403,1.19,176.5,87.4,8.3,416,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,1809,1905,0,0,0,0,0,0
$GC,8655,1.32,210.3,74.1,4.9,436,8691,0.20,2.53,30.08,0.553,4,0.050,0.044,3400,359,1772,0,0,0,0,0,0
$GC,8897,1.23,210.3,49.7,10.7,453,8904,0.12,2.30,0.00,0.000,6,0.083,0.019,3372,1768,1766,0,0,0,0,0,0
$GC,9160,1.33,231.3,31.5,6.0,474,9188,0.00,2.45,18.55,0.499,4,0.000,0.043,3371,358,1685,0,0,0,0,0,0
$GC,9307,1.33,231.3,19.7,8.1,503,9314,0.00,2.30,0.00,0.000,6,0.000,0.019,3372,1768,1682,0,0,0,0,0,0
$STATE,9504,end climb,SURFACE_DEPTH_REACHED
$STATE,9504,begin surface coast
$FINISH,0.8,1.022971
$STATE,9532,end surface coast,CONTROL_FINISHED_OK
$STATE,9532,begin surface
$SM_CCo,9556,100.57,0.490,0,0,957,410.14
$SM_GC,1.44,0.00,0.00,100.57,0.000,0.000,0.490,430,1659,957,-12.28,-0.99,410.14
$IRIDIUM_FIX,2050.21,-15757.78,131199,232344
$TT8_MAMPS,0.028379
$HUMID,52.59
$INTERNAL_PRESSURE,9.28401
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.5,19.570
$10V_AH,10.3,15.848
$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,30.275,71.575,259.050,100.575,0.000,23.932,30.195,213.865,4.500,0.000,14.067,1044.315,6489.688,438.614,1564.581,508.253,0.000,1098.436,0.000,1559.881,0.000,29.251,0.000
$DEVICE_MAMPS,136.526,89.739,835.263,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,373.011,355.857,815.100,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,31756,554
$CAP_FILE_SIZE,95754,0
$CFSIZE,260165632,201850880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200810,045938,2100.551,-15751.420,14,1.8,14,9.8